CN106078747B - A kind of delay industrial operation control system based on virtual reality - Google Patents
A kind of delay industrial operation control system based on virtual reality Download PDFInfo
- Publication number
- CN106078747B CN106078747B CN201610652335.0A CN201610652335A CN106078747B CN 106078747 B CN106078747 B CN 106078747B CN 201610652335 A CN201610652335 A CN 201610652335A CN 106078747 B CN106078747 B CN 106078747B
- Authority
- CN
- China
- Prior art keywords
- space
- virtual reality
- operational order
- distal end
- virtual
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The present invention provides one kind based on virtual reality delay industrial operation control system, including local, network storage space, distal end；Virtual reality operation device is locally located, and by generating operational order collection with locally-installed Virtual Space interactive operation, network storage space stores the operational order collection locally uploaded, distal end is provided with robot, distal end is by down operation instruction set and robot is made to execute the operational order that operational order is concentrated, and completes the operation to entity space.The present invention is by way of Virtual Space, operational order collection, it can effectively avoid transmitting the vision signal of very big data volume, its operation and feedback are limited minimum by network bandwidth, therefore VR can be made to be suitable for civilian industry field well, it is particularly suitable for industrial production medium-long range and becomes batch flexible production, and it can realize one man operation, mostly complete at any time, to greatly reduce the human cost in industrial processes.
Description
Technical field
The delay industrial operation control system based on virtual reality that the present invention relates to a kind of.
Background technology
Industrial robot is a kind of operation of apery, repeatable programming, can be completed in three dimensions various highly difficult multiple
The automated production equipment of auxiliary work especially suitable for multi items, becomes batch flexible production.In recent years, with virtual reality skill
The development of art, human cost can effectively be reduced as a kind of by carrying out highly difficult operation by remote real_time control industrial robot
The mode of production, but since in the prior art, the real time job of VR needs real-time transmission of video, and its video signal data is aobvious
Write and be more than general video signal data, therefore be also mainly limited to the specialized fields such as military, national defence at present, civil field then because
Limited for network bandwidth is difficult to be applicable in.
Invention content
In order to solve the above technical problems, the present invention provides a kind of, the delay industrial operation control based on virtual reality is
System is somebody's turn to do the delay industrial operation control system based on virtual reality by way of Virtual Space, operational order collection, can effectively keep away
Exempt to transmit the vision signal of very big data volume, operation and feedback are limited minimum by network bandwidth, therefore can make VR well
Suitable for civilian industry field.
The present invention is achieved by the following technical programs.
A kind of delay industrial operation control system based on virtual reality provided by the invention, including local, network storage
Space, distal end；Virtual reality operation device is locally located, and by generating operation with locally-installed Virtual Space interactive operation
Instruction set, network storage space store the operational order collection locally uploaded, are distally provided with robot, distally pass through down operation
Instruction set simultaneously makes robot execute the operational order that operational order is concentrated, and completes the operation to entity space；The entity of distal end is empty
Between it is consistent with local Virtual Space arrangement；The operation point of local virtual reality operation device and the robot work of distal end
Point is consistent；Virtual Space is the threedimensional model space by software realization.
The distal end is additionally provided with server；Server is from network storage space down operation instruction set and stores, and will deposit
The operational order collection of storage is sequentially repeatedly sent to robot execution.
The virtual reality operation device is made of operating device and camera of concentrating on work at selected units, and operating device is manipulated by people,
And the feedback of Virtual Space transmission is executed, point information is simultaneously sent to virtually by point where camera grasping manipulation device of concentrating on work at selected units
Space.
It is described to be fed back to torque-feedback.
Distal end is additionally provided with video acquisition module, and video acquisition module carries out video image acquisition to remote end entity space.
Collected video image information is sent to network storage space by video acquisition module, and network storage space will be right
The operating result corresponding to operational order collection answered is compared with video image information, and using the abnormal result of comparison as mistake
False information is sent to local achieved.
The beneficial effects of the present invention are：By way of Virtual Space, operational order collection, it can effectively avoid transmission very big
The vision signal of data volume, operation and feedback limits minimum by network bandwidth, therefore can make VR suitable for civilian well
Industrial circle is particularly suitable for industrial production medium-long range and becomes batch flexible production, and can realize one man operation, mostly complete at any time
At to greatly reduce the human cost in industrial processes.
Description of the drawings
Fig. 1 is connection and the operating diagram of the present invention；
Fig. 2 is a kind of set-up mode schematic diagram of VR operating devices in Fig. 1.
In figure：11- operating devices, 12- concentrate on work at selected units camera.
Specific implementation mode
Be described further below technical scheme of the present invention, but claimed range be not limited to it is described.
