A method for remote robot programming and deployment of mixed reality systems

Abstract

The present invention provides a method for remote robot programming and deployment of a mixed reality system, including a VR device unit, a host computer unit, a robot control unit and a charcoal block polishing robot; the VR device unit is interactively connected to the host computer unit, the host computer unit is interactively connected to the robot control unit, and the robot control unit is interactively connected to the charcoal block polishing robot; the invention adopts mixed reality technology, so that workers can operate without any contact with the working environment, which greatly improves safety. Due to the use of mixed reality, the operating robot can perform multiple virtual work tests, and in some working conditions where raw materials need to be tested, the raw materials will not be wasted. At the same time, this method does not require too much technical knowledge reserves and is easy to operate, so that ordinary workers can also quickly get started with the operation, which greatly reduces the dependence on highly technical personnel.

Description

Technical Field

[0001] The present invention relates to the technical field of remote robot programming and deployment, and in particular to a method for using a remote robot programming and deployment mixed reality system. Background Art

[0002] With the development of science and technology, more and more robots are being used in industrial production. Using robots to work can greatly reduce labor costs. Since robots can work uninterruptedly, production efficiency is greatly improved. In some high-risk environments, since robots can work in a closed environment, high noise, dust pollution or other working environments that may be harmful to the human body can be separated from the external environment, greatly improving the workers' work comfort, reducing environmental pollution and harm to workers' health. Using robots to work allows workers to indirectly operate dangerous equipment, greatly reducing the probability of industrial accidents and reducing dependence on high-tech workers. However, since workers still need to interact with robots, some improper operation of robots may cause robots to cause harm to workers.

[0003] At present, for the control of robots, due to the consideration of technical cost, most of them only use position control to work. Robots based on position control can only work based on planned positions, and need workers with certain knowledge reserves to operate them. The requirements for workers have a certain threshold and are highly dependent on highly skilled people. Therefore, a method for remote robot programming and deployment of mixed reality system is proposed. Summary of the invention

[0004] In view of this, the present invention hopes to provide a method for remote robot programming and deployment of mixed reality systems to solve or alleviate the technical problems existing in the prior art, or at least provide a beneficial choice.

[0005] The technical solution of the embodiment of the present invention is implemented as follows: a method for remote robot programming and deployment of a mixed reality system, comprising a VR device unit, a host computer unit, a robot control unit, and a carbon block polishing robot;

[0006] The VR device unit is interactively connected to the host computer unit, the host computer unit is interactively connected to the robot control unit, and the robot control unit is interactively connected to the carbon block polishing robot;

[0007] The host computer unit includes a cloud computing module and an edge computing module, and the cloud computing module is interactively connected with the edge computing module;

[0008] The cloud computing module is used to perform VR simulation on the human-computer interaction environment scene and simulate the virtual robot S;

[0009] The edge computing module is used to record the posture and trajectory of the virtual robot S in the VR scene.

[0010] Further preferably, the VR device unit includes a VR helmet and a VR operating handle;

[0011] The VR helmet is used to display the human-computer interaction environment scene simulated by the cloud computing module.

[0012] Further preferably, the VR operating handle includes an R1 button and an R2 button, the R2 button is used to drag the end of the virtual robot S in the human-computer interaction environment scene, and the R1 button is used to obtain the posture and spatial coordinates of the end of the virtual robot S in the current human-computer interaction environment scene.

[0013] Further preferably, the robot control unit is used to receive and store the posture and trajectory data of the virtual robot acquired by the host computer unit.

[0014] Further preferably, the carbon block polishing robot is a real robot, which is used to receive posture and trajectory data from a robot control unit and complete execution operations according to the posture and trajectory data.

