WO2023123257A1 - Robot control method and apparatus - Google Patents
Robot control method and apparatus Download PDFInfo
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- WO2023123257A1 WO2023123257A1 PCT/CN2021/143290 CN2021143290W WO2023123257A1 WO 2023123257 A1 WO2023123257 A1 WO 2023123257A1 CN 2021143290 W CN2021143290 W CN 2021143290W WO 2023123257 A1 WO2023123257 A1 WO 2023123257A1
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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
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- the present invention mainly relates to the field of robot control, in particular to a robot control method and device.
- Robots such as ultrasonic robots
- the singularity is the point that the robot can theoretically touch but cannot actually touch.
- the robot moves to the singularity, it will lock the brake. After the brake is locked, it needs to The manufacturer's professional engineering personnel come to maintain it, and the doctor cannot restore it. In some cases, it may cause damage to the robot or the robot's operating object.
- the working space of the robot is only a small part of the robot's movable range. Within this range, the robot can complete the work expected by the user.
- the required end posture of the robot is only a part of the movable posture of the robot.
- the present invention provides a robot control method and device, which can prevent the robot from moving to a singularity and improve the reliability and safety of robot control.
- the present invention proposes a robot control method, the control method comprising: establishing a simulation model of the robot and the working environment of the robot; receiving the user's work on the end effector of the robot in the simulation model Setting of area and working posture range; controlling the movement of the robot according to the motion control command of the user, and the end effector of the robot is limited within the working area and the working posture range.
- the user can set the working area and working attitude range of the robot's end effector in the simulation model, so as to limit the robot's end effector within the set working area and working attitude range, and avoid the robot from moving unexpectedly. point, improve the reliability and safety of robot control.
- receiving user settings in the simulation model on the working area and working attitude range of the end effector of the robot includes: providing a default setting for the working area and working attitude range of the end effector of the robot settings, receiving adjustments made by the user to the default settings in the simulation model. For this reason, the user can fine-tune the default settings in the simulation model, which can reduce the workload of the user's adjustment and improve the efficiency of the setting.
- the working area includes a free area and a restricted area
- receiving the user's setting of the working area and working posture range of the end effector of the robot in the simulation model includes: receiving the user's settings in the The setting of the free area and restricted area of the end effector of the robot in the simulation model.
- the safety of the user's operation is further increased by distinguishing between the free area and the restricted area of the end effector.
- the control method further includes: when the end effector enters the restricted area, applying a restoring force to the handle assembly and/or or restoring torque. For this reason, a feedback force can be provided when the end effector enters a restricted area, further improving the safety of the user's operation.
- establishing a simulation model of the robot and the working environment of the robot includes: collecting real-time image data of the working environment of the robot, and establishing a digital twin model of the working environment according to the real-time image data. For this reason, by establishing a digital twin model, the accuracy and real-time performance of the modeling can be improved, thereby improving the reliability and safety of robot control.
- the method further includes: controlling the movement of the robot according to a movement control command remotely issued by the user. For this reason, the reliability and safety of remote control of the robot can be improved.
- the present invention also proposes a control device for a robot, the control device includes: a modeling module that establishes a simulation model of the robot and the working environment of the robot; The setting of the working area and working posture range of the end effector of the robot; the control module controls the movement of the robot according to the motion control command of the user, and the end effector of the robot is limited in the working area and within the working posture range.
- the setting module receiving the user's setting of the working area and working posture range of the end effector of the robot in the simulation model includes: providing a working area and working posture of the end effector of the robot A range of default settings, receiving adjustments by the user to the default settings in the simulation model.
- the working area includes a free area and a restricted area
- the setting module receiving the user's setting of the working area and working posture range of the end effector of the robot in the simulation model includes: receiving the The user sets the free area and restricted area of the end effector of the robot in the simulation model.
- the control device further includes: when the end effector enters the restricted area, applying a restoring force to the handle assembly and/or or restoring torque.
- the modeling module establishing a simulation model of the robot and the working environment of the robot includes: collecting real-time image data of the working environment of the robot, and establishing a digital image of the working environment according to the real-time image data. twin models.
- the device further includes: controlling the movement of the robot according to a movement control command remotely issued by the user.
- the present invention also proposes an electronic device, including a processor, a memory, and instructions stored in the memory, wherein the instructions implement the above-mentioned method when executed by the processor.
- the present invention also proposes a computer-readable storage medium on which computer instructions are stored, and the computer instructions execute the above-mentioned method when executed.
- Fig. 1 is a flowchart of a method for controlling a robot according to an embodiment of the present invention
- Fig. 2 is a schematic diagram of a method for controlling a robot according to an embodiment of the present invention
- Fig. 3 is a schematic diagram of a control device of a robot according to an embodiment of the present invention.
- Fig. 4 is a schematic diagram of an electronic device according to an embodiment of the present invention.
- FIG. 1 is a flow chart of a method 100 for controlling a robot according to an embodiment of the present invention. As shown in FIG. 1 , the control method 100 includes:
- Step 110 establishing a simulation model of the robot and the working environment of the robot.
- the simulation model of the robot and the robot's working environment can be established by collecting images through the 3D camera.
- the 3D camera can be a single 3D camera or a 3D camera array.
- the 3D camera can collect real-time image data at a fixed sampling rate, and these image data are input to the image processing engine In order to establish a simulation model of the robot and the working environment of the robot.
- FIG. 2 is a schematic diagram of a robot control method according to an embodiment of the present invention. As shown in FIG. 2 , a robot 223 and a simulation model of the robot's working environment are displayed on the display 213 .
- establishing a simulation model of the robot and the working environment of the robot includes: collecting real-time image data of the working environment of the robot, and establishing a digital twin model of the working environment according to the real-time image data.
- the digital twin model is a real-time mapping of the robot's working environment, which can perform real-time dynamic simulation of the robot's working environment, so that the robot's working environment can be synchronized with the digital twin model, that is, when the robot or the operating object changes, the digital twin model will also Change accordingly.
- the end effector of the robot in the digital twin model will also move relative to the products on the production line in real time.
- the end effector of the robot in the digital twin model will also move relative to the patient in real time.
- Step 120 receiving the user's setting of the working area and working attitude range of the end effector of the robot in the simulation model.
- the user can set the working area and working posture range of the end effector of the robot in the simulation environment.
- the working area of the gripper can be set in the simulation environment to not exceed the workstation space, and the working posture range of the gripper can be set to not exceed 90 degrees.
