CN113325733A - AR visual interactive simulation system based on cooperative robot - Google Patents
AR visual interactive simulation system based on cooperative robot Download PDFInfo
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- CN113325733A CN113325733A CN202110444834.1A CN202110444834A CN113325733A CN 113325733 A CN113325733 A CN 113325733A CN 202110444834 A CN202110444834 A CN 202110444834A CN 113325733 A CN113325733 A CN 113325733A
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Abstract
The invention relates to the field of knowledge training and industrial application simulation of a cooperative robot, in particular to an AR visual interactive simulation system based on the cooperative robot, which comprises the cooperative robot and also comprises: the TCP service interface is used for realizing information transmission and feedback of shaft angle signals, DI signals and DO signals for motion control of the cooperative robot through Ethernet; the Unity virtual simulation system realizes the control signal of the PLC or other controllers for sending the Unity simulation variable through a socket program and a TCP service interface; the invention relates to an innovative AR visual interactive simulation system of a cooperative robot, which is used for cooperating with a Unity virtual simulation system to drive an entity robot to jointly move to a designated pose.
Description
Technical Field
The invention relates to the field of knowledge training and industrial application simulation of a cooperative robot, in particular to an AR (augmented reality) visual interactive simulation system based on the cooperative robot.
Background
At present, most robot teaching simulation systems in the market are simulation systems based on a single robot body, and due to lack of debugging of practical application scenes, users do not have too much learning and application experience in the robot simulation systems, but if the robot is used as a center to build a real application scene, the training and learning cost of the users is too high, and the robot teaching simulation systems are difficult to maintain.
Aiming at the AR visual interactive simulation system of the cooperative robot, the invention can not only set up a virtual application scene with the size which is the same as the size of the actual application scene by taking a single-body cooperative robot as a center and overcome the problems of overhigh learning cost and the like, but also map the virtual scene through AR/VR glasses, so that a user has good human-computer interaction and visual interactive experience during learning or application debugging.
Disclosure of Invention
In order to solve the above problems, the present invention provides an AR visualization interactive simulation system based on a cooperative robot.
An AR visual interactive simulation system based on a cooperative robot comprises the cooperative robot and further comprises:
the TCP service interface is used for realizing information transmission and feedback of shaft angle signals, DI signals and DO signals for motion control of the cooperative robot through Ethernet;
the Unity virtual simulation system realizes the control signal of the PLC or other controllers for sending the Unity simulation variable through a socket program and a TCP service interface;
and the AR/VR interactive simulation is used for matching with the Unity virtual simulation system to drive the entity robot to jointly move to a designated pose.
The Unity virtual simulation system comprises a robot virtual demonstrator, a peripheral model and a physical logic, wherein the peripheral model is used for receiving a control signal sent by a robot virtual controller; the physical logic includes robot axis angular position and DI/DO signals, and the peripheral model includes robot controller and pneumatic/photoelectric signals.
The robot virtual controller of the Unity virtual simulation system sends a control signal to the robot physical logic, the physical logic sends an axis angle signal and a DI/DO signal to the robot controller, and then the robot three-dimensional model is driven to move by the kinematics forward and inverse solution and the physical logic of the robot.
The robot virtual controller sends a control signal to the peripheral model, and the peripheral model sends an I/O interface to the pneumatic/photoelectric device for driving the robot three-dimensional model.
The TCP service interface comprises a data communication interface used for sending a Unity simulation variable control signal, and an OPC server used for sending and receiving an output signal and connected with a PLC or other controllers.
The AR/VR interactive simulation comprises AR/VR glasses connected with a Unity virtual simulation system through Ethernet, virtual scene mapping mapped by a real cooperative robot as a visual origin and TCP bus communication used for signal propagation.
The invention has the beneficial effects that: the invention relates to an innovative AR visual interactive simulation system of a cooperative robot, which is characterized in that a simulation system of cooperative robot learning and application of a virtual application scene is built by taking a single-body entity robot as a center, so that the learning cost is reduced, and the use safety is improved; the technical innovation point of the visual interactive simulation system is that a 3D software system is used as a tool to build a robot virtual model, and good learning experience is provided for a user by reflecting real in a virtual mode, controlling virtual in a real mode and combining virtual with real in a virtual mode.
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The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a system framework diagram of the present invention;
FIG. 2 is a control block diagram of a Unity virtual simulation system connected with a cooperative robot according to the present invention;
FIG. 3 is a block diagram of AR/VR glasses mapping in accordance with the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1 to 3, an AR visualization interactive simulation system based on a cooperative robot includes the cooperative robot, and further includes:
the TCP service interface is used for realizing information transmission and feedback of shaft angle signals, DI signals and DO signals for motion control of the cooperative robot through Ethernet;
the Unity virtual simulation system realizes the control signal of the PLC or other controllers for sending the Unity simulation variable through a socket program and a TCP service interface;
and the AR/VR interactive simulation is used for matching with the Unity virtual simulation system to drive the entity robot to jointly move to a designated pose.
The invention relates to an innovative AR visual interactive simulation system of a cooperative robot, which is characterized in that a simulation system of cooperative robot learning and application of a virtual application scene is built by taking a single-body entity robot as a center, so that the learning cost is reduced, and the use safety is improved; the technical innovation point of the visual interactive simulation system is that a 3D software system is used as a tool to build a robot virtual model, and good learning experience is provided for a user by reflecting real in a virtual mode, controlling virtual in a real mode and combining virtual with real in a virtual mode.
