CN116766184A - Photographing path planning method, device, medium and equipment for quality detection - Google Patents
Photographing path planning method, device, medium and equipment for quality detection Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 42
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- 238000004364 calculation method Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 9
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- 238000007689 inspection Methods 0.000 description 10
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The application discloses a photographing path planning method, a device, a medium and equipment for quality detection, which belongs to the technical field of computers, wherein the method comprises the following steps: acquiring a plurality of first poses of the tail end of the mechanical arm based on the position information of the object to be detected; based on the first pose and the position information of the obstacle, respectively performing collision detection to obtain a plurality of second poses which do not collide with the obstacle; sequentially taking all the second poses as target poses, taking the second poses except the target poses as current poses, and respectively determining target current poses matched with the target poses from all the current poses so as to determine matched poses matched with all the second poses; and planning and obtaining a target shooting path based on the second pose and the matching pose matched with the second pose. The shooting path planned and obtained by the application cannot collide with the obstacle, so that the shooting efficiency is improved, and the shooting data is more stable.
Description
Technical Field
The present application relates to the field of industrial quality detection technologies, and in particular, to a photographing path planning method, apparatus, medium, and device for quality detection.
Background
In the field of industrial vision detection, multi-angle shooting is required for detecting surface defects of a workpiece to be detected. However, the conventional single fixed shooting point often cannot meet the requirement of quality inspection system appearance detection, so the fly shooting device is generated. Through utilizing the device of flying to clap, can control in real scene and fly to clap the arm and drive the camera and shoot to collect the data of shooing of a plurality of angles of the work piece that awaits measuring, provide the guarantee for carrying out the outward appearance detection subsequently.
However, the existing fly shooting device is easy to collide with obstacles in the shooting process, so that the problems of low shooting efficiency and unstable shooting data are caused.
Disclosure of Invention
In view of the above, the present application provides a photographing path planning method, device, medium and apparatus for quality detection, and the main purpose of the present application is to easily collide with an obstacle during photographing, so as to cause problems of low photographing efficiency and unstable photographing data.
In order to solve the above problems, the present application provides a photographing path planning method for quality detection, including:
acquiring a plurality of first poses of the tail end of the mechanical arm based on the position information of the object to be detected;
based on the first pose and the position information of the obstacle, respectively performing collision detection to obtain a plurality of second poses which do not collide with the obstacle;
sequentially taking all the second poses as target poses, taking the second poses except the target poses as current poses, and respectively determining target current poses matched with the target poses from all the current poses so as to determine matched poses matched with all the second poses;
and planning and obtaining a target shooting path based on the second pose and the matching pose matched with the second pose.
Optionally, the detecting the collision based on the first pose and the position information of the obstacle, to obtain a plurality of second poses where no collision with the obstacle occurs, includes:
based on a pre-established kinematic model of the mechanical arm, carrying out inversion solution calculation on each first pose so as to determine whether each first pose has a corresponding mechanical arm inversion solution;
under the condition that the first pose has a corresponding mechanical arm inverse solution, calculating the pose of each joint shaft of the mechanical arm in space based on the first pose;
and performing collision detection on the first pose based on the pose of each joint shaft corresponding to the same first pose in space and the position information of the obstacle, and obtaining a plurality of second poses which do not collide with the obstacle.
Optionally, the determining, from the current poses, the current pose of the target matching the pose of the target to determine the matching pose matching the second poses includes:
sequentially based on the target pose and each current pose, respectively calculating the matching degree corresponding to each current pose by utilizing a preset matching function;
and determining the current pose of the target matched with the pose of the target from the current poses based on the matching degree corresponding to the current poses so as to determine the matching pose matched with the second poses.
Optionally, the matching function is:
wherein R is t Representing the degree of matching;
S t representing the current pose;
y represents the target pose;
e is a constant.
