CN117182713A - Curved surface model polishing method - Google Patents
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Abstract
The application provides a curved surface model polishing method, which comprises the following steps: acquiring a plurality of contour lines of a curved surface model, wherein each contour line comprises a plurality of contour points; generating an interpolation curve based on each group of contour points with the same point number on a plurality of contour lines, wherein each interpolation curve comprises a plurality of grid points; determining a plurality of target track points of a plurality of grid points of each interpolation curve according to the preset wave number, the preset function, the first number of the plurality of interpolation curves and the second number of grid points in each interpolation curve, and generating a target motion track according to the plurality of target track points; calculating the gesture of the mechanical arm passing through each target track point based on the coordinates of each target track point; and controlling the mechanical arm to polish the curved surface model according to the target motion track and the corresponding gesture of each target track point. By using the method, the accuracy and the continuity of a plurality of target track points can be ensured, so that the generation efficiency of the motion track of the mechanical arm and the polishing effect on the curved surface can be improved.
Description
Technical Field
The application relates to the field of intelligent manufacturing, in particular to a curved surface model polishing method.
Background
In the manufacturing industry, in order to remove machining traces (such as tool marks) on the surface of a curved surface model, a mechanical arm needs to be controlled to polish the curved surface model according to the motion trace of the mechanical arm. In the related art, it is often necessary to manually draw a motion trail of a mechanical arm, which is very complex and time-consuming, resulting in low generation efficiency of the motion trail.
In addition, since the motion trail drawn manually is difficult to ensure the consistency of intervals among a plurality of waveforms in the motion trail and the accuracy and the continuity of each trail point on the motion trail, the polishing density is uneven, and the polishing effect is affected.
Disclosure of Invention
In view of the above, it is necessary to provide a polishing method for a curved surface model, which improves the generation efficiency and polishing effect of a target motion track.
In one aspect, the application provides a curved surface model polishing method, which comprises the following steps: acquiring a plurality of contour lines of a curved surface model, wherein each contour line comprises a plurality of contour points with different point numbers, determining a plurality of groups of contour points of the plurality of contour lines based on the point numbers of the contour points on each contour line, generating an interpolation curve according to each group of contour points, wherein each interpolation curve comprises a plurality of grid points, determining a plurality of target track points of the grid points of each interpolation curve according to the number of preset waves, a preset function, the first number of the interpolation curves and the second number of the grid points in each interpolation curve, and generating a target motion track according to the plurality of target track points; and each target track point has a corresponding gesture, the gesture of the mechanical arm passing through each target track point is calculated based on the coordinates of each target track point, and the mechanical arm is controlled to polish the curved surface model according to the target motion track and the gesture corresponding to each target track point.
In some embodiments of the present application, the determining a plurality of groups of contour points of the plurality of contour lines based on the point numbers of the contour points on each contour line, and generating an interpolation curve according to each group of contour points includes: and determining the point number of each contour point on each contour line, determining a plurality of contour points corresponding to any same point number in the contour lines as a group of contour points, and fitting each group of contour points by using a spline interpolation algorithm to obtain an interpolation curve corresponding to each group of contour points.
In some embodiments of the present application, the determining the plurality of target trajectory points of the plurality of grid points of each interpolation curve according to the preset wave number, the preset function, the first number of the plurality of interpolation curves, and the second number of grid points in each interpolation curve includes: determining curve numbers corresponding to each interpolation curve, calculating target numbers corresponding to each interpolation curve according to the preset wave number, the first number, the second number and the curve numbers of each interpolation curve by the preset function, and determining grid points corresponding to the interpolation curve corresponding to any target number as the target track points.
In some embodiments of the present application, the calculating manner of the target number further includes: and acquiring a preset track function, and calculating a target number corresponding to each interpolation curve according to the preset track function, the second quantity and the curve number of each interpolation curve.
In some embodiments of the present application, the calculating, according to the preset track function, the second number, and the curve number of each interpolation curve, the target number corresponding to each interpolation curve includes: calculating the function value of each interpolation curve in the preset track function according to the curve number of each interpolation curve, and calculating the target number corresponding to each interpolation curve according to the second quantity and the function value of each interpolation curve.
In some embodiments of the present application, the calculating the gesture of the manipulator passing through each target track point based on the coordinates of each target track point includes: and determining a plurality of adjacent grid points corresponding to each target track point on a plurality of interpolation curves corresponding to each target track point, and calculating the gesture of the mechanical arm passing through any target track point according to the coordinates of any target track point and the coordinates of the plurality of adjacent grid points corresponding to any target track point.
In some embodiments of the present application, the calculating the gesture of the manipulator passing through any one of the target track points according to the coordinates of the target track point and the coordinates of a plurality of adjacent grid points corresponding to the target track point includes: calculating a target normal vector and a tangent vector of any target track point according to the coordinates of any target track point and the coordinates of a plurality of adjacent grid points corresponding to the any target track point, calculating the target vector of any target track point according to the target normal vector and the tangent vector, and calculating the gesture of any target track point according to the target vector, the tangent vector and the target normal vector.
In some embodiments of the present application, the plurality of adjacent grid points include a previous grid point, a next grid point, and a corresponding target grid point in a next interpolation curve of the interpolation curve to which the arbitrary target track point belongs, where a point number of the target grid point is the same as a target number of the arbitrary target track point.
In some embodiments of the present application, the calculating the target normal vector and the tangent vector of any target track point according to the coordinates of the any target track point and the coordinates of a plurality of neighboring grid points corresponding to the any target track point includes: calculating a first difference vector of any target track point according to the coordinates of any target track point and the coordinates of the previous grid point of the any target track point on the affiliated interpolation curve, calculating a second difference vector of any target track point according to the coordinates of any target track point and the coordinates of the next grid point of the any target track point on the affiliated interpolation curve, calculating a tangent vector of any target track point according to the coordinates of any target track point and the coordinates of the target grid point of any target track point, and calculating a target normal vector of any target track point according to the first difference vector, the second difference vector and the tangent vector.
