A machining trajectory deformation compensation method and system

Abstract

The present invention proposes a machining trajectory deformation compensation method and system, wherein the machining trajectory deformation compensation method comprises the following steps: obtaining an initial trajectory; obtaining an image; performing preprocessing operations such as splicing and calibration on the obtained image; setting a plurality of anchor point measurement boxes, and calculating and obtaining anchor points within a corresponding range; generating a trajectory point measurement box at the initial trajectory point position, and setting a trajectory point coordinate calculation method corresponding to each trajectory point measurement box; obtaining an anchor point; updating the position of the corresponding anchored trajectory point measurement box according to the obtained anchor point coordinate; calculating the coordinates in a set manner within the range of the trajectory point measurement box and updating them to the corresponding trajectory point to obtain a correction trajectory; directly executing the correction trajectory; completing the above steps through the initial trajectory acquisition unit, image acquisition unit, visual processing unit, and trajectory execution unit of the machining trajectory deformation compensation system, it is possible to achieve the correction or positioning of a large and complex trajectory in a relatively simple manner.

Description

Technical Field

[0001] The present invention relates to the field of automated machining technology, and in particular to a machining track deformation compensation method and system. Background Art

[0002] In modern manufacturing, some scenarios require technicians to formulate corresponding tool head operation trajectories according to different batches of workpieces at the work site. In many cases, a specific mesh trajectory is required. The mesh trajectory has the following disadvantages: its trajectory is distributed in a mesh on the surface of the workpiece and cannot be completed in one stroke; the operation trajectory needs to go around a large number of hole positions; the state of the tool head needs to be switched during the operation, such as the switch amount of glue when dispensing; the tool head needs to be subjectively set to avoid certain parts during the operation; there are special connection requirements between multiple strokes of the trajectory, such as the requirement for appropriate avoidance of the T-shaped intersection; In response to the above technical problems, the industry currently usually adopts a combination of direct teaching or offline teaching simulation using software, and there are also more general solutions using 2D or 3D visual systems for auxiliary positioning. Among them, the combination of teaching and offline is the most common at present. The disadvantage of this solution is that it requires engineers to spend a lot of time on manual teaching operations.

[0003] There are a few 2D and 3D visual trajectory correction solutions on the market. What they have in common is that they use visually captured point information to bind trajectory points. They all require practical high-precision images for stitching and precision calibration. This method only uses the position change of feature points to correct the position of trajectory points, but does not take into account the more subtle deformation problems between feature points. For example, the bending of the workpiece on a straight line between two circular hole feature points greatly reduces the deformation compensation ability of trajectory correction. Such trajectory correction solutions are not suitable for some plate-like workpieces with multiple holes and narrow edges. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a machining trajectory deformation compensation method and system.

[0005] The present invention is achieved through the following technical solutions:

[0006] The present invention provides a machining track deformation compensation method, which comprises the following steps:

[0007] Step 1: Edit the trajectory or import the trajectory from the outside to obtain the initial trajectory;

[0008] Step 2: Get the image;

[0009] Step 3: Perform preprocessing operations such as stitching and calibration on the images obtained in step 2;

[0010] Step 4: Set multiple anchor point measurement boxes in the image processed in step 3 and calculate the anchor points within the corresponding range;

[0011] Step 5: Generate a trajectory point measurement box at the initial trajectory point position, and set the trajectory point coordinate calculation method corresponding to each trajectory point measurement box;

[0012] Step 6: Anchor the trajectory point measurement box generated in step 5 to the anchor point obtained in step 4;

[0013] Step 7: Repeat step 2 to obtain the image;

[0014] Step 8: Perform pre-processing operations such as stitching and calibration on the images obtained in step 7;

[0015] Step 9: Set multiple anchor point measurement boxes in the image processed in step 8 and calculate the anchor points within the corresponding range;

[0016] Step 10: Update the position of the corresponding anchored trajectory point measurement box according to the anchor point coordinates obtained in step 9;

[0017] Step 11: Calculate the coordinates within the range of the trajectory point measurement box according to the method set in step 5 and update them to the corresponding trajectory points to obtain the corrected trajectory;

[0018] Step 12: Directly execute the corrected trajectory or use the deviation between the corrected trajectory and the initial trajectory to correct other template trajectories and execute.

