CN107066654A - Towards the TRAJECTORY CONTROL dot picking method and apparatus in the enveloped box face of point cloud model - Google Patents
Towards the TRAJECTORY CONTROL dot picking method and apparatus in the enveloped box face of point cloud model Download PDFInfo
- Publication number
- CN107066654A CN107066654A CN201611163619.XA CN201611163619A CN107066654A CN 107066654 A CN107066654 A CN 107066654A CN 201611163619 A CN201611163619 A CN 201611163619A CN 107066654 A CN107066654 A CN 107066654A
- Authority
- CN
- China
- Prior art keywords
- triangular plate
- ray
- point cloud
- cloud model
- working face
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/18—Network design, e.g. design based on topological or interconnect aspects of utility systems, piping, heating ventilation air conditioning [HVAC] or cabling
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
Abstract
The invention discloses a kind of TRAJECTORY CONTROL dot picking method in the enveloped box face towards point cloud model, including step：Whole triangular plates on given point cloud model surface are simultaneously configured to triangular plate array；Construct minimum bounding box；1 female surface of selection is used as working face；Setting a little as target point and constructs ray on working face；Search the triangular plate passed through by the ray and be configured to triangular plate chained list；The triangular plate nearest apart from working face is searched among triangular plate chained list, and using the intersection point in the triangular plate with ray as incident point, and it regard the target point on working face as TRAJECTORY CONTROL point.It can realize in fixed visual angle, and the reconnaissance in fixed operation planar, make easy to operate directly perceived, simplify flow chart of data processing simultaneously, and various alignment can also be operated with reference to CAD sketches, improve the normalization of TRAJECTORY CONTROL point, and then improve corresponding crudy.
Description
Technical field
The present invention relates to 3 D workpieceThe CAD in particular process pathField, it is more particularly to a kind of towards
The TRAJECTORY CONTROL dot picking method and apparatus in the enveloped box face of point cloud model.
Background technology
In order to meet requirement of the user to the presentation quality increasingly harshness of product, it is necessary in manufacture link to product appearance
The external coating operation that quality plays a crucial role proposes requirements at the higher level.Traditional surface spraying technology is all to enter manually
The spraying operation of row product surface, a large amount of harmful substances and gas that produce in the process badly influence the body of operator
Body health and work mood, and coating quality is influenceed larger by factors such as technical merit, the moods of employee, therefore serious restriction
Production capacity and product quality.With automatically control and robot technology development, using spray robot mode from
Dynamic spraying coating process is gradually popularized in field of industrial production, and overcomes the shortcoming present in above-mentioned manual mode.Certainly
In dynamic spraying operation, viscous fluid medium is generally fallen into due to being sprayed on the material of product surface, it is therefore desirable to ability after drying
Solidification, and in spraying process, the workpiece surface of oneself spraying must not be contacted.Therefore appropriate spraying operation path and parameter
The coating layer thickness of consumption to spray paint, spray time and workpiece surface has conclusive influence, and appropriate path
Selection with its parameter can be cost-effective and shortens the activity duration.It is currently used for planning that the one kind in spraying operation path is typical
Method is artificial teaching method, i.e., the robot forearm progress spraying reality for being provided with fixed spray gun is held by veteran workman
Test, at the same under the computer recording of control machine people each joint parameter of robot change so that robot then can be independent
Repetition moved along original track.Spray gun track formed by this way is with artificial experience and experimental method acquisition
, the modification of workpiece configurations each time is required for being demonstrated the munipulation by workman again, and the track obtained is not most
Excellent operating path.Therefore in Design Stage, according to the requirement of the outward appearance of product and technique, Automated Design optimization task route
Footpath is an indispensable task.Therefore selected appropriate path clustering point particularly significant according to product appearance.Due to being permitted
The appearance design of multi-product is sufficiently complex, can only carry out product design from three-dimensional point cloud model.And directly in three-dimensional point cloud
Select in appropriate path clustering point process, because three-dimensional point cloud model can not keep fixed pose, and be also difficult on model
The relation between multiple selected path clustering points is safeguarded, therefore this work is not easily done very much.
The content of the invention
It is a primary object of the present invention to provide a kind of TRAJECTORY CONTROL dot picking side in the enveloped box face towards point cloud model
Method and device, it is intended to which solution is directly selected in appropriate path clustering point process on three-dimensional point cloud model, due to three-dimensional point cloud
Model can not keep fixed pose, and also be difficult to safeguard the relation between multiple selected path clustering points, not allow very much
This technical problem being readily accomplished.
To achieve the above object, the TRAJECTORY CONTROL dot picking side in the enveloped box face towards point cloud model that the present invention is provided
Method, including step：
Whole triangular plates on the given point cloud model surface of generation are determined using triangular grid Processing Algorithm, and will be described
Whole triangular plates are configured to triangular plate array；
Maximum coordinate value among and min coordinates value construction minimum according to the given point cloud model in three-dimensional system of coordinate contains
Box；
1 female surface is selected to be used as working face among 6 female surfaces of the minimum bounding box；
Setting constructs along the direction of normal of the working face a little as target point and passes through the mesh on the working face
The ray of punctuate；
The triangular plate on the given point cloud model surface passed through by the ray is searched, and is worn described by the ray
The triangular plate on the given point cloud model surface crossed is configured to triangular plate chained list；
Searched among the triangular plate chained list described in being passed through by the ray apart from nearest described of the working face
The triangular plate on given point cloud model surface, and by it is described passed through by the ray apart from nearest described of the working face described in
Intersection point in the triangular plate on given point cloud model surface with the ray is as incident point, and by the mesh on the working face
Punctuate is used as TRAJECTORY CONTROL point.
