Three-dimensional environment modeling method and device for industrial robots, computer storage medium and industrial robot operating platform

Abstract

The present invention provides a three-dimensional environment modeling method for an industrial robot, the method comprising: based on the color and depth information of the surrounding environment of the industrial robot, three-dimensionally modeling the surrounding environment of the industrial robot, thereby obtaining a first environment model; calibrating the coordinate system of the first environment model to the base coordinate system of the industrial robot; and obtaining a workbench model of the industrial robot by at least performing grid clipping and filling on the calibrated first environment model. The present invention also provides a three-dimensional environment modeling device for an industrial robot, a computer storage medium, and an industrial robot operating platform.

Description

[Technical field]

[0002] The invention relates to a three-dimensional environment modeling method and equipment for an industrial robot, a computer storage medium and an industrial robot operating platform. [Background technology]

[0004] In some specific industrial application scenarios, the industrial robot needs to plan the optimal trajectory during each cycle time. At this time, the robot needs to first know its surrounding environment in order to plan a collision-free trajectory. Then, the complete 3D workbench model should be obtained offline in advance.

[0005] In order to obtain a complete 3D workbench model, the existing method is to use geometric measurement based on 3D software design. Specifically, the operator measures the size of each object and the relative position of the object to the world coordinate system / robot base coordinate system in the actual environment. Then, based on the geometric model and position information of the aforementioned objects, a complete 3D workbench model is finally obtained in the simulation environment.

[0006] In the method based on 3D geometric measurement, the size and position of each object in the actual environment needs to be manually modeled and measured, and then these objects are configured in the 3D design software. This is very time-consuming and requires professional design skills. Moreover, using these measurements, the positional relationship between objects is not accurate in the final 3D workbench model. When the environment changes, the measurement work needs to be repeated.

[0007] Therefore, an improved three-dimensional environment modeling scheme is desired. [Summary of the invention]

[0009] According to one aspect of the present invention, a three-dimensional environment modeling method for an industrial robot is proposed, the method comprising: performing three-dimensional modeling of the surrounding environment of the industrial robot based on color and depth information of the surrounding environment of the industrial robot, thereby obtaining a first environment model; calibrating the coordinate system of the first environment model to the base coordinate system of the industrial robot; and obtaining a workbench model of the industrial robot by at least meshing and filling the calibrated first environment model.

[0010] The above-mentioned 3D environment modeling method is faster and more efficient than the existing modeling scheme based on 3D geometric measurement, and does not require manual modeling and measurement of the size and position of each object. Moreover, the technical solution of the present invention provides a standardized configuration method for all workbench objects (without requiring excessive manual intervention and design skills), thereby obtaining the final 3D workbench model.

[0011] Preferably, in the above three-dimensional environment modeling method, the color and depth information is acquired by a handheld RGB-D camera.

[0012] Preferably, the above three-dimensional environment modeling method may further include: after calibrating the coordinate system of the first environment model to the base coordinate system of the industrial robot, clipping the calibrated first environment model according to the working space range of the industrial robot. The coordinate system of the first environment model may be random before calibration.

[0013] For example, the coordinate system of the first environment model can be calibrated to the robot base coordinate system by using the Iterative Closest Point (ICP) method. When clipping, the calibrated first environment model can be clipped according to the workspace range of the industrial robot. "Clipping" can be based on the predefined workspace of the industrial robot and the calibrated robot coordinate system information, and the first environment model within the robot workspace range is segmented out, and the reconstructed robot model is removed according to the size range of the robot, so as to obtain the first environment model within the robot workspace range that does not contain the robot model.

[0014] Preferably, the above three-dimensional environment modeling method may further include: after calibrating the coordinate system of the first environment model to the base coordinate system of the industrial robot, using a grid integration evaluation method to measure whether the mapping of the calibrated first environment model is complete.

[0015] Preferably, the above three-dimensional environment modeling method may further include: after using a grid integration evaluation method to measure whether the mapping of the calibrated first environment model is complete, performing accuracy evaluation on the calibrated first environment model.

[0016] Preferably, in the above-mentioned three-dimensional environment modeling method, the mesh clipping and filling includes: selecting an incomplete plane to be reconstructed; obtaining parameters for fitting the plane using the least squares method based on the vertices on the plane; and establishing new triangular facets based on the parameters to replace the incomplete plane.