Optionally, the planning to obtain the target shooting path based on each second pose and the matching pose matching each second pose includes:
determining any second pose as an original shooting pose from the second poses;
sequentially determining a plurality of target second poses from the remaining second poses based on the original shooting poses, the matching poses corresponding to the original shooting poses and the matching poses corresponding to the remaining second poses;
and constructing and obtaining the target shooting path based on the original shooting pose and the target second pose.
In order to solve the above problems, the present application provides a photographing path planning apparatus for quality detection, comprising:
the acquisition module is used for acquiring first poses of the tail ends of the plurality of mechanical arms based on the position information of the object to be detected;
the detection module is used for respectively carrying out collision detection based on the first pose and the position information of the obstacle to obtain a plurality of second poses which do not collide with the obstacle;
the matching module is used for sequentially taking all the second poses as target poses and taking the second poses except the target poses as current poses, and respectively determining the optimal current poses matched with the target poses from all the current poses so as to determine the optimal poses matched with all the second poses;
and the planning module is used for planning and obtaining a target shooting path based on each second pose and the optimal pose matched with each second pose.
Optionally, the detection module is specifically configured to:
based on a pre-established kinematic model of the mechanical arm, carrying out inversion solution calculation on each first pose so as to determine whether each first pose has a corresponding mechanical arm inversion solution;
under the condition that the first pose has a corresponding mechanical arm inverse solution, calculating the pose of each joint shaft of the mechanical arm in space based on the first pose;
and performing collision detection on the first pose based on the pose of each joint shaft corresponding to the same first pose in space and the position information of the obstacle, and obtaining a plurality of second poses which do not collide with the obstacle.
Optionally, the matching module is specifically configured to:
sequentially based on the target pose and each current pose, respectively calculating the matching degree corresponding to each current pose by utilizing a preset matching function;
and determining the current pose of the target matched with the pose of the target from the current poses based on the matching degree corresponding to the current poses so as to determine the matching pose matched with the second poses.
In order to solve the above-mentioned problems, the present application provides a storage medium storing a computer program which, when executed by a processor, implements the steps of the photographing path planning method for quality detection described in any one of the above.
In order to solve the above problems, the present application provides an electronic device, which at least includes a memory, and a processor, wherein the memory stores a computer program, and the processor implements the steps of the photographing path planning method for quality detection according to any one of the above steps when executing the computer program on the memory.
According to the photographing path planning method, device, medium and equipment for quality detection, provided by the application, the photographing positions collided with the obstacle can be filtered out by acquiring a plurality of first positions and performing collision detection on the first positions, so that the photographing path obtained by subsequent planning cannot collide with the obstacle, the photographing efficiency is improved, and the photographing data is more stable; meanwhile, the corresponding optimal pose is obtained through matching the second poses, so that the planned target shooting path is more reasonable and accurate, and the problem of shooting data redundancy caused by tortuous and far-winding of the planned path is avoided.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a flowchart of a photographing path planning method for quality detection according to an embodiment of the present application;
FIG. 2 is a block diagram illustrating a photographing path planning apparatus for quality inspection according to another embodiment of the present application;
fig. 3 is a block diagram of an electronic device according to another embodiment of the present application.
Detailed Description
Various aspects and features of the present application are described herein with reference to the accompanying drawings.
It should be understood that various modifications may be made to the embodiments of the application herein. Therefore, the above description should not be taken as limiting, but merely as exemplification of the embodiments. Other modifications within the scope and spirit of the application will occur to persons of ordinary skill in the art.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and, together with a general description of the application given above, and the detailed description of the embodiments given below, serve to explain the principles of the application.
These and other characteristics of the application will become apparent from the following description of a preferred form of embodiment, given as a non-limiting example, with reference to the accompanying drawings.
It is also to be understood that, although the application has been described with reference to some specific examples, those skilled in the art can certainly realize many other equivalent forms of the application.
The above and other aspects, features and advantages of the present application will become more apparent in light of the following detailed description when taken in conjunction with the accompanying drawings.