The Unity virtual simulation system comprises a robot virtual demonstrator, a peripheral model and a physical logic, wherein the peripheral model is used for receiving a control signal sent by a robot virtual controller; the physical logic includes robot axis angular position and DI/DO signals, and the peripheral model includes robot controller and pneumatic/photoelectric signals.
The robot virtual controller of the Unity virtual simulation system sends a control signal to the robot physical logic, the physical logic sends an axis angle signal and a DI/DO signal to the robot controller, and then the robot three-dimensional model is driven to move by the kinematics forward and inverse solution and the physical logic of the robot.
The robot module in the Unity virtual simulation system sends a motion instruction signal to the real cooperative robot motion controller system, the robot virtual three-dimensional model and the entity cooperative robot receive a control signal, the virtual demonstrator drives the three-dimensional model, and the real demonstrator drives the entity robot to jointly move to a designated pose.
The robot virtual controller sends a control signal to the peripheral model, and the peripheral model sends an I/O interface to the pneumatic/photoelectric device for driving the robot three-dimensional model.
The visual interactive simulation system can also be simultaneously connected with a plurality of entity cooperative robots to work together, and can also provide a plurality of different virtual application scenes to ensure good learning and use of users; the visual interactive simulation system can also realize one real and one virtual or one real and more virtual for the cooperative robot connected into the simulation system, realizes the maximum restoration of the industrial application scene of the cooperative robot at the minimum cost, and has strong use values of training and learning of the cooperative robot and industrial application.
The TCP service interface comprises a data communication interface used for sending a Unity simulation variable control signal, and an OPC server used for sending and receiving an output signal and connected with a PLC or other controllers.
The TCP service interface realizes information transmission and feedback with the shaft angle signal, the DI signal and the DO signal of the cooperative robot motion control through Ethernet; and the TCP service interface realizes the transmission and the reception of output signals through OPC data and the PLC or other controllers.
The AR/VR interactive simulation comprises AR/VR glasses connected with a Unity virtual simulation system through Ethernet, virtual scene mapping mapped by a real cooperative robot as a visual origin and TCP bus communication used for signal propagation.
The visual interactive simulation system can be connected with AR/VR glasses through a bus, and improves the visual monitoring effect by using an entity cooperation robot to map a built virtual scene for a visual center.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a visual interactive simulation system of AR based on cooperative robot, includes cooperative robot, its characterized in that: further comprising:
the TCP service interface is used for realizing information transmission and feedback of shaft angle signals, DI signals and DO signals for motion control of the cooperative robot through Ethernet;
the Unity virtual simulation system realizes the control signal of the PLC or other controllers for sending the Unity simulation variable through a socket program and a TCP service interface;
and the AR/VR interactive simulation is used for matching with the Unity virtual simulation system to drive the entity robot to jointly move to a designated pose.
2. The collaborative robot-based AR visualization interactive simulation system according to claim 1, wherein: the Unity virtual simulation system comprises a robot virtual demonstrator, a peripheral model and a physical logic, wherein the peripheral model is used for receiving a control signal sent by a robot virtual controller; the physical logic includes robot axis angular position and DI/DO signals, and the peripheral model includes robot controller and pneumatic/photoelectric signals.
3. The collaborative robot-based AR visualization interactive simulation system according to claim 2, wherein: the robot virtual controller of the Unity virtual simulation system sends a control signal to the robot physical logic, the physical logic sends an axis angle signal and a DI/DO signal to the robot controller, and then the robot three-dimensional model is driven to move by the kinematics forward and inverse solution and the physical logic of the robot.
4. The collaborative robot-based AR visualization interactive simulation system according to claim 2, wherein: the robot virtual controller sends a control signal to the peripheral model, and the peripheral model sends an I/O interface to the pneumatic/photoelectric device for driving the robot three-dimensional model.
5. The collaborative robot-based AR visualization interactive simulation system according to claim 1, wherein: the TCP service interface comprises a data communication interface used for sending a Unity simulation variable control signal, and an OPC server used for sending and receiving an output signal and connected with a PLC or other controllers.
6. The collaborative robot-based AR visualization interactive simulation system according to claim 1, wherein: the AR/VR interactive simulation comprises AR/VR glasses connected with a Unity virtual simulation system through Ethernet, virtual scene mapping mapped by a real cooperative robot as a visual origin and TCP bus communication used for signal propagation.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114131597A (en) * | 2021-11-24 | 2022-03-04 | 山东哈博特机器人有限公司 | Industrial robot simulation linkage method and system based on digital twinning technology |
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| CN107838921A (en) * | 2017-10-24 | 2018-03-27 | 上海佳革智能科技有限公司 | A kind of robot training system based on VR |
| US20180267496A1 (en) * | 2017-03-16 | 2018-09-20 | Siemens Aktiengesellschaft | Development Of Control Applications In Augmented Reality Environment |
| CN108762112A (en) * | 2018-06-12 | 2018-11-06 | 哈尔滨理工大学 | A kind of industrial robot emulation and real-time control system based on virtual reality |
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| CN104635508A (en) * | 2013-11-08 | 2015-05-20 | 洛克威尔自动控制技术股份有限公司 | Interface for data exchange between industrial controllers and simulation applications for simulating a machine |
| US20180267496A1 (en) * | 2017-03-16 | 2018-09-20 | Siemens Aktiengesellschaft | Development Of Control Applications In Augmented Reality Environment |
| CN107838921A (en) * | 2017-10-24 | 2018-03-27 | 上海佳革智能科技有限公司 | A kind of robot training system based on VR |
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| CN114131597A (en) * | 2021-11-24 | 2022-03-04 | 山东哈博特机器人有限公司 | Industrial robot simulation linkage method and system based on digital twinning technology |
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Application publication date: 20210831 |