Teaching training method, system and device and readable storage medium

Abstract

The invention discloses a teaching practical training method, system and device and a readable storage medium, and the method comprises the steps: firstly constructing a virtual part model library, then building an equipment production and manufacturing process according to the production and manufacturing process, constructing a virtual teaching scene for virtual reality teaching through employing a virtual reality technology, and carrying out the practical training of the virtual part model library. The virtual teaching scene is implanted into the robot; and then receiving a selection instruction of a practical training mode, controlling the robot to execute a corresponding assembly or disassembly action according to the virtual teaching scene, and finally presenting the virtual teaching scene and the assembly or disassembly action executed by the robot in the virtual reality glasses. According to the embodiment, the assembly or disassembly action of the robot and the assembly or disassembly process of parts can be completely displayed to a user, the robot can be controlled to perform the assembly or disassembly action according to the operation of the user, so that the virtual display technology is applied to industrial teaching practical training, and the teaching practical training efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of virtual reality technology, and in particular to a teaching and training method, system, device and readable storage medium. Background Art

[0002] With the continuous improvement of the automation level in the mechanical processing industry and the large-scale use of various automation equipment, enterprises have put forward higher requirements for the quality of employees. On the one hand, employees are required to have a high degree of professionalism, and on the other hand, they also have high requirements for their hands-on ability. Before employees take up their posts, enterprises need to provide relatively systematic and complete professional practical training for employees so that they can master and master the business of the corresponding jobs. The traditional training method is mainly through professional training teachers combining theoretical knowledge and operating procedures of related positions, on-site observation, simulated operation, and internships, so that students can have a more systematic understanding of the operating procedures of related equipment positions, so that they can be competent for their jobs after taking up their jobs, and can ensure that when operating related equipment, there will be no loss of equipment parts or even safety accidents.

[0003] Virtual reality (VR) is a high-tech technology that has emerged in recent years. Virtual reality uses computer simulation to generate a virtual world in three-dimensional space, providing users with simulations of vision, hearing, touch and other senses, so that users can observe things in three-dimensional space in a timely and unlimited manner as if they were in the real world. With the continuous improvement of virtual reality technology, various industries have also emerged in an endless stream of related applications combining virtual reality technology, especially in industrial teaching and training. The prior art provides a mechanical assembly auxiliary technology based on virtual reality technology and augmented reality technology. The technology combines theoretical teaching and practical teaching, allowing students to understand the assembly process in a virtual reality environment and actually operate in an augmented reality environment, solving the problem of inconsistency between the virtual teaching scene constructed in the minds of students in traditional teaching methods and the real scene, and improving learning efficiency. In addition, a virtual reality simulation teaching system is currently provided, which can construct simulated scenes such as factories, laboratories, mines, and dangerous areas, allowing students to operate in virtual teaching scenes.

[0004] However, the virtual reality technology currently provided is mainly used in the stage where students learn and understand related products and equipment, and has not been applied to industrial teaching and training.

[0005] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The main purpose of the present invention is to provide a teaching training method, system, device and readable storage medium to solve the problem that the currently provided virtual reality technology is mainly used for students to learn and understand related products and equipment, but has not been applied to industrial teaching training.

[0007] To achieve the above object, the present invention provides a teaching training method, which comprises:

[0008] Constructing a virtual part model library, wherein a three-dimensional simulation model of the physical part is established in a virtual space according to the processing information of the physical part to form the virtual part model library;

[0009] Establish equipment manufacturing process according to the manufacturing process, use virtual reality technology to build virtual teaching scenes for virtual reality teaching, and implant the virtual teaching scenes into robots;

[0010] receiving a selection instruction of a practical training mode, and controlling the robot to perform a corresponding assembly or disassembly action according to the virtual teaching scene, wherein the robot presents a virtual three-dimensional model of a part to be used in real time in a virtual space according to the part model stored in the virtual part model library;

[0011] The virtual teaching scene and the assembly or disassembly action performed by the robot are presented in virtual reality glasses.

[0012] Further, the controlling the robot to perform corresponding assembly or disassembly actions according to the virtual teaching scene includes:

[0013] Acquire a job instruction input by a user, and select a corresponding part model in the virtual part model library according to the job instruction, wherein the job instruction includes a part type and an assembly or disassembly process in the virtual teaching scene;

[0014] The robot is controlled to perform assembly or disassembly actions according to the part type and the assembly or disassembly process to complete assembly simulation or disassembly simulation of the virtual part.