A kind of delay industrial operation control system based on virtual reality as shown in Figure 1, including local, network storage sky
Between, distal end；Virtual reality operation device is locally located, and is referred to by generating operation with locally-installed Virtual Space interactive operation
Collection, network storage space is enabled to store the operational order collection locally uploaded, be distally provided with robot, distally refer to by down operation
Ling Jibingshi robots execute the operational order that operational order is concentrated, and complete the operation to entity space；The entity space of distal end
It is consistent with local Virtual Space arrangement；The robot operating point of the operation point and distal end of local virtual reality operation device
Position is consistent；Virtual Space is the threedimensional model space by software realization.
It is operated as a result, in local progress, without realizing real-time interactive by network transmission multitude of video signal, to
Network bandwidth limitation, locally generated operational order collection file, distal end caused by video signal transmission is effectively avoided to need
It is executed as long as being downloaded when operation, and this operation for downloading execution, it can be completed by local remote control, working efficiency is secure,
Only it is necessary to ensure that remote end entity space is consistent with local virtual space layout when realizing, that is, the size one of operating space
Cause, consistent, all object of the mode of operation of equipment is put consistent, therefore be primarily adapted for use in industrial production, and be not suitable for
Handle abnormal conditions.Clearly as distal end arbitrary down operation instruction set file and can execute, thus can realize one man operation,
Mostly complete at any time, to greatly reduce industrial processes in human cost, especially can convenient for establish unmanned factory into
The high production of row complexity.
Further, since distal end is in actual operating process, the operational order collection more than one that may be used, therefore
For ease of operation, while also avoiding allowing robot storage operational order collection and influencing instruction execution performance and control chip is durable
Property, the distal end are additionally provided with server, and server is from network storage space down operation instruction set and stores, by the behaviour of storage
Make instruction set and is sequentially repeatedly sent to robot execution.
Specifically, a kind of set-up mode as VR operating devices, as shown in Fig. 2, the virtual reality operation device
It is made of operating device 11 and camera 12 of concentrating on work at selected units, operating device 11 is manipulated by people, and executes the anti-of Virtual Space transmission
Point information is simultaneously sent to Virtual Space by feedback, 12 grasping manipulation device of camera, 11 place point of concentrating on work at selected units.
It is described to be fed back to torque-feedback.
Further, in practical operation, the entity space arrangement of distal end may differ with presetting Virtual Space
It causing, operation is likely to occur exception at this time, therefore in order to found the abnormal situation in time, is distally additionally provided with video acquisition module, depending on
Frequency acquisition module carries out video image acquisition to remote end entity space.
Obviously the video image of distal end is all checked by people found the abnormal situation, efficiency is low, of high cost, but video figure
As information is for found the abnormal situation and be necessary, therefore, video acquisition module sends out collected video image information
It send to network storage space, network storage space is by the operating result and video image information corresponding to corresponding operational order collection
It is compared, and local achieve is sent to using the abnormal result of comparison as error message.It is local as a result, not have to spend greatly
Amount time and Internet resources foradownloaded video image information can also found the abnormal situation.
Claims (5)
1. a kind of delay industrial operation control system based on virtual reality, including local, network storage space, distal end, special
Sign is：Virtual reality operation device is locally located, and is referred to by generating operation with locally-installed Virtual Space interactive operation
Collection, network storage space is enabled to store the operational order collection locally uploaded, be distally provided with robot, distally refer to by down operation
Ling Jibingshi robots execute the operational order that operational order is concentrated, and complete the operation to entity space；The entity space of distal end
It is consistent with local Virtual Space arrangement；The robot operating point of the operation point and distal end of local virtual reality operation device
Position is consistent；Virtual Space is the threedimensional model space by software realization；
Wherein, the virtual reality operation device is made of operating device (11) and camera of concentrating on work at selected units (12), operating device (11)
It is manipulated by people, and executes the feedback of Virtual Space transmission, point where camera of concentrating on work at selected units (12) grasping manipulation device (11)
And point information is sent to Virtual Space.
2. the delay industrial operation control system based on virtual reality as described in claim 1, it is characterised in that：The distal end
It is additionally provided with server；Server is from network storage space down operation instruction set and stores, by the operational order collection of storage according to
Sequence is repeatedly sent to robot execution.
3. the delay industrial operation control system based on virtual reality as described in claim 1, it is characterised in that：The feedback
For torque-feedback.
4. the delay industrial operation control system based on virtual reality as described in claim 1, it is characterised in that：Distal end is also set
It is equipped with video acquisition module, video acquisition module carries out video image acquisition to remote end entity space.