Preferably, the triangular plate for searching the given point cloud model surface passed through by the ray, and will be described
The step of triangular plate on the given point cloud model surface passed through by the ray is configured to triangular plate chained list includes：
Judge whether to have traveled through the triangular plate array；
If it is determined that not traveled through the triangular plate array also, judge whether the ray passes through the current triangular plate；
If it is determined that the ray passes through the current triangular plate, the current triangular plate is added into the triangular plate chained list.
Preferably, it is described to judge that the step of whether ray passes through the current triangular plate includes：
Obtain the method arrow of the current triangular plate；
Judge whether the angle between the method arrow of the working face and the method arrow of the current triangular plate is more than 90 degree；
If the angle is more than 90 degree, judge that the ray is not passed through the current triangular plate；
If the angle is less than or equal to 90 degree, continuation judges whether the ray passes through the current triangular plate.
Preferably, the continuation judges that the step of whether ray passes through the current triangular plate includes：
Three summits of the current triangular plate are projected to the working face along the direction of normal of the working face, obtained
Three summits one-to-one three subpoints on the working face；
The target point on the working face is configured to three vectors with three subpoints successively；
Calculate the angle of three vectors between any two；
Judge whether the angle sum is equal to 360 degree；
If the angle sum is equal to 360 degree, judge that the ray passes through the current triangular plate；
If the angle sum is not equal to 360 degree, judge that the ray is not passed through the current triangular plate.
Preferably, the length of the chained list of the triangular plate up to 20.
The present invention further provides the TRAJECTORY CONTROL dot picking device towards the enveloped box face of point cloud model, including：
Triangular plate array builds module, for determining the given point cloud model table of generation using triangular grid Processing Algorithm
Whole triangular plates in face, and whole triangular plates are configured to triangular plate array；
Minimum bounding box constructing module, for according to the given point cloud model three-dimensional system of coordinate maximum coordinate value among and
Min coordinates value constructs minimum bounding box；
Working face selecting module, for selecting 1 female surface to be used as work among 6 female surfaces of the minimum bounding box
Make face；
Ray constructing module, for setting to be a little as target point on the working face, construction is along the working face
Direction of normal passes through the ray of the target point；
Triangular plate list construction module, the triangle for searching the given point cloud model surface passed through by the ray
Piece, and the triangular plate on the given point cloud model surface passed through by the ray is configured to triangular plate chained list；
TRAJECTORY CONTROL point module, for searching the quilt nearest apart from the working face among the triangular plate chained list
The triangular plate on the given point cloud model surface that the ray is passed through, and by the quilt nearest apart from the working face
Intersection point in the triangular plate on the given point cloud model surface that the ray is passed through with the ray is as incident point, and by institute
The target point on working face is stated as TRAJECTORY CONTROL point.
Preferably, the triangular plate list construction module includes：
Triangular plate array Ergodic judgement submodule, for judging whether to have traveled through the triangular plate array；
Ray passes through triangular plate judging submodule, for if it is determined that not traveled through the triangular plate array also, judgement to be described
Whether ray passes through the current triangular plate；
Triangular plate chained list adds triangular plate submodule, for if it is determined that the ray passes through the current triangular plate, by institute
State current triangular plate and add the triangular plate chained list.
Preferably, the ray includes through triangular plate judging submodule：
Triangular plate method swears acquiring unit, and the method for obtaining the current triangular plate is sweared；
Method swears angle judging unit, for judging that the method for the working face is sweared between the method arrow of the current triangular plate shape
Angle whether be more than 90 degree；
Ray does not pass through triangular plate identifying unit, if being more than 90 degree for the angle, judges that the ray is not passed through
The current triangular plate；
Ray continues judging unit through triangular plate, if being less than or equal to 90 degree for the angle, continues to judge described
Whether ray passes through the current triangular plate.
Preferably, the ray continues judging unit through triangular plate includes：
Subpoint obtains subelement, for the direction of normal along the working face by three summits of the current triangular plate
Projected to the working face, obtain three summits one-to-one three subpoints on the working face；
Vectorial structure subelement, for the target point on the working face to be constructed with three subpoints successively
For three vectors；
Vector angle computation subunit, for calculating the angle of three vectors between any two；
Angle sum judgment sub-unit, for judging whether the angle sum is equal to 360 degree；
Ray judges subelement through triangular plate, if being equal to 360 degree for the angle sum, judges that the ray is passed through
The current triangular plate；
Ray does not pass through triangular plate and judges subelement, if being not equal to 360 degree for the angle sum, judges the ray
It is not passed through the current triangular plate.
Preferably, the length of the chained list of the triangular plate constructed among the triangular plate list construction module is up to
20。
The present invention by above-mentioned steps, can according to given point cloud model three-dimensional system of coordinate maximum coordinate value among and minimum
Unique minimum bounding box of coordinate value construction, and select a female surface of the minimum bounding box as working face, can be with
Realize in fixed visual angle, and the reconnaissance in fixed operation planar, make it is easy to operate directly perceived, while simplifying at data
Flow is managed, and various alignment can also be operated with reference to CAD sketches, the normalization of TRAJECTORY CONTROL point is improved, and then improve correspondence
Crudy.
