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A real-time control system for industrial robots based on VR technology
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A real-time control system, industrial robot technology, applied in general control system, control/adjustment system, computer control, etc., can solve the problem of inability to control the robot in real time, and achieve the effect of controlling the robot body efficiently
Active Publication Date: 2021-11-09
HARBIN INST OF TECH
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Problems solved by technology
[0006] The purpose of the present invention is to solve the problem that the existing industrial robot controlsystem and method cannot control the robot in real time, and now provides a real-time control system for industrial robots based on VR technology
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specific Embodiment approach 1
[0045] Embodiment 1: Combining Figure 1 to Figure 4Describe this embodiment, a real-time control system for industrial robots based on VR technology described in this embodiment, the system includes a VR integrated machine, a model building module, a motion control module, a data communication system and a robot controller;
[0046] The VR all-in-one machine includes a VR helmet and a VR handle.
[0048] The motion control module is used to construct the Cyber model corresponding to the industrial robot model and the industrial robot working environment model,
[0049] And set a plurality of control points in the Cyber model, set a bounding box for each control point, so that the bounding boxes corresponding to all control points cover the entire industrial robot working environment in the Cyber model,
[0050] And add a bounding box on the claw of the...
specific Embodiment approach 2
[0059] Embodiment 2: This embodiment is a real-time control system for an industrial robot based on VR technology described in Embodiment 1, and the model building module further includes a display module,
[0060] The display module is used to display the robot motion position information in real time in the VR helmet.
specific Embodiment approach 3
[0061] Embodiment 3: This embodiment is a real-time control system for industrial robots based on VR technology described in Embodiment 1. The data communication system includes a data transmission module, an initialization module and a control point judgment module.
[0062] The data sending module is used to send the communication code when receiving the signal that the control point is triggered;
[0063] The initialization module is used to send the login communication code instruction when receiving the signal that the control point is triggered;
[0064] The control point judgment module is used to receive the login communication code instruction, scan all control points, and send the communication code corresponding to the control point until it is detected that the robot gripper moves to the inside of the bounding box of a control point;
[0065] The data sending module is used for sending the communication code corresponding to the control point to the robot controlle...
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Abstract
A real-time controlsystem for industrial robots based on VR technology relates to real-time control of industrial robots. The purpose of the present invention is to solve the problem that the existing industrial robotcontrol system and method cannot control the robot in real time. The user touches and drags the gripper at the end of the robot through the VR handle to realize the movement of the robot in the Cyber environment; when the gripper moves to the inside of the bounding box of a certain control point, the data communication system is triggered, and the Unity engine script sends a message to the robot controller. Send the communication code corresponding to the control point. After receiving the code, the robot controller sends an instruction to the robot in the physical space to trigger the control data corresponding to the control point in the robot controller, so that the robot can move in real time according to the control data. It is used for real-time control of industrial robots.
Description
technical field [0001] The invention relates to an industrial robotcontrol system, in particular to a real-time control system combined with virtual reality (VR) technology and oriented to the application process of industrial robots. Background technique [0002] Industrial robots are widely used in manufacturing process flow, factory logistics, high-risk environment control and other links. The application range covers all segments of the manufacturing industry. It is a key element for my country's manufacturing industry to achieve high-quality automation and intelligence. [0003] Industrial robots are the "main force" of my country's robot market. Although the scale of my country's industrial robot market is on the rise, industrial robots, as high-end equipment with high technology integration, complex application environment, and professional operation and maintenance, have high-tech and multi-dimensional needs for application-oriented talents, which has led to domesti...
Claims
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Application Information
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