5. the delay industrial operation control system based on virtual reality as claimed in claim 4, it is characterised in that：Video acquisition
Collected video image information is sent to network storage space by module, and network storage space is by corresponding operational order collection institute
Corresponding operating result is compared with video image information, and the abnormal result of comparison is sent to local as error message
It is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610652335.0A CN106078747B (en) | 2016-08-11 | 2016-08-11 | A kind of delay industrial operation control system based on virtual reality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610652335.0A CN106078747B (en) | 2016-08-11 | 2016-08-11 | A kind of delay industrial operation control system based on virtual reality |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106078747A CN106078747A (en) | 2016-11-09 |
| CN106078747B true CN106078747B (en) | 2018-11-06 |
Family
ID=57456320
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610652335.0A Active CN106078747B (en) | 2016-08-11 | 2016-08-11 | A kind of delay industrial operation control system based on virtual reality |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106078747B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444784B (en) * | 2016-11-17 | 2023-09-29 | 北京酷思倍科技有限公司 | Virtual-real space crossing device for robot competition |
| CN107357265A (en) * | 2017-06-01 | 2017-11-17 | 安徽硖石智能装备科技有限公司 | A kind of intelligent plant system based on VR technologies |
| CN107571271A (en) * | 2017-10-24 | 2018-01-12 | 上海佳革智能科技有限公司 | A kind of robot training teaching machine based on VR |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102120325A (en) * | 2010-01-08 | 2011-07-13 | 哈尔滨理工大学 | Novel remote operation far-end robot control platform and method |
| CN103237166A (en) * | 2013-03-28 | 2013-08-07 | 北京东方艾迪普科技发展有限公司 | Method and system for controlling camera based on robot tilt-pan |
| CN104317245A (en) * | 2014-10-30 | 2015-01-28 | 胡玥 | Master-slave control system with force feedback function |
| CN104739519A (en) * | 2015-04-17 | 2015-07-01 | 中国科学院重庆绿色智能技术研究院 | Force feedback surgical robot control system based on augmented reality |
| CN105583801A (en) * | 2015-12-31 | 2016-05-18 | 广州梦辉智能科技有限公司 | Robot head control system with virtual reality function |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150193982A1 (en) * | 2014-01-03 | 2015-07-09 | Google Inc. | Augmented reality overlays using position and orientation to facilitate interactions between electronic devices |
-
2016
- 2016-08-11 CN CN201610652335.0A patent/CN106078747B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102120325A (en) * | 2010-01-08 | 2011-07-13 | 哈尔滨理工大学 | Novel remote operation far-end robot control platform and method |
| CN103237166A (en) * | 2013-03-28 | 2013-08-07 | 北京东方艾迪普科技发展有限公司 | Method and system for controlling camera based on robot tilt-pan |
| CN104317245A (en) * | 2014-10-30 | 2015-01-28 | 胡玥 | Master-slave control system with force feedback function |
| CN104739519A (en) * | 2015-04-17 | 2015-07-01 | 中国科学院重庆绿色智能技术研究院 | Force feedback surgical robot control system based on augmented reality |
| CN105583801A (en) * | 2015-12-31 | 2016-05-18 | 广州梦辉智能科技有限公司 | Robot head control system with virtual reality function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106078747A (en) | 2016-11-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| James et al. | Sim-to-real via sim-to-sim: Data-efficient robotic grasping via randomized-to-canonical adaptation networks | |
| CN106078747B (en) | A kind of delay industrial operation control system based on virtual reality | |
| CN111421539A (en) | Industrial part intelligent identification and sorting system based on computer vision | |
| CN204997657U (en) | Biomimetic mechanical hand with imitate function | |
| CN104227716B (en) | A kind of cameras people real-time control method based on remote operating | |
| CN108582071B (en) | Industrial robot programming track diagnosis and speed optimization method | |
| CN104057450A (en) | Teleoperation method of high-dimensional motion arm aiming at service robot | |
| CN110815189B (en) | Robot rapid teaching system and method based on mixed reality | |
| CN113379849A (en) | Robot autonomous recognition intelligent grabbing method and system based on depth camera | |
| CN107450376A (en) | A kind of service mechanical arm crawl attitude angle computational methods based on intelligent family moving platform | |
| CN104842356A (en) | Multi-palletizing robot teaching method based on distributed computing and machine vision | |
| Zhang et al. | Vision-based reaching using modular deep networks: from simulation to the real world | |
| CN110363811B (en) | Control method and device for grabbing equipment, storage medium and electronic equipment | |
| CN111113414A (en) | Robot three-dimensional space scale prompting method and system based on screen identification | |
| Yim et al. | WFH-VR: Teleoperating a robot arm to set a dining table across the globe via virtual reality | |
| Ren et al. | Fast-learning grasping and pre-grasping via clutter quantization and Q-map masking | |
| Arai et al. | Development of a teleoperated robot arm system using RSNP: Precise tasks performed using a predictive display | |
| CN106227166A (en) | A kind of industrial real-time operation control system based on virtual reality | |
| CN110587596A (en) | Multi-axis configuration device remote control method and device, terminal equipment and storage medium | |
| CN116664686A (en) | Welding hand-eye automatic calibration method based on three-dimensional calibration block | |
| Ren et al. | Learning bifunctional push-grasping synergistic strategy for goal-agnostic and goal-oriented tasks | |
| CN114407011B (en) | Special-shaped workpiece grabbing planning method, planning device and special-shaped workpiece grabbing method | |
| KR101263487B1 (en) | Teaching device for robot | |
| CN210256118U (en) | Robot demonstrator | |
| Zhu et al. | A robotic semantic grasping method for pick-and-place tasks |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |