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

A technology of 3D point cloud and real-time acquisition, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inconsistent accuracy, waste and defective products, and workpiece clamping errors

Pending Publication Date: 2017-09-05
SOUTH CHINA UNIV OF TECH
View PDF6 Cites 53 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 co

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Three-dimensional point cloud real-time collecting device and robot polishing path planning method
  • Three-dimensional point cloud real-time collecting device and robot polishing path planning method
  • Three-dimensional point cloud real-time collecting device and robot polishing path planning method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0080] Such as figure 1 As shown, a real-time acquisition device of a three-dimensional point cloud includes a robot 1, a laser displacement sensor 2, a robot real-time control system 3 based on a real-time operating system, and the laser displacement sensor 2 is arranged at the end of the robot 1 through a clamp. The robot 1 is a six-degree-of-freedom articulated robot, and the robot real-time control system 3 connects the robot 1 and the laser displacement sensor 2 through a real-time industrial Ethernet bus to synchronize the readings of the laser displacement sensor 2 and the pose of the robot 1 , extending the one-dimensional measurement to three-dimensional measurement, so as to obtain the three-dimensional point cloud of the workpiece 4 through scanning.

[0081] The real-time control system of the robot communicates with the robot 1 and the laser displacement sensor 2 at the millisecond level.

[0082] During laser scanning, the movement of the six-axis vertical robot...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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 ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/163B25J9/1664
Inventor 张铁张美辉
Owner SOUTH CHINA UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap