CN115661023A - Cylindrical arc welding line polishing track generation method and device based on three-dimensional vision - Google Patents
Cylindrical arc welding line polishing track generation method and device based on three-dimensional vision Download PDFInfo
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Abstract
The invention relates to a cylindrical surface arc welding line polishing track generation method based on three-dimensional vision, which comprises the following steps: removing environment and workbench information, extracting target workpiece point cloud information, and performing noise reduction treatment; fitting the cylindrical surface, removing the cylindrical surface points, and taking the welding seam information; fitting a spatial arc based on the weld information; obtaining polishing track point location information and corresponding spatial attitude method phase information at equal intervals based on the spatial circular arc to obtain an initial polishing track; and (4) solving an optimal inverse solution of the robot based on the initial polishing track, and fixing a sixth shaft in the joint space to obtain a final polishing track point. The robot intelligent grinding machine can realize high-precision and high-efficiency robot intelligent grinding of welding seams and can avoid a series of problems caused by manual grinding.
Description
Technical Field
The invention relates to the technical field of robot vision positioning, in particular to a cylindrical surface arc welding line polishing track generation method and device based on three-dimensional vision.
Background
Welding technology is widely applied to enterprise production, and welding seams after welding are polished to meet requirements of plates on size, flatness and attractiveness. Because the required control factor requirement is more in the welding seam process of polishing, and the scene is complicated changeable and changeable, utilizes the robot to polish and hardly realizes the required precision, so the welding seam process of polishing all basically solves through the manpower now.
Through the manpower solution on the one hand noise, dust, harmful gas, spark etc. that produce in the process of polishing can influence operation personnel's physical and mental health. The grinding process usually consumes physical strength, the used tools generally run at high speed, and if the tools are careless in the use process, physical damage to the body can be caused to a certain extent; on the other hand, the cost is relatively high, and the standardization degree is difficult to unify.
Disclosure of Invention
The invention aims to solve at least one of the defects of the prior art and provides a cylindrical arc welding seam grinding track generation method and device based on three-dimensional vision.
In order to achieve the above object, the present invention adopts the following technical means,
specifically, a cylindrical arc welding seam polishing track generation method based on three-dimensional vision is provided, and comprises the following steps:
acquiring first point cloud information of the position of a workpiece to be processed;
preprocessing the first point cloud information to obtain noise-reduced target workpiece point cloud information;
fitting the target workpiece point cloud information subjected to noise reduction, extracting welding seam information, and fitting the welding seam information to obtain a space circle;
fitting the space circle to obtain an initial polishing track;
and solving an optimal robot inverse solution based on the initial polishing track, and fixing a sixth axis in the joint space to obtain a final polishing track point.
Further, specifically, the target workpiece point cloud information after noise reduction is obtained in the following way,
removing the environmental information in the first point cloud information in a straight-through filtering mode;
carrying out noise reduction processing by using Gaussian filtering;
and identifying the denoised point cloud information and removing the point cloud information corresponding to the workbench plane, wherein the rest point cloud is the denoised target workpiece point cloud information.
Further, specifically, fitting the noise-reduced target workpiece point cloud information and extracting weld information, fitting the weld information to obtain a spatial circle, including the following,
fitting the target workpiece point cloud information after noise reduction to obtain a space cylinder formed by partial point clouds and other point clouds, removing all the point clouds falling on the space cylinder, obtaining the rest point clouds, namely a weld joint point cluster circle _ P, and fitting the weld joint point cluster circle _ P to obtain a space circle by the principle of least square, so as to obtain space circle parameters: radius circle _ r, circle center circle _ c, and unit vector circle _ n of the plane where the vertical arc is located.