- the working area of the ultrasonic probe can be set to not exceed the abdominal space of the patient in the simulation environment, and the working posture range of the ultrasonic probe can be set to not exceed 90 degrees.
- the display 213 displays the working area (cylindrical outline) of the end effector 2231 , and the range of motion of the end effector 2231 will be limited within the set working area. It can be understood that, not shown in FIG. 2 , the working posture range of the end effector 2231 can also be set and displayed through the display 213 .
- receiving the user's setting of the working area and working attitude range of the end effector of the robot in the simulation model includes: providing a default setting of the working area and working attitude range of the end effector of the robot, receiving the user's Adjustments to default settings in simulation models. Specifically, after the simulation model of the robot and the working environment of the robot is established, the type of the robot and the working environment of the robot can be determined, and on this basis, a robot end execution
- the default setting of the working area and working posture range of the probe for example, for a medical ultrasonic robot, it can be recommended that the working area of the ultrasonic probe is the patient’s abdominal space, and the working posture range is no more than 90 degrees.
- the user can set the default setting in the simulation model. Fine-tuning the settings can reduce the user's adjustment workload and improve the efficiency of the settings.
- the working area includes a free area and a restricted area
- receiving the user's setting of the working area and working posture range of the end effector of the robot in the simulation model includes: receiving the user's setting of the end effector of the robot in the simulation model The setting of the free area and restricted area of the controller.
- the user sets a free area A and a restricted area B in the simulation model.
- the ultrasonic probe 2231 can move freely, and in the restricted area B, the movement of the ultrasonic probe 2231 will be subject to certain resistance. Areas outside A and the restricted area B are forbidden areas, and the ultrasonic probe 2231 cannot move to the forbidden area.
- the patient's skin C can also be displayed to distinguish the extracutaneous space from the intradermal space, further improving the safety of the user's operation.
- the user inputs a motion control command through the handle assembly
- the control method further includes: when the end effector enters the restricted area, applying a restoring force and/or restoring torque to the handle assembly.
- the user inputs a motion control command through the handle assembly 214, that is, moves the handle assembly 214, and when the ultrasonic probe 2231 enters the restricted area B, a restoring force and/or restoring torque is applied to the handle assembly, so that the user It can sense that the ultrasonic probe 2231 has entered a restricted area, avoiding further movement to a forbidden area, and further improving the safety and reliability of user operations.
- Step 130 controlling the movement of the robot according to the user's motion control command, and the end effector of the robot is limited within the working area and working posture range.
- the user's motion control command includes motion parameters, which are mapped to the motion parameters of the robot, and the robot moves according to the mapped motion parameters, wherein the end effector of the robot is limited to the working area and working posture range set by the user,
- the working area of the ultrasonic probe of the ultrasonic robot is limited in the abdominal space of the patient, and the working posture range is limited within 90 degrees. Therefore, the end effector of the robot can be limited in the set working area and working posture range, Avoid robot movement to singularity, improve the reliability and safety of robot control.
- the method further includes: controlling the motion of the robot according to a motion control command remotely issued by a user.
- the user remotely controls the movement of the robot 223 through the handle assembly 214.
- the image data is processed by the second processor 2233 and then sent to the first processor. 212.
- the first processor 212 establishes a simulation model of the robot 223 and the working environment according to the image data, and displays it on the display 213.
- the end effector 2231 (ultrasound probe) moves on the abdominal surface of the patient P, and the imager can display the images collected by the ultrasonic probe. ultrasound image. For this purpose, it can be applied to the remote control of robots.
- An embodiment of the present invention provides a method for controlling a robot.
- the user can set the working area and working posture range of the end effector of the robot in the simulation model, so as to limit the end effector of the robot within the set working area. And within the range of working posture, avoid the robot moving to the singularity, and improve the reliability and safety of robot control.
- FIG. 3 is a schematic diagram of a robot control device 300 according to an embodiment of the present invention. As shown in Figure 3, the control device 300 includes:
- Modeling module 310 establishes the simulation model of robot and the working environment of robot;
- the setting module 320 receives the user's setting of the working area and working posture range of the end effector of the robot in the simulation model;
- the control module 330 controls the movement of the robot according to the user's motion control command, and the end effector of the robot is limited within the working area and working posture range.
- the setting module 320 receiving the user's setting of the working area and working attitude range of the end effector of the robot in the simulation model includes: providing a default setting of the working area and working attitude range of the end effector of the robot , to receive user adjustments to default settings in the simulation model.
- the working area includes a free area and a restricted area
- the setting module 320 receiving the user's setting of the working area and the working posture range of the end effector of the robot in the simulation model includes: receiving the user's setting of the robot in the simulation model The settings of the free region and restricted region of the end effector.
- the control device further includes: applying a restoring force and/or restoring torque to the handle assembly when the end effector enters the restricted area.
- the modeling module 310 establishing a simulation model of the robot and the working environment of the robot includes: collecting real-time image data of the working environment of the robot, and establishing a digital twin model of the working environment according to the real-time image data.
- the device further includes: controlling the movement of the robot according to a movement control command issued by a user remotely.
- FIG. 4 is a schematic diagram of an electronic device 400 according to an embodiment of the present invention.
- the electronic device 400 includes a processor 410 and a memory 420, and the memory 420 stores instructions, wherein when the instructions are executed by the processor 410, the method 100 as described above is implemented.
- the present invention also proposes a computer-readable storage medium on which computer instructions are stored, and when executed, the computer instructions execute the method 100 as described above.
- Some aspects of the method and apparatus of the present invention may be entirely implemented by hardware, may be entirely implemented by software (including firmware, resident software, microcode, etc.), or may be implemented by a combination of hardware and software.
- the above hardware or software may be referred to as “block”, “module”, “engine”, “unit”, “component” or “system”.
- the processor can be one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DAPDs), Programmable Logic Devices (PLCs), Field Programmable Gate Arrays (FPGAs), processors , a controller, a microcontroller, a microprocessor, or a combination thereof.
- ASICs Application Specific Integrated Circuits
- DSPs Digital Signal Processors
- DAPDs Digital Signal Processing Devices
- PLCs Programmable Logic Devices
- FPGAs Field Programmable Gate Arrays
- processors a controller, a microcontroller, a microprocessor, or a combination thereof.
- aspects of the present invention may be embodied as a computer product comprising computer readable program code on one or more computer readable media.
- computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disk, floppy disk, magnetic tape, ...), optical disks (e.g., compact disk (CD), digital versatile disk (DVD) %), smart cards And flash memory devices (eg, cards, sticks, key drives).
