Man-machine cooperation assembly method and system based on low-code programming and storage medium

Abstract

The invention provides a man-machine cooperation assembly method and system based on low-code programming and a storage medium, and the method comprises the steps: collecting a target scene containing a target object through target AR equipment, and generating and displaying a three-dimensional segmentation model; initial pose information of the three-dimensional segmentation model and gesture information of a user for controlling the three-dimensional segmentation model are obtained, mechanical arm control data are generated according to the initial pose information and the gesture information, and simulation preview of the mechanical arm for grabbing the target object is generated; after confirmation information of the user on the simulation preview is received, the target AR equipment generates a control instruction based on the mechanical arm control data and sends the control instruction to the mechanical arm; and the mechanical arm receives and executes the control instruction so as to move the target object to the target position in the target posture. By means of the augmented reality technology, a user can visually control the three-dimensional segmentation model, then the control instruction of the mechanical arm is generated, the code writing workload is reduced, and the programming efficiency of the mechanical arm is effectively improved. 本发明提供一种基于低代码编程的人机协作装配方法、系统及存储介质，所述方法包括：利用目标AR设备采集包含目标物体的目标场景，生成三维分割模型并显示；获取三维分割模型的初始位姿信息和用户操控三维分割模型的手势信息，根据初始位姿信息和手势信息生成机械臂控制数据，并生成机械臂抓取目标物体的仿真预览；当接收到用户对仿真预览的确认信息后，目标AR设备基于机械臂控制数据生成控制指令，并将控制指令发送至机械臂；机械臂接收并执行控制指令，以将目标物体以目标姿态移动至目标位置。本发明利用增强现实技术使用户能够直观地操控三维分割模型，进而生成机械臂的控制指令，减少代码的编写工作量，有效提高了机械臂的编程效率。