Specific embodiments of the present application will be described hereinafter with reference to the accompanying drawings; however, it is to be understood that the disclosed embodiments are merely exemplary of the application, which can be embodied in various forms. Well-known and/or repeated functions and constructions are not described in detail to avoid obscuring the application in unnecessary or unnecessary detail. Therefore, specific structural and functional details disclosed herein are not intended to be limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present application in virtually any appropriately detailed structure.
The specification may use the word "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," which may each refer to one or more of the same or different embodiments in accordance with the application.
The embodiment of the application provides a photographing path planning method for quality detection, which can be particularly applied to electronic equipment such as terminals, servers and the like, as shown in fig. 1, and comprises the following steps:
step S101, acquiring a plurality of first poses of the tail end of the mechanical arm based on the position information of an object to be detected;
in the specific implementation process, a mechanical arm kinematic model can be specifically built, and then a plurality of first poses for photographing the object to be detected are determined by combining the position information of the object to be detected in space, namely, the tail end of the mechanical arm can photograph the object to be detected by moving to the first poses, so that photographing data for appearance detection are obtained.
Step S102, respectively performing collision detection based on the first pose and the position information of the obstacle to obtain a plurality of second poses which do not collide with the obstacle;
in this step, when the mechanical arm moves in the first pose, the mechanical arm may collide with the obstacle, so that collision detection needs to be performed on each first pose, so as to screen and obtain a plurality of second poses which do not collide with the obstacle.
In this step, during collision detection, the position of each joint axis on the mechanical arm in space can be determined, so that when the mechanical arm moves, the position of each joint axis point on the mechanical arm in space moves. After the position of each joint axis point on the mechanical arm in the space is calculated, whether the joint axis points overlap with the obstacle in the space or not can be calculated, collision with the obstacle can be determined if the joint axis points overlap with the obstacle, and collision with the obstacle can be determined not to happen if the joint axis points do not overlap with the obstacle.
Step S103, sequentially taking all the second poses as target poses, taking the second poses except the target poses as current poses, and respectively determining target current poses matched with the target poses from all the current poses so as to determine matched poses matched with all the second poses;
in the specific implementation process, the matching degree corresponding to each current pose can be calculated by utilizing a preset matching function based on the target pose and each current pose in sequence; and then determining the current pose of the target matched with the pose of the target from the current poses based on the matching degree corresponding to the current poses so as to determine the matching pose matched with the second poses.
Step S104, planning and obtaining a target shooting path based on the second pose and the optimal pose matched with the second pose.
In the specific implementation process, any second pose can be specifically determined from the second poses to be the original shooting pose; then, sequentially determining a plurality of target second poses from the remaining second poses based on the original shooting poses, the matching poses corresponding to the original shooting poses and the matching poses corresponding to the remaining second poses; and finally, constructing and obtaining the target shooting path based on the original shooting pose and the second pose of each target.
According to the photographing path planning method for quality detection, by acquiring a plurality of first poses and performing collision detection on the first poses, photographing poses which collide with obstacles can be filtered, so that a photographing path obtained by follow-up planning cannot collide with the obstacles, photographing efficiency is improved, and photographing data are more stable; meanwhile, the corresponding optimal pose is obtained through matching the second poses, so that the planned target shooting path is more reasonable and accurate, and the problem of shooting data redundancy caused by tortuous and far-winding of the planned path is avoided.
