CN109870168B - Mechanism motion path optimization method and device - Google Patents
Mechanism motion path optimization method and device Download PDFInfo
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Abstract
The invention discloses a mechanism motion path optimization method and device. Wherein, the method comprises the following steps: acquiring reference plane information of a section to be generated, wherein the reference plane information at least comprises: normal vector and plane position; acquiring the number of the sections to be cut and the initial distance of the sections; determining the positions of a plurality of target sections along the normal vector of the reference plane according to the number of the sections to be cut, the plane position of the reference plane and the section starting distance; determining section lines corresponding to the target sections according to the position of each target section, a section equation and an intersection equation; and determining a track path on the solid model according to the section lines corresponding to the target sections. The invention solves the technical problem of low path planning efficiency caused by difficulty in determining the trajectory line for the circular plane in the related technology.
Description
Technical Field
The invention relates to the field of equipment path processing, in particular to a mechanism motion path optimization method and device.
Background
In the related art, when a robot is actually used, for example, in the fields of polishing or spraying, a track is often required to be found in advance, but currently, a main track generation manner plans a track route according to a related line of an entity or a side of a surface in an entity model, and when the track of the surface of the entity model needs to be planned, the surface needs to be planned by other information, for example, a simple path planning of a path is realized by a prism or a ridge of a cube. However, in the method for generating the trajectory, lines or other auxiliary information of the entity or the entity model is often used, but for some circles, such as cylinders, there is no obvious line in the cylinders, so that the lines vary variously in the trajectory planning process, and the corresponding trajectory cannot be accurately generated.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a mechanism movement path optimization method and device, which are used for at least solving the technical problem of low path planning efficiency caused by difficulty in determining a trajectory line for a circular plane in the related art.
According to an aspect of the embodiments of the present invention, there is provided a mechanism motion path optimization method, including: acquiring reference plane information of a section to be generated, wherein the reference plane information at least comprises: normal vector and plane position; acquiring the number of the sections to be cut and the initial distance of the sections; determining the positions of a plurality of target sections along the normal vector of the reference plane according to the number of the sections to be cut, the plane position of the reference plane and the section starting distance; determining section lines corresponding to the target sections according to the position of each target section, a section equation and an intersection equation; and determining a track path on the entity model according to the section lines corresponding to the target sections.
Further, the method further comprises: acquiring a position of a guide line of a virtual object when a cross section is performed; generating a cross section from a guideline according to the guideline position, and determining an intersection of the cross section and the virtual object.
Further, a normal of the guide line is perpendicular to the cross section; and the center point of the cross section is located at the initial point of the guide wire.
Further, after determining the intersection of the cross-section and the virtual object, the method further comprises: determining a plurality of intersection lines of the cross section and the virtual object; determining a length and a width of the cross-section from the lengths and widths of the plurality of intersecting lines; and determining a starting point and an end point of the intersection line.
Further, after determining the intersection of the cross-section and the virtual object, the method comprises: and determining a plurality of section lines according to the positions of the intersection lines, the lengths of the intersection lines and the number of the sections.
According to another aspect of the embodiments of the present invention, there is also provided a mechanism movement path optimization apparatus, including: a first obtaining unit, configured to obtain reference plane information of a cross section to be generated, where the reference plane information at least includes: normal vector and plane position; the second acquisition unit is used for acquiring the number of the sections to be acquired and the initial distance of the sections; the first determining unit is used for determining the positions of a plurality of target sections along the normal vector of the reference plane according to the number of the sections to be cut, the plane position of the reference plane and the section starting distance; the second determining unit is used for determining section lines corresponding to the target sections according to the position of each target section, a section equation and an intersection surface equation; and the third determining unit is used for determining a track path on the entity model according to the section lines corresponding to the target sections.
Further, the mechanism movement path optimizing device further includes: a third acquisition unit configured to acquire a position of a guide line of the virtual object when the cross section is performed; and the generating unit is used for generating a section from a guide line according to the position of the guide line and determining an intersection line of the section and the virtual object.
Further, a normal of the guide line is perpendicular to the cross section; and the center point of the cross section is located at the initial point of the guide wire.