[0017] Preferably, in the above three-dimensional environment modeling method, the grid clipping and filling includes: adding the robot workspace boundary model to the calibrated first environment model.

[0018] Preferably, in the above-mentioned three-dimensional environment modeling method, the mesh clipping and filling includes: according to the set boundary threshold, selecting holes smaller than the boundary threshold in turn; and determining the curvature size of the triangular facets used to fill the holes based on the curvature information and change rate around the boundaries of the selected holes.

[0019] Preferably, in the above-mentioned three-dimensional environment modeling method, obtaining the workbench model of the industrial robot at least by meshing and filling the calibrated first environment model includes: performing a mesh simplification process after meshing and filling the calibrated first environment model; and obtaining the workbench model of the industrial robot after the mesh simplification process.

[0020] Preferably, in the above three-dimensional environment modeling method, the mesh simplification process includes: determining a target number of facets or a target optimization percentage; and obtaining the determined number of facets using an extraction algorithm.

[0021] Preferably, the above three-dimensional environment modeling method may further include: obtaining a model of a new object when the surrounding environment of the industrial robot changes; adding the model of the new object to the workbench model or deleting it from the workbench model based on an iterative closest point method.

[0022] Another embodiment of the present invention provides a three-dimensional environment modeling device for an industrial robot, the device comprising: a first acquisition unit, the first acquisition unit being configured to perform three-dimensional modeling of the surrounding environment of the industrial robot based on color and depth information of the surrounding environment of the industrial robot, thereby obtaining a first environment model; a calibration unit, the calibration unit being configured to calibrate the coordinate system of the first environment model to the base coordinate system of the industrial robot; and a second acquisition unit, the second acquisition unit being configured to obtain a workbench model of the industrial robot by at least performing grid cropping and filling on the calibrated first environment model.

[0023] Preferably, in the above three-dimensional environment modeling device, the first acquisition unit is configured to acquire the color and depth information from a handheld RGB-D camera.

[0024] Preferably, the above-mentioned three-dimensional environment modeling device may also include: a cropping unit, which is configured to crop the calibrated first environment model according to the working space range of the industrial robot after the calibration unit calibrates the coordinate system of the first environment model to the base coordinate system of the industrial robot.

[0025] Preferably, the above-mentioned three-dimensional environment modeling device may also include: a grid integration evaluation unit, which is configured to use a grid integration evaluation method to measure whether the mapping of the calibrated first environment model is complete after the calibration unit calibrates the coordinate system of the first environment model to the base coordinate system of the industrial robot.

[0026] Preferably, the above-mentioned three-dimensional environment modeling device may also include: an accuracy assessment unit, which is configured to perform accuracy assessment on the calibrated first environment model after the grid integration assessment unit uses a grid integration assessment method to measure whether the mapping of the calibrated first environment model is complete.

[0027] Preferably, in the above-mentioned three-dimensional environment modeling device, the second acquisition unit includes a mesh clipping and filling unit, wherein the mesh clipping and filling unit is configured to: select an incomplete plane to be reconstructed; obtain parameters for fitting the plane using the least squares method based on the vertices on the plane; and establish a new triangular facet based on the parameters to replace the incomplete plane.

[0028] Preferably, in the above-mentioned three-dimensional environment modeling device, the second acquisition unit includes a grid clipping and filling unit, wherein the grid clipping and filling unit is configured to: add the robot workspace boundary model to the calibrated first environment model.

[0029] Preferably, in the above-mentioned three-dimensional environment modeling device, the second acquisition unit includes a grid clipping and filling unit, wherein the grid clipping and filling unit is configured to: select holes smaller than the boundary threshold in sequence according to the set boundary threshold; and determine the curvature of the triangular facets used to fill the holes based on the curvature information and change rate around the boundaries of the selected holes.

[0030] Preferably, in the above-mentioned three-dimensional environment modeling device, the second acquisition unit also includes: a mesh simplification unit, which is configured to perform a mesh simplification process after mesh clipping and filling the calibrated first environment model; and a third acquisition unit, which is configured to obtain the workbench model of the industrial robot after the mesh simplification unit performs the mesh simplification process.

[0031] Preferably, in the above three-dimensional environment modeling device, the mesh simplification unit is configured to: determine a target number of facets or a target optimization percentage; and obtain the determined number of facets using an extraction algorithm.

[0032] Preferably, the above-mentioned three-dimensional environment modeling device may also include: a fourth acquisition unit, used to obtain the model of the new object when the surrounding environment of the industrial robot changes; and an addition and deletion unit, used to add the model of the new object to the workbench model based on the iterative closest point method.

