CN111383348A - Method for remotely and synchronously controlling robot through virtual reality - Google Patents
Method for remotely and synchronously controlling robot through virtual reality Download PDFInfo
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- CN111383348A CN111383348A CN202010185883.3A CN202010185883A CN111383348A CN 111383348 A CN111383348 A CN 111383348A CN 202010185883 A CN202010185883 A CN 202010185883A CN 111383348 A CN111383348 A CN 111383348A
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Abstract
The invention provides a method for remotely and synchronously controlling a robot through virtual reality, which comprises the steps of reconstructing a depth scene from video data and depth data of a real environment where the robot is located in a Unity3D platform, restoring three-dimensional information of the real environment where the robot is located after the depth scene and a virtual object are mixed and realized, and displaying the three-dimensional information in VR glasses, wherein an operator remotely and synchronously controls the robot through controlling the virtual robot to move; the steering engine can be controlled to rotate by a corresponding angle through the posture of the VR glasses, so that the visual angle of the robot rotates along with the head of an operator, and the robot can be remotely and synchronously controlled in another visual range; and real-time collision detection is carried out on the surface of the reconstructed virtual object and each surface of the virtual robot, and early warning is carried out before the robot is in true collision, so that the damage to the robot is reduced. The invention can really restore the three-dimensional information of the scene, thereby realizing the remote synchronous control of the virtual reality of the robot.
Description
Technical Field
The invention relates to the field of robots, in particular to a method for remotely and synchronously controlling a robot through virtual reality.
Background
In order to enable robots to perform a variety of complex tasks in complex environments, the prior art utilizes a human robot to mimic or follow the actions of a remote operator. In order to facilitate the operator to know the task environment of the robot, the remote operator needs to synchronize the visual angle of the humanoid robot in real time with high telepresence. Virtual reality technology is one of the best solutions to achieve high presence.
In the prior art, an operator can remotely obtain the vision of the robot by utilizing virtual reality and has stronger telepresence. However, these so-called "virtual reality" simply transfer video information obtained by two cameras at a machine to the left and right eyes of VR glasses, and essentially the same as watching a 3D movie with 3D glasses, and do not acquire three-dimensional information (the third dimension is "depth"), and thus it is difficult to reuse the information. The real virtual reality is three-dimensional information of a known object/scene, and then the left and right eye visual angles of a person are rendered by software to respectively see the object/scene. However, these "virtual reality" used in the robot only obtain objects/scenes viewed from the left and right eye views, respectively, but cannot restore three-dimensional information of the objects/scenes for further use.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method for remotely and synchronously controlling a robot through virtual reality, which is used for restoring three-dimensional information of a real scene where the robot is located and realizing the remote and synchronous control of the robot through the virtual reality.
The present invention achieves the above-described object by the following technical means.
A method for remotely and synchronously controlling a robot in virtual reality comprises the steps that a computer provided with a Unity3D platform imports video data and depth data of a real environment where the robot is located, a depth scene is reconstructed from the video data and the depth data in a Unity3D platform, and the depth scene and a virtual object are presented in VR (virtual reality) glasses after mixed reality is carried out on the depth scene and the virtual object; an operator controls the virtual robot to move according to the real environment of the robot presented in the mixed reality, so that the real robot moves correspondingly; the process of mixed reality is as follows: and for the video image area with the same depth value, if no virtual object with the depth smaller than that of the video image area exists, directly projecting the area to the corresponding area of the VR glasses, or else, rendering the virtual object and projecting the rendered virtual object to the corresponding area of the VR glasses.
Further, amplifying all surfaces of the virtual robot in the Unity3D platform, performing real-time collision detection on the reconstructed virtual object surface and all surfaces of the virtual robot, and performing early warning before the real robot actually collides with the real environment.
Still further, the reconstructed virtual object is: and performing three-dimensional reconstruction on a two-dimensional image generated by projecting the surface of the real object in the stereo camera by using the depth data.
