Automatic positioning method and storage medium for the polished surface of sheet metal welded parts based on AnyCAD

Abstract

The present invention provides an AnyCAD-based automatic positioning method and storage medium for the surface to be polished of a sheet metal weldment, comprising marking the surface to be polished with a polygon on a three-dimensional drawing of the sheet metal weldment, filling the polygon mark with any color different from the original color of the model and saving it in a STEP / STP format, and further comprising: S1, using a program to parse and read in a STEP / STP file; S2, modeling through the AnyCAD model modeling engine, and performing feature display through the display engine; S3, obtaining the position of the read-in marked surface, and saving the position point coordinates containing the position information into a set; S4, fitting the position points of the surface to be processed, and dividing the marked surface into three categories according to the number of points in the finally obtained position point set, thereby obtaining the position point coordinates required for the next step of path planning. This method can identify and locate the surface to be polished on the sheet metal weldment, and provides the position information of the polishing surface for subsequent automated polishing path planning. It is simple and easy to implement, and has a high degree of automation.

Description

Technical Field

[0001] The present invention relates to the technical field of computer graphics and sheet metal welded part grinding processing, and in particular to an AnyCAD-based automatic positioning method for a to-be-grinded surface of a sheet metal welded part and a storage medium. Background Art

[0002] After sheet metal welding is completed, various weld nodules and weld seams may appear on the workpiece surface, which can be removed by grinding and polishing. Surfaces that require painting also require grinding to remove burrs, oil stains, and dust from the substrate and improve the mechanical adhesion of the paint. Many companies have grinding and polishing processes during the production and processing of equipment. Many small and medium-sized enterprises produce a relatively small number of products but a wide variety of products, often using traditional manual grinding. This over-reliance on skilled professionals leads to rising labor costs and unstable processing quality. Grinding also generates a lot of metal dust, and long-term exposure to this environment can be harmful to human health.

[0003] Therefore, the development of automatic grinding equipment is crucial. A crucial aspect of automated grinding is determining the grinding location. Traditional industrial robots typically use a teaching method to determine the grinding path points. This is particularly time-consuming when workpiece types change frequently, resulting in frequent teaching to determine the grinding path points. Others use machine vision to identify the grinding surface, extracting feature points to determine the grinding points. This becomes more complex when the workpiece is three-dimensional and the grinding surfaces are distributed across its surface. Summary of the Invention

[0004] The present invention proposes an AnyCAD-based automatic positioning method for the surface to be polished of a sheet metal weldment and a storage medium, which can solve the above technical problems.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] An AnyCAD-based automatic positioning method for a surface to be polished of a sheet metal weldment comprises:

[0007] Mark the surface to be polished with a polygon on the three-dimensional drawing of the sheet metal weldment. The surface to be polished is called the marked surface. The polygon mark is filled with any color different from the original color of the model and then saved in STEP / STP format. The following steps are also included:

[0008] S1. File parsing: Use the program to parse and read the STEP / STP file. All marked faces of the model in the STEP / STP file can be read.

[0009] S2. Model display: Modeling is performed through the AnyCAD modeling engine, and feature display is performed through the display engine;

[0010] S3. Obtaining position information: obtaining the position of the read-in marked surface, and saving the coordinates of the position point containing the position information into a collection;

[0011] S4. Position point fitting: Fit the position points of the surface to be processed, and divide the marked surface into categories I, II, and III according to the number of points in the final position point set, so as to obtain the position point coordinates required for the next step of path planning.

[0012] Furthermore, the S1, file parsing: using a program to parse and read the STEP / STP file, all marked faces of the model in the STEP / STP file can be read, including:

[0013] S11. Create a STEP / STP file reader;

[0014] S12. Construct the topological graphics reading environment class required by the reader, which enables the reader to read all colors of the 3D model;

[0015] S13. Select a STEP / STP graphic file locally and read the STEP / STP file based on the AnyCAD open source code library;

[0016] S14. Read the shape and color of the model into memory.