In some embodiments of the present application, the acquiring the plurality of contours of the curved surface model includes: modeling the curved surface model to obtain a virtual model, and extracting the contour lines from the virtual model.
By the embodiment, the curved surface model can be restored through all interpolation curves corresponding to the plurality of groups of contour points. According to the preset wave number, the preset function, the first number of the interpolation curves and the second number of grid points in each interpolation curve, a plurality of target track points of the grid points of each interpolation curve are determined, and a target motion track is automatically generated according to the plurality of target track points without relying on manual drawing, so that time can be saved, and the generation efficiency of the target motion track is improved. Because the interpolation curve is obtained through an interpolation method instead of manually sketching, the consistency of intervals among a plurality of waveforms in the target motion track and the accuracy and the continuity of each target track point can be ensured. The target motion trail is calculated through a plurality of contour lines of the virtual model corresponding to the curved surface model, and the contour lines accurately reflect the contour characteristics of the curved surface model, so that the fit between the target motion trail and the curved surface model can be ensured. When the mechanical arm is controlled to polish the curved surface model according to the target motion track and the gesture corresponding to each target track point, the polishing uniformity and accuracy can be ensured, and thus the polishing effect is improved.
Drawings
Fig. 1 is an application scenario diagram of a curved surface model polishing method according to an embodiment of the present application.
Fig. 2 is a flowchart of a curved surface model polishing method according to an embodiment of the present application.
Fig. 3 is a schematic diagram of a curved surface model according to an embodiment of the present application.
Fig. 4 is a schematic view of a plurality of contour lines according to an embodiment of the present application.
FIG. 5 is a schematic diagram of a surface model 40 restored by a plurality of interpolation curves according to an embodiment of the present application.
Fig. 6 is a schematic diagram of an interpolation curve according to an embodiment of the present application.
Fig. 7 is a comparison diagram of target motion trajectories corresponding to different numbers of grid points according to an embodiment of the present application.
Fig. 8 is a schematic diagram of a target motion trajectory according to an embodiment of the present application.
Fig. 9 is a schematic diagram of a target motion trajectory and a gesture of each target trajectory point according to an embodiment of the present application.
Fig. 10 is a flowchart of determining a target track point according to an embodiment of the present application.
Fig. 11 is a flowchart of a method for calculating a target number according to another embodiment of the present application.
Fig. 12 is a waveform diagram of a preset trajectory function according to an embodiment of the present application.
Fig. 13 is a schematic diagram of a target motion trajectory generated according to a preset trajectory function according to an embodiment of the present application.
Fig. 14 is a flowchart of a method for generating a target motion trajectory according to an embodiment of the present application.
Fig. 15 is a schematic diagram of calculation of a first difference vector, a second difference vector, a tangent vector, and a target normal vector according to an embodiment of the application.
Fig. 16 is a block diagram of the electronic device 10 according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in detail with reference to the accompanying drawings and specific embodiments.
In the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and the representation may have three relationships, for example, a and/or B may represent: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The terms "first," "second," "third," "fourth" and the like in the description and in the claims and drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
In embodiments of the application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g." in an embodiment should not be taken as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
In the manufacturing industry, in order to remove machining traces (such as tool marks) on the surface of a curved surface model, a mechanical arm needs to be controlled to polish the curved surface model according to a target motion track. However, the generation of the target motion trajectory requires manual drawing, which is very complicated and time-consuming, resulting in low generation efficiency of the target motion trajectory.
In addition, since it is difficult to ensure the consistency of intervals between a plurality of waveforms in the target motion trail and the accuracy and continuity of each point, the polishing density is uneven, and the polishing effect is affected.
In order to solve the technical problems, the application provides a curved surface model polishing method which can improve the generation efficiency and the polishing effect of a target motion track. The curved surface model polishing method provided by the embodiment of the application can be applied to one or more electronic devices.
Fig. 1 is an application scenario diagram of a curved surface model polishing method according to an embodiment of the present application. In the embodiment of the present application, a plurality of contour lines of the curved surface model 30 may be calculated by the electronic device 10 to obtain a target motion track of the mechanical arm 20 for polishing the curved surface model 30 and a gesture of each target track point on the target motion track, and the mechanical arm 20 is controlled to polish the curved surface model 30 according to the target motion track and the gesture of each target track point. The calculation step of the target motion trajectory may refer to steps S11 to S15 hereinafter. The electronic device 10 and the robot arm 20 may be connected by a wired connection, or may be connected by wireless communication through a wireless local area network (Wi-Fi), bluetooth, or the like. For example, the electronic device 10 may control the robotic arm 20 to polish the curved model 30 using a grinding wheel.
The electronic device 10 may be a computer device, a mobile phone, a tablet computer, an industrial personal computer (IndustrialPersonalComputer, IPC), and the like, and the embodiment of the application does not limit the specific type of the electronic device 10.
The robot arm 20 is a mechanical device for performing various tasks, and the robot arm 20 can move and manipulate objects, such as sanding objects, in a space. The mechanical arm 20 may be composed of a plurality of joints, and precise control of the mechanical arm 20 may be achieved through a computer device or an industrial personal computer.
The curved surface model 30 is a model having a non-fixed curved surface radian (the continuous variation range of curvature is 0 to 0.51/mm). For example, the curved surface model 30 may be a model having a length of 110 to 160mm, a width of 110 to 160mm, and a height of 70 to 110 mm.
Fig. 2 is a flowchart of a method for polishing a curved surface model according to an embodiment of the application. The sequence of the steps in the flowchart may be adjusted according to actual requirements, and some steps may be omitted. The subject of execution of the method is the electronic device 10 of fig. 1.
S11, acquiring a plurality of contour lines of the curved surface model 30.
