CN118081735A - Path simulation method and device based on three-dimensional scanning system and computer equipment - Google Patents
Path simulation method and device based on three-dimensional scanning system and computer equipment Download PDFInfo
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Abstract
The application relates to a path simulation method, a path simulation device and computer equipment based on a three-dimensional scanning system, wherein the method comprises the following steps: tracking the tracked equipment to obtain initial path data of the tracked equipment for completing a preset work task; the initial path data includes a first pose data set of the tracked device; when the tracked equipment is arranged at the tail end of the mechanical arm, determining a hand-eye matrix between the tracked equipment and the tail end of the mechanical arm; determining a second pose data set of the tail end of the mechanical arm according to the first pose data set and the hand-eye matrix; acquiring joint parameters of each joint of the mechanical arm based on the second pose data set; acquiring automatic path data of tracked equipment according to joint parameters; the application solves the problems of low working efficiency and large difference of execution results in the related technology, realizes an automatic simulation path, further completes the execution of the same work task according to the simulated path, improves the working efficiency and reduces the difference between the execution results of the work tasks.
Description
Technical Field
The present application relates to the field of three-dimensional scanning technologies, and in particular, to a path simulation method, apparatus, and computer device based on a three-dimensional scanning system.
Background
In the technical field of three-dimensional scanning, paths are key factors affecting the three-dimensional scanning result. In the use process of the three-dimensional scanning system, if the same type of work task (such as scanning or welding a large number of workpieces with the same structure) needs to be processed, the current scheme is to plan a path according to an operation specification, and manually operate the three-dimensional scanning system to complete the scanning or welding task according to the path. The disadvantages of this solution are: the work efficiency is low, the task is repeated and complicated, and the execution results of the work tasks are large in difference.
Aiming at the problems of low working efficiency, repeated and complicated tasks and large difference of execution results of the working tasks in the related technology, no effective solution is proposed at present.
Disclosure of Invention
The embodiment provides a path simulation method, a path simulation device and computer equipment based on a three-dimensional scanning system, so as to solve the problems of low working efficiency, repeated and complicated tasks and large difference of execution results of the working tasks in the related technology.
In a first aspect, in this embodiment, a path simulation method based on a three-dimensional scanning system is provided, which is applicable to the three-dimensional scanning system; the three-dimensional scanning system comprises tracking equipment, tracked equipment and a mechanical arm; the tracked device and the mechanical arm are positioned in a tracking view field of the tracking device; the method comprises the following steps:
Tracking the tracked equipment to obtain initial path data of the tracked equipment for completing a preset work task; the initial path data includes a first pose data set of the tracked device;
determining a hand-eye matrix between the tracked equipment and the tail end of the mechanical arm when the tracked equipment is installed at the tail end of the mechanical arm;
Determining a second pose data set of the tail end of the mechanical arm according to the first pose data set and the hand-eye matrix;
Acquiring joint parameters of each joint of the mechanical arm based on the second pose data set;
And acquiring the automatic path data of the tracked equipment according to the joint parameters.
In some embodiments, the tracking the tracked device, obtaining initial path data of the tracked device for completing a preset work task, includes:
tracking the tracked equipment and determining the pose of the position of the tracked equipment at different moments;
And acquiring a first pose data set of the tracked equipment corresponding to each pose under a tracking equipment coordinate system to obtain initial path data.
In some embodiments, the tracked device is a scanning device with a mark point attached or a welding device with a mark point attached;
when the tracked equipment is scanning equipment, the preset work task is a scanning task;
And when the tracked equipment is welding equipment, the preset work task is a welding task.
In some of these embodiments, the determining the hand-eye matrix between the tracked device and the robot arm tip when the tracked device is mounted to the robot arm tip comprises:
Arranging the tracked equipment at the tail end of the mechanical arm, and determining a hand-eye matrix between the tracked equipment and the tail end of the mechanical arm through a hand-eye calibration algorithm;
the hand-eye matrix includes a first pose change matrix from the robotic arm tip to the tracked device and a second pose change matrix from the tracking device to the robotic arm base.
