Digital twin modeling method and system for assembling a robotic teleoperation environment

The digital twin modeling system of assembly a robotic teleoperation environment, comprising:

• an image acquisition device, for capturing images of a teleoperational environment;
• an assembly digitization module, pre-loaded with the three-dimensional mold of the parts in the assembly, the constraining relationships between the parts, and the assembly assembling order;
• an assembly reconstruction module, for identifying the part currently being assembled in the image and query the assembly assembling order to obtain a list of assembled parts based on the part currently being assembled;
• and generating a three-dimensional model of the current assembly from the list of assembled parts;
• an assembly positioning module, for calculating position pose information of a current assembly in an image acquisition device coordinate system;
• a robot digitization module, preloaded with a three-dimensional model of the robot;
• a robot positioning module, for determining a coordinate transformation relationship between a robot coordinate system and an image acquisition device coordinate system;
• and position calibrating the robot in the image according to the coordinate transformation relationship, determining position pose information of the robot in the image acquisition device coordinate system;
• a digital twin model reconstruction module, for determining a relative positional relationship between the current assembly and the robot from position pose information of the current assembly in an image acquisition device coordinate system and position pose information of the robot in the image acquisition device coordinate system;
• and establishing a digital twin model of the teleoperation environment based on the three-dimensional model of the current assembly, the three-dimensional model of the robot, and a relative positional relationship between the current assembly and the robot.