CN109815557A - A kind of methods of exhibiting of robot model, device and intelligent terminal - Google Patents

A kind of methods of exhibiting of robot model, device and intelligent terminal Download PDF

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Publication number
CN109815557A
CN109815557A CN201811650765.4A CN201811650765A CN109815557A CN 109815557 A CN109815557 A CN 109815557A CN 201811650765 A CN201811650765 A CN 201811650765A CN 109815557 A CN109815557 A CN 109815557A
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robot
model
motion
intelligent terminal
parameters
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CN201811650765.4A
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CN109815557B (en
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李孝天
刘主福
王建民
庄飞飞
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Shenzhen Yuejiang Technology Co Ltd
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Shenzhen Yuejiang Technology Co Ltd
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The present embodiments relate to robotic technology fields, disclose the methods of exhibiting, device and intelligent terminal of a kind of robot model.The wherein methods of exhibiting of the robot model, applied to intelligent terminal, the controller of intelligent terminal communication connection robot, which comprises obtain the physical parameter of the robot, and according to the physical parameter of the robot, the model parameter of the robot is determined;According to the model parameter of the robot, robot 3D model file is generated;According to the robot 3D model file, draws and the robot 3D model is presented;The motion information of the robot is obtained, and is based on the robot 3D motion model, simulates the operating status of the robot in real time.By the above-mentioned means, the embodiment of the present invention is able to solve not intuitive enough the technical problem of the status information for describing robot using text information at present, realization intuitively shows robot operating status, and auxiliary user of service manipulates robot.

Description

Robot model display method and device and intelligent terminal
Technical Field
The invention relates to the technical field of robots, in particular to a display method and device of a robot model and an intelligent terminal.
Background
Robots, also known as automatic control machines, include all machines that simulate human behavior or thought and other creatures. In modern industry, robots refer to man-made machine devices that can automatically perform tasks to replace or assist human work.
Since the robot generally needs to execute a command, an operator often needs to observe the operation state of the robot during the command execution process. At present, most of the running state displays of the robots in the prior art use text information to describe the position states and joint information of the robots, and the current running states of the robots cannot be intuitively expressed, or the running states of the robots are generally monitored by large-scale computer equipment in the prior art, so that the robots are inconvenient to be monitored in real time.
In the process of implementing the embodiment of the invention, the inventor finds that the related technology has at least the following problems: the state information of the robot described by using the text information is not intuitive enough, and the robot is inconvenient to be monitored in real time.
Disclosure of Invention
The embodiment of the invention aims to provide a method and a device for displaying a robot model and an intelligent terminal, which solve the technical problems that the state information of a robot is not intuitive and the robot is inconvenient to monitor in real time by using text information at present, realize the intuitive display of the running state of the robot and assist users in controlling the robot.
In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions:
in a first aspect, an embodiment of the present invention provides a method for displaying a robot model, which is applied to an intelligent terminal, where the intelligent terminal is in communication connection with a controller of a robot, and the method includes:
acquiring physical parameters of the robot, and determining model parameters of the robot according to the physical parameters of the robot;
generating a robot 3D model file according to the model parameters of the robot;
drawing and presenting the robot 3D model according to the robot 3D model file;
and acquiring the motion information of the robot, and simulating the running state of the robot in real time based on the 3D motion model of the robot.
In the embodiment of the present invention, the intelligent terminal includes a 3D display software, and the method further includes:
acquiring model parameters of the robot input by a user;
simulating the motion of the robot based on the model parameters to generate a motion track of the robot;
and displaying the motion trail of the robot based on the 3D model simulation of the robot through the 3D display software.
In an embodiment of the present invention, the method further comprises:
receiving a running track control command sent by a user;
and sending the operation track control command to the robot so that the robot actually operates the motion track based on the motion track presented by the simulation.
In an embodiment of the present invention, the method further comprises:
presenting the actually-running motion trail to the user interface based on the actually-running motion trail;
comparing the motion trail presented by the simulation with the motion trail actually operated;
and correcting the model parameters corresponding to the motion trail presented by the simulation.