Further, the mechanism movement path optimizing device further includes: a first determining module for determining a plurality of intersecting lines of the cross section and the virtual object after determining the intersecting lines of the cross section and the virtual object; a second determining module for determining the length and width of the cross section according to the length and width of the plurality of intersecting lines; and the third determining module is used for determining the starting point and the ending point of the intersection line.
Further, the mechanism movement path optimizing device includes: and the fourth determining module is used for determining a plurality of section lines according to the positions of the section lines, the lengths of the section lines and the number of the section lines after determining the intersection lines of the section lines and the virtual object.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium for storing a program, where the program, when executed by a processor, controls a device on which the storage medium is located to execute any one of the mechanism motion path optimization methods described above.
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes the mechanism motion path optimization method described in any one of the above.
In the embodiment of the present invention, reference plane information of a cross section to be generated is obtained first, where the reference plane information at least includes: normal direction and plane position, and obtaining the number of the sections to be cut and section starting distance, then according to the number of the sections to be cut, the plane position of the reference plane and the section starting distance, determining the positions of a plurality of target sections along the normal vector of the reference plane, finally according to the position of each target section, a section equation and an intersection equation, determining the section line corresponding to each target section, and according to the section line corresponding to each target section, determining the track path on the entity model. In the embodiment, the position of the cross section can be determined through the number and the starting distance of the cross section and corresponding reference plane information, so that a cross section line is determined, the planning of a path corresponding to a circle can be realized through the cross section line, the path planning of an article or other entity is realized by walking or performing industrial action along the cross section line, and the technical problem of low path planning efficiency caused by difficulty in determining a trajectory line for a circular plane in the related art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of an alternative mechanism motion path optimization method according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a generated cross-section according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a method of generating a multi-section in accordance with an embodiment of the invention;
FIG. 4 is a schematic illustration of another generated cross-section according to an embodiment of the invention;
FIG. 5 is a schematic illustration of generating a plurality of cross-sections in accordance with one embodiment of the present invention;
fig. 6 is a schematic diagram of a mechanism movement path optimization device according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
To facilitate the understanding of the present invention, some terms or nouns related to the embodiments of the present invention are explained below:
tracing points: a data packet containing three-dimensional spatial coordinates and orientation.
Track edge: corresponding to the side with the same variation amplitude when the robot walks.
The following embodiments of the invention can be applied in various track generation fields, especially for the fields of production equipment, education equipment, robots, etc., such as industrial robots or educational robots, and can determine a series of cross sections by auxiliary information to intersect with intersecting planes, and the following embodiments of the invention can intersect with each other by a guide line and a reference plane in two ways of generating cross sections by a sideline and other planes, similar to the distinction between warp and weft. That is, in the following embodiments of the present invention, two generated cross sections may be determined, and corresponding cross section lines may be determined, and after the cross section lines are obtained, path planning of a circular plane may be accurately performed according to the cross section lines, and both of the two manners may be applied to path planning of various circular planes or cylinders, which involves circles.
Optionally, the range of application of the embodiment of the present invention may include at least one of the following: trajectory planning software, robot control systems, industrial production trajectory planning, and the like. The production range of applications includes but is not limited to: grinding, spraying (such as automobile spraying), industrial polishing, laser lettering and the like. For example, the embodiment of the invention can be used for realizing the handling of hollow cylinders, and designing the path track based on section lines.
The invention is illustrated below by means of various examples.
In accordance with an embodiment of the present invention, there is provided a mechanism motion path optimization method embodiment, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flow chart of an alternative mechanism movement path optimization method according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step S102, obtaining reference plane information of a cross section to be generated, wherein the reference plane information at least comprises: normal and planar positions;
step S104, acquiring the number of the sections to be cut and the initial distance of the sections;
step S106, determining the positions of a plurality of target sections along the normal vector of the reference plane according to the number of the sections to be cut, the plane position of the reference plane and the section starting distance;
step S108, determining section lines corresponding to the target sections according to the position of each target section, a section equation and an intersection equation;
and step S110, determining a track path on the solid model according to the section lines corresponding to the target sections.