And overcome two shortcomings of existing conventional method：Planned trajectory point is not operative on 2D drawings；And
Although reconnaissance is directly perceived on 3D model curved surfaces, fixed pose can not be kept during reconnaissance, or posture can not be kept, and
And be difficult to safeguard the relation between multiple spot in three dimensions.Also reached using the method for the reconnaissance on the female surface of minimum bounding box
Treatment effect is arrived preferably, with the more preferable advantage of real work scene uniformity.
Brief description of the drawings
Fig. 1 is flow of the present invention towards the TRAJECTORY CONTROL dot picking method first embodiment in the enveloped box face of point cloud model
Schematic diagram；
Fig. 2 is flow of the present invention towards the TRAJECTORY CONTROL dot picking method second embodiment in the enveloped box face of point cloud model
Schematic diagram；
Fig. 3 is flow of the present invention towards the TRAJECTORY CONTROL dot picking method 3rd embodiment in the enveloped box face of point cloud model
Schematic diagram；
Fig. 4 is flow of the present invention towards the TRAJECTORY CONTROL dot picking method fourth embodiment in the enveloped box face of point cloud model
Schematic diagram；
Fig. 5 is work(of the present invention towards the TRAJECTORY CONTROL dot picking device first embodiment in the enveloped box face of point cloud model
Can module diagram；
Fig. 6 is function of the present invention towards the TRAJECTORY CONTROL dot picking device second embodiment in the enveloped box face of point cloud model
Module diagram；
Fig. 7 is function of the present invention towards the TRAJECTORY CONTROL dot picking device 3rd embodiment in the enveloped box face of point cloud model
Module diagram；
Fig. 8 is function of the present invention towards the TRAJECTORY CONTROL dot picking device fourth embodiment in the enveloped box face of point cloud model
Module diagram.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Reference picture 1, Fig. 1 is first reality of the present invention towards the TRAJECTORY CONTROL dot picking method in the enveloped box face of point cloud model
Apply the schematic flow sheet of example.
Step S1, structure triangular plate array.
Determine whole triangular plates on the given point cloud model surface of generation using triangular grid Processing Algorithm, and by institute
State whole triangular plates and be configured to triangular plate array.
Step S2, construction minimum bounding box.
Maximum coordinate value among and min coordinates value i.e. according to the given point cloud model in three-dimensional system of coordinate construct most parcel
Hold box.
Step S3, selection working face.
1 female surface is selected to be used as working face i.e. among 6 female surfaces of the minimum bounding box.
Step S4, sets target point simultaneously construct ray.
Setting constructs the direction of normal along the working face described in a little as target point i.e. on the working face
The ray of target point.
Step S5, construction triangular plate chained list.
The triangular plate on the given point cloud model surface passed through by the ray is searched, and by described by the ray
The triangular plate on the given point cloud model surface passed through is configured to triangular plate chained list.
Step S6, the lookup triangular plate nearest apart from working face, regard the target point on working face as TRAJECTORY CONTROL
Point.
The institute that by the ray is passed through nearest apart from the working face is searched among the triangular plate chained list
State the triangular plate on given point cloud model surface, and by the institute that by the ray is passed through nearest apart from the working face
The intersection point in the triangular plate on given point cloud model surface with the ray is stated as incident point, and by described on the working face
Target point is used as TRAJECTORY CONTROL point
By above-mentioned steps, can according to given point cloud model three-dimensional system of coordinate maximum coordinate value among and min coordinates value
Unique minimum bounding box of construction, and a female surface of the minimum bounding box is selected as working face, it is possible to achieve
In fixed visual angle, and the reconnaissance in fixed operation planar, make it is easy to operate directly perceived, while simplifying data processing stream
Journey, and the acceptable normalization for operating various alignment with reference to CAD sketches, improving TRAJECTORY CONTROL point, and then improve corresponding add
Working medium amount.
And overcome two shortcomings of existing conventional method：Planned trajectory point is not operative on 2D drawings；And
Although reconnaissance is directly perceived on 3D model curved surfaces, fixed pose can not be kept during reconnaissance, or posture can not be kept, and
And be difficult to safeguard the relation between multiple spot in three dimensions.Also reached using the method for the reconnaissance on the female surface of minimum bounding box
Treatment effect is arrived preferably, with the more preferable advantage of real work scene uniformity.
Reference picture 2, Fig. 2 is second reality of the present invention towards the TRAJECTORY CONTROL dot picking method in the enveloped box face of point cloud model
Apply the schematic flow sheet of example.As shown in Fig. 2 the embodiment based on above-mentioned Fig. 1, the step S5, construction triangular plate chained list include：
Step S51, triangular plate array whether is traveled through.
Judge whether to have traveled through the triangular plate array.If it is determined that having traveled through the triangular plate array, then step is performed
Rapid S6, otherwise updates current triangular plate and performs step S52.
Whether step S52, ray pass through current triangular plate.
I.e. if it is determined that not traveled through the triangular plate array also, judge whether the ray passes through the current triangular plate.
If it is determined that the ray passes through the current triangular plate, then step S53 is performed；If it is determined that the ray does not pass through described work as
First three cornual plate, then perform step S51.
Step S53, by current triangular plate add triangular plate chained list.
I.e. if it is determined that the ray passes through the current triangular plate, the current triangular plate is added into the triangular plate chain
Table.
