CN112415949A - Method for automatically adjusting operation track through three-dimensional shape information of real object - Google Patents
Method for automatically adjusting operation track through three-dimensional shape information of real object Download PDFInfo
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- CN112415949A CN112415949A CN202011179946.0A CN202011179946A CN112415949A CN 112415949 A CN112415949 A CN 112415949A CN 202011179946 A CN202011179946 A CN 202011179946A CN 112415949 A CN112415949 A CN 112415949A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000004088 simulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
- G05B19/4099—Surface or curve machining, making 3D objects, e.g. desktop manufacturing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B5/00—Electrically-operated educational appliances
- G09B5/02—Electrically-operated educational appliances with visual presentation of the material to be studied, e.g. using film strip
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35353—While machining compare real path with simulated, command path, contour display
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- Educational Technology (AREA)
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Abstract
The invention provides a method for automatically adjusting an operation track through object three-dimensional morphology information, which comprises the following steps: a track off-line editing and simulating unit: presetting a space filling track; a contour data acquisition unit: acquiring 3D contour information of a machined part; track projection and automatic adjustment unit: receiving the space filling track and the 3D contour information of the machined part, subdividing the space filling track into subdivided tracks by a track projection and automatic adjustment unit, projecting the subdivided tracks onto the 3D contour surface of the machined part, and simplifying the subdivided tracks into working tracks; a trajectory execution unit: receiving the working track and carrying out processing operation according to the working track; a technician can correspond a set of track templates with a class of products through the method for automatically adjusting the operation track through the three-dimensional shape information of the material object, even if the similar products have slight contour profiles, the track editing and machine teaching work of the corresponding process section is not required to be frequently carried out, the workload of the technician is greatly reduced, and the labor cost is reduced.
Description
Technical Field
The invention relates to the field of automatic processing, in particular to a method for automatically adjusting an operation track through three-dimensional shape information of a real object.
Background
In the manufacturing industry, there are a large number of scenarios that require technicians to specifically set corresponding tool head operation trajectories at an operation site according to different batches of workpieces, wherein a specific space filling trajectory is required in many cases, and the technical requirements of the space filling trajectory include:
1. the working radius of the tool head can uniformly cover the surface of the whole workpiece after moving along the track;
2. the tool head needs to move beyond the outline range of the workpiece properly in the operation process instead of accurately tracing the outline of the workpiece;
3. in the operation process, the movement speed of the tool head is required to be constant, and the distance between the tool head and the surface of a workpiece is required to be constant so as to ensure the processing uniformity;
4. during the operation, turning or stopping is required to be reduced as much as possible so as to ensure the execution efficiency.
Aiming at the technical requirements, the industry generally adopts a mode of combining direct teaching and software offline teaching simulation at present, and the scheme has the defects that: when a complex processing surface is involved, an engineer usually needs to spend a lot of time to perform manual teaching operation, the obtained track has low universality, and even if the method is applied to the similar products with different fine outline (three-dimensional appearance), the track planning and teaching need to be started again, so that the labor cost is high greatly.
Disclosure of Invention
In order to solve the problems, the invention provides a method for automatically adjusting an operation track through three-dimensional shape information of a real object.
The invention is realized by the following technical scheme:
the invention provides a method for automatically adjusting an operation track through object three-dimensional appearance information, which comprises the following steps:
a track off-line editing and simulating unit: the track off-line editing and simulating unit is used for presetting a space filling track;
a contour data acquisition unit: the contour data acquisition unit acquires 3D contour information of a workpiece;
track projection and automatic adjustment unit: the track projection and automatic adjustment unit receives the space filling track and the 3D contour information of the machined part, the track projection and automatic adjustment unit firstly subdivides the space filling track into subdivided tracks, then projects the subdivided tracks onto the 3D contour surface of the machined part, and finally simplifies the subdivided tracks into working tracks;
a trajectory execution unit: and the track execution unit receives the working track and carries out processing operation according to the working track.
Further, the trajectory projection and automatic adjustment unit evenly inserts more trajectory points on the space filling trajectory so that the trajectory points contained on the space filling trajectory are more dense but the overall path is unchanged, and the space filling trajectory is subdivided into subdivision trajectories.
Further, the step of projecting the subdivision track to the 3D contour surface of the workpiece and the step of simplifying the subdivision track into the working track are as follows:
s1-1, converting the subdivision track into the 3D contour information of the workpiece and enabling the subdivision track to cover the whole processing area of the workpiece;
s1-2: setting a space range for the corresponding position of each track point of the subdivided track;
s1-3: calculating the projection point of each track point of the subdivided track in the corresponding space range;
s1-4: deleting track points which cannot obtain projection points in the subdivided tracks from the subdivided tracks;
s1-5: according to the track obtained in the step S1-4, except for the first two track points of the track, an included angle formed by each track point and the front and back two track points on the projection surface is calculated, non-key track points are selected according to the included angle, and the non-key track points are deleted to form a working track.
