Robot remote control method, device and system based on VR technology

Abstract

The present invention discloses a method, device and system for remote control of a robot based on VR technology. The invention includes: a VR system client displays a VR scene of a robot operating in a factory, wherein the VR scene is constructed based on multiple operating parameters of the robot and factory field data corresponding to the factory, wherein the factory field data at least includes temperature information and layout information of the factory where the robot operates; determining operation information for controlling the target robot, and sending the operation information to a teach pendant integrated system, wherein the teach pendant integrated system controls the target robot based on the operation information. Through the present invention, the technical problem in the related art that one teach pendant only corresponds to one robot and can only control a specific robot, and it is impossible to control multiple robots through one teach pendant, and engineers need to replace different teach pendants to operate different robots is solved.

Description

Technical Field

[0001] The present invention relates to the field of robot control, and in particular to a method, device and system for remotely controlling a robot based on VR technology. Background Art

[0002] Among related technologies, industrial robots have been widely used in production. As their application scope continues to expand, people's requirements for factory intelligence are getting higher and higher. Smart factories and unmanned factories are the future trend.

[0003] In traditional applications, a teach pendant corresponds to only one robot and can only control a specific robot. It is not possible to control multiple robots with one teach pendant. Engineers need to use different teach pendants to operate different robots. During live-line operation, the working environment of robots is complex and changeable, which can affect the operator's personal safety.

[0004] Currently, no effective solution has been proposed to the above-mentioned problems existing in the related technologies. Summary of the Invention

[0005] The main purpose of the present invention is to provide a robot remote control method, device and system based on VR technology to solve the technical problem in the related technology that one teach pendant only corresponds to one robot and can only control a specific robot, and it is impossible to control multiple robots through one teach pendant. Engineers need to replace different teach pendants to operate different robots.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a robot remote control method based on VR technology is provided, and a teach pendant integrated system integrates teach pendants of multiple robots, and the teach pendants correspond to the robots one by one. The invention includes: the VR system client displays a VR scene of the robot working in the factory, wherein the VR scene is constructed based on multiple operating parameters of the robot and factory field data corresponding to the factory, wherein the factory field data includes at least temperature information and layout information of the factory where the robot operates; determining operation information for controlling the target robot, and sending the operation information to the teach pendant integrated system, wherein the teach pendant integrated system controls the target robot based on the operation information.

[0007] Furthermore, the VR system client displays a VR scene of the robot working in the factory, including: displaying the VR scene on a head-mounted screen through MAOLED display technology and Fast LCD display technology.

[0008] Furthermore, the VR system client includes a head-mounted screen and a handle, which sends operation information to the teach pendant integrated system, including: sending the operation information to the teach pendant integrated system through the handle.

[0009] Furthermore, the multiple operating parameters of the robot include at least the operating temperature of each component of the robot, the posture information of the robot, and the wrist force and torque corresponding to each manipulator of the robot.

[0010] Furthermore, after the VR scene renders the robot 3D model for the robot animation, the rendered robot 3D model and the factory animation are imported into the scene constructed on the Unity 3D platform, wherein the robot animation and the factory animation are produced through 3DX Max based on the factory site data and the robot's operating parameters, and the robot 3D model is a 3D model constructed through the operating parameters.

[0011] In order to achieve the above-mentioned purpose, according to another aspect of the present invention, a robot remote control method based on VR technology is provided, wherein the teach pendant integrated system integrates teach pendants corresponding to multiple robots, and one teach pendant corresponds to one robot. The method comprises: when the teach pendant integrated system receives operation information, parsing the operation information, and determining the specific code of the target robot contained in the operation information, wherein the target robot corresponds to the specific code one-to-one; identifying the specific code, and after successful identification, calling the target teach pendant having a mapping relationship with the specific code; and controlling the target teach pendant to control the target robot according to the operation information.

[0012] Furthermore, when the teaching pendant integrated system receives the operation information, parses the operation information, and determines the specific code of the target robot contained in the operation information, the method also includes: sending the operation information and the specific code to the cloud server.

[0013] In order to achieve the above-mentioned purpose, according to another aspect of the present invention, a robot remote control device based on VR technology is provided, wherein the teach pendant integrated system integrates the teach pendants of multiple robots, and the teach pendants correspond to the robots one by one and include: a first display unit, used to display a VR scene of the robot working in the factory through the VR system client, wherein the VR scene is constructed based on multiple operating parameters of the robot and factory field data corresponding to the factory, wherein the factory field data includes at least temperature information and layout information of the factory where the robot operates; a first sending unit, used to determine operation information for controlling the target robot, and send the operation information to the teach pendant integrated system, wherein the teach pendant integrated system controls the target robot based on the operation information.