In some of these embodiments, the determining the second pose data set of the distal end of the manipulator according to the first pose data set and the hand-eye matrix includes:
And calculating each second pose data of the tail end of the mechanical arm when the tracking equipment is in the current pose according to the first pose change matrix, the second pose change matrix and the first pose data set to obtain the second pose data set of the tail end of the mechanical arm.
In some embodiments, the obtaining joint parameters of each joint of the mechanical arm based on the second pose data set includes:
and calculating joint parameters of all joints of the mechanical arm at the current pose of the tail end of the mechanical arm based on the second pose data set through robot inverse kinematics.
In some of these embodiments, the method further comprises:
And after the automatic path data of the tracked equipment are obtained according to the joint parameters, controlling the tail end of the mechanical arm to reach each target gesture based on each joint parameter, and completing a preset work task.
In a second aspect, in this embodiment, a path simulation device based on a three-dimensional scanning system is provided, which is applicable to the three-dimensional scanning system; the three-dimensional scanning system comprises tracking equipment, tracked equipment and a mechanical arm; the tracked device and the mechanical arm are positioned in a tracking view field of the tracking device; the device comprises: the device comprises a first acquisition module, a first processing module, a second processing module, a third processing module and a second acquisition module;
The first acquisition module is used for tracking the tracked equipment and acquiring initial path data of the tracked equipment for completing a preset work task; the initial path data includes a first pose data set of the tracked device;
The first processing module is used for determining a hand-eye matrix between the tracked equipment and the tail end of the mechanical arm when the tracked equipment is installed at the tail end of the mechanical arm;
The second processing module is used for determining a second pose data set of the tail end of the mechanical arm according to the first pose data set and the hand-eye matrix;
the third processing module is used for obtaining joint parameters of each joint of the mechanical arm based on the second pose data set;
The second acquisition module is used for acquiring the automatic path data of the tracked equipment according to the joint parameters.
In a third aspect, in this embodiment, there is provided a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the path simulation method based on the three-dimensional scanning system according to the first aspect.
In a fourth aspect, in this embodiment, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the path simulation method based on the three-dimensional scanning system described in the first aspect.
Compared with the related art, the path simulation method, the path simulation device and the computer equipment based on the three-dimensional scanning system are applicable to the three-dimensional scanning system; the three-dimensional scanning system comprises tracking equipment, tracked equipment and a mechanical arm; acquiring initial path data of the tracked device for completing a preset work task by tracking the tracked device; the initial path data includes a first pose data set of the tracked device; when the tracked equipment is arranged at the tail end of the mechanical arm, determining a hand-eye matrix between the tracked equipment and the tail end of the mechanical arm; determining a second pose data set of the tail end of the mechanical arm according to the first pose data set and the hand-eye matrix; acquiring joint parameters of each joint of the mechanical arm based on the second pose data set; acquiring automatic path data of tracked equipment according to joint parameters; the problems of low working efficiency, repeated and complicated tasks and large difference of the execution results of the working tasks in the related technology are solved, an automatic simulation path is realized, the execution of the same working task is further completed according to the simulated path, the working efficiency is improved, and the difference between the execution results of the working tasks is reduced.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the other features, objects, and advantages of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a block diagram of a three-dimensional scanning system according to an embodiment of the present application;
FIG. 2 is a flow chart of a path simulation method based on a three-dimensional scanning system according to an embodiment of the present application;
FIG. 3 is a schematic diagram of the initial path data acquisition structure according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a second pose data set acquisition structure according to an embodiment of the present application;
Fig. 5 is a block diagram of a path simulation device based on a three-dimensional scanning system according to an embodiment of the present application.
In the figure: 10. tracking the device; 20. a tracked device; 30. a mechanical arm; 210. a first acquisition module; 220. a first processing module; 230. a second processing module; 240. a third processing module; 250. and a second acquisition module.