Through the above steps, reference plane information of a cross section to be generated may be obtained first, where the reference plane information at least includes: normal direction and plane position, and obtaining the number of the sections to be cut and section starting distance, then according to the number of the sections to be cut, the plane position of the reference plane and the section starting distance, determining the positions of a plurality of target sections along the normal vector of the reference plane, finally according to the position of each target section, a section equation and an intersection equation, determining the section line corresponding to each target section, and according to the section line corresponding to each target section, determining the track path on the entity model. In the embodiment, the position of the cross section can be determined through the number and the starting distance of the cross section and corresponding reference plane information, so that a cross section line is determined, the planning of a path corresponding to a circle can be realized through the cross section line, the path planning of an article or other entity is realized by walking or performing industrial action along the cross section line, and the technical problem of low path planning efficiency caused by difficulty in determining a trajectory line for a circular plane in the related art is solved.
The above steps will be explained below. The above steps S102 to S108 indicate a manner of obtaining the section by means of the reference surface, and thus the section line.
Step S102, obtaining reference plane information of a cross section to be generated, wherein the reference plane information at least comprises: normal vector and plane position.
In an embodiment of the present invention, a reference surface may be preselected, and fig. 2 is a schematic diagram of a generated cross section according to an embodiment of the present invention, as shown in fig. 2, when determining the cross section, an original surface or other surfaces of a cylinder may be preselected as the reference surface.
When the reference plane information is obtained, a normal vector and a plane position of the reference plane can be obtained by using a plane equation. For example, in fig. 2, there is an arrow upward in the middle of the reference plane, and the arrow can be defined as a normal vector. The plane position, for different cylinders, spheres or other devices, determines different numbers of reference planes depending on different circumstances.
And step S104, acquiring the number of the sections to be processed and the initial distance of the sections.
The number of the sections to be cut and the starting distance of the sections may be preset, for example, for the number of the sections to be cut, a developer or a user sets the number of the sections to be cut by himself to obtain a plurality of sections. The starting distance of the cross section may be a distance from the reference plane to the cross section to be cut after the number of the cross sections is set. Optionally, in the embodiment of the present invention, a section distance may also be set, where the section distance indicates a distance between each section, for example, when the number of sections is greater than or equal to 2, a distance between every two adjacent sections. Fig. 3 is a schematic diagram of generating multiple cross-sections according to an embodiment of the present invention, and as shown in fig. 3, the number of the cross-sections to be cut is 5, so that the distance between every two cross-sections needs to be determined.
Optionally, the number of the sections to be processed, the starting distance of the sections, the distance of the sections, and the reference plane may be set by a user through preset application software, and the background server controls the robot or other equipment to automatically generate the sections according to the data. Of course, this method is merely an example, and the specific cross-section generation method is not limited.
And S106, determining the positions of a plurality of target sections along the normal vector of the reference plane according to the number of the sections to be cut, the plane position of the reference plane and the section starting distance.
That is, the positions of the cross sections can be determined according to the position of the reference surface, the set number of the cross sections to be cut and the starting distance of the cross sections along the normal vector of the reference surface, that is, the positions of the cross sections can be determined along the direction indicated by the normal vector. As for fig. 2 and 3, it is possible to find the position of each cross section in parallel with the uppermost reference surface of the cylinder when the normal vector coincides with the height of the cylinder, and then to determine the position of each cross section based on the parallel manner and the cross-section distance.
Alternatively, the position of each section can be determined by the equation of each section or other section designation lines.
And S108, determining section lines corresponding to the target sections according to the position of each target section, the section equation and the intersection equation.
Alternatively, the cross-sectional line may refer to an intersection of the cross-section and the solid body (or the solid model), for example, for the content shown in fig. 2, after the position of the cross-section is obtained, the intersection of the cylinder and the cross-section is determined, and then the intersection may be defined as the cross-sectional line. The starting point of the section line is then determined from a point, such as point 1 in fig. 2.
Alternatively, in the embodiment of the present invention, the section line may be sequentially obtained by a section equation and an intersection equation.