Further, specifically, fitting the spatial circle to obtain an initial polishing trajectory includes the following steps,
s410, the parameter equation of the space circle can be shown as follows,
p＝c+r*cos(θ)*a+r*sin(θ)*b(θ∈(-π,π])
wherein a is a unit vector on the plane of the space circle, b is a unit vector b = N × a, p is a point on the space circle, r is the radius of the space circle, θ is an angle formed by cp and a, and N is a unit vector perpendicular to the plane of the circle;
s420, sorting points in the weld point cluster circle _ P, and determining a radian theta value:
fitting a straight line1 based on a point cluster circle _ P, wherein a straight line direction vector is line1_ N, taking a super-far point line1_ P on the line as a base point, respectively calculating distances between all points in the circle _ P and the line1_ P, sequencing based on the distances and points to obtain two points with the farthest distance after sequencing, respectively calculating a first-stage last point as P _ start and P _ end, and calculating theta:
s430, determining unit vectors a, b:
note that p1= p _ start-circle _ c, p2= p _ start-p _ end, p _ direction = p2 × p1,
if | p _ direction.norm () + circle _ n | >1, then a = p1.Norm (), b = circle _ n × a, a = b × circle _ n,
otherwise a = (p _ end-circle _ c). Norm (), b = circle _ n × a, a = b × circle _ n,
where n.norm () functions as the unit vector of the return vector n,
based on the above, a and b can be determined, and further, the mathematical expression of the space circle corresponding to the welding seam is obtained as follows:
p＝circle_c+circle_r*cos(θ)*a+circle_r*sin(θ)*b(θ∈[0,θc])
s440, acquiring welding seam polishing track points in pi/180 step length based on the mathematical expression of the space circle, recording the welding seam polishing track points as a track point cluster p _ tr, and calculating normal vector information corresponding to each point in the track point cluster p _ tr: p _ tr _ n [ i ] = p _ tr [ i ] -circle _ c, and the initial grinding track is obtained based on the result.
Further, specifically, an optimal inverse solution of the robot is obtained based on the initial polishing track, and a sixth axis is fixed in a joint space to obtain a final polishing track point, including the following points,
and respectively solving one of innumerable solutions corresponding to each pair of point normal vectors based on an axis angle form to finally obtain a primary polishing track, then solving the corresponding optimal joint state in a joint space through inverse kinematics solution, and then fixing the sixth axis joint value in each group of solutions to be 0 to obtain the final circular arc welding seam polishing track.
The invention also provides a cylindrical arc welding line grinding track generation device based on three-dimensional vision, which comprises the following components:
the point cloud information acquisition module is used for acquiring first point cloud information of the position of a workpiece to be processed;
the preprocessing module is used for preprocessing the first point cloud information to obtain noise-reduced target workpiece point cloud information;
the welding line information extraction module is used for fitting the noise-reduced target workpiece point cloud information, extracting welding line information and fitting the welding line information to obtain a space circle;
the initial polishing track determining module is used for fitting the space circle to obtain an initial polishing track;
and the final polishing track determining module is used for solving an optimal inverse solution of the robot based on the initial polishing track, and fixing the sixth axis in the joint space to obtain a final polishing track point.
The invention also provides a high-efficiency three-dimensional visual platform for polishing large castings, which applies the method for generating the polishing track of the cylindrical arc welding seam based on three-dimensional vision and comprises the following steps,
a robot;
the three-dimensional camera is used for acquiring first point cloud information of the position of a workpiece to be machined;
the platform is used for fixing a workpiece to be processed;
and the industrial personal computer based on the ROS robot control system is used for receiving the first point cloud information transmitted by the three-dimensional camera and planning and executing the polishing track.
Further, it is preferable that, in particular,
the robot is an Anchuan HP20D robot carrying a 3.5KW electric spindle, and the three-dimensional camera is a kinect V2 three-dimensional camera.
The invention further provides a computer-readable storage medium, which stores a computer program, and is characterized in that when being executed by a processor, the computer program implements the steps of any one of the above methods for generating the grinding track of the three-dimensional vision-based cylindrical arc welding seam.
The invention has the beneficial effects that:
the method comprises the steps of obtaining a three-dimensional point cloud picture; removing environment and workbench information, extracting target workpiece point cloud information, and performing noise reduction treatment; fitting the cylindrical surface, removing the cylindrical surface points, and taking the weld joint information; fitting a spatial arc based on the weld information; obtaining polishing track point location information and corresponding spatial attitude method phase information at equal intervals based on the spatial circular arc to obtain an initial polishing track; and solving an optimal inverse solution of the robot based on the initial polishing track, and fixing a sixth axis in a joint space to obtain a final polishing track point. The robot intelligent welding line polishing device can realize high-precision and high-efficiency robot intelligent welding line polishing, and can avoid a series of problems caused by manual polishing.
