CN105922262A - Robot and remote control equipment and remote control method thereof - Google Patents
Robot and remote control equipment and remote control method thereof Download PDFInfo
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- CN105922262A CN105922262A CN201610404523.1A CN201610404523A CN105922262A CN 105922262 A CN105922262 A CN 105922262A CN 201610404523 A CN201610404523 A CN 201610404523A CN 105922262 A CN105922262 A CN 105922262A
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- robot
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- scene image
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot and remote control equipment and a remote control method thereof. The robot comprises an instruction input module, a motion module, a real scene acquiring module, a sensing module and a communication module, wherein the instruction input module is used for receiving an inputted control instruction and converting the inputted control instruction into an action instruction; the motion module is used for executing the action instruction; the real scene acquiring module is used for acquiring a real scene image of a field environment of the robot; the sensing module is used for acquiring physical parameters in the field environment of the robot to form sensing information; and the communication module is used for outputting the real scene image and the sensing information in a communication manner. According to the robot in the embodiment of the invention, the workload for analyzing the field environment by the image can be reduced, and the workload of the robot is effectively reduced; and meanwhile, the real scene image and the sensing information are jointly outputted in a communication manner, and control equipment is enabled to conveniently acquire more abundant field environment information.
Description
Technical field
The disclosure relates generally to robotics, is specifically related to technical field of robot control,
Particularly relate to robot, robot remote controls equipment and the method for remote control robot.
Background technology
Nowadays augmented reality (AR)/virtual reality (VR) technology is becoming control technology and is sending out
The focus of exhibition, various augmented realities (AR)/virtual reality (VR) equipment starts the most popular
Get up.In virtual reality/augmented reality scene, user can be with virtual scene interaction, and machine
Device people is as medium, it is achieved people utilizes the operating interactive of Intelligent worn device and reality scene.With
Time robot can be in the multiple feature that human body is worked under unfavorable or inconvenient environment so that machine
People obtains extensive concern in terms of remote control application.
As a example by people kenel robot, existing robot remote control program is mostly according to machine
Premised on the graphical analysis of people's collection in worksite needs the human action that robot makes, this needs ten
Being divided into ripe graph processing technique, operand is huge surprising simultaneously.
On the other hand, in existing robot remote control program, robot only realizes simple topotype
The action of apery, technical scheme effectiveness comparison is dull and superficial on the whole.
Summary of the invention
In view of drawbacks described above of the prior art or deficiency, it is desirable to provide one can reduce image
The difficulty analyzed and complexity, reduce the computing consumption of robot, and Efficient Remote controls robot
Method, at the same time, it is desirable to presenting the most more horn of plenty in effect and vivid.
In the first aspect of the application, the application provides a kind of robot, including: instruction input
Module, for receiving the control instruction of input and being converted into action command；Motion module, is used for
Perform described action command；Outdoor scene acquisition module, for gathering the outdoor scene of robot site environment
Image；Sensing module, for gathering the physical parameter in robot site environment, forms sensing
Information；Communication module, for the output that communicated with described heat transfer agent by described real scene image.
Preferably, described real scene image includes panorama real scene image.
Further, described panorama real scene image includes panorama outdoor scene rest image or panorama outdoor scene
Video.
Preferably, described physical parameter include following at least one: the temperature of site environment,
The pressure of site environment, the concentration of site environment gas.
Further, described gas includes harmful gas and/or oxygen.
Preferably, described robot site environment includes that the condition of a disaster is on-the-spot.
The technical scheme that embodiment according to the application first aspect provides, by with sensing module
Gather the various physical parameters of robot site environment, it is possible to reduce by graphical analysis scene ring
The workload in border, effectively reduces the workload of robot, simultaneously by described real scene image and institute
State heat transfer agent to communicate together output, it is possible to make controlling equipment obtain more rich scene easily
Environmental information.
According to some embodiments of the application, by exporting with panorama real scene image, it is possible to make behaviour
The site environment information that control person obtains more is rich in third dimension and presence, beneficially manipulator and sends
More precise control instructs.
In the second aspect of the application, the application also provides for a kind of robot remote and controls equipment,
Including: intelligent glasses, comprise robot movable scene outdoor scene for receiving from robot and show
Real scene image and the physical parameter of robot site environment；Wearable device, is used for sensing institute
State the body parameter of the operator of remote control equipment, and the body parameter of operator is passed to
Intelligent glasses；Wherein, described intelligent glasses includes communication unit, for based on described operator
Body parameter formed and send control instruction to robot.
Preferably, the body parameter of described operator is watching described outdoor scene based on described operator
The reaction made during image.
