CN114260902B - Industrial robot track off-line generation method and system based on 3D scanning - Google Patents
Industrial robot track off-line generation method and system based on 3D scanning Download PDFInfo
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Abstract
The invention provides an industrial robot track off-line generation method and system based on 3D scanning, which belong to the technical field of industrial robots, and the industrial robot track off-line generation method based on 3D scanning comprises the following steps: 3D scanning is carried out on the workpiece to be processed to obtain a point cloud model of the workpiece to be processed; performing reverse engineering treatment on the point cloud model to obtain a reverse model; constructing a CAD model of the workpiece to be processed by computer assistance according to the reverse model; generating a control instruction for controlling the tail end movement track of the industrial robot according to the CAD model; and the industrial robot welds the workpiece to be processed under the control of the control instruction. The 3D scanning technology, the reverse engineering technology, the CAD modeling technology and the off-line programming technology are combined, so that the problems of long time consumption and complex programming when an on-line programming is used in the unknown workpiece CAD model are solved, and the working efficiency of the industrial robot is remarkably improved.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to an industrial robot track off-line generation method and system based on 3D scanning.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, and can realize various industrial processing and manufacturing functions by means of self power energy and control capability. Programming technology for industrial robots has been a challenging task, and most robots now develop both online and offline programming.
The off-line programming means that after a three-dimensional simulation scene of the robot is established, the motion trail of the robot is generated through software simulation calculation, and then a control instruction of the robot is generated. The programmer can set the speed, the motion trail and the like of the robot end tool in an omnibearing way through offline programming software, and a task plan can be created, optimized and verified without considering the requirement of a dynamic process. However, in the case where the model of the work CAD (Computer Aided Design ) is unknown, the control instructions cannot be generated using off-line programming.
In the case of unknown CAD models of workpieces, an online programming mode is needed, the mode needs manual control of a worker to complete a series of actions, programming is time-consuming, the method is not suitable for scenes with irregular shapes, large batches and various types, and the working efficiency of the industrial robot is reduced.
Based on the above-mentioned problems, a new track generation method is needed to improve the working efficiency of the industrial robot.
Disclosure of Invention
The invention aims to provide an industrial robot track off-line generation method and system based on 3D scanning, which can weld irregularly-shaped workpieces and improve track generation efficiency.
In order to achieve the above object, the present invention provides the following solutions:
an industrial robot track off-line generation method based on 3D scanning, the industrial robot track off-line generation method based on 3D scanning comprises the following steps:
3D scanning is carried out on a workpiece to be processed to obtain a point cloud model of the workpiece to be processed;
performing reverse engineering treatment on the point cloud model to obtain a reverse model; the reverse model is a model obtained by splitting and fitting the point cloud model;
constructing a computer-aided design (CAD) model of the workpiece to be processed according to the reverse model;
generating a control instruction for controlling the tail end movement track of the industrial robot according to the CAD model; and the industrial robot welds the workpiece to be processed under the control of the control instruction.
Optionally, the performing reverse engineering processing on the point cloud model to obtain a reverse model specifically includes:
repairing the point cloud model to obtain a repairing model;
initializing curvature sensitivity of reverse engineering software, and dividing the repair model into a plurality of sub-models according to the curvature sensitivity; the boundary between adjacent sub-models is a contour line;
classifying the areas of each sub-model according to each contour line to obtain a plurality of areas;
fitting the multiple regions into a whole to obtain a reverse model.
Optionally, repairing the point cloud model to obtain a repair model specifically includes:
detecting a flaw part of the point cloud model; the flaw part comprises a small hole, a spike and a non-manifold edge;
filling the small holes of the point cloud model completely, performing smooth treatment on the nails, and removing non-manifold edges to obtain a first repair model;
detecting single-point peaks and concave-convex points of the first repair model;
flattening the single-point peak, eliminating the concave-convex points and obtaining a second repair model;
and performing relaxation operation on the second repair model to obtain a final repair model.