In the embodiment of the invention, the intelligent terminal is a tablet computer or an intelligent mobile phone.
In a second aspect, an embodiment of the present invention provides a display apparatus for a robot model, which is applied to an intelligent terminal, where the intelligent terminal is in communication connection with a controller of a robot, and the apparatus includes:
the model parameter unit is used for acquiring physical parameters of the robot and determining the model parameters of the robot according to the physical parameters of the robot;
the robot 3D model file unit is used for generating a robot 3D model file according to the model parameters of the robot;
the robot 3D model unit is used for drawing and presenting the robot 3D model according to the robot 3D model file;
and the motion model simulation unit is used for acquiring motion information of the robot and simulating the running state of the robot in real time based on the 3D motion model of the robot.
In some embodiments, the smart terminal includes a user interface, the apparatus further comprising:
the model parameter input unit is used for acquiring the model parameters of the robot input by a user;
the motion trail generation unit is used for simulating the motion of the robot based on the model parameters and generating the motion trail of the robot;
and the motion trail simulation unit is used for presenting the motion trail of the robot based on the robot 3D model simulation through the user interface.
In some embodiments, the apparatus further comprises:
and the operation track control unit is used for receiving an operation track control command sent by a user and sending the operation track control command to the robot so that the robot actually operates the motion track based on the motion track presented by the simulation.
In a third aspect, an embodiment of the present invention provides an intelligent terminal, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of presenting a robot model as described above.
In a fourth aspect, the embodiment of the present invention further provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, where the computer-executable instructions are used to enable an intelligent terminal to execute the method for displaying a robot model as described above.
The embodiment of the invention has the beneficial effects that: in contrast to the prior art, the method for displaying a robot model provided in the embodiment of the present invention is applied to an intelligent terminal, where the intelligent terminal is in communication connection with a controller of a robot, and the method includes: acquiring physical parameters of the robot, and determining model parameters of the robot according to the physical parameters of the robot; generating a robot 3D model file according to the model parameters of the robot; drawing and presenting the robot 3D model according to the robot 3D model file; and acquiring the motion information of the robot, and simulating the running state of the robot in real time based on the 3D motion model of the robot. Through the mode, the technical problems that the state information of the robot is not visual enough and the robot is inconvenient to monitor in real time by using text information at present can be solved, the running state of the robot can be visually displayed, and a user can be assisted to control the robot.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the invention;
FIG. 2 is a schematic flow chart of a method for displaying a robot model according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a display device of a robot model according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an intelligent terminal according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, fig. 1 is a schematic diagram of an application environment according to an embodiment of the present invention;
as shown in fig. 1, each robot is connected to a controller, which may be integrated with the robot or separate from the robot, the controller is in communication connection with at least one intelligent terminal, each intelligent terminal is connected with the server, the intelligent terminals are interconnected through the server, data can be shared among the intelligent terminals, the robot is in communication connection with a plurality of intelligent terminals, the plurality of intelligent terminals can acquire data sent by the robot, wherein, one intelligent terminal can be simultaneously connected with the controllers of a plurality of robots and is used for acquiring data sent by the controllers of the plurality of robots, specifically, the controller of the robot is connected with a plurality of intelligent terminals through a wireless network, and the server is connected with the intelligent terminals through the wireless network, for example: 2G, 3G, 4G networks or bluetooth.
In the embodiment of the present invention, the intelligent terminal may be an electronic device capable of displaying a robot model, such as a smart phone, a Personal Digital Assistant (PDA), a tablet computer, and a smart watch.
Specifically, the following describes an embodiment of the present invention with a smart phone as an example.