The method of all triangular plates on the traversal three-dimensional point cloud model surface used by above-mentioned steps, will easily be searched
All triangular plates that place is passed through by the ray, and omission is not had.And this method is easily realized with algorithm routine, makes place
Reason process is easy to be directly perceived, while flow chart of data processing is simplified, with preferable operability.
Reference picture 3, Fig. 3 is threeth reality of the present invention towards the TRAJECTORY CONTROL dot picking method in the enveloped box face of point cloud model
Apply the schematic flow sheet of example.As shown in figure 3, the embodiment based on above-mentioned Fig. 2, in the step S52 including：
S521, the method arrow for obtaining current triangular plate.
Obtain the method arrow of the current triangular plate.
S522, judge between working face and current triangular plate method arrow angle whether be more than 90 degree.
Judge whether the angle between the method arrow of the working face and the method arrow of the current triangular plate is more than 90 degree.If
Judge that the angle is more than 90 degree, then perform step S523；If it is determined that the angle is less than or equal to 90 degree, then step is performed
S524。
S523, judgement ray are not passed through current triangular plate.
Even described angle is more than 90 degree, judges that the ray is not passed through the current triangular plate, then performs step
S51。
S524, continuation judge whether ray passes through current triangular plate.
Even described angle is less than or equal to 90 degree, and continuation judges whether the ray passes through the current triangular plate.If
Judge that the ray passes through the current triangular plate, then perform step S53；If it is determined that the ray is not passed through described working as first three
Cornual plate, then perform step S51.
Swear whether the angle between the method arrow of the current triangular plate is more than 90 degree by judging the method for the working face,
The angle can be more than into 90 degree of triangular plate to filter out among candidate head triangle piece, it is to avoid these be filtered three
Cornual plate judges whether ray passes through the calculating of triangular plate in follow-up, saves calculating time and computing resource, reduces calculating
Complexity, improves the efficiency of processing.And the computational methods of method arrow are relatively easy, easily realized with algorithm routine, its result
Accurately and reliably, therefore flow chart of data processing is simplified, with preferable operability.
Reference picture 4, Fig. 4 is fourth reality of the present invention towards the TRAJECTORY CONTROL dot picking method in the enveloped box face of point cloud model
Apply the schematic flow sheet of example.As shown in figure 4, whether the embodiment based on above-mentioned Fig. 3, the step S524, continuation judge ray
Include through current triangular plate：
S5241, obtain three summits of current triangular plate corresponding three subpoints on working face.
Three summits of the current triangular plate are projected to the working face along the direction of normal of the working face, obtained
Obtain three summits one-to-one three subpoints on the working face.
S5242, three vectors of construction.
The target point that will be on the working face is configured to three vectors with three subpoints successively.
S5243, the angle of three vectors of calculating between any two.
Calculate the angle of three vectors between any two.
S5244, judge angle sum whether be equal to 360 degree.
Judge whether the angle sum is equal to 360 degree.If it is determined that angle sum is equal to 360 degree, then institute is can be determined that
Ray is stated through the current triangular plate, step S5245 is performed；If it is determined that angle sum is not equal to 360 degree, then institute is can be determined that
State ray and be not passed through the current triangular plate, perform step S5246.
S5245, judgement ray pass through current triangular plate.
Even described angle sum is equal to 360 degree, judges that the ray passes through the current triangular plate, then performs step
S53。
S5246, judgement ray are not passed through current triangular plate.
Even described angle sum is not equal to 360 degree, judges that the ray is not passed through the current triangular plate, then holds
Row step S51.
It can will judge whether ray passes through the calculating of triangular plate from the Planar Mapping of triangular plate to behaviour by above-mentioned steps
Make face, reduce the complexity of calculating, make algorithm routine more succinct, its result of calculation accurately and reliably, therefore has preferable
Operability.
Further, the embodiment based on above-mentioned Fig. 1 to Fig. 4, the length up to 20 of the chained list of the triangular plate..
By the length for the chained list for setting triangular plate, limit the number of the calculating ray through the current triangular plate
20, it is ensured that the enforceability of algorithm routine.
The invention described above is towards in the first embodiment of the TRAJECTORY CONTROL dot picking method in the enveloped box face of point cloud model
TRAJECTORY CONTROL dot picking method towards the enveloped box face of point cloud model can be by the present invention towards the enveloped box face of point cloud model
The TRAJECTORY CONTROL point in the enveloped box face towards point cloud model that is provided of first embodiment of TRAJECTORY CONTROL dot picking device pick up
Device is taken to realize.
Reference picture 5, Fig. 5 is first reality of the present invention towards the TRAJECTORY CONTROL dot picking device in the enveloped box face of point cloud model
The TRAJECTORY CONTROL dot picking device that example provides a kind of enveloped box face towards point cloud model is applied, described device includes：
Triangular plate array builds module 10, for determining the given point cloud model of generation using triangular grid Processing Algorithm
Whole triangular plates on surface, and whole triangular plates are configured to triangular plate array.
Minimum bounding box constructing module 20, for according to the given point cloud model three-dimensional system of coordinate maximum coordinate value among
Minimum bounding box is constructed with min coordinates value.
Working face selecting module 30, for selecting 1 female surface conduct among 6 female surfaces of the minimum bounding box
Working face.
Ray constructing module 40, for setting to be a little as target point on the working face, construction is along the working face
Direction of normal pass through the target point ray.