Optionally, generating a control instruction for controlling the movement track of the tail end of the industrial robot according to the CAD model specifically includes:
selecting a starting point and an ending point on the CAD model, and setting a feeding direction and a feeding angle of the industrial robot;
determining the path track of the tail end of the industrial robot according to the starting point, the finishing point, the feeding direction and the feeding angle;
generating a track running chart according to the path track;
judging whether the industrial robot collides with a workpiece to be processed in the running process according to the track running diagram;
if the industrial robot collides with the workpiece to be processed, adjusting the feeding direction and the feeding angle of the industrial robot according to the collision position, and redetermining the path track of the tail end of the industrial robot;
and if the industrial robot does not collide with the workpiece to be processed, generating a control instruction according to the track running diagram.
Optionally, the industrial robot is a library card industrial robot.
Optionally, the industrial robot track offline generation method based on 3D scanning further comprises:
under the control of the control instruction, judging whether the actual moving track of the tail end of the industrial robot is the same as the moving track of the control instruction;
if the actual moving track of the tail end of the industrial robot is different from the moving track of the control instruction, adjusting the curvature sensitivity of the reverse engineering software, and carrying out reverse engineering treatment on the point cloud model again;
and if the actual moving track of the tail end of the industrial robot is the same as the moving track of the control instruction, taking the control instruction as a final control instruction.
In order to achieve the above purpose, the present invention also provides the following solutions:
an industrial robot trajectory off-line generation system based on 3D scanning, the industrial robot trajectory off-line generation system based on 3D scanning comprising:
the scanning unit is used for carrying out 3D scanning on the workpiece to be processed to obtain a point cloud model of the workpiece to be processed;
the reverse processing unit is connected with the scanning unit and is used for carrying out reverse engineering treatment on the point cloud model to obtain a reverse model;
the model building unit is connected with the reverse processing unit and is used for building a CAD model of the workpiece to be processed according to the reverse model;
the instruction generation unit is connected with the model establishment unit and is used for generating a control instruction for controlling the tail end movement track of the industrial robot according to the CAD model; and the industrial robot welds the workpiece to be processed under the control of the control instruction.
Optionally, the reverse processing unit includes:
the repairing module is connected with the scanning unit and used for repairing the point cloud model to obtain a repairing model;
the dividing module is connected with the repairing module and used for initializing curvature sensitivity of reverse engineering software and dividing the repairing model into a plurality of sub-models according to the curvature sensitivity; the boundary between adjacent sub-models is a contour line;
the classification module is connected with the division module and used for classifying the areas of the submodels according to the contour lines to obtain a plurality of areas;
and the fitting module is connected with the classifying module and is used for fitting the plurality of areas into a whole to obtain a reverse model.
Optionally, the repair module includes:
the first detection sub-module is connected with the scanning unit and is used for detecting the flaw part of the point cloud model; the flaw part comprises a small hole, a spike and a non-manifold edge;
the first repairing submodule is connected with the flaw detection submodule and is used for completely filling small holes of the point cloud model, smoothing nails and removing non-manifold edges to obtain a first repairing model;
the second detection module is connected with the first repair submodule and is used for detecting single-point peaks and concave-convex points of the first repair model;
the second repairing sub-module is connected with the second detection module and is used for flattening the single-point peak and eliminating the concave-convex points to obtain a second repairing model;
and the relaxation submodule is connected with the second repair submodule and is used for carrying out relaxation operation on the second repair model to obtain a final repair model.