In some embodiments, the surface model 30 may be a model with a non-fixed curvature (curvature continuously varying from 0 to 0.51/mm), for example, the surface model 30 may be a model with a length of 110 to 160mm, a width of 110 to 160mm, and a height of 70 to 110 mm. Fig. 3 is a schematic diagram of a curved surface model according to an embodiment of the application.
In other embodiments of the present application, the curved surface model 30 in fig. 3 is only an example, and the practical application is not limited thereto, and the present application is not limited to the curved surface model 30.
In other embodiments of the present application, the plurality of contour lines refer to curves describing the contours of the surface model 30. The electronic device 10 acquiring the plurality of contours of the curved surface model 30 includes: the electronic device 10 may scan the curved surface model 30 using a scanning technique (such as a three-dimensional laser scanning technique) to obtain characteristics such as a shape and a size of the curved surface model 30, model according to the characteristics such as the shape and the size of the curved surface model 30, obtain a virtual model of the curved surface model 30, and extract a plurality of contour lines from the virtual model. The multiple contour lines can be selected by a user, or can be extracted by using a contour extraction tool or a contour extraction command. For example, the electronic device 10 may receive a profile extraction command of a user, extract the virtual model using an edge detection algorithm (such as Canny algorithm, sobel algorithm, and Laplace algorithm) to obtain a plurality of profile lines, or the electronic device 10 may extract the virtual model using a profile extraction function (such as findContours () function) to obtain a plurality of profile lines. The number of the plurality of contour lines may be determined by the surface model 30,
For example, if the curved surface model 30 is shaped as shown in fig. 3, the number of the contour lines may be 3.
In some embodiments of the present application, each contour line includes a plurality of contour points having different point numbers, and the number n of contour points on each contour line and the point spacing between any two contour points may be set by itself, which is not limited by the present application. The number of contour points on each contour line may be the same.
For example, as shown in fig. 4, a schematic diagram of a plurality of contour lines is provided in an embodiment of the present application. Fig. 4 includes 3 contour lines, namely, a first contour line P1, a second contour line P2, and a third contour line P3. The first profile line P1, the second profile line P2, and the third profile line P3 are each composed of n profile points, where n may be set by itself, which is not limited in the present application. For example, n may be greater than or equal to 2000. For example, the point spacing between any two contour points on each contour line may be less than or equal to 5.9mm.
In some embodiments of the present application, the electronic device 10 may construct one or three-dimensional coordinate systems, so that the virtual model of the curved surface model 30 is in one or more three-dimensional coordinate systems, where if the three-dimensional coordinate systems are multiple, the three-dimensional coordinate systems may be parallel to each other, and directions, units, positive axes, negative axes, etc. of an origin, an abscissa axis (x-axis), an ordinate axis (y-axis), and an ordinate axis (z-axis) in the three-dimensional coordinate systems may be set by themselves, which is not limited by the present application. The coordinates of each contour point are the coordinates in the three-dimensional coordinate system. For example, the coordinates of each contour point include an abscissa, an ordinate, and an ordinate, the abscissa of each contour point being the coordinate of the contour point perpendicular to the abscissa axis in the three-dimensional coordinate system, the ordinate of each contour point being the coordinate of the contour point perpendicular to the ordinate axis in the three-dimensional coordinate system.
For example, in the above embodiment, if the curved surface model 30 includes the first contour line P1, the second contour line P2 and the third contour line P3, the first contour line P1, the second contour line P2 and the third contour line P3 are respectively formed by 2000 contour points, as shown in table 1, which is an example of the coordinates of the first contour line P1 according to an embodiment of the present application.
TABLE 1
For example, the above embodiment is taken as an example of the coordinates of the second contour line P2 provided in an embodiment of the present application, as shown in table 2.
TABLE 2
For example, the above embodiment is taken as an example of the coordinates of the third profile line P3 provided in an embodiment of the present application, as shown in table 3.
TABLE 3 Table 3
S12, determining a plurality of groups of contour points of a plurality of contour lines based on the point numbers of the contour points on each contour line, and generating an interpolation curve according to each group of contour points.
In some embodiments of the present application, before determining the plurality of sets of contour points of the plurality of contour lines based on the point numbers of the contour points on each contour line, the electronic device 10 may number the contour points on each contour line so that each contour point on each contour line has a corresponding point number, where the manner of numbering the contour points on the plurality of contour lines may be set by itself, which is not limited in the present application.
In some embodiments of the present application, a set of contour points refers to a plurality of contour points on a plurality of contour lines with any same point number.
In some embodiments of the present application, the electronic device 10 determines a plurality of sets of contour points for a plurality of contour lines based on a point number of the contour point on each contour line, and generates an interpolation curve according to each set of contour points, including: the electronic device 10 determines a point number of each contour point on each contour line, and determines a plurality of contour points corresponding to any same point number in the plurality of contour lines as a group of contour points, wherein the point number of each contour point in each group of contour points is the same, and the electronic device 10 uses a spline interpolation algorithm (spline) to fit each group of contour points to obtain an interpolation curve corresponding to each group of contour points. Since one contour point is selected from each contour line according to a point number to form a group of contour points, the number of the plurality of groups of contour points is the same as the number n of contour points on each contour line. For example, when the contour point on a contour line is n, the number of the plurality of sets of contour points is also n.
For example, in the above embodiment, if the plurality of contour lines includes the first contour line P1, the second contour line P2, and the third contour line P3, for any point number i, the contour point with the point number i may be selected from the first contour line P1, the second contour line P2, and the third contour line P3 as a set of contour points (3 contour points).
