A VR-based robot teleoperation system and its teleoperation method

Abstract

The invention discloses a robot remote operating system and method based on VR. The system comprises an operation robot, a camera shooting device, a VR head display device, a robot planning device, aremote control device and a background server. The method comprises the following steps that firstly, a virtual robot and a VR virtual scene are constructed; secondly, the camera shooting device is utilized for obtaining video images of the operation environment and an operation target in real time; thirdly, the video images and the VR virtual scene are synchronously overlapped; fourthly, action planning is conducted on the virtual robot in the virtual scene; fifthly, the operation robot is controlled to execute the actions; sixthly, the robot actions are corrected according to sensor data; and seventhly, log data in the fourth step, the fifth step and the sixth step are stored, and deep learning is conducted. The system and method have higher flexibility, safety and precision, manual workcan be replaced for electrification work, electrification work intelligence is achieved, the electrification work efficiency is improved, and personal risks of related operators are reduced.

Description

technical field [0001] The invention relates to the technical field of robot teleoperation, in particular to a robot teleoperation system and a teleoperation method based on 3D modeling, VR head-display equipment and teleoperation control technology. Background technique [0002] Robotic operations are becoming more and more common in areas such as harsh operating environments, high operating risks, or human inability to complete operations. Operators can remotely control robots to perform operations to reduce personal safety risks. The realization of robot teleoperation system has greatly changed the operation mode of the robot and expanded the operation ability of the robot. People do not even need to appear in the robot operation environment, and can directly control the robot operation locally or in other places. However, there are also certain problems in the robot teleoperation system. The robot teleoperation human-computer interaction system needs to obtain the operat...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problems of insufficient operational sensitivity, poor interactive experience, and time delay affecting accuracy of the robot teleoperation system, the present invention proposes a VR-based robot teleoperation system and its teleoperation method, which generates a virtual scene through a VR head-mounted display device , simulate robot movements in virtual scenes, pre-plan robot movements, remotely control live working robots to move in actual working environments, with high flexibility and precision, improve live working efficiency, reduce labor costs, and reduce personal safety risks

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