[0014] In order to achieve the above-mentioned purpose, according to another aspect of the present invention, a robot remote control device based on VR technology is provided, in which the teach pendant integration system integrates teach pendants corresponding to multiple robots, and one teach pendant corresponds to one robot. The device includes: a determination unit, for parsing the operation information when the teach pendant integration system receives the operation information, and determining the specific code of the target robot contained in the operation information, wherein the target robot corresponds to the specific code one-to-one; a calling unit, for identifying the specific code, and after successful identification, calling the target teach pendant having a mapping relationship with the specific code; and a control unit, for controlling the target teach pendant to control the target robot according to the operation information.

[0015] In order to achieve the above-mentioned purpose, according to another aspect of the present invention, a robot remote control system based on VR technology is provided, which includes: a robot data acquisition system, a cloud server, a teach pendant integrated system, and a VR system client. The robot data acquisition system is communicatively connected to the cloud server, and the cloud server is communicatively connected to the teach pendant acquisition system and the VR system client respectively. The VR system client is also communicatively connected to the teach pendant integrated system. The VR system client includes a head-mounted screen and a handle.

[0016] In order to achieve the above-mentioned purpose, according to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is run, the device where the computer-readable storage medium is located is controlled to execute a robot remote control method based on VR technology.

[0017] In order to achieve the above-mentioned object, according to another aspect of the present invention, a processor is provided, wherein the processor is used to run a program, wherein when the program is run, a robot remote control method based on VR technology is executed.

[0018] Through the present invention, the following steps are adopted: a VR system client displays a VR scene of a robot working in a factory, wherein the VR scene is constructed based on multiple operating parameters of the robot and factory field data corresponding to the factory, wherein the factory field data at least includes temperature information and layout information of the factory where the robot operates; operation information for controlling the target robot is determined, and the operation information is sent to a teach pendant integrated system, wherein the teach pendant integrated system controls the target robot based on the operation information, thereby solving the technical problem in the related art that one teach pendant only corresponds to one robot and can only control a specific robot, and multiple robots cannot be controlled by one teach pendant, and engineers need to replace different teach pendants to operate different robots, thereby achieving the technical effect of improving the control efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 is a flowchart of a robot remote control method based on VR technology provided by an embodiment of the present invention; and

[0021] Figure 2 A schematic diagram corresponding to a robot remote control system provided in this application;

[0022] Figure 3 is a flowchart of another robot remote control method based on VR technology provided according to an embodiment of the present invention;

[0023] Figure 4 2 is a schematic diagram of a robot remote control device based on VR technology provided in an embodiment of the present invention;

[0024] Figure 5 2 is a schematic diagram of another robot remote control device based on VR technology provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate for the embodiments of the present invention described herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatuses.

[0028] According to an embodiment of the present invention, a robot remote control method based on VR technology is provided.

[0029] Figure 1 This is a flow chart of a robot remote control method based on VR technology provided according to an embodiment of the present invention. Figure 1 As shown, the invention includes the following steps:

[0030] Step S101: The VR system client displays a VR scene of the robot operating in a factory, wherein the VR scene is constructed based on multiple operating parameters of the robot and corresponding factory site data, wherein the factory site data includes at least temperature information and layout information of the factory where the robot is operating;

[0031] Step S102: determining operation information for controlling the target robot, and sending the operation information to the teaching pendant integrated system, wherein the teaching pendant integrated system controls the target robot according to the operation information.

[0032] The present application provides a teaching pendant integrated system, in which a plurality of teaching pendants for controlling robots are integrated, wherein the integrated teaching pendants correspond one to one with the robots, wherein the teaching pendant integrated system belongs to a robot remote control system provided by the present application, such as Figure 2 As shown, Figure 2 This is a schematic diagram corresponding to a robot remote control system provided in this application, which includes a robot data acquisition system, a cloud server, a teach pendant integration system and a VR system client. In the above method, various operating parameters of the robot and on-site data of the robot's work are collected through the robot data acquisition system, a VR scene of the robot working in the factory is constructed, and the VR scene is displayed on the VR system client. The VR system client includes a head-mounted screen and a handle, that is, the VR scene is displayed on the engineer's head-mounted screen, and the engineer operates the industrial robot teach pendant through the handheld handle.