Preferably, the body parameter of described operator includes at least one of the following: action,
Attitude, applying pressure.
Preferably, described wearable device includes at least one of the following: finger ring, bracelet,
Armlet, lower limb ring.
Preferably, described wearable device includes wired or wireless communication module, described wireless or
The body parameter of operator is passed to intelligent glasses by wire communication module.
Preferably, described intelligent glasses includes 3D display module, connects for showing in 3D mode
The real scene image received.
Preferably, described real scene image is panorama real scene image.
Preferably, described intelligent glasses is additionally operable to the input parameter formation according to operator to machine
The control instruction of people.
The technical scheme that embodiment according to the application second aspect provides, robot remote controls
Equipment obtains the real scene image of robot site environment and multiple physics by observing with intelligent glasses
Parameter, it is possible to make manipulator obtain more rich site environment information easily, and utilize behaviour
The body parameter of control person is formed naturally control instruction, reduces the workload of graphical analysis.
According to some embodiments of the application, by observing the site environment of panorama real scene image,
The site environment information that manipulator obtains more is rich in third dimension and presence such that it is able to make manipulation
Person sends more precise control instruction.
In the third aspect of the application, the application also provides for a kind of method of remote control robot,
Comprise the following steps: receive from robot and show the outdoor scene comprising robot movable scene outdoor scene
Image；The body parameter of sensing remote operator, and according to the body parameter shape of remote operator
Become to control the control instruction of robot；Send control instruction.
Preferably, the real scene image of wherein said robot movable scene outdoor scene is panorama realistic picture
Picture.
Preferably, the body parameter of described operator is watching described outdoor scene based on described operator
The reaction made during image.
Preferably, the body parameter of described operator includes at least one of the following: action,
Attitude, applying pressure.
Preferably, show the reality comprising robot movable scene outdoor scene to operator in 3D mode
Scape image.
The technical scheme that embodiment according to the application third aspect provides, by observing acquisition machine
The real scene image of device people's site environment and various physical parameters, manipulator can obtain more easily
Abundant site environment information, and body parameter based on manipulator is formed naturally control and refers to
Order, reduces the workload of graphical analysis.
Accompanying drawing explanation
By reading retouching in detail with reference to made non-limiting example is made of the following drawings
Stating, other features, purpose and advantage will become more apparent upon:
Fig. 1 illustrates the connection frame that robot remote according to an embodiment of the invention controls
Figure；
Fig. 2 illustrates that robot remote according to an embodiment of the invention controls the square frame of equipment
Figure；
Fig. 3 illustrates the block diagram of robot according to an embodiment of the invention；
Fig. 4 illustrates the flow chart that robot remote according to an embodiment of the invention controls.
Detailed description of the invention
With embodiment, the application is described in further detail below in conjunction with the accompanying drawings.It is appreciated that
, specific embodiment described herein is used only for explaining related invention, rather than to this
Bright restriction.It also should be noted that, for the ease of describe, accompanying drawing illustrate only with
The part that invention is relevant.
It should be noted that in the case of not conflicting, the embodiment in the application and embodiment
In feature can be mutually combined.Describe this below with reference to the accompanying drawings and in conjunction with the embodiments in detail
Application.
Refer to Fig. 1, Fig. 1 and robot remote control according to an embodiment of the invention is shown
The connection block diagram of system.
As it is shown in figure 1, operator 3 is by manipulation remote control equipment 2 remote control robot
1.Operator wears the intelligent glasses 21 in remote control equipment 2 and wearable device 22.Machine
Device people 1 is connected with intelligent glasses 21 communication of remote control equipment 2.This connection can be wired
Or wireless mode, it is also possible to based on certain point-to-point communication protocol.This wired or wireless company
The mode of connecing includes the Internet, LAN, radio, microwave, infrared transmission and reception.Point is right
The communication protocol of point such as includes bluetooth, mobile radio communication etc..
Alternatively, the outdoor scene acquisition module 103 of robot 1 gathers the reality of robot site environment
Scape image.Preferably, outdoor scene acquisition module 103 can also with there is panorama shoot on location function
Photographic head connect and receive from it panorama live-action data, robot has around sensing self simultaneously
The sensing module 104 of the physical parameter of site environment.Robot obtains the outdoor scene of photographic head shooting
The physical parameter that image and sensing module gather, is sent to far by the communication module 105 of self
Process control equipment 2.
