Virtual-real fusion man-machine collaborative simulation method and system

Abstract

The invention discloses a virtual-real fusion man-machine collaborative simulation method. The virtual-real fusion man-machine collaborative simulation method comprises the following steps: calculating a three-dimensional pose sequence of a human body, arms and hands and corresponding force application information according to three-dimensional pose information of the human body and a return result of a data glove; and combining the three-dimensional pose sequence of the human body, the arms and the hands, the corresponding force application information and a virtual robot model motion simulation result, obtaining position interaction information and force interaction information between a virtual robot and the human body three-dimensional posture sequence through detection on the basis ofa collision detection algorithm and a physical simulation algorithm, and carrying out simulation analysis on a man-machine cooperation process. The virtual-real fusion man-machine collaborative simulation method has the advantages that verification and experiments for various control algorithms in man-machine cooperation research can be carried out, and interaction, collision, force, action coordination and other content between people and the robot are experimented; the method is closer to a real scene, can truly reflect the human motion, avoids building of a complex model, guarantees the safety of the human body, enables a person to truly feel a cooperation process, and is more accurate in simulation.

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...

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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 mod

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