Further, the Unity3D platform collects the gesture of VR glasses, and controls the steering engine to rotate a corresponding angle, so that the visual angle of the robot rotates along with the head of an operator, and the remote synchronous control of the virtual reality of the robot in another visual range is realized.
Further, the pose of the VR glasses can be expressed in terms of XYZ Euler angles
The Unity3D platform transmits the gesture of VR glasses to the industrial computer, and the industrial computer controls the rotation axis of the steering engine to rotate a corresponding angle.
Further, the rendering specifically includes: and projecting each virtual object into a two-dimensional image according to different positions and angles of the virtual camera to be displayed in VR glasses.
Further, the depth scene is restored by combining the video data, each frame of the video data is a two-dimensional image, and each area of the two-dimensional image has a corresponding depth value.
Further, the depth values are: the distance between the projection of each area of the two-dimensional image on the main optical axis of the stereo camera and the center of the stereo camera.
The invention has the beneficial effects that: according to the invention, a depth scene is reconstructed from video data and depth data of a real environment where a robot is located, which are acquired by a stereo camera, in a Unity3D platform, after the depth scene and a virtual object are mixed and realized, three-dimensional information of the real scene where the robot is located is restored and presented in VR glasses, and an operator controls the virtual robot to move according to the real environment where the robot is located presented in the mixed reality, so that the real robot performs corresponding movement, and the virtual reality remote synchronous control of the robot is realized; the Unity3D platform collects the postures of VR glasses, controls a steering engine to rotate by a corresponding angle, enables the visual angle of the robot to rotate along with the head of an operator, and enables the robot to be remotely and synchronously controlled in a virtual reality mode in another visual range; in addition, each surface of the virtual robot is amplified in the Unity3D platform, real-time collision detection is carried out on the reconstructed virtual object surface and each surface of the virtual robot, and early warning can be carried out before the robot is in true collision, so that damage to the robot is reduced.
Drawings
FIG. 1 is a flow chart of a method for remotely and synchronously controlling a robot according to virtual reality of the present invention;
FIG. 2 is a schematic view of the installation of a stereo camera according to the present invention;
FIG. 3 is a schematic diagram showing depth values corresponding to each region of a two-dimensional image according to the present invention;
FIG. 4 is a schematic diagram of a scenario in an embodiment of the present invention;
FIG. 5 is a schematic view of a reconstructed depth scene according to the present invention;
FIG. 6 is a schematic view of a virtual scene according to the present invention;
FIG. 7 is a schematic diagram of mixed reality of the present invention, FIG. 7(a) is a schematic diagram before mixed reality, and FIG. 7(b) is a schematic diagram before mixed reality;
fig. 8 is a schematic diagram illustrating the effect of the remote synchronous control robot according to the present invention.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, the method for remotely and synchronously controlling a robot through virtual reality of the invention specifically comprises the following steps:
firstly, a stereo camera is installed on a robot neck pan-tilt formed by two steering engines (as shown in figure 2), and is connected to a development board through a data line, and collected video data, depth data and position information (IMU built in the stereo camera) of the real environment where the robot is located are transmitted to a computer at an operator end through an Ethernet line or a wireless network.
Step two, a computer at the operator end is provided with a Unity3D platform and is connected with VR glasses, and the computer imports various information transmitted by the stereo camera to perform the following operations:
(1) firstly, reconstructing a depth scene from video data and depth data of a real environment where the robot is located in a Unity3D platform, then mixing the depth scene and a virtual object, rendering through a Unity3D platform, and finally presenting in VR glasses.
Each frame of video data of the real environment where the robot is located is a two-dimensional image, each area of the two-dimensional image has a corresponding depth value, and the depth values are as follows: the distance between the projection of each area of the two-dimensional image on the main optical axis of the stereo camera and the center of the stereo camera (figure 3) can be combined with the depth value to restore a stereo scene; see fig. 4, 5:
in the scene of fig. 4, there is an arrow-shaped object, and whether it is a normal camera or a stereo camera, a line segment appears in the video image, but the stereo camera can additionally obtain a depth value corresponding to each region of the image, and assuming that the resolution of the depth information is relatively low, the Unity3D platform can only equally divide the line segment image presented by the camera into seven regions, and then the Unity3D platform can reconstruct the depth scene as shown in fig. 5 by combining the video image and the depth information.