[0033] Yet another embodiment of the present invention provides a computer storage medium, which includes instructions, and the instructions, when run, execute the three-dimensional environment modeling method as described above.

[0034] Yet another embodiment of the present invention provides an industrial robot operating platform, which includes the three-dimensional environment modeling device as described above.

[0035] Compared with the existing 3D environment modeling solutions based on 3D geometric measurement, the above 3D environment modeling solution for industrial robots is faster and more efficient, and does not require manual modeling and measurement of the size and position of each object. In addition, the 3D environment modeling solution of the present invention performs mesh clipping and filling on the constructed original environment model to solve the problem of incomplete reconstruction of transparent objects. This method can also clip discrete triangular facets, fill holes, and automatically add boundaries outside the robot workspace.

Brief Description of the Drawings

[0037] The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In the drawings:

[0038] Figure 1 A three-dimensional environment modeling method for an industrial robot according to an embodiment of the present invention is shown;

[0039] Figure 2 A three-dimensional environment modeling method for an industrial robot according to an embodiment of the present invention is shown; and

[0040] Figure 3 A three-dimensional environment modeling device for an industrial robot according to an embodiment of the present invention is shown. [Specific implementation method]

[0042] The following description describes specific embodiments of the present invention to teach those skilled in the art how to make and use the best mode of the present invention. In order to teach the principles of the invention, some conventional aspects have been simplified or omitted. Those skilled in the art will appreciate that variations derived from these embodiments will fall within the scope of the present invention. Those skilled in the art will appreciate that the following features can be combined in various ways to form multiple variations of the present invention. Thus, the present invention is not limited to the following specific embodiments, but is limited only by the claims and their equivalents.

[0043] refer to Figure 1 , Figure 1 A three-dimensional environment modeling method 1000 for an industrial robot according to an embodiment of the present invention is shown.

[0044] In step S110 , three-dimensional modeling is performed on the surrounding environment of the industrial robot based on the color and depth information of the surrounding environment of the industrial robot, so as to obtain a first environment model.

[0045] In step S120, the coordinate system of the first environment model is calibrated to the base coordinate system of the industrial robot.

[0046] In step S130, the workbench model of the industrial robot is obtained by at least performing grid cutting and filling on the calibrated first environment model.

[0047] According to one or more embodiments of the present invention, the fast 3D environment modeling and configuration method based on the 3D reconstruction algorithm of the present invention can be divided into three parts: 1) fast 3D environment reconstruction; 2) optimization of the 3D environment model; and 3) virtual environment configuration of the simulation workstation. Compared with the existing modeling scheme based on 3D geometric measurement, the scheme of the present invention is faster and more efficient, and does not require manual modeling and measurement of the size and position of each object. Moreover, the technical solution of the present invention provides a standardized configuration method for all workbench objects (without requiring excessive manual intervention and design skills), thereby obtaining the final 3D workbench model.

[0048] In one embodiment, the color and depth information in step S110 can be obtained by an operator holding a RGB-D camera. In one embodiment, the color and depth information is obtained by fixing a camera on a robot.

[0049] In one embodiment, after step S120 and before step S130, although not shown, the three-dimensional environment modeling method 1000 may include: cutting the calibrated first environment model according to the working space range of the industrial robot. The coordinate system of the first environment model may be random, so the coordinate system of the first environment model is calibrated to the base coordinate system of the robot. When cutting, the calibrated first environment model may be cut according to the working space range of the industrial robot. This can eliminate some redundant points in the first environment model and reduce the complexity of the model.

[0050] For example, the coordinate system of the first environment model can be calibrated to the robot base coordinate system by using the Iterative Closest Point (ICP) method. "Cropping" can be performed by segmenting the first environment model within the robot workspace according to the predefined working range of the industrial robot and the calibrated robot coordinate system information, and removing the reconstructed robot model according to the size range of the robot to obtain the first environment model within the robot workspace that does not contain the robot model.

[0051] Those skilled in the art understand that various iterative closest point methods (ICP) may be used, including but not limited to the point-to-plane precise registration method for searching the nearest point proposed by Chen and Medioni and Bergevin et al., the point-to-projection fast registration method for searching the nearest point proposed by Rusinkiewicz and Levoy, the contractive-projection-point registration method for searching the nearest point proposed by Soon-Yong and Murali, etc.

