CN108687773B

CN108687773B - Flexible mechanical arm teleoperation device and teleoperation method

Info

Publication number: CN108687773B
Application number: CN201810577773.4A
Authority: CN
Inventors: 朱晓俊; 王学谦; 梁斌; 刘厚德; 孟得山; 高学海
Original assignee: Shenzhen Graduate School Tsinghua University
Current assignee: Shenzhen Graduate School Tsinghua University
Priority date: 2018-06-05
Filing date: 2018-06-05
Publication date: 2020-05-22
Anticipated expiration: 2038-06-05
Also published as: CN108687773A

Abstract

A method for teleoperation of a flexible mechanical arm comprises the following steps: acquiring current pose information of a remote control device; optimizing the current pose information of the remote control device; calculating the terminal pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm according to the current pose information of the remote control device after optimization processing; detecting the tail end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the data of the rope length of at least three ropes for controlling each joint of the flexible mechanical arm according to the preset movement range and movement speed range of the flexible mechanical arm to have correctness; and transmitting control signals to the flexible mechanical arm according to the correct terminal pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm, so that the flexible mechanical arm can be remotely controlled.

Description

Flexible mechanical arm teleoperation device and teleoperation method

Technical Field

The invention relates to the field of mechanical arm control, in particular to a flexible mechanical arm teleoperation device and a teleoperation method.

Background

At present, as remote control is beneficial to people to make more accurate judgment and enable a remote control device to move more accurately, the remote control is widely applied to operations such as maintenance of a control robot for a space station, refueling of a spacecraft, detection of the surface of a moon or a mars, treatment of nuclear waste and toxic chemical waste, underwater exploration, minimally invasive surgery and the like. However, the existing remote control device can only control robots such as rigid arms and the like, but cannot control flexible mechanical arms.

Disclosure of Invention

In view of the above, it is desirable to provide a teleoperation device and a teleoperation method for remotely controlling a flexible robot.

A flexible mechanical arm teleoperation method is applied to a terminal and comprises the following steps:

acquiring current pose information of a remote control device;

optimizing the current pose information of the remote control device;

calculating the terminal pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm according to the current pose information of the remote control device after optimization processing;

detecting the tail end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the data of the rope lengths of at least three ropes for controlling each joint of the flexible mechanical arm according to the preset movement range and movement speed range of the flexible mechanical arm to have correctness;

and transmitting a control signal to the flexible mechanical arm according to the end pose of the flexible mechanical arm with correctness, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm.

Further, the optimizing the current pose information of the remote control device includes:

and determining the effective current pose information of the remote control device according to the preset upper threshold.

and performing arithmetic mean operation on the current pose information of the remote control device by adopting a moving mean filtering method.

Further, the detecting the end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the data of the rope lengths of at least three ropes for controlling each joint of the flexible mechanical arm according to the preset movement range and movement speed range of the flexible mechanical arm with correctness includes:

when the data of the end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm are detected to have continuity; detecting that the tail end pose of the flexible mechanical arm does not exceed the limit according to a preset tail end pose movement range of the flexible mechanical arm; detecting that the tail end movement speed of the flexible mechanical arm does not exceed the limit according to a preset tail end movement speed range of the flexible mechanical arm; detecting that the configuration angle of each joint of the flexible mechanical arm does not exceed the limit according to the preset configuration angle movement range of each joint of the flexible mechanical arm; detecting that the configuration angular motion speed of each joint of the flexible mechanical arm does not exceed the limit according to the preset configuration angular motion speed range of each joint of the flexible mechanical arm; detecting that the rope lengths of at least three ropes for controlling each joint of the flexible mechanical arm do not exceed the limit according to the preset rope length motion range of at least three ropes for controlling each joint of the flexible mechanical arm; and when the rope length movement speed of at least three ropes for controlling each joint of the flexible mechanical arm is detected not to exceed the limit according to the preset rope length movement speed range of at least three ropes for controlling each joint of the flexible mechanical arm, determining that the data of the tail end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm have correctness.

Further, the transmitting a control signal to the flexible robot arm according to the correct end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the cord length of the at least three cords controlling each joint of the flexible robot arm includes:

determining correct data information corresponding to a preset control mode in the tail end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm according to one control mode of preset tail end pose control, flexible mechanical arm configuration angle control and flexible mechanical arm rope drive control of the flexible mechanical arm;

and transmitting a control signal to the flexible mechanical arm according to the data information.

