Simulation method and device of digital twin system of industrial robot

Abstract

The invention provides a simulation method and device of a digital twin system of an industrial robot. The simulation device comprises the industrial robot, a vision perception unit and a computer, wherein the vision perception unit is arranged at the tail end of the robot and is composed of a camera and a wire structure light emitter; an industrial robot simulation system is established, the robot is modeled, and three instructions are analyzed and run; a target three-dimensional measurement model of a robot visual system is acquired by using a wire structure optical geometric triangular method; a motion instruction is determined for the working task of the robot, virtual simulation is carried out through the computer, and reachable points and collision point detection are carried out; and the robot is actually used for identifying a target object through the visual perception unit, and the actual movement of the robot is driven. The simulation device is safe and reliable in virtual simulation, abnormal operation possibly in actual operation is avoided, the visual perception unit is used for identifying the target object through three-dimensional visual technology, the self-adaptive capacity of the robot to the field environment is improved, and flexibility and intelligence are enhanced.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a simulation method and device for an industrial robot digital twin system. Background technique [0002] With the development of robot technology, industrial robots are widely used in industrial production, playing an important role in machining, welding, assembly, spraying, handling and other fields, and become an important indicator to measure the country's comprehensive national strength and manufacturing level. At present, the use of industrial robots is mainly realized through teaching programming. The robot must be online, which is inefficient. For the axis overrun or collision problem that occurs during the movement of the robot, it cannot be warned in advance, and the safety is poor. At the same time, a large number of industrial robots used in production at home and abroad do not have the ability to perceive the on-site environment. The robot is no...

AI Technical Summary

Problems solved by technology

At present, the use of industrial robots is mainly realized through teaching programming. The robot must be online and the efficiency is low. For the axis overrun or collision problem that occurs during the movement of the robot, it cannot be warned in advance, and the safety is poor.

At the same time, a large number of industrial robots used in production at home and abroad do not have the ability to perceive the on-site environment. The robot is not adaptive and cannot adjust the working path according to the state of the object, so that the processing quality and processing accuracy cannot meet the demand, which greatly limits the use of robots in the industry. Application in production

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