CN108510825A - Robot practical training method and system - Google Patents
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- CN108510825A CN108510825A CN201810302096.5A CN201810302096A CN108510825A CN 108510825 A CN108510825 A CN 108510825A CN 201810302096 A CN201810302096 A CN 201810302096A CN 108510825 A CN108510825 A CN 108510825A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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Abstract
The present invention provides a kind of robot practical training method and systems, are related to robotic technology field.Robot experience system includes：Image capture module, motion capture module, AR interactive modules and controller；3-D view of the image capture module for acquiring tow-armed robot and practical traning platform in real time, operation of the motion capture module for start-up during acquisition real training in real time, controller is used to the operation of start-up and preset standard operation carrying out real time contrast, it obtains correcting information, and it is based on 3-D view, it corrects information and pre-stored tutorial message establishes augmented reality model or virtual reality model, tutorial message and correction are newly showed in the visual field of start-up by AR interactive modules based on augmented reality model or virtual reality model, so that start-up knows tutorial message and corrects information.The robot practical training method and system can be good at being promoted the sense of reality and the position sense of tow-armed robot training, shorten the training period.
Description
Technical field
The present invention relates to robotic technology fields, in particular to a kind of robot practical training method and system.
Background technology
It is more and more in short supply to the demand for talent of robot relevant speciality with the continuous development of robot industry, how more
Quickly, the comprehensive talent of culture robot relevant speciality, becomes an important developing direction of country's concern, and both arms
Robot is a very branch of weight in Robot industry.
Existing tow-armed robot teaching pattern is mainly based on training organization, and actual operation is poor, mostly in the form of giving lessons
Based on, cause student to learn less efficient.
Invention content
In view of this, an embodiment of the present invention provides a kind of robot practical training method and systems.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows：
In a first aspect, an embodiment of the present invention provides a kind of robot experience system, the robot experience system includes：
Image capture module, motion capture module, AR interactive modules and controller；Wherein, described image acquisition module, the action
Capture module and the AR interactive modules are connect with the controller respectively；Described image acquisition module is double for acquiring in real time
The 3-D view of arm robot and practical traning platform, and the 3-D view is transmitted to the controller, the motion capture mould
Operation of the block for acquiring start-up during real training in real time, and by the operation transmission of the start-up to the control
Device, the controller are used to the operation of the start-up and preset standard operation carrying out real time contrast, obtain correcting letter
Breath, and augmented reality model or void are established based on the 3-D view, the correction information and pre-stored tutorial message
Quasi- real model, the controller are additionally operable to the augmented reality model or the virtual reality model being transmitted to the AR friendships
Mutual module, the AR interactive modules be based on the augmented reality model or the virtual reality model by the tutorial message and
The correction is newly showed in the visual field of the start-up, so that the start-up knows the tutorial message and described
Correct information.
Second aspect, an embodiment of the present invention provides a kind of robot practical training methods, are applied to robot experience system, institute
The system of stating includes：Image capture module, motion capture module, AR interactive modules and controller, wherein described image acquires mould
Block, the motion capture module and the AR interactive modules are connect with the controller respectively, the method includes：The figure
As acquisition module acquires the 3-D view of tow-armed robot and practical traning platform in real time, and the 3-D view is transmitted to the control
Device processed；The motion capture module acquires the operation of start-up during real training in real time, and by the operation of the start-up
It is transmitted to the controller；The operation of the start-up and preset standard operation are carried out real time contrast by the controller,
It obtains correcting information；The controller is built based on the 3-D view, the correction information and pre-stored tutorial message
Vertical augmented reality model or virtual reality model, and the augmented reality model or the virtual reality model be transmitted to described
AR interactive modules；The AR interactive modules are based on the augmented reality model or the virtual reality model by the tutorial message
And it is described correction be newly showed in the visual field of the start-up so that the start-up know the tutorial message and
The correction information.