A flexible mechanical arm teleoperation device applied to a terminal, the device comprising:

the acquisition module is used for acquiring the current pose information of the remote control device;

the optimization processing module is used for optimizing the current pose information of the remote control device;

the data determination module is used for calculating the terminal pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm according to the current pose information of the remote control device after the optimization processing;

the correctness determining module is used for detecting that the data of the tail end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm have correctness according to the preset motion range and motion speed range of the flexible mechanical arm;

and the transmission module is used for transmitting a control signal to the flexible mechanical arm according to the correct terminal pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm.

Further, the correctness determination module is specifically configured to:

Further, the transmission module is specifically configured to:

A terminal comprising a processor for carrying out the steps of the method of teleoperation of a flexible robotic arm as defined in any one of the preceding claims when executing a computer program stored in a storage means.

It should be noted that, because the number of claims in a claim is limited, the claims will not reflect the claims of the apparatus corresponding to some method items in the claims.

The method comprises the steps that the end pose of a flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm are calculated according to the current pose information of a remote control device, and control signals are sent to the flexible mechanical arm according to the end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm, so that the flexible mechanical arm is remotely controlled; eliminating the influence of mechanical jitter on the current pose information of the remote control device by optimizing the current pose information of the remote control device; by transmitting data to the flexible mechanical arm only when the data of the end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm have correctness, the flexible mechanical arm is prevented from being damaged due to the fact that the flexible mechanical arm exceeds the upper limit of the movement capacity of the flexible mechanical arm when moving.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a flow chart of a method for teleoperation of a flexible robotic arm in accordance with a preferred embodiment of the present invention.

Fig. 2 is a functional block diagram of a teleoperated device of a flexible robotic arm in accordance with a preferred embodiment of the present invention.

Fig. 3 is a block diagram of a terminal according to a preferred embodiment of the present invention.

Description of the main elements

Remote operation device for flexible mechanical arm	10
		Acquisition module	210
Optimization processing module	220
		Data determination module	230
Correctness determination module	240
		Transfer module	250
Receiving module	260
		Display module	270
Setting module	280
		Response module	290
Memory module	300
		Terminal device	1
Processor with a memory having a plurality of memory cells	20
		Memory device	30
Computer program	40
		Display device	50

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a detailed description of the present invention will be given below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Example one

Fig. 1 is a flow chart of a method for teleoperation of a flexible robotic arm in accordance with a preferred embodiment of the present invention. The method for teleoperation of the flexible mechanical arm can be applied to a terminal, and the terminal can be a mobile phone, a tablet personal computer, a palm computer, a notebook computer, a desktop computer and other terminals capable of running application software, and is not limited herein.

As shown in fig. 1, the method for teleoperation of a flexible manipulator of the present embodiment may include the following steps:

s101: and acquiring the current pose information of the remote control device.

The remote control device can perform pitch and yaw operations. The remote control device may be a hand controller or the like that can be operated by a user or a hand of a user or the like. When the remote control device is a device which can be operated by a user, such as a hand controller, the remote control device is connected with the terminal in a wired mode or a wireless mode. The wired means may be a cable. The wireless mode can be WIFI, Bluetooth and the like. In this embodiment, the remote control device determines current pose information of the remote control device itself, and transmits the current pose information to the terminal, and the terminal acquires the current pose information of the remote control device. In other embodiments, the remote control may determine its current pose information, and the terminal obtains the current pose information of the remote control from the remote control.

And when the remote control device is a hand of a user, the terminal acquires the current pose information of the remote control device through an image acquisition unit. The image acquisition unit may be an external device or an internal device of the terminal. In this embodiment, the image capturing unit is an external device of the terminal. The image acquisition unit is connected with the terminal in the wired mode or the wireless mode. In this embodiment, the image capturing unit captures an image of the remote control device, determines current pose information of the remote control device according to the image, and transmits the current pose information to the terminal, and the terminal acquires the current pose information of the remote control device. In another embodiment, the image capturing unit captures an image of the remote control device, the current pose information of the remote control device is determined according to the image, and the terminal acquires the current pose information of the remote control device from the image capturing unit.

S102: and optimizing the current pose information of the remote control device.