- a flow chart is used here to illustrate operations performed by the method according to the embodiment of the present application. It should be understood that the preceding operations are not necessarily performed in an exact order. Instead, various steps may be processed in reverse order or concurrently. At the same time, other operations are either added to these procedures, or a certain step or steps are removed from these procedures.
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Abstract
The invention provides a robot control method, the control method comprising: establishing a simulation model of a robot and of a working environment of the robot; receiving user settings regarding a working area and a working posture range for an end effector of the robot within the simulation model; according to a motion control command of the user, controlling the motion of the robot, wherein the end effector of the robot is limited to the working area and to the working posture range.
Description
本发明主要涉及机器人控制领域，尤其涉及一种机器人的控制方法及装置。The present invention mainly relates to the field of robot control, in particular to a robot control method and device.
机器人(诸如超声机器人)在运动空间活动范围中存在奇点，奇点就是机器人理论上能碰到但是实际上无法碰到的点，当机器人运动到奇点时就会抱闸，抱闸之后需要厂家的专业工程人员来维护，医生无法进行恢复，一些情况下还有可能对机器人或者机器人的操作对象造成伤害。在多数应用场景下，机器人的工作空间仅仅是机器人可活动范围的一小部分。在此范围内机器人可以完成用户期望的工作，此外对于多数特定工作，所需要的机器人末端姿态也仅仅是机器人可活动姿态的一部分。Robots (such as ultrasonic robots) have singularities in the range of motion space. The singularity is the point that the robot can theoretically touch but cannot actually touch. When the robot moves to the singularity, it will lock the brake. After the brake is locked, it needs to The manufacturer's professional engineering personnel come to maintain it, and the doctor cannot restore it. In some cases, it may cause damage to the robot or the robot's operating object. In most application scenarios, the working space of the robot is only a small part of the robot's movable range. Within this range, the robot can complete the work expected by the user. In addition, for most specific tasks, the required end posture of the robot is only a part of the movable posture of the robot.
为了避免机器人运动到奇点，一种方式是通过示教器设置机器人的机械臂的工作空间，然而需要用户具有专业且丰富的几何学知识，导致普通用户无法使用；另一种方式是在机器人的四周设置机器人围栏，这种方式可以降低机器人对使用者的伤害，但是依然无法避免机器人运动到奇点；再一种方式是协作机器人，协作机器人通过人机协作可以降低碰到物体的伤害，但是依然无法降低机器人运动到奇点的概率。In order to prevent the robot from moving to a singularity, one way is to set the working space of the robotic arm of the robot through the teach pendant. However, it requires the user to have professional and rich geometric knowledge, which makes ordinary users unable to use it; Set up a robot fence around the robot. This method can reduce the damage of the robot to the user, but it still cannot prevent the robot from moving to the singularity. Another method is the collaborative robot. The collaborative robot can reduce the damage to the object through human-machine cooperation. However, the probability of the robot moving to the singularity still cannot be reduced.
发明内容Contents of the invention
为了解决上述技术问题，本发明提供一种机器人的控制方法及装置，可以避免机器人运动到奇点，提高机器人控制的可靠性和安全性。In order to solve the above technical problems, the present invention provides a robot control method and device, which can prevent the robot from moving to a singularity and improve the reliability and safety of robot control.
本发明提出了一种机器人的控制方法，所述控制方法包括：建立所述机器人和所述机器人的工作环境的仿真模型；接收用户在所述仿真模型中对所述机器人的末端执行器的工作区域和工作姿态范围的设置；根据所述用户的运动控制命令控制所述机器人运动，所述机器人的所述末端执行器限定在所述工作区域内和所述工作姿态范围内。为此，用户可以在仿真模型中对机器人的末端执行器的工作区域和工作姿态范围进行设置，以将机器人的末端执行器限定在设置的工作区域内和工作姿态范围内，避免机器人运动到奇点，提高机器人控制的可靠性和安全性。The present invention proposes a robot control method, the control method comprising: establishing a simulation model of the robot and the working environment of the robot; receiving the user's work on the end effector of the robot in the simulation model Setting of area and working posture range; controlling the movement of the robot according to the motion control command of the user, and the end effector of the robot is limited within the working area and the working posture range. To this end, the user can set the working area and working attitude range of the robot's end effector in the simulation model, so as to limit the robot's end effector within the set working area and working attitude range, and avoid the robot from moving unexpectedly. point, improve the reliability and safety of robot control.
可选地，接收用户在所述仿真模型中对所述机器人的末端执行器的工作区域和工作姿态范围的设置包括：提供一所述机器人的末端执行器的工作区域和工作姿态范围的缺省设置，接收所述用户在所述仿真模型中对所述缺省设置的调整。为此，用户可以在仿真模型 中对缺省设置进行细调，可以降低用户调整的工作量，提高设置的效率。Optionally, receiving user settings in the simulation model on the working area and working attitude range of the end effector of the robot includes: providing a default setting for the working area and working attitude range of the end effector of the robot settings, receiving adjustments made by the user to the default settings in the simulation model. For this reason, the user can fine-tune the default settings in the simulation model, which can reduce the workload of the user's adjustment and improve the efficiency of the setting.
可选地，所述工作区域包括自由区域和受限区域，接收用户在所述仿真模型中对所述机器人的末端执行器的工作区域和工作姿态范围的设置包括：接收所述用户在所述仿真模型中对所述机器人的末端执行器的自由区域和受限区域的设置。为此，通过区分末端执行器的自由区域和受限区域，进一步提高了用户操作的安全性。Optionally, the working area includes a free area and a restricted area, and receiving the user's setting of the working area and working posture range of the end effector of the robot in the simulation model includes: receiving the user's settings in the The setting of the free area and restricted area of the end effector of the robot in the simulation model. To this end, the safety of the user's operation is further increased by distinguishing between the free area and the restricted area of the end effector.
可选地，所述用户通过手柄组件输入所述运动控制命令，所述控制方法还包括：在所述末端执行器进入到所述受限区域时，向所述手柄组件施加一回复力和/或回复力矩。为此，可以在末端执行器进入受限区域时提供一反馈力，进一步提高了用户操作的安全性。Optionally, the user inputs the motion control command through a handle assembly, and the control method further includes: when the end effector enters the restricted area, applying a restoring force to the handle assembly and/or or restoring torque. For this reason, a feedback force can be provided when the end effector enters a restricted area, further improving the safety of the user's operation.