The invention has the beneficial effects that:
a technician can correspond a set of track templates with a class of products through the method for automatically adjusting the operation track through the three-dimensional shape information of the material object, even if the similar products have slight contour profiles, the track editing and machine teaching work of the corresponding process section is not required to be frequently carried out, the workload of the technician is greatly reduced, and the labor cost is reduced.
Drawings
Fig. 1 is a schematic flow chart of the method for automatically adjusting the operation track through the three-dimensional shape information of the object according to the present invention.
Detailed Description
In order to more clearly and completely explain the technical scheme of the invention, the invention is further explained with reference to the attached drawings.
Referring to fig. 1, the present invention provides a method for automatically adjusting an operation trajectory according to three-dimensional shape information of a real object, where the method for automatically adjusting an operation trajectory according to three-dimensional shape information of a real object includes:
a track off-line editing and simulating unit: the track off-line editing and simulating unit is used for presetting a space filling track;
a contour data acquisition unit: the contour data acquisition unit acquires 3D contour information of a workpiece;
track projection and automatic adjustment unit: the track projection and automatic adjustment unit receives the space filling track and the 3D contour information of the machined part, the track projection and automatic adjustment unit firstly subdivides the space filling track into subdivided tracks, then projects the subdivided tracks onto the 3D contour surface of the machined part, and finally simplifies the subdivided tracks into working tracks;
a trajectory execution unit: and the track execution unit receives the working track and carries out processing operation according to the working track.
In this embodiment, the track offline editing and simulation unit and the contour data acquisition unit are respectively communicated with the track projection and automatic adjustment unit; the track projection and automatic adjustment unit is communicated with the track execution unit; a technician can correspond a set of track templates with a class of products by the method for automatically adjusting the operation track through the three-dimensional shape information of the material object, and even if the similar products have slight contour profiles, the track editing and machine teaching work of the corresponding process section is not required to be frequently carried out, so that the workload of the technician is greatly reduced, and the labor cost is reduced.
Further, the trajectory projection and automatic adjustment unit evenly inserts more trajectory points on the space filling trajectory so that the trajectory points contained on the space filling trajectory are more dense but the overall path is unchanged, and the space filling trajectory is subdivided into subdivision trajectories.
In the present embodiment, the space filling trajectory is subdivided into the subdivided trajectories so that the machining operation of the trajectory execution unit is more accurate.
Further, the step of projecting the subdivision track to the 3D contour surface of the workpiece and the step of simplifying the subdivision track into the working track are as follows:
s1-1, converting the subdivision track into the 3D contour information of the workpiece and enabling the subdivision track to cover the whole processing area of the workpiece;
s1-2: setting a space range for the corresponding position of each track point of the subdivided track;
s1-3: calculating the projection point of each track point of the subdivided track in the corresponding space range;
s1-4: deleting track points which cannot obtain projection points in the subdivided tracks from the subdivided tracks;
s1-5: according to the track obtained in the step S1-4, except for the first two track points of the track, an included angle formed by each track point and the front and back two track points on the projection surface is calculated, non-key track points are selected according to the included angle, and the non-key track points are deleted to form a working track.
In the present embodiment, through steps S1-1 to S1-3, the trajectory projection and automatic adjustment unit adjusts the direction of the subdivided trajectory so that the trajectory point of the subdivided trajectory fits the workpiece 3D contour surface, thereby projecting the subdivided trajectory onto the workpiece 3D contour surface; the projection points need to simultaneously consider the extension of the surface within a certain range of the ray, and ensure that the complete range of the projected track covers the whole processing area of the workpiece.
In this embodiment, through steps S1-4 to S1-5, the trajectory projection and automatic adjustment unit deletes track points exceeding the 3D contour of the workpiece in the subdivided trajectory and non-key track points in the subdivided trajectory, thereby simplifying the subdivided trajectory into a working trajectory; for the track point Pn (n >1), if the included angle formed by Pn-1, Pn +1 on the projection plane is 170-180 degrees, it means that the track point is a straight line transition point, and the deletion has little influence on the track, so the track point is a non-key track point.
Of course, the present invention may have other embodiments, and based on the embodiments, those skilled in the art can obtain other embodiments without any creative effort, and all of them are within the protection scope of the present invention.
