Steel casting grinding method and device based on 3D virtual-real combination man-machine cooperation

Abstract

The invention discloses a steel casting grinding method and device based on 3D virtual-real combination man-machine cooperation. Firstly, casting three-dimensional point cloud is obtained, a polishing path is generated based on the casting three-dimensional point cloud, and then simulated polishing is conducted based on the polishing path. And the worker judges whether the polishing path is reasonable or not based on the casting three-dimensional point cloud and the target three-dimensional model, if not, the polishing path is corrected, and simulated polishing is repeated till the polishing path is reasonable. According to the method, the grinding path can be generated according to the three-dimensional point cloud of the steel casting, the grinding path can better fit the situation of the steel casting, and the machining requirements of castings of various models and sizes and different machining precision requirements can be met. And meanwhile, polishing simulation is further carried out, the reasonability of the polishing path is judged according to the effect of the target three-dimensional model, and the situation that the polishing robot carries out polishing based on the unreasonable polishing path is avoided. And compared with a fixed path grinding mode, the precision and the generation efficiency of steel casting grinding can be greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical processing, more particularly to a steel casting polishing method and device based on 3D virtual-real combination and man-machine cooperation. BACKGROUND

[0002] As an irreplaceable role in modern industrial production, steel castings play an important role in many fields such as the automobile industry, the mechanical manufacturing industry, the aerospace industry, etc. due to their good mechanical properties, high strength, and corrosion resistance. The burrs, burrs, and sand inclusions generated after casting need to be polished smooth. For steel castings, due to the influence of material properties, cooling speed, heat treatment process, and complexity of structural design, the size accuracy and surface quality of the finished product are greatly deviated from the initial design requirements. During use, the overall precision control of the entire casting is often not required. At present, most of the steel casting polishing is still mainly manual polishing, which has the problems of high labor intensity, low processing efficiency, and high waste rate.

[0003] At present, the automatic polishing scheme of the casting is mainly based on fixed path polishing. Based on the fixed path, the workpiece is fixed at a specific position, and the automatic polishing unit polishes the workpiece along the fixed path. The polishing precision is relatively difficult to control, and only simple parts can be automatically polished. Complex parts still need manual polishing. Therefore, the polishing efficiency and precision of the polishing based on the fixed path are low. SUMMARY

[0004] Therefore, the present application provides a steel casting polishing method and device based on 3D virtual-real combination and man-machine cooperation to solve the problems of low polishing efficiency and polishing precision of the existing automatic polishing method.

[0005] To achieve the above-mentioned purpose, the present scheme is as follows: A steel casting polishing method based on 3D virtual-real combination and man-machine cooperation, comprising: obtaining a three-dimensional point cloud of a steel casting; generating a polishing path based on the three-dimensional point cloud of the casting; simulating polishing based on the polishing path to obtain a target three-dimensional model after polishing; a worker judges whether the polishing path is reasonable based on the three-dimensional point cloud of the casting and the target three-dimensional model; If it is reasonable, issue a polishing instruction to make the polishing robot polish the steel casting based on the reasonable polishing path.

[0006] Preferably, after judging whether the polishing path is reasonable, it further comprises: If it is not reasonable, the worker manually corrects the polishing path and repeats the process of simulating polishing until a reasonable polishing path is obtained. The polishing robot is instructed to polish the steel casting based on the reasonable polishing path.

[0007] Preferably, the three-dimensional point cloud can be collected by a 3D camera.

[0008] A steel casting polishing device based on 3D virtual-real combination and human-machine cooperation, comprising: An image acquisition unit acquires a three-dimensional point cloud of the steel casting; A path generation unit generates a polishing path based on the three-dimensional point cloud; A simulation unit simulates polishing based on the polishing path to obtain a target three-dimensional model after polishing; A human-machine interaction unit is used for a worker to judge whether the initial polishing path is reasonable based on the three-dimensional point cloud of the casting and the target three-dimensional model; A control unit is used to issue a polishing instruction when the polishing path is reasonable, so that the polishing robot polishes the steel casting based on the reasonable polishing path.

[0009] Preferably, the device further comprises: A correction unit is used for the worker to manually correct the polishing path when the path is not reasonable.

