A method for automatically adjusting the operation trajectory through the three-dimensional shape information of the real object

Abstract

The present invention proposes a method for automatically adjusting an operation trajectory through three-dimensional morphology information of a physical object, comprising: a trajectory offline editing and simulation unit: presetting a space-filling trajectory; a contour data acquisition unit: acquiring 3D contour information of a workpiece; a trajectory projection and automatic adjustment unit: receiving the space-filling trajectory and the 3D contour information of the workpiece, the trajectory projection and automatic adjustment unit first subdividing the space-filling trajectory into subdivided trajectories, then projecting the subdivided trajectories onto the 3D contour surface of the workpiece, and finally simplifying the subdivided trajectories into working trajectories; a trajectory execution unit: receiving the working trajectory and performing processing operations according to the working trajectory; through the method for automatically adjusting an operation trajectory through three-dimensional morphology information of a physical object, a technician can match a set of trajectory templates with a type of product, and even if similar products have slightly different external contours, there is no need to frequently perform trajectory editing and machine teaching of the corresponding process segments, which greatly reduces the workload of technicians and thus reduces labor costs.

Description

Technical Field

[0001] The present invention relates to the field of automated processing, and in particular to a method for automatically adjusting an operation trajectory through three-dimensional shape information of a physical object. Background Art

[0002] In the manufacturing industry, there are a large number of scenarios where technicians need to develop corresponding tool head operation trajectories based on different batches of workpieces at the work site. In many cases, specific space-filling trajectories are required. The technical requirements for space-filling trajectories are:

[0003] 1. The tool head operating radius needs to move along the trajectory to cover the entire surface of the workpiece more evenly;

[0004] 2. During the operation, the tool head needs to move appropriately beyond the contour of the workpiece, rather than accurately tracing the contour of the workpiece;

[0005] 3. During the operation, the tool head movement speed is required to be constant and the distance between the tool head and the workpiece surface is required to be constant to ensure machining uniformity;

[0006] 4. During the operation, it is required to minimize turning or stopping to ensure execution efficiency.

[0007] In response to the above technical requirements, the industry currently usually adopts a combination of direct teaching and software offline teaching simulation. The disadvantage of this solution is that when it comes to complex processing surfaces, engineers usually need to spend a lot of time on manual teaching operations, and the versatility of the resulting trajectory is generally very low. Even if it is used on similar products with subtle differences in shape contours (three-dimensional morphology), it is necessary to start from scratch to plan the trajectory and teach, resulting in significantly high labor costs. Summary of the invention

[0008] In order to solve the above problems, the present invention proposes a method for automatically adjusting an operation trajectory through three-dimensional shape information of a physical object.

[0009] The present invention is achieved through the following technical solutions:

[0010] The present invention provides a method for automatically adjusting an operation trajectory according to three-dimensional shape information of a physical object. The method for automatically adjusting an operation trajectory according to three-dimensional shape information of a physical object comprises:

[0011] Track offline editing and simulation unit: The track offline editing and simulation unit presets a space filling track;

[0012] Contour data acquisition unit: the contour data acquisition unit acquires 3D contour information of the workpiece;

[0013] Trajectory projection and automatic adjustment unit: the trajectory projection and automatic adjustment unit receives the space-filling trajectory and the 3D contour information of the workpiece, and first subdivides the space-filling trajectory into subdivided trajectories, then projects the subdivided trajectories onto the 3D contour surface of the workpiece, and finally simplifies the subdivided trajectories into working trajectories;

[0014] Trajectory execution unit: The trajectory execution unit receives the working trajectory and performs processing operations according to the working trajectory.

[0015] Furthermore, the trajectory projection and automatic adjustment unit uniformly inserts more trajectory points on the space-filling trajectory so that the trajectory points included in the space-filling trajectory are denser but the overall path remains unchanged, thereby subdividing the space-filling trajectory into subdivided trajectories.