[0015] Furthermore, the teaching training method also includes:

[0016] identifying an assembly or disassembly progress of the virtual part according to the part type;

[0017] Receive a pause or speed adjustment instruction input by a user, and control the speed of assembly or disassembly of the robot according to the pause or speed adjustment instruction.

[0018] Furthermore, the teaching training method also includes:

[0019] Receive the movement command input by the user and obtain the movement information of the user;

[0020] Adjusting the user's virtual viewing angle in the virtual space and the virtual distance to the virtual part according to the movement information;

[0021] According to the virtual viewing angle and the virtual distance, assembly progress information and assembly parameter information of the virtual part are prompted.

[0022] Furthermore, the teaching training method includes:

[0023] According to the assembly or disassembly progress of the virtual parts, determine whether the current assembly or disassembly requirements of the virtual parts meet the preset requirements;

[0024] If the preset requirement is not met, the action of the robot is paused and a prompt message is sent to the virtual reality glasses;

[0025] The robot is controlled to return to the position of the previous action, and at the same time, the virtual teaching scene returns to the corresponding action scene.

[0026] Furthermore, the selection instructions include virtual processing instructions and physical processing instructions, and the teaching training method includes:

[0027] If the selected instruction is a virtual processing instruction, a virtual processing flow corresponding to the virtual instruction is obtained, and the robot is controlled to complete the virtual action;

[0028] If the selected instruction is a physical processing instruction, a physical processing flow corresponding to the physical processing instruction is obtained, and the robot is controlled to complete the physical action.

[0029] Furthermore, the selection instructions also include equipment maintenance instructions, and the teaching training method includes:

[0030] According to the equipment maintenance instructions, obtain the preset equipment maintenance process;

[0031] Send maintenance procedures to virtual reality glasses to remind users of the specific steps for equipment maintenance;

[0032] Receive maintenance instructions from the user and control the robot to perform equipment maintenance actions.

[0033] In addition, to achieve the above purpose, the present invention also provides a teaching and training system, comprising:

[0034] A parts model library construction module is used to construct a virtual parts model library, wherein a three-dimensional simulation model of the physical parts is established in a virtual space according to the processing information of the physical parts to form the virtual parts model library;

[0035] A virtual teaching scene construction module is used to establish an equipment manufacturing process according to the manufacturing process, use virtual reality technology to build a virtual teaching scene for virtual reality teaching, and implant the virtual teaching scene into the robot;

[0036] A receiving module, used for receiving a selection instruction of a practical training mode, and controlling the robot to perform a corresponding assembly or disassembly action according to the virtual teaching scene, wherein the robot presents a virtual three-dimensional model of a part to be used in real time in a virtual space according to the part model stored in the virtual part model library;

[0037] The sending module is used to present the virtual teaching scene and the assembly or disassembly action performed by the robot in virtual reality glasses.

[0038] In addition, to achieve the above-mentioned purpose, the present invention also provides a teaching and training device, which includes: a memory, a processor, and a teaching and training program stored in the memory and executable on the processor. When the teaching and training program is executed by the processor, the steps of the teaching and training method described above are implemented.

[0039] In addition, to achieve the above-mentioned purpose, the present invention also provides a readable storage medium, on which a teaching training program is stored, and when the teaching training program is executed by a processor, the steps of the teaching training method described above are implemented.

[0040] The practical training teaching method provided by the present application first constructs a virtual part model library, wherein a three-dimensional simulation model of the physical part is established in the virtual space according to the processing information of the physical part to form a virtual part model library; then the equipment production and manufacturing process is established according to the production and manufacturing process, and a virtual teaching scene for virtual reality teaching is constructed by using virtual reality technology, and the virtual teaching scene is implanted into the robot; then the selection instruction of the practical training mode is received, and the robot is controlled to perform the corresponding assembly or disassembly action according to the virtual teaching scene, wherein the robot presents the virtual three-dimensional model of the part to be used in real time in the virtual space according to the part model stored in the virtual part model library; finally, the virtual teaching scene and the assembly or disassembly action performed by the robot are presented in the virtual reality glasses. This embodiment can not only fully display the assembly or disassembly action of the robot and the assembly or disassembly process of the parts to the user, but also control the robot to perform assembly or disassembly action according to the user's operation, thereby applying virtual display technology to industrial teaching and training, and improving the efficiency of teaching and training. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a flow chart of an embodiment of the teaching training method of the present invention;

[0042] Figure 2It is a flow chart of another embodiment of the teaching training method of the present invention;

[0043] Figure 3 It is a flow chart of another embodiment of the teaching training method of the present invention.