Triangular plate list construction module 50, three for searching the given point cloud model surface passed through by the ray
Cornual plate, and the triangular plate on the given point cloud model surface passed through by the ray is configured to triangular plate chained list.
TRAJECTORY CONTROL point module 60, for searched among the triangular plate chained list apart from the working face recently described in
The triangular plate on the given point cloud model surface passed through by the ray, and by it is described apart from the working face recently described in
Intersection point in the triangular plate on the given point cloud model surface passed through by the ray with the ray is incited somebody to action as incident point
The target point on the working face is used as TRAJECTORY CONTROL point.
By above-mentioned module, can according to given point cloud model three-dimensional system of coordinate maximum coordinate value among and min coordinates value
Unique minimum bounding box of construction, and a female surface of the minimum bounding box is selected as working face, it is possible to achieve
In fixed visual angle, and the reconnaissance in fixed operation planar, make it is easy to operate directly perceived, while simplifying data processing stream
Journey, and the acceptable normalization for operating various alignment with reference to CAD sketches, improving TRAJECTORY CONTROL point, and then improve corresponding add
Working medium amount.
And overcome two shortcomings of existing conventional method：Planned trajectory point is not operative on 2D drawings；And
Although reconnaissance is directly perceived on 3D model curved surfaces, fixed pose can not be kept during reconnaissance, or posture can not be kept, and
And be difficult to safeguard the relation between multiple spot in three dimensions.Also reached using the method for the reconnaissance on the female surface of minimum bounding box
Treatment effect is arrived preferably, with the more preferable advantage of real work scene uniformity.
The invention described above is towards in the second embodiment of the TRAJECTORY CONTROL dot picking method in the enveloped box face of point cloud model
TRAJECTORY CONTROL dot picking method towards the enveloped box face of point cloud model can be by the present invention towards the enveloped box face of point cloud model
The TRAJECTORY CONTROL point in the enveloped box face towards point cloud model that is provided of second embodiment of TRAJECTORY CONTROL dot picking device pick up
Device is taken to realize.
Reference picture 6, second embodiment of the present invention towards the TRAJECTORY CONTROL dot picking device in the enveloped box face of point cloud model
A kind of TRAJECTORY CONTROL dot picking device in enveloped box face towards point cloud model is provided, based on the embodiment shown in above-mentioned Fig. 5, institute
Stating triangular plate list construction module 50 includes：
Triangular plate array Ergodic judgement submodule 510, for judging whether to have traveled through the triangular plate array.
I.e. triangular plate array Ergodic judgement submodule 510 judges whether to have traveled through the triangular plate array.If it is determined that time
The triangular plate array is gone through, then ray judges the ray whether through described current through triangular plate judging submodule 520
Triangular plate, otherwise triangular plate chained list add triangular plate submodule 530 will the current triangular plate addition triangular plate chained list.
Ray passes through triangular plate judging submodule 520, for if it is determined that do not traveled through the triangular plate array also, judging institute
State whether ray passes through the current triangular plate.
Triangular plate chained list adds triangular plate submodule 530, for if it is determined that the ray passes through the current triangular plate, general
The current triangular plate adds the triangular plate chained list.
The method of all triangular plates on the traversal three-dimensional point cloud model surface used by above-mentioned module, will easily be searched
All triangular plates that place is passed through by the ray, and omission is not had.And easily realized with algorithm routine, make processing procedure
It is easy to be directly perceived, while flow chart of data processing is simplified, with preferable operability.
The invention described above is towards in the 3rd embodiment of the TRAJECTORY CONTROL dot picking method in the enveloped box face of point cloud model
TRAJECTORY CONTROL dot picking method towards the enveloped box face of point cloud model can be by the present invention towards the enveloped box face of point cloud model
The TRAJECTORY CONTROL point in the enveloped box face towards point cloud model that is provided of 3rd embodiment of TRAJECTORY CONTROL dot picking device pick up
Device is taken to realize.
Reference picture 7,3rd embodiment of the present invention towards the TRAJECTORY CONTROL dot picking device in the enveloped box face of point cloud model
A kind of TRAJECTORY CONTROL dot picking device in enveloped box face towards point cloud model is provided, based on the embodiment shown in above-mentioned Fig. 6, institute
State ray includes through triangular plate judging submodule 520：
Triangular plate method swears acquiring unit 521, and the method for obtaining the current triangular plate is sweared.
Method arrow angle judging unit 522, for judging that the method for the working face swears that the method with the current triangular plate swears it
Between angle whether be more than 90 degree.
Judge whether the angle between the method arrow of the working face and the method arrow of the current triangular plate is more than 90 degree.If
Judge that the angle is more than 90 degree, then ray do not pass through triangular plate identifying unit 523 judge the ray be not passed through it is described ought
First three cornual plate；If it is determined that the angle is less than or equal to 90 degree, then ray continues judging unit 524 through triangular plate and continues judgement
Whether the ray passes through the current triangular plate.
Ray does not pass through triangular plate identifying unit 523, if being more than 90 degree for the angle, judges that the ray is not worn
Cross the current triangular plate.
Ray continues judging unit 524 through triangular plate, if being less than or equal to 90 degree for the angle, continuation judges institute
State whether ray passes through the current triangular plate.