Optionally, the instruction generating unit includes:
the parameter determining module is connected with the model building unit and is used for selecting a starting point and an ending point on the CAD model and setting the feeding direction and the feeding angle of the industrial robot;
the track determining module is connected with the parameter determining module and is used for determining the track of the tail end of the industrial robot according to the starting point, the finishing point, the feeding direction and the feeding angle;
the track running diagram determining module is connected with the track determining module and is used for generating a track running diagram according to the path track;
the judging module is connected with the track running diagram determining module and is used for judging whether the industrial robot collides with a workpiece to be processed or not in the running process according to the track running diagram;
the adjusting module is respectively connected with the judging module and the parameter determining module and is used for adjusting the feeding direction and the feeding angle of the industrial robot according to the collision position when the industrial robot collides with the workpiece to be processed and redetermining the path track of the tail end of the industrial robot;
and the generation module is connected with the judging module and is used for generating a control instruction according to the track running diagram when the industrial robot and the workpiece to be processed do not collide.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: firstly, carrying out 3D scanning on a workpiece to be processed to obtain a point cloud model of the workpiece to be processed, enabling a 3D scanning technology to quickly convert a workpiece object into a digital signal which can be processed by a computer, then carrying out reverse engineering treatment on the point cloud model to obtain a reverse model, carrying out reverse engineering treatment on the point cloud model to quickly fit the outline of the workpiece to be processed, constructing a CAD model of the workpiece to be processed according to the reverse model, generating a control instruction for controlling the tail end moving track of an industrial robot according to the CAD model, and generating the control instruction in an offline mode, wherein the control instruction is suitable for welding a large number of workpieces without modifying the control instruction in real time, so that the track generation efficiency is improved, and the working efficiency of the industrial robot is further improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an industrial robot trajectory offline generation method based on 3D scanning of the present invention;
FIG. 2 is a block diagram of the implementation process of the industrial robot track offline generation method based on 3D scanning;
FIG. 3 is an exemplary diagram of a workpiece to be machined;
fig. 4 is a schematic block diagram of an industrial robot track offline generation system based on 3D scanning.
Symbol description:
the device comprises a scanning unit-1, a reverse processing unit-2, a model building unit-3, an instruction generating unit-4, a judging unit-5, an adjusting unit-6, an instruction determining unit-7, a first component-11, a second component-12, a third component-13, a fourth component-14 and a fifth component-15.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an industrial robot track off-line generation method and system based on 3D scanning, which can quickly convert a workpiece object into a digital signal which can be processed by a computer by carrying out 3D scanning on the workpiece to be processed, then carrying out reverse engineering processing on a point cloud model to obtain a reverse model, quickly fitting the outline of the workpiece to be processed, constructing a CAD model of the workpiece to be processed according to the reverse model, and then generating a control instruction for controlling the tail end movement track of the industrial robot according to the CAD model, wherein the control instruction generated in an off-line mode is suitable for welding a large number of workpieces, the control instruction is not required to be modified in real time, the track generation efficiency is improved, and the working efficiency of the industrial robot is further improved.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1, the industrial robot track offline generation method based on 3D scanning of the present invention includes:
s1: and 3D scanning is carried out on the workpiece to be processed to obtain a point cloud model of the workpiece to be processed. Specifically, a 3D scanner is used to scan the workpiece and MarvelScan software is used to automatically generate a point cloud model. In this embodiment, the workpiece to be processed is a ceramic workpiece.
The 3D scanning technology scans the spatial appearance and structure of the workpiece to obtain the shape (geometric dimension), appearance data (such as color, surface albedo and other properties) and spatial coordinates of the workpiece, so that the three-dimensional information of the workpiece can be converted into digital signals which can be directly processed by a computer, and a convenient and quick means is provided for the digitization of the workpiece.
S2: and performing reverse engineering treatment on the point cloud model to obtain a reverse model. The inverse model is a model obtained by splitting and fitting the point cloud model. Because the stl-format point cloud model cannot be directly edited and used in engineering, the point cloud model needs to be repaired and reversely processed and stored into the stp or iges format. In this embodiment, reverse engineering software is used to perform reverse engineering processing on the point cloud model.