[0044] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0046] The present invention further provides a teaching training method. Figure 1 , Figure 1 It is a flow chart of an embodiment of the teaching training method of the present invention.

[0047] In this embodiment, the executor of the teaching training method is a teaching training system. The present invention constructs a virtual part model library, wherein a three-dimensional simulation model of the physical part is established in the virtual space according to the processing information of the physical part to form a virtual part model library; an equipment production and manufacturing process is established according to the production and manufacturing process, and a virtual teaching scene for virtual reality teaching is constructed using virtual reality technology, and the virtual teaching scene is implanted into the robot; a selection instruction of the training mode is received, and the robot is controlled to perform corresponding assembly or disassembly actions according to the virtual teaching scene, wherein the robot presents the virtual three-dimensional model of the part to be used in real time in the virtual space according to the part model stored in the virtual part model library; and the virtual teaching scene and the assembly or disassembly action performed by the robot are presented in the virtual reality glasses. The steps of the teaching training method include:

[0048] Step S10, constructing a virtual part model library, wherein a three-dimensional simulation model of the physical part is established in a virtual space according to the processing information of the physical part to form the virtual part model library;

[0049] In this embodiment, the processing information of the physical part can be the dimensional accuracy, material, properties and other information of the physical part. The physical part is simulated and modeled by 3D modeling software, or the physical part is converted into an editable three-dimensional model by scanning reverse engineering. Among them, the virtual part model library includes multiple or multiple types of virtual parts. For example, the part models are classified according to different models, sizes, materials, properties and other information and stored in the virtual part model library. In addition, by selecting suitable VR / AR development tools according to the application scenario, a rich set of plug-ins and API interfaces are provided to facilitate the integration of various functions. Cloud computing service providers such as AWS, Azure or Alibaba Cloud are used to provide storage, computing power and network bandwidth for the model library to ensure the scalability and stability of the system. Relational databases (such as MySQL, PostgreSQL) or NoSQL databases (such as MongoDB) are used to efficiently store and manage a large number of models and their related metadata.

[0050] Step S20, establishing a device manufacturing process according to the manufacturing process, using virtual reality technology to build a virtual teaching scene for virtual reality teaching, and implanting the virtual teaching scene into the robot;

[0051] In this embodiment, the virtual teaching scene refers to a virtual working environment. A virtual working environment is created using a suitable VR / AR engine. The environment should include elements such as workbenches, shelves, and toolboxes in the production and manufacturing process, simulate the layout of a real production line assembly workshop or laboratory, and implant the virtual teaching scene into the robot. The communication protocol between the robot and the teaching and training system is established through ROS Bridge, MQTT, and RESTful API to ensure that the teaching and training system can communicate with the robot control system and synchronize real-time data, and ensure that the virtual teaching scene can receive data feedback from the robot sensor and adjust the display content accordingly. For example, a virtual automobile assembly line can be created in which trainees can learn how to assemble engines, install car doors, and other processes.

[0052] Step S30, receiving a selection instruction of a practical training mode, and controlling the robot to perform a corresponding assembly or disassembly action according to the virtual teaching scene, wherein the robot presents a virtual three-dimensional model of the part to be used in real time in a virtual space according to the part model stored in the virtual part model library;

[0053] In this embodiment, the training mode includes virtual processing instructions and physical processing instructions, wherein virtual processing means that the robot only performs corresponding assembly or disassembly actions according to the virtual processing instructions, but will not actually perform assembly or disassembly actions of the parts to be used in the real scene. The robot only performs relevant assembly or disassembly actions in the first processing area according to the virtual processing instructions, and the first processing area is the virtual processing area; physical processing means that the robot performs corresponding assembly or disassembly actions in the second processing area according to the physical processing instructions. In this scenario, the robot will carry physical parts to perform real assembly or disassembly actions, and the second processing area is the physical processing area.