[0033] Through the above-mentioned control system and control method provided by this application, industrial robots are combined with VR technology to achieve virtual reality synchronization, and multiple individual teach pendant systems corresponding to multiple robots are integrated into the overall teach pendant integration system to realize a one-to-many teach pendant remote control system; the cloud server is used as a data transfer station to realize data exchange between the real and virtual spaces; through virtual reality projection and motion capture technology, the real-time status of the factory is truly displayed to engineers, and engineers can walk freely in the factory area, and even walk into a running robot without being harmed, and observe the working status of the robot at close range, conduct working condition inspections, and remotely control the robot.

[0034] In the virtual space provided by this application, engineers can observe the movement status of the robot at close range to ensure the safe operation of the engineers; in the virtual space, engineers can move freely and control multiple robots through the handle in their hands to connect to the teach pendant system to efficiently control the robot operation; a real, immersive, multi-perceptual and interactive virtual reality system can improve the automation level and safety of live operations and improve the operation quality of the industry.

[0035] In the method provided in the present application, the VR system client displays a VR scene of a robot working in a factory, including: displaying the VR scene on a head-mounted screen through MAOLED display technology and Fast LCD display technology.

[0036] In the method provided in this application, the VR system client includes a head-mounted screen and a handle, which sends operation information to the teach pendant integrated system, including: sending the operation information to the teach pendant integrated system via the handle. The handle acts as a medium between the remote control system and the engineer. After receiving the robot's operation information, the handle sends the operation information to the teach pendant integrated system, and the teach pendant integrated system remotely controls the robot.

[0037] In the method provided herein, the robot's multiple operating parameters include at least the operating temperature of each robot component, the robot's posture information, and the wrist force and torque corresponding to each of the robot's manipulators. After rendering a 3D model of the robot for robot animation, the VR scene imports the rendered 3D model and factory animation into a scene constructed on the Unity 3D platform. The robot and factory animations are created using 3DX Max based on factory site data and the robot's operating parameters. The robot 3D model is a 3D model constructed using the operating parameters.

[0038] In the specific application scenario of this application, the remotely controlled robot is a six-axis robot, such as Figure 2 As shown, the data acquisition system includes multiple sensors for collecting parameters from various parts of the robot, including a Kinect depth camera and a six-dimensional wrist force sensor. The Kinect depth camera captures images of the robot to obtain its posture information. Using the operating parameters collected by the robot data acquisition system, Creo software is used to build and assemble component models of the various mechanical devices. 3ds Max is used to animate and render the factory and robot models, and the constructed models are imported into Unity3D to create the scene. The six-dimensional wrist force sensor and its signal processing system detect the force / torque signals of the robot wrist in real time and input them into the 3D model to display temperature changes in real time. Engineers can visualize the torque and temperature signals in real time in virtual space.

[0039] Factory and robot data is transmitted to a cloud server via 5G network technology, which acts as a data relay. The VR system client reads the cloud server data in real time and displays it on the operator's head-mounted display, typically in stereo mode. The main display technologies used include AMOLED and Fast LCD.

[0040] The teach pendant integration system integrates the teach pendant systems of each robot. Each teach pendant system is stored as a sub-branch in the teach pendant integration system. Engineers can call the teach pendant system in the teach pendant integration system according to specific coding and conduct real-time interaction after passing safety verification.

[0041] Figure 3 FIG. 1 is a flow chart of another method for remotely controlling a robot based on VR technology provided according to an embodiment of the present invention. Figure 3 As shown, the method includes the following steps:

[0042] S301, when the teaching pendant integrated system receives operation information, parsing the operation information and determining a specific code of a target robot contained in the operation information, wherein the target robot corresponds to the specific code one-to-one;

[0043] S302, identifying a specific code, and after successful identification, calling a target teaching device that has a mapping relationship with the specific code;

[0044] S303, controlling the target teaching pendant to control the target robot according to the operation information.

[0045] In the method provided in the present application, when the teaching pendant integrated system receives operation information, it parses the operation information and determines the specific code of the target robot contained in the operation information. The method also includes: sending the operation information and the specific code to the cloud server.

