Three-dimensional point cloud real-time collecting device and robot polishing path planning method

Abstract

The invention discloses a three-dimensional point cloud real-time collecting device comprising a robot, a laser displacement sensor and a real-time robot control system. The laser displacement sensor is arranged at the tail end of the robot through the clamp. The real-time robot control system is connected with the robot and the laser displacement sensor through real-time industrial Ethernet bus and used for enabling reading of the laser displacement sensor to be synchronous with the pose of the robot, one-dimensional measurement is extended to three-dimensional measurement, and then the three-dimension point cloud of a workpiece is obtained through scanning. The invention further discloses a robot polishing path planning method based on the three-dimensional point cloud real-time collecting device. The pose of the robot during planning is planned based on the position information and normal information of the three-dimensional point cloud of the workpiece, the pose of the robot is corrected with a scanning path, and then the polishing path of the robot is formed. The three-dimensional point cloud real-time collecting device and the robot polishing path planning method based on the three-dimensional point cloud real-time collecting device are high in precision and have the advantages of having real-time performance and flexibility, the cost is low, and the requirement for machining of different workpieces can be met.

Description

technical field [0001] The invention is applied to the acquisition of three-dimensional point cloud and robot grinding, not only involves the device for acquiring three-dimensional point cloud based on real-time communication between the laser displacement sensor and the robot, but also involves the planning method of the robot's grinding trajectory based on the three-dimensional point cloud, and provides a new set of The 3D point cloud acquisition method provides a new test method and device for the robot to be used in the grinding field. Background technique [0002] Today, 3D point cloud acquisition equipment mainly includes 3D laser scanners, 2D line laser displacement sensors and auxiliary motion. The above two methods can acquire dense point clouds with a large number of points. In addition, the point cloud can also be obtained by a three-coordinate measuring instrument. The position accuracy of the point cloud obtained by this method is high, and it is a sparse point ...

AI Technical Summary

Problems solved by technology

At present, robot technology has been successfully applied to complex workpiece grinding by using robot offline programming technology, but offline programming technology requires the calibration of tool and workpiece coordinate system in advance, and due to workpiece clamping error and processing inconsistency, robot grinding is always difficult. When batching workpieces, the accuracy is inconsistent, and even defective products appear

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