Augmented reality based robot demonstration representation method and device

A technology of augmented reality and robotics, applied to instruments, manipulators, program-controlled manipulators, etc., can solve problems such as a large amount of calculation

Active Publication Date: 2018-06-15
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The device can complete robot teaching without a robot end effector. However, this method of super...

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  • Augmented reality based robot demonstration representation method and device
  • Augmented reality based robot demonstration representation method and device
  • Augmented reality based robot demonstration representation method and device

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Embodiment Construction

[0077] The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0078] The existing online teaching and reproduction method for industrial robots requires on-site teaching of the working robot in a real working environment, and the working robot and the workpiece will be damaged if the teaching fails. Through the use of augmented reality technology, first use the virtual robot superimposed in the real environment to perform teaching and reproduction, which can avoid damage to the working robot and the workpiece when the teaching fails. The person teaching the knowledge can also complete the teaching. Based on this, the present invention proposes a robot teaching method and device based on augmented reality, which will be described in detail below.

[0079] A robot teaching device based on augmented reality, such as Figure 4 , incl...

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Abstract

The invention discloses an augmented reality based robot demonstration representation method and device. The method comprises the following steps of: performing filtering processing and data optimizing on gesture pose obtained by somatosensory equipment; sending optimized data to augmented reality equipment through a wireless network, and representing demonstration track of an operator by drivinga virtual robot in the AR equipment; observing represented track of the virtual robot from the augmented reality equipment via a demonstrator, regulating a demonstration point with relatively great errors through voice, modifying a previous demonstration point, and repeating operations until errors of all demonstration points are within a satisfactory limit, thereby completing demonstration; and converting the final demonstration track into a joint angle needed for driving a real robot, and controlling the real robot to represent a demonstration path of the operator. The device comprises somatosensory equipment, a PC, a microphone, optical see-through type augmented reality equipment, a WiFi router and a robot. The augmented reality based robot demonstration representation method and device have the advantages of being relatively low in professional requirements of the demonstrator, avoiding damaging an operating robot, being high in repeating efficiency and the like.

Description

technical field [0001] The invention relates to the field of industrial robot teaching, in particular to a method and device for online teaching and reproduction of robots based on augmented reality technology. Background technique [0002] Robots have experienced three generations since their birth in the 1960s: teaching and reproduction robots, sentient robots, and intelligent robots. However, teaching and reproduction robots are still the most widely used robots in the industrial field. [0003] The purpose of robot teaching is to obtain the pose required by the robot to complete the job, and its teaching methods can be divided into online teaching and offline teaching. The disadvantage of the online teaching method is that the teaching process is cumbersome and time-consuming, and the attitude of the robot needs to be adjusted repeatedly according to the work task, which has poor timeliness and it is difficult to plan complex work paths. Offline teaching is to use compu...

Claims

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Application Information

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IPC IPC(8): B25J3/00B25J9/16
CPCB25J3/00B25J9/1664G05B2219/40519
Inventor 张平陈偕权杜广龙陈晓丹李方陈明轩
Owner SOUTH CHINA UNIV OF TECH
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