[0046] As mentioned above, in a robot remote control system provided by the present application, the teach pendant integration system integrates the teach pendant systems of each robot, and each teach pendant system is stored as a sub-branch in the teach pendant integration system. Engineers can call the teach pendant system in the teach pendant integration system according to a specific code, wherein the specific code is generated by the teach pendant system, and the specific code refers to the identity of each robot. The corresponding robot is called through the specific code, and the control of the robot is achieved through security authentication. Real-time interaction can be carried out after passing the security verification.

[0047] An embodiment of the present invention provides a robot remote control method based on VR technology, which solves the technical problem in the related technology that one teach pendant only corresponds to one robot and can only control a specific robot, and cannot control multiple robots through one teach pendant, and engineers need to replace different teach pendants to operate different robots. Therefore, an engineer can remotely control multiple robots, predict the degree of wear of various robot components through VR scenes, avoid risks in advance, improve the efficiency of operation and maintenance personnel in robot maintenance, reduce the impact of robot failures on industrial production progress, and enable engineers to observe the movement status of robots at close range in virtual space, thereby achieving the technical effect of remote working condition inspection.

[0048] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0049] The present invention also provides a VR-based remote control device for robots. It should be noted that the VR-based remote control device for robots according to the present invention can be used to execute the VR-based remote control method for robots provided in the present invention. The following describes the VR-based remote control device for robots according to the present invention.

[0050] Figure 4 Schematic diagram of a robot remote control device based on VR technology provided by an embodiment of the present invention. Figure 4 As shown, the device includes: a first display unit 401, used to display a VR scene of the robot working in the factory through a VR system client, wherein the VR scene is constructed based on multiple operating parameters of the robot and factory field data corresponding to the factory, wherein the factory field data at least includes temperature information and layout information of the factory where the robot operates; a first sending unit 402, used to determine operation information for controlling the target robot, and send the operation information to the teach pendant integrated system, wherein the teach pendant integrated system controls the target robot based on the operation information.

[0051] The first display unit 401 includes: a display sub-unit, which displays the VR scene on the head-mounted screen through MAOLED display technology and Fast LCD display technology.

[0052] The VR system client includes a head-mounted screen and a handle, and the first sending unit 402 includes: a sending subunit, which is used to send operation information to the teaching pendant through the handle for integration.

[0053] The multiple operating parameters of the robot include at least the operating temperature of each component of the robot, the posture information of the robot, and the wrist force and torque corresponding to each manipulator of the robot.

[0054] After the VR scene renders the robot 3D model for the robot animation, the rendered robot 3D model and factory animation are imported into the scene built on the Unity 3D platform. Among them, the robot animation and factory animation are produced through 3DX Max based on the factory site data and the robot's operating parameters. The robot 3D model is a 3D model constructed based on the operating parameters.

[0055] Figure 5 Schematic diagram of another robot remote control device based on VR technology provided by an embodiment of the present invention. Figure 5 As shown, the device includes: a determination unit 501, which is used to parse the operation information when the teach pendant integrated system receives the operation information, and determine the specific code of the target robot contained in the operation information, wherein the target robot corresponds to the specific code one by one; a calling unit 502, which is used to identify the specific code, and after successful identification, call the target teach pendant that has a mapping relationship with the specific code; a control unit 503, which is used to control the target teach pendant to control the target robot according to the operation information.

[0056] The device also includes: a second sending unit, which is used to parse the operation information when the teaching pendant integrated system receives the operation information, and after determining the specific code of the target robot contained in the operation information, send the operation information and the specific code to the cloud server.

[0057] An embodiment of the present invention provides a robot remote control device based on VR technology, which uses a first display unit to display a VR scene of a robot operating in a factory through a VR system client, wherein the VR scene is constructed based on multiple operating parameters of the robot and factory field data corresponding to the factory, wherein the factory field data at least includes temperature information and layout information of the factory where the robot operates; a first sending unit is used to determine operation information for controlling a target robot, and send the operation information to a teach pendant integrated system, wherein the teach pendant integrated system controls the target robot based on the operation information, thereby solving the technical problem in the related art that one teach pendant only corresponds to one robot and can only control a specific robot, and it is impossible to control multiple robots through one teach pendant, and engineers need to replace different teach pendants to operate different robots, thereby achieving the technical effect of improving the control efficiency of the robot.

[0058] A robot remote control device based on VR technology includes a processor and a memory. The above units are all stored in the memory as program units, and the processor executes the above program units stored in the memory to realize corresponding functions.