Claims (3)
1. A method for automatically adjusting an operation track through three-dimensional shape information of a real object is characterized by comprising the following steps:
a track off-line editing and simulating unit: the track off-line editing and simulating unit is used for presetting a space filling track;
a contour data acquisition unit: the contour data acquisition unit acquires 3D contour information of a workpiece;
track projection and automatic adjustment unit: the track projection and automatic adjustment unit receives the space filling track and the 3D contour information of the machined part, the track projection and automatic adjustment unit firstly subdivides the space filling track into subdivided tracks, then projects the subdivided tracks onto the 3D contour surface of the machined part, and finally simplifies the subdivided tracks into working tracks;
a trajectory execution unit: and the track execution unit receives the working track and carries out processing operation according to the working track.
2. The method for automatically adjusting the operation track according to the three-dimensional shape information of the real object according to claim 1, wherein the track projection and automatic adjustment unit uniformly inserts more track points on the space filling track, so that the track points included in the space filling track are more dense but the overall path is unchanged, and the space filling track is subdivided into the subdivision track.
3. The method for automatically adjusting the operation track according to the three-dimensional shape information of the real object as claimed in claim 1, wherein the step of projecting the subdivided track to the 3D contour surface of the workpiece and the step of reducing the subdivided track into the operation track comprises the following steps:
s1-1, converting the subdivision track into the 3D contour information of the workpiece and enabling the subdivision track to cover the whole processing area of the workpiece;
s1-2: setting a space range for the corresponding position of each track point of the subdivided track;
s1-3: calculating the projection point of each track point of the subdivided track in the corresponding space range;
s1-4: deleting track points which cannot obtain projection points in the subdivided tracks from the subdivided tracks;
s1-5: according to the track obtained in the step S1-4, except for the first two track points of the track, an included angle formed by each track point and the front and back two track points on the projection surface is calculated, non-key track points are selected according to the included angle, and the non-key track points are deleted to form a working track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011179946.0A CN112415949A (en) | 2020-10-29 | 2020-10-29 | Method for automatically adjusting operation track through three-dimensional shape information of real object |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011179946.0A CN112415949A (en) | 2020-10-29 | 2020-10-29 | Method for automatically adjusting operation track through three-dimensional shape information of real object |
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| CN112415949A true CN112415949A (en) | 2021-02-26 |
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Citations (7)
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|---|---|---|---|---|
| US20060291969A1 (en) * | 2003-01-29 | 2006-12-28 | Josef Koch | Method for controlling relative displacements of a tool against a workpiece |
| CN104238456A (en) * | 2014-10-09 | 2014-12-24 | 南京航空航天大学 | Method for using non-ball-end cutter to mill free-form surface |
| CN107052312A (en) * | 2016-12-30 | 2017-08-18 | 上海发那科机器人有限公司 | A kind of automatic correction of casting cleaning machining locus and generation method |
| US20180370145A1 (en) * | 2017-05-15 | 2018-12-27 | Arevo, Inc. | Systems and methods for determining tool paths in three-dimensional printing |
| CN109454642A (en) * | 2018-12-27 | 2019-03-12 | 南京埃克里得视觉技术有限公司 | Robot coating track automatic manufacturing method based on 3D vision |
| CN111451886A (en) * | 2020-04-24 | 2020-07-28 | 中车南京浦镇车辆有限公司 | Online planning method for polishing track of robot in putty defect area of rail car body |
| CN111496789A (en) * | 2020-04-23 | 2020-08-07 | 佛山科学技术学院 | Offline complex curved surface spraying track planning system and control method |
-
2020
- 2020-10-29 CN CN202011179946.0A patent/CN112415949A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060291969A1 (en) * | 2003-01-29 | 2006-12-28 | Josef Koch | Method for controlling relative displacements of a tool against a workpiece |
| CN104238456A (en) * | 2014-10-09 | 2014-12-24 | 南京航空航天大学 | Method for using non-ball-end cutter to mill free-form surface |
| CN107052312A (en) * | 2016-12-30 | 2017-08-18 | 上海发那科机器人有限公司 | A kind of automatic correction of casting cleaning machining locus and generation method |
| US20180370145A1 (en) * | 2017-05-15 | 2018-12-27 | Arevo, Inc. | Systems and methods for determining tool paths in three-dimensional printing |
| CN109454642A (en) * | 2018-12-27 | 2019-03-12 | 南京埃克里得视觉技术有限公司 | Robot coating track automatic manufacturing method based on 3D vision |
| CN111496789A (en) * | 2020-04-23 | 2020-08-07 | 佛山科学技术学院 | Offline complex curved surface spraying track planning system and control method |
| CN111451886A (en) * | 2020-04-24 | 2020-07-28 | 中车南京浦镇车辆有限公司 | Online planning method for polishing track of robot in putty defect area of rail car body |
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