Fig. 2 illustrates the composition frame chart of remote control equipment 2.As in figure 2 it is shown, remotely control to set
Standby 2 include: intelligent glasses 21, comprise robot movable for receiving from robot 1 and show
The real scene image of on-the-spot outdoor scene and the physical parameter of robot site environment；Wearable device 22,
For sensing the body parameter of the operator of described remote control equipment, and by the health of operator
Parameter passes to intelligent glasses；Wherein, described intelligent glasses includes communication unit 210, is used for
Body parameter based on described operator is formed and sends control instruction to robot.
Intelligent glasses 21 includes: communication unit 210,3D display unit 212 and centre
Reason unit 216.3D display unit 212 for by be received from robot on-the-spot real scene image and
The physical parameter of site environment shows to operator in 3D mode.CPU 216 connects
Receive the body parameter of the operator from wearable device 22 perception, process and be formed provided to machine
The control instruction of people.
Wearable device 22 at least include following in any one: finger ring, bracelet, armlet, lower limb
Ring.These equipment is for sensing operator's real scene image at observer robot site of activity with existing
Body parameter after the physical parameter of field environment.The body parameter of operator includes that operator's is dynamic
Work, attitude, applying pressure.Wearable device 22 also has communication unit (not shown), will
The body parameter of operator sends to intelligent glasses 21.
Preferably, intelligent glasses 21 can include motion perception unit 214, for sense operation
The body kinematics of person, thus alleviate the process load of wearable device 21.
Preferably, intelligent glasses 21 can also be formed to robot according to the input parameter of operator
Control instruction.This operation completing operator beyond power for robot is the most meaningful.
Such as, when robot carry out an execute-in-place need to apply 200 kgf time, operator without
The pressure of 200 kilograms need to be applied, it is only necessary to input pressure parameter can complete the formation of control instruction,
The site pressure of output 200 kilograms is performed by robot.
The technical scheme of the above-described embodiment according to the application, robot remote controls equipment and passes through
Real scene image and various physical parameters, the energy obtaining robot site environment is observed with intelligent glasses
Enough make manipulator obtain more rich site environment information easily, and utilize the body of manipulator
Body parameter is formed naturally control instruction, reduces the workload of graphical analysis.
Fig. 3 illustrates the composition frame chart of robot 1 according to an embodiment of the invention.Robot
1 includes: instruction input module 101, motion module 102, outdoor scene acquisition module 103, sensing
Module 104, communication module 105.Instruction input module 101, sets from remotely control for receiving
Standby 2 control instructions controlling robot 1 inputted also are converted into action command.Motion module
102, the action command after performing conversion, complete corresponding action.Outdoor scene acquisition module
103, for gathering the real scene image of robot site environment；Sensing module 104, is used for gathering
Physical parameter in robot site environment and the status information of robot self, form sensing
Information.Communication module 105, for the output that communicated with heat transfer agent by real scene image.
Preferably, real scene image includes panorama real scene image.It can include that panorama outdoor scene is static
Image or panorama outdoor scene video.
Preferably, the physical parameter of site environment includes following parameter: the temperature of site environment,
The pressure of site environment, the concentration of site environment gas.Robot site environment includes that the condition of a disaster is existing
?.Site environment gas includes harmful gas and/or oxygen.
The technical scheme of the above-described embodiment according to the application, by gathering machine with sensing module
The various physical parameters of people's site environment, it is possible to reduce the work by graphical analysis site environment
Load, effectively reduces the workload of robot, described real scene image and described sensing is believed simultaneously
Cease the output that communicates together, it is possible to make controlling equipment obtain more rich site environment information easily.
Some embodiments of the above-described embodiment according to the application, by with panorama real scene image
Output, it is possible to the site environment information making manipulator obtain more is rich in third dimension and presence, has
It is beneficial to manipulator and sends more precise control instruction.
Fig. 4 illustrates the flow chart that robot remote according to an embodiment of the invention controls.
It comprises the steps:
S401: receive from robot and show the real scene image comprising robot movable scene outdoor scene；
S402: the body parameter of sensing remote operator, and join according to the health of remote operator
Number form becomes to control the control instruction of robot；
S403: send the control instruction of body parameter based on operator.
Specifically, when communicating, first intelligent glasses 21 and adaptive wearable device
22 set up connection, and intelligent glasses 21 and robot 1 set up far by the way of wired or wireless
Journey connects.Robot 1 is connected the image of panorama 3D photographic head acquisition by long-range after opening
The robot oneself state of data and sensor senses and ambient data, such as temperature,
Pressure etc. are also sent to intelligent glasses terminal.Difference can add different types of sensing according to demand
Data, such as, can monitor harmful gas or oxygen concentration etc. at the condition of a disaster scene.Intelligent glasses
21 generate the 3D panoramic scene of virtual reality according to the on-the-spot live-action data received, and make operation
Person experiences the site environment residing for robot completely.Sensing module 104 is monitored by robot simultaneously
Environmental data and robot oneself state data also provide for manipulator at the moment.Manipulator simultaneously
The action data of manipulator is sent to intelligence by the wearable device (motion somatosensory device) dressed
Glasses 21 terminal, intelligent glasses 21 generates corresponding control instruction according to the action of manipulator,
And send to robot 1, it is achieved the control to robot 1.
