A virtual-real fusion human-machine collaborative simulation method and system

Abstract

The invention discloses a virtual-real fusion human-machine cooperative simulation method, which includes: calculating and obtaining the three-dimensional pose sequence and corresponding force information of the human body, arm and hand according to the three-dimensional pose information of the human body and the return result of the data glove; combining The three-dimensional pose sequence of the human body, arm and hand and the corresponding force information, as well as the motion simulation results of the virtual robot model, based on the collision detection algorithm and the physical simulation algorithm, detect the positional interaction between the virtual robot and the three-dimensional pose sequence of the human body Information and force interaction information, simulation analysis of human-machine cooperation process. The present invention can carry out the verification and experiment of various control algorithms in the research of human-computer cooperation, and experiment the interaction, collision, force, action coordination between humans and robots, etc.; it is closer to the real scene, can truly reflect the movement of the human body, and avoids the establishment of In addition to the complex model, it also has the advantages of ensuring the safety of the human body, people can truly feel the collaboration process, and the simulation is more accurate.

Description

technical field [0001] The present invention relates to the technical fields of augmented reality and robot technology, in particular to a virtual-real fusion human-machine cooperative simulation method and system. Background technique [0002] Robots, especially industrial robots, are important tools in the manufacturing industry. Considering safety issues, robots used to be surrounded and worked alone. It is no longer possible to rely on robots to complete complex and detailed tasks. Robots must cooperate with humans to complete more complex production requirements. Therefore, in recent years, human-machine collaborative operations have become a development trend in robot applications. [0003] In the process of man-machine collaboration technology research and experiment, simulation technology is one of the important research means. At present, there are two main simulation methods in the research of human-computer collaboration. One is to use a virtual simulation enviro...

AI Technical Summary

Problems solved by technology

At present, there are two main simulation methods in the research of human-computer collaboration. One is to use a virtual simulation environment for human-computer collaborative simulation, that is, to establish a three-dimensional model of the robot and a three-dimensional model of the human body in the computing environment, and to carry out the simulation by driving the model movement. Research on human-computer interaction and human-computer collaboration, but this method requires the establishment of a large number of models, and the models are all simplified models, which cannot be compared with real scenes, and the data accuracy is poor

Another kind of research uses real robots and real people to conduct human-computer interaction and human-computer collaboration. This method uses actual scenes for simulation, but there is a need to build physical robots, which requires high costs, direct contact between humans and robots, and experimental limitations. Uncertainty will bring danger and injury to the human body, and the disadvantage of not being able to guarantee human safety

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