[0054] Whether it is virtual processing or physical processing, the robot will perform assembly or disassembly actions, but during virtual processing, the robot will not carry physical parts and perform assembly or disassembly actions in the virtual area; during physical processing, the robot will carry physical parts and perform assembly or disassembly of physical parts in the physical processing area. In addition, whether it is virtual processing or physical processing, the same virtual processing scene will be presented in the virtual teaching scene. The robot will select the corresponding part to be used from the part model stored in the virtual part model library, and present the virtual 3D model of the part to be used in real time in the virtual space. At this time, from the perspective of the trainee, the trainee will see the specific process of the assembly or disassembly action performed by the robot in the virtual teaching scene, as well as the scene after the assembly or disassembly action.

[0055] Step S40: presenting the virtual teaching scene and the assembly or disassembly action performed by the robot in virtual reality glasses.

[0056] In this embodiment, the robot will be placed in a virtual teaching scene, and the robot and the virtual teaching scene will be integrated, that is, the robot is part of the virtual teaching scene, and the virtual teaching scene and the assembly or disassembly actions performed by the robot will be presented on the virtual reality glasses. The user can wear the virtual reality glasses to observe the actions performed by the robot and the entire process of parts assembly. Among them, the assembly or disassembly actions performed by the robot include assembly of mechanical parts, tool replacement, clamping, measurement and other actions.

[0057] The practical training teaching method provided in this embodiment first constructs a virtual part model library, wherein a three-dimensional simulation model of the physical part is established in the virtual space according to the processing information of the physical part to form a virtual part model library; then the equipment production and manufacturing process is established according to the production and manufacturing process, and a virtual teaching scene for virtual reality teaching is constructed by using virtual reality technology, and the virtual teaching scene is implanted into the robot; then the selection instruction of the practical training mode is received, and the robot is controlled to perform the corresponding assembly or disassembly action according to the virtual teaching scene, wherein the robot presents the virtual three-dimensional model of the part to be used in real time in the virtual space according to the part model stored in the virtual part model library; finally, the virtual teaching scene and the assembly or disassembly action performed by the robot are presented in the virtual reality glasses. This embodiment can not only fully display the assembly or disassembly action of the robot and the assembly or disassembly process of the parts to the user, but also control the robot to perform the assembly or disassembly action according to the user's operation, thereby applying the virtual display technology to industrial teaching and training, and improving the efficiency of teaching and training.

[0058] Specifically, step S30 includes:

[0059] Step S31, obtaining a work instruction input by a user, and selecting a corresponding part model in the virtual part model library according to the work instruction;

[0060] In this embodiment, the operation instructions input by the user include the part type and assembly or disassembly process in the virtual teaching scene. A user interface can be designed. After the user wears virtual reality glasses, the user can select different task modules by operating the real operation panel. Different task modules can correspond to different part types and assembly or disassembly processes, including parts of different models, sizes, materials, and attributes, and assembly processes corresponding to different parts, such as doors, tires, engines, and other parts in the automobile assembly process. Among them, the users in this embodiment can be trainers and teachers.

[0061] In one embodiment, the user's operation gesture may be recognized, and the part type and the assembly or disassembly process may be selected according to the user's operation gesture.

[0062] In one embodiment, the part type and the assembly or disassembly process may also be selected according to the user's voice information by recognizing the user's voice information.

[0063] Step S32, controlling the robot to perform assembly or disassembly actions according to the part type and the assembly or disassembly process, so as to complete assembly simulation or disassembly simulation of the virtual part.

[0064] In this embodiment, the teaching and training system sends the relevant information of the part type and the assembly or disassembly process to the robot. The robot performs the assembly or disassembly action according to the part type and the assembly or disassembly process. In the virtual teaching scene, the entire process of the robot's assembly or disassembly process will be presented, and the trainees can observe the robot's movement trajectory and the structure after the parts are assembled in the virtual teaching scene. For example, in the virtual teaching and training scene of automobile parts assembly, the trainees can see the entire process of the robot assembling the engine and the structure after the engine is assembled through training operations. In this embodiment, the user's operation is combined with virtual reality, which not only allows the user to experience the real operation process, but also allows the user to observe the process of parts assembly or disassembly in real time.

[0065] In some embodiments, the assembly or disassembly progress of virtual parts can also be identified according to the part type. For example, in the virtual scene of engine assembly, which sub-parts have been assembled and which sub-parts have not been assembled during the engine assembly process can be identified according to the engine type, as well as the status of the sub-parts after assembly, such as incorrect sub-part assembly, low assembly accuracy, incomplete assembly, etc. The user can control the assembly progress through the user interface, operation gestures, voice, etc., including pausing or adjusting the assembly speed. The robot controls the speed of robot assembly or disassembly according to the pause or speed adjustment instructions. For example, when the user finds an assembly error or wants to observe the assembly status of a part by himself, he can choose to pause the virtual scene. At this time, the virtual scene will maintain the current scene unchanged.

[0066] In some embodiments, the user's movement instructions can also be received to obtain the user's movement information. Among them, the movement instruction can be the user's movement in the actual scene. For example, by identifying the user's movement path and integrating the movement path into the virtual scene, the scene of the user's movement is presented in the virtual scene. In addition, the movement instruction can be triggered by the user through a user interface, gesture operation or voice, etc. The user does not move in the actual scene, but the perspective presented in the virtual scene can move. It can be understood that the user is moving in the virtual scene. The movement information refers to the user's movement path in the virtual scene, including the movement direction, movement distance, starting position, end position, etc. By integrating this movement information into the virtual scene, the user's movement scene can be presented in the virtual scene.

[0067] According to the user's movement information, the user's virtual angle in the virtual space and the virtual distance from the virtual part can be adjusted. The virtual angle is the angle at which the user views the part in the virtual scene, and the virtual distance is the distance between the user and the virtual part in the virtual scene. In addition, a virtual part observed by the user can be determined according to the virtual angle and the virtual distance, thereby prompting the assembly progress information and assembly parameter information of the virtual part. This embodiment allows the user to experience the assembly process of the production line in an immersive way, and can observe the assembly progress and understand the assembly parameters in real time, so as to know the problems and areas that need improvement in their own operations. For example, after receiving the pause command input by the user, the robot stops executing the action, and the virtual scene maintains the scene at that moment. The user can watch the assembly progress of the part at a close distance in the virtual scene. The system can recognize that the user is observing a part or is close to a part, and can prompt the assembly progress and assembly parameters of the part in real time. The user can judge whether the assembly progress is normal and whether the assembly parameters meet the requirements.

[0068] In one embodiment, the system can also determine whether the current assembly or disassembly requirements of the virtual parts meet the preset requirements based on the assembly or disassembly progress of the virtual parts, and the preset requirements can be written into the system by writing a program. If the assembly or disassembly progress of the virtual parts does not meet the preset requirements, the robot's execution action is paused, a prompt message is sent to the virtual reality glasses, and the robot is controlled to return to the position of the previous action, and the virtual teaching scene returns to the corresponding action scene. In this embodiment, by judging whether the assembly or disassembly progress of the parts in the virtual scene meets the requirements, it can be judged whether the user's operation is correct, the user's training operation can be corrected in time, and the user can be provided with the opportunity to perform a certain training operation again, thereby improving the efficiency of the user's training.

[0069] Based on the first embodiment, a second embodiment of the teaching training method of the present invention is proposed. Figure 2 As shown, the above teaching training method also includes:

[0070] Step S33, if the selected instruction is a virtual processing instruction, a virtual processing flow corresponding to the virtual instruction is obtained, and the robot is controlled to complete the virtual action;

[0071] Step S34: if the selected instruction is a physical processing instruction, a physical processing flow corresponding to the physical processing instruction is obtained, and the robot is controlled to complete the physical action.

[0072] In this embodiment, virtual processing means that the robot only performs corresponding assembly or disassembly actions according to virtual processing instructions, but will not actually perform assembly or disassembly actions of parts in the real scene. The robot only performs relevant assembly or disassembly actions in the first processing area according to the virtual processing instructions, and the first processing area is the virtual processing area; physical processing means that the robot performs corresponding assembly or disassembly actions in the second processing area according to the physical processing instructions. In this scenario, the robot will carry physical parts to perform real assembly or disassembly actions, and the second processing area is the physical processing area.