In some embodiments of the present application, a method of fitting each set of contour points using a spline interpolation algorithm may refer to the related art. Since one interpolation curve can be generated by one set of contour points, the first number of the interpolation curves obtained based on the fitting of multiple sets of contour points is the same as the number n of the contour points or the number n of the contour points on each contour line. For example, if the number of contour points (or the number of sets of contour points) on each contour line is n=2000, the first number of the plurality of interpolation curves obtained by fitting based on the sets of contour points is n=2000. Since each interpolation curve can approximate and approximate the surface model 30, the surface model 30 can be restored by the plurality of interpolation curves. For example, as shown in fig. 5, a schematic diagram of a curved surface model 40 restored by a plurality of interpolation curves is provided in an embodiment of the present application. As can be seen in fig. 5, the reduced surface model 40 is substantially identical to the surface model 30.
In some embodiments of the present application, each interpolation curve includes a plurality of grid points, and when the second number m of grid points in the plurality of interpolation curves is greater than or equal to 2000, continuity of the generated target motion trajectory can be ensured (refer to the description of step S13 below). Wherein m=preset wave number is equal to preset wave period is equal to 2×100, the preset wave number is the number of waves on each interpolation curve, and the preset wave period is the length or width of each wave. The number of the preset waves and the preset wave period can be set by itself, and the application is not limited to this. For example, the preset number of waves may be greater than or equal to 20, and the preset wave period may be greater than or equal to 0.5.
For example, the foregoing embodiment is shown in fig. 6, which is a schematic diagram of an interpolation curve according to an embodiment of the present application. In fig. 6, P1i, P2i, and P3i are a set of contour points, P1i represents an ith contour point on the first contour line P1, P2i represents an ith contour point on the second contour line P2, P3i represents an ith contour point on the third contour line P3, a plurality of grid points are interposed between P1i and P2i and between P2i and P3i, and grid points between P1i, P2i, P3i, P1i, and P2i, and grid points between P2i and P3i are arranged to form an interpolation curve of the set of contour points P1i, P2i, and P3 i.
In some embodiments of the present application, the electronic device 10 may number the grid points on each interpolation curve such that each grid point on each interpolation curve has a corresponding point number, where the manner of numbering the grid points on the plurality of interpolation curves is the same as the manner of numbering the contour points on the plurality of contour lines, so the description of the present application is not repeated.
For example, with the above embodiment, if the number of the plurality of interpolation curves is 2000, the number of grid points on each interpolation curve is 4000 (greater than 2000), as shown in table 4, which is an example of the abscissa of each grid point on each interpolation curve provided by an embodiment of the present application.
TABLE 4 Table 4
For example, with the above embodiment, if the number of the plurality of interpolation curves is 2000, the number of grid points on each interpolation curve is 4000, as shown in table 5, which is an example of the ordinate of each grid point on each interpolation curve provided by an embodiment of the present application.
TABLE 5
For example, with the above embodiment, if the number of the plurality of interpolation curves is 2000, the number of grid points on each interpolation curve is 4000, as shown in table 6, which is an example of the vertical coordinates of each grid point on each interpolation curve provided by an embodiment of the present application.
TABLE 6
S13, determining a plurality of target track points of a plurality of grid points of each interpolation curve according to the preset wave number, the preset function, the first number of the plurality of interpolation curves and the second number of grid points in each interpolation curve, and generating a target motion track according to the plurality of target track points.
In some embodiments of the application, the first number is the total number of interpolation curves and the second number is the total number of grid points in each interpolation curve. The description of the number of preset waves may refer to the detailed description in step S12, and the preset function may be a waveform function, where the preset function includes, but is not limited to: sin function and cos function. The target trajectory points are grid points constituting a target motion trajectory among the plurality of grid points of each interpolation curve. Since the target track points are in one-to-one correspondence with the interpolation curves, the number of the target track points is the same as the first number of the interpolation curves. For example, if the first number of interpolation curves is n=2000, the number of target track points is n=2000.
In some embodiments of the present application, the total number of grid points that make up the plurality of interpolation curves affects the continuity of the target motion trajectory. Fig. 7 is a comparison diagram of target motion trajectories corresponding to different numbers of grid points according to an embodiment of the present application. One target track point is marked in (a) in fig. 7 and (b) in fig. 7, respectively, each of (a) in fig. 7 and (b) in fig. 7 includes a plurality of interpolation curves, each of which is composed of a column of grid points or a row of grid points, on each of which a light white grid point is a target track point, a (light white) curve composed of a plurality of light white target track points arranged on a plurality of interpolation curves is a target motion track, and the number of interpolation curves of (b) in fig. 7 is greater than the number of interpolation curves of (a) in fig. 7. Therefore, the total number of grid points constituting the plurality of interpolation curves in (b) of fig. 7 is greater than the total number of grid points constituting the plurality of interpolation curves in (a) of fig. 7, and the interval between the plurality of target track points in (b) of fig. 7 is smaller than the interval between the plurality of target track points in (a) of fig. 7. By comparison, it can be seen that the target motion trajectory of (b) in fig. 7 is more continuous with respect to the target motion trajectory of (a) in fig. 7.
In some embodiments of the present application, the electronic device 10 determines a curve formed by arranging all the target track points as the target motion track. For example, as shown in fig. 8, a schematic diagram of a target motion trajectory according to an embodiment of the present application is shown. As can be seen from fig. 8, the overall shape of the target motion trajectory is substantially the same as that of the curved surface model 30. The target motion trajectory in fig. 8 is on the virtual model and is more consistent with the virtual model.
S14, calculating the gesture of the mechanical arm 20 passing through each target track point based on the coordinates of each target track point.
In some embodiments of the present application, each target track point has a corresponding pose, and the pose of the robotic arm 20 passing through each target track point is the orientation or direction of the robotic arm 20 at each target track point, and the pose of each target track point includes a plurality of euler angles.
And S15, controlling the mechanical arm 20 to polish the curved surface model 30 according to the target motion track and the corresponding gesture of each target track point.
