Method and System for Valve Operation Based on Autonomous Collaboration of Remote-Controlled Robots

Autonomous Collaborative Valve Operation Method for Remotely Controlled Robots

This technology provides a method for multiple slave robots to collaboratively operate a valve using a jig. It features a control mechanism where robots measure valve dimensions to set gripper coordinate systems and then rotate the valve by alternately gripping the jig based on generated paths.

When a single robot lacks sufficient torque or the valve's rotation range exceeds the robot's workspace, remote control of a single unit is limited. Furthermore, manual remote operation of the entire process leads to high operator fatigue and reduced efficiency.

This technology utilizes two or more slave robots to generate motion paths for each unit through a collaborative and autonomous command generation device. While gripping the jig, the robots measure valve dimensions and use this data to rotate the valve by alternately gripping the jig. It includes a safety control function that halts path tracking if excessive force is detected via contact force sensors. Applicable to logistics, service robots, and autonomous platforms, this system enables remote operation of multiple robots, reduces the need for human intervention, and improves overall task quality and efficiency in remote environments.

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Key Features:

• In a method for collaboratively operating a single valve using two or more slave robots, (a) the step of operating the robot arm of each slave robot to grip a jig coupled to the valve
• (c) the step of storing the gripper coordinate system for each slave robot based on the measured valve dimension information and generating a motion path for each slave robot arm
• (b) the step of measuring valve dimension information through the jig
• (d) a method for autonomous collaborative valve operation by remotely controlled robots, comprising the step of each slave robot repeatedly following the generated path and alternately gripping the jig to rotate the valve.

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