可选地，建立所述机器人和所述机器人的工作环境的仿真模型包括：采集所述机器人的工作环境的实时图像数据，根据所述实时图像数据建立所述工作环境的数字双胞胎模型。为此，通过建立数字双胞胎模型，可以提高建模的准确性和实时性，从而提高了机器人控制的可靠性和安全性。Optionally, establishing a simulation model of the robot and the working environment of the robot includes: collecting real-time image data of the working environment of the robot, and establishing a digital twin model of the working environment according to the real-time image data. For this reason, by establishing a digital twin model, the accuracy and real-time performance of the modeling can be improved, thereby improving the reliability and safety of robot control.
可选地，所述方法还包括：根据所述用户在远程下达的运动控制命令控制所述机器人运动。为此，可以提高机器人远程控制的可靠性和安全性。Optionally, the method further includes: controlling the movement of the robot according to a movement control command remotely issued by the user. For this reason, the reliability and safety of remote control of the robot can be improved.
本发明还提出了一种机器人的控制装置，所述控制装置包括：建模模块，建立所述机器人和所述机器人的工作环境的仿真模型；设置模块，接收用户在所述仿真模型中对所述机器人的末端执行器的工作区域和工作姿态范围的设置；控制模块，根据所述用户的运动控制命令控制所述机器人运动，所述机器人的所述末端执行器限定在所述工作区域内和所述工作姿态范围内。The present invention also proposes a control device for a robot, the control device includes: a modeling module that establishes a simulation model of the robot and the working environment of the robot; The setting of the working area and working posture range of the end effector of the robot; the control module controls the movement of the robot according to the motion control command of the user, and the end effector of the robot is limited in the working area and within the working posture range.
可选地，所述设置模块接收用户在所述仿真模型中对所述机器人的末端执行器的工作区域和工作姿态范围的设置包括：提供一所述机器人的末端执行器的工作区域和工作姿态范围的缺省设置，接收所述用户在所述仿真模型中对所述缺省设置的调整。Optionally, the setting module receiving the user's setting of the working area and working posture range of the end effector of the robot in the simulation model includes: providing a working area and working posture of the end effector of the robot A range of default settings, receiving adjustments by the user to the default settings in the simulation model.
可选地，所述工作区域包括自由区域和受限区域，所述设置模块接收用户在所述仿真模型中对所述机器人的末端执行器的工作区域和工作姿态范围的设置包括：接收所述用户在所述仿真模型中对所述机器人的末端执行器的自由区域和受限区域的设置。Optionally, the working area includes a free area and a restricted area, and the setting module receiving the user's setting of the working area and working posture range of the end effector of the robot in the simulation model includes: receiving the The user sets the free area and restricted area of the end effector of the robot in the simulation model.
可选地，所述用户通过手柄组件输入所述运动控制命令，所述控制装置还包括：在所述末端执行器进入到所述受限区域时，向所述手柄组件施加一回复力和/或回复力矩。Optionally, the user inputs the motion control command through a handle assembly, and the control device further includes: when the end effector enters the restricted area, applying a restoring force to the handle assembly and/or or restoring torque.
可选地，所述建模模块建立所述机器人和所述机器人的工作环境的仿真模型包括：采集所述机器人的工作环境的实时图像数据，根据所述实时图像数据建立所述工作环境的数字双胞胎模型。Optionally, the modeling module establishing a simulation model of the robot and the working environment of the robot includes: collecting real-time image data of the working environment of the robot, and establishing a digital image of the working environment according to the real-time image data. twin models.
可选地，所述装置还包括：根据所述用户在远程下达的运动控制命令控制所述机器人 运动。Optionally, the device further includes: controlling the movement of the robot according to a movement control command remotely issued by the user.
本发明还提出了一种电子设备，包括处理器、存储器和存储在所述存储器中的指令，其中所述指令被所述处理器执行时实现如上所述的方法。The present invention also proposes an electronic device, including a processor, a memory, and instructions stored in the memory, wherein the instructions implement the above-mentioned method when executed by the processor.
本发明还提出了一种计算机可读存储介质，其上存储有计算机指令，所述计算机指令在被运行时执行如上所述的方法。The present invention also proposes a computer-readable storage medium on which computer instructions are stored, and the computer instructions execute the above-mentioned method when executed.
以下附图仅旨在于对本发明做示意性说明和解释，并不限定本发明的范围。其中，The following drawings are only intended to illustrate and explain the present invention schematically, and do not limit the scope of the present invention. in,
图1是根据本发明的一实施例的一种机器人的控制方法的流程图；Fig. 1 is a flowchart of a method for controlling a robot according to an embodiment of the present invention;
图2是根据本发明的一实施例的一种机器人的控制方法的示意图；Fig. 2 is a schematic diagram of a method for controlling a robot according to an embodiment of the present invention;
图3是根据本发明的一实施例的一种机器人的控制装置的示意图；Fig. 3 is a schematic diagram of a control device of a robot according to an embodiment of the present invention;
图4是根据本发明的一实施例的一种电子设备的示意图。Fig. 4 is a schematic diagram of an electronic device according to an embodiment of the present invention.
附图标记说明Explanation of reference signs
100机器人的控制方法100 robot control methods
110，120，130步骤110, 120, 130 steps
212第一处理器212 first processor
213显示器213 display
214手柄组件214 handle assembly
222 3D摄像头222 3D cameras
223机器人223 robots
2231末端执行器2231 end effector
2233第二处理器2233 second processor
224成像仪224 imager
300机器人的控制装置Control device for 300 robots
310建模模块310 Modeling Module
320设置模块320 Setup Module
330控制模块330 control module
400电子设备400 electronic equipment
410处理器410 processor
420存储器420 memory
为了对本发明的技术特征、目的和效果有更加清楚的理解，现对照附图说明本发明的具体实施方式。In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described with reference to the accompanying drawings.
在下面的描述中阐述了很多具体细节以便于充分理解本发明，但是本发明还可以采用其它不同于在此描述的其它方式来实施，因此本发明不受下面公开的具体实施例的限制。In the following description, many specific details are set forth in order to fully understand the present invention, but the present invention can also be implemented in other ways than those described here, so the present invention is not limited by the specific embodiments disclosed below.