[0017] Furthermore, the S2, model display: performing modeling through the AnyCAD model modeling engine and performing feature display through the display engine; specifically includes:

[0018] S21. AnyCAD modeling engine uses the read parameters to model each graphic and saves it as a topological type object;

[0019] S22, calling the ShowGeometry() method to attach the topology graph to a fixed scene node;

[0020] S23. Display the topology type objects through the AnyCAD display engine.

[0021] Furthermore, the step S3, obtaining position information: obtaining the position of the read-in marked surface and saving the position point coordinates containing the position information into a set; specifically includes:

[0022] Use a symbol that can represent the marked face m i The set of position points P i To describe the location information, it specifically includes the following steps:

[0023] S31, read the TopoShape type topology graphic from the 3D model file;

[0024] S32. Each time a topological figure is traversed, the color attribute value of the topological figure is determined to be equal to the given value. If equal, it is saved in the marked face set M, and the face vertex acquisition method is used to obtain the marked face m. i The set of position points P i , if they are not equal, they are saved in the unmarked face set U;

[0025] S33. If the reading of the TopoShape type topological graphic is not completed, repeat steps S31 to S33.

[0026] Furthermore, the step S4, position point fitting, is to fit the position points of the surface to be processed, and to divide the marked surface into categories I, II, and III according to the number of points in the final obtained position point set, thereby obtaining the position point coordinates required for the next step of path planning, specifically including:

[0027] S41. Read a marked face m from the marked face set M{m1, m2, m3, ...} i ∈M;

[0028] S42, if the read graphic m i Can be completely covered by the end face circle of the end face grinding tool, and this surface m i Save to type I face set F Ⅰ In this figure, m i Position point set P i A point is saved in the memory, which is the geometric center point of the figure m1, and step S47 is executed;

[0029] S43, if the graph m i The set of position points P i If three points are on the same line, keep the two points with the largest distance and remove the middle point;

[0030] S44, if P i There are two points in the set P whose distance is less than the diameter of the end circle of the grinding tool. i Delete these two points from the point set P i Add the midpoint of these two points to , and this midpoint will not participate in further fitting;

[0031] S45. If the point set P i The number of interior points is 2, then the face m i It can be regarded as a surface whose machining path is a line segment, and this surface is saved to the type II surface set F Ⅱ , executing step S47;

[0032] S46. If the point set Pi If the number of internal points is greater than 2, then this face is saved to the type III face set F Ⅲ middle;

[0033] S47. Determine whether the marked face set M has been read. If not, repeat steps S41 to S47.

[0034] Furthermore, the polygon is a rectangle.

[0035] On the other hand, the present invention further discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the above method.

[0036] It can be seen from the above technical solution that the present invention's AnyCAD-based automatic positioning method for the surface to be polished of sheet metal weldments, after all the above four steps have been executed, can obtain the position point information of all marked surfaces contained in the STEP / STP file, and these points are saved in the position point set of each part. Moreover, the marked surfaces are also divided into categories I, II, and III. Category I surfaces can be processed as a point, the processing path of Category II surfaces can be regarded as a line segment, and the third category of surfaces provides the point set information required for specific path planning. This method can identify and locate the surface to be polished on sheet metal weldments. Small and medium-sized sheet metal processing enterprises mostly process workpieces with small batches and a wide variety of types. This method provides the position information of the polishing surface for subsequent automated polishing path planning, thereby solving the problem of low efficiency caused by conventional teaching when the polishing object is frequently changed. The overall design has the characteristics of simplicity, ease of use, and high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a flow chart of the method of the present invention;

[0038] Figure 2 Flowchart for file parsing;

[0039] Figure 3 Display a flow chart for the model;

[0040] Figure 4 Flowchart for obtaining the position information of the marked surface;

[0041] Figure 5 Fitting flow chart for point set;

[0042] Figure 6 This is a schematic diagram of type I surface fitting;

[0043] Figure 7 Schematic diagram of type II surface fitting;