[0010] According to the specific embodiments provided by the present application, the following technical effects are disclosed: The steel casting polishing method based on 3D virtual-real combination and human-machine cooperation provided by the present application first acquires a three-dimensional point cloud of the steel casting. Then, a polishing path is generated based on the three-dimensional point cloud, and simulation polishing is performed based on the polishing path to obtain a target three-dimensional model after polishing. Finally, the worker judges whether the initial polishing path is reasonable based on the three-dimensional point cloud of the casting and the target three-dimensional model. If it is reasonable, the polishing robot polishes the steel casting based on the reasonable polishing path. If it is not reasonable, the polishing path is corrected, and the simulation polishing is repeated until a reasonable polishing path is formed, and finally a polishing instruction is issued. The present application can generate a polishing path according to the three-dimensional point cloud of the steel casting. The polishing path can better fit the conditions of each steel casting, and can meet the processing requirements of castings of various sizes and different processing precision requirements. At the same time, the present application also performs polishing simulation, judges the rationality of the polishing path according to the effect of the target three-dimensional model, and avoids polishing by the polishing robot based on an unreasonable polishing path. Compared with the fixed path polishing method, the precision and generation efficiency of the steel casting polishing can be greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0012] Figure 1 A flowchart of a steel casting grinding method based on 3D virtual-real combination and human-machine collaboration provided in an embodiment of the present invention; Figure 2 A steel casting grinding system provided in an embodiment of the present invention; Figure 3 This is an enlarged view of a partial structure of the visual inspection system provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a steel casting forging device based on 3D virtual-real combination and human-machine collaboration, provided for an embodiment of the present invention. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] First, combined Figures 1-3 This paper introduces a 3D virtual-real combined human-machine collaboration method for grinding steel castings, as provided in an embodiment of the present invention. The steel casting grinding method can be based on, for example... Figure 2 The automated flexible polishing system shown is implemented. For example... Figures 2-3 As shown, the grinding system includes: 1. Host computer; 2. Control display console; 3. Industrial robot; 4. Quick connector; 5. Grinding tool; 6. Quick connector; 7. 3D laser camera; 8. Quick-change camera connection plate; 9. Tool placement table; 10. Steel casting; 11. Inspection platform. Figure 1 As shown, the method includes: Step S01: Obtain the three-dimensional point cloud of the steel casting.

[0015] Specifically, the topographic image can be captured by taking pictures with a 3D camera. The host computer 1 controls the industrial robot 3 to drive the 3D camera 7 mounted on it through the quick connector 4 to perform regional scanning of the steel casting 10 placed on the tool placement table 9, obtain the three-dimensional point cloud image of the casting, and display it on the display screen of the control display table 2.

[0016] Step S02: Generate a grinding path based on the 3D point cloud of the casting.

[0017] Specifically, first, the three-dimensional point cloud is filtered to remove noise points, outliers and other interference. Second, the three-dimensional point cloud image is unified in a predetermined coordinate system through coordinate system transformation. In the predetermined coordinate system, the point cloud is segmented to distinguish the object to be measured from the background. Then, the three-dimensional point cloud is feature extracted to obtain the surface profile of the object to be measured. Finally, the feature position is identified and classified through defect feature detection, and a polishing trajectory is generated to remove surface defects according to the defect characteristics and position using a path planning algorithm, and a polishing path is obtained.

[0018] Step S03, simulating polishing based on the polishing path.

[0019] Specifically, polishing simulation is performed according to the given initial polishing path to obtain the target three-dimensional model after polishing. The three-dimensional effect diagram of the polished workpiece is displayed on the visual detection system interface based on the target three-dimensional model. The polishing tool path is automatically generated according to the scanning result and the three-dimensional model of the machined workpiece is displayed.

[0020] Step S04, determining whether the polishing path is reasonable. Specifically, the staff determines whether the polishing path is reasonable based on the three-dimensional point cloud of the casting and the target three-dimensional model.

[0021] If it is reasonable, the following step S05 is directly executed, and if it is not reasonable, the following step S06 is executed.

[0022] Step S05, issuing a polishing instruction.

[0023] The instruction is issued to make the industrial robot 3 polish the steel casting based on the reasonable polishing path. The industrial robot 3 uses the quick connector 4 to replace the polishing tool 5 to complete the polishing.

[0024] Step S06, the staff manually corrects the polishing path.

[0025] Specifically, the staff can determine whether the initial polishing path is reasonable according to the three-dimensional point cloud of the steel casting and the target three-dimensional model after polishing. For the unreasonable polishing path, manual correction is performed, and step S03 is returned to perform simulation polishing until the polishing path reaches the ideal effect.