Robot practical training method provided in an embodiment of the present invention and system, the robot experience system include：Image Acquisition
Module, motion capture module, AR interactive modules and controller；Wherein, image capture module, motion capture module and AR are handed over
Mutual module is connect with controller respectively；Graphics of the image capture module for acquiring tow-armed robot and practical traning platform in real time
Picture, and 3-D view is transmitted to controller, motion capture module is used to acquire the operation of start-up during real training in real time,
And by the operation transmission of start-up to controller, controller is used to carry out the operation of start-up and preset standard operation
Real time contrast obtains correcting information, and existing based on 3-D view, correction information and the foundation enhancing of pre-stored tutorial message
Real mould or virtual reality model, controller are additionally operable to augmented reality model or virtual reality model being transmitted to AR interaction moulds
Block, AR interactive modules are based on augmented reality model or virtual reality model and tutorial message and correction are newly showed in start-up
The visual field in so that start-up know tutorial message and correct information.The robot practical training method and system can be fine
Promotion tow-armed robot training the sense of reality and position sense, it is more clear directly to acquire the knowledge point for wanting study, improve
The training efficiency of student shortens the training period.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 shows a kind of structure diagram of robot experience system provided in an embodiment of the present invention；
Fig. 2 shows another structure diagrams of robot experience system provided in an embodiment of the present invention；
Fig. 3 shows another structure diagram of robot experience system provided in an embodiment of the present invention；
Fig. 4 shows the flow chart of robot practical training method provided in an embodiment of the present invention.
Icon：100- robots experience system；110- image capture modules；120- motion capture modules；130-AR is interacted
Module；140- controllers；150- loud speakers；160- display screens.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Range, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
The every other embodiment obtained under the premise of going out creative work, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
First embodiment
As Fig. 1 shows the structure diagram of robot experience system provided in an embodiment of the present invention.Fig. 1 is referred to, the machine
Device people experience system 100 includes：Image capture module 110, motion capture module 120, AR interactive modules 130 and controller
140.Wherein, described image acquisition module 110, the motion capture module 120 and the AR interactive modules 130 respectively with institute
State the connection of controller 140.
In embodiments of the present invention, described image acquisition module 110 for acquiring tow-armed robot and practical traning platform in real time
3-D view, and the 3-D view is transmitted to the controller 140, the motion capture module 120 for adopting in real time
Collect the operation of start-up during real training, and by the operation transmission of the start-up to the controller 140, the control
Device 140 is used to the operation of the start-up and preset standard operation carrying out real time contrast, obtains correcting information, and be based on
The 3-D view, the correction information and pre-stored tutorial message establish augmented reality model or virtual reality mould
Type, the controller 140 are additionally operable to the augmented reality model or the virtual reality model being transmitted to the AR interactions mould
Block 130, the AR interactive modules 130 be based on the augmented reality model or the virtual reality model by the tutorial message with
And the correction is newly showed in the visual field of the start-up, so that the start-up knows the tutorial message and institute
State correction information.
In embodiments of the present invention, practical traning platform can be copied true according to the needs of the reality teaches pattern of tow-armed robot
Practical traning platform is arranged, and can also be the simplification version of true practical traning platform with the sense of reality that hoisting machine people trains, and only retains true
Practical traning platform core, in order to it is cost-effective, installation and transport etc..
Image capture module 110 acquires the 3-D view of tow-armed robot and practical traning platform during real training in real time, and passes
Controller 140 is transported to, further, according to the needs of robot real training, which can select 3D camera shootings aobvious
Micro mirror or 3D video cameras.Wherein, need the real training carried out under microscope magnification field selection 3D photographic microscopes to obtain pair
The three-dimensional enlarged drawing of tow-armed robot operation, the real training without carrying out under the microscope then select 3D video cameras to obtain
The normal picture of tow-armed robot.
In embodiments of the present invention, start-up is for both arms machine during motion capture module 120 acquires real training in real time
The operation of device people, and it is transmitted to controller 140.Preferably, motion capture module 120 be the flight time (Time of Flight,
TOF) sensor is acted in the real training of the angle acquisition start-up different from image capture module 110.For example, image is adopted
Collect surface of the module 110 from tow-armed robot, acquire 3-D view, motion capture module 120 is from the side of tow-armed robot
The operation for acquiring start-up, passes through the application of motion capture module 120 so that image is realized with data acquisition including vertical
Angle is obtained with the multi-angle including level angle, and each details in being instructed so as to more real surface reality is shown
The visual angle that start-up and counselor are difficult to see that in normal work reduces the understanding difficulty of operation, accelerates training speed,
Promote training quality.
In embodiments of the present invention, controller 140 is pre-stored according to what the process of real training accordingly exported in controller 140
Tutorial message, and the operation of the next start-up of the acquisition of motion capture module 120 and preset standard operation are compared in real time
It is right, it obtains correcting information.And image capture module 110 is acquired 3-D view, tutorial message and correct information together into
Row modeling is generated in real time comprising 3-D view, tutorial message and the augmented reality or virtual reality model of correcting information.