Mechanical shaking may occur because a user is operating a device such as a hand controller that can be operated by the user or the user's hand is unable to achieve mechanical stability while moving. The mechanical shaking is a reciprocating motion in the left-right-up-down direction around a certain position as a whole. The mechanical shake may cause current pose information of the remote control device to be unstable.

In this embodiment, the optimizing the current pose information of the remote control device may include: and determining the effective current pose information of the remote control device according to the preset upper threshold. Specifically, the method comprises the following steps: when the current pose information P of the remote control device_inExceeding the preset upper threshold P_maxLimiting the current pose information P of the remote control device_inIs the preset upper threshold value P_maxDetermining the preset upper threshold value P_maxIs valid current pose information of the remote control device; when the current pose information P of the remote control device_inLess than or equal to the preset upper threshold value P_maxDetermining the current pose information P of the remote control device_inIs effective current pose information of the remote control device.

In another embodiment, the optimizing the current pose information of the remote control device may include: and performing arithmetic mean operation on the current pose information of the remote control device by adopting a moving mean filtering method. Specifically, the method comprises the following steps: suppose the data queue is a₁a₂...a_nThe sliding filtering window is m, and when the current pose information of the remote control device is a_kAnd then, determining the current pose information of the remote control device after optimization processing according to the following formula:

wherein, a_kM is a sliding filtering window for optimizing the processed current pose information of the remote control device.

In another embodiment, the optimizing the current pose information of the remote control device may include: and determining effective current pose information of the remote control device according to a preset upper threshold, and performing arithmetic mean operation on the current pose information of the remote control device by adopting a moving mean filtering method. The arithmetic mean operation is carried out on the current pose information of the remote control device by adopting a moving mean filtering method, namely the arithmetic mean operation is carried out on the current pose information of the effective remote control device by adopting the moving mean filtering method.

In other embodiments, the optimizing the current pose information of the remote control device may include: and performing arithmetic mean operation on the current pose information of the remote control device by adopting a moving mean filtering method, and determining the effective current pose information of the remote control device according to a preset threshold upper limit. And determining the effective current pose information of the remote control device according to the preset upper threshold limit, wherein the effective current pose information of the remote control device is determined by the arithmetic mean operation according to the preset upper threshold limit.

S103: and calculating the terminal pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm according to the optimized current pose information of the remote control device.

And the calculation of the terminal pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm according to the current pose information of the remote control device after optimization processing is that the calculation of the terminal pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm according to the current pose information of the remote control device after optimization processing is performed through inverse solution operation.

S104: and detecting the tail end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the data of the rope lengths of at least three ropes for controlling each joint of the flexible mechanical arm according to the preset movement range and movement speed range of the flexible mechanical arm to have correctness.

The preset motion range and motion speed range of the flexible mechanical arm comprise: the flexible mechanical arm structure comprises a preset tail end pose motion range of the flexible mechanical arm, a preset tail end motion speed range of the flexible mechanical arm, a preset configuration angle motion range of each joint of the flexible mechanical arm, a preset configuration angle motion speed range of each joint of the flexible mechanical arm, a preset rope length motion range of at least three ropes for controlling each joint of the flexible mechanical arm and a preset rope length motion speed range of at least three ropes for controlling each joint of the flexible mechanical arm.

The data of detecting the end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm according to the preset motion range and motion speed range of the flexible mechanical arm with correctness comprises the following steps:

Wherein the distal end movement speed of the flexible robot arm, the configuration angle movement speed of each joint of the flexible robot arm, and the rope length movement speed of at least three ropes for controlling each joint of the flexible robot arm are determined based on the last calculated distal end position and attitude of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, the rope lengths of at least three ropes for controlling each joint of the flexible robot arm, and the currently calculated distal end position and attitude of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the rope lengths of at least three ropes for controlling each joint of the flexible robot arm.

Wherein the detecting data of the end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm, and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm has continuity includes: and determining that the time interval between the current pose information of the currently acquired remote control device and the pose information of the remote control device acquired last time is the same as the time interval between the pose information of the remote control device acquired at two random adjacent times, or determining that the time interval between the current pose information of the currently acquired remote control device and the pose information of the remote control device acquired t times before is the same as the time interval between the pose information of the remote control device acquired t times before, wherein t is equal to 2, 3, 4 or any other suitable number.

S105: and transmitting a control signal to the flexible mechanical arm according to the end pose of the flexible mechanical arm with correctness, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm.