[0073] In real scenes, the robot will move to different areas to perform assembly or disassembly according to different selection instructions. In the virtual processing area, there are no physical parts. The robot can only perform corresponding actions according to the selection instructions, but will not actually assemble or disassemble the parts. This method is suitable for beginners. Since the robot does not actually assemble or disassemble parts when performing assembly or disassembly actions, it can avoid damage to parts or assembly equipment caused by operating errors during the training process.

[0074] In the physical processing area, the robot will carry physical parts and perform real assembly or disassembly actions in a realistic scenario. This method is suitable for trainees with a certain technical foundation, so that trainees can experience more realistic operation and assembly processes.

[0075] Whether it is a virtual action or a physical action, the virtual scene will present the action of the robot carrying parts for assembly or disassembly, thereby truly restoring the assembly or disassembly action of physical processing.

[0076] Based on the first embodiment, a third embodiment of the teaching training method of the present invention is proposed. Figure 3 As shown, the above teaching training method also includes:

[0077] Step S50, obtaining a preset equipment maintenance process according to the equipment maintenance instruction;

[0078] Step S60, sending a maintenance process to the virtual reality glasses to prompt the user to perform specific steps for equipment maintenance;

[0079] Step S70, receiving maintenance instructions from the user, and controlling the robot to perform equipment maintenance actions.

[0080] In this embodiment, the selection instruction may also be an equipment maintenance instruction. According to the equipment maintenance process, an equipment maintenance program may be written to construct a virtual teaching scene for equipment maintenance, so that users can perform equipment maintenance training and understand the entire process and operation details of equipment maintenance.

[0081] Users can trigger equipment maintenance instructions through the user interface, gesture operation, and voice. The system obtains the equipment maintenance process based on the equipment maintenance instructions and sends the equipment maintenance process to the virtual reality glasses. Users can perform corresponding operations according to the equipment maintenance process to trigger equipment maintenance operation instructions. According to the operation instructions, the robot is controlled to perform equipment maintenance actions.

[0082] Among them, the maintenance instruction can also be a virtual processing instruction or a physical processing instruction. It can be understood that if the maintenance instruction is a virtual processing instruction, the robot is controlled to perform virtual processing actions in the virtual processing area. The virtual processing action is a virtual maintenance action. The robot only performs the corresponding maintenance action, but does not perform real maintenance on the equipment. If the maintenance instruction is a physical processing instruction, the robot performs a physical processing action in the physical processing area. The physical processing action means that the equipment carries equipment maintenance tools and performs real maintenance on the equipment. Regardless of whether the maintenance instruction is a virtual processing instruction or a physical processing instruction, the robot's action simulation of maintaining the equipment will be reflected in the virtual scene. Users can complete the maintenance of the equipment in the virtual scene according to their own operations in the virtual scene.

[0083] In addition, the embodiment of the present invention also provides a teaching and training system, which includes:

[0084] A parts model library construction module is used to construct a virtual parts model library, wherein a three-dimensional simulation model of the physical parts is established in a virtual space according to the processing information of the physical parts to form the virtual parts model library;

[0085] A virtual teaching scene construction module is used to establish an equipment manufacturing process according to the manufacturing process, use virtual reality technology to build a virtual teaching scene for virtual reality teaching, and implant the virtual teaching scene into the robot;

[0086] A receiving module, used for receiving a selection instruction of a practical training mode, and controlling the robot to perform a corresponding assembly or disassembly action according to the virtual teaching scene, wherein the robot presents a virtual three-dimensional model of a part to be used in real time in a virtual space according to the part model stored in the virtual part model library;

[0087] The sending module is used to present the virtual teaching scene and the assembly or disassembly action performed by the robot in virtual reality glasses.

[0088] In addition, an embodiment of the present invention also provides a teaching training device, which includes: a memory, a processor, and a teaching training program stored in the memory and executable on the processor. When the teaching training program is executed by the processor, the steps of the above-mentioned teaching training method are implemented.

[0089] In addition, this embodiment also provides a readable storage medium, characterized in that a teaching training program is stored on the readable storage medium, and the teaching training program implements the above-mentioned teaching training method steps when executed by the processor.

[0090] The processor and the memory may be connected via a bus or other means.

