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Method for generating three-dimensional pipeline according to three-dimensional feasible path

A path generation and pipeline technology, applied in the direction of electrical digital data processing, special data processing applications, instruments, etc., can solve the problems that pipelines cannot be spliced ​​smoothly, and the cross-sectional area of ​​the same pipeline is different, so as to achieve efficient and easy implementation of algorithms, pipeline flexible effects

Active Publication Date: 2014-02-12
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current algorithm cannot satisfy: 1) The cross-sectional area of ​​the same pipe is different
2) Different pipes cannot be spliced ​​smoothly
3) Pipelines cannot be represented and saved with finite units

Method used

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  • Method for generating three-dimensional pipeline according to three-dimensional feasible path
  • Method for generating three-dimensional pipeline according to three-dimensional feasible path
  • Method for generating three-dimensional pipeline according to three-dimensional feasible path

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Embodiment Construction

[0039] The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0040] The method for generating a three-dimensional pipeline according to a three-dimensional feasible path includes the following steps:

[0041] S1. Discretization of feasible paths;

[0042] S2. Discretization of pipelines;

[0043] S3. Establishing a pipeline unit;

[0044] S4, generate pipeline;

[0045] S5. Multiple splicing.

[0046] Said step S1 comprises the following steps:

[0047] S11, such as figure 1 As shown in , the path is fitted using the discrete method, and a series of path units and discrete points are obtained. The length τ of the path unit can be defined according to the fitting accuracy. The form of the path is to determine the start point and end point of the path, and the shape of the path can be adjusted.

[0048] Described step S2 com...

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Abstract

The invention provides a method for generating a three-dimensional pipeline according to a three-dimensional feasible path, which includes the steps: firstly, discretizing the feasible path to obtain a series of path units; secondly, discretizing the pipeline and establishing a pipeline unit according each path unit; thirdly, establishing the pipeline units, performing vector operation to obtain a series of point sets according to discrete points and the path units on the path, and generating a triangular strip so as to generate the pipeline unit; and fourthly, joining pipelines with different pipeline openings. By the method, the three-dimensional pipeline adjustable in smoothness, opening shape, radius and length can be generated. The method has the advantages that the pipeline designed and generated is flexible, seamless jointing of pipelines with different pipeline openings in a three-dimensional space is realized, the operation for designing and generating the pipeline is efficient and easy to implement, and the like.

Description

technical field [0001] The invention belongs to the field of robot path planning, in particular to a method for generating a three-dimensional safe pipeline according to a three-dimensional feasible path of a robot. It can be applied to robot path planning, robot virtual fixture, virtual reality special pipeline generation, computer-aided design multi-shape pipeline design. Background technique [0002] In computer-aided design CAD, the generation of pipelines is generally relatively regular pipelines, and the cross-sectional edges can be expressed by equations. [0003] The pipeline generation algorithm used by AUTOCAD is SweepSurf. This algorithm can automatically generate a pipeline by giving a path and a cross-sectional representation equation. The cross-sectional area of ​​the pipeline is fixed, and the shape of the entire pipeline is consistent. This method Adaptive pipelines cannot be generated in robot path planning. [0004] In the field of robot estimation and pl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/50
Inventor 张平杜广龙朱张斌
Owner SOUTH CHINA UNIV OF TECH
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