The transmitting a control signal to the flexible robot arm according to the correct end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the cord length of at least three cords controlling each joint of the flexible robot arm includes:

determining correct data information corresponding to a preset control mode in the tail end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm according to one control mode of preset tail end pose control, flexible mechanical arm configuration angle control and flexible mechanical arm rope drive control of the flexible mechanical arm; and transmitting a control signal to the flexible mechanical arm according to the data information.

For example: when the preset control mode is flexible mechanical arm rope driving control, the terminal determines that the data information corresponding to the preset control mode is the rope lengths of at least three ropes for controlling each joint of the flexible mechanical arm, and transmits a control signal to the flexible mechanical arm according to the rope lengths of the at least three ropes for controlling each joint of the flexible mechanical arm. Therefore, the flexible mechanical arm can determine the rotation angle of the motor of the flexible mechanical arm according to the control signal, and then correspondingly control the motor to rotate so that each joint of the flexible mechanical arm makes corresponding movement.

In the present embodiment, when it is detected that the data of the end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the rope lengths of the at least three ropes controlling each joint of the flexible robot arm are incorrect, the end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the rope lengths of the at least three ropes controlling each joint of the flexible robot arm calculated last time are determined, and control signals are transmitted to the flexible robot arm based on the end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the rope lengths of the at least three ropes controlling each joint of the flexible robot arm calculated last time.

The detecting that the data of the end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm, and the rope lengths of at least three ropes controlling each joint of the flexible mechanical arm are incorrect comprises:

when the data of the tail end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm are detected to be discontinuous; and/or detecting that the end pose of the flexible mechanical arm exceeds the limit according to a preset end pose movement range of the flexible mechanical arm; and/or detecting that the tail end movement speed of the flexible mechanical arm exceeds the limit according to a preset tail end movement speed range of the flexible mechanical arm; and/or detecting that the configuration angle of each joint of the flexible mechanical arm exceeds the limit according to the preset configuration angle movement range of each joint of the flexible mechanical arm; and/or detecting that the configuration angular movement speed of each joint of the flexible mechanical arm exceeds the limit according to the preset configuration angular movement speed range of each joint of the flexible mechanical arm; and/or detecting that the rope lengths of at least three ropes for controlling each joint of the flexible mechanical arm exceed the limit according to the preset rope length motion range of at least three ropes for controlling each joint of the flexible mechanical arm; and/or when the rope length movement speed of at least three ropes for controlling each joint of the flexible mechanical arm exceeds the limit according to the preset rope length movement speed range of at least three ropes for controlling each joint of the flexible mechanical arm, determining that the data of the tail end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm are incorrect.

In this embodiment, in order to facilitate the user to know the current situation of the flexible robot arm and complete the interactive operation of the flexible robot arm, after step S105, the method for teleoperating the flexible robot arm further includes:

receiving current state data of the flexible mechanical arm transmitted by the flexible mechanical arm;

and controlling display equipment to display the current state of the flexible mechanical arm according to the current state data of the flexible mechanical arm.

In this embodiment, in order to facilitate the user to understand the working environment of the flexible robot arm, after step S105, the method for teleoperation of the flexible robot arm further includes:

receiving working environment data of the flexible mechanical arm transmitted by the camera unit; the camera shooting unit is arranged at the tail end of the flexible mechanical arm and is in communication with the terminal in a wireless mode;

and controlling the display equipment to display the working environment of the flexible mechanical arm according to the working environment data of the flexible mechanical arm.

In this embodiment, in order to facilitate a user to know an operation status of the terminal, the method for teleoperation of the flexible manipulator further includes:

and controlling the display equipment to display a control signal, and/or controlling the display equipment to display the network connection state of the terminal and the flexible mechanical arm, and/or controlling the display equipment to display the network connection state of the terminal and the remote control device.

In this embodiment, before step S102, the flexible manipulator teleoperation method further includes:

and setting the upper threshold according to the upper limit of the movement capacity of the flexible mechanical arm.

In this embodiment, before step S104, the flexible manipulator teleoperation method further includes:

setting a terminal pose movement range of the flexible mechanical arm, a terminal movement speed range of the flexible mechanical arm, a configuration angle movement range of each joint of the flexible mechanical arm, a configuration angle movement speed range of each joint of the flexible mechanical arm, a rope length movement range of at least three ropes for controlling each joint of the flexible mechanical arm, and a rope length movement speed range of at least three ropes for controlling each joint of the flexible mechanical arm according to the upper limit of the movement capacity of the flexible mechanical arm and the upper limit of the movement capacity of each joint of the flexible mechanical arm.