[0016] Furthermore, the steps of projecting the subdivided trajectory onto the 3D contour surface of the workpiece and simplifying the subdivided trajectory into a working trajectory are as follows:

[0017] S1-1: converting the subdivided trajectory into the 3D contour information of the workpiece and making the subdivided trajectory cover the entire processing area of ​​the workpiece;

[0018] S1-2: A spatial range is set for the position corresponding to each trajectory point of the subdivided trajectory;

[0019] S1-3: Calculate the projection point of each trajectory point of the subdivided trajectory in the corresponding spatial range;

[0020] S1-4: Delete the trajectory points in the subdivided trajectory that cannot obtain the projection point from the subdivided trajectory;

[0021] S1-5: According to the trajectory obtained in step S1-4, except for the first two trajectory points of the trajectory, calculate the angle formed by each trajectory point and the two trajectory points before and after it on the projection surface, select non-critical trajectory points according to the angle, and delete the non-critical trajectory points to form a working trajectory.

[0022] Beneficial effects of the present invention:

[0023] Through the method of automatically adjusting the operation trajectory through the three-dimensional morphology information of the real object, the technicians can match a set of trajectory templates with a type of product. Even if the same type of products have slight differences in appearance contours, there is no need to frequently perform trajectory editing and machine teaching of the corresponding process sections, which greatly reduces the workload of technicians and thus reduces labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic flow chart of the method for automatically adjusting the operation trajectory through the three-dimensional appearance information of the physical object of the present invention. DETAILED DESCRIPTION

[0025] In order to more clearly and completely illustrate the technical solution of the present invention, the present invention is further described below in conjunction with the accompanying drawings.

[0026] Please refer to Figure 1 The present invention proposes a method for automatically adjusting an operation trajectory according to three-dimensional shape information of a physical object, and the method for automatically adjusting an operation trajectory according to three-dimensional shape information of a physical object comprises:

[0027] Track offline editing and simulation unit: The track offline editing and simulation unit presets a space filling track;

[0028] Contour data acquisition unit: the contour data acquisition unit acquires 3D contour information of the workpiece;

[0029] Trajectory projection and automatic adjustment unit: the trajectory projection and automatic adjustment unit receives the space-filling trajectory and the 3D contour information of the workpiece, and first subdivides the space-filling trajectory into subdivided trajectories, then projects the subdivided trajectories onto the 3D contour surface of the workpiece, and finally simplifies the subdivided trajectories into working trajectories;

[0030] Trajectory execution unit: The trajectory execution unit receives the working trajectory and performs processing operations according to the working trajectory.

[0031] In this embodiment, the trajectory offline editing and simulation unit and the contour data acquisition unit communicate with the trajectory projection and automatic adjustment unit respectively; the trajectory projection and automatic adjustment unit communicates with the trajectory execution unit; the technician can match a set of trajectory templates with a type of product through the method of automatically adjusting the operation trajectory through the three-dimensional morphology information of the real object. Even if the same type of products have slight differences in appearance contours, there is no need to frequently perform trajectory editing and machine teaching work for the corresponding process sections, which greatly reduces the workload of technicians and thus reduces labor costs.

[0032] Furthermore, the trajectory projection and automatic adjustment unit uniformly inserts more trajectory points on the space-filling trajectory so that the trajectory points included in the space-filling trajectory are denser but the overall path remains unchanged, thereby subdividing the space-filling trajectory into subdivided trajectories.

[0033] In this embodiment, the space filling trajectory is subdivided into subdivided trajectories to make the processing operation of the trajectory execution unit more accurate.