[0059] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured. By adjusting kernel parameters, this solves the technical problem of a teach pendant being limited to a single robot and controlling only a specific robot. This prevents multiple robots from being controlled by a single teach pendant, forcing engineers to switch between different teach pendants to operate different robots.

[0060] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0061] An embodiment of the present invention provides a storage medium having a program stored thereon, which, when executed by a processor, implements a robot remote control method based on VR technology.

[0062] An embodiment of the present invention provides a processor, which is used to run a program, wherein when the program is running, a robot remote control method based on VR technology is executed.

[0063] An embodiment of the present invention provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: a VR system client displays a VR scene of a robot operating in a factory, wherein the VR scene is constructed based on multiple operating parameters of the robot and factory field data corresponding to the factory, wherein the factory field data includes at least temperature information and layout information of the factory where the robot operates; determining operation information for controlling a target robot, and sending the operation information to a teach pendant integrated system, wherein the teach pendant integrated system controls the target robot based on the operation information.

[0064] Optionally, the VR system client displays a VR scene of the robot working in the factory, including: displaying the VR scene on a head-mounted screen through MAOLED display technology and Fast LCD display technology.

[0065] Optionally, the VR system client includes a head-mounted screen and a handle, and sends operation information to the teach pendant integrated system, including: sending the operation information to the teach pendant integrated system through the handle.

[0066] Optionally, the multiple operating parameters of the robot include at least the operating temperature of each component of the robot, the posture information of the robot, and the wrist force and torque corresponding to each manipulator of the robot.

[0067] Optionally, after the VR scene renders the robot 3D model for the robot animation, the rendered robot 3D model and the factory animation are imported into the scene constructed on the Unity 3D platform, wherein the robot animation and the factory animation are produced through 3DX Max based on the factory site data and the robot's operating parameters, and the robot 3D model is a 3D model constructed through the operating parameters.

[0068] When the teach pendant integrated system receives operation information, it parses the operation information and determines the specific code of the target robot contained in the operation information, wherein the target robot corresponds to the specific code one-to-one; identifies the specific code, and after successful identification, calls the target teach pendant that has a mapping relationship with the specific code; and controls the target teach pendant to control the target robot based on the operation information.

[0069] Optionally, when the teaching pendant integrated system receives the operation information, it analyzes the operation information and determines the specific code of the target robot contained in the operation information. The method further includes: sending the operation information and the specific code to a cloud server. The device in this article can be a server, PC, PAD, mobile phone, etc.

[0070] The present invention also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialized program having the following method steps: a VR system client displays a VR scene of a robot operating in a factory, wherein the VR scene is constructed based on multiple operating parameters of the robot and factory field data corresponding to the factory, wherein the factory field data includes at least temperature information and layout information of the factory where the robot operates; determining operation information for controlling the target robot, and sending the operation information to a teach pendant integrated system, wherein the teach pendant integrated system controls the target robot based on the operation information.

[0071] Optionally, the VR system client displays a VR scene of the robot working in the factory, including: displaying the VR scene on a head-mounted screen through MAOLED display technology and Fast LCD display technology.

[0072] Optionally, the VR system client includes a head-mounted screen and a handle, and sends operation information to the teach pendant integrated system, including: sending the operation information to the teach pendant integrated system through the handle.

[0073] Optionally, the multiple operating parameters of the robot include at least the operating temperature of each component of the robot, the posture information of the robot, and the wrist force and torque corresponding to each manipulator of the robot.

[0074] Optionally, after the VR scene renders the robot 3D model for the robot animation, the rendered robot 3D model and the factory animation are imported into the scene constructed on the Unity 3D platform, wherein the robot animation and the factory animation are produced through 3DX Max based on the factory site data and the robot's operating parameters, and the robot 3D model is a 3D model constructed through the operating parameters.

[0075] When the teach pendant integrated system receives operation information, it parses the operation information and determines the specific code of the target robot contained in the operation information, wherein the target robot corresponds to the specific code one-to-one; identifies the specific code, and after successful identification, calls the target teach pendant that has a mapping relationship with the specific code; and controls the target teach pendant to control the target robot based on the operation information.

[0076] Optionally, when the teaching pendant integrated system receives the operation information, parses the operation information, and determines the specific code of the target robot contained in the operation information, the method also includes: sending the operation information and the specific code to the cloud server.