In this embodiment, before step S105, the flexible manipulator teleoperation method further includes:

and setting the control mode to be flexible mechanical arm tail end pose control, or flexible mechanical arm configuration angle control, or flexible mechanical arm rope drive control.

In this embodiment, in order to control the speed of the flexible robot arm and adopt different control speeds according to different situations of the flexible robot arm, before step S105, the method for teleoperation of the flexible robot arm further includes:

setting a transmission period of the control signal. Wherein, the transmission period of the control signal may be 100ms, 500ms, etc. The different control speeds adopted according to different situations of the flexible mechanical arm may be, for example, a transmission cycle of the control signal is 100ms when the rope length of the at least three ropes controlling a certain joint of the flexible mechanical arm is L1, and a transmission cycle of the control signal is 500ms when the rope length of the at least three ropes controlling a certain joint of the flexible mechanical arm is L2.

In this embodiment, in order to manage the operation of the entire terminal, the method for teleoperation of the flexible manipulator further includes:

responding to a first operation of a user on the terminal to start the remote control device, and/or responding to a second operation of the user on the terminal to initialize the remote control device, and/or responding to a third operation of the user on the terminal to disconnect the terminal and the flexible mechanical arm, and/or responding to a fourth operation of the user on the terminal to connect the terminal and the flexible mechanical arm in a wireless mode, and/or responding to a fifth operation of the user on the terminal to stop sending the control signal to the flexible mechanical arm.

The first operation of the user on the terminal, the second operation of the user on the terminal, the third operation of the user on the terminal, the fourth operation of the user on the terminal, and the fifth operation of the user on the terminal may be operations on mechanical keys of the terminal or operations on virtual keys displayed on the terminal.

In this embodiment, in order to facilitate subsequent data processing, the flexible manipulator teleoperation method further includes:

and storing the current pose information of the remote control device, the terminal pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm.

According to the invention, the current pose information of the remote control device is optimized, so that the influence of mechanical jitter of a user on the current pose information of the remote control device is eliminated; the data of the end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm are transmitted to the flexible mechanical arm only when the data have correctness, so that the flexible mechanical arm is prevented from being damaged due to the fact that the flexible mechanical arm exceeds the upper limit of the movement capacity of the flexible mechanical arm when moving; reducing a flow rate required for transmitting a control signal to the flexible mechanical arm by transmitting the control signal to the flexible mechanical arm according to data information corresponding to a preset control mode; the current state of the flexible mechanical arm is displayed to facilitate a user to know the current situation of the flexible mechanical arm, so that interactive operation on the flexible mechanical arm is completed; the working environment of the flexible mechanical arm is displayed, so that a user can conveniently know the working environment of the flexible mechanical arm; controlling the speed of the flexible mechanical arm to move by setting the transmission period of the control signal and adopting different control speeds according to different conditions of the flexible mechanical arm; the operation of the whole terminal is conveniently managed by starting the remote control device, initializing the remote control device, disconnecting the connection between the terminal and the flexible mechanical arm, connecting the terminal and the flexible mechanical arm and stopping sending the control signal to the flexible mechanical arm; the operation state of the terminal can be conveniently known by a user by displaying a control signal, displaying the network connection state of the terminal and the flexible mechanical arm and displaying the network connection state of the terminal and the remote control device; the data is convenient to be processed subsequently by storing the current pose information of the remote control device, storing the terminal pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm.

Example two

Fig. 2 is a functional block diagram of a teleoperation device of a flexible robotic arm according to a second embodiment of the present invention. The flexible mechanical arm remote operation device 10 may be applied to a terminal, which may be a mobile phone, a tablet computer, a palm computer, a notebook computer, a desktop computer, or other terminals capable of running application software, and is not limited herein. The flexible robotic arm teleoperational device 10 may include one or more modules stored in a memory of the terminal and configured to be executed by one or more processors (one processor in this embodiment) to accomplish the present invention. As shown in fig. 2, the flexible robotic arm teleoperation device 10 may include an acquisition module 210, an optimization module 220, a data determination module 230, a correctness determination module 240, and a transmission module 250. The modules referred to in the embodiments of the present invention may be program segments that perform a specific function, and are more suitable than programs for describing the execution process of software in a processor.