And step S110, determining a track path on the solid model according to the section lines corresponding to the target sections.
After each section line is obtained, a track path on the solid model is obtained through the section lines, so that the robot or other equipment can perform grinding, lettering, spraying and other operations according to the path.
The cross section and the cross section line are determined in another way, namely by means of a guide line.
In an optional embodiment of the present invention, the cross-sectional line generating method further includes: acquiring a position of a guide line of a virtual object when a cross section is performed; from the guideline position, a cross-section is generated from the guideline, and an intersection of the cross-section and the virtual object is determined.
Fig. 4 is a schematic view of another generated cross section according to the embodiment of the present invention, as shown in fig. 4, a guide line is previously set, and the cross section is determined by the guide line. Alternatively, the guideline in the embodiment of the present invention may be generated by itself according to each virtual object or solid model, and the number of the guideline is at least one.
The above-mentioned manner of generating the cross section by guiding the line may be a cross section searched for when the robot arm performs work (such as grinding or painting), and then the working position is adjusted by the cross section line generated by the cross section, for example, adjusting the track of how the robot arm travels on a cylindrical or other circular, spherical, etc. plane.
The intersection is determined from the guideline-generated cross-sections, and a plane is first determined, as shown in FIG. 2, which may be A1, and the center point may be at the initial point, with the normal perpendicular to plane A1. I.e. the normal of the director curve is perpendicular to the cross-section; and the center point of the cross-section is located at the initial point of the guide line.
Alternatively, after determining the intersection line of the cross section and the virtual object, the method further comprises: determining a plurality of intersecting lines of the cross section and the virtual object; determining the length and width of the cross section according to the length and width of the plurality of intersecting lines; and determining the starting point and the ending point of the intersection line.
That is, the length and width of the intersecting line can be determined by the length and width of the plane, and then the starting point and the ending point can be obtained, in fig. 2, the starting point can be understood as the starting point, and the ending point can be understood as the ending point.
In the embodiment of the invention, the intersection line can be obtained through various section equations or an equation of an intersection surface.
Further, after determining the intersection line of the cross section and the virtual object, the method comprises: and determining a plurality of section lines according to the positions of the intersection lines, the lengths of the intersection lines and the number of the sections.
Fig. 5 is a schematic diagram of generating a plurality of cross sections according to one embodiment of the present invention, and as shown in fig. 5, a corresponding number of cross sections may be generated according to a plurality of guide lines.
Alternatively, the cross-section is generated from a plane, the normal is determined, and the cross-section is determined based on the direction of the normal and the value input to the cross-section.
The embodiment of the invention can be applied to the fields of mechanical grinding or spraying and the like, during actual work, a reference plane or a guide line can be selected in advance through a robot and other equipment, corresponding cross sections are generated respectively, and then corresponding cross section lines are obtained. And then sequentially solving the section lines according to each section equation and the intersection equation. A series of cross sections are determined through auxiliary information to intersect with intersecting surfaces, and a guide line and a reference surface are two ways of generating the cross sections by means of a sideline and other planes respectively, and are similar to the difference between a warp line and a weft line. The section line is determined to correspond to the section line required in the industrial application, along which the robot or other equipment can work, for example, painting, sanding, laser inscription, etc.
The invention is illustrated below by means of a further alternative embodiment.
Fig. 6 is a schematic diagram of a mechanism movement path optimizing device according to an embodiment of the present invention, and as shown in fig. 6, the device may include: a first acquisition unit 61, a second acquisition unit 63, a first determination unit 65, a second determination unit 67, a third determination unit 69, wherein,
a first obtaining unit 61, configured to obtain reference plane information of a cross section to be generated, where the reference plane information at least includes: normal vector and plane position
A second obtaining unit 63, configured to obtain the number of to-be-cross-sections and a cross-section starting distance;
a first determining unit 65, configured to determine positions of a plurality of target cross sections along a normal vector of a reference plane according to the number of to-be-cross-sections, the plane position of the reference plane, and a cross-section starting distance;
a second determining unit 67, configured to determine a section line corresponding to each target section according to the position of each target section, a section equation, and an intersection equation;
the third determining unit 69 determines a trajectory path on the solid model based on the section lines corresponding to the respective target sections. After each section line is obtained, a track path on the solid model is obtained through the section lines, so that the robot or other equipment can perform grinding, lettering, spraying and other operations according to the path.