S3: and constructing a CAD model of the workpiece to be processed according to the reverse model. Specifically, specific dimensions of the reverse model are obtained, and a CAD model of the workpiece to be processed is constructed according to the dimensions.
S4: and generating a control instruction for controlling the tail end movement track of the industrial robot according to the CAD model. And the industrial robot welds the workpiece to be processed under the control of the control instruction. Specifically, the CAD model is imported into offline programming software, the moving speed, the moving track and the like of the end tool of the industrial robot are planned, the moving track of the task planning tool can be created, optimized and verified without considering the requirement of a dynamic process, and a control instruction is generated.
Further, step S2 performs reverse engineering processing on the point cloud model to obtain a reverse model, which specifically includes:
s21: and repairing the point cloud model to obtain a repairing model.
S22: and initializing curvature sensitivity of reverse engineering software, and dividing the repair model into a plurality of sub-models according to the curvature sensitivity. The boundary between adjacent sub-models is a contour line. In this embodiment, the initial curvature sensitivity is 70.
S23: and classifying the areas of each submodel according to each contour line to obtain a plurality of areas.
S24: fitting the multiple regions into a whole to obtain a reverse model.
Further, step S21 repairs the point cloud model to obtain a repair model, which specifically includes:
s211: and detecting a flaw part of the point cloud model. The flaw portion includes a small hole, a spike, and a non-manifold edge. In this embodiment, the grid doctor using reverse engineering software detects the flaw portion of the point cloud model.
S212: and filling the small holes of the point cloud model completely, performing smooth treatment on the nails, and removing non-manifold edges to obtain a first repair model. In the embodiment, the point cloud model is first repaired integrally, and the grid doctor function of the reverse engineering software can automatically identify and repair most invisible and some tiny flaws by naked eyes, including complete filling of small holes, smooth treatment of nails, and elimination of some errors such as self-intersecting and non-manifold edges.
S213: and detecting single-point peaks and concave-convex points of the first repair model.
S214: and flattening the single-point peak, and eliminating the concave-convex points to obtain a second repair model. So that the second repair model is smoother.
In addition, the repairing process further comprises deleting redundant parts in the first repairing model according to the shape of the entity of the workpiece to be processed, so that the shape of the first repairing model is consistent with that of the workpiece to be processed. Specifically, a lasso tool is used for selecting peaks or concave-convex points, and a characteristic removal function is used for flattening the single-point peaks and eliminating the concave-convex points.
And filling the missing part of the first repair model, and filling the inner hole and the boundary hole according to the missing condition. Specifically, a curvature, plane or tangent filling method is selected for filling according to the hole periphery curved surface.
S215: and performing relaxation operation on the second repair model to obtain a final repair model. And performing relaxation operation on the second repair model, so that the angles of the independent polygons are reduced to the maximum extent, and the model is smoother.
Further, step S4 generates a control instruction for controlling the movement track of the end of the industrial robot according to the CAD model, which specifically includes:
s41: and selecting a starting point and an ending point on the CAD model, and setting the feeding direction and the feeding angle of the industrial robot. Preferably, the industrial robot is a library card industrial robot.
S42: and determining the path track of the tail end of the industrial robot according to the starting point, the tail end, the feeding direction and the feeding angle.
S43: and generating a track running chart according to the path track.
S44: and judging whether the industrial robot collides with the workpiece to be processed in the running process according to the track running diagram.
S45: if the industrial robot collides with the workpiece to be processed, the feeding direction and the feeding angle of the industrial robot are adjusted according to the collision position, and the path track of the tail end of the industrial robot is redetermined.
S46: and if the industrial robot does not collide with the workpiece to be processed, generating a control instruction according to the track running diagram.
In order to improve the accuracy of control instructions and realize mass welding of workpieces, the industrial robot track off-line generation method based on 3D scanning further comprises the following steps:
s5: under the control of the control instruction, judging whether the actual moving track of the tail end of the industrial robot is the same as the moving track of the control instruction.