The obtaining module 210 is configured to obtain current pose information of the remote control device.

The optimization processing module 220 is configured to perform optimization processing on the current pose information of the remote control device.

In this embodiment, the optimizing the current pose information of the remote control device may include: and determining the effective current pose information of the remote control device according to the preset upper threshold. Specifically, the method comprises the following steps: when the current pose information P of the remote control device_inExceeding the preset upper threshold P_maxLimiting the current pose information P of the remote control device_inIs the preset upper threshold value P_maxDetermining the preset upper threshold value P_maxIs valid current pose information of the remote control device; when the current pose information P of the remote control device_inLess than or equal to the preset upper threshold value P_maxOf said remote control deviceCurrent pose information P_inIs effective current pose information of the remote control device.

The data determining module 230 is configured to calculate, according to the optimized current pose information of the remote control device, a terminal pose of the flexible manipulator, a configuration angle of each joint of the flexible manipulator, and a rope length of at least three ropes for controlling each joint of the flexible manipulator.

The correctness determining module 240 is configured to detect that the data of the end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm, and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm have correctness according to a preset motion range and a preset motion speed range of the flexible mechanical arm.

The transmission module 250 is configured to transmit a control signal to the flexible robot arm according to the correct end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the rope length of at least three ropes for controlling each joint of the flexible robot arm.

In this embodiment, the correctness determining module 240 is further configured to detect that the data of the end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm, and the rope length of at least three ropes controlling each joint of the flexible mechanical arm are incorrect. The transmitting module 250 is further configured to, when it is detected that the data of the end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the lengths of the at least three ropes controlling each joint of the flexible robot arm are incorrect, determine the last calculated end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the lengths of the at least three ropes controlling each joint of the flexible robot arm, and transmit a control signal to the flexible robot arm according to the last calculated end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the lengths of the at least three ropes controlling each joint of the flexible robot arm.

The detecting, by the correctness determination module 240, that the data of the end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the rope length of the at least three ropes controlling each joint of the flexible robot arm are incorrect includes:

In this embodiment, in order to facilitate the user to know the current status of the flexible robot arm and complete the interactive operation of the flexible robot arm, the flexible robot arm teleoperation device 10 further includes a receiving module 260 and a display module 270. The receiving module 260 is configured to receive the current status data of the flexible robot arm transmitted by the flexible robot arm. The display module 270 is configured to control a display device to display the current state of the flexible mechanical arm according to the current state data of the flexible mechanical arm.

In this embodiment, in order to facilitate the user to know the working environment of the flexible robot arm, the receiving module 260 is further configured to receive the working environment data of the flexible robot arm transmitted by the camera unit; the camera shooting unit is arranged at the tail end of the flexible mechanical arm and is communicated with the terminal in a wireless mode. The display module 270 is further configured to control the display device to display the working environment of the flexible robot arm according to the working environment data of the flexible robot arm.

In this embodiment, in order to facilitate the user to know the operation status of the terminal, the display module 270 is further configured to:

In this embodiment, the flexible robotic arm teleoperation device 10 further comprises a setup module 280. The setting module 280 is configured to set an upper threshold according to an upper limit of the motion capability of the flexible manipulator, setting a terminal pose movement range of the flexible mechanical arm, a terminal movement speed range of the flexible mechanical arm, a configuration angle movement range of each joint of the flexible mechanical arm, a configuration angle movement speed range of each joint of the flexible mechanical arm, a rope length movement range of at least three ropes for controlling each joint of the flexible mechanical arm, and a rope length movement speed range of at least three ropes for controlling each joint of the flexible mechanical arm according to the upper limit of the movement capacity of the flexible mechanical arm and the upper limit of the movement capacity of each joint of the flexible mechanical arm, and setting the control mode as the terminal pose control of the flexible mechanical arm, or the flexible mechanical arm configuration angle control or the flexible mechanical arm rope drive control.

In this embodiment, in order to control the movement speed of the flexible mechanical arm and adopt different control speeds according to different situations of the flexible mechanical arm, the setting module 280 is further configured to set a transmission cycle of the control signal. Wherein, the transmission period of the control signal may be 100ms, 500ms, etc. The different control speeds adopted according to different situations of the flexible mechanical arm may be, for example, a transmission cycle of the control signal is 100ms when the rope length of the at least three ropes controlling a certain joint of the flexible mechanical arm is L1, and a transmission cycle of the control signal is 500ms when the rope length of the at least three ropes controlling a certain joint of the flexible mechanical arm is L2.