[0052] In one embodiment, after step S120 and before step S130, although not shown, the three-dimensional environment modeling method 1000 may include: using a grid integration evaluation method to measure whether the mapping of the calibrated first environment model is complete. In one embodiment, the grid integration evaluation method may include: first, according to the predefined robot working range and the robot coordinate system information calibrated in the previous step, the reconstructed model within the robot workspace is segmented, and at the same time, the reconstructed robot model is removed according to the size range of the robot to obtain the environment model within the robot workspace that does not contain the robot model; then, according to certain rules (such as fan-shaped segmentation), the robot workspace is segmented into a certain number of subspaces, and the environment models in the subspaces are displayed in sequence; finally, it is determined in sequence whether the part is completely reconstructed.

[0053] In one embodiment, after step S120 and before step S130, although not shown, the three-dimensional environment modeling method 1000 may further include: after using the grid integration evaluation method to measure whether the mapping of the calibrated first environment model is complete, the accuracy evaluation of the calibrated first environment model is performed. In one embodiment, the accuracy evaluation may include: first obtaining the true value of the relative distance between key objects in the robot workspace; then measuring the corresponding distance value in the reconstructed model, and obtaining a series of distance errors from |measured value-true value|; finally, determining whether the maximum distance error is less than a preset threshold value to determine whether the accuracy meets the requirements.

[0054] In one embodiment, mesh clipping and filling of the first environment model includes: selecting an incomplete plane to be reconstructed; obtaining parameters for fitting the plane using the least square method according to the vertices on the plane; and establishing a new triangular face according to the parameters to replace the incomplete plane. In this way, the problem of incomplete reconstruction of transparent objects can be solved.

[0055] In addition, mesh clipping and filling of the first environment model can also be used to delete unnecessary reconstructed parts of the first environment model. For example, an operator can subjectively select unnecessary triangular patch areas and then delete them.

[0056] In addition, mesh clipping and filling of the first environment model can also be used to add a workspace boundary. In one embodiment, the robot workspace boundary model can be quickly added to the reconstructed environment model based on a predefined robot workspace boundary model and previously calibrated robot coordinate system information.

[0057] Finally, the mesh clipping and filling of the first environment model can also be used to fill holes. In one embodiment, holes that are smaller than the threshold of the number of boundaries are selected in sequence according to the set boundary threshold. In order to prevent the occurrence of incorrectly filled holes, the operator can also subjectively decide whether to fill the hole. Then, the curvature of the triangular facet used to fill the hole is determined based on the curvature information and change rate around the hole boundary.

[0058] In one embodiment, step S130 may specifically include: performing a mesh simplification process after mesh clipping and filling the calibrated first environment model; and obtaining a workbench model of the industrial robot after the mesh simplification process. In one embodiment, the mesh simplification process may use a decimation algorithm (e.g., a Quadric edge decimation algorithm), and by setting a target number of faces or a target optimization percentage, a simplified environment model with a significantly reduced number of faces is finally obtained.

[0059] refer to Figure 2 , Figure 2 A three-dimensional environment modeling method 2000 for an industrial robot according to an embodiment of the present invention is shown.

[0060] In step S210, an operator obtains the color and depth information flow of the surrounding environment of the industrial robot by holding a RGB-D depth camera.

[0061] In step S220, the original environment model is acquired through a three-dimensional reconstruction algorithm based on the color and depth information streams.

[0062] In step S230, the original environment model is quickly calibrated. For example, the coordinate system of the original environment model can be calibrated to the coordinate system of the industrial robot (eg, base coordinate system, world coordinate system, etc.).

[0063] In step S240, a grid integration evaluation is performed. In one embodiment, the grid integration evaluation method may include: first, according to the predefined robot working range and the robot coordinate system information calibrated in the previous step, the reconstructed model within the robot workspace is segmented, and at the same time, the reconstructed robot model is removed according to the size range of the robot to obtain the environment model within the robot workspace that does not contain the robot model; then, according to certain rules (such as fan-shaped segmentation), the robot workspace is divided into a certain number of subspaces, and the environment models in the subspaces are displayed in sequence; finally, it is determined in sequence whether the part is completely reconstructed. By performing the grid integration evaluation, it is possible to measure whether the mapping of the calibrated model is complete.

[0064] In one embodiment, if the mapping of the calibrated model is incomplete, step S220 is performed again. If the calibrated model is determined to be complete, step S250 is performed.