S6: and if the actual moving track of the tail end of the industrial robot is different from the moving track of the control instruction, adjusting the curvature sensitivity of the reverse engineering software, and carrying out reverse engineering treatment on the point cloud model again.
S7: and if the actual moving track of the tail end of the industrial robot is the same as the moving track of the control instruction, taking the control instruction as a final control instruction.
The method comprises the steps of firstly obtaining the space shape and structure of a workpiece to be processed by utilizing three-dimensional scanning, carrying out data processing by using professional reverse engineering software, correcting errors to obtain the accurate size of the workpiece to be processed, and carrying out three-dimensional modeling on the workpiece to be processed on the basis of the accurate size. And secondly, importing the three-dimensional model obtained reversely into offline programming software to generate a motion trail of the robot. And finally, copying the instruction to the entity robot for verification and debugging, and ensuring that a good debugging effect is finished.
As shown in fig. 2, the implementation process of the industrial robot track offline generation method based on 3D scanning of the present invention can be divided into a 3D scanner system, reverse engineering software, CAD software, offline programming software, industrial robot and workpiece entity. The 3D scanner system is a data acquisition module and is used for scanning the workpiece and generating a corresponding point cloud model. Reverse engineering software is a data processing module that converts the point cloud model into a format that can be used in engineering. CAD software is also a data processing module and is used for establishing a CAD model of the workpiece, thereby being convenient for offline programming and use. The off-line programming software is also a data processing module for planning the movement track of the industrial robot on the workpiece. The industrial robot and the work entity are verification modules for verifying the correctness of the control instructions generated by the offline programming software.
For a better understanding of the aspects of the invention, reference will be made to the following description of specific examples.
In this embodiment, the workpiece to be processed is a ceramic bottle with the shape shown in fig. 3.
A hand-held 3D scanner scans around the circumference of the ceramic bottle. And (3) scanning each part of the ceramic bottle as completely as possible, acquiring geometric dimension data of the ceramic bottle after scanning is completed, and automatically generating a stl-format point cloud model by matching the geometric dimension data with MarvelScan software, so as to obtain the space appearance and structure of the ceramic bottle.
And repairing the point cloud model by using reverse engineering software, detecting the area of the repairing model, and dividing the repairing model into five parts. Then, the boundary between adjacent portions is set as a contour line, and the portions are classified into regions. In this embodiment, the cylindrical region, the tapered region, and the cylindrical region are sequentially from top to bottom. After the region classification is completed, each part is reconstructed. Finally, each part is fit into a whole, the reverse process is completed, and the whole is stored as the stp format.
As shown in fig. 3, the inverse model is divided into 5 parts, the first part 11 is constructed by ring stretching, the second part 12 is constructed by lofting, the third part 13 is constructed by ring stretching, and the fourth part 14 and the fifth part 15 are constructed by mirror images because the inverse model is symmetrical up and down, and after the construction is completed, the parts are stored in the format of stp or iges.
And selecting a robot library from the offline programming software to add a KUKA robot model, adding the CAD model to the offline programming software, and automatically identifying the dimension data of the CAD model by the offline programming software.
Taking an industrial robot welding task as an example, planning a moving track of a welding gun at the tail end of the industrial robot: and (3) establishing a 5D welding project, establishing an arc track on the surface of the CAD model, setting a feed direction and an angle, editing a cutter path, selecting a path plan for avoiding collision and singular points, and finally carrying out path optimization and application.
The planned tracks with different feed directions and angles are also different, and the planned tracks may not exist due to the constraints of the working space, singular points and the like of the industrial robot, so that the position of the CAD model and the feed directions and angles need to be adjusted repeatedly. And after the optimization is finished, a post-processor module of offline programming software is used for generating a control instruction of the library card robot according to the track.
As shown in fig. 4, the industrial robot trajectory offline generation system based on 3D scanning of the present invention includes: a scanning unit 1, a reverse processing unit 2, a model building unit 3 and an instruction generating unit 4.