In this embodiment, in order to manage the operation of the whole terminal, the flexible manipulator teleoperation device 10 further includes a response module 290. The response module 290 is further configured to:

In this embodiment, in order to facilitate subsequent data processing, the flexible manipulator teleoperation device further includes a storage module 300. The storage module 300 is configured to:

According to the invention, the current pose information of the remote control device is optimized, so that the influence of mechanical jitter of a user on the current pose information of the remote control device is eliminated; the data of the end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm are transmitted to the flexible mechanical arm only when the data have correctness, so that the flexible mechanical arm is prevented from being damaged due to the fact that the flexible mechanical arm exceeds the upper limit of the movement capacity of the flexible mechanical arm when moving; reducing a flow rate required for transmitting a control signal to the flexible mechanical arm by transmitting the control signal to the flexible mechanical arm according to data information corresponding to a preset control mode; the current state of the flexible mechanical arm is displayed to facilitate a user to know the current situation of the flexible mechanical arm, so that interactive operation on the flexible mechanical arm is completed; the working environment of the flexible mechanical arm is displayed, so that a user can conveniently know the working environment of the flexible mechanical arm; the speed of the flexible mechanical arm is controlled through setting the transmission period of the control signal; the operation of the whole terminal is conveniently managed by starting the remote control device, initializing the remote control device, disconnecting the connection between the terminal and the flexible mechanical arm, connecting the terminal and the flexible mechanical arm and stopping sending the control signal to the flexible mechanical arm; the operation state of the terminal can be conveniently known by a user by displaying a control signal, displaying the network connection state of the terminal and the flexible mechanical arm and displaying the network connection state of the terminal and the remote control device; the data is convenient to be processed subsequently by storing the current pose information of the remote control device, storing the terminal pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm.

EXAMPLE III

As shown in fig. 3, the terminal of the preferred embodiment of the method for implementing teleoperation of the flexible robotic arm according to the present invention has a schematic structural diagram. The terminal 1 may be a mobile phone, a tablet computer, a palm computer, a notebook computer, a desktop computer, or other terminals capable of running application software. The terminal 1 includes: a processor 20, a memory 30, a computer program 40, such as a flexible robotic arm teleoperation program, stored in the memory 30 and executable on the processor 20, and a display device 50. The processor 20, when executing the computer program, implements the steps of the above-described various embodiments of the method for teleoperation of a flexible robotic arm, such as steps 101-105 shown in fig. 1. Alternatively, the processor 20, when executing the computer program, implements the functions of the modules/units in the above device embodiments, such as the modules 210 to 300 shown in fig. 2.

Illustratively, the computer program 40 may be partitioned into one or more modules/units that are stored in the memory 30 and executed by the processor 20 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the terminal 1. For example, the computer program may be divided into the flexible robot teleoperation device 10 shown in fig. 2, and the flexible robot teleoperation device 10 includes an acquisition module 210, an optimization processing module 220, a data determination module 230, a correctness determination module 240, a transmission module 250, a reception module 260, a display module 270, a setting module 280, a response module 290, and a storage module 300.

The correctness determination module 240 is further configured to detect that the data of the end pose of the flexible mechanical arm, the configuration angle of each joint of the flexible mechanical arm, and the rope length of at least three ropes for controlling each joint of the flexible mechanical arm are incorrect. The transmitting module 250 is further configured to, when it is detected that the data of the end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the lengths of the at least three ropes controlling each joint of the flexible robot arm are incorrect, determine the last calculated end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the lengths of the at least three ropes controlling each joint of the flexible robot arm, and transmit a control signal to the flexible robot arm according to the last calculated end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the lengths of the at least three ropes controlling each joint of the flexible robot arm.

The receiving module 260 is configured to receive the current status data of the flexible robot arm transmitted by the flexible robot arm. The display module 270 is configured to control the display device 50 to display the current state of the flexible mechanical arm according to the current state data of the flexible mechanical arm.

The receiving module 260 is further configured to receive the working environment data of the flexible mechanical arm transmitted by the camera unit. The display module 270 is further configured to control the display device 50 to display the working environment of the flexible robot arm according to the working environment data of the flexible robot arm.