Assuming that the position and orientation of the virtual camera in the virtual scene is the same as the position and orientation of the stereo camera mounted on the robot neck pan-tilt in the real environment, the Unity3D platform mixes the reconstructed depth scene with the virtual object: for a region with the same depth value in the video image of the stereo camera, if there is no virtual object with a depth smaller than that of the region (i.e. a virtual object closer to the center of the stereo camera), the region of video data is directly projected to a corresponding region in the VR glasses, otherwise the virtual object is rendered and projected to the corresponding region in the VR glasses.
A general virtual scene comprises a plurality of virtual objects and a virtual camera (corresponding to VR glasses worn by a user in reality). The rendering specifically comprises: and each virtual object is projected into a two-dimensional image according to different positions and angles of the virtual camera to be displayed in VR glasses, which is a self-contained function of the Unity3D platform. As shown in fig. 6, it is assumed that there is only one virtual cylindrical object in the virtual scene, and there are three virtual cameras (camera 1, camera 2, and camera 3) located at different positions, where the orientation of camera 1 is different from that of camera 2 and camera 3, and the orientation of camera 2 is the same as that of camera 3; then the VR glasses for camera 1 will show a larger circle to the user, the VR glasses for camera 2 will show a smaller rectangle, and the VR glasses for camera 3 will show nothing.
As shown in fig. 7(a), the real object photographed by the stereo camera is a triangular tip, the virtual object photographed by the virtual camera is a circle, and after the real object and the virtual object are mixed, the result displayed in the VR glasses is that a circle is superimposed on a line segment, as shown in fig. 7(b), the mixed reality effect is realized.
(2) The depth information can be used for realizing mixed reality, and can also be used for three-dimensional reconstruction of the object surface in the perspective of the stereoscopic camera, specifically: each region reconstructed in fig. 5 is simplified into one point, and points with a short distance are connected by line segments, and all line segments form a gridded surface. On this basis, the three-dimensionally reconstructed mesh surfaces are introduced into the Unity3D platform and become virtual objects in the Unity3D platform virtual scene. The 3D model (virtual robot model) for controlling the real robot is led into a virtual scene of a Unity3D platform, an operator wearing VR glasses observes the real environment where the robot after fusion rendering is located, the virtual robot is controlled to move, the real robot is enabled to move correspondingly, and therefore the following overall effects are achieved: the actions of the robot model, the shape of the surface of the virtual object and the position of the virtual object relative to the robot model in the virtual scene, and the actions of the real robot, the shape of the surface of the real object and the position of the real object relative to the real robot in the real environment are kept consistent from time to time, as shown in fig. 8.
The Unity3D platform has a function of detecting whether collision exists between the surfaces of the virtual objects in real time, and further by utilizing the function, the Unity3D platform carries out real-time collision detection on the surfaces of the reconstructed virtual objects and the surfaces of the virtual robot, thereby indirectly realizing the real-time collision detection on the real robot and the actual environment. If the surfaces of the virtual robot are properly enlarged at the Unity3D platform, the collision can be detected in the virtual environment before the real collision occurs, and the collision early warning effect is achieved.
(3) In order to further expand the visual range of the real robot, the position and the posture of VR glasses are collected by a Unity3D platform, the corresponding rotation angle of a steering engine is calculated according to the posture information, so that the visual angle of the robot rotates along with the rotation of the head of an operator, and the steps (1) and (2) are repeated, and the virtual reality remote synchronous control of the real robot in another visual range is realized.