In some embodiments of the present application, the mechanical arm 20 may hold a polishing tool such as a grinding wheel, and the electronic device 10 may analyze the coordinates of each target track point in the target motion track and the gesture of each target track point according to an inverse kinematics algorithm, so as to obtain an operation instruction, and send the operation instruction to the mechanical arm 20 to control the mechanical arm 20 to polish the curved surface model 30 by using the polishing tool, so as to remove a machining trace (such as a tool trace) on the curved surface model 30. The method for analyzing the coordinates of each target track point and the gesture of each target track point in the target motion track according to the algorithms such as inverse kinematics and the like can refer to the related technology. The number of operating instructions may be plural, and each operating instruction may include a position and a posture of the polishing tool on the robot arm 20.
For example, the above embodiment is taken as an example of the coordinates and the posture of the target track point provided by an embodiment of the present application, as shown in table 7.
TABLE 7
For example, as shown in fig. 9, a schematic diagram of a target motion track and a gesture of each target track point according to an embodiment of the present application is shown. In fig. 9, different degrees of depth on the target motion track represent different poses of the mechanical arm 20, and the electronic device 10 (such as an industrial personal computer) may control the mechanical arm 20 to uniformly polish the curved surface model 30 according to the target motion track and the pose of each target track point.
In this embodiment, since the related art needs to manually draw the target motion trail of the robot arm polishing curved surface model 30, it needs to go through the processes of loading the virtual model of the curved surface model 30, setting the coordinate system, manually drawing and outlining the target motion trail, mapping the target motion trail to the virtual model to determine whether to attach to the virtual model, and calculating the gesture of each target track point, and the like, and it needs to take at least 4 hours to execute the above process every time the target motion trail is generated. If the target motion trail and the number of target trail points need to be changed, more time is needed, the generation efficiency of the target motion trail is poor, and the interval of waves in each target motion trail is different due to the fact that the target motion trail is sketched manually, so that polishing density is uneven.
In order to solve the above technical problem, the present application can restore the curved surface model 30 through all interpolation curves corresponding to the plurality of groups of contour points. According to the preset wave number, the first number of the interpolation curves, the second number of grid points in each interpolation curve and a preset function, target track points are determined from the grid points of each interpolation curve, and a target motion track is automatically generated according to the target track points without relying on manual drawing, and the time required for executing the steps in the embodiment of the application is only +1/360 hours of the time for modifying the program every time the target motion track is generated. According to comparison, the time spent for generating the target motion trail and the gesture of each target track point in the related technology is far less than that spent for generating the target motion trail and the gesture of each target track point, so that the time can be saved, and the generation efficiency of the target motion trail is improved. Because the interpolation curve is obtained by an interpolation method and is obtained by adopting enough grid points without manual outlining, the consistency of intervals among a plurality of waveforms in the target motion track and the accuracy and the continuity of each target track point can be ensured. Since the target motion trajectory is calculated by a plurality of contour lines of the virtual model corresponding to the curved surface model 30, the plurality of contour lines accurately reflect the contour features of the curved surface model 30, so that the fit between the target motion trajectory and the curved surface model 30 can be ensured. When the mechanical arm 20 is controlled to polish the curved surface model 30 according to the target motion track and the corresponding gesture of each target track point, the polishing uniformity and accuracy can be ensured, so that the polishing effect is improved.
In some embodiments of the present application, the electronic device 10 determines a plurality of target trajectory points for a plurality of grid points for each interpolation curve based on a preset wave number, a preset function, a first number of the plurality of interpolation curves, and a second number of grid points in each interpolation curve. As shown in fig. 10, a flowchart for determining a target track point according to an embodiment of the present application includes the following steps:
s131, determining a curve number corresponding to each interpolation curve.
In some embodiments of the present application, the point number of each set of contour points corresponding to each interpolation curve may be determined as the curve number of the interpolation curve. For example, if the point number i=3 of a set of contour points, the curve number of the interpolation curve corresponding to the set of contour points is 3.
S132, calculating a target number corresponding to each interpolation curve according to the preset function, the preset wave number, the first number, the second number and the curve number of each interpolation curve.
In some embodiments of the present application, if the preset function is a sin function or a cos function, the calculation method of the operation value may refer to the following formula (1) or (2):
wherein i represents a curve number of an i-th interpolation curve, i=1, 2,., n, j represents a target number corresponding to the i-th interpolation curve, m represents a second number, sin or cos represents a preset function, num represents a preset wave number, pi represents a circumference ratio, and n represents a first number. For example, m and n may each be any value greater than or equal to 2000, pi may be 3.14, num may be 5, 10, and 20 equivalents.
For example, if the preset function is a sin function, when m=4000, n=2000, num=20, the target number on the first interpolation curve (i=1)Target number +_on the second interpolation curve (i=2)>If the preset function is a cos function, when m=4000, n=2000, num=20, the target number on the first interpolation curve (i=1)Target number on the second interpolation curve (i=2)
In other embodiments of the present application, since different preset functions may enable the target motion track to take different forms, the preset functions may be set according to the form of the target motion track, which is not limited in the present application. When the preset function is a sin function, the target number j=2125 on the first interpolation curve (i=1), and when the preset function is a cos function, the target number j=3996 on the first interpolation curve (i=1) shows that there is a difference between the sizes of the target numbers calculated by different preset functions.
And S133, determining the grid points corresponding to the interpolation curves corresponding to any target numbers as target track points.
In some embodiments of the present application, the method for determining the target track point may refer to the following formula (3):
WavePoint(i)＝S(i,j)； (3)
Wherein i represents the curve number of the ith interpolation curve, each of WavePoint (i) and S (i, j) represents the target track point on the ith interpolation curve, S represents the interpolation curve, and j represents the target number of the ith interpolation curve.
For example, in the above embodiment, if the target number corresponding to the first interpolation curve (i=1) is j=2125, the 2125 th grid point on the first interpolation curve is determined as a target trajectory point WavePoint (1) =s (1,2125); if the target number corresponding to the second interpolation curve (i=2) is j=2250, the 2250 th grid point on the second interpolation curve is determined as another target trajectory point WavePoint (2) =s (2,2250).