On the basis of the above embodiment, still another embodiment of the present application provides a photographing path planning method for quality detection, including the steps of:
step S201, acquiring a plurality of first poses of the tail end of the mechanical arm based on the position information of an object to be detected;
step S202, carrying out inversion solution calculation on each first pose based on a pre-established kinematic model of the mechanical arm so as to determine whether the corresponding mechanical arm inversion solution exists in each first pose; if an inverse solution exists, step S203 is performed; if the inverse solution does not exist, the first pose is adjusted, the adjusted first pose is obtained, and inversion solution calculation is carried out again based on the adjusted first pose;
in the specific implementation process, the inversion solution process is as follows: the positive solution equation of the rigid mechanical arm is established according to DH (Denavit-Hartenberg) convention, and theta is used i ,a i ,d i ,α i Representing parameters related to the link i and the joint i, i.e. θ i Represents the length of the connecting rod, a i Represents the torsion degree of the connecting rod, d i Represents the link offset, alpha i Indicating the joint angle. Homogeneous matrix A i Transformation matrix representing rotation of link i about joint i, A i Can be obtained from the product of 4 basis transforms, which is expressed in detail as follows:
in this step, the forward kinematics equation of the mechanical arm can be expressed asWherein Θ= [ θ ] 1 ,θ 2 ,θ 3 ,……θ n ]The angle values of the n joint axes of the mechanical arm are shown.
The problem of solving the inverse of the mechanical arm can be expressed as a nonlinear least squares problem by optimizing the angle value Θ of the joint axis such that L of F (Θ) -Y 2 The norm is the smallest and the optimization function is as follows:
wherein Y is a homogeneous matrix representation of the target pose at the end of the mechanical arm. In the step, by establishing the forward kinematics equation, a foundation is laid for carrying out inversion calculation on the pose of the tail end of the mechanical arm by using the equation so as to obtain the value of each joint axis of the mechanical arm.
Step S203, calculating the pose of each joint shaft of the mechanical arm in space based on the first pose;
in the specific implementation process, after the mechanical arm inverse solution is solved, each joint angle value Θ in the inverse solution can be used as the pose of each joint axis in space.
Step S204, based on the pose of each joint shaft corresponding to the same first pose in space and the position information of the obstacle, performing collision detection on the first pose to obtain a plurality of second poses which do not collide with the obstacle;
step S205, sequentially taking each second pose as a target pose, taking the second poses except the target pose as current poses, and sequentially calculating the matching degree corresponding to each current pose by utilizing a preset matching function based on the target pose and each current pose;
in this step, for any two poses, namely, for the target pose Y and the current pose S t The degree of matching of these two poses can be calculated by the following calculation formula:
wherein R is t Representing the degree of matching; s is S t Representing the current pose; y represents the target pose; e is a constant.
Step S206, determining a target current pose matched with the target pose from the current poses based on the matching degree corresponding to the current poses so as to determine a matching pose matched with the second poses.
In this step, after the matching degree corresponding to each current pose is obtained by calculation, a plurality of matching poses matching with the target pose (any second pose) can be determined. Specifically, the first three current poses are determined to be matching poses according to the sequence from high to low based on the high and low matching degrees, the matching degrees can be compared with a preset matching degree threshold value, and the current poses with the matching degrees larger than the preset matching degree threshold value are determined to be the matching poses.
Step S207, determining any second pose as an original shooting pose from the second poses; sequentially determining a plurality of target second poses from the remaining second poses based on the original shooting poses, the matching poses corresponding to the original shooting poses and the matching poses corresponding to the remaining second poses; and constructing and obtaining the target shooting path based on the original shooting pose and the target second pose.
In the step, after the matching pose corresponding to each second pose is determined, a first target second pose corresponding to the original shooting pose is determined from the remaining second poses based on the original shooting pose, then a second target second pose corresponding to the first target second pose is determined from the remaining second poses based on the first target second pose, and so on until the determined mth target second pose is the original shooting pose, m-1 target second poses are obtained, and then a shooting path can be constructed and obtained based on the original shooting pose and m-1 target second poses. That is, for n second poses, a first target second pose corresponding to the original shooting pose can be determined from the remaining n-1 second poses based on the original shooting pose, then a second target second pose corresponding to the first target second pose is determined from the remaining n-2 second poses based on the first target second pose, and so on until the determined mth target second pose is the original shooting pose, m-1 target second poses are obtained.