The Unity3D platform is compatible with various conventional VR glasses, the posture of the VR glasses in the world coordinate system can be called at any time through the self-contained program interface of the Unity3D platform, and the posture is expressed by XYZ Euler angles which are recorded as
And in the initial state
Because the neck pan-tilt for installing the stereo camera only has two rotating shafts (figure 2), if the rotating shaft 3 which is vertical to the rotating shaft 1 and the rotating shaft 2 is added at the rotating shaft 2, finally the stereo camera is installed at the shaft 3, and the rotating shaft 1, the rotating shaft 2 and the rotating shaft 3 are respectively arranged at the initial stateThe axis is in the same direction with the x, y and z axes of the world coordinate system; if the posture of VR glasses can be expressed by XYZ Euler angles as defined by Euler angles
The Unity3D platform transmits the posture of the VR glasses to the industrial personal computer, and the industrial personal computer sends an instruction to enable the rotating shaft 1, the rotating shaft 2 and the rotating shaft 3 to rotate respectively
Then, the posture of the stereo camera is the same as that of the VR glasses. The rotation axis 3 of the head is removed and omitted for the sake of simplifying the mechanical design
Only the steering engine corresponding to the rotating shaft 1 and the steering engine corresponding to the rotating shaft 2 are respectively rotated by psi and theta, so that the stereo camera can rotate up, down, left and right along with the VR glasses or the head of a wearer.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (8)
1. A method for remotely and synchronously controlling a robot in a virtual reality manner is characterized in that a computer provided with a Unity3D platform imports video data and depth data of a real environment where the robot is located, reconstructs a depth scene from the video data and the depth data in a Unity3D platform, and displays the depth scene and a virtual object in VR glasses after mixed reality is carried out on the depth scene and the virtual object; an operator controls the virtual robot to move according to the real environment of the robot presented in the mixed reality, so that the real robot moves correspondingly; the process of mixed reality is as follows: and for the video image area with the same depth value, if no virtual object with the depth smaller than that of the video image area exists, directly projecting the area to the corresponding area of the VR glasses, or else, rendering the virtual object and projecting the rendered virtual object to the corresponding area of the VR glasses.
2. The method of claim 1, wherein the surfaces of the virtual robot are enlarged in the Unity3D platform, the reconstructed surfaces of the virtual object and the virtual robot are detected for real-time collision, and the real robot is warned before the real robot actually collides with the real environment.
3. The method of virtual reality remote synchronous control of a robot according to claim 2, wherein the reconstructed virtual object is: and performing three-dimensional reconstruction on a two-dimensional image generated by projecting the surface of the real object in the stereo camera by using the depth data.
4. The method for remotely and synchronously controlling the robot according to the virtual reality of claim 1, wherein the Unity3D platform collects the postures of VR glasses and controls a steering engine to rotate by a corresponding angle, so that the visual angle of the robot rotates along with the head of an operator, and the remote and synchronous control of the virtual reality of the robot in another visual range is realized.
5. The method of virtual reality remote synchronous control robot of claim 4, wherein the pose of the VR glasses can be expressed in XYZ Euler angles as (ψ, θ,
) And the Unity3D platform transmits the gesture of the VR glasses to the industrial personal computer, and the industrial personal computer controls the rotating shaft of the steering engine to rotate by a corresponding angle.
6. The method for remotely and synchronously controlling the robot according to the virtual reality of claim 1, wherein the rendering is specifically: and projecting each virtual object into a two-dimensional image according to different positions and angles of the virtual camera to be displayed in VR glasses.
7. The method of claim 1, wherein the depth scene is restored by combining the video data, each frame of the video data is a two-dimensional image, and each area of the two-dimensional image has a corresponding depth value.
8. The method for remotely and synchronously controlling a robot according to the virtual reality of claim 7, wherein the depth values are: the distance between the projection of each area of the two-dimensional image on the main optical axis of the stereo camera and the center of the stereo camera.
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| CN112819966A (en) * | 2021-01-05 | 2021-05-18 | 上海大学 | Environment fusion system and method suitable for man-machine interaction operation of underwater remote control robot |
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| US20210347053A1 (en) * | 2020-05-08 | 2021-11-11 | Vangogh Imaging, Inc. | Virtual presence for telerobotics in a dynamic scene |
| CN114281190A (en) * | 2021-12-14 | 2022-04-05 | Oppo广东移动通信有限公司 | Information control method, device, system, equipment and storage medium |
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