公开(公告)号：US11504846B2

公开(公告)日：2022-11-22

申请号：US17153202

申请日：2021-01-20

Applicant: QINGDAO UNIVERSITY OF TECHNOLOGY

Inventor： Chengjun Chen ,  Yong Pan ,  Dongnian Li ,  Zhengxu Zhao ,  Jun Hong

IPC: B25J9/22 ,  B25J9/16 ,  G06T7/11 ,  G06T7/70 ,  G06V40/10 ,  G06T19/00

Abstract: The present invention relates to a robot teaching system based on image segmentation and surface electromyography and robot teaching method thereof, comprising a RGB-D camera, a surface electromyography sensor, a robot and a computer, wherein the RGB-D camera collects video information of robot teaching scenes and sends to the computer; the surface electromyography sensor acquires surface electromyography signals and inertial acceleration signals of the robot teacher, and sends to the computer; the computer recognizes a articulated arm and a human joint, detects a contact position between the articulated arm and the human joint, and further calculates strength and direction of forces rendered from a human contact position after the human joint contacts the articulated arm, and sends a signal controlling the contacted articulated arm to move along with such a strength and direction of forces and robot teaching is done.

公开(公告)号：US12243159B2

公开(公告)日：2025-03-04

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 ,  B25J9/16 ,  B25J13/08 ,  G06T7/00 ,  G06T7/194 ,  G06T7/50 ,  G06T7/70 ,  G06T19/20 ,  H04N13/20 ,  H04N23/10

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：US20220161422A1

公开(公告)日：2022-05-26

申请号：US17153202

申请日：2021-01-20

Applicant: QINGDAO UNIVERSITY OF TECHNOLOGY

Inventor： Chengjun Chen ,  Yong Pan ,  Dongnian Li ,  Zhengxu Zhao ,  Jun Hong

IPC: B25J9/16 ,  G06T7/11 ,  G06K9/00 ,  G06T7/70 ,  G06T19/00

Abstract: The present invention relates to a robot teaching system based on image segmentation and surface electromyography and robot teaching method thereof, comprising a RGB-D camera, a surface electromyography sensor, a robot and a computer, wherein the RGB-D camera collects video information of robot teaching scenes and sends to the computer; the surface electromyography sensor acquires surface electromyography signals and inertial acceleration signals of the robot teacher, and sends to the computer; the computer recognizes a articulated arm and a human joint, detects a contact position between the articulated arm and the human joint, and further calculates strength and direction of forces rendered from a human contact position after the human joint contacts the articulated arm, and sends a signal controlling the contacted articulated arm to move along with such a strength and direction of forces and robot teaching is done.