如本申请和权利要求书中所示，除非上下文明确提示例外情形，“一”、“一个”、“一种”和/或“该”等词并非特指单数，也可包括复数。一般说来，术语“包括”与“包含”仅提示包括已明确标识的步骤和元素，而这些步骤和元素不构成一个排它性的罗列，方法或者设备也可能包含其他的步骤或元素。As indicated in this application and claims, the terms "a", "an", "an" and/or "the" do not refer to the singular and may include the plural unless the context clearly indicates an exception. Generally speaking, the terms "comprising" and "comprising" only suggest the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list, and the method or device may also contain other steps or elements.
本发明提出了一种机器人的控制方法，图1是根据本发明的一实施例的一种机器人的控制方法100的流程图，如图1所示，控制方法100包括：The present invention proposes a method for controlling a robot. FIG. 1 is a flow chart of a method 100 for controlling a robot according to an embodiment of the present invention. As shown in FIG. 1 , the control method 100 includes:
步骤110，建立机器人和机器人的工作环境的仿真模型。 Step 110, establishing a simulation model of the robot and the working environment of the robot.
可以通过3D摄像头采集图像建立机器人和机器人的工作环境的仿真模型，3D摄像头可以是单个3D摄像头或3D摄像头阵列，3D摄像头可以以固定采样率采集实时图像数据，这些图像数据被输入到图像处理引擎中以建立机器人和机器人的工作环境的仿真模型。图2是根据本发明的一实施例的一种机器人的控制方法的示意图，如图2所示，显示器213上显示有机器人223和机器人的工作环境的仿真模型。The simulation model of the robot and the robot's working environment can be established by collecting images through the 3D camera. The 3D camera can be a single 3D camera or a 3D camera array. The 3D camera can collect real-time image data at a fixed sampling rate, and these image data are input to the image processing engine In order to establish a simulation model of the robot and the working environment of the robot. FIG. 2 is a schematic diagram of a robot control method according to an embodiment of the present invention. As shown in FIG. 2 , a robot 223 and a simulation model of the robot's working environment are displayed on the display 213 .
在一些实施例中，建立机器人和机器人的工作环境的仿真模型包括：采集机器人的工作环境的实时图像数据，根据实时图像数据建立工作环境的数字双胞胎模型。数字双胞胎模型是对机器人工作环境的实时映射，可以对机器人工作环境进行实时动态仿真，使得机器人工作环境可以与数字双胞胎模型实现动作同步化，即机器人或操作对象发生变化时，数字双胞胎模型也会相应地发生变化。In some embodiments, establishing a simulation model of the robot and the working environment of the robot includes: collecting real-time image data of the working environment of the robot, and establishing a digital twin model of the working environment according to the real-time image data. The digital twin model is a real-time mapping of the robot's working environment, which can perform real-time dynamic simulation of the robot's working environment, so that the robot's working environment can be synchronized with the digital twin model, that is, when the robot or the operating object changes, the digital twin model will also Change accordingly.
例如，在工业机器人中，机器人的末端执行器相对于生产线上的产品移动时，数字双胞胎模型中的机器人的末端执行器也会实时地相对于生产线上的产品移动。又例如，在医用机器人中，机器人的末端执行器相对于患者移动时，数字双胞胎模型中的机器人的末端执行器也会实时地相对于患者移动。For example, in an industrial robot, when the end effector of the robot moves relative to the products on the production line, the end effector of the robot in the digital twin model will also move relative to the products on the production line in real time. For another example, in a medical robot, when the end effector of the robot moves relative to the patient, the end effector of the robot in the digital twin model will also move relative to the patient in real time.
步骤120，接收用户在仿真模型中对机器人的末端执行器的工作区域和工作姿态范围的设置。 Step 120, receiving the user's setting of the working area and working attitude range of the end effector of the robot in the simulation model.
建立机器人和机器人的工作环境的仿真模型之后，用户可以在仿真环境中对机器人的末端执行器的工作区域和工作姿态范围进行设置。例如，对工业机器人而言，可以在仿真 环境中将夹爪的工作区域设置为不超过工位空间，将夹爪的工作姿态范围设置为不超过90度。又例如，对医疗超声机器人而言，可以在仿真环境中对超声探头的工作区域设置为不超过患者腹部空间，将超声探头的工作姿态范围设置为不超过90度。参考图2所示，显示器213上显示有末端执行器2231的工作区域(圆柱轮廓)，末端执行器2231的活动范围将限定在设置的工作区域内。可以理解，图2未示出，末端执行器2231的工作姿态范围也可以通过显示器213设置和显示。After the simulation model of the robot and the working environment of the robot is established, the user can set the working area and working posture range of the end effector of the robot in the simulation environment. For example, for industrial robots, the working area of the gripper can be set in the simulation environment to not exceed the workstation space, and the working posture range of the gripper can be set to not exceed 90 degrees. For another example, for a medical ultrasonic robot, the working area of the ultrasonic probe can be set to not exceed the abdominal space of the patient in the simulation environment, and the working posture range of the ultrasonic probe can be set to not exceed 90 degrees. Referring to FIG. 2 , the display 213 displays the working area (cylindrical outline) of the end effector 2231 , and the range of motion of the end effector 2231 will be limited within the set working area. It can be understood that, not shown in FIG. 2 , the working posture range of the end effector 2231 can also be set and displayed through the display 213 .
在一些实施例中，接收用户在仿真模型中对机器人的末端执行器的工作区域和工作姿态范围的设置包括：提供一机器人的末端执行器的工作区域和工作姿态范围的缺省设置，接收用户在仿真模型中对缺省设置的调整。具体地，在建立机器人和机器人的工作环境的仿真模型之后，可以确定机器人的类型和机器人的工作环境，在此基础上，可以根据确定的机器人的类型和机器人的工作环境提供一机器人的末端执行器的工作区域和工作姿态范围的缺省设置，例如，对于医疗超声机器人，可以推荐超声探头的工作区域为患者腹部空间，工作姿态范围为不超过90度，用户可以在仿真模型中对缺省设置进行细调，可以降低用户调整的工作量，提高设置的效率。In some embodiments, receiving the user's setting of the working area and working attitude range of the end effector of the robot in the simulation model includes: providing a default setting of the working area and working attitude range of the end effector of the robot, receiving the user's Adjustments to default settings in simulation models. Specifically, after the simulation model of the robot and the working environment of the robot is established, the type of the robot and the working environment of the robot can be determined, and on this basis, a robot end execution The default setting of the working area and working posture range of the probe, for example, for a medical ultrasonic robot, it can be recommended that the working area of the ultrasonic probe is the patient’s abdominal space, and the working posture range is no more than 90 degrees. The user can set the default setting in the simulation model. Fine-tuning the settings can reduce the user's adjustment workload and improve the efficiency of the settings.