Swear whether the angle between the method arrow of the current triangular plate is more than 90 degree by judging the method for the working face,
The angle can be more than into 90 degree of triangular plate to filter out among candidate head triangle piece, it is to avoid these be filtered three
Cornual plate judges whether ray passes through the calculating of triangular plate in follow-up, saves calculating time and computing resource, reduces calculating
Complexity, improves the efficiency of processing.And the computational methods of method arrow are relatively easy, easily realized with algorithm routine, its result
Accurately and reliably, therefore flow chart of data processing is simplified, with preferable operability.
The invention described above is towards in the fourth embodiment of the TRAJECTORY CONTROL dot picking method in the enveloped box face of point cloud model
TRAJECTORY CONTROL dot picking method towards the enveloped box face of point cloud model can be by the present invention towards the enveloped box face of point cloud model
The TRAJECTORY CONTROL point in the enveloped box face towards point cloud model that is provided of fourth embodiment of TRAJECTORY CONTROL dot picking device pick up
Device is taken to realize.
Reference picture 8, the 3rd embodiment of present invention quotation processing apparatus provides a kind of quotation processing apparatus, based on upper
The embodiment shown in Fig. 7 is stated, the ray continues judging unit 524 through triangular plate to be included：
Subpoint obtains subelement 5241, for the direction of normal along the working face by three of the current triangular plate
Summit is projected to the working face, obtains three summits one-to-one three subpoints on the working face.
Vectorial structure subelement 5242, for by the target point on the working face successively with three subpoints
It is configured to three vectors.
Vector angle computation subunit 5243, for calculating the angle of three vectors between any two.
Angle sum judgment sub-unit 5244, for judging whether the angle sum is equal to 360 degree.
Judge whether the angle sum is equal to 360 degree.If it is determined that angle sum is equal to 360 degree, it is possible to determine that described
Ray passes through the current triangular plate, and ray judges that subelement 5245 judges that the ray works as first three through described through triangular plate
Cornual plate；If it is determined that angle sum is not equal to 360 degree, then it can be determined that the ray is not passed through the current triangular plate, ray
Do not pass through triangular plate and judge that subelement 5246 judges that the ray is not passed through the current triangular plate.
Ray judges subelement 5245 through triangular plate, if being equal to 360 degree for the angle sum, judges the ray
Through the current triangular plate.
Ray does not pass through triangular plate and judges subelement 5246, if being not equal to 360 degree for the angle sum, judges described
Ray is not passed through the current triangular plate.
Therefore can realize will judge ray whether through the calculating of triangular plate from the Planar Mapping of triangular plate to operating surface,
The complexity of calculating is reduced, makes algorithm routine more succinct, its result of calculation accurately and reliably, therefore has preferably operable
Property.
Constructed by among embodiment further, based on above-mentioned Fig. 5 to Fig. 8, the triangular plate list construction module 50
The length of the chained list of the triangular plate up to 20.
By the length for the chained list for setting triangular plate, limit the number of the calculating ray through the current triangular plate
20, it is ensured that the enforceability of algorithm routine.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property is included, so that process, method, article or device including a series of key elements not only include those key elements, and
And also including other key elements being not expressly set out, or also include for this process, method, article or device institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Also there is other identical element in process, method, article or the device of key element.
The embodiments of the present invention are for illustration only, and the quality of embodiment is not represented.
Obviously, those skilled in the art should be understood that above-mentioned each modular unit of the invention or each step can be used
General computing device realized, alternatively, and the program code that they can be can perform with computing device be realized, so that, can
Performed with being stored in storage device by computing device, and in some cases, can be with different from herein
Order performs shown or described step, they is either fabricated to each integrated circuit modules respectively or by them
Multiple modules or step single integrated circuit module is fabricated to realize.So, the present invention is not restricted to any specific hard
Part and software are combined.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Understood based on such, technical scheme is substantially done to prior art in other words
Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions are to cause a station terminal equipment (can be mobile phone, computer, clothes
It is engaged in device, air conditioner, or network equipment etc.) perform method described in each embodiment of the invention.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. towards the TRAJECTORY CONTROL dot picking method in the enveloped box face of point cloud model, it is characterised in that including step：
Determine whole triangular plates on the given point cloud model surface of generation using triangular grid Processing Algorithm, and by the whole
Triangular plate is configured to triangular plate array；
Maximum coordinate value among and min coordinates value according to the given point cloud model in three-dimensional system of coordinate construct minimum bounding box；
1 female surface is selected to be used as working face among 6 female surfaces of the minimum bounding box；
Setting constructs along the direction of normal of the working face a little as target point and passes through the target point on the working face
Ray；
Search the triangular plate on the given point cloud model surface passed through by the ray, and passed through described by the ray
The triangular plate on the given point cloud model surface is configured to triangular plate chained list；
Searched among the triangular plate chained list apart from the working face it is nearest it is described by the ray pass through it is described given
The triangular plate on point cloud model surface, and by it is described apart from the working face it is nearest it is described by the ray pass through it is described given
Intersection point in the triangular plate on point cloud model surface with the ray is as incident point, and by the target point on the working face
It is used as TRAJECTORY CONTROL point.
2. the TRAJECTORY CONTROL dot picking method as claimed in claim 1 towards the enveloped box face of point cloud model, it is characterised in that
It is described search the triangular plate on the given point cloud model surface passed through by the ray, and passed through described by the ray
The step of triangular plate on the given point cloud model surface is configured to triangular plate chained list includes：
Judge whether to have traveled through the triangular plate array；
If it is determined that not traveled through the triangular plate array also, judge whether the ray passes through the current triangular plate；
If it is determined that the ray passes through the current triangular plate, the current triangular plate is added into the triangular plate chained list.