Example one
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a method for displaying a robot model according to an embodiment of the present invention;
as shown in fig. 2, the method is applied to a smart terminal, such as a smart phone, the smart terminal is communicatively connected to a controller of a robot, the controller is communicatively connected to the robot, the controller is used for controlling the movement of the robot, and the smart terminal acquires data of the robot through the controller of the robot, and the method includes:
step S10: acquiring physical parameters of the robot, and determining model parameters of the robot according to the physical parameters of the robot;
specifically, the physical parameters of the robot include actual physical characteristics of the robot, such as the height, the width, the length of a manipulator, and the like of the robot, and the actual physical characteristics of the robot can be used as the physical parameters of the robot in an actual three-dimensional space, wherein the physical parameters of the robot are determined when the robot leaves a factory, and the intelligent terminal is provided with a display screen. Specifically, the scaling of the physical parameters of the robot is determined according to the size, the pixel value and the length-width ratio of the display screen of the intelligent terminal, and the model parameters of the robot are determined based on the physical parameters according to the scaling, wherein the model parameters are the results of scaling the physical parameters in an equal proportion. It will be appreciated that the physical parameters due to the different angles of rotation of the robot are different, for example: in order to better satisfy the condition that the model parameters can be presented on the display screen of the intelligent terminal, the method further comprises the following steps: determining a maximum value of a physical parameter of the robot, for example: the method comprises the steps of determining model parameters of the robot according to the maximum value of the height and the maximum value of the width of the robot and the size, the pixel value and the length-width ratio of a display screen of the intelligent terminal, or directly converting the physical parameters of a front view of the robot into the model parameters of the robot so as to rapidly determine the model parameters of the robot. The physical parameters of the robot are converted into the model parameters of the robot, so that the robot can be displayed on a display screen of the intelligent terminal.
Step S20: generating a robot 3D model file according to the model parameters of the robot;
specifically, after the intelligent terminal obtains the physical parameters of the robot, the intelligent terminal generates model parameters of the robot according to the physical parameters, and after the model parameters of the robot are determined, the intelligent terminal generates a robot 3D model file according to the model parameters of the robot and stores the robot 3D model file in a memory of the intelligent terminal. In the embodiment of the present invention, the intelligent terminal is connected to the server in a communication manner, and the method further includes: and sending the robot 3D model file to the server so that the server saves the robot 3D model file. It can be understood that, because the physical parameters of the robot are changed in real time when the robot is in a motion state, in order to reduce interaction between the intelligent terminal and the robot, the intelligent terminal sends the robot 3D model file to the server according to a preset interval time, if the server receives the same robot 3D model file in a preset time period, the server sends a stop sending command to the smart terminal to cause the smart terminal to stop sending the robot 3D model file to the server, it being understood that, since the robot may stop moving for a while, in order to ensure that the smart terminal sends the robot 3D model file to the server, and when the robot recovers motion, the intelligent terminal automatically generates a robot 3D model file and sends the robot 3D model file to the server. It can be understood that, in order to reduce the storage space occupation of the intelligent terminal, the intelligent terminal will only store a preset number of robot 3D model files, where the preset number is set by a user, or the preset number is determined by the intelligent terminal according to the remaining storage space of the intelligent terminal in combination with the size of each robot 3D model file, and the size of the robot 3D model file may be determined by taking the average value of a plurality of robot 3D model files.
Step S30: drawing and presenting a robot 3D model according to the robot 3D model file;
specifically, the intelligent terminal generates behind the robot 3D model file, will pass through the display screen of intelligent terminal carries out 3D and shows, wherein, intelligent terminal installs 3D and shows software, 3D shows software be used for according to robot 3D model file draws the model parameter of robot generates the lines of robot 3D model, and is right the lines are rendered, and through right each face of robot, including plane, curved surface, irregular surface color to draw and present the robot 3D model.
Step S40: and acquiring the motion information of the robot, and simulating the running state of the robot in real time based on the 3D motion model of the robot.
Specifically, the 3D display software of the intelligent terminal sends a motion information request instruction to the robot so that the controller of the robot sends the motion information of the robot to the intelligent terminal, for example: the robot motion simulation system comprises a robot, a 3D display software of the intelligent terminal, a robot manipulator, a 3D motion model and a 3D motion model, wherein the robot is used for simulating the motion state of the robot in real time through the 3D motion model on an interface of the 3D display software of the intelligent terminal according to the motion information of the robot, the acceleration, the direction of the robot and the motion information of the manipulator of the robot, such as the motion direction, the angle and the like.