[0019] The present invention proposes a machining trajectory deformation compensation system comprising: an initial trajectory acquisition unit, used for trajectory editing and importing; an image acquisition unit, used for acquiring images; a visual processing unit, used for image splicing and calibration and other preprocessing, and capable of performing coordinate anchoring and trajectory correction on the preprocessed image; and a trajectory execution unit, used for executing the trajectory after correction by the visual processing unit.

[0020] Beneficial effects of the present invention:

[0021] The machining trajectory deformation compensation method and system proposed in the present invention have a special multi-level correction mechanism. On certain large and complex workpieces, it is possible to achieve the correction or positioning of large and complex trajectories in a relatively simple manner without the need for too high-precision image stitching and calibration accuracy. Compared with traditional trajectory correction schemes, it has higher and more flexible deformation compensation capabilities and is convenient for subsequent modification and editing of the trajectory. The machining trajectory deformation compensation method and system are particularly suitable for the deformation compensation of the operating path on certain porous and narrow-edge plate-like workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural diagram of the machining track deformation compensation system of the present invention. DETAILED DESCRIPTION

[0023] 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.

[0024] Please refer to Figure 1 The present invention proposes a machining trajectory deformation compensation method, which comprises the following steps: step 1: perform trajectory editing or import trajectory from outside to obtain an initial trajectory; step 2: obtain an image; step 3: perform pre-processing operations such as splicing and calibration on the image obtained in step 2; step 4: set multiple anchor point measurement boxes in the image processed in step 3 and calculate the anchor points within the corresponding range; step 5: generate a trajectory point measurement box at the initial trajectory point position, and set the trajectory point coordinate calculation method corresponding to each trajectory point measurement box; step 6: anchor the trajectory point measurement box generated in step 5 to the nearest step in step 7; step 8: anchor the trajectory point measurement box generated in step 5 to the nearest step in step 9; step 10: anchor the trajectory point measurement box generated in step 11 to the nearest step in step 12; step 11: anchor the trajectory point measurement box generated in step 12 to the nearest step in step 13; step 12: anchor the trajectory point measurement box generated in step 13 to the nearest step in step 14; step 13: anchor the trajectory point measurement box generated in step 14 to the nearest step in step 15; step 14: anchor the trajectory point measurement box generated in step 15 to the nearest step in step 16; step 15: anchor the trajectory point measurement box generated in step 16 to the nearest step in step 17; step 16: anchor the trajectory point measurement box generated in step 17 to the nearest step in step 18 4; Step 7: Repeat the operation of step 2 to obtain an image; Step 8: Perform pre-processing operations such as stitching and calibration on the image obtained in step 7; Step 9: Set multiple anchor point measurement boxes in the image processed in step 8 and calculate the anchor points within the corresponding range; Step 10: Update the position of the corresponding anchored trajectory point measurement box according to the coordinates of the anchor points obtained in step 9; Step 11: Calculate the coordinates within the range of the trajectory point measurement box in the manner set in step 5 and update them to the corresponding trajectory points to obtain the corrected trajectory; Step 12: Directly execute the corrected trajectory or use the deviation between the corrected trajectory and the initial trajectory to correct other template trajectories and execute them.

[0025] A machining trajectory deformation compensation system proposed in the present invention includes: an initial trajectory acquisition unit, which is used for trajectory editing and importing; an image acquisition unit, which is used for acquiring images; a visual processing unit, which is used for pre-processing such as image splicing and calibration, and can perform coordinate anchoring and trajectory correction on the pre-processed image; and a trajectory execution unit, which is used to execute the trajectory after correction by the visual processing unit.

[0026] In steps 1-12, the measurement box, anchor point, anchor point measurement box, trajectory point measurement box, and trajectory point measurement box anchored to the nearest anchor point and template trajectory are mentioned. The above-mentioned contents are explained as follows: Measurement box: 2D or 3D box-shaped space; Anchor point measurement box: used to calculate point coordinates in the image, and the obtained point coordinates are used to anchor or update the "trajectory point measurement box"; Anchor point: Point coordinates calculated in the corresponding area of ​​the image using the "anchor point measurement box"; Trajectory point measurement box: used to calculate point coordinates in the image, and the obtained point coordinates are used to update the operation trajectory; Trajectory point measurement box anchored to the nearest anchor point: For each "trajectory point measurement box", calculate the current closest anchor point, calculate and save the positional relationship between the two, and use the positional relationship to update the corresponding trajectory point measurement box when performing the operation process; Template trajectory: can be obtained from the initial trajectory acquisition unit or by other means.

[0027] In this embodiment, the processing trajectory deformation compensation method is divided into two main processes. The first process is the template establishment and modification process. The first process includes steps 1 to 6, and the second process includes steps 7 to 12. The initial trajectory acquisition unit performs trajectory editing operations or imports trajectories from the outside to obtain the initial trajectory and complete step 1. The image acquisition unit is the same as the image acquisition unit on the traditional 2D and 3D visual trajectory correction system, and both use image acquisition devices to obtain image information. The visual processing unit is based on the existing machine vision processing system. The visual processing unit is different from the processing unit on the traditional 2D and 3D visual trajectory correction system. A measuring box is provided in the visual processing unit. The measuring box is a 2D or 3D box-shaped space, which is a device for the visual processing unit to measure and obtain data. All steps except steps 1, 2, 7, and 12 are completed by the visual processing unit. The calculation formula used in the entire step is a common calculation formula. The visual processing unit uses the initial trajectory to produce a measuring box and binds the coordinates of the measuring box itself to the nearest feature point on the image that is easy to extract. The corrected trajectory is obtained by comparing the coordinates of the first process with the second process and calculating the coordinates through a calculation formula. Finally, the trajectory execution unit executes the trajectory correction command.

[0028] 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 machining trajectory deformation compensation method, characterized in that: The machining trajectory deformation compensation method comprises the following steps: Step 1: Edit the trajectory or import the trajectory from the outside to obtain the initial trajectory; Step 2: Get the image; Step 3: Perform stitching and calibration preprocessing operations on the images obtained in step 2; Step 4: Set multiple anchor point measurement boxes in the image processed in step 3 and calculate the anchor points within the corresponding range; Step 5: Generate a trajectory point measurement box at the initial trajectory point position, and set the trajectory point coordinate calculation method corresponding to each trajectory point measurement box; Step 6: Anchor the trajectory point measurement box generated in step 5 to the anchor point obtained in step 4; Step 7: Repeat step 2 to obtain the image; Step 8: Perform stitching and calibration preprocessing operations on the images obtained in step 7; Step 9: Set multiple anchor point measurement boxes in the image processed in step 8 and calculate the anchor points within the corresponding range; Step 10: Update the position of the corresponding anchored trajectory point measurement box according to the anchor point coordinates obtained in step 9; Step 11: Calculate the coordinates within the range of the trajectory point measurement box according to the method set in step 5 and update them to the corresponding trajectory points to obtain the corrected trajectory; Step 12: Directly execute the corrected trajectory or use the deviation between the corrected trajectory and the initial trajectory to correct other template trajectories and execute.

2. A machining trajectory deformation compensation system, characterized in that: For applying the machining track deformation compensation method according to claim 1, the machining track deformation compensation system comprises: Initial track acquisition unit, used for track editing and importing; An image acquisition unit, used for acquiring an image; The visual processing unit is used for image stitching and calibration preprocessing, and can perform coordinate anchoring and trajectory correction on preprocessed images; The trajectory execution unit is used to execute the trajectory after correction by the visual processing unit.

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