[0065] In step S250, a grid accuracy assessment is performed. In one embodiment, the accuracy assessment may include: first obtaining the true value of the relative distance between key objects in the robot workspace; then measuring the corresponding distance value in the reconstructed model, and obtaining a series of distance errors by |measured value-true value|; finally, determining whether the maximum distance error is less than a preset threshold to determine whether the accuracy meets the requirements. By performing a grid accuracy assessment, various accuracy parameters and methods can be used to measure whether the accuracy of the calibrated model meets the requirements of the three-dimensional workbench model.

[0066] In one embodiment, if the accuracy of the calibrated model does not meet the requirement, step S220 is performed again. If it is determined that the accuracy of the calibrated model meets the requirement, step S260 is performed.

[0067] In step S260 , fast grid clipping and filling is performed.

[0068] In one embodiment, step S260 may include: first selecting an incomplete plane for reconstruction, obtaining parameters of the fitted plane according to the vertices on the plane and the least square method, and then establishing a new triangular face according to the parameters to replace the original incomplete plane. In this way, the problem of incomplete reconstruction of transparent objects can be solved by performing fast mesh clipping and filling.

[0069] In one embodiment, step S260 can also be used to delete unnecessary reconstructed parts. Specifically, the operator subjectively selects unnecessary triangular patch areas and then deletes them.

[0070] In one embodiment, step S260 can also be used to add a workspace boundary. For example, according to a predefined robot workspace boundary model and previously calibrated robot coordinate system information, the robot workspace boundary model is quickly added to the reconstructed environment model.

[0071] In one embodiment, step S260 can also be used to fill holes. For example, according to the set boundary threshold, holes smaller than the boundary number threshold are selected in sequence. In order to prevent the occurrence of incorrectly filled holes, the operator subjectively decides whether to fill the hole; the curvature of the triangular facet used to fill the hole is determined by the curvature information and change rate around the hole boundary.

[0072] In step S270, a mesh simplification process is performed.

[0073] In one embodiment, the mesh simplification process may use a decimation algorithm (eg, a Quadric edge decimation algorithm) to set a target number of faces or a target optimization percentage, thereby ultimately obtaining a simplified environment model with a significantly reduced number of faces.

[0074] In step S280, a final three-dimensional workbench model is obtained.

[0075] although Figure 2 Not shown, after the three-dimensional workbench model is obtained, if the external environment changes, the object model can be quickly added / deleted to the workbench model in the following way: first, the existing three-dimensional reconstruction algorithm is run to obtain the model of the new object; then, based on the iterative closest point method (ICP, Iterative Closest Point) to add the model of the new object to the original workbench model, or remove the object model from the original workbench model.

[0076] Figure 3 A three-dimensional environment modeling device 3000 for an industrial robot according to an embodiment of the present invention is shown.

[0077] like Figure 3 As shown, the three-dimensional environment modeling device 3000 includes: a first acquisition unit 310, a calibration unit 320 and a second acquisition unit 330. The first acquisition unit 310 is configured to perform three-dimensional modeling of the surrounding environment of the industrial robot based on the color and depth information of the surrounding environment of the industrial robot, so as to obtain a first environment model. The calibration unit 320 is configured to calibrate the coordinate system of the first environment model to the base coordinate system of the industrial robot. The second acquisition unit 330 is configured to obtain the workbench model of the industrial robot by at least performing grid clipping and filling on the calibrated first environment model.

[0078] In one embodiment, the first acquisition unit 310 is configured to acquire the color and depth information from a handheld RGB-D camera.

[0079] although Figure 3 Not shown, the three-dimensional environment modeling device 3000 may also include: a cropping unit, wherein the cropping unit is configured to crop the calibrated first environment model according to the working space range of the industrial robot after the calibration unit 320 calibrates the coordinate system of the first environment model to the base coordinate system of the industrial robot.

[0080] In one embodiment, the three-dimensional environment modeling device 3000 may also include: a grid integration evaluation unit, wherein the grid integration evaluation unit is configured to use a grid integration evaluation method to measure whether the mapping of the calibrated first environment model is complete after the calibration unit 320 calibrates the coordinate system of the first environment model to the base coordinate system of the industrial robot.

[0081] In one embodiment, the three-dimensional environment modeling device 3000 may also include: an accuracy assessment unit, which is configured to perform accuracy assessment on the calibrated first environment model after the grid integration assessment unit uses a grid integration assessment method to measure whether the mapping of the calibrated first environment model is complete.