Detailed Description
The present application will be described and illustrated with reference to the accompanying drawings and examples for a clearer understanding of the objects, technical solutions and advantages of the present application.
Unless defined otherwise, technical or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terms "a," "an," "the," "these" and similar terms in this application are not intended to be limiting in number, but may be singular or plural. The terms "comprising," "including," "having," and any variations thereof, as used herein, are intended to encompass non-exclusive inclusion; for example, a process, method, and system, article, or apparatus that comprises a list of steps or modules (units) is not limited to the list of steps or modules (units), but may include other steps or modules (units) not listed or inherent to such process, method, article, or apparatus. The terms "connected," "coupled," and the like in this disclosure are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as used herein means two or more. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., "a and/or B" may mean: a exists alone, A and B exist together, and B exists alone. Typically, the character "/" indicates that the associated object is an "or" relationship. The terms "first," "second," "third," and the like, as referred to in this disclosure, merely distinguish similar objects and do not represent a particular ordering for objects.
The method embodiments provided in the present embodiment may be performed in a three-dimensional scanning system. Fig. 1 is a hardware configuration block diagram of the three-dimensional scanning system of the present embodiment. As shown in fig. 1, the three-dimensional scanning system includes a tracking device 10, a tracked device 20, and a robot arm 30; the tracked device 20 and the robotic arm 30 are located in a tracking field of view of the tracking device 10. A processor and a memory for storing data may be integrated in the tracking device 10, wherein the processor may include, but is not limited to, a processing means such as a microprocessor SoC or a programmable logic device FPGA.
The memory may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a path simulation method based on a three-dimensional scanning system in the present embodiment, and the processor executes the computer program stored in the memory, thereby executing various functional applications and data processing, that is, implementing the above-mentioned method. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory. In some examples, the memory may further include memory remotely located with respect to the processor, the remote memory being connectable to the terminal through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. In some examples, the processor may also be provided separately, such as where the processor may be a separately provided remote processing terminal.
Wherein the tracking device 10 refers to a binocular device with a tracking function and is responsible for shooting an image of the tracked device 20; during the operation of the path simulation method based on the three-dimensional scanning system, the tracked device 20 and the mechanical arm 30 are both positioned in the tracking view field of the tracking device 10, and the relative positions of the mechanical arm base and the tracking device 10 are kept unchanged. The tracking field of view is determined by the binocular camera related parameters of the tracking apparatus 10, which may be adjusted according to the usage scenario, thereby matching different usage scenarios. And the internal parameters and external parameters of the binocular camera need to be calibrated.
Wherein the tracked device 20 includes, but is not limited to, a scanning device, a welding device, etc., such as may be a hand-held structured light three-dimensional scanner, a light pen, or the tracking device 10, etc. The tracked device 20 has coded marker points affixed thereto so that the tracking device 10 records a first set of pose data at different angles. The light pen is a device for capturing images or data on the surface of an object, emits light beams through an optical sensor, and determines the position and the motion track of the light pen on the surface of the object according to returned light signals, so that high-precision data acquisition can be realized.
In this embodiment, a path simulation method based on a three-dimensional scanning system is provided, and fig. 2 is a flowchart of the path simulation method based on the three-dimensional scanning system in this embodiment, and is described with reference to fig. 1 and fig. 2.
As shown in fig. 2, the process includes the steps of:
step S210, tracking the tracked device 20 to obtain initial path data of the tracked device 20 for completing a preset work task; the initial path data includes a first set of pose data for tracked device 20;
Step S220, determining a hand-eye matrix between the tracked device 20 and the end of the mechanical arm when the tracked device 20 is mounted on the end of the mechanical arm;
Step S230, determining a second pose data set of the tail end of the mechanical arm according to the first pose data set and the hand-eye matrix;
step S240, obtaining joint parameters of each joint of the mechanical arm 30 based on the second pose data set;
Step S250, obtaining the automation path data of the tracked device 20 according to the joint parameters.