[0044] Figure 8 This is a schematic diagram of the Class III surface fitting;

[0045] Figure 9 This is a three-dimensional rendering of the actual use case of the present invention;

[0046] Figure 10 This is the result of the marked surface recognition of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0048] like Figure 1 As shown, the method for automatically locating the surface to be polished of a sheet metal weldment based on AnyCAD described in this embodiment marks the surface to be polished with a polygon on the three-dimensional drawing of the sheet metal weldment. In this embodiment, a rectangular mark is specifically used. The surface to be polished is called the marked surface. The polygon mark is filled with any color different from the original color of the model and then saved in STEP / STP format. The method also includes the following steps:

[0049] (1) File parsing: Use the program to parse and read the STEP / STP file. All marked faces of the model in the STEP / STP file can be read.

[0050] (2) Model display: Modeling is performed through the AnyCAD model modeling engine, and feature display is performed through the display engine.

[0051] (3) Get the position information: Get the position of the read-in marked surface and save the coordinates of the position point containing the position information into the collection. This method uses a i The set of position points P i To describe the location information, since the marked surface is a rectangle, the initially obtained location point set P i Should contain the four vertices of the rectangle.

[0052] (4) Position point fitting: Based on the actual situation: the actual processing area of ​​the end face grinding tool is a circle with a certain diameter. The position points of the surface to be processed are fitted. And according to the number of points in the final position point set, the marked surface is divided into categories I, II, and III, so as to obtain the position point coordinates required for the next step of path planning.

[0053] The “file parsing” described in step (1) specifically includes the following steps:

[0054] (11) Create a STEP / STP file reader.

[0055] (12) Construct the topological graphics reading environment class required by the reader, which enables the reader to read all colors of the three-dimensional model.

[0056] (13) Select the STEP / STP graphic file locally and read the STEP / STP file based on the AnyCAD open source code library.

[0057] (14) Read the shape and color of the model into memory.

[0058] The “model display” described in step (2) specifically includes the following steps:

[0059] (21) The AnyCAD modeling engine uses the read-in parameters to model each graphic and saves it as a topological type object.

[0060] (22) Call the ShowGeometry() method to attach the topology graph to a fixed scene node.

[0061] (23) Topological objects are displayed through the AnyCAD display engine.

[0062] In step (3), the method of "obtaining the position information of the surface to be processed" is to use a i The set of position points P i To describe the location information, since the marked surface is a rectangle, the initially obtained location point set P i It should contain the four vertices of the rectangle. It includes the following steps:

[0063] (31) Read TopoShape type topological graphics from the 3D model file.

[0064] (32) Each time a topological figure is traversed, the color attribute value of the topological figure is determined to be equal to the given value. If it is equal, it is saved in the marked face set M, and the face vertex acquisition method is used to obtain the marked face m. i The set of position points P i If they are not equal, they are saved in the unlabeled face set U.

[0065] (33) If the reading of the TopoShape type topological graph is not completed, repeat steps (31)-(33).

[0066] The “position point fitting” described in step (4) specifically includes the following steps:

[0067] (41) Read a marked face m from the marked face set M{m1, m2, m3, ...} i ∈M.

[0068] (42) If the read graph m i Can be completely covered by the end face circle of the end face grinding tool, and this surface m i Save to type I face set F Ⅰ In this figure, m i Position point set P i A point is saved in the image, which is the geometric center of the figure m1. Execute step (47).

[0069] (43) If the graph m i The set of position points P i If three points are on the same line, keep the two points with the largest distance and remove the middle point.

[0070] (44) If P i There are two points in the set P whose distance is less than the diameter of the end circle of the grinding tool. i Delete these two points from the point set P i Add the midpoint of these two points to , and this midpoint will not participate in further fitting.

[0071] (45) If the point set P i The number of interior points is 2, then the face m i It can be regarded as a surface whose machining path is a line segment, and this surface is saved to the type II surface set F Ⅱ Execute step (47).