[0077] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0078] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0079] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0080] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0081] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0082] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0083] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0084] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0085] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0086] The above are merely embodiments of the present invention and are not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A robot remote control method based on VR technology, characterized in that: The teaching pendant integrated system integrates the teaching pendants of multiple robots, and the teaching pendants correspond one-to-one with the robots and include: The VR system client displays a VR scene of the robot operating in a factory, wherein the VR scene is constructed based on multiple operating parameters of the robot and factory field data corresponding to the factory, wherein the factory field data includes at least temperature information and layout information of the factory where the robot is operating; determining operation information for controlling a target robot, and sending the operation information to a teach pendant integrated system, wherein the teach pendant integrated system controls the target robot according to the operation information; Wherein, the plurality of operating parameters of the robot include at least the operating temperature of each component of the robot, the posture information of the robot, and the wrist force and torque corresponding to each manipulator of the robot; The teach pendant integration system integrates teach pendants corresponding to multiple robots, one teach pendant corresponds to one robot, and the method includes: when the teach pendant integration system receives operation information, parsing the operation information and determining the specific code of the target robot contained in the operation information, wherein the target robot corresponds to the specific code one-to-one; identifying the specific code, and after successful identification, calling the target teach pendant that has a mapping relationship with the specific code; and controlling the target teach pendant to control the target robot based on the operation information.

2. The method according to claim 1, characterized in that The VR system client includes a head-mounted screen and a handle. The VR system client displays a VR scene of a robot operating in a factory, including: The VR scene is displayed on the head-mounted screen through MAOLED display technology and Fast LCD display technology.

3. The method according to claim 1, characterized in that The VR system client includes a head-mounted screen and a handle, and sends the operation information to the teaching pendant integrated system, including: The operation information is sent to the teaching pendant integrated system through the handle.

4. The method according to any one of claims 1 to 3, characterized in that The VR scene is constructed by rendering a robot 3D model for robot animation, and then importing the rendered robot 3D model and factory animation into a scene constructed on the Unity 3D platform. The robot animation and the factory animation are produced through 3DX Max based on the factory site data and the operating parameters of the robot, and the robot 3D model is a 3D model constructed based on the operating parameters.

5. The method according to claim 1, characterized in that When the teaching pendant integrated system receives the operation information, the method further includes parsing the operation information and determining the specific code of the target robot contained in the operation information: The operation information and specific code are sent to the cloud server.

6. A VR-based robot remote control device according to a VR-based robot remote control method according to any one of claims 1 to 5, characterized in that: The teaching pendant integrated system integrates the teaching pendants of multiple robots, and the teaching pendants correspond one-to-one with the robots and include: a first display unit, configured to display, via a VR system client, a VR scene of the robot operating in a factory, wherein the VR scene is constructed based on a plurality of operating parameters of the robot and factory field data corresponding to the factory, wherein the factory field data includes at least temperature information and layout information of the factory where the robot is operating; a first sending unit, configured to determine operation information for controlling a target robot, and send the operation information to a teach pendant integrated system, wherein the teach pendant integrated system controls the target robot according to the operation information; The plurality of operating parameters of the robot include at least the operating temperature of each component of the robot, the posture information of the robot, and the wrist force and torque corresponding to each manipulator of the robot. a determination unit, configured to, when the teaching pendant integrated system receives operation information, parse the operation information and determine a specific code of a target robot contained in the operation information, wherein the target robot corresponds to the specific code in a one-to-one manner; A calling unit, configured to identify the specific code and, upon successful identification, call a target teaching pendant having a mapping relationship with the specific code; A control unit is used to control the target teaching device to control the target robot according to the operation information.

7. A VR-based robot remote control system using the VR-based robot remote control method according to any one of claims 1 to 5, characterized in that: include: A robot data acquisition system, a cloud server, a teaching pendant integrated system, and a VR system client. The robot data acquisition system is communicatively connected to the cloud server. The cloud server is communicatively connected to the teaching pendant acquisition system and the VR system client respectively. The VR system client is also communicatively connected to the teaching pendant integrated system. The VR system client includes a head-mounted screen and a handle.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is run, the device where the computer-readable storage medium is located is controlled to execute the robot remote control method based on VR technology according to any one of claims 1 to 5.

9. A processor, characterized in that: The processor is used to run a program, wherein the program, when running, executes a robot remote control method based on VR technology as described in any one of claims 1 to 5.

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