公开(公告)号：US20230230312A1

公开(公告)日：2023-07-20

申请号：US17893368

申请日：2022-08-23

Applicant: Qingdao University of Technology ,  Shandong University ,  Hebei University of Technology

Inventor： Chengjun CHEN ,  Zhengxu ZHAO ,  Tianliang HU ,  Jianhua ZHANG ,  Yang GUO ,  Dongnian LI ,  Qinghai ZHANG ,  Yuanlin GUAN

IPC: G06T17/00 ,  G06T7/00 ,  G06T7/70 ,  G06T7/50 ,  G06T19/20 ,  G06T7/194 ,  H04N9/04 ,  H04N13/20 ,  B25J9/16 ,  B25J13/08

CPC classification number: G06T17/00 ,  B25J9/1605 ,  B25J9/1687 ,  B25J9/1689 ,  B25J9/1697 ,  B25J13/08 ,  G06T7/0004 ,  G06T7/50 ,  G06T7/70 ,  G06T7/194 ,  G06T19/20 ,  H04N9/04 ,  H04N13/20 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/30164 ,  G06T2207/30204 ,  G06T2219/2004

Abstract: A digital twin modeling method to assemble a robotic teleoperation environment, including: capturing images of the teleoperation environment; identifying a part being assembled; querying the assembly assembling order to obtain a list of assembled parts according to the part being assembled; generating a three-dimensional model of the current assembly from the list and calculating position pose information of the current assembly in an image acquisition device coordinate system; loading a three-dimensional model of the robot, determining a coordinate transformation relationship between a robot coordinate system and an image acquisition device coordinate system; determining position pose information of the robot in an image acquisition device coordinate system from the coordinate transformation relationship; determining a relative positional relationship between the current assembly and the robot from position pose information of the current assembly and the robot in an image acquisition device coordinate system; establishing a digital twin model of the teleoperation environment.

公开(公告)号：US20210023694A1

公开(公告)日：2021-01-28

申请号：US16804888

申请日：2020-02-28

Applicant: QINGDAO UNIVERSITY OF TECHNOLOGY

Inventor： Chengjun CHEN ,  Yong PAN ,  Dongnian LI ,  Jun HONG

IPC: B25J9/00 ,  B25J9/16 ,  G06T19/00 ,  B25J19/02

Abstract: A system for robot teaching based on RGB-D images and a teach pendant, including an RGB-D camera, a host computer, a posture teach pendant, and an AR teaching system which includes an AR registration card, an AR module, a virtual robot model, a path planning unit and a posture teaching unit. The RGB-D camera collects RGB images and depth images of a physical working environment in real time. In the path planning unit, path points of a robot end effector are selected, and a 3D coordinates of the path points in the basic coordinate system of the virtual robot model are calculated; the posture teaching unit records the received posture data as the postures of a path point where the virtual robot model is located, so that the virtual robot model is driven to move according to the postures and positions of the path points, thereby completing the robot teaching.