Robot based on three-dimensional (3D) technology, and telepresence method of mechanical arm state thereof

A robot and manipulator technology, which is applied in the field of telepresence of the state of the robot and its manipulator, can solve the problems of difficult to observe the global state of the robot, and it is difficult to intuitively judge the state of the manipulator of the robot, so as to achieve background transparency and guarantee Occupy the software interface, the effect of convenient human-computer interaction

Active Publication Date: 2018-07-31
北京华信智航科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] When controlling and operating the robot remotely, the operator needs to make accurate judgments on the joint angle and posture of the robot. The existing solution is to judge through the video images returned by the robot's own camera and the feedback of some status values. Since the camera is It is installed on the robot body, so it is difficult to observe the global state of the robot through the camera video, and it is also difficult to intuitively judge the state of the robot and its mechanical arm through the feedback posture and other values

Method used

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  • Robot based on three-dimensional (3D) technology, and telepresence method of mechanical arm state thereof
  • Robot based on three-dimensional (3D) technology, and telepresence method of mechanical arm state thereof

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Embodiment 1

[0026] Such as figure 1 As shown, this embodiment provides a robot for telepresence using the above method. Among them, the arm joint 2 is connected with the chassis 1, the upper arm rotation joint 3 is connected with the chassis 1, the upper arm pitch joint 4 is connected with the upper arm rotation joint 3, the forearm pitch joint 5 is connected with the upper arm pitch joint 4, and the wrist pitch joint 6 It is connected with the forearm pitch joint 5, the front paw rotation joints 8 and 9 are connected with the wrist pitch joint 6, the front paw clamping joint 7 is connected with the front paw rotation joint 8, the rear paw clamping joint 10 and the rear paw The rotary joint 9 is connected.

Embodiment 2

[0028] This embodiment provides a method for displaying information on the connection status (ie angle) of each component in the robot described in Embodiment 1 in real time on a remote computer. Described method is specifically:

[0029] The angle sensor data of each joint of the robot is collected through the robot angle acquisition module, and converted to obtain real angle data;

[0030] Collect the corresponding data of the robot's three-axis gyroscope, three-axis accelerometer and three-axis magnetometer through the robot attitude data acquisition module, and obtain the real-time attitude data of the robot through calculation;

[0031] Pack the angle data and the posture data of the robot through the robot data transmission module, and wirelessly transmit the relevant data of the robot to the remote computer through the data transmission module;

[0032] The remote computer receives the data packet of the robot and analyzes the data packet to obtain corresponding attitu...

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Abstract

The invention relates to the field of a three-dimensional (3D) virtual reality technology, in particular to a robot based on a three-dimensional (3D) technology, and a telepresence method of a mechanical arm state thereof. The method is characterized by utilizing OpenGL 3D display, resolving various joint angles and posture angles of the robot, and presenting a form of a remote robot onto a screenof a remote control computer through a 3D manner, so that a worker for operating the robot can conveniently judge a state of the robot in real time, the working efficiency of the robot is improved, and the mis-operation of the worker is reduced.

Description

technical field [0001] The invention relates to the technical field of 3D virtual reality, in particular to a method for telepresence of the state of a robot and its mechanical arm based on 3D technology. Background technique [0002] When controlling and operating the robot remotely, the operator needs to make accurate judgments on the joint angle and posture of the robot. The existing solution is to judge through the video images returned by the robot's own camera and the feedback of some status values. Since the camera is It is installed on the robot body, so it is difficult to observe the global state of the robot through the camera video, and it is also difficult to intuitively judge the state of the robot and its mechanical arm through the feedback posture and other values. Contents of the invention [0003] In order to solve the above technical problems, the present invention provides a method for telepresence of the state of a robot and its mechanical arm based on ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J9/16
CPCB25J5/005B25J9/1689
Inventor 吴琳许泽希杜凡姜伟
Owner 北京华信智航科技有限公司
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