The mechanism motion path optimization device may first acquire, by using the first acquiring unit 61, reference plane information of a cross section to be generated, where the reference plane information at least includes: normal direction and plane position, acquiring the number of sections to be cut and section starting distance by a second acquiring unit 63, determining the positions of a plurality of target sections along the normal vector of a reference plane by a first determining unit 65 according to the number of sections to be cut, the plane position of the reference plane and the section starting distance, and determining section lines corresponding to the target sections by a second determining unit 67 according to the position of each target section, a section equation and an intersection equation; the trajectory path on the solid model is determined by the third determination unit 69 based on the section lines corresponding to the respective target sections. In the embodiment, the position of the cross section can be determined through the number and the starting distance of the cross section and corresponding reference plane information, so that a cross section line is determined, the planning of a path corresponding to a circle can be realized through the cross section line, the path planning of an article or other entity is realized by walking or performing industrial action along the cross section line, and the technical problem of low path planning efficiency caused by difficulty in determining a trajectory line for a circular plane in the related art is solved.
Optionally, the mechanism movement path optimizing device further includes: a third acquisition unit configured to acquire a position of a guide line of the virtual object when the cross section is performed; and the generating unit is used for generating the section from the guide line according to the position of the guide line and determining the intersection line of the section and the virtual object.
Alternatively, the normal to the guide line is perpendicular to the cross-section; and the center point of the cross-section is located at the initial point of the guide line.
Optionally, the mechanism movement path optimizing device further includes: the first determination module is used for determining a plurality of intersecting lines of the cross section and the virtual object after determining the intersecting lines of the cross section and the virtual object; a second determining module for determining the length and width of the cross section according to the length and width of the plurality of intersecting lines; and the third determining module is used for determining the starting point and the ending point of the intersecting line.
Optionally, the mechanism movement path optimizing device includes: and the fourth determining module is used for determining a plurality of section lines according to the positions of the section lines, the lengths of the section lines and the number of the section lines after determining the intersection lines of the section lines and the virtual object.
The mechanism motion path optimizing device may further include a processor and a memory, where the first acquiring unit 61, the second acquiring unit 63, the first determining unit 65, the second determining unit 67, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from the memory. One or more than one inner core can be arranged, and the section lines corresponding to the target sections are determined by adjusting the parameters of the inner core.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium for storing a program, where the program, when executed by a processor, controls a device on which the storage medium is located to perform any one of the mechanism motion path optimization methods described above.
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes the mechanism motion path optimization method in any one of the above.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: acquiring reference plane information of a section to be generated, wherein the reference plane information at least comprises: normal vector and plane position; acquiring the number of the sections to be cut and the initial distance of the sections; determining the positions of a plurality of target sections along the normal vector of the reference plane according to the number of the sections to be cut, the plane position of the reference plane and the section starting distance; determining section lines corresponding to the target sections according to the position of each target section, a section equation and an intersection equation; and determining a track path on the solid model according to the section lines corresponding to the target sections.
Optionally, when the processor executes the program, the following steps may be further implemented: acquiring a position of a guide line of a virtual object when a cross section is performed; from the guideline position, a cross-section is generated from the guideline, and an intersection of the cross-section and the virtual object is determined.
Further, the normal of the guide line is perpendicular to the cross section; and the center point of the cross-section is located at the initial point of the guide line.
Optionally, when the processor executes the program, the following steps may be further implemented: after determining the intersection line of the cross section and the virtual object, determining a plurality of intersection lines of the cross section and the virtual object; determining the length and width of the cross section according to the length and width of the plurality of intersecting lines; and determining the starting point and the ending point of the intersection line.