在一些实施例中，工作区域包括自由区域和受限区域，接收用户在仿真模型中对机器人的末端执行器的工作区域和工作姿态范围的设置包括：接收用户在仿真模型中对机器人的末端执行器的自由区域和受限区域的设置。如图2所示，用户在仿真模型中设置了自由区域A和受限区域B，在自由区域A超声探头2231可以自由移动，在受限区域B超声2231的移动会受到一定的阻力，自由区域A和受限区域B之外的区域为禁止区域，超声探头2231无法移动到禁止区域。在医疗超声机器人中，还可以显示患者的皮肤C，以区分皮外空间和皮内空间，进一步提高用户操作的安全性。In some embodiments, the working area includes a free area and a restricted area, and receiving the user's setting of the working area and working posture range of the end effector of the robot in the simulation model includes: receiving the user's setting of the end effector of the robot in the simulation model The setting of the free area and restricted area of the controller. As shown in Figure 2, the user sets a free area A and a restricted area B in the simulation model. In the free area A, the ultrasonic probe 2231 can move freely, and in the restricted area B, the movement of the ultrasonic probe 2231 will be subject to certain resistance. Areas outside A and the restricted area B are forbidden areas, and the ultrasonic probe 2231 cannot move to the forbidden area. In the medical ultrasound robot, the patient's skin C can also be displayed to distinguish the extracutaneous space from the intradermal space, further improving the safety of the user's operation.
在一些实施例中，用户通过手柄组件输入运动控制命令，控制方法还包括：在末端执行器进入到受限区域时，向手柄组件施加一回复力和/或回复力矩。如图2所示，用户通过手柄组件214输入运动控制命令，即移动手柄组件214，在超声探头2231进入到受限区域B时，向手柄组件施加一回复力和/或回复力矩，以使用户能够感知超声探头2231进入到受限区域，避免进一步向禁止区域运动，进一步提高用户操作的安全性和可靠性。In some embodiments, the user inputs a motion control command through the handle assembly, and the control method further includes: when the end effector enters the restricted area, applying a restoring force and/or restoring torque to the handle assembly. As shown in FIG. 2, the user inputs a motion control command through the handle assembly 214, that is, moves the handle assembly 214, and when the ultrasonic probe 2231 enters the restricted area B, a restoring force and/or restoring torque is applied to the handle assembly, so that the user It can sense that the ultrasonic probe 2231 has entered a restricted area, avoiding further movement to a forbidden area, and further improving the safety and reliability of user operations.
步骤130，根据用户的运动控制命令控制机器人运动，机器人的末端执行器限定在工作区域内和工作姿态范围内。 Step 130, controlling the movement of the robot according to the user's motion control command, and the end effector of the robot is limited within the working area and working posture range.
用户的运动控制命令包括运动参数，该运动参数被映射成机器人的运动参数，机器人根据映射后的运动参数进行运动，其中机器人的末端执行器限定在用户设置的工作区域内和工作姿态范围内，例如超声机器人的超声探头的工作区域被限定在患者腹部空间内，工 作姿态范围被限定在90度内，为此，可以将机器人的末端执行器限定在设置的工作区域内和工作姿态范围内，避免机器人运动到奇点，提高机器人控制的可靠性和安全性。The user's motion control command includes motion parameters, which are mapped to the motion parameters of the robot, and the robot moves according to the mapped motion parameters, wherein the end effector of the robot is limited to the working area and working posture range set by the user, For example, the working area of the ultrasonic probe of the ultrasonic robot is limited in the abdominal space of the patient, and the working posture range is limited within 90 degrees. Therefore, the end effector of the robot can be limited in the set working area and working posture range, Avoid robot movement to singularity, improve the reliability and safety of robot control.
在一些实施例中，方法还包括：根据用户在远程下达的运动控制命令控制机器人运动。如图2所示，用户在远程通过手柄组件214控制机器人223运动，3D摄像头222采集到机器人223和工作环境的图像数据之后，该图像数据经过第二处理器2233处理后发送给第一处理器212，第一处理器212根据图像数据建立机器人223和工作环境的仿真模型，并显示在显示器213上，末端执行器2231(超声探头)在患者P的腹部表面移动，成像仪可以显示超声探头采集的超声图像。为此，可以应用于机器人的远程控制。In some embodiments, the method further includes: controlling the motion of the robot according to a motion control command remotely issued by a user. As shown in Figure 2, the user remotely controls the movement of the robot 223 through the handle assembly 214. After the 3D camera 222 collects the image data of the robot 223 and the working environment, the image data is processed by the second processor 2233 and then sent to the first processor. 212. The first processor 212 establishes a simulation model of the robot 223 and the working environment according to the image data, and displays it on the display 213. The end effector 2231 (ultrasound probe) moves on the abdominal surface of the patient P, and the imager can display the images collected by the ultrasonic probe. ultrasound image. For this purpose, it can be applied to the remote control of robots.
本发明的实施例提供了一种机器人的控制方法，用户可以在仿真模型中对机器人的末端执行器的工作区域和工作姿态范围进行设置，以将机器人的末端执行器限定在设置的工作区域内和工作姿态范围内，避免机器人运动到奇点，提高机器人控制的可靠性和安全性。An embodiment of the present invention provides a method for controlling a robot. The user can set the working area and working posture range of the end effector of the robot in the simulation model, so as to limit the end effector of the robot within the set working area. And within the range of working posture, avoid the robot moving to the singularity, and improve the reliability and safety of robot control.
本发明还提出一种机器人的控制装置，图3是根据本发明的一实施例的一种机器人的控制装置300的示意图。如图3所示，控制装置300包括：The present invention also proposes a robot control device. FIG. 3 is a schematic diagram of a robot control device 300 according to an embodiment of the present invention. As shown in Figure 3, the control device 300 includes:
建模模块310，建立机器人和机器人的工作环境的仿真模型； Modeling module 310, establishes the simulation model of robot and the working environment of robot;
设置模块320，接收用户在仿真模型中对机器人的末端执行器的工作区域和工作姿态范围的设置；The setting module 320 receives the user's setting of the working area and working posture range of the end effector of the robot in the simulation model;
控制模块330，根据用户的运动控制命令控制机器人运动，机器人的末端执行器限定在工作区域内和工作姿态范围内。The control module 330 controls the movement of the robot according to the user's motion control command, and the end effector of the robot is limited within the working area and working posture range.