3. the TRAJECTORY CONTROL dot picking method as claimed in claim 2 towards the enveloped box face of point cloud model, it is characterised in that
It is described to judge that the step of whether ray passes through the current triangular plate includes：
Obtain the method arrow of the current triangular plate；
Judge whether the angle between the method arrow of the working face and the method arrow of the current triangular plate is more than 90 degree；
If the angle is more than 90 degree, judge that the ray is not passed through the current triangular plate；
If the angle is less than or equal to 90 degree, continuation judges whether the ray passes through the current triangular plate.
4. the TRAJECTORY CONTROL dot picking method as claimed in claim 3 towards the enveloped box face of point cloud model, it is characterised in that
The continuation judges that the step of whether ray passes through the current triangular plate includes：
Three summits of the current triangular plate are projected to the working face along the direction of normal of the working face, obtain described
Three summits one-to-one three subpoints on the working face；
The target point on the working face is configured to three vectors with three subpoints successively；
Calculate the angle of three vectors between any two；
Judge whether the angle sum is equal to 360 degree；
If the angle sum is equal to 360 degree, judge that the ray passes through the current triangular plate；
If the angle sum is not equal to 360 degree, judge that the ray is not passed through the current triangular plate.
5. the TRAJECTORY CONTROL dot picking method in the enveloped box face towards point cloud model as described in Claims 1-4, its feature exists
In the length up to 20 of the chained list of the triangular plate.
6. towards the TRAJECTORY CONTROL dot picking device in the enveloped box face of point cloud model, it is characterised in that including：
Triangular plate array builds module, for determining the given point cloud model surface of generation using triangular grid Processing Algorithm
Whole triangular plates, and whole triangular plates are configured to triangular plate array；
Minimum bounding box constructing module, for according to the given point cloud model three-dimensional system of coordinate maximum coordinate value among and minimum
Coordinate value constructs minimum bounding box；
Working face selecting module, for selecting 1 female surface to be used as work among 6 female surfaces of the minimum bounding box
Face；
Ray constructing module, on the working face setting a little as target point, construct and sweared along the method for the working face
Direction passes through the ray of the target point；
Triangular plate list construction module, the triangular plate for searching the given point cloud model surface passed through by the ray,
And the triangular plate on the given point cloud model surface passed through by the ray is configured to triangular plate chained list；
TRAJECTORY CONTROL point module, for being searched among the triangular plate chained list apart from nearest described of the working face
The triangular plate on the given point cloud model surface that ray is passed through, and by described apart from nearest described of the working face
Intersection point in the triangular plate on the given point cloud model surface that ray is passed through with the ray is as incident point, and by the work
Make the target point on face as TRAJECTORY CONTROL point.
7. the TRAJECTORY CONTROL dot picking device as claimed in claim 6 towards the enveloped box face of point cloud model, it is characterised in that
The triangular plate list construction module includes：
Triangular plate array Ergodic judgement submodule, for judging whether to have traveled through the triangular plate array；
Ray passes through triangular plate judging submodule, for if it is determined that do not traveled through the triangular plate array also, judging the ray
Whether the current triangular plate is passed through；
Triangular plate chained list adds triangular plate submodule, for if it is determined that the ray is worked as through the current triangular plate by described
First three cornual plate adds the triangular plate chained list.
8. the TRAJECTORY CONTROL dot picking device as claimed in claim 7 towards the enveloped box face of point cloud model, it is characterised in that
The ray includes through triangular plate judging submodule：
Triangular plate method swears acquiring unit, and the method for obtaining the current triangular plate is sweared；
Method swears angle judging unit, for judging that the method for the working face swears the angle between the method arrow of the current triangular plate
Whether 90 degree are more than；
Ray does not pass through triangular plate identifying unit, if being more than 90 degree for the angle, judges that the ray is not passed through described
Current triangular plate；
Ray continues judging unit through triangular plate, if being less than or equal to 90 degree for the angle, continuation judges the ray
Whether the current triangular plate is passed through.
9. the TRAJECTORY CONTROL dot picking device as claimed in claim 8 towards the enveloped box face of point cloud model, it is characterised in that
The ray continues judging unit through triangular plate to be included：
Subpoint obtains subelement, for the direction of normal along the working face by three summits of the current triangular plate to institute
Working face projection is stated, three summits one-to-one three subpoints on the working face are obtained；
Vectorial structure subelement, for the target point on the working face to be configured into three with three subpoints successively
Individual vector；
Vector angle computation subunit, for calculating the angle of three vectors between any two；
Angle sum judgment sub-unit, for judging whether the angle sum is equal to 360 degree；
Ray judges subelement through triangular plate, if being equal to 360 degree for the angle sum, judges that the ray is passed through described
Current triangular plate；
Ray does not pass through triangular plate and judges subelement, if being not equal to 360 degree for the angle sum, judges that the ray does not have
Through the current triangular plate.