Drawings
The foregoing and other features of the present disclosure will become more apparent from the detailed description of the embodiments shown in conjunction with the drawings in which like reference characters designate the same or similar elements throughout the several views, and it is apparent that the drawings in the following description are merely some examples of the present disclosure and that other drawings may be derived therefrom by those skilled in the art without the benefit of any inventive faculty, and in which:
FIG. 1 is a flow chart of a cylindrical arc weld grinding track generation method based on three-dimensional vision according to the present invention;
FIG. 2 is a flowchart illustrating an implementation of the method for generating a polishing track of a cylindrical arc welding seam based on three-dimensional vision according to the present invention;
FIG. 3 illustrates a workpiece model to be ground in one embodiment of the method for generating a grinding track of a cylindrical arc welding seam based on three-dimensional vision according to the present invention;
FIG. 4 shows a point cloud of a surface of a workpiece to be polished in an embodiment of the method for generating a polishing track of a cylindrical arc welding seam based on three-dimensional vision;
fig. 5 is a cloud point diagram of an arc weld acquired in one embodiment of the method for generating a polishing track of a cylindrical arc weld based on three-dimensional vision according to the present invention;
FIG. 6 shows a spatial circular parameter equation in an embodiment of the method for generating a polishing track of a cylindrical arc weld based on three-dimensional vision according to the present invention;
fig. 7 shows preliminarily acquired information of a spatial circular arc weld track point method in an embodiment of the method for generating a grinding track of a cylindrical circular arc weld based on three-dimensional vision;
fig. 8 shows a coordinate system state determined by a normal vector in an embodiment of the cylindrical arc weld grinding track generation method based on three-dimensional vision.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The same reference numbers will be used throughout the drawings to refer to the same or like parts.
Referring to fig. 1, 2 and 3, in embodiment 1, the invention provides a method for generating a grinding track of a cylindrical arc weld based on three-dimensional vision, which includes the following steps:
step 110, acquiring first point cloud information of the position of a workpiece to be processed;
step 120, preprocessing the first point cloud information to obtain target workpiece point cloud information after noise reduction;
step 130, fitting the target workpiece point cloud information subjected to noise reduction, extracting welding seam information, and fitting the welding seam information to obtain a space circle;
step 140, fitting the space circle to obtain an initial polishing track;
and 150, solving an optimal inverse solution of the robot based on the initial polishing track, and fixing a sixth axis in the joint space to obtain a final polishing track point.
In the preferred embodiment, a three-dimensional point cloud picture is obtained; removing environment and workbench information, extracting point cloud information of a target workpiece, and performing noise reduction treatment; fitting the cylindrical surface, removing the cylindrical surface points, and taking the welding seam information; fitting a spatial arc based on the weld information; obtaining equal-interval grinding track point location information and corresponding spatial attitude method phase information based on a spatial arc to obtain an initial grinding track; and (4) solving an optimal inverse solution of the robot based on the initial polishing track, and fixing a sixth shaft in the joint space to obtain a final polishing track point. The robot intelligent welding line polishing device can realize high-precision and high-efficiency robot intelligent welding line polishing, and can avoid a series of problems caused by manual polishing.
Referring to fig. 4 and 5, as a preferred embodiment of the present invention, specifically, the target workpiece point cloud information after noise reduction is obtained in the following manner,
removing the environmental information in the first point cloud information in a straight-through filtering mode;
carrying out noise reduction processing by using Gaussian filtering;
and identifying the point cloud information after noise reduction and removing the point cloud information corresponding to the workbench plane, wherein the rest point cloud is the point cloud information of the target workpiece after noise reduction.
As a preferred embodiment of the present invention, specifically, fitting the target workpiece point cloud information after noise reduction and extracting the weld information, fitting the weld information to obtain a spatial circle, includes the following steps,
fitting target workpiece point cloud information after noise reduction to obtain a space cylinder formed by partial point clouds and other point clouds, removing all the point clouds on the space cylinder, determining the rest point clouds to be weld joint point cluster circle _ P, fitting the weld joint point cluster circle _ P to obtain a space circle by the principle of least square, and obtaining space circle parameters: radius circle _ r, circle center circle _ c, and unit vector circle _ n of the plane where the vertical arc is located.