[0015] In addition, the present invention also provides a method for using the method for remote robot programming and deployment of a mixed reality system, comprising the following steps:

[0016] S1: The host computer unit triggers the callback function of the posture synchronization button and initializes the virtual robot S using the carbon block grinding machine;

[0017] S2: Trigger the end of the virtual robot S through the R2 button of the VR operating handle, and send a service request for solving the position and posture information to the host computer, and perform inverse kinematics solution on the host computer;

[0018] S3: When the R1 button on the right hand is triggered, the edge computing module records the virtual robot S terminal posture and all the corresponding joint positions, that is, the current position and posture information, and renders the corresponding waypoint coordinate axis and the line connecting the previous coordinate axis in the VR environment;

[0019] S4: When the coordinate axis is triggered by the right hand R2 button, drag the selected waypoint coordinate axis. At this time, if the right hand R1 button is triggered, delete the waypoint coordinate axis;

[0020] S5: When the callback function of the teaching completion button is triggered, the virtual robot S returns to the initial position recorded during initialization, and sends all currently recorded posture trajectory waypoint coordinate axes to the host computer to obtain the trajectory service request. After obtaining the response, the virtual robot S in the VR scene executes it again;

[0021] S6: After the robot control unit triggers the trajectory option callback function, it sends a service request for deploying the trajectory to the upper computer. After obtaining a response, the carbon block grinding robot starts working, which is considered a successful robot operation. If there is no response, it is considered a failed robot operation.

[0022] Further preferably, in S1, the position and posture information of the charcoal block polishing robot is collected by the host computer using the I / O interface, and then the host computer sends the collected position and posture information to the cloud computing module. At this time, the position and posture of the charcoal block polishing robot will be set as the initial position and posture of the virtual robot S in VR.

[0023] Further preferably, in S2, when the VR operating handle model turns red and feedback vibrates, it indicates that the solution has failed, and the position and posture of S are updated in real time in the VR scene, which indicates that the solution has been successful.

[0024] Since the embodiment of the present invention adopts the above technical solution, it has the following advantages: the present invention adopts mixed reality technology, so that workers can operate without any contact with the working environment, which greatly improves safety. Since mixed reality is adopted, the operating robot can perform multiple virtual work tests. In some working conditions where raw materials are required for testing, there will be no waste of raw materials. At the same time, this method does not require too much technical knowledge reserves and is easy to operate, so that ordinary workers can also quickly get started, which greatly reduces the dependence on highly technical personnel.

[0025] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a structural diagram of the present invention;

[0028] Figure 2 It is a teaching flow chart of the present invention;

[0029] Figure 3 It is a schematic diagram of the process steps of the present invention. DETAILED DESCRIPTION

[0030] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0031] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0032] like Figure 1-3 As shown, an embodiment of the present invention provides a method for remote robot programming and deployment of a mixed reality system, including a VR device unit, a host computer unit, a robot control unit, and a carbon block polishing robot;

[0033] The VR device unit is interactively connected to the host computer unit, the host computer unit is interactively connected to the robot control unit, and the robot control unit is interactively connected to the carbon block polishing robot;

[0034] The host computer unit includes a cloud computing module and an edge computing module, and the cloud computing module is interactively connected with the edge computing module;

[0035] The cloud computing module is used to perform VR simulation on the human-computer interaction environment scene and simulate the virtual robot S;

[0036] The edge computing module is used to record the posture and trajectory of the virtual robot S in the VR scene.

[0037] In one embodiment, the VR device unit includes a VR helmet and a VR operating handle;

[0038] The VR helmet is used to display the human-computer interaction environment scene simulated by the cloud computing module; through the VR helmet, the human-computer interaction environment scene simulated by the cloud computing module is displayed in real time, so that the staff can observe the working posture and trajectory of the virtual robot S more intuitively.

[0039] In one embodiment, the VR operating handle includes an R1 button and an R2 button, the R2 button is used to drag the end of the virtual robot S in the human-computer interaction environment scene, and the R1 button is used to obtain the posture and spatial coordinates of the end of the virtual robot S in the current human-computer interaction environment scene; the virtual robot S end is triggered by triggering the R2 button, and the edge computing module is used to record the posture of the virtual robot S end and all the corresponding joint positions, that is, the current position and posture information, by triggering the R1 button.

[0040] In one embodiment, the robot control unit is used to receive and store the posture and trajectory data of the virtual robot obtained by the host computer unit; after the trajectory option callback function is triggered by the robot control unit, a service request for deploying the trajectory is sent to the host computer.

