US 11,986,968 B2
Real-time control system for industrial robot based on virtual reality (VR)
Jihong Yan, Harbin (CN); Yuemin Chen, Harbin (CN); and Pengxiang Wang, Harbin (CN)
Assigned to Harbin Institute of Technology, Harbin (CN)
Filed by Harbin Institute of Technology, Harbin (CN)
Filed on Mar. 15, 2022, as Appl. No. 17/694,836.
Claims priority of application No. 202110275363.6 (CN), filed on Mar. 15, 2021.
Prior Publication US 2022/0203550 A1, Jun. 30, 2022
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01); G06T 19/00 (2011.01)
CPC B25J 9/1697 (2013.01) [B25J 9/1612 (2013.01); B25J 9/1664 (2013.01); B25J 9/1671 (2013.01); G06T 19/006 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A real-time control system for an industrial robot based on virtual reality (VR), comprising:
a VR integrated machine;
a model construction module;
a motion control module;
a data communication system; and
a robot controller;
wherein the VR integrated machine comprises a VR headset and a VR controller;
the model construction module is configured to construct an industrial robot model and a workspace model of the industrial robot;
the motion control module is configured to construct a Cyber model corresponding to the industrial robot model and the workspace model of the industrial robot;
arrange a plurality of control points in the Cyber model, and set a first bounding box for each of the plurality of control points such that first bounding box respectively corresponding to the plurality of control points cover an entire workspace of the industrial robot in the Cyber model;
set a second bounding box and a VR interactive component that displays a highlighted and grasp option on a gripper of the industrial robot in the Cyber model, and associate the VR interactive component with the VR controller;
set a camera component in the Cyber model, and associate the camera component with the VR headset; and
receive a trigger signal sent by the VR controller and send a corresponding motion command;
the VR headset is configured to image the industrial robot and the Cyber model in the VR headset through the camera component when the VR headset is turned on to enter a working mode;
the VR controller is configured to touch the second bounding box when the VR headset enters the working mode to activate the highlighted and grasp option in the VR interactive component, so as to drag the gripper of the industrial robot in the Cyber model to move to a certain control point in the workspace of the industrial robot, and send a corresponding trigger signal to the motion control module; and
the robot controller is configured to preset a plurality of control data; motion commands of the plurality of control points respectively corresponds to the plurality of control data; and when the data communication system receives a motion command sent by the motion control module, the industrial robot is controlled to move by a control data corresponding to the motion command; and
the robot controller is also configured to set a plurality of mesh control points at an equal interval in the Cyber model.