In other embodiments of the present application, the target motion trajectory may be changed by changing a preset function (for example, changing the shape of the target motion trajectory, etc.), as shown in fig. 11, which is a flowchart of a method for calculating the target number according to another embodiment of the present application, including the following steps:
s134, acquiring a preset track function.
In some embodiments of the present application, the preset trajectory function wave (x) may be set by the user himself. For example, as shown in fig. 12, a waveform diagram of a preset trajectory function according to an embodiment of the present application is shown. As can be seen from fig. 12, the waveform of the preset trajectory function has an "8" shape.
S135, calculating the target number corresponding to each interpolation curve according to the preset track function, the second number and the curve number of each interpolation curve.
In some embodiments of the present application, the electronic device 10 calculates the target number corresponding to each interpolation curve according to the preset trajectory function, the second number, and the curve number of each interpolation curve, including: the electronic device 10 calculates the function value of each interpolation curve in the preset track function according to the curve number of each interpolation curve, and calculates the target number corresponding to each interpolation curve according to the second number and the function value of each interpolation curve.
For example, in connection with the above embodiment, the calculation method of the target number may also refer to the following formula (4):
where i denotes the curve number of the i-th interpolation curve, j denotes the target number corresponding to the i-th interpolation curve, m denotes the second number, and wave (i) denotes the function value of the i-th interpolation curve obtained by substituting i into wave (x). For example, m may be any value greater than or equal to 2000.
For example, as shown in fig. 13, a schematic diagram of a target motion trajectory generated according to a preset trajectory function according to an embodiment of the present application is shown. As can be seen from fig. 13, the target motion trajectory generated according to the waveform of the preset trajectory function as shown in fig. 12 also exhibits an "8" shape.
In some embodiments of the present application, the electronic device 10 calculates the gesture of the robotic arm 20 passing through each target track point based on the coordinates of each target track point, as shown in fig. 14, which is a flowchart of a method for generating a target motion track according to an embodiment of the present application, including the following steps:
s141, determining a plurality of adjacent grid points corresponding to each target track point on a plurality of interpolation curves corresponding to each target track point.
In some embodiments of the present application, the plurality of interpolation curves corresponding to each target track point includes an interpolation curve to which each target track point belongs and a next interpolation curve of the interpolation curves to which each target track point belongs. The plurality of adjacent grid points include a previous grid point, a subsequent grid point, and a target grid point having the same point number as the target number of each target track point in the next interpolation curve on the interpolation curve to which each target track point belongs. For example, if the target track point on the ith interpolation curve is S (i, j), and the curve number of the next interpolation curve of the interpolation curve to which the target track point S (i, j) belongs is i+1, the plurality of adjacent grid points corresponding to the target track point S (i, j) include the previous grid point S (i, j-1), the next grid point S (i, j+1), and the target grid point S (i+1, j) having the same point number as the target number j of each target track point in the ith interpolation curve.
S142, calculating the gesture of the mechanical arm 20 passing through any target track point according to the coordinates of any target track point and the coordinates of a plurality of adjacent grid points corresponding to any target track point.
In some embodiments of the present application, the electronic device 10 calculates a gesture of the robotic arm 20 passing through any target track point according to the coordinates of any target track point and the coordinates of a plurality of adjacent grid points corresponding to any target track point, including: the electronic device 10 calculates a target normal vector and a tangent vector of any target track point according to the coordinates of any target track point and the coordinates of a plurality of adjacent grid points corresponding to any target track point, and further, the electronic device 10 calculates a target vector of any target track point according to the target normal vector and the tangent vector, and calculates a gesture of any target track point according to the target vector, the tangent vector and the target normal vector.
Specifically, the electronic device 10 calculates the target normal vector and the tangent vector of any target track point according to the coordinates of any target track point and the coordinates of a plurality of adjacent grid points corresponding to any target track point, including: the electronic device 10 calculates a first difference vector of any target track point according to the coordinates of the any target track point and the coordinates of the previous grid point of the any target track point on the interpolation curve to which the coordinate belongs, calculates a second difference vector of any target track point according to the coordinates of any target track point and the coordinates of the next grid point of the any target track point on the interpolation curve to which the coordinate belongs, and further, the electronic device 10 calculates a tangent vector of any target track point according to the coordinates of any target track point and the coordinates of the target grid point of any target track point, and calculates a target normal vector of any target track point according to the first difference vector, the second difference vector and the tangent vector.
For example, the first difference vector may be calculated by referring to the following equation (5), the second difference vector may be calculated by referring to the following equation (6), the tangential vector may be calculated by referring to the following equation (7), and the target normal vector may be calculated by referring to the following equations (8) to (10):
V i1 ＝P s(i，j-1) -P s(i，j) ； (5)
V i2 ＝P s(i，j+1) -P s(i，j) ； (6)
TangentV i ＝P s(i+1，j) -P s(i，j) ； (7)
n i1 ＝TangentV i ×V i1 ； (8)
n i2 ＝V i2 ×TangentV i ； (9)
wherein i represents the curve number of the ith interpolation curve, j represents the target number corresponding to the ith interpolation curve, V i1 Representing a first difference vector, P s(i，j-1) Representing coordinates of a target track point on an ith interpolation curve, P S(i，j-1) Representing the target track point S(i, j) coordinates of a previous grid point on the ith interpolation curve, V i2 Representing a second difference vector, P s(i，j+1) Representing coordinates of a subsequent grid point on the ith interpolation curve of the target track point S (i, j), tangentV i Represents tangential vector, P s(i+1，j) Representing coordinates of the target grid points, n i1 A first initial normal vector, n, representing the target locus point S (i, j) i2 A second initial normal vector N representing the target locus S (i, j) i Representing the target normal vector.