[0091] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0092] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0093] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0094] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0095] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A teaching training method, characterized in that: The teaching training method includes: Constructing a virtual part model library, wherein a three-dimensional simulation model of the physical part is established in a virtual space according to the processing information of the physical part to form the virtual part model library; Establish equipment manufacturing process according to the manufacturing process, use virtual reality technology to build virtual teaching scenes for virtual reality teaching, and implant the virtual teaching scenes into robots; receiving a selection instruction of a practical training mode, and controlling the robot to perform a corresponding assembly or disassembly action according to the virtual teaching scene, wherein the robot presents a virtual three-dimensional model of a part to be used in real time in a virtual space according to the part model stored in the virtual part model library; The virtual teaching scene and the assembly or disassembly action performed by the robot are presented in virtual reality glasses.

2. The teaching training method according to claim 1, characterized in that: The controlling the robot to perform corresponding assembly or disassembly actions according to the virtual teaching scene comprises: Acquire a job instruction input by a user, and select a corresponding part model in the virtual part model library according to the job instruction, wherein the job instruction includes a part type and an assembly or disassembly process in the virtual teaching scene; The robot is controlled to perform assembly or disassembly actions according to the part type and the assembly or disassembly process to complete assembly simulation or disassembly simulation of the virtual part.

3. The teaching training method according to claim 2, characterized in that: The teaching training method also includes: identifying an assembly or disassembly progress of the virtual part according to the part type; Receive a pause or speed adjustment instruction input by a user, and control the speed of assembly or disassembly of the robot according to the pause or speed adjustment instruction.

4. The teaching training method according to claim 3, characterized in that: The teaching training method also includes: Receive the movement command input by the user and obtain the movement information of the user; Adjusting the user's virtual viewing angle in the virtual space and the virtual distance to the virtual part according to the movement information; According to the virtual viewing angle and the virtual distance, assembly progress information and assembly parameter information of the virtual part are prompted.

5. The teaching training method according to claim 3, characterized in that: The teaching and training methods include: According to the assembly or disassembly progress of the virtual parts, determine whether the current assembly or disassembly requirements of the virtual parts meet the preset requirements; If the preset requirement is not met, the action of the robot is paused and a prompt message is sent to the virtual reality glasses; The robot is controlled to return to the position of the previous action, and the virtual teaching scene returns to the corresponding action scene.

6. The teaching training method according to claim 2, characterized in that: The selection instructions include virtual processing instructions and physical processing instructions, and the teaching training method includes: If the selected instruction is a virtual processing instruction, a virtual processing flow corresponding to the virtual instruction is obtained, and the robot is controlled to complete the virtual action; If the selected instruction is a physical processing instruction, a physical processing flow corresponding to the physical processing instruction is obtained, and the robot is controlled to complete a physical action.

7. The teaching training method according to claim 1, characterized in that: The selection instructions also include equipment maintenance instructions, and the teaching training method includes: According to the equipment maintenance instructions, obtain the preset equipment maintenance process; Send maintenance procedures to virtual reality glasses to remind users of the specific steps for equipment maintenance; Receive maintenance instructions from the user and control the robot to perform equipment maintenance actions.

8. A teaching training system, characterized in that: The teaching and training system comprises: A parts model library construction module is used to construct a virtual parts model library, wherein a three-dimensional simulation model of the physical parts is established in a virtual space according to the processing information of the physical parts to form the virtual parts model library; A virtual teaching scene construction module is used to establish an equipment manufacturing process according to the manufacturing process, use virtual reality technology to build a virtual teaching scene for virtual reality teaching, and implant the virtual teaching scene into the robot; A receiving module, used for receiving a selection instruction of a practical training mode, and controlling the robot to perform a corresponding assembly or disassembly action according to the virtual teaching scene, wherein the robot presents a virtual three-dimensional model of a part to be used in real time in a virtual space according to the part model stored in the virtual part model library; The sending module is used to present the virtual teaching scene and the assembly or disassembly action performed by the robot in virtual reality glasses.

9. A teaching training device, characterized in that: The teaching and training device comprises: a memory, a processor and a teaching and training program stored in the memory and executable on the processor. When the teaching and training program is executed by the processor, the steps of the method as claimed in any one of claims 1 to 7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a teaching and training program, and when the teaching and training program is executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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