Referring to fig. 6 and 7, as a preferred embodiment of the present invention, specifically, fitting the spatial circle to obtain an initial polishing trajectory includes the following,
s410, the parameter equation of the space circle can be tabulated as follows,
p＝c+r*cos(θ)*a+r*sin(θ)*b(θ∈(-π,π])
wherein a is a unit vector on the plane of the space circle, b is a unit vector b = N × a, p is a point on the space circle, r is the radius of the space circle, θ is an angle formed by cp and a, and N is a unit vector perpendicular to the plane of the circle;
s420, sorting points in the weld point cluster circle _ P, and determining a radian theta value:
we now take only the fitted spatial circle and the unordered spatial point cluster and, to determine the θ range, we find the two points in the weld point cluster circle _ P that are farthest apart from each other (here, the fitted is the minor arc). In order to improve the calculation speed, a straight line1 is fitted based on a point cluster circle _ P, a straight line direction vector is line1_ N, an ultra-far point line1_ P on the line is taken as a base point, the distances between all points in the circle _ P and the line1_ P are respectively calculated, two points with the farthest distances are obtained based on distance-point sorting, the two points are respectively the first point and the last point are counted as P _ start and P _ end, and theta is calculated:
s430, determining unit vectors a, b:
note that p1= p _ start-circle _ c, p2= p _ start-p _ end, p _ direction = p2 × p1,
if | p _ direction.norm () + circle _ n | >1, then a = p1.Norm (), b = circle _ n × a, a = b × circle _ n,
otherwise a = (p _ end-circle _ c). Norm (), b = circle _ n × a, a = b × circle _ n,
where n.norm () acts as a unit vector for the return vector n,
the following is the pseudo code corresponding thereto:
if (| p _ direction. Norm () + circle _ n | > 1)// note: norm () action: the unit vector of vector n is returned.
{
a＝p1.norm()；
b＝circle_n×a；
a = b × circle _ n; // Note: this row is to ensure that the unit vectors a, b, circle _ n are orthogonal two by two.
}else
{
a＝(p_end-circle_o).norm()；
b＝circle_n×a；
a＝b×circle_n；
}
Based on the above, a and b can be determined, and further, the mathematical expression of the space circle corresponding to the welding seam is obtained as follows:
p＝circle_c+circle_r*cos(θ)*a+circle_r*sin(θ)*b(θ∈[0,θc])
s440, acquiring welding seam polishing track points in pi/180 step length based on the mathematical expression of the space circle, recording the welding seam polishing track points as a track point cluster p _ tr, and calculating normal vector information corresponding to each point in the track point cluster p _ tr: p _ tr _ n [ i ] = p _ tr [ i ] -circle _ c, based on which the initial grinding track is obtained.
Referring to fig. 8, as a preferred embodiment of the present invention, specifically, an optimal inverse robot solution is found based on the initial grinding track, and the sixth axis is fixed under the joint space to obtain the final grinding track point, including the following,
and respectively solving one of innumerable solutions corresponding to each pair of point normal vectors based on an axis angle form to finally obtain a primary polishing track, then solving the corresponding optimal joint state in a joint space through inverse kinematics solution, and then fixing the sixth axis joint value in each group of solutions to be 0 to obtain the final circular arc welding seam polishing track.
The initial grinding track has information of a plurality of pairs of points and normal vectors, each point corresponds to a unique position, the normal vectors correspond to the tail end postures of an infinite number of robots, so that each pair of normal vectors of the points corresponds to countless inverse solution states of the robots, and an optimal inverse solution is uniquely determined to come out:
the robot terminal attitude information, namely the spatial rotation transformation relation of the tool coordinate system relative to the polar coordinate system, is represented in the form of an axis angle angel-aix for the convenience of solving. And respectively cross multiplying the Z-axis unit vector (0, 1) and the normal vector in the track under the base coordinate system to obtain a corresponding rotating axis aix, wherein the Z-axis unit vector and each normal vector share an included angle, namely the rotating angle angel. The axis angle can uniquely determine the spatial rotation transformation relation, but the sixth axis of the robot is required to be fixed at a zero position in the grinding process, and the grinding track attitude information does not meet the application condition.
The polishing system is established based on ROS-I, the robot kinematics solution library trakIK can utilize DH parameter information of the robot in the ROS to solve the inverse solution of the robot, a group of current joint space postures of the robot can be set, the target posture in the optimal joint space is solved inversely based on the current joint space postures, the single solution speed is within 0.5ms, and the use condition is completely met.
And (3) solving track information in the corresponding joint space based on the initial polishing track inverse solution, setting a sixth joint value as 0, and solving a final polishing track point corresponding to the Cartesian space by using a KDL positive kinematics solution library. And finally, based on the final track point, utilizing Moveit in ROS to carry out Cartesian space path planning and executing a polishing task.