Specifically, the above steps are described with reference to fig. 3 and 4: the above steps can be considered to include three processes.
The first process is: initial path data is acquired. The initial path data may be the scan path data recorded after the hand-held scanning device scans, or may be the scan path data directly obtained by other modes such as obtaining the path data of the history scan. In this process, the task is preset, and the content of the task to be completed by the tracked device 20 is different according to different tasks. Work tasks include, but are not limited to, scanning tasks, welding tasks, calibration tasks, and the like. Then for different work tasks the tracked setting has a work path and a first pose data set corresponding to the work task. Such as: the scanning task corresponds to the scanning path and the first pose data of the tracked device 20 in each position in the scanning path. The tracking device 10 tracks the tracked device 20 to obtain initial path data of the tracked device 20 for completing a preset work task; the initial path data here includes the position of the tracked device 20 at different times and the corresponding first pose data set.
The second process is: the tracked device 20 is mounted at the end of the robotic arm and determines a second pose data set for the end of the robotic arm. In this process, it may be considered that the movement path of the end of the mechanical arm is consistent with the initial path data, and then the second pose data set of the end of the mechanical arm corresponding to the first pose data set needs to be determined, so that the mechanical arm 30 is ensured to automatically run to complete the corresponding work task. Firstly, determining a hand-eye matrix between the tracked device 20 and the tail end of the mechanical arm when the tracked device 20 is installed at the tail end of the mechanical arm; since the relative position of the robot base and the tracking device 10 remains unchanged during the execution of the above method, the second pose data set of the robot tip may be determined from the first pose data set and the hand-eye matrix.
The third process is: the automated path data is resolved. In this process, it is necessary to obtain joint parameters of each joint of the mechanical arm 30 by inverse kinematics calculation of the robot based on the second pose data set; that is, each second pose data has corresponding joint parameters of the joints of the robot arm 30, and the joint references represent the physical positions of the joints. From these joint parameters, automated path data for tracked device 20 may be obtained. The automated path data includes a second pose data set of the robotic arm tip, corresponding joint parameters, and corresponding control signals.
In the related art, if the same type of work task (such as scanning or welding a large number of workpieces with the same structure) needs to be processed, a three-dimensional scanning system is manually operated to finish the scanning or welding task according to a planned path, so that the problems of low work efficiency, repeated and complicated task and large difference of execution results of the work task exist; through the steps, the initial path data of the tracked device 20 for completing the preset work task is obtained by tracking the tracked device 20; the initial path data includes a first set of pose data for tracked device 20; determining a hand-eye matrix between the tracked device 20 and the tail end of the mechanical arm when the tracked device 20 is installed at the tail end of the mechanical arm; determining a second pose data set of the tail end of the mechanical arm according to the first pose data set and the hand-eye matrix; obtaining joint parameters of each joint of the mechanical arm 30 based on the second pose data set; obtaining automated path data of the tracked device 20 based on the joint parameters; the first pose data set in the initial path data and the related parameters of the mechanical arm 30 are utilized to realize an automatic simulation path, so that the execution of the same work task is completed according to the simulated path, the work efficiency is improved, and the difference between execution results of the work tasks is reduced; the problems of low working efficiency, repeated and complicated tasks and large difference of execution results of the working tasks in the related technology are solved.
In some of these embodiments, tracked device 20 is a scanning device affixed with a marker or a welding device affixed with a marker;
when the tracked device 20 is a scanning device, the preset work task is a scanning task;
when the tracked device 20 is a welding device, the preset work task is a welding task.
Specifically, the marking point may be a coding marking point; the tracking device 10 can distinguish the relative positions of the acquired different images by encoding the marker points, thereby reconstructing the marker points on the tracked device 20. The marked points can also be the non-coding marked points; the tracking device 10 distinguishes the relative positions of the acquired different images by the topology formed between the non-encoded marker points, thereby reconstructing the marker points on the tracked device 20.