[0041] In one embodiment, the carbon block grinding robot is a real robot, which is used to receive the posture and trajectory data of the robot control unit and complete the execution of the operation according to the posture and trajectory data; the carbon block grinding machine receives the posture and trajectory data from the control unit and performs the operation according to the data.

[0042] In addition, the present invention also provides a method for using the method for remote robot programming and deployment of a mixed reality system, comprising the following steps:

[0043] S1: The host computer unit triggers the callback function of the posture synchronization button and initializes the virtual robot S using the carbon block grinding machine;

[0044] S2: Trigger the end of the virtual robot S through the R2 button of the VR operating handle, and send a service request for solving the position and posture information to the host computer, and perform inverse kinematics solution on the host computer;

[0045] S3: When the R1 button on the right hand is triggered, the edge computing module records the virtual robot S terminal posture and all the corresponding joint positions, that is, the current position and posture information, and renders the corresponding waypoint coordinate axis and the line connecting the previous coordinate axis in the VR environment;

[0046] S4: When the coordinate axis is triggered by the right hand R2 button, drag the selected waypoint coordinate axis. At this time, if the right hand R1 button is triggered, delete the waypoint coordinate axis;

[0047] S5: When the callback function of the teaching completion button is triggered, the virtual robot S returns to the initial position recorded during initialization, and sends all currently recorded posture trajectory waypoint coordinate axes to the host computer to obtain the trajectory service request. After obtaining the response, the virtual robot S in the VR scene executes it again;

[0048] S6: After the robot control unit triggers the trajectory option callback function, it sends a service request for deploying the trajectory to the upper computer. After obtaining a response, the carbon block grinding robot starts working, which is considered a successful robot operation. If there is no response, it is considered a failed robot operation.

[0049] In one embodiment, in S1, the position and posture information of the charcoal block polishing robot is collected by the host computer using the I / O interface, and then the host computer sends the collected position and posture information to the cloud computing module. At this time, the position and posture of the charcoal block polishing robot will be set as the initial position and posture of the virtual robot S in VR; the position and posture information of the charcoal block polishing robot is collected by the host computer using the I / O interface, and the virtual robot S is initialized using the position and posture information of the charcoal block polishing robot.

[0050] In one embodiment, in S2, when the VR operating handle model turns red and the feedback vibrates, it means that the solution has failed, and the position and posture of S are updated in real time in the VR scene, which means that the solution is successful; the inverse kinematic solution is judged by the feedback of the VR operating handle model so that the staff can correct the erroneous data in time.

[0051] When the present invention is working: the callback function of the posture synchronization button is triggered by the host computer unit, and the position and posture information of the charcoal block polishing robot is collected by the host computer using the I / O interface, and then the host computer sends the collected position and posture information to the cloud computing module. At this time, the position and posture of the charcoal block polishing robot will be set as the initial position and posture of the virtual robot S in the VR, so as to initialize the virtual robot S using the charcoal block polishing machine. In the initialization stage, the staff needs to wear a VR helmet and hold the VR operating handle, and trigger the end of the virtual robot S through the R2 button of the VR operating handle, and move it to the upper position. The host sends a service request for solving the position and posture information, and the host performs inverse kinematics solution. When the VR operation handle model turns red and the feedback vibrates, it means that the solution has failed. The position and posture of S are updated in real time in the VR scene, which means that the solution is successful. When the right hand R1 button is triggered, the edge computing module records the virtual robot S terminal posture and all the corresponding joint positions, that is, the current position and posture information, and renders the corresponding waypoint coordinate axis and the connection with the previous coordinate axis in the VR environment. When the coordinate axis is triggered by the right hand R2 button, the selected waypoint coordinate axis is dragged. At this time, if the right R1 button is pressed The button is triggered, the waypoint coordinate axis is deleted, so as to correct and optimize the waypoint coordinate axis. When the host computer triggers the callback function of the teaching button, the virtual robot S returns to the initial position recorded during initialization, and sends all the currently recorded posture trajectory waypoint coordinate axes to the host computer to obtain the service request of the trajectory. After obtaining the response, the virtual robot S in the VR scene executes it again. After the robot control unit triggers the trajectory option callback function, it sends a service request for deploying the trajectory to the host computer. After obtaining the response, the posture and trajectory data are imported into the charcoal block grinding robot through the robot control unit. The charcoal block grinding robot starts working, which is considered to be a successful robot work. If there is no response, it is considered to be a failed robot work. Then, by using mixed reality technology, workers can operate without any contact with the working environment, which greatly improves the safety of the workers. Due to the use of mixed reality, the operating robot can perform multiple virtual work tests. In some working conditions where raw materials need to be tested, there will be no waste of raw materials. At the same time, this method does not require too much technical knowledge reserves and is easy to operate, so that ordinary workers can also quickly get started, which greatly reduces the dependence on highly skilled personnel.