[0034] Furthermore, the steps of projecting the subdivided trajectory onto the 3D contour surface of the workpiece and simplifying the subdivided trajectory into a working trajectory are as follows:

[0035] S1-1: converting the subdivided trajectory into the 3D contour information of the workpiece and making the subdivided trajectory cover the entire processing area of ​​the workpiece;

[0036] S1-2: A spatial range is set for the position corresponding to each trajectory point of the subdivided trajectory;

[0037] S1-3: Calculate the projection point of each trajectory point of the subdivided trajectory in the corresponding spatial range;

[0038] S1-4: Delete the trajectory points in the subdivided trajectory that cannot obtain the projection point from the subdivided trajectory;

[0039] S1-5: According to the trajectory obtained in step S1-4, except for the first two trajectory points of the trajectory, calculate the angle formed by each trajectory point and the two trajectory points before and after it on the projection surface, select non-critical trajectory points according to the angle, and delete the non-critical trajectory points to form a working trajectory.

[0040] In this embodiment, through steps S1-1 to S1-3, the trajectory projection and automatic adjustment unit adjusts the direction of the subdivided trajectory so that the trajectory points of the subdivided trajectory fit with the 3D contour surface of the workpiece, thereby projecting the subdivided trajectory onto the 3D contour surface of the workpiece; the projection point needs to simultaneously consider the extension of the surface within a certain range of the ray to ensure that the projected trajectory fully covers the entire processing area of ​​the workpiece.

[0041] In this embodiment, through steps S1-4 to S1-5, the trajectory projection and automatic adjustment unit deletes the trajectory points in the subdivided trajectory that exceed the 3D contour of the workpiece and the non-critical trajectory points in the subdivided trajectory, thereby simplifying the subdivided trajectory into a working trajectory; for the trajectory point Pn (n>1), if the angle formed by Pn-1, Pn, and Pn+1 on the projection surface is 170-180 degrees, it means that the trajectory point is a straight line transition point, and deletion has little effect on the trajectory, so the trajectory point is a non-critical trajectory point.

[0042] Of course, the present invention may have many other implementations. Based on this implementation, other implementations obtained by ordinary technicians in this field without any creative work are all within the scope of protection of the present invention.

Claims

1. A method for automatically adjusting an operation trajectory through three-dimensional shape information of a physical object, characterized in that: The method for automatically adjusting the operation trajectory through the three-dimensional appearance information of the physical object includes: Track offline editing and simulation unit: The track offline editing and simulation unit presets the space filling track; Contour data acquisition unit: the contour data acquisition unit acquires 3D contour information of the workpiece; Trajectory projection and automatic adjustment unit: the trajectory projection and automatic adjustment unit receives the space-filling trajectory and the 3D contour information of the workpiece, and first subdivides the space-filling trajectory into subdivided trajectories, then projects the subdivided trajectories onto the 3D contour surface of the workpiece, and finally simplifies the subdivided trajectories into working trajectories; Trajectory execution unit: The trajectory execution unit receives the working trajectory and performs processing operations according to the working trajectory; The trajectory projection and automatic adjustment unit uniformly inserts more trajectory points on the space-filling trajectory so that the trajectory points included in the space-filling trajectory are denser but the overall path remains unchanged, thereby subdividing the space-filling trajectory into subdivided trajectories; The steps of projecting the subdivided trajectory onto the 3D contour surface of the workpiece and simplifying the subdivided trajectory into a working trajectory are as follows: S1-1: converting the subdivided trajectory into the 3D contour information of the workpiece and making the subdivided trajectory cover the entire processing area of ​​the workpiece; S1-2: A spatial range is set for the position corresponding to each trajectory point of the subdivided trajectory; S1-3: Calculate the projection point of each trajectory point of the subdivided trajectory in the corresponding spatial range; S1-4: Delete the trajectory points in the subdivided trajectory that cannot obtain the projection point from the subdivided trajectory; S1-5: According to the trajectory obtained in step S1-4, except for the first two trajectory points of the trajectory, calculate the angle formed by each trajectory point and the two trajectory points before and after it on the projection surface, select non-critical trajectory points according to the angle, and delete the non-critical trajectory points to form a working trajectory.

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