在一些实施例中，设置模块320接收用户在仿真模型中对机器人的末端执行器的工作区域和工作姿态范围的设置包括：提供一机器人的末端执行器的工作区域和工作姿态范围的缺省设置，接收用户在仿真模型中对缺省设置的调整。In some embodiments, the setting module 320 receiving the user's setting of the working area and working attitude range of the end effector of the robot in the simulation model includes: providing a default setting of the working area and working attitude range of the end effector of the robot , to receive user adjustments to default settings in the simulation model.
在一些实施例中，工作区域包括自由区域和受限区域，设置模块320接收用户在仿真模型中对机器人的末端执行器的工作区域和工作姿态范围的设置包括：接收用户在仿真模型中对机器人的末端执行器的自由区域和受限区域的设置。In some embodiments, the working area includes a free area and a restricted area, and the setting module 320 receiving the user's setting of the working area and the working posture range of the end effector of the robot in the simulation model includes: receiving the user's setting of the robot in the simulation model The settings of the free region and restricted region of the end effector.
在一些实施例中，用户通过手柄组件输入运动控制命令，控制装置还包括：在末端执行器进入到受限区域时，向手柄组件施加一回复力和/或回复力矩。In some embodiments, the user inputs a motion control command through the handle assembly, and the control device further includes: applying a restoring force and/or restoring torque to the handle assembly when the end effector enters the restricted area.
在一些实施例中，建模模块310建立机器人和机器人的工作环境的仿真模型包括：采集机器人的工作环境的实时图像数据，根据实时图像数据建立工作环境的数字双胞胎模型。In some embodiments, the modeling module 310 establishing a simulation model of the robot and the working environment of the robot includes: collecting real-time image data of the working environment of the robot, and establishing a digital twin model of the working environment according to the real-time image data.
在一些实施例中，装置还包括：根据用户在远程下达的运动控制命令控制机器人运动。In some embodiments, the device further includes: controlling the movement of the robot according to a movement control command issued by a user remotely.
本发明还提出一种电子设备400。图4是根据本发明的一实施例的一种电子设备400的示意图。如图4所示，电子设备400包括处理器410和存储器420，存储器420存储中 存储有指令，其中指令被处理器410执行时实现如上文所述的方法100。The present invention also proposes an electronic device 400 . FIG. 4 is a schematic diagram of an electronic device 400 according to an embodiment of the present invention. As shown in FIG. 4 , the electronic device 400 includes a processor 410 and a memory 420, and the memory 420 stores instructions, wherein when the instructions are executed by the processor 410, the method 100 as described above is implemented.
本发明还提出一种计算机可读存储介质，其上存储有计算机指令，计算机指令在被运行时执行如上文所述的方法100。The present invention also proposes a computer-readable storage medium on which computer instructions are stored, and when executed, the computer instructions execute the method 100 as described above.
本发明的方法和装置的一些方面可以完全由硬件执行、可以完全由软件(包括固件、常驻软件、微码等)执行、也可以由硬件和软件组合执行。以上硬件或软件均可被称为“数据块”、“模块”、“引擎”、“单元”、“组件”或“***”。处理器可以是一个或多个专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理器件(DAPD)、可编程逻辑器件(PLC)、现场可编程门阵列(FPGA)、处理器、控制器、微控制器、微处理器或者其组合。此外，本发明的各方面可能表现为位于一个或多个计算机可读介质中的计算机产品，该产品包括计算机可读程序编码。例如，计算机可读介质可包括，但不限于，磁性存储设备(例如，硬盘、软盘、磁带……)、光盘(例如，压缩盘(CD)、数字多功能盘(DVD)……)、智能卡以及闪存设备(例如，卡、棒、键驱动器……)。Some aspects of the method and apparatus of the present invention may be entirely implemented by hardware, may be entirely implemented by software (including firmware, resident software, microcode, etc.), or may be implemented by a combination of hardware and software. The above hardware or software may be referred to as "block", "module", "engine", "unit", "component" or "system". The processor can be one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DAPDs), Programmable Logic Devices (PLCs), Field Programmable Gate Arrays (FPGAs), processors , a controller, a microcontroller, a microprocessor, or a combination thereof. Furthermore, aspects of the present invention may be embodied as a computer product comprising computer readable program code on one or more computer readable media. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disk, floppy disk, magnetic tape, ...), optical disks (e.g., compact disk (CD), digital versatile disk (DVD) ...), smart cards And flash memory devices (eg, cards, sticks, key drives...).
在此使用了流程图用来说明根据本申请的实施例的方法所执行的操作。应当理解的是，前面的操作不一定按照顺序来精确地执行。相反，可以按照倒序或同时处理各种步骤。同时，或将其他操作添加到这些过程中，或从这些过程移除某一步或数步操作。A flow chart is used here to illustrate operations performed by the method according to the embodiment of the present application. It should be understood that the preceding operations are not necessarily performed in an exact order. Instead, various steps may be processed in reverse order or concurrently. At the same time, other operations are either added to these procedures, or a certain step or steps are removed from these procedures.
应当理解，虽然本说明书是按照各个实施例描述的，但并非每个实施例仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。It should be understood that although this description is described according to various embodiments, not each embodiment only includes an independent technical solution, and this description of the description is only for clarity, and those skilled in the art should take the description as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.
以上所述仅为本发明示意性的具体实施方式，并非用以限定本发明的范围。任何本领域的技术人员，在不脱离本发明的构思和原则的前提下所作的等同变化、修改与结合，均应属于本发明保护的范围。The above descriptions are only illustrative specific implementations of the present invention, and are not intended to limit the scope of the present invention. Any equivalent changes, modifications and combinations made by those skilled in the art without departing from the concept and principle of the present invention shall fall within the protection scope of the present invention.
Claims (14)
- 一种机器人的控制方法(100)，其特征在于，所述控制方法(100)包括：A control method (100) for a robot, characterized in that the control method (100) comprises:建立所述机器人和所述机器人的工作环境的仿真模型(110)；establishing a simulation model (110) of the robot and the working environment of the robot;接收用户在所述仿真模型中对所述机器人的末端执行器的工作区域和工作姿态范围的设置(120)；receiving the user's settings (120) on the working area and working posture range of the end effector of the robot in the simulation model;根据所述用户的运动控制命令控制所述机器人运动，所述机器人的所述末端执行器限定在所述工作区域内和所述工作姿态范围内(130)。Motion of the robot is controlled according to motion control commands of the user, the end effector of the robot is defined within the working area and within the working posture range (130).