The work tasks are also different for different tracked devices 20, but the overall implementation steps may be considered the same.
The following description will take, as an example, a scan corresponding to the scanning apparatus.
In some embodiments, the tracking the tracked device 20 in step S210 obtains initial path data of the tracked device 20 for completing a preset work task, including the following steps:
step S211, tracking the tracked device 20, and determining the pose of the position of the tracked device 20 at different moments;
In step S212, the first pose data set of the tracked device 20 corresponding to each pose in the coordinate system of the tracking device 10 is acquired, and initial path data is obtained.
Specifically, the initial path includes the location of tracked device 20 at different times and the corresponding first pose data set. That is, the tracked device 20 needs to complete the position of the tracked device at the designated moment for the same type of task, and shoot the detected object to acquire the image with the designated pose. Such as: the first pose data related to three positions in the initial path data are respectively as follows: rst0, rst1, rst2. The tracking device 10 converts the pose into the coordinate system of the tracking device 10 according to the coded mark points to obtain a corresponding first pose data set, and then obtains initial path data by combining the positions of the working device at different moments.
In this embodiment, for the same type of task, the initial path data can be automatically obtained only by executing once, and the preset task does not need to be adjusted and run back and forth.
In some embodiments, when the tracked device 20 is mounted at the end of the mechanical arm, the determining a hand-eye matrix between the tracked device 20 and the end of the mechanical arm in step S220 includes the following steps:
step S221, arranging the tracked equipment 20 at the tail end of the mechanical arm, and determining a hand-eye matrix between the tracked equipment 20 and the tail end of the mechanical arm through a hand-eye calibration algorithm;
The hand-eye matrix includes a first pose change matrix from the robot arm tip to the tracked device 20 and a second pose change matrix from the tracking device 10 to the robot arm base.
Specifically, the tracked device 20 is disposed at the end of the mechanical arm; the relative position of the arm base and the tracking device 10 remains unchanged, and the hand-eye matrix between the tracked device 20 and the arm tip is calculated using a hand-eye calibration algorithm. Wherein the hand-eye matrix comprises a first pose change matrix Rgs from the end of the robot arm to the tracked device 20 and a second pose change matrix Rtb from the tracking device 10 to the robot arm base. The hand-eye calibration algorithm can be realized by adopting the existing calibration algorithm, and the specific realization process is not limited.
In this embodiment, the hand-eye matrix can be rapidly and accurately calculated, so as to improve the efficiency of subsequent calculation.
In some of these embodiments, determining the second pose data set of the distal end of the manipulator according to the first pose data set and the hand-eye matrix in step S230 includes the steps of:
In step S231, according to the first pose change matrix, the second pose change matrix, and the first pose data set, the second pose data of the tail end of the mechanical arm is calculated when the tracking device 10 is in the current pose, and the second pose data set of the tail end of the mechanical arm is obtained.
Specifically, for the position of the tracked device 20 in each first pose data in the first pose data set, the tracked device 20 at the tail end of the mechanical arm needs to be adjusted to the corresponding position, and the second pose data of the tail end of the mechanical arm at the moment is calculated. The second pose data is a product of the first pose change matrix, and each of the first pose data in the first pose data set. Such as: the first pose data related to three positions in the initial path data are respectively as follows: rst0, rst1, rst2. The second pose data are then respectively: rgs Rst0 Rtb, rgs Rst1 Rtb, rgs Rst2 Rtb. The second pose data set is the set of these second pose data.
In this embodiment, the first pose data set is collected by using two pose change matrices, and the second pose data set can be rapidly calculated without involving complex operations.
In some of these embodiments, the obtaining joint parameters of each joint of the mechanical arm 30 based on the second pose data set in step S240 includes the steps of:
In step S241, the joint parameters of each joint of the manipulator 30 at the current pose of the manipulator end are resolved based on the second pose data set by the robot inverse kinematics.