In the embodiment of the present invention, the intelligent terminal includes a 3D display software, and the method further includes: acquiring model parameters of the robot input by a user; simulating the motion of the robot based on the model parameters to generate a motion track of the robot; and displaying the motion trail of the robot based on the 3D model simulation of the robot through the 3D display software. Specifically, the user inputs model parameters of the robot through the 3D display software, where the model parameters include: motion parameters and location parameters, the motion parameters including: the motion speed, the motion acceleration, the motion direction and the like, and the position parameters comprise: the method includes the following steps that a starting position, a middle position and an end position are provided, the number of the middle positions can be multiple, the user inputs the model parameters, the 3D display software of the intelligent terminal simulates the motion of the robot according to the model parameters input by the user to generate the motion track of the robot, and the motion track of the robot is displayed in a simulation mode through an interface of the 3D display software, for example: and according to the motion speed, the motion acceleration, the starting position and the end position input by the user, performing simulation by the 3D display software of the intelligent terminal, and simulating the motion track of the robot from the starting position to the end position on the 3D display software of the intelligent terminal. Wherein the method further comprises: receiving a running track control command sent by a user; and sending the operation track control command to the robot so that the robot actually operates the motion track based on the motion track presented by the simulation. Specifically, after the 3D display software of the intelligent terminal simulates the motion trajectory of the robot, the motion trajectory is simulated and presented on the 3D display software of the intelligent terminal, and the user can send a motion trajectory control command to the controller of the robot through the 3D display software of the intelligent terminal, so that the robot actually runs the motion trajectory based on the motion trajectory presented by the simulation.
In an embodiment of the present invention, the method further comprises: presenting the actually-running motion trail to the user interface based on the actually-running motion trail; comparing the motion trail presented by the simulation with the motion trail actually operated; and correcting the model parameters corresponding to the motion trail presented by the simulation. Specifically, the 3D display software of the intelligent terminal simultaneously presents the motion trajectory actually run by the robot and the motion trajectory simulated and presented, distinguishes the motion trajectory actually run by the robot and the motion trajectory simulated and presented by the simulation through different colors, brightness and contrast, compares the motion trajectory simulated and the motion trajectory actually run, calculates an error between the motion trajectory actually run by the robot and the motion trajectory simulated and presented, and corrects a model parameter corresponding to the motion trajectory simulated and presented according to the error between the motion trajectory actually run by the robot and the motion trajectory simulated and presented, for example: the user-input movement speed, movement acceleration, start position, intermediate position, and end position. After the model parameters corresponding to the motion trail displayed in the simulation are corrected, the corrected model parameters are subjected to secondary simulation display and multiple corrections, so that the error between the model parameters corresponding to the motion trail displayed in the simulation and the motion trail actually operated is smaller than a preset error, the final model parameters are stored, and the motion trail is calibrated.
In an embodiment of the present invention, a method for displaying a robot model is provided, and is applied to an intelligent terminal, where the intelligent terminal is in communication connection with a controller of a robot, and the method includes: acquiring physical parameters of the robot, and determining model parameters of the robot according to the physical parameters of the robot; generating a robot 3D model file according to the model parameters of the robot; drawing and presenting the robot 3D model according to the robot 3D model file; and acquiring the motion information of the robot, and simulating the running state of the robot in real time based on the 3D motion model of the robot. Through the mode, the technical problems that the state information of the robot is not visual enough and the robot is inconvenient to monitor in real time by using text information at present can be solved, the running state of the robot can be visually displayed, and a user can be assisted to control the robot.
