Distance measurement method and system of virtual fixture and mechanical arm control method and system

A technology of virtual fixture and distance measurement, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of inability to balance real-time and accuracy, achieve good portability and scalability, improve computing speed, and ensure real-time sexual effect

Active Publication Date: 2021-09-24
SHANGHAI ELECTRICGROUP CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a distance measurement method and system for a virtual fixture and a control method and system for a mechanical arm in order to overcome the defect that virtual fixture distance measurement cannot take into account both real-time and accuracy in the prior art

Method used

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  • Distance measurement method and system of virtual fixture and mechanical arm control method and system
  • Distance measurement method and system of virtual fixture and mechanical arm control method and system
  • Distance measurement method and system of virtual fixture and mechanical arm control method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0086] A distance measurement method for a virtual fixture, such as figure 1 As shown, the distance measurement method includes:

[0087] Step 110, obtaining point cloud data of the virtual fixture; the point cloud data includes a plurality of point cloud points on the surface of the virtual fixture and position data of each point cloud point;

[0088] Step 120, calculating and obtaining multi-scale block data of the virtual fixture according to the point cloud data;

[0089] Step 130, divide the surface of the virtual fixture into several sub-blocks according to the multi-scale block data, and calculate the first distance value between a target point outside the virtual fixture and the feature point of each sub-block; the feature point is each sub-block Any cloud point in the central area of ​​, or the central position point of each sub-block.

[0090] Step 140, selecting a plurality of target sub-blocks with the smallest first distance value;

[0091] Step 150, calculatin...

Embodiment 2

[0125] A method for controlling a robotic arm, such as Figure 5 As shown, the mechanical arm is provided with a cutter head, and the target point is set as the position point of the cutter head, and the control method of the mechanical arm includes:

[0126] Step 201, setting the position point of the cutter head as the target point;

[0127] Step 202, using the distance measurement method of the virtual fixture in embodiment 1 to obtain the minimum distance between the cutter head and the virtual fixture;

[0128] Step 203, generating a motion signal according to the minimum distance between the cutter head and the virtual fixture;

[0129] Step 204, controlling the mechanical arm to drive the cutter head to move according to the motion signal.

[0130] In this embodiment, it can be set that when the cutter head approaches the safe curved surface, the cutter head moves at a slower speed and generates resistance, or it can be set that when the cutter head moves to the bound...

Embodiment 3

[0132] A distance measurement system for virtual fixtures, such as Image 6 As shown, the distance measurement system includes a point cloud data acquisition module 1, a multi-scale block data calculation module 2, a sub-block division module 3, a distance value calculation module 4, a target sub-block selection module 5 and a minimum distance determination module 6;

[0133] The point cloud data acquisition module 1 is used to obtain the point cloud data of the virtual fixture, and the point cloud data includes a plurality of point cloud points on the surface of the virtual fixture and position data of each point cloud point;

[0134] The multi-scale block data calculation module 2 is used to calculate and obtain the multi-scale block data of the virtual fixture according to the point cloud data;

[0135] The sub-block division module 3 is used to divide the surface of the virtual fixture into several sub-blocks according to the multi-scale block data;

[0136] The distance ...

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Abstract

The invention discloses a distance measurement method and system of a virtual fixture and a control method and system of a mechanical arm. The distance measurement method includes: acquiring point cloud data of a virtual fixture, and the point cloud data includes multiple point cloud points on the surface of the virtual fixture and each The position data of each point cloud point; calculate the multi-scale block data of the virtual fixture according to the point cloud data; divide the surface of the virtual fixture into several sub-blocks according to the multi-scale block data, and calculate the relationship between a target point outside the virtual fixture and The first distance value between the feature points of each sub-block; Select a plurality of target sub-blocks with the first distance value minimum; Calculate the second distance value between the target point and each point cloud point of a plurality of target sub-blocks; Select the minimum value of the second distance value as the minimum distance between the target point and the virtual fixture. The invention performs multi-scale block after the point cloud data is acquired, so as to reduce the traversal of the target group, greatly improves the operation speed and ensures the real-time performance on the basis of ensuring the measurement accuracy.

Description

technical field [0001] The invention belongs to the field of manipulator control, and in particular relates to a distance measurement method and system for a virtual fixture, and a manipulator control method and system. Background technique [0002] Virtual fixture, in simple terms, is to guide and restrict the operator to control the remote robot through the relevant programs in the computer, helping the operator to complete the operation task efficiently and safely, especially in geographical survey, quality inspection, virtual inspection , digitization and many other fields are widely used. The virtual fixture is a spatial volume data gathered by a large amount of 3D point cloud data. In the process of use, the ranging problem is usually to calculate the shortest distance from a point outside the virtual fixture to the outer contour of the virtual fixture. According to the obtained distance The information is further fed back to guide the next action of the robot. [00...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1653B25J9/1671
Inventor 叶震李晓静
Owner SHANGHAI ELECTRICGROUP CORP
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