Further, be stored in controller 140 the operation process, each process of standard standard operation and it is each into
The special status being likely to occur in journey.The a large amount of professional people of the standard operation reference of the operation process and each process of standard
The process of member is formulated, and ensures the accuracy of training operation, start-up is instructed accurately to handle each process and each process
In the special status that is likely to occur.
Preferably, the tutorial message and correct information can be text information, can also image information, even literary
The combination of word information and image information, start-up obtain the operating method of operation process and each process, root according to tutorial message
Wrong operational motion is corrected according to information is corrected.
In embodiments of the present invention, AR interactive modules 130 obtain the augmented reality or virtual existing that controller 140 generates in real time
Real mould, and tutorial message and correction information are illustrated in by regarding for start-up according to the augmented reality or virtual reality model
Yezhong, start-up watch 3-D view by AR interactive modules 130, and obtain tutorial message and correct information.
Preferably, the AR interactive modules 130 are AR glasses, in particular by liquid crystal on silicon (Liquid Crystal on
Silicon, LCOS) chip, silicon-based organic light-emitting diode (Si-OLED) chip or micro- light emitting diode (Micro-LED) core
The AR glasses that can show ultrahigh resolution image of piece.
In embodiments of the present invention, controller 140 can include at least memory and processor.Memory and processor
Connection.Memory is used to store the execution method flow of above-mentioned preset standard operation, tutorial message and various components.
In embodiments of the present invention, Fig. 2 is referred to, which can also include：Loud speaker 150.Its
In, the loud speaker 150 is connect with the controller 140.The loud speaker 150 is for playing the tutorial message and described
Information is corrected, to prompt tutorial message described in the start-up and the correction information.
In embodiments of the present invention, Fig. 3 is referred to, which can also include：Display screen 160.Its
In, the display screen 160 is connect with the controller 140, and the display screen 160 is for showing the 3-D view and described
The operation of start-up, in order to which administrative staff watch the training process of start-up.
In embodiments of the present invention, which can also include：Communication module.Wherein, the communication
Module is connect with the controller 140, and the communication module is used to communicate to connect with remote terminal, in order to by the graphics
The operation of picture and the start-up are sent to the remote terminal.
Second embodiment
Second embodiment of the invention provides a kind of robot practical training method, is applied to robot experience system, the system
System includes：Image capture module, motion capture module, AR interactive modules and controller, wherein described image acquisition module,
The motion capture module and the AR interactive modules are connect with the controller respectively.Fig. 4 is referred to, the robot real training
Method includes：
Step S110：Described image acquisition module acquires the 3-D view of tow-armed robot and practical traning platform in real time, and will
The 3-D view is transmitted to the controller.
Step S120：The motion capture module acquires the operation of start-up during real training in real time, and by the training
The operation transmission of instruction personnel is to the controller.
Step S130：The operation of the start-up and preset standard operation are carried out real time contrast by the controller,
It obtains correcting information.
Step S140：The controller is based on the 3-D view, the correction information and pre-stored guidance letter
Breath establishes augmented reality model or virtual reality model, and the augmented reality model or the virtual reality model are transmitted to
The AR interactive modules.
Step S150：The AR interactive modules are based on the augmented reality model or the virtual reality model by the finger
It leads information and the correction is newly showed in the visual field of the start-up, so that the start-up knows the guidance letter
Breath and the correction information.
In conclusion robot practical training method provided in an embodiment of the present invention and system, the robot experience system include：
Image capture module, motion capture module, AR interactive modules and controller；Wherein, image capture module, motion capture module
And AR interactive modules are connect with controller respectively；Image capture module for acquiring tow-armed robot and practical traning platform in real time
3-D view, and 3-D view is transmitted to controller, motion capture module is for start-up during acquisition real training in real time
Operation, and by the operation transmission of start-up to controller, controller is used for the operation of start-up and preset standard
Operation carries out real time contrast, obtains correcting information, and build based on 3-D view, correction information and pre-stored tutorial message
Vertical augmented reality model or virtual reality model, controller are additionally operable to augmented reality model or virtual reality model being transmitted to AR
Interactive module, AR interactive modules are based on augmented reality model or virtual reality model and tutorial message and correction are newly showed in training
In the visual field of instruction personnel, so that start-up knows tutorial message and corrects information.The robot practical training method and system energy
The enough sense of reality for promoting tow-armed robot training well and position sense, it is more clear directly to acquire the knowledge for wanting study
Point improves the training efficiency of student, shortens the training period.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment weight
Point explanation is all difference from other examples, and the same or similar parts between the embodiments can be referred to each other.