[0072] (46) If the point set P i If the number of internal points is greater than 2, then this face is saved to the type III face set F Ⅲ In this case, additional path planning methods are required for such surfaces.

[0073] (47) Determine whether the marked face set M has been read. If not, repeat steps (41)-(47).

[0074] After completing all four steps above, you will obtain the position point information for all marked faces contained in the STEP / STP file, and these points are stored in the position point set for each part. Furthermore, marked faces are divided into categories I, II, and III. Category I faces can be processed as a single point, Category II faces can be processed as a line segment, and Category III faces provide the point set information required for specific path planning.

[0075] The following examples illustrate the specific steps involved:

[0076] (1) File parsing: Use the program to parse and read the STEP / STP file. All marked faces of the model in the STEP / STP file can be read.

[0077] like Figure 2As shown, the parsing process after reading the STEP / STP file is as follows:

[0078] (11) Create a STEP / STP file reader.

[0079] (12) Construct the topological graphics reading environment class required by the reader, which enables the reader to read all colors of the three-dimensional model.

[0080] (13) Select the STEP / STP graphic file locally and read the STEP / STP file based on the AnyCAD open source code library.

[0081] (14) Read the shape and color of the model into memory.

[0082] (2) Model display: Modeling is performed through the AnyCAD model modeling engine, and feature display is performed through the display engine.

[0083] like Figure 3 As shown, the model displays the following steps:

[0084] (21) The AnyCAD modeling engine uses the read-in parameters to model each graphic and saves it as a topological type object.

[0085] (22) Call the ShowGeometry() method to attach the topology graph to a fixed scene node.

[0086] (23) Topological objects are displayed through the AnyCAD display engine.

[0087] (3) Get the position information: Get the position of the read-in marked surface and save the coordinates of the position point containing the position information into the collection. This method uses a i The set of position points P i To describe the location information, since the marked surface is a rectangle, the initially obtained location point set P i Should contain the four vertices of the rectangle.

[0088] like Figure 4 As shown, the steps to obtain location information are as follows:

[0089] (31) Read TopoShape type topological graphics from the 3D model file.

[0090] (32) Each time a topological figure is traversed, the color attribute value of the topological figure is determined to be equal to the given value. If it is equal, it is saved in the marked face set M, and the face vertex acquisition method is used to obtain the marked face m. i The set of position points P i If they are not equal, they are saved in the unlabeled face set U.

[0091] (33) If the reading of the TopoShape type topological graph is not completed, repeat steps (31)-(33).

[0092] (4) Position point fitting: According to the actual situation: the actual processing area of ​​the end face grinding tool is a circle with a certain diameter, based on which the position points of the surface to be processed are fitted. The marked surface is further classified.

[0093] like Figure 5 As shown in the figure, the specific steps of position point fitting are as follows:

[0094] (41) Read a marked face m from the marked face set M{m1, m2, m3, ...} i ∈M.

[0095] (42) If the read graph m i Can be completely covered by the end face circle of the end face grinding tool, and this surface m i Save to type I face set F Ⅰ In, such as Figure 6 The figure shows a type I surface. Then this figure m i Position point set P i A point is saved in the image, which is the geometric center of the figure m1. Execute step (46).

[0096] (43) If the graph m i The set of position points P i If three points are on the same line, keep the two points with the largest distance and remove the middle point.

[0097] (44) If P i There are two points in the set P whose distance is less than the diameter of the end circle of the grinding tool. i Delete these two points from the point set P i Add the midpoint of these two points to , and this midpoint will not participate in further fitting.

[0098] (45) If the point set P i The number of interior points is 2, then the face m i It can be regarded as a surface whose machining path is a line segment, and this surface is saved to the type II surface set F Ⅱ In, such as Figure 7 It is a Class II surface. Execute step (46).

[0099] (46) If the point set P i If the number of internal points is greater than 2, then this face is saved to the type III face set F Ⅲ In, such as Figure 8 This is a Class III surface, which requires additional path planning methods.