The scanning unit 1 is used for performing 3D scanning on a workpiece to be processed to obtain a point cloud model of the workpiece to be processed.
The inverse processing unit 2 is connected with the scanning unit 1, and the inverse processing unit 2 is used for performing inverse engineering processing on the point cloud model to obtain an inverse model.
The model building unit 3 is connected with the inverse processing unit 2, and the model building unit 3 is used for building a CAD model of the workpiece to be processed according to the inverse model.
The instruction generating unit 4 is connected with the model building unit 3, and the instruction generating unit 4 is used for generating a control instruction for controlling the tail end movement track of the industrial robot according to the CAD model; and the industrial robot welds the workpiece to be processed under the control of the control instruction.
Further, the reverse processing unit 2 includes: the device comprises a repairing module, a dividing module, a classifying module and a fitting module.
The repairing module is connected with the scanning unit 1 and is used for repairing the point cloud model to obtain a repairing model.
The dividing module is connected with the repairing module and is used for initializing curvature sensitivity of reverse engineering software and dividing the repairing model into a plurality of sub-models according to the curvature sensitivity; the boundary between adjacent sub-models is a contour line.
The classification module is connected with the division module and is used for classifying the areas of the submodels according to the contour lines to obtain a plurality of areas.
The fitting module is connected with the classifying module and is used for fitting the plurality of areas into a whole to obtain a reverse model.
Specifically, the repair module includes: the device comprises a first detection sub-module, a first repair sub-module, a second detection sub-module, a second repair sub-module and a relaxation sub-module.
The first detection submodule is connected with the scanning unit 1 and is used for detecting the flaw part of the point cloud model by adopting the grid doctor function of the reverse engineering software. The flaw portion includes a small hole, a spike, and a non-manifold edge.
The first repair submodule is connected with the flaw detection submodule and is used for completely filling small holes of the point cloud model, smoothing nails and removing non-manifold edges to obtain a first repair model.
The second detection sub-module is connected with the first repair sub-module and is used for detecting single-point peaks and concave-convex points of the first repair model.
The second repairing sub-module is connected with the second detection sub-module and is used for flattening the single-point peak and eliminating the concave-convex point to obtain a second repairing model.
The relaxation submodule is connected with the second repair submodule and is used for carrying out relaxation operation on the second repair model to obtain a final repair model.
Still further, the instruction generating unit 4 includes: the system comprises a parameter determining module, a track running chart determining module, a judging module, an adjusting module and a generating module.
The parameter determining module is connected with the model building unit 3, and is used for selecting a starting point and an ending point on the CAD model and setting a feeding direction and a feeding angle of the industrial robot.
The track determining module is connected with the parameter determining module and is used for determining the path track of the tail end of the industrial robot according to the starting point, the finishing point, the cutting direction and the cutting angle.
The track running diagram determining module is connected with the track determining module and is used for generating a track running diagram according to the path track.
The judging module is connected with the track running diagram determining module and is used for judging whether the industrial robot collides with a workpiece to be processed or not in the running process according to the track running diagram.
The adjusting module is respectively connected with the judging module and the parameter determining module, and is used for adjusting the feeding direction and the feeding angle of the industrial robot according to the collision position when the industrial robot collides with the workpiece to be processed and redetermining the path track of the tail end of the industrial robot.
The generation module is connected with the judging module and is used for generating a control instruction according to the track running diagram when the industrial robot and the workpiece to be processed do not collide.
The industrial robot track off-line generation system based on 3D scanning further comprises: a judging unit 5, an adjusting unit 6 and an instruction determining unit 7.
The judging unit 5 is connected with the instruction generating unit 4, and the judging unit 5 is used for judging whether the actual moving track and the simulation track of the tail end of the industrial robot are the same under the control of the control instruction; the simulation track is a preset track.
