Method for building robot simulation drilling system based on reality scene

Abstract

The invention discloses a method for building a robot simulation drilling system based on a reality scene. The method comprises the following steps: obtaining depth image information of the reality scene, and transforming the depth image information into discrete three-dimensional point cloud data; interpreting the three-dimensional point cloud data into a semantic map which can be understood by a robot; inputting the discrete three-dimensional point cloud data into three-dimensional modeling software, and carrying out geometric modeling on a virtual scene, so as to obtain a three-dimensional entity model of the virtual scene; introducing the three-dimensional entity model into a 3DS MAX to map and render, so as to obtain a three-dimensional space scene model; carrying out geometric modeling on the robot in the 3DS MAX, so as to obtain a virtual robot model; introducing the three-dimensional space scene model and the virtual robot model into an OGRE (object-oriented graphics rendering engine), building a physical model and a power model of the three-dimensional space scene, and building a virtual scene simulation system.

Description

technical field [0001] The invention belongs to the technical field of machine vision and virtual reality, and in particular relates to a construction method of a robot simulation exercise system based on a real scene. Background technique [0002] The continuous development of virtual reality technology has brought good news to the remote teleoperation of robots in dangerous environments. The robot operation simulation system based on virtual reality includes an operator, a teleoperated robot in a remote dangerous environment, a computer-generated virtual operation environment and an interactive interface. The operator only needs to use the generated virtual environment interface and robot-based multi-sensors to control the remote robot operation information and environmental information, and finally realize the simulation exercise of the robot in the virtual scene. [0003] To build a robot simulation exercise system, it is first necessary to build a virtual environment c...

AI Technical Summary

Problems solved by technology

[0005] The existing 3D reconstruction based on binocular stereo vision is easily affected by factors such as illumination and object surface texture, and the reconstruction effect and real-time performance are limited

3D reconstruction based on laser measurement method lacks texture information and expensive equipment

[0006] 3DS MAX software is an intuitive feature animation software that uses reverse dynamics. It is good at texture rendering, environment simulation, and scene simulation. The disadvantage is that the modeling cycle is long

At present, the 3D modeling software commonly used in the field of mechanical design has the advantages of fast modeling speed and accurate models, but the disadvantages are insufficient mapping and rendering capabilities, and lack of environmental simulation and scene simulation capabilities.

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