[0082] In one embodiment, the second acquisition unit 330 may include a mesh clipping and filling unit, wherein the mesh clipping and filling unit is configured to: select an incomplete plane to be reconstructed; obtain parameters for fitting the plane using the least square method according to the vertices on the plane; and establish a new triangular facet according to the parameters to replace the incomplete plane. In another embodiment, the mesh clipping and filling unit is configured to: add the robot workspace boundary model to the calibrated first environment model. In yet another embodiment, the mesh clipping and filling unit is configured to: select holes that are smaller than the boundary threshold in turn according to a set boundary threshold; and determine the curvature of the triangular facet used to fill the hole according to the curvature information and change rate around the boundary of the selected hole.

[0083] In one embodiment, the second acquisition unit 330 further includes: a mesh simplification unit and a third acquisition unit. The mesh simplification unit is configured to perform a mesh simplification process after mesh clipping and filling the calibrated first environment model. In one embodiment, the mesh simplification unit is configured to: determine the target number of facets or the target optimization percentage; and obtain the determined number of facets using an extraction algorithm. The third acquisition unit is configured to obtain the workbench model of the industrial robot after the mesh simplification unit performs the mesh simplification process.

[0084] In one embodiment, the three-dimensional environment modeling device 3000 may further include: a fourth acquisition unit and an addition and deletion unit. The fourth acquisition unit is used to obtain a model of a new object when the surrounding environment of the industrial robot changes. The addition and deletion unit is used to add the model of the new object to the workbench model based on an iterative closest point method.

[0085] It is easy for a person skilled in the art to understand that the three-dimensional environment modeling method provided by one or more embodiments of the present invention can be implemented by a computer program. For example, when a computer storage medium (such as a USB flash drive) storing the computer program is connected to a computer, the three-dimensional environment modeling method of the embodiment of the present invention can be executed by running the computer program.

[0086] In summary, multiple embodiments of the present invention provide a three-dimensional environment modeling solution. Although only some of the specific embodiments of the present invention are described, it should be understood by those skilled in the art that the present invention can be implemented in many other forms without departing from its subject matter and scope, such as on an industrial robot operating platform. Therefore, the examples and embodiments shown are considered to be illustrative rather than restrictive, and the present invention may cover various modifications and substitutions without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A three-dimensional environment modeling method for an industrial robot, the method comprising: Based on the color and depth information of the surrounding environment of the industrial robot, three-dimensional modeling of the surrounding environment of the industrial robot is performed to obtain a first environment model; Calibrate the coordinate system of the first environment model to the base coordinate system of the industrial robot; as well as The workbench model of the industrial robot is obtained by at least performing grid cutting and filling on the calibrated first environment model. The grid cutting and filling includes: selecting an incomplete plane to be reconstructed; and New triangular facets are created to replace the incomplete plane.

2. The three-dimensional environment modeling method according to claim 1, wherein: The color and depth information is acquired by a handheld RGB-D camera.

3. The three-dimensional environment modeling method according to claim 1, further comprising: After the coordinate system of the first environment model is calibrated to the base coordinate system of the industrial robot, the calibrated first environment model is clipped according to the working space range of the industrial robot.

4. The three-dimensional environment modeling method according to claim 1, further comprising: After the coordinate system of the first environment model is calibrated to the base coordinate system of the industrial robot, a grid integration evaluation method is used to measure whether the mapping of the calibrated first environment model is complete.

5. The three-dimensional environment modeling method according to claim 4, further comprising: After using a grid integration evaluation method to measure whether the mapping of the calibrated first environment model is complete, an accuracy evaluation is performed on the calibrated first environment model.

6. The three-dimensional environment modeling method according to claim 1, wherein: The creation of a new triangular face includes: According to the vertices on the plane, using the least square method to obtain parameters fitting the plane; and Create a new triangular patch based on the parameters.

7. The three-dimensional environment modeling method according to claim 1, wherein: The grid clipping and filling includes: The robot workspace boundary model is added to the calibrated first environment model.

8. The three-dimensional environment modeling method according to claim 1, wherein: The grid clipping and filling includes: According to the set boundary threshold, holes smaller than the boundary threshold are selected in sequence; and The curvature of the triangular facet used to fill the hole is determined according to the curvature information and the rate of change around the boundary of the selected hole.