The adjusting unit 6 is respectively connected with the judging unit 5 and the reverse processing unit 2, and the adjusting unit 6 is used for adjusting the curvature sensitivity of the reverse engineering software when the actual moving track of the tail end of the industrial robot is different from the simulation track, and carrying out reverse engineering processing on the point cloud model again.
The instruction determining unit 7 is connected to the judging unit 5, and the instruction determining unit 6 is configured to take the control instruction as a final control instruction when the actual movement track of the end of the industrial robot is the same as the simulation track.
Compared with the prior art, the industrial robot track offline generation system based on the 3D scanning has the same beneficial effects as the industrial robot track offline generation method based on the 3D scanning, and is not repeated here.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (7)
1. An industrial robot track off-line generation method based on 3D scanning is characterized by comprising the following steps:
3D scanning is carried out on a workpiece to be processed to obtain a point cloud model of the workpiece to be processed;
performing reverse engineering treatment on the point cloud model to obtain a reverse model, wherein the reverse engineering treatment specifically comprises the following steps: repairing the point cloud model to obtain a repairing model; initializing curvature sensitivity of reverse engineering software, and dividing the repair model into a plurality of sub-models according to the curvature sensitivity; the boundary between adjacent sub-models is a contour line; classifying the areas of each sub-model according to each contour line to obtain a plurality of areas; fitting the multiple areas into a whole to obtain a reverse model; the reverse model is a model obtained by splitting and fitting the point cloud model;
constructing a computer-aided design (CAD) model of the workpiece to be processed according to the reverse model;
generating a control instruction for controlling the tail end movement track of the industrial robot according to the CAD model, wherein the control instruction comprises the following specific steps: importing the three-dimensional model obtained in the reverse direction into offline programming software to generate a motion trail of the robot; the industrial robot welds the workpiece to be processed under the control of the control instruction;
under the control of the control instruction, judging whether the actual moving track of the tail end of the industrial robot is the same as the moving track of the control instruction;
if the actual moving track of the tail end of the industrial robot is different from the moving track of the control instruction, adjusting the curvature sensitivity of the reverse engineering software, and carrying out reverse engineering treatment on the point cloud model again;
and if the actual moving track of the tail end of the industrial robot is the same as the moving track of the control instruction, taking the control instruction as a final control instruction.
2. The method for generating the industrial robot trajectory offline based on the 3D scan according to claim 1, wherein the repairing the point cloud model to obtain a repairing model specifically comprises:
detecting a flaw part of the point cloud model; the flaw part comprises a small hole, a spike and a non-manifold edge;
filling the small holes of the point cloud model completely, performing smooth treatment on the nails, and removing non-manifold edges to obtain a first repair model;
detecting single-point peaks and concave-convex points of the first repair model;
flattening the single-point peak, eliminating the concave-convex points and obtaining a second repair model;
and performing relaxation operation on the second repair model to obtain a final repair model.
3. The method for generating an industrial robot trajectory offline based on 3D scanning according to claim 1, wherein the generating a control command for controlling an industrial robot end movement trajectory according to the CAD model specifically comprises:
selecting a starting point and an ending point on the CAD model, and setting a feeding direction and a feeding angle of the industrial robot;
determining the path track of the tail end of the industrial robot according to the starting point, the finishing point, the feeding direction and the feeding angle;
generating a track running chart according to the path track;
judging whether the industrial robot collides with a workpiece to be processed in the running process according to the track running diagram;
if the industrial robot collides with the workpiece to be processed, adjusting the feeding direction and the feeding angle of the industrial robot according to the collision position, and redetermining the path track of the tail end of the industrial robot;
and if the industrial robot does not collide with the workpiece to be processed, generating a control instruction according to the track running diagram.
4. The method for off-line generation of an industrial robot trajectory based on 3D scanning of claim 1, wherein the industrial robot is a kuka industrial robot.
