Remote control device for pipe installation robot and method thereof

Remote Robot Control Device for Pipe Installation

This technology is a system for performing pipe installation tasks through the remote collaborative control of multiple field robots. It utilizes force/torque sensor data from grippers to estimate the pipe's gripping state and employs a robot remote control mechanism that automatically corrects horizontal positioning errors based on contact information with the flange.

Conventional 1:1 remote control methods require high operator proficiency and are limited by the workspace and payload capacity of a single robot, making complex tasks like large-scale pipe installation difficult and causing high operator fatigue.

This technology implements a device that receives commands from a user remote control interface to collaboratively manage multiple robots. It divides the pipe gripping and installation process into task command generation and autonomous command generation. Specifically, it provides a control algorithm that regulates contact force and precisely calibrates pipe positioning through force/torque sensor feedback. Applicable to logistics picking, service robots, and manufacturing automation, it enables coordinated and symmetrical movements of multiple field robots, thereby improving the efficiency and quality of pipe installation tasks.

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Key Features:

• A remote robot control device that corrects horizontal positioning errors by moving the pipe horizontally until the contact force reaches zero, using contact information between the pipe and the flange.
• An autonomous command generation unit that creates autonomous command signals for multiple field robots to install a pipe between two spaced-apart flanges.
• An interface unit that receives pipe gripping and pipe installation operation command signals to control the movements of the field robots.
• A task command generation unit that creates task command signals for the field robots to grip the pipe in response to the pipe gripping operation command signal.

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This invention was developed with support from the Ministry of Knowledge Economy for the development of remote operation service engines for remote tasks and force-feedback remote-controlled robot system technology.