Optionally, when the processor executes the program, the following steps may be further implemented: after the intersecting line of the cross section and the virtual object is determined, a plurality of cross section lines are determined according to the position of the intersecting line, the length of the intersecting line and the number of the cross sections.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: acquiring reference plane information of a section to be generated, wherein the reference plane information at least comprises: normal vector and plane position; acquiring the number of the sections to be cut and the initial distance of the sections; determining the positions of a plurality of target sections along the normal vector of the reference plane according to the number of the sections to be cut, the plane position of the reference plane and the section starting distance; determining section lines corresponding to the target sections according to the position of each target section, a section equation and an intersection equation; and determining a track path on the solid model according to the section lines corresponding to the target sections.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A mechanism motion path optimization method is applied to an industrial robot or an educational robot, and comprises the following steps:
acquiring reference plane information of a section to be generated, wherein the reference plane information at least comprises: normal vector and plane position;
acquiring the number of the sections to be cut and the initial distance of the sections;
determining the positions of a plurality of target sections along the normal vector of the reference plane according to the number of the sections to be cut, the plane position of the reference plane and the section starting distance;
determining section lines corresponding to the target sections according to the position of each target section, a section equation and an intersection equation;
determining a track path on the solid model according to the section lines corresponding to the target sections,
the method further comprises the following steps: acquiring a position of a guide line of a virtual object when a cross section is performed; generating a cross section from a guideline according to the position of the guideline, determining an intersection line of the cross section and the virtual object, determining positions of the plurality of target cross sections by respective cross section equations or cross section designation identification lines,
after determining the intersection of the cross-section and the virtual object, the method further comprises: determining a plurality of intersection lines of the cross section and the virtual object; determining a length and a width of the cross-section from the lengths and widths of the plurality of intersecting lines; determining a starting point and an ending point of the intersection line,
after determining the intersection of the cross-section and the virtual object, the method comprises: and determining a plurality of section lines according to the positions of the intersection lines, the lengths of the intersection lines and the number of the sections.
2. The method according to claim 1, wherein the normal to the guide line is perpendicular to the cross-section; and the center point of the cross section is located at the initial point of the guide wire.
3. A mechanism movement path optimizing device, which is applied to an industrial robot or an educational robot, comprises:
a first obtaining unit, configured to obtain reference plane information of a cross section to be generated, where the reference plane information at least includes: normal vector and plane position;
the second acquisition unit is used for acquiring the number of the sections to be acquired and the initial distance of the sections;
the first determining unit is used for determining the positions of a plurality of target sections along the normal vector of the reference plane according to the number of the sections to be cut, the plane position of the reference plane and the section starting distance;
the second determining unit is used for determining section lines corresponding to the target sections according to the position of each target section, a section equation and an intersection surface equation;
a third determining unit for determining a trajectory path on the solid model according to the section lines corresponding to the respective target sections,
the mechanism movement path optimizing device further comprises: a third acquisition unit configured to acquire a position of a guide line of the virtual object when the cross section is performed; a generating unit for generating a cross section from a guideline according to the position of the guideline, and determining an intersection of the cross section and the virtual object,
the mechanism movement path optimizing device further comprises: a first determining module for determining a plurality of intersecting lines of the cross section and the virtual object after determining the intersecting lines of the cross section and the virtual object; a second determining module for determining the length and width of the cross section according to the length and width of the plurality of intersecting lines;
the third determining module is used for determining a starting point and an end point of the intersection line;
the mechanism motion path optimizing device comprises: and the fourth determining module is used for determining a plurality of section lines according to the positions of the section lines, the lengths of the section lines and the number of the section lines after determining the intersection lines of the section lines and the virtual object.
4. A device according to claim 3, wherein the normal to the guide wire is perpendicular to the cross-section; and the center point of the cross section is located at the initial point of the guide wire.
5. A storage medium storing a program, wherein the program, when executed by a processor, controls an apparatus in which the storage medium is located to perform the mechanism movement path optimization method according to any one of claims 1 to 2.
6. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the mechanism motion path optimization method according to any one of claims 1 to 2 when running.
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| CN113942014B (en) * | 2021-11-08 | 2023-08-01 | 北京华航唯实机器人科技股份有限公司 | Track generation method, track generation device, robot device, and storage medium |
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