Patent ID: 11969904
Assignee: QINGDAO UNIVERSITY OF TECHNOLOGY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 6:
7. A registration method for robot-oriented augmented reality teaching system, wherein the method is implemented based on the registration system for robot-oriented augmented reality teaching system of claim 1, and comprises the following steps:
installing a registration marker on the physical robot, and fixing a camera;
programing a robot point-to-point intermittent movement control program on a computer and sending the robot point-to-point intermittent movement control program to a physical robot controller, wherein the robot point-to-point intermittent movement control program controls at least one execution mechanism of the physical robot to perform at least three or more fold line movements;
downloading the programed robot point-to-point intermittent movement control program to the physical robot controller, wherein the physical robot controller executes the robot point-to-point intermittent movement control program to control the physical robot to act;
a camera shooting an image and sending the image to a computer, the computer calculating pixel coordinates of the registration marker in the image, and meanwhile the computer obtaining three-dimensional coordinates of the registration marker in a physical robot base coordinate system by the physical robot controller;
the conversion calculation unit reading the pixel coordinates of the registration marker in the image and the three-dimensional coordinates of the registration marker in the physical robot base coordinate system, and calculating the conversion relation between the camera coordinate system and the physical robot base coordinate system;
and the virtual robot generation unit generating a virtual robot model consistent with the physical robot base coordinate system according to calculation of the conversion relation between camera coordinate system and the physical robot base coordinate system, and completing registration by means of overlying the virtual robot model in a real scene through augmented reality equipment.