For example, if i=1, j=2125, the target track point is S (1, 2125). If the coordinates P of the target track point S (1, 2125) S(1，2125) ＝[39.977 0.4508 -47.110]Coordinates P of the previous grid point of the target trajectory point S (1, 2125) on the interpolation curve to which it belongs S(1，2124) ＝[39.6878 0.45439 -46.1527]A first difference vector V of the target locus S (1, 2125) 11 ＝[-0.28920.003590.9573]＝[39.6878 0.45439 -46.1527]-[39.977 0.4508 -47.110]. If the target locus S (1, 2125) is at the coordinates P of the next grid point on the interpolation curve s(1，2126) ＝[40.266 0.44721 -48.0673]A second difference vector V of the target locus S (1, 2125) 12 ＝[0.2890 -0.00359 -0.9573]＝[40.266 0.44721 -48.0673]-[39.977 0.4508 -47.110]. If the coordinates P of the target grid point S (2, 2125) of any target track point s(2，2125) ＝[40.980037 1.4397 -46.9618]Then the tangent vector of the target locus S (1, 2125) is TangntV 1 ＝[0.003037 0.9889 0.1482]＝[40.980037 1.4397 -46.9618]-[39.977 0.4508 -47.110]。
The first initial normal vector of the target locus S (1, 2125) is n 11 ＝TangentV 1 ×V 11 ＝[0.9461 -0.045 0.2860]＝[0.003037 0.9889 0.1482]×[-0.28920.003590.9573]The second initial normal vector of the target locus S (1, 2125) is n 12 ＝V 12 ×TangentV 1 ＝[0.9462 -0.045 0.2859]＝[0.2890 -0.00359 -0.9573]×[0.003037 0.9889 0.1482]Target normal vector of target locus point S (1, 2125)
For example, as shown in fig. 15, the calculation of the first difference vector, the second difference vector, the tangential vector, and the target normal vector according to an embodiment of the application is illustrated. In FIG. 14, S (i, j) represents a target track point on the ith interpolation curve, S (i, j-1) represents a previous grid point of the target track point S (i, j) on the ith interpolation curve, S (i, j+1) represents a subsequent grid point on the ith interpolation curve of the target track point S (i, j), S (i+1, j) represents a target grid point corresponding to the target track point S (i, j), V i1 A first difference vector V representing the target locus S (i, j) i2 A second difference vector, targetv, representing the target locus point S (i, j) i Tangential vector N representing target track point S (i, j) i A target normal vector representing the target track point S (i, j).
For example, in connection with the above embodiment, the calculation method of the target vector may refer to the following formula (11):
ThirdV i ＝TangentV i ×N i ； (11)
wherein, thirdV i A target vector representing a target locus point on the ith interpolation curve, V i Tangential vector representing target track point on ith interpolation curve, N i A target normal vector representing a target trajectory point on the i-th interpolation curve. If i=1, in tangenv 1 ＝[0.003037 0.9889 0.1482]，N 1 ＝[0.9462 -0.045 0.2859]When in use, thirdV 1 ＝[0.2896 0.1394 -0.9359]＝[0.003037 0.9889 0.1482]×[0.9462 -0.045 0.2859]。
For example, in connection with the above embodiment, the pose of each target track point may be a vector constituted by a plurality of euler angles, and the calculation method of the pose of each target track point may refer to the following formula (12):
wherein,representing the pose of the target track point on the ith interpolation curve, R xi Euler angle indicating rotation around X axis in gesture of target track point on ith interpolation curve, R yi Euler angle indicating rotation around Y axis in pose of target track point on ith interpolation curve, R zi Euler angle, thirdV, representing rotation about Z axis in pose of target locus point on ith interpolation curve i A target vector representing a target locus point on the ith interpolation curve, V i Tangential vector representing target track point on ith interpolation curve, N i A target normal vector representing a target trajectory point on the i-th interpolation curve.
For example, if i=1, at third v 1 ＝[0.2896 0.1394 -0.9359]，TangentV 1 ＝[0.003037 0.9889 0.1482]，N 1 ＝[0.9462 -0.045 0.2859]In the time-course of which the first and second contact surfaces,
as shown in fig. 16, a block diagram of an electronic device 10 according to an embodiment of the present application is provided. As shown in fig. 16, the electronic device 10 may include a communication module 101, a memory 102, a processor 103, an Input/Output (I/O) interface 104, and a bus 105. The processor 103 is coupled to the communication module 101, the memory 102, and the input/output interface 104 via the bus 105, respectively.
The communication module 101 may include a wired communication module and/or a wireless communication module. The wired communication module may provide one or more of a Universal Serial Bus (USB), a controller area network bus (CAN, controllerAreaNetwork), etc. wired communication solution. The wireless communication module may provide one or more of wireless communication solutions such as wireless fidelity (Wi-Fi), bluetooth (BT), mobile communication networks, frequency Modulation (FM), near Field Communication (NFC), infrared (IR), and the like.
The memory 102 may include one or more Random Access Memories (RAMs) and one or more non-volatile memories (NVM). The random access memory may include a static random-access memory (SRAM), a Dynamic Random Access Memory (DRAM), a Synchronous Dynamic Random Access Memory (SDRAM), a double data rate synchronous dynamic random access memory (ddr SDRAM), and the like.
The memory 102 is used to store one or more computer programs. One or more computer programs are configured to be executed by the processor 103. The one or more computer programs include a plurality of instructions that when executed by the processor 103, implement a surface model grinding method that is performed on the electronic device 10.
The processor 103 may include one or more processing units, such as: the processor 103 may include an Application Processor (AP), a modem processor, a Graphics Processor (GPU), an Image Signal Processor (ISP), a controller, a video codec, a Digital Signal Processor (DSP), and/or a neural-Network Processor (NPU), etc.
The processor 103 provides computing and control capabilities, for example, the processor 103 is configured to execute computer programs stored in the memory 102 to implement the surface model grinding method described above.