5. An industrial robot track off-line generation system based on 3D scanning, which is characterized in that the industrial robot track off-line generation system based on 3D scanning comprises:
the scanning unit is used for carrying out 3D scanning on the workpiece to be processed to obtain a point cloud model of the workpiece to be processed;
the reverse processing unit is connected with the scanning unit and is used for carrying out reverse engineering treatment on the point cloud model to obtain a reverse model;
the reverse processing unit includes:
the repairing module is connected with the scanning unit and used for repairing the point cloud model to obtain a repairing model;
the dividing module is connected with the repairing module and used for initializing curvature sensitivity of reverse engineering software and dividing the repairing model into a plurality of sub-models according to the curvature sensitivity; the boundary between adjacent sub-models is a contour line;
the classification module is connected with the division module and used for classifying the areas of the submodels according to the contour lines to obtain a plurality of areas;
the fitting module is connected with the classifying module and used for fitting the multiple areas into a whole to obtain a reverse model;
the model building unit is connected with the reverse processing unit and is used for building a CAD model of the workpiece to be processed according to the reverse model;
the instruction generating unit is connected with the model building unit and is used for generating a control instruction for controlling the tail end movement track of the industrial robot according to the CAD model, and specifically comprises the following steps: importing the three-dimensional model obtained in the reverse direction into offline programming software to generate a motion trail of the robot; the industrial robot welds the workpiece to be processed under the control of the control instruction;
the judging unit is connected with the instruction generating unit and is used for judging whether the actual moving track of the tail end of the industrial robot is identical with the simulation track or not under the control of the control instruction; the simulation track is a preset track;
the adjusting unit is respectively connected with the judging unit and the reverse processing unit and is used for adjusting the curvature sensitivity of the reverse engineering software when the actual moving track of the tail end of the industrial robot is different from the simulation track and carrying out reverse engineering treatment on the point cloud model again;
and the instruction determining unit is connected with the judging unit and is used for taking the control instruction as a final control instruction when the actual moving track of the tail end of the industrial robot is the same as the simulation track.
6. The 3D scan based industrial robot trajectory offline generation system of claim 5, wherein the repair module comprises:
the first detection sub-module is connected with the scanning unit and is used for detecting the flaw part of the point cloud model; the flaw part comprises a small hole, a spike and a non-manifold edge;
the first repairing submodule is connected with the first detection submodule and is used for completely filling small holes of the point cloud model, smoothing nails and removing non-manifold edges to obtain a first repairing model;
the second detection module is connected with the first repair submodule and is used for detecting single-point peaks and concave-convex points of the first repair model;
the second repairing sub-module is connected with the second detection module and is used for flattening the single-point peak and eliminating the concave-convex points to obtain a second repairing model;
and the relaxation submodule is connected with the second repair submodule and is used for carrying out relaxation operation on the second repair model to obtain a final repair model.
7. The 3D scan based industrial robot trajectory offline generation system of claim 5, wherein the instruction generation unit comprises:
the parameter determining module is connected with the model building unit and is used for selecting a starting point and an ending point on the CAD model and setting the feeding direction and the feeding angle of the industrial robot;
the track determining module is connected with the parameter determining module and is used for determining the track of the tail end of the industrial robot according to the starting point, the finishing point, the feeding direction and the feeding angle;
the track running diagram determining module is connected with the track determining module and is used for generating a track running diagram according to the path track;
the judging module is connected with the track running diagram determining module and is used for judging whether the industrial robot collides with a workpiece to be processed or not in the running process according to the track running diagram;
the adjusting module is respectively connected with the judging module and the parameter determining module and is used for adjusting the feeding direction and the feeding angle of the industrial robot according to the collision position when the industrial robot collides with the workpiece to be processed and redetermining the path track of the tail end of the industrial robot;
and the generation module is connected with the judging module and is used for generating a control instruction according to the track running diagram when the industrial robot and the workpiece to be processed do not collide.
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