The display module 270 is further configured to control the display device 50 to display a control signal; and/or controlling the display device 50 to display the network connection status of the terminal and the flexible mechanical arm; and/or control the display device 50 to display the network connection status of the terminal and the remote control device.

The setting module 280 is configured to set the upper threshold according to an upper limit of the motion capability of the flexible manipulator, setting a terminal pose movement range of the flexible mechanical arm, a terminal movement speed range of the flexible mechanical arm, a configuration angle movement range of each joint of the flexible mechanical arm, a configuration angle movement speed range of each joint of the flexible mechanical arm, a rope length movement range of at least three ropes for controlling each joint of the flexible mechanical arm, and a rope length movement speed range of at least three ropes for controlling each joint of the flexible mechanical arm according to the upper limit of the movement capacity of the flexible mechanical arm and the upper limit of the movement capacity of each joint of the flexible mechanical arm, and setting the control mode as the terminal pose control of the flexible mechanical arm, or the flexible mechanical arm configuration angle control or the flexible mechanical arm rope drive control.

The setting module 280 is further configured to set a transmission period of the control signal.

The response module 290 further starts the remote control device in response to a first operation of the user on the terminal, and/or initializes the remote control device in response to a second operation of the user on the terminal, and/or disconnects the terminal and the flexible robot arm in response to a third operation of the user on the terminal, and/or connects the terminal and the flexible robot arm in a wireless manner in response to a fourth operation of the user on the terminal, and/or stops sending the control signal to the flexible robot arm in response to a fifth operation of the user on the terminal.

The storage module 300 is configured to store the current pose information of the remote control device, and store the end pose of the flexible manipulator, the configuration angle of each joint of the flexible manipulator, and the length of at least three ropes for controlling each joint of the flexible manipulator.

The terminal 1 may include, but is not limited to, a processor 20, a memory 30, and a display device 50. It will be understood by those skilled in the art that fig. 3 is only an example of the terminal 1, and does not constitute a limitation of the terminal 1, and may comprise more or less components than those shown, or some components may be combined, or different components, for example, the terminal 1 may further comprise an input and output device, a network access device, a bus, etc.

The Processor 20 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 20 is the control center of the terminal 1 and connects the various parts of the whole terminal 1 with various interfaces and lines.

The memory 30 may be used for storing the computer programs and/or modules, and the processor 20 implements various functions of the terminal 1 by running or executing the computer programs and/or modules stored in the memory 30 and calling data stored in the memory 30. The memory 30 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory 30 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.

The modules integrated in the terminal 1 according to the present invention may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

In the several embodiments provided in the present invention, it should be understood that the method and apparatus may also be implemented in other manners, the above-described apparatus embodiments are only illustrative, the division of the modules is only one logical function division, and there may be other division manners when implemented.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Several of the means recited in the apparatus claims may also be embodied by one and the same means or system in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.

Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A flexible mechanical arm teleoperation method is applied to a terminal and is characterized by comprising the following steps:

acquiring current pose information of a remote control device;

optimizing the current pose information of the remote control device;

2. The method for teleoperation of a flexible mechanical arm according to claim 1, wherein the optimizing the current pose information of the remote control device comprises:

3. The method for teleoperation of a flexible mechanical arm according to claim 1, wherein the optimizing the current pose information of the remote control device comprises:

4. The method for teleoperation of a flexible robot arm according to claim 1, wherein the detecting the end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the rope length data of at least three ropes for controlling each joint of the flexible robot arm according to the preset motion range and motion speed range of the flexible robot arm with correctness comprises:

5. The method for teleoperation of a flexible robot arm according to claim 1, wherein the transmitting of the control signal to the flexible robot arm according to the correct end pose of the flexible robot arm, the configuration angle of each joint of the flexible robot arm, and the string length of at least three strings that control each joint of the flexible robot arm comprises:

6. A flexible mechanical arm remote operation device is applied to a terminal, and is characterized by comprising:

7. The teleoperated apparatus of claim 6, wherein the optimizing the current pose information of the teleoperated apparatus comprises:

8. The teleoperational apparatus of claim 6, wherein the correctness determination module is specifically configured to:

9. The teleoperational apparatus of claim 6, wherein the transport module is specifically configured to:

10. A terminal comprising a processor for implementing the steps of the method of teleoperation of a flexible robotic arm according to any one of claims 1 to 5 when executing a computer program stored in a storage means.