The input/output interface 104 is used to provide a channel for user input or output, for example, the input/output interface 104 may be used to connect various input/output devices, such as a mouse, keyboard, touch device, display screen, etc., so that a user may enter information, or visualize information.
The bus 105 is used at least to provide a channel for communication between the communication module 101, the memory 102, the processor 103, and the input/output interface 104 in the electronic device 10.
It should be understood that the illustrated construction of the embodiments of the present application does not constitute a particular limitation of the electronic device 10. In other embodiments of the application, the electronic device 10 may include more or fewer components than shown, or certain components may be combined, or certain components may be split, or different arrangements of components.
Embodiments of the present application further provide a computer readable storage medium, where a computer program is stored, where the computer program includes program instructions, and a method implemented when the program instructions are executed may refer to a method in each of the foregoing embodiments of the present application.
The computer readable storage medium may be an internal memory of the electronic device according to the above embodiment, for example, a hard disk or a memory of the electronic device. The computer readable storage medium may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (SmartMediaCard, SMC), a secure digital (SecureDigital, SD) card, a flash memory card (FlashCard), etc. provided on the electronic device.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. For example, the apparatus/electronic device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A method of grinding a curved surface model, the method comprising:
acquiring a plurality of contour lines of a curved surface model, wherein each contour line comprises a plurality of contour points with different point numbers;
determining a plurality of groups of contour points of a plurality of contour lines based on the point numbers of the contour points on each contour line, and generating an interpolation curve according to each group of contour points, wherein each interpolation curve comprises a plurality of grid points;
determining a plurality of target track points of a plurality of grid points of each interpolation curve according to the preset wave number, the preset function, the first number of the plurality of interpolation curves and the second number of grid points in each interpolation curve, and generating a target motion track according to the plurality of target track points; each target track point has a corresponding gesture;
Calculating the gesture of the mechanical arm passing through each target track point based on the coordinates of each target track point;
and controlling the mechanical arm to polish the curved surface model according to the target motion track and the gesture corresponding to each target track point.
2. The method of claim 1, wherein determining a plurality of sets of contour points for the plurality of contour lines based on the point numbers of the contour points on each contour line, and generating an interpolation curve based on each set of contour points, comprises:
determining the point number of each contour point on each contour line, and determining a plurality of contour points corresponding to any same point number in the plurality of contour lines as a group of contour points;
and fitting each group of contour points by using a spline interpolation algorithm to obtain an interpolation curve corresponding to each group of contour points.
3. The method of claim 1, wherein determining the plurality of target trajectory points for the plurality of grid points for each interpolation curve based on the number of preset waves, the preset function, the first number of interpolation curves, and the second number of grid points for each interpolation curve comprises:
Determining a curve number corresponding to each interpolation curve;
calculating a target number corresponding to each interpolation curve according to the preset function on the preset wave number, the first number, the second number and the curve number of each interpolation curve;
and determining the grid points corresponding to the interpolation curves corresponding to any target number as the target track points.
4. The method for polishing a curved surface model according to claim 1 or 3, wherein the calculating means of the target number further comprises:
acquiring a preset track function;
and calculating the target number corresponding to each interpolation curve according to the preset track function, the second quantity and the curve number of each interpolation curve.
5. The method for grinding a curved surface model according to claim 4, wherein calculating the target number corresponding to each interpolation curve according to the preset trajectory function, the second number and the curve number of each interpolation curve comprises:
calculating the function value of each interpolation curve in the preset track function according to the curve number of each interpolation curve;
and calculating the target number corresponding to each interpolation curve according to the second quantity and the function value of each interpolation curve.
6. The method of claim 1, wherein calculating the pose of the manipulator arm passing through each target track point based on the coordinates of each target track point comprises:
determining a plurality of adjacent grid points corresponding to each target track point on a plurality of interpolation curves corresponding to each target track point;
and calculating the gesture of the mechanical arm passing through any target track point according to the coordinates of any target track point and the coordinates of a plurality of adjacent grid points corresponding to the any target track point.
7. The method for grinding a curved surface model according to claim 6, wherein calculating the gesture of the manipulator passing through any one of the target track points according to the coordinates of the target track point and the coordinates of a plurality of adjacent grid points corresponding to the target track point comprises:
calculating a target normal vector and a tangential vector of any target track point according to the coordinates of any target track point and the coordinates of a plurality of adjacent grid points corresponding to the any target track point;
calculating a target vector of any target track point according to the target normal vector and the tangent vector;
And calculating the gesture of any target track point according to the target vector, the tangent vector and the target normal vector.
8. The curved surface model grinding method according to claim 7, wherein the plurality of adjacent grid points includes a previous grid point, a subsequent grid point, and a corresponding target grid point in a next interpolation curve of the interpolation curve to which the arbitrary target trajectory point belongs, wherein a point number of the target grid point is the same as a target number of the arbitrary target trajectory point.
9. The method of claim 8, wherein calculating the normal vector and the tangent vector of the object at any one of the object points according to the coordinates of the object at any one of the object points and the coordinates of a plurality of neighboring grid points corresponding to the object at any one of the object points comprises:
calculating a first difference vector of any target track point according to the coordinates of any target track point and the coordinates of a previous grid point of the any target track point on the interpolation curve to which the target track point belongs;
calculating a second difference vector of any target track point according to the coordinates of any target track point and the coordinates of a grid point of the target track point on the interpolation curve to which the target track point belongs;
And calculating a tangential vector of any target track point according to the coordinates of any target track point and the coordinates of the target grid point of any target track point, and calculating a target normal vector of any target track point according to the first difference vector, the second difference vector and the tangential vector.
10. The method of claim 1, wherein the obtaining the plurality of contours of the surface model comprises:
modeling the curved surface model to obtain a virtual model, and extracting the contour lines from the virtual model.
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