Specifically, the robot inverse kinematics may be an integrated software algorithm, and the second pose data set is input into the software algorithm, so that the joint parameters of each joint of the mechanical arm 30 at the current pose of the tail end of the mechanical arm can be calculated. Generally, the inverse kinematics of the robot is related to the structure of the mechanical arm 30, the structure of the mechanical arm 30 is different, and the resolving process is also different. After the joint parameters of each joint of the mechanical arm 30 are obtained, the mechanical arm 30 can pass through the path related to the scanned initial path data to obtain the automatic path data of the tracked device 20, so as to achieve the effect of simulating the initial scanning.
In some embodiments, the path simulation method based on the three-dimensional scanning system further comprises the following steps:
After the automated path data of the tracked device 20 is obtained according to the joint parameters, the tail end of the mechanical arm is controlled to reach each target gesture based on each joint parameter, and the preset work task is completed.
Specifically, after the automatic path data is obtained, the mechanical arm 30 can control the operation of each joint according to the control signal corresponding to the joint parameter, so that the tail end of the mechanical arm reaches each target gesture, and the preset scanning task is further completed; therefore, the execution of the same work task is dealt with, the work efficiency is improved, and the difference between the execution results of the work task is reduced.
In other embodiments, for a welding task of the welding device, specific examples may refer to examples described in the scanning task embodiment and the optional implementation manner of the scanning device, which are not described in detail in this embodiment.
It should be noted that if it is a welding task, the welding apparatus includes a light pen and a welding device, and the initial path data is completed according to the light pen. The welding device is arranged at the tail end of the mechanical arm and automatically plans automatic path data. Assuming that the path of the weld path is determined by welding position 1, position 2 and position 3, the pose of the three positions under the coordinate system of the tracking device 10 can be determined by dotting the light pen, and then the mechanical arm 30 can be controlled to complete the corresponding welding task by adopting the same method.
It should be noted that the steps illustrated in the above-described flow or flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order other than that illustrated herein.
The embodiment also provides a path simulation device based on a three-dimensional scanning system, which is used for realizing the above embodiment and the preferred implementation manner, and the description is omitted. The terms "module," "unit," "sub-unit," and the like as used below may refer to a combination of software and/or hardware that performs a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware, are also possible and contemplated.
Fig. 5 is a block diagram of a path simulation apparatus based on a three-dimensional scanning system according to the present embodiment, and as shown in fig. 5, the apparatus is applicable to a three-dimensional scanning system; the three-dimensional scanning system comprises tracking equipment, tracked equipment and a mechanical arm; the tracked device and the mechanical arm are positioned in a tracking view field of the tracking device; the device comprises: a first acquisition module 210, a first processing module 220, a second processing module 230, a third processing module 240, and a second acquisition module 250;
a first obtaining module 210, configured to track a tracked device, and obtain initial path data of the tracked device for completing a preset task; the initial path data includes a first pose data set of the tracked device;
a first processing module 220, configured to determine a hand-eye matrix between the tracked device and the end of the mechanical arm when the tracked device is mounted on the end of the mechanical arm;
A second processing module 230, configured to determine a second pose data set of the end of the mechanical arm according to the first pose data set and the hand-eye matrix;
a third processing module 240, configured to obtain joint parameters of each joint of the mechanical arm based on the second pose data set;
a second obtaining module 250, configured to obtain automated path data of the tracked device according to the joint parameters.
By the aid of the device, the problems that in the related art, work efficiency is low, tasks are repeated and complicated, and execution results of the work tasks are large in difference are solved, an automatic simulation path is realized, execution of the same work tasks is completed according to the simulated path, work efficiency is improved, and difference among execution results of the work tasks is reduced.
In some embodiments, the first obtaining module 210 is further configured to track the tracked device, and determine the pose of the tracked device at the location of the tracked device at different moments;
And acquiring a first pose data set of the tracked equipment corresponding to each pose under the tracking equipment coordinate system to obtain initial path data.