The invention also provides a cylindrical surface arc welding seam polishing track generation device based on three-dimensional vision, which comprises:
the point cloud information acquisition module is used for acquiring first point cloud information of the position of a workpiece to be processed;
the preprocessing module is used for preprocessing the first point cloud information to obtain noise-reduced target workpiece point cloud information;
the welding line information extraction module is used for fitting the noise-reduced target workpiece point cloud information, extracting welding line information and fitting the welding line information to obtain a space circle;
the initial polishing track determining module is used for fitting the space circle to obtain an initial polishing track;
and the final polishing track determining module is used for solving an optimal inverse solution of the robot based on the initial polishing track, and fixing the sixth axis in the joint space to obtain a final polishing track point.
The invention also provides a high-efficiency three-dimensional visual platform for polishing large castings, which applies the method for generating the polishing track of the cylindrical arc welding seam based on three-dimensional vision and comprises the following steps,
a robot;
the three-dimensional camera is used for acquiring first point cloud information of the position of a workpiece to be machined;
the platform is used for fixing a workpiece to be processed;
and the industrial personal computer based on the ROS robot control system is used for receiving the first point cloud information transmitted by the three-dimensional camera and planning and executing the polishing track.
As a preferred embodiment of the present invention, specifically,
the robot is an Anchuan HP20D robot carrying a 3.5KW electric spindle, and the three-dimensional camera is a kinect V2 three-dimensional camera.
The invention further provides a computer-readable storage medium, which stores a computer program, and is characterized in that when being executed by a processor, the computer program implements the steps of any one of the above methods for generating the grinding track of the three-dimensional vision-based cylindrical arc welding seam.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium and can implement the steps of the above-described method embodiments when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or system capable of carrying said computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium includes content that can be suitably increased or decreased according to the requirements of legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunication signals according to legislation and patent practice.
While the present invention has been described in considerable detail and with particular reference to several of these embodiments, it is not intended to be limited to any such details or embodiments or any particular embodiment, but rather it is to be construed as effectively covering the intended scope of the invention by providing a broad, potential interpretation of such claims in view of the prior art with reference to the appended claims. Furthermore, the foregoing describes the invention in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial modifications of the invention, not presently foreseen, may nonetheless represent equivalents thereto.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the present invention shall fall within the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.
Claims (9)
1. The cylindrical arc welding seam grinding track generation method based on three-dimensional vision is characterized by comprising the following steps of:
acquiring first point cloud information of the position of a workpiece to be processed;
preprocessing the first point cloud information to obtain target workpiece point cloud information subjected to noise reduction;
fitting the target workpiece point cloud information subjected to noise reduction, extracting welding seam information, and fitting the welding seam information to obtain a space circle;
fitting the space circle to obtain an initial polishing track;
and solving an optimal robot inverse solution based on the initial polishing track, and fixing a sixth axis in the joint space to obtain a final polishing track point.
2. The three-dimensional vision-based cylindrical arc weld polishing track generation method as claimed in claim 1, wherein specifically, the target workpiece point cloud information after noise reduction is obtained by the following method,
removing the environmental information in the first point cloud information in a straight-through filtering mode;
carrying out noise reduction processing by using Gaussian filtering;
and identifying the point cloud information after noise reduction and removing the point cloud information corresponding to the workbench plane, wherein the rest point cloud is the point cloud information of the target workpiece after noise reduction.
3. The method for generating the grinding track of the cylindrical arc welding line based on the three-dimensional vision as claimed in claim 1, wherein fitting the noise-reduced point cloud information of the target workpiece and extracting the welding line information, fitting the welding line information to obtain a space circle comprises the following steps,
fitting the target workpiece point cloud information after noise reduction to obtain a space cylinder formed by partial point clouds and other point clouds, removing all the point clouds falling on the space cylinder, obtaining the rest point clouds, namely a weld joint point cluster circle _ P, and fitting the weld joint point cluster circle _ P to obtain a space circle by the principle of least square, so as to obtain space circle parameters: radius circle _ r, circle center circle _ c and unit vector circle _ n of the plane where the vertical arc is located.