9. The three-dimensional environment modeling method according to claim 1, wherein: Obtaining the workbench model of the industrial robot by at least performing grid cutting and filling on the calibrated first environment model includes: performing a mesh simplification process after mesh clipping and filling the calibrated first environment model; and After the mesh simplification process, a workbench model of the industrial robot is obtained.

10. The three-dimensional environment modeling method according to claim 9, wherein: The mesh simplification process includes: Determining a target number of patches or a target optimization percentage; and A determined number of patches are obtained using a decimation algorithm.

11. The three-dimensional environment modeling method according to claim 1, further comprising: When the surrounding environment of the industrial robot changes, obtaining a model of a new object; The model of the new object is added to the workbench model based on an iterative closest point method.

12. A three-dimensional environment modeling device for an industrial robot, the device comprising: a first acquisition unit, wherein the first acquisition unit is configured to perform three-dimensional modeling of the surrounding environment of the industrial robot based on color and depth information of the surrounding environment of the industrial robot, thereby obtaining a first environment model; a calibration unit, the calibration unit being configured to calibrate the coordinate system of the first environment model to a base coordinate system of the industrial robot; as well as A second acquisition unit, wherein the second acquisition unit is configured to obtain the workbench model of the industrial robot by at least performing grid clipping and filling on the calibrated first environment model, wherein the second acquisition unit includes a grid clipping and filling unit, wherein the grid clipping and filling unit is configured to: selecting an incomplete plane to be reconstructed; and New triangular facets are created to replace the incomplete plane.

13. The three-dimensional environment modeling device according to claim 12, wherein: The first acquisition unit is configured to acquire the color and depth information from a handheld RGB-D camera.

14. The three-dimensional environment modeling device according to claim 12, further comprising: A cropping unit, wherein the cropping unit is configured to crop the calibrated first environment model according to the working space range of the industrial robot after the calibration unit calibrates the coordinate system of the first environment model to the base coordinate system of the industrial robot.

15. The three-dimensional environment modeling device according to claim 12, further comprising: A grid integration evaluation unit is configured to use a grid integration evaluation method to measure whether the mapping of the calibrated first environment model is complete after the calibration unit calibrates the coordinate system of the first environment model to the base coordinate system of the industrial robot.

16. The three-dimensional environment modeling device according to claim 15, further comprising: The accuracy evaluation unit is configured to perform accuracy evaluation on the calibrated first environment model after the grid integration evaluation unit uses a grid integration evaluation method to measure whether the mapping of the calibrated first environment model is complete.

17. The three-dimensional environment modeling device according to claim 12, wherein: The mesh clipping and filling unit is configured to: According to the vertices on the plane, using the least square method to obtain parameters fitting the plane; and Create a new triangular patch based on the parameters.

18. The three-dimensional environment modeling device according to claim 12, wherein: The second acquisition unit includes a grid clipping and filling unit, wherein the grid clipping and filling unit is configured to: The robot workspace boundary model is added to the calibrated first environment model.

19. The three-dimensional environment modeling device according to claim 12, wherein: The second acquisition unit includes a grid clipping and filling unit, wherein the grid clipping and filling unit is configured to: According to the set boundary threshold, holes smaller than the boundary threshold are selected in sequence; and The curvature of the triangular facet used to fill the hole is determined according to the curvature information and the rate of change around the boundary of the selected hole.

20. The three-dimensional environment modeling device according to claim 12, wherein: The second acquiring unit further includes: A mesh simplification unit configured to perform a mesh simplification process after mesh clipping and filling the calibrated first environment model; and A third acquisition unit is configured to obtain a workbench model of the industrial robot after the mesh simplification unit performs a mesh simplification process.

21. The three-dimensional environment modeling device according to claim 20, wherein: The grid simplification unit is configured as follows: Determining a target number of patches or a target optimization percentage; and A determined number of patches are obtained using a decimation algorithm.

22. The three-dimensional environment modeling device according to claim 12, further comprising: a fourth acquisition unit, configured to acquire a model of a new object when the surrounding environment of the industrial robot changes; The adding and deleting unit is used to add the model of the new object to the workbench model based on the iterative closest point method.

23. A computer storage medium comprising instructions, which when executed, execute the three-dimensional environment modeling method according to any one of claims 1 to 11.

24. An industrial robot operating platform, comprising the three-dimensional environment modeling device according to any one of claims 12 to 22.

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