- 根据权利要求1所述的控制方法(100)，其特征在于，接收用户在所述仿真模型中对所述机器人的末端执行器的工作区域和工作姿态范围的设置包括：提供一所述机器人的末端执行器的工作区域和工作姿态范围的缺省设置，接收所述用户在所述仿真模型中对所述缺省设置的调整。The control method (100) according to claim 1, characterized in that receiving the user's settings in the simulation model on the working area and working posture range of the end effector of the robot comprises: providing a The default setting of the working area and the working posture range of the end effector, receiving the adjustment of the default setting by the user in the simulation model.
- 根据权利要求1所述的控制方法(100)，其特征在于，所述工作区域包括自由区域和受限区域，接收用户在所述仿真模型中对所述机器人的末端执行器的工作区域和工作姿态范围的设置包括：接收所述用户在所述仿真模型中对所述机器人的末端执行器的自由区域和受限区域的设置。The control method (100) according to claim 1, wherein the working area includes a free area and a restricted area, receiving the user's input of the working area and working area of the end effector of the robot in the simulation model. The setting of the attitude range includes: receiving the user's setting of the free area and restricted area of the end effector of the robot in the simulation model.
- 根据权利要求3所述的控制方法(100)，其特征在于，所述用户通过手柄组件输入所述运动控制命令，所述控制方法(100)还包括：在所述末端执行器进入到所述受限区域时，向所述手柄组件施加一回复力和/或回复力矩。The control method (100) according to claim 3, wherein the user inputs the motion control command through a handle assembly, and the control method (100) further comprises: when the end effector enters the In the restricted area, a restoring force and/or restoring moment is applied to the handle assembly.
- 根据权利要求1所述的控制方法(100)，其特征在于，建立所述机器人和所述机器人的工作环境的仿真模型包括：采集所述机器人的工作环境的实时图像数据，根据所述实时图像数据建立所述工作环境的数字双胞胎模型。The control method (100) according to claim 1, wherein establishing a simulation model of the robot and the working environment of the robot comprises: collecting real-time image data of the working environment of the robot, and according to the real-time image The data builds a digital twin model of the work environment.
- 根据权利要求1或5所述的控制方法(100)，其特征在于，所述方法(100)还包括：根据所述用户在远程下达的运动控制命令控制所述机器人运动。The control method (100) according to claim 1 or 5, characterized in that the method (100) further comprises: controlling the motion of the robot according to a motion control command remotely issued by the user.
- 一种机器人的控制装置(300)，其特征在于，所述控制装置(300)包括：A control device (300) for a robot, characterized in that the control device (300) comprises:建模模块(310)，建立所述机器人和所述机器人的工作环境的仿真模型；A modeling module (310), which establishes a simulation model of the robot and the working environment of the robot;设置模块(320)，接收用户在所述仿真模型中对所述机器人的末端执行器的工作区域和工作姿态范围的设置；A setting module (320), receiving the user's setting of the working area and working posture range of the end effector of the robot in the simulation model;控制模块(330)，根据所述用户的运动控制命令控制所述机器人运动，所述机器人的所述末端执行器限定在所述工作区域内和所述工作姿态范围内。A control module (330), controlling the movement of the robot according to the motion control command of the user, and the end effector of the robot is limited within the working area and the working posture range.
- 根据权利要求7所述的控制装置(300)，其特征在于，所述设置模块(320)接收 用户在所述仿真模型中对所述机器人的末端执行器的工作区域和工作姿态范围的设置包括：提供一所述机器人的末端执行器的工作区域和工作姿态范围的缺省设置，接收所述用户在所述仿真模型中对所述缺省设置的调整。The control device (300) according to claim 7, characterized in that, the setting module (320) receiving the setting of the working area and working posture range of the end effector of the robot in the simulation model by the user includes : providing a default setting of the working area and working posture range of the end effector of the robot, and receiving adjustments made by the user to the default setting in the simulation model.
- 根据权利要求7所述的控制装置(300)，其特征在于，所述工作区域包括自由区域和受限区域，所述设置模块接收用户在所述仿真模型中对所述机器人的末端执行器的工作区域和工作姿态范围的设置包括：接收所述用户在所述仿真模型中对所述机器人的末端执行器的自由区域和受限区域的设置。The control device (300) according to claim 7, characterized in that, the working area includes a free area and a restricted area, and the setting module receives the user's input to the end effector of the robot in the simulation model. The setting of the working area and the working posture range includes: receiving the user's setting of the free area and restricted area of the end effector of the robot in the simulation model.
- 根据权利要求9所述的控制装置(300)，其特征在于，所述用户通过手柄组件输入所述运动控制命令，所述控制装置(300)还包括：在所述末端执行器进入到所述受限区域时，向所述手柄组件施加一回复力和/或回复力矩。The control device (300) according to claim 9, characterized in that the user inputs the motion control command through a handle assembly, and the control device (300) further comprises: when the end effector enters the In the restricted area, a restoring force and/or restoring moment is applied to the handle assembly.
- 根据权利要求7所述的控制装置(300)，其特征在于，所述建模模块建立所述机器人和所述机器人的工作环境的仿真模型包括：采集所述机器人的工作环境的实时图像数据，根据所述实时图像数据建立所述工作环境的数字双胞胎模型。The control device (300) according to claim 7, characterized in that, establishing the simulation model of the robot and the working environment of the robot by the modeling module comprises: collecting real-time image data of the working environment of the robot, A digital twin model of the working environment is built based on the real-time image data.
- 根据权利要求7或11所述的控制装置(300)，其特征在于，所述装置(300)还包括：根据所述用户在远程下达的运动控制命令控制所述机器人运动。The control device (300) according to claim 7 or 11, characterized in that the device (300) further comprises: controlling the motion of the robot according to a motion control command remotely issued by the user.
- 一种电子设备(400)，包括处理器(410)、存储器(420)和存储在所述存储器(410)中的指令，其中所述指令被所述处理器(420)执行时实现如权利要求1-6任一项所述的方法。An electronic device (400), comprising a processor (410), a memory (420) and instructions stored in the memory (410), wherein when the instructions are executed by the processor (420), the claims are implemented The method described in any one of 1-6.
- 一种计算机可读存储介质，其上存储有计算机指令，所述计算机指令在被运行时执行如权利要求1-6中任一项所述的方法。A computer-readable storage medium having computer instructions stored thereon, the computer instructions executing the method according to any one of claims 1-6 when executed.
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