4. The method for generating the grinding track of the cylindrical arc welding seam based on the three-dimensional vision as claimed in claim 3, wherein the step of fitting the space circle to obtain an initial grinding track comprises the following steps,
s410, the parameter equation of the space circle can be tabulated as follows,
p＝c+r*cos(θ)*a+r*sin(θ)*b(θ∈(-π,π])
wherein a is a unit vector on the plane of the space circle, b is a unit vector b = N × a, p is a point on the space circle, r is the radius of the space circle, θ is an angle formed by cp and a, and N is a unit vector perpendicular to the plane of the circle;
s420, sorting points in the weld point cluster circle _ P, and determining a radian theta value:
fitting a straight line1 based on a point cluster circle _ P, wherein a straight line direction vector is line1_ N, taking a super-far point line1_ P on the line as a base point, respectively calculating distances between all points in the circle _ P and the line1_ P, sequencing based on the distances and points to obtain two points with the farthest distance after sequencing, respectively calculating a first-stage last point as P _ start and P _ end, and calculating theta:
s430, determining unit vectors a and b:
let p1= p _ start-circle _ c, p2= p _ start-p _ end, p _ direction = p2 × p1,
if | p _ direction.norm () + circle _ n | >1, then a = p1.Norm (), b = circle _ n × a, a = b × circle _ n,
otherwise a = (p _ end-circle _ c). Norm (), b = circle _ n × a, a = b × circle _ n,
where n.norm () functions as the unit vector of the return vector n,
based on the above, a and b can be determined, and further, the mathematical expression of the space circle corresponding to the welding seam is obtained as follows:
p＝circle_c+circle_r*cos(θ)*a+circle_r*sin(θ)*b(θ∈[0,θc])
s440, acquiring welding seam polishing track points in pi/180 step length based on the mathematical expression of the space circle, recording the welding seam polishing track points as a track point cluster p _ tr, and calculating normal vector information corresponding to each point in the track point cluster p _ tr: p _ tr _ n [ i ] = p _ tr [ i ] -circle _ c, based on which the initial grinding track is obtained.
5. The method for generating the grinding track of the cylindrical arc welding line based on the three-dimensional vision according to the claim 1, which is characterized in that specifically, the optimal inverse solution of the robot is obtained based on the initial grinding track, and the sixth axis is fixed under the joint space to obtain the final grinding track point, comprising the following steps,
and respectively solving one of innumerable solutions corresponding to each pair of point normal vectors based on an axis angle form to finally obtain a primary polishing track, then solving the corresponding optimal joint state in a joint space through inverse kinematics solution, and then fixing the sixth axis joint value in each group of solutions to be 0 to obtain the final circular arc welding seam polishing track.
6. Cylindrical circular arc welding seam grinding track generation device based on three-dimensional vision, its characterized in that includes:
the point cloud information acquisition module is used for acquiring first point cloud information of the position of a workpiece to be processed;
the preprocessing module is used for preprocessing the first point cloud information to obtain noise-reduced target workpiece point cloud information;
the welding line information extraction module is used for fitting the noise-reduced target workpiece point cloud information, extracting welding line information and fitting the welding line information to obtain a space circle;
the initial polishing track determining module is used for fitting the space circle to obtain an initial polishing track;
and the final polishing track determining module is used for solving an optimal inverse solution of the robot based on the initial polishing track, and fixing the sixth axis in the joint space to obtain a final polishing track point.
7. An efficient three-dimensional visual platform for grinding large castings, which is characterized in that the method for generating the grinding track of the cylindrical arc welding seam based on the three-dimensional vision as claimed in any one of the claims 1-5 is applied, and comprises,
a robot;
the three-dimensional camera is used for acquiring first point cloud information of the position of a workpiece to be machined;
the platform is used for fixing a workpiece to be processed;
and the industrial personal computer based on the ROS robot control system is used for receiving the first point cloud information transmitted by the three-dimensional camera and planning and executing the polishing track.
8. The efficient three-dimensional visual platform for large casting grinding according to claim 7, wherein, in particular,
the robot is an Anchuan HP20D robot carrying a 3.5KW electric main shaft, and the three-dimensional camera is a kinect V2 three-dimensional camera.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| CN117381553A (en) * | 2023-12-08 | 2024-01-12 | 创新奇智(青岛)科技有限公司 | Workpiece polishing method and device, electronic equipment and storage medium |
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|---|---|---|---|---|
| CN117381553A (en) * | 2023-12-08 | 2024-01-12 | 创新奇智(青岛)科技有限公司 | Workpiece polishing method and device, electronic equipment and storage medium |
| CN117381553B (en) * | 2023-12-08 | 2024-02-23 | 创新奇智(青岛)科技有限公司 | Workpiece polishing method and device, electronic equipment and storage medium |
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