[0100] (47) Determine whether the marked face set M has been read. If not, repeat steps (41)-(47).

[0101] In summary, after completing all four steps above, you can obtain the position point information for all marked faces contained in the STEP / STP file, and these points are stored in the position point set for each part. Furthermore, marked faces are divided into categories I, II, and III. Category I faces can be processed as a single point, Category II faces can be processed as a line segment, and Category III faces provide the point set information required for specific path planning.

[0102] For actual use cases, first select the STEP / STP graphic file locally, and read the STEP / STP file with the help of AnyCAD open source code library. According to the reading environment required by the custom reader, the model and the marked surface are read out by the reader, and then the AnyCAD modeling engine is used for modeling and the display engine is used for display. Figure 9 As shown in the figure, the five outer surfaces of the model are displayed, and the marked surfaces on each surface of the model are surrounded by a square frame. The number of marked surfaces on each surface is given. The position point set after fitting all the marked surfaces is obtained by running the program. The result is as follows Figure 10 shown.

[0103] In another aspect, the present invention further discloses a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the steps of any of the above methods.

[0104] On the other hand, the present invention further discloses a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of any of the above methods.

[0105] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the steps of any one of the methods in the above embodiments.

[0106] It is understandable that the system provided by the embodiment of the present invention corresponds to the method provided by the embodiment of the present invention, and the explanation, examples and beneficial effects of the relevant contents can refer to the corresponding parts of the above method.

[0107] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0108] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0109] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An AnyCAD-based method for automatically positioning the surface to be polished of a sheet metal weldment, characterized by: Mark the surface to be polished with a polygon on the three-dimensional drawing of the weldment. The surface to be polished is called the marked surface. The polygon mark is filled with any color different from the original color of the model and then saved in STEP / STP format. The following steps are also included: S1. File parsing: Use the program to parse and read the STEP / STP file. All marked faces of the model in the STEP / STP file can be read. S2. Model display: Modeling is performed through the AnyCAD modeling engine, and feature display is performed through the display engine; S3. Obtaining position information: obtaining the position of the read-in marked surface, and saving the coordinates of the position point containing the position information into a collection; S4, Position point fitting: Fit the position points of the surface to be processed, and divide the marked surface into Ⅰ、Ⅱ、Ⅲ Class, so as to obtain the coordinates of the location points required for the next step of path planning; specifically including: S41. From the labeled face set M{m 1 ,m 2 ,m 3 ,…} Read a marked face m i ∈M ; S42, if the read mark surface m i Can be completely covered by the end face circle of the end face grinding tool, and the marked surface m i Save to Ⅰ Class face collection F Ⅰ In this mark m i Location point set P i A point is saved in the mark face. m i The geometric center point of the , execute step S47; S43, if the marked surface m i A collection of location points P i If three points are on the same line, keep the two points with the largest distance and remove the middle point; S44, if P i There are two points in the set whose distance is less than the diameter of the end face of the abrasive tool. P i Delete these two points and add them to the point set P i Add the midpoint of these two points to , and this midpoint will not participate in further fitting; S45, if the point set P i The number of internal points is 2, then this marked surface m i It can be regarded as a surface with a line segment as the machining path, and this marked surface is saved to Ⅱ Class face collection F Ⅱ , executing step S47; S46, if the point set P i If the number of inner points is greater than 2, save this face to Ⅲ Class face collection F Ⅲ middle; S47. Determine the marked face set M Check whether the reading is completed. If not, repeat steps S41 to S47.

2. The method for automatically positioning the surface to be polished of a sheet metal weldment based on AnyCAD according to claim 1, characterized in that: S1. File parsing: Use the program to parse and read the STEP / STP file. All marked faces of the model in the STEP / STP file can be read, including: S11. Create a STEP / STP file reader; S12. Construct the topological graphics reading environment class required by the reader, which enables the reader to read all colors of the 3D model; S13. Select a STEP / STP graphic file locally and read the STEP / STP