10. the TRAJECTORY CONTROL dot picking device in the enveloped box face towards point cloud model as described in claim 6 to 9, its feature
It is, the length up to 20 of the chained list of the constructed triangular plate among the triangular plate list construction module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611163619.XA CN107066654B (en) | 2016-12-15 | 2016-12-15 | Box surface containing track control point picking method and device facing point cloud model |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611163619.XA CN107066654B (en) | 2016-12-15 | 2016-12-15 | Box surface containing track control point picking method and device facing point cloud model |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107066654A true CN107066654A (en) | 2017-08-18 |
| CN107066654B CN107066654B (en) | 2020-03-10 |
Family
ID=59618904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611163619.XA Active CN107066654B (en) | 2016-12-15 | 2016-12-15 | Box surface containing track control point picking method and device facing point cloud model |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107066654B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108153244A (en) * | 2017-12-31 | 2018-06-12 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of Control During Paint Spraying by Robot orbit generation method based on ROS platforms |
| CN113378324A (en) * | 2021-06-30 | 2021-09-10 | 广东科学技术职业学院 | Grid surface patch retrieval method based on included angle method and oriented to curved surface part measuring points |
| CN115908425A (en) * | 2023-02-14 | 2023-04-04 | 四川大学 | Rockfill gradation information detection method based on edge detection |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490081A (en) * | 2011-11-14 | 2012-06-13 | 华中科技大学 | Workpiece three-dimensional surface topography simulating method based on ball head milling |
| CN103279980A (en) * | 2013-05-08 | 2013-09-04 | 西安理工大学 | Tree leaf modeling method based on point cloud data |
| CN105354880A (en) * | 2015-10-15 | 2016-02-24 | 东南大学 | Line laser scanning-based sand blasting robot automatic path generation method |
-
2016
- 2016-12-15 CN CN201611163619.XA patent/CN107066654B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490081A (en) * | 2011-11-14 | 2012-06-13 | 华中科技大学 | Workpiece three-dimensional surface topography simulating method based on ball head milling |
| CN103279980A (en) * | 2013-05-08 | 2013-09-04 | 西安理工大学 | Tree leaf modeling method based on point cloud data |
| CN105354880A (en) * | 2015-10-15 | 2016-02-24 | 东南大学 | Line laser scanning-based sand blasting robot automatic path generation method |
Non-Patent Citations (3)
| Title |
|---|
| GUOLEI WANG等: "《A new point cloud slicing based path planning algorithm for robotic spray painting》", 《2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)》 * |
| 刘铁成: "《喷涂机器人轨迹规划研究》", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 孙国朋等: "《基于点云处理技术的喷涂机器人喷枪轨迹生成研究》", 《机械设计与制造》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108153244A (en) * | 2017-12-31 | 2018-06-12 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of Control During Paint Spraying by Robot orbit generation method based on ROS platforms |
| CN113378324A (en) * | 2021-06-30 | 2021-09-10 | 广东科学技术职业学院 | Grid surface patch retrieval method based on included angle method and oriented to curved surface part measuring points |
| CN115908425A (en) * | 2023-02-14 | 2023-04-04 | 四川大学 | Rockfill gradation information detection method based on edge detection |
| CN115908425B (en) * | 2023-02-14 | 2023-06-30 | 四川大学 | Edge detection-based rock-fill grading information detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107066654B (en) | 2020-03-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105676642B (en) | A kind of six-DOF robot station layout and run duration cooperative optimization method | |
| JP7009051B2 (en) | Layout setting method, control program, recording medium, control device, parts manufacturing method, robot system, robot control device, information processing method, information processing device | |
| Hamid et al. | Virtual reality applications in manufacturing system | |
| Wolfartsberger et al. | A virtual reality supported 3D environment for engineering design review | |
| Wan et al. | MIVAS: a multi-modal immersive virtual assembly system | |
| Gallegos-Nieto et al. | The analysis and evaluation of the influence of haptic-enabled virtual assembly training on real assembly performance | |
| CN104647377B (en) | A kind of industrial robot based on cognitive system and control method thereof | |
| CN107972034B (en) | Complex workpiece trajectory planning simulation system based on ROS platform | |
| Rossmann et al. | Virtual robotic testbeds: A foundation for e-robotics in space, in industry-and in the woods | |
| CN105500370B (en) | A kind of robot off-line teaching programing system and method based on body-sensing technology | |
| CN107598918A (en) | Surface grinding process automatic programming method and device based on milling robot | |
| CN107066654A (en) | Towards the TRAJECTORY CONTROL dot picking method and apparatus in the enveloped box face of point cloud model | |
| CN103809463A (en) | Teaching point program selection method for robot simulator | |
| CN111530671A (en) | Intelligent robot spraying method based on spraying system | |
| CN107577159A (en) | Augmented reality analogue system | |
| CN106529838A (en) | Virtual assembling method and device | |
| Yu et al. | Roboassembly: Learning generalizable furniture assembly policy in a novel multi-robot contact-rich simulation environment | |
| Korves et al. | The application of immersive virtual reality for layout planning of manufacturing cells | |
| Moletta et al. | A virtual reality framework for human-robot collaboration in cloth folding | |
| Gäbert et al. | Generation of human-like arm motions using sampling-based motion planning | |
| JP2021529674A (en) | Systems and methods for natural tasks in one or more robot cross-reference paragraphs | |
| CN116500901A (en) | Digital twin-driven man-machine cooperation task planning method under condition of unknown user intention | |
| Wojtynek et al. | Assisted planning and setup of collaborative robot applications in modular production systems | |
| Kim et al. | Digital twin for autonomous collaborative robot by using synthetic data and reinforcement learning | |
| CN108027647A (en) | Method and apparatus for being interacted with virtual objects |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |