Three-dimensional scanning path planning method and device

Abstract

The invention relates to a three-dimensional scanning path planning method and device, and belongs to the technical field of three-dimensional scanning. The method comprises the steps: calculating theith scanning position of a scanner based on a to-be-scanned area set; determining an ith optimal effective coordinate set according to the ith scanning position of the scanner; and calculating an (i+ 1) th scanning area set based on the ith optimal effective coordinate set, and repeating the previous steps when the number of the coordinate points in the (i + 1) th scanning area set is greater than or equal to a preset value. A plurality of scanning positions can be determined through multiple cycle steps, the scanned area set continuously grows, the area set to be scanned reaches the agreedoverlap ratio, the final scanning positions from the first scanning position of the scanner to the Nth scanning position of the scanner are ranked, all the scanning positions are converted into the corresponding robot postures, the optimal three-dimensional scanning path is obtained, and thus high-efficiency, high-precision and automatic scanning of the robot is achieved.

Description

technical field [0001] The invention relates to the technical field of three-dimensional scanning, in particular to a method and device for planning a three-dimensional scanning path. Background technique [0002] Robot automated 3D scanning is a technology that uses a robot and a 3D scanner to perform non-contact measurement of the surface data of the measured object. In order to meet the size, shape and measurement requirements of different measured workpieces, the robot often needs to adopt different shooting paths. The traditional shooting path planning work is usually completed by the teaching engineer relying on personal experience. When the engineer receives the measurement requirements of the DUT and the user, he manually controls the robot to move to a certain estimated scanning position, and then performs the actual scanning. According to the scanning The results are used to judge whether the current location meets the measurement requirements. If it is not satisfi...

AI Technical Summary

Problems solved by technology

[0003] With the promotion of robotic automated 3D scanning technology, the working mode of gradually teaching the 3D scanning path based on the engineer's personal experience can no longer meet the rapidly growing user measurement needs.

First of all, the personal experience of engineers limits their ability to deal with different types of workpieces, and the differences in experience among different engineers will also lead to differences in teaching paths, which in turn affect measurement efficiency and even measurement accuracy; secondly, for a large number of measured workpieces or For users with high update frequency of measurement requirements, it is unacceptable to spend a lot of time and cost in the iterative process of manual teaching; finally, for suppliers that provide 3D inspection services, it is necessary to meet the growing needs of users through manual teaching. measurement needs, it is necessary to maintain a large-scale team of experienced engineers, which also means an increase in operating costs

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