As an example of people kenel robot, by wearable device 22 to operator's health
The Scan orientation of key position, can map directly to this key position of robot, it is achieved people
Tong Bu with the full action of robot.Such as, in people lifts intelligent glasses with 3D form in
The existing stone in virtual reality scenario, this virtual reality scenario is site environment residing for robot
3D reproduction in intelligent glasses, robot also can synchronize to lift oneself place scene at the scene
In stone.Utilize the control instruction that person's development is formed so that robot can be more intelligent
Ground replicates reaction and the wisdom execution task of operator, obtains more accurately effect flexibly.At it
With the robot of its form, it is also possible to according to the manner of execution of applicable human body with simplest behaviour
Prosecutor formula realizes the manipulation to robot.
According to embodiments of the invention, it is possible to achieve people is at a distance and is not suitable for mankind's activity
On-the-spot outside, realize the interaction with site environment by remote control robot.
Preferably, the real scene image of wherein said robot movable scene outdoor scene is panorama realistic picture
Picture.
Preferably, the body parameter of described operator is watching described outdoor scene based on described operator
The reaction made during image.
Preferably, the body parameter of described operator includes at least one of the following: action,
Attitude, applying pressure.
Preferably, show the reality comprising robot movable scene outdoor scene to operator in 3D mode
Scape image.
The technical scheme provided according to the above embodiments of the present application, obtains robot now by observing
The real scene image of field environment and various physical parameters, manipulator can obtain more rich easily
Site environment information, and body parameter based on manipulator is formed naturally control instruction, fall
The workload of low graphical analysis.
Although it should be noted that, describing equipment and method in the application with particular order in the accompanying drawings
Operation, but, this does not requires that or implies must be according to this particular order to perform these
Operation, or having to carry out the most shown operation could realize desired result.On the contrary, stream
The step described in journey figure can change execution sequence.Some step can be omitted, by multiple steps
Suddenly merge into a step to perform, and/or a step is decomposed into the execution of multiple step.
Above description is only the preferred embodiment of the application and saying institute's application technology principle
Bright.It will be appreciated by those skilled in the art that invention scope involved in the application, do not limit
In the technical scheme of the particular combination of above-mentioned technical characteristic, also should contain simultaneously without departing from
In the case of described inventive concept, above-mentioned technical characteristic or its equivalent feature carry out combination in any
And other technical scheme formed.Such as features described above and (but not limited to) disclosed herein
The technical characteristic with similar functions is replaced mutually and the technical scheme that formed.
Claims (19)
1. a robot, it is characterised in that including:
Instruction input module, for receiving the control instruction of input and being converted into action command；
Motion module, is used for performing described action command；
Outdoor scene acquisition module, for gathering the real scene image of robot site environment；
Sensing module, for gathering the physical parameter in robot site environment, is formed and passes
Sense information；
Communication module, for the output that communicated with described heat transfer agent by described real scene image.
Robot the most according to claim 1, it is characterised in that described real scene image bag
Include panorama real scene image.
Robot the most according to claim 2, it is characterised in that described panorama realistic picture
As including panorama outdoor scene rest image or panorama outdoor scene video.
4. according to the robot according to any one of claim 1-2, it is characterised in that described
Physical parameter include following at least one: the temperature of site environment, the pressure of site environment,
The concentration of site environment gas.
Robot the most according to claim 4, it is characterised in that described gas includes
Evil gas and/or oxygen.
Method the most according to claim 1, it is characterised in that described robot site ring
Border includes that the condition of a disaster is on-the-spot.
7. a robot remote controls equipment, it is characterised in that including:
Intelligent glasses, comprises robot movable scene outdoor scene for receiving from robot and show
Real scene image and the physical parameter of robot site environment；
Wearable device, for sensing the body parameter of the operator of described remote control equipment,
And the body parameter of operator is passed to intelligent glasses；
Wherein, described intelligent glasses includes communication unit, for health based on described operator
Parameter is formed and sends control instruction to robot.
Robot remote the most according to claim 7 controls equipment, it is characterised in that institute
State the body parameter of operator based on described operator make when watching described real scene image anti-
Should.
Robot remote the most according to claim 7 controls equipment, it is characterised in that institute
State the body parameter of operator and include at least one of the following: action, attitude, applying pressure.
10. control equipment according to the robot remote according to any one of claim 7-9, its
Being characterised by, described wearable device includes at least one of the following: finger ring, bracelet, arm
Ring, lower limb ring.
11. control equipment according to the robot remote according to any one of claim 7-9, its
Being characterised by, described wearable device includes wired or wireless communication module, described wireless or have
The body parameter of operator is passed to intelligent glasses by line communication module.
12. control equipment according to the robot remote according to any one of claim 7-9, its
Being characterised by, described intelligent glasses includes 3D display module, for showing reception in 3D mode
Real scene image.
13. control equipment according to the robot remote according to any one of claim 7-9, its
Being characterised by, described real scene image is panorama real scene image.
14. control equipment according to the robot remote according to any one of claim 7-9, its
Being characterised by, described intelligent glasses is additionally operable to the input parameter according to operator and is formed to robot
Control instruction.
The method of 15. 1 kinds of remote control robots, it is characterised in that comprise the following steps:
Receive from robot and show the real scene image comprising robot movable scene outdoor scene；
The body parameter of sensing remote operator, and formed according to the body parameter of remote operator
Control the control instruction of robot；
Send described control instruction.
16. methods according to claim 15, it is characterised in that wherein said robot
The real scene image of site of activity outdoor scene is panorama real scene image.
17. methods according to claim 15, it is characterised in that the body of described operator
The reaction that body parameter is made when watching described real scene image based on described operator.
18. methods according to claim 15, it is characterised in that the body of described operator
Body parameter includes at least one of the following: action, attitude, pressure.
19. methods according to claim 15, it is characterised in that include in 3D mode
The real scene image comprising robot movable scene outdoor scene is shown to operator.
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| CN201610404523.1A CN105922262A (en) | 2016-06-08 | 2016-06-08 | Robot and remote control equipment and remote control method thereof |
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| CN201610404523.1A CN105922262A (en) | 2016-06-08 | 2016-06-08 | Robot and remote control equipment and remote control method thereof |
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| CN106426166A (en) * | 2016-09-30 | 2017-02-22 | 西北大学 | VR (virtual reality) system for remotely controlling mechanical devices |
| CN106648046A (en) * | 2016-09-14 | 2017-05-10 | 同济大学 | Virtual reality technology-based real environment mapping system |
| CN106722117A (en) * | 2016-12-27 | 2017-05-31 | 苏州欣祥本机械科技有限公司 | A kind of noodle production machine people of telecommunication Based Intelligent Control |
| CN106993181A (en) * | 2016-11-02 | 2017-07-28 | 大辅科技（北京）有限公司 | Many VR/AR equipment collaborations systems and Synergistic method |
| CN107340853A (en) * | 2016-11-18 | 2017-11-10 | 北京理工大学 | A kind of long-range presentation exchange method and system based on virtual reality and gesture identification |
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| CN107598923A (en) * | 2017-09-01 | 2018-01-19 | 世优（北京）科技有限公司 | The method and apparatus of wearable device, robot system and control machine people |
| CN108687757A (en) * | 2017-04-06 | 2018-10-23 | 航天时代电子技术股份有限公司 | Robot |
| CN109015706A (en) * | 2018-07-23 | 2018-12-18 | 国家电网公司 | Cable tunnel inspection robot helmet-type virtual controlling terminal |
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| CN113568667A (en) * | 2020-12-05 | 2021-10-29 | 宁波绿能科创文化艺术发展有限公司 | Remote control method based on multimedia information, remote blessing device and system |
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| CN107598923A (en) * | 2017-09-01 | 2018-01-19 | 世优（北京）科技有限公司 | The method and apparatus of wearable device, robot system and control machine people |
| CN109015706A (en) * | 2018-07-23 | 2018-12-18 | 国家电网公司 | Cable tunnel inspection robot helmet-type virtual controlling terminal |
| CN113568667A (en) * | 2020-12-05 | 2021-10-29 | 宁波绿能科创文化艺术发展有限公司 | Remote control method based on multimedia information, remote blessing device and system |
| CN112621778A (en) * | 2020-12-16 | 2021-04-09 | 北京建筑大学 | Synchronous crossing robot for underground coal mine |
| CN115228035A (en) * | 2022-07-18 | 2022-10-25 | 北京东晨润科技有限公司 | Human-shaped intelligent interactive fire fighting robot |
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