Example two
Referring to fig. 3, fig. 3 is a schematic structural diagram of a robot model display apparatus according to an embodiment of the present invention;
the display device 30 of the robot model can be applied to an intelligent terminal which is in communication connection with a robot, as shown in fig. 3, the display device 30 of the robot model includes:
a model parameter unit 31, configured to obtain a physical parameter of the robot, and determine a model parameter of the robot according to the physical parameter of the robot;
a robot 3D model file unit 32, configured to generate a robot 3D model file according to the model parameters of the robot;
the robot 3D model unit 33 is used for drawing and presenting a robot 3D model according to the robot 3D model file;
and the motion model simulation unit 34 is configured to acquire motion information of the robot, and simulate the running state of the robot in real time based on the 3D motion model of the robot.
A model parameter input unit 35 for acquiring a model parameter of the robot input by a user;
a motion trail generation unit 36, configured to simulate a motion of the robot based on the model parameters, and generate a motion trail of the robot;
and a motion trajectory simulation unit 37, configured to present, through the 3D display software, a motion trajectory of the robot based on the 3D model simulation of the robot.
And a moving track control unit 38, configured to receive a moving track control command sent by a user, and send the moving track control command to the robot, so that the robot actually moves the moving track based on the motion track presented by the simulation.
Since the apparatus embodiment and the method embodiment are based on the same concept, the contents of the apparatus embodiment may refer to the method embodiment on the premise that the contents do not conflict with each other, and are not described herein again.
Referring to fig. 4 again, fig. 4 is a schematic structural diagram of an intelligent terminal according to an embodiment of the present invention. The intelligent terminal can be an electronic device capable of displaying a robot model, such as a smart phone, a Personal Digital Assistant (PDA), a tablet computer, an intelligent watch and the like.
As shown in fig. 4, the intelligent terminal 40 includes one or more processors 41 and a memory 42. In fig. 4, one processor 41 is taken as an example.
The processor 41 and the memory 42 may be connected by a bus or other means, such as the bus connection in fig. 4.
The memory 42, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as units corresponding to the method for displaying the robot model in the embodiment of the present invention (for example, the units described in fig. 3). The processor 41 executes various functional applications and data processing of the method for demonstrating a robot model by running the nonvolatile software program, instructions and modules stored in the memory 42, that is, the functions of the various modules and units of the method embodiment robot model demonstration method and the device embodiment are realized.
The memory 42 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 42 may optionally include memory located remotely from processor 41, which may be connected to processor 41 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The modules are stored in the memory 42 and, when executed by the one or more processors 41, perform the method of presenting a robot model in any of the method embodiments described above, e.g., performing the steps illustrated in fig. 2 described above; the functions of the individual modules or units described in fig. 3 may also be implemented.
The intelligent terminal 40 of the embodiment of the present invention exists in various forms, and performs the above-described steps shown in fig. 2; when the functions of the units described in fig. 3 can also be implemented, the intelligent terminal 40 includes, but is not limited to:
(1) a mobile communication device: such devices are characterized by mobile communications capabilities and are primarily targeted at providing voice, data communications. Such electronic devices include smart phones (e.g., iphones), multimedia phones, functional phones, and low-end phones, among others.
(2) The mobile personal computer equipment belongs to the category of personal computers, has calculation and processing functions and generally has the characteristic of mobile internet access. Such electronic devices include: PDA, MID, and UMPC devices, etc., such as ipads.
(3) A portable entertainment device: such devices can display and play video content, and generally also have mobile internet access features. This type of device comprises: video players, handheld game consoles, and intelligent toys and portable car navigation devices.
(4) And other electronic equipment with a video playing function and an internet surfing function.
Embodiments of the present invention further provide a non-volatile computer storage medium, where the computer storage medium stores computer-executable instructions, which are executed by one or more processors, such as one processor 41 in fig. 4, and enable the one or more processors to perform the method for displaying the robot model in any of the above-mentioned method embodiments, for example, perform the above-mentioned steps shown in fig. 2; the functions of the various units described in figure 3 may also be implemented.
The above-described embodiments of the apparatus or device are merely illustrative, wherein the unit modules described as separate parts may or may not be physically separate, and the parts displayed as module units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the technical solutions mentioned above may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute the method according to each embodiment or some parts of the embodiments.