In this embodiment, after the target shooting path is obtained, the pose of each joint axis point corresponding to each target second pose in space can be determined based on the inverse solution corresponding to each target second pose in the target shooting path, that is, the motion a (Θ in the mechanical arm forward and inverse solution model) is determined through the target second pose state S, so as to control the mechanical arm to perform corresponding motion, so as to control the mechanical arm to move to the corresponding target second pose.
According to the photographing path planning method for quality detection, the photographing pose which collides with the obstacle can be filtered out by acquiring a plurality of first poses and performing collision detection on the first poses, so that the photographing path which is obtained through follow-up planning cannot collide with the obstacle, photographing efficiency is improved, and photographing data are more stable. Meanwhile, the corresponding optimal pose is obtained through matching the second poses, so that the planned target shooting path is more reasonable and accurate, and the problem of shooting data redundancy caused by tortuous and far-winding of the planned path is avoided. The method in the embodiment can complete path planning and collision detection of the photographing point of the mechanical arm, so that multi-angle photographing of the workpiece to be detected is realized, and quality inspection efficiency and accuracy are effectively improved. In the field of industrial manufacture, the application of the application greatly promotes the development of quality control technology and provides a more reliable and efficient quality inspection means for industrial production.
Another embodiment of the present application provides a photographing path planning apparatus for quality detection, as shown in fig. 2, including:
the acquisition module 11 is used for acquiring a plurality of first poses of the tail end of the mechanical arm based on the position information of the object to be detected;
the detection module 12 is configured to respectively perform collision detection based on the first pose and the position information of the obstacle, and obtain a plurality of second poses where no collision occurs with the obstacle;
the matching module 13 is configured to sequentially take each second pose as a target pose, and take the second poses except the target pose as current poses, and determine a target current pose matched with the target pose from the current poses respectively, so as to determine a matching pose matched with each second pose;
a planning module 14, configured to plan to obtain a target shooting path based on each of the second poses and the optimal pose matched with each of the second poses.
In a specific implementation process of this embodiment, the detection module is specifically configured to: based on a pre-established kinematic model of the mechanical arm, carrying out inversion solution calculation on each first pose so as to determine whether each first pose has a corresponding mechanical arm inversion solution; under the condition that the first pose has a corresponding mechanical arm inverse solution, calculating the pose of each joint shaft of the mechanical arm in space based on the first pose; and performing collision detection on the first pose based on the pose of each joint shaft corresponding to the same first pose in space and the position information of the obstacle, and obtaining a plurality of second poses which do not collide with the obstacle.
In a specific implementation process of this embodiment, the matching module is specifically configured to: sequentially based on the target pose and each current pose, respectively calculating the matching degree corresponding to each current pose by utilizing a preset matching function; and determining the current pose of the target matched with the pose of the target from the current poses based on the matching degree corresponding to the current poses so as to determine the matching pose matched with the second poses.
In a specific implementation process of this embodiment, the matching function is:
wherein R is t Representing the degree of matching; s is S t Representing the current pose; y represents the target pose; e is a constant.
In a specific implementation process of this embodiment, the planning module is specifically configured to: determining any second pose as an original shooting pose from the second poses; sequentially determining a plurality of target second poses from the remaining second poses based on the original shooting poses, the matching poses corresponding to the original shooting poses and the matching poses corresponding to the remaining second poses; and constructing and obtaining the target shooting path based on the original shooting pose and the target second pose.
According to the photographing path planning device for quality detection, the photographing pose which collides with the obstacle can be filtered by acquiring a plurality of first poses and performing collision detection on the first poses, so that the photographing path which is obtained through follow-up planning cannot collide with the obstacle, photographing efficiency is improved, and photographing data is more stable; meanwhile, the corresponding optimal pose is obtained through matching the second poses, so that the planned target shooting path is more reasonable and accurate, and the problem of shooting data redundancy caused by tortuous and far-winding of the planned path is avoided. The device in the embodiment can complete path planning and collision detection work of the photographing point of the mechanical arm, so that multi-angle photographing of a workpiece to be detected is realized, and quality inspection efficiency and accuracy are effectively improved. In the field of industrial manufacture, the application of the application greatly promotes the development of quality control technology and provides a more reliable and efficient quality inspection means for industrial production.