[0052] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for remote robot programming and deployment of mixed reality systems, characterized in that: The system comprises a VR device unit, a host computer unit, a robot control unit and a charcoal block polishing robot, wherein the VR device unit is interactively connected with the host computer unit, the host computer unit is interactively connected with the robot control unit, the robot control unit is interactively connected with the charcoal block polishing robot, the host computer unit comprises a cloud computing module and an edge computing module, the cloud computing module is interactively connected with the edge computing module, the cloud computing module is used to perform VR simulation on a human-computer interaction environment scene and simulate a virtual robot S, the edge computing module is used to record the posture and trajectory of the virtual robot S in the VR scene, and comprises the following steps: S1: The host computer unit triggers the callback function of the posture synchronization button and initializes the virtual robot S using the carbon block grinding machine; S2: Trigger the end of the virtual robot S through the R2 button of the VR operating handle, and send a service request for solving the position and posture information to the host computer, and perform inverse kinematics solution on the host computer; S3: When the R1 button on the right hand is triggered, the edge computing module records the virtual robot S terminal posture and all the corresponding joint positions, that is, the current position and posture information, and renders the corresponding waypoint coordinate axis and the line connecting the previous coordinate axis in the VR environment; S4: When the coordinate axis is triggered by the right hand R2 button, drag the selected waypoint coordinate axis. At this time, if the right hand R1 button is triggered, delete the waypoint coordinate axis; S5: When the callback function of the teaching completion button is triggered, the virtual robot S returns to the initial position recorded during initialization, and sends all currently recorded posture trajectory waypoint coordinate axes to the host computer to obtain the trajectory service request. After obtaining the response, the virtual robot S in the VR scene executes it again; S6: After the robot control unit triggers the trajectory option callback function, it sends a service request for deploying the trajectory to the upper computer. After obtaining a response, the carbon block grinding robot starts working, which is considered a successful robot operation. If there is no response, it is considered a failed robot operation.

2. A method for remote robot programming and deployment of a mixed reality system according to claim 1, characterized in that: The VR device unit includes a VR helmet and a VR operating handle; The VR helmet is used to display the human-computer interaction environment scene simulated by the cloud computing module.

3. A method for remote robot programming and deployment of a mixed reality system according to claim 2, characterized in that: The VR operating handle includes an R1 button and an R2 button, wherein the R2 button is used to drag the end of the virtual robot S in the human-computer interaction environment scene, and the R1 button is used to obtain the posture and spatial coordinates of the end of the virtual robot S in the current human-computer interaction environment scene.

4. The method for remote robot programming and deployment of a mixed reality system according to claim 1, characterized in that: The robot control unit is used to receive and store the posture and trajectory data of the virtual robot acquired by the host computer unit.

5. The method for remote robot programming and deployment of a mixed reality system according to claim 1, characterized in that: The carbon block polishing robot is a real robot, which is used to receive the posture and trajectory data of the robot control unit and complete the execution work according to the posture and trajectory data.

6. The method for remote robot programming and deployment of a mixed reality system according to claim 1, characterized in that: In S1, the position and posture information of the charcoal block polishing robot is collected by the host computer using the I / O interface, and then the host computer sends the collected position and posture information to the cloud computing module. At this time, the position and posture of the charcoal block polishing robot will be set as the initial position and posture of the virtual robot S in VR.

7. The method for remote robot programming and deployment of a mixed reality system according to claim 1, characterized in that: In S2, when the VR operating handle model turns red and feedback vibrates, it means that the solution has failed. If the position and posture of S are updated in real time in the VR scene, it means that the solution has been successful.

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