For device class embodiment, since it is basically similar to the method embodiment, so fairly simple, the related place ginseng of description
See the part explanation of embodiment of the method.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through it
Its mode is realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart and block diagram in attached drawing are aobvious
The device of multiple embodiments according to the present invention, architectural framework in the cards, the work(of method and computer program product are shown
It can and operate.In this regard, each box in flowchart or block diagram can represent one of a module, section or code
Point, a part for the module, section or code includes one or more for implementing the specified logical function executable
Instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be attached to be different from
The sequence marked in figure occurs.For example, two continuous boxes can essentially be basically executed in parallel, they also may be used sometimes
To execute in the opposite order, this is depended on the functions involved.It is also noted that each of block diagram and or flow chart
The combination of box in box and block diagram and or flow chart, function or the dedicated of action are based on as defined in execution
The system of hardware is realized, or can be realized using a combination of dedicated hardware and computer instructions.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point, can also be modules individualism, can also two or more modules be integrated to form an independent part.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and is explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of robot experience system, which is characterized in that the robot experience system includes：
Image capture module, motion capture module, AR interactive modules and controller；
Wherein, described image acquisition module, the motion capture module and the AR interactive modules respectively with the controller
Connection；
3-D view of the described image acquisition module for acquiring tow-armed robot and practical traning platform in real time, and by the graphics
As being transmitted to the controller, the motion capture module is used to acquire the operation of start-up during real training in real time, and will
The operation transmission of the start-up to the controller, the controller be used for by the operation of the start-up with it is preset
Standard operation carries out real time contrast, obtains correcting information, and based on the 3-D view, the correction information and prestore
Tutorial message establish augmented reality model or virtual reality model, the controller be additionally operable to the augmented reality model or
The virtual reality model is transmitted to the AR interactive modules, and the AR interactive modules are based on the augmented reality model or described
The tutorial message and the correction are newly showed in the visual field of the start-up by virtual reality model, so that the training
Instruction personnel know the tutorial message and the correction information.
2. system according to claim 1, which is characterized in that the system also includes：Loud speaker, the loud speaker and institute
Controller connection is stated, the loud speaker is for playing the tutorial message and the correction information, to prompt the trainer
Member's tutorial message and the correction information.
3. system according to claim 1, which is characterized in that the system also includes：Display screen, the display screen and institute
Controller connection is stated, the display screen is used to show the operation of the 3-D view and the start-up, in order to manage
Personnel watch the training process of start-up.
4. system according to claim 1, which is characterized in that the tutorial message is text information, image information or text
The combination of word information and image information, the information of correcting is text information, image information or text information and image information
Combination.
5. system according to claim 1, which is characterized in that the system also includes communication module, the communication module
Connect with the controller, the communication module is used to communicate to connect with remote terminal, in order to by the 3-D view and
The operation of the start-up is sent to the remote terminal.
6. according to claim 1-5 any one of them systems, which is characterized in that the AR interactive modules are AR glasses.
7. system according to claim 6, which is characterized in that the AR glasses are using LCOS chip or Si-OLED cores
The AR glasses of piece or Micro-LED chips.
8. according to claim 1-5 any one of them systems, which is characterized in that the motion capture module is TOF sensor.
9. according to claim 1-5 any one of them systems, which is characterized in that described image acquisition module is that 3D camera shootings are micro-
Mirror or 3D video cameras.
10. a kind of robot practical training method, which is characterized in that it is applied to robot experience system, the system comprises：Image is adopted
Collect module, motion capture module, AR interactive modules and controller, wherein described image acquisition module, the motion capture mould
Block and the AR interactive modules are connect with the controller respectively, the method includes：
Described image acquisition module acquires the 3-D view of tow-armed robot and practical traning platform in real time, and the 3-D view is passed
Transport to the controller；
The motion capture module acquires the operation of start-up during real training in real time, and the operation of the start-up is passed
Transport to the controller；
The operation of the start-up and preset standard operation are carried out real time contrast by the controller, obtain correcting information；
The controller establishes augmented reality based on the 3-D view, the correction information and pre-stored tutorial message
Model or virtual reality model, and the augmented reality model or the virtual reality model are transmitted to the AR and interact mould
Block；
The AR interactive modules are based on the augmented reality model or the virtual reality model by the tutorial message and institute
It states correction to be newly showed in the visual field of the start-up, so that the start-up is known the tutorial message and described entangled
Positive information.
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| CN113694501A (en) * | 2021-08-31 | 2021-11-26 | 重庆科华安全设备有限责任公司 | Intelligent guidance system applied to pull-up |
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