[0026] The present invention provides a 3D virtual-real combined human-machine collaborative method for grinding steel castings. First, a 3D point cloud of the steel casting is acquired. Then, a grinding path is generated based on the 3D point cloud, and simulated grinding is performed based on the grinding path to obtain a target 3D model after grinding. Finally, the operator judges the rationality of the initial grinding path based on the casting's 3D point cloud and the target 3D model. If rational, the grinding robot grinds the steel casting based on the rational grinding path. If not rational, the grinding path is corrected, and the simulated grinding is repeated until a rational grinding path is formed, and finally, a grinding command is issued. This application can generate a grinding path based on the 3D point cloud of the steel casting, and the grinding path can better fit the condition of each steel casting, meeting the processing needs of various casting sizes and different processing precision requirements. Simultaneously, this application also performs grinding simulation and judges the rationality of the grinding path based on the effect of the target 3D model, avoiding grinding by the grinding robot based on an unreasonable grinding path. Compared with fixed-path grinding methods, this can greatly improve the accuracy and generation efficiency of steel casting grinding.

[0027] The following describes the steel casting grinding device based on 3D virtual-real combination and human-machine collaboration provided by the embodiments of the present invention. The steel casting grinding device based on 3D virtual-real combination and human-machine collaboration described below can be referred to in correspondence with the steel casting grinding method based on 3D virtual-real combination and human-machine collaboration described above.

[0028] First, combine Figure 4 This paper introduces a steel casting grinding device based on 3D virtual-real integration and human-machine collaboration, such as... Figure 4 As shown, the steel casting grinding device based on 3D virtual-real integration and human-machine collaboration may include: Image acquisition unit 100 acquires the three-dimensional point cloud of the steel casting; Path generation unit 200 generates polishing paths based on 3D point clouds; Simulation unit 300 simulates grinding based on the grinding path to obtain the three-dimensional model of the target after grinding. The human-computer interaction unit 400 allows staff to judge whether the initial grinding path is reasonable based on the three-dimensional point cloud of the casting and the three-dimensional model of the target. The control unit 500 is used to issue grinding instructions when the grinding path is reasonable, so that the grinding robot can grind the steel casting based on the reasonable grinding path.

[0029] Furthermore, the device also includes: The correction unit is used by staff to manually correct the grinding path when the path is unreasonable.

[0030] Finally, it should be noted that the terms "first", "second", and the like, herein do not denote any order, quantity, combination, or importance, but rather are used to distinguish one element from another, and are not intended to denote the presence of any such actual relationship or order. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0031] The various embodiments in the specification are described with progression in this order of description. Embodiments having the same or similar descriptions are referenced by the same reference numerals, and an overlapping description is not repeated.

[0032] The above description of disclosed embodiments provides enabling disclosure sufficient for one of ordinary skill in the art to practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A steel casting polishing method based on 3D virtual-real combination and human-computer cooperation, characterized in that, The method comprises the following steps: acquiring a three-dimensional point cloud of a steel casting; generating a polishing path based on the three-dimensional point cloud of the casting; simulating polishing based on the polishing path to obtain a target three-dimensional model after polishing; judging whether the polishing path is reasonable based on the three-dimensional point cloud of the casting and the target three-dimensional model by a worker; if the polishing path is reasonable, issuing a polishing instruction to make a polishing robot polish the steel casting based on the reasonable polishing path.

2. The 3D virtual-real combined man-machine collaborative steel casting polishing method according to claim 1, characterized in that, After judging whether the polishing path is reasonable, the method further comprises the following steps: if the polishing path is not reasonable, manually correcting the polishing path by the worker, repeating the process of simulating polishing until a reasonable polishing path is obtained; issuing a polishing instruction to make the polishing robot polish the steel casting based on the reasonable polishing path.

3. The 3D virtual-real combined human-computer collaborative steel casting polishing method according to claim 1, characterized in that, The three-dimensional point cloud can be collected by a 3D camera.

4. A steel casting polishing device based on 3D virtual and real combination and human-computer cooperation, characterized in that, The device comprises: an image acquisition unit configured to acquire a three-dimensional point cloud of a steel casting; a path generation unit configured to generate a polishing path based on the three-dimensional point cloud; a simulation unit configured to simulate polishing based on the polishing path to obtain a target three-dimensional model after polishing; a human-computer interaction unit configured to judge whether the initial polishing path is reasonable based on the three-dimensional point cloud of the casting and the target three-dimensional model by a worker; a control unit configured to issue a polishing instruction to make a polishing robot polish the steel casting based on the reasonable polishing path when the polishing path is reasonable.

5. The steel casting polishing device based on 3D virtual and real combination and human-computer cooperation according to claim 4, characterized in that, The device further comprises: a correction unit configured to manually correct the polishing path by the worker when the polishing path is not reasonable.

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