In some of these embodiments, the tracked device is a scanning device with a marker attached thereto or a welding device with a marker attached thereto;
When the tracked equipment is scanning equipment, presetting a working task as a scanning task;
when the tracked equipment is welding equipment, the preset work task is a welding task.
In some embodiments, the first processing module 220 is further configured to set the tracked device at the end of the mechanical arm, and determine, through a hand-eye calibration algorithm, a hand-eye matrix between the tracked device and the end of the mechanical arm;
the hand-eye matrix includes a first pose change matrix from the end of the robotic arm to the tracked device and a second pose change matrix from the tracked device to the robotic arm base.
In some embodiments, the second processing module 230 is further configured to calculate, according to the first pose change matrix, the second pose change matrix, and the first pose data set, each second pose data of the distal end of the mechanical arm when the tracking device is in the current pose, and obtain the second pose data set of the distal end of the mechanical arm.
In some embodiments, the third processing module 240 is further configured to calculate, based on the second pose data set, joint parameters of each joint of the manipulator in the current pose by inverse kinematics of the robot.
In some embodiments, the path simulation device based on the three-dimensional scanning system further comprises an execution module; and the execution module is used for controlling the tail end of the mechanical arm to reach each target gesture based on each joint parameter after the automatic path data of the tracked equipment is obtained according to the joint parameters, so as to complete the preset work task.
The above-described respective modules may be functional modules or program modules, and may be implemented by software or hardware. For modules implemented in hardware, the various modules described above may be located in the same processor; or the above modules may be located in different processors in any combination.
There is also provided in this embodiment a computer device comprising a memory in which a computer program is stored and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
Optionally, the computer device may further include a transmission device and an input/output device, where the transmission device is connected to the processor, and the input/output device is connected to the processor.
Alternatively, in the present embodiment, the above-described processor may be configured to execute the following steps by a computer program:
S1, tracking tracked equipment to obtain initial path data of the tracked equipment for completing a preset work task; the initial path data includes a first pose data set of the tracked device;
s2, determining a hand-eye matrix between the tracked equipment and the tail end of the mechanical arm when the tracked equipment is arranged at the tail end of the mechanical arm;
s3, determining a second pose data set of the tail end of the mechanical arm according to the first pose data set and the hand-eye matrix;
s4, acquiring joint parameters of each joint of the mechanical arm based on the second pose data set;
and S5, acquiring automatic path data of the tracked equipment according to the joint parameters.
It should be noted that, specific examples in this embodiment may refer to examples described in the foregoing embodiments and alternative implementations, and are not described in detail in this embodiment.
In addition, in combination with the path simulation method based on the three-dimensional scanning system provided in the above embodiment, a storage medium may be provided in this embodiment to realize the path simulation method. The storage medium has a computer program stored thereon; the computer program, when executed by a processor, implements any of the three-dimensional scanning system-based path simulation methods of the above embodiments.
It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to be limiting. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure in accordance with the embodiments provided herein.
It is to be understood that the drawings are merely illustrative of some embodiments of the present application and that it is possible for those skilled in the art to adapt the present application to other similar situations without the need for inventive work. In addition, it should be appreciated that while the development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as a departure from the disclosure.
The term "embodiment" in this disclosure means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive. It will be clear or implicitly understood by those of ordinary skill in the art that the embodiments described in the present application can be combined with other embodiments without conflict.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the patent claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.
Claims (10)
1. A path simulation method based on a three-dimensional scanning system is characterized by being suitable for the three-dimensional scanning system; the three-dimensional scanning system comprises tracking equipment, tracked equipment and a mechanical arm; the tracked device and the mechanical arm are positioned in a tracking view field of the tracking device; the method comprises the following steps:
Tracking the tracked equipment to obtain initial path data of the tracked equipment for completing a preset work task; the initial path data includes a first pose data set of the tracked device;
determining a hand-eye matrix between the tracked equipment and the tail end of the mechanical arm when the tracked equipment is installed at the tail end of the mechanical arm;
Determining a second pose data set of the tail end of the mechanical arm according to the first pose data set and the hand-eye matrix;
Acquiring joint parameters of each joint of the mechanical arm based on the second pose data set;
And acquiring the automatic path data of the tracked equipment according to the joint parameters.
