Robot live-line work control method based on virtual reality system

Abstract

The invention provides a robot live-line work control method based on a virtual reality system. According to the robot live-line work control method, the virtual reality system and an actual operationsystem are included; the robot live-line work is combined with the virtual reality technology; an operator mainly undertakes the task to operate virtual reality software, that is, the operator performs teleoperation on a robot or enables the robot to work autonomously; the virtual reality system acquires feedback information and builds a virtual three-dimensional scene; the operator establishes the preliminary operation process by analyzing the vivid virtual three-dimensional scene, and then performs the simulation operation through a simulation system, so that the maloperation can be avoided; under the circumstance that the simulation operation is correct, the operator can remotely control the robot through a teleoperation system or issue an autonomous operation instruction so as to enable the robot to complete the operation process autonomously; and during the operation process, the steps of modeling, rendering and three-dimensional reconstruction are continuously executed in the system, so that the real-time performance and the operability of the system can be ensured.

Description

technical field [0001] The invention belongs to the technical field of remote control, in particular to a method for controlling live-line work of a robot based on a virtual reality system. Background technique [0002] my country's virtual reality technology is mainly used in the scanning reconstruction and simulation of 3D scenes, and has not been well applied in the field of live working robot simulation and real-time operation. In the training of live work, the use of physical objects will consume a lot of power on the one hand, and on the other hand, safety accidents may occur due to the unfamiliar operation of the trainers; in the process of live work robot operation, the working environment is complex and changeable, and the circuit layout is tight and irregular. , The working space is narrow, and this unstructured working environment will greatly increase the difficulty of the robot's live work, reduce the working efficiency, and even bring safety hazards. Research ...

AI Technical Summary

Problems solved by technology

However, compared with live-work robots developed in Western countries, there is still a certain gap between live-work robots developed in China in terms of intelligent control, information perception, adaptability to unstructured environments, and dual-manipulator collaborative control. To complete delicate and complex work, the robot's work content and work efficiency are greatly limited, and engineering applications cannot be truly realized