In an embodiment of the present invention, a display apparatus for a robot model is provided, and is applied to an intelligent terminal, where the intelligent terminal includes a 3D display software, and the intelligent terminal is communicatively connected to a robot, and the apparatus includes: the model parameter unit is used for acquiring physical parameters of the robot and determining the model parameters of the robot according to the physical parameters of the robot; the robot 3D model file unit is used for generating a robot 3D model file according to the model parameters of the robot; the robot 3D model unit is used for drawing and presenting a robot 3D model according to the robot 3D model file; and the motion model simulation unit is used for acquiring motion information of the robot and simulating the running state of the robot in real time based on the 3D motion model of the robot. The model parameter input unit is used for acquiring the model parameters of the robot input by a user; the motion trail generation unit is used for simulating the motion of the robot based on the model parameters and generating the motion trail of the robot; and the motion trail simulation unit is used for simulating and presenting the motion trail of the robot based on the 3D model of the robot through the 3D display software. And the operation track control unit is used for receiving an operation track control command sent by a user and sending the operation track control command to the robot so that the robot actually operates the motion track based on the motion track presented by the simulation. Through the mode, the technical problems that the state information of the robot is not visual enough and the robot is inconvenient to monitor in real time by using text information at present can be solved, the running state of the robot can be visually displayed, and a user can be assisted to control the robot.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A display method of a robot model is applied to an intelligent terminal which is in communication connection with a controller of a robot, and comprises the following steps:
acquiring physical parameters of the robot, and determining model parameters of the robot according to the physical parameters of the robot;
generating a robot 3D model file according to the model parameters of the robot;
drawing and presenting a robot 3D model according to the robot 3D model file;
and acquiring the motion information of the robot, and simulating the running state of the robot in real time based on the 3D motion model of the robot.
2. The method of claim 1, wherein the smart terminal includes a 3D display software, the method further comprising:
acquiring model parameters of the robot input by a user;
simulating the motion of the robot based on the model parameters to generate a motion track of the robot;
and displaying the motion trail of the robot based on the 3D model simulation of the robot through the 3D display software.
3. The method of claim 2, further comprising:
receiving a running track control command sent by a user;
and sending the operation track control command to the robot so that the robot actually operates the motion track based on the motion track presented by the simulation.
4. The method of claim 3, further comprising:
presenting the actually-running motion trail to the user interface based on the actually-running motion trail;
comparing the motion trail presented by the simulation with the motion trail actually operated;
and correcting the model parameters corresponding to the motion trail presented by the simulation.
5. The method according to any one of claims 1 to 4, wherein the smart terminal is a tablet computer or a smart phone.
6. The utility model provides a display device of robot model, its characterized in that is applied to intelligent terminal, intelligent terminal communication connection robot's controller, the device includes:
the model parameter unit is used for acquiring physical parameters of the robot and determining the model parameters of the robot according to the physical parameters of the robot;
the robot 3D model file unit is used for generating a robot 3D model file according to the model parameters of the robot;
the robot 3D model unit is used for drawing and presenting a robot 3D model according to the robot 3D model file;
and the motion model simulation unit is used for acquiring motion information of the robot and simulating the running state of the robot in real time based on the 3D motion model of the robot.
7. The apparatus of claim 6, wherein the smart terminal comprises a 3D display software, the apparatus further comprising:
the model parameter input unit is used for acquiring the model parameters of the robot input by a user;
the motion trail generation unit is used for simulating the motion of the robot based on the model parameters and generating the motion trail of the robot;
and the motion trail simulation unit is used for simulating and presenting the motion trail of the robot based on the 3D model of the robot through the 3D display software.
8. The apparatus of claim 7, further comprising:
and the operation track control unit is used for receiving an operation track control command sent by a user and sending the operation track control command to the robot so that the robot actually operates the motion track based on the motion track presented by the simulation.
9. An intelligent terminal, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
10. A non-transitory computer-readable storage medium having stored thereon computer-executable instructions that, when executed by a smart terminal, cause the smart terminal to perform the method of any of claims 1-5.
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