Another embodiment of the present application provides a storage medium storing a computer program which, when executed by a processor, performs the method steps of:
step one, acquiring a plurality of first poses of the tail end of a mechanical arm based on position information of an object to be detected;
step two, respectively performing collision detection based on the first pose and the position information of the obstacle to obtain a plurality of second poses which do not collide with the obstacle;
sequentially taking all the second poses as target poses, taking the second poses except the target poses as current poses, and respectively determining target current poses matched with the target poses from all the current poses to determine matched poses matched with all the second poses;
and step four, planning and obtaining a target shooting path based on the second pose and the matching pose matched with the second pose.
The specific implementation process of the above method steps can be referred to the above embodiment of any photographing path planning method for quality detection, and this embodiment will not be repeated here.
According to the storage medium, the shooting pose which collides with the obstacle can be filtered out by acquiring a plurality of first poses and performing collision detection on the first poses, so that a shooting path obtained by follow-up planning cannot collide with the obstacle, the shooting efficiency is improved, and shooting data are more stable; meanwhile, the corresponding optimal pose is obtained through matching the second poses, so that the planned target shooting path is more reasonable and accurate, and the problem of shooting data redundancy caused by tortuous and far-winding of the planned path is avoided. The storage medium in the embodiment can complete path planning and collision detection work of the photographing point of the mechanical arm, so that multi-angle photographing of a workpiece to be detected is realized, and quality inspection efficiency and accuracy are effectively improved. In the field of industrial manufacture, the application of the application greatly promotes the development of quality control technology and provides a more reliable and efficient quality inspection means for industrial production.
Another embodiment of the present application provides an electronic device, as shown in fig. 3, at least including a memory 1 and a processor 2, where the memory 1 stores a computer program, and the processor 2 implements the following method steps when executing the computer program on the memory 1:
step one, acquiring a plurality of first poses of the tail end of a mechanical arm based on position information of an object to be detected;
step two, respectively performing collision detection based on the first pose and the position information of the obstacle to obtain a plurality of second poses which do not collide with the obstacle;
sequentially taking all the second poses as target poses, taking the second poses except the target poses as current poses, and respectively determining target current poses matched with the target poses from all the current poses to determine matched poses matched with all the second poses;
and step four, planning and obtaining a target shooting path based on the second pose and the matching pose matched with the second pose.
The specific implementation process of the above method steps can be referred to the above embodiment of any photographing path planning method for quality detection, and this embodiment will not be repeated here.
According to the electronic equipment, the shooting pose which collides with the obstacle can be filtered out by acquiring the first poses and performing collision detection on the first poses, so that a shooting path obtained by follow-up planning cannot collide with the obstacle, the shooting efficiency is improved, and shooting data are more stable; meanwhile, the corresponding optimal pose is obtained through matching the second poses, so that the planned target shooting path is more reasonable and accurate, and the problem of shooting data redundancy caused by tortuous and far-winding of the planned path is avoided. The electronic equipment in the embodiment can complete path planning and collision detection work of the photographing point of the mechanical arm, so that multi-angle photographing of a workpiece to be detected is realized, and quality inspection efficiency and accuracy are effectively improved. In the field of industrial manufacture, the application of the application greatly promotes the development of quality control technology and provides a more reliable and efficient quality inspection means for industrial production.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements of this application will occur to those skilled in the art, and are intended to be within the spirit and scope of the application.
Claims (10)
1. A photographing path planning method for quality detection, comprising:
acquiring a plurality of first poses of the tail end of the mechanical arm based on the position information of the object to be detected;
based on the first pose and the position information of the obstacle, respectively performing collision detection to obtain a plurality of second poses which do not collide with the obstacle;
sequentially taking all the second poses as target poses, taking the second poses except the target poses as current poses, and respectively determining target current poses matched with the target poses from all the current poses so as to determine matched poses matched with all the second poses;
and planning and obtaining a target shooting path based on the second pose and the matching pose matched with the second pose.
