Robot teleoperation method, robot and storage medium

A robot, comprising:

• a memory;
• and
• a processor, wherein the memory is configured to store a computer program, and the processor is configured to perform a teleoperation method for the robot when the processor executes the computer program, the method comprising:
• acquiring an image of a target object, and generating a point cloud of the target object according to the image;
• establishing a virtual fixture based on a geometric feature corresponding to the point cloud;
• the virtual fixture comprising at least one of a forbidden region virtual fixture or a guidance virtual fixture;
• determining a reference point of the virtual fixture and a control point of the robot, and determining a virtual force of the virtual fixture acting on the control point according to a distance between the reference point and the control point;
• and
• determining a control force applied to the control point based on the virtual force,
• wherein determining the virtual force of the virtual fixture acting on the control point according to the distance between the reference point and the control point comprises:
• in response to the distance being greater than or equal to a preset value, setting the virtual force to be zero;
• and
• in response to the distance being less than the preset value, setting the virtual force in such a manner that the less the distance between the reference point and the control point, the greater the virtual force;
• the method further comprises:
• in response to the virtual fixture being the guidance virtual fixture, setting a force vacuum range with the reference point as a center of the force vacuum range;
• in response to the distance being less than the preset value and the control point being outside the force vacuum range, setting the virtual force in such a manner that the smaller the distance between the reference point and the control point, the greater the virtual force;
• and
• in response to the control point being within the force vacuum range, setting the virtual force to be zero.

A non-transitory computer-readable storage medium, storing a computer program thereon, wherein, when the computer program is executed by a processor, the processor is caused to perform a teleoperation method for a robot, the teleoperation method comprising:

• acquiring an image of a target object, and generating a point cloud of the target object according to the image;
• establishing a virtual fixture based on a geometric feature corresponding to the point cloud;
• the virtual fixture comprising at least one of a forbidden region virtual fixture or a guidance virtual fixture;
• determining a reference point of the virtual fixture and a control point of a robot, and determining a virtual force of the virtual fixture acting on the control point according to a distance between the reference point and the control point;
• and
• determining a control force applied to the control point based on the virtual force,
• wherein determining the virtual force of the virtual fixture acting on the control point according to the distance between the reference point and the control point comprises:
• in response to the distance being greater than or equal to a preset value, setting the virtual force to be zero;
• and
• in response to the distance being less than the preset value, setting the virtual force in such a manner that the less the distance between the reference point and the control point, the greater the virtual force;
• the method further comprises:
• in response to the virtual fixture being the guidance virtual fixture, setting a force vacuum range with the reference point as a center of the force vacuum range;
• in response to the distance being less than the preset value and the control point being outside the force vacuum range, setting the virtual force in such a manner that the smaller the distance between the reference point and the control point, the greater the virtual force;
• and
• in response to the control point being within the force vacuum range, setting the virtual force to be zero.