2. The path simulation method based on the three-dimensional scanning system according to claim 1, wherein the tracking the tracked device, obtaining initial path data of the tracked device for completing a preset work task, comprises:
tracking the tracked equipment and determining the pose of the position of the tracked equipment at different moments;
And acquiring a first pose data set of the tracked equipment corresponding to each pose under a tracking equipment coordinate system to obtain initial path data.
3. The path simulation method based on the three-dimensional scanning system according to claim 1, wherein the tracked device is a scanning device stuck with a mark point or a welding device stuck with a mark point;
when the tracked equipment is scanning equipment, the preset work task is a scanning task;
And when the tracked equipment is welding equipment, the preset work task is a welding task.
4. The three-dimensional scanning system-based path simulation method according to claim 1, wherein the determining the hand-eye matrix between the tracked device and the robot arm tip when the tracked device is mounted on the robot arm tip comprises:
Arranging the tracked equipment at the tail end of the mechanical arm, and determining a hand-eye matrix between the tracked equipment and the tail end of the mechanical arm through a hand-eye calibration algorithm;
the hand-eye matrix includes a first pose change matrix from the robotic arm tip to the tracked device and a second pose change matrix from the tracking device to the robotic arm base.
5. The three-dimensional scanning system-based path simulation method according to claim 4, wherein the determining the second pose data set of the robot arm tip according to the first pose data set and the hand-eye matrix comprises:
And calculating each second pose data of the tail end of the mechanical arm when the tracking equipment is in the current pose according to the first pose change matrix, the second pose change matrix and the first pose data set to obtain the second pose data set of the tail end of the mechanical arm.
6. The path modeling method based on the three-dimensional scanning system according to claim 1, wherein the obtaining joint parameters of each joint of the mechanical arm based on the second pose data set includes:
and calculating joint parameters of all joints of the mechanical arm at the current pose of the tail end of the mechanical arm based on the second pose data set through robot inverse kinematics.
7. The three-dimensional scanning system-based path simulation method according to claim 1, further comprising:
And after the automatic path data of the tracked equipment are obtained according to the joint parameters, controlling the tail end of the mechanical arm to reach each target gesture based on each joint parameter, and completing a preset work task.
8. A path simulation device based on a three-dimensional scanning system is characterized by being suitable for the three-dimensional scanning system; the three-dimensional scanning system comprises tracking equipment, tracked equipment and a mechanical arm; the tracked device and the mechanical arm are positioned in a tracking view field of the tracking device; the device comprises: the device comprises a first acquisition module, a first processing module, a second processing module, a third processing module and a second acquisition module;
The first acquisition module is used for tracking the tracked equipment and acquiring initial path data of the tracked equipment for completing a preset work task; the initial path data includes a first pose data set of the tracked device;
The first processing module is used for determining a hand-eye matrix between the tracked equipment and the tail end of the mechanical arm when the tracked equipment is installed at the tail end of the mechanical arm;
The second processing module is used for determining a second pose data set of the tail end of the mechanical arm according to the first pose data set and the hand-eye matrix;
the third processing module is used for obtaining joint parameters of each joint of the mechanical arm based on the second pose data set;
The second acquisition module is used for acquiring the automatic path data of the tracked equipment according to the joint parameters.
9. A computer device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the steps of the three-dimensional scanning system based path simulation method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the three-dimensional scanning system-based path simulation method of any one of claims 1 to 7.
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| CN202311829168.9A CN118081735A (en) | 2023-12-27 | 2023-12-27 | Path simulation method and device based on three-dimensional scanning system and computer equipment |
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