2. The method of claim 1, wherein the performing collision detection based on the first pose and the position information of the obstacle, respectively, to obtain a plurality of second poses where no collision with the obstacle occurs, includes:
based on a pre-established kinematic model of the mechanical arm, carrying out inversion solution calculation on each first pose so as to determine whether each first pose has a corresponding mechanical arm inversion solution;
under the condition that the first pose has a corresponding mechanical arm inverse solution, calculating the pose of each joint shaft of the mechanical arm in space based on the first pose;
and performing collision detection on the first pose based on the pose of each joint shaft corresponding to the same first pose in space and the position information of the obstacle, and obtaining a plurality of second poses which do not collide with the obstacle.
3. The method of claim 1, wherein the determining the current pose of the target that matches the pose of the target from the current poses, respectively, to determine the matching pose that matches the second poses comprises:
sequentially based on the target pose and each current pose, respectively calculating the matching degree corresponding to each current pose by utilizing a preset matching function;
and determining the current pose of the target matched with the pose of the target from the current poses based on the matching degree corresponding to the current poses so as to determine the matching pose matched with the second poses.
4. A method as claimed in claim 3, wherein the matching function is:
wherein R is t Representing the degree of matching;
S t representing the current pose;
y represents the target pose;
e is a constant.
5. The method of claim 1, wherein planning to obtain the target shooting path based on each of the second poses and the matching poses that match each of the second poses comprises:
determining any second pose as an original shooting pose from the second poses;
sequentially determining a plurality of target second poses from the remaining second poses based on the original shooting poses, the matching poses corresponding to the original shooting poses and the matching poses corresponding to the remaining second poses;
and constructing and obtaining the target shooting path based on the original shooting pose and the target second pose.
6. A photographing path planning apparatus for quality detection, comprising:
the acquisition module is used for acquiring first poses of the tail ends of the plurality of mechanical arms based on the position information of the object to be detected;
the detection module is used for respectively carrying out collision detection based on the first pose and the position information of the obstacle to obtain a plurality of second poses which do not collide with the obstacle;
the matching module is used for sequentially taking all the second poses as target poses and taking the second poses except the target poses as current poses, and respectively determining the optimal current poses matched with the target poses from all the current poses so as to determine the optimal poses matched with all the second poses;
and the planning module is used for planning and obtaining a target shooting path based on each second pose and the optimal pose matched with each second pose.
7. The apparatus of claim 6, wherein the detection module is specifically configured to:
based on a pre-established kinematic model of the mechanical arm, carrying out inversion solution calculation on each first pose so as to determine whether each first pose has a corresponding mechanical arm inversion solution;
under the condition that the first pose has a corresponding mechanical arm inverse solution, calculating the pose of each joint shaft of the mechanical arm in space based on the first pose;
and performing collision detection on the first pose based on the pose of each joint shaft corresponding to the same first pose in space and the position information of the obstacle, and obtaining a plurality of second poses which do not collide with the obstacle.
8. The apparatus of claim 6, wherein the matching module is specifically configured to:
sequentially based on the target pose and each current pose, respectively calculating the matching degree corresponding to each current pose by utilizing a preset matching function;
and determining the current pose of the target matched with the pose of the target from the current poses based on the matching degree corresponding to the current poses so as to determine the matching pose matched with the second poses.
9. A storage medium storing a computer program which, when executed by a processor, implements the steps of the photographing path planning method for quality detection of any of the preceding claims 1-5.
10. An electronic device comprising at least a memory, a processor, the memory having stored thereon a computer program, the processor, when executing the computer program on the memory, implementing the steps of the photographing path planning method for quality detection of any of the preceding claims 1-5.
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