Man-machine cooperative control method and system based on augmented reality and digital twinning

Abstract

The invention discloses a man-machine cooperative control method and system based on augmented reality and digital twinning, and the man-machine cooperative control method comprises the steps that an operation robot and a virtual robot corresponding to the operation robot are determined; a transformation relation between the operation robot and the virtual robot is determined based on the operation robot and the virtual robot; operation action data are acquired, and simulation motion data corresponding to the virtual robot are determined according to the operation action data; and target motion data are determined according to the simulation motion data and the transformation relation, and the operation robot is controlled to move according to the target motion data. According to the man-machine cooperative control method and system, the operation robot is controlled through the virtual robot, and some possible operation errors can be eliminated in advance by observing the motion of the virtual robot, so that the possibility of mistakes in the actual operation process of the operation robot is reduced. The problems that an existing robot operation mode is high in operation error rate and consumes a large amount of operation cost are solved. 本发明公开了一种基于增强现实和数字孪生的人机协同控制方法及系统，所述方法通过确定作业机器人、与所述作业机器人对应的虚拟机器人，并基于所述作业机器人与所述虚拟机器人确定所述作业机器人与所述虚拟机器人之间的变换关系；获取作业动作数据，根据所述作业动作数据确定所述虚拟机器人对应的模拟运动数据；根据所述模拟运动数据和所述变换关系确定目标运动数据，根据所述目标运动数据控制所述作业机器人进行运动。本发明通过虚拟机器人来控制作业机器人，可以通过观察虚拟机器人的运动预先排除一些可能的作业错误，使得作业机器人在实际作业的过程中减少犯错的可能性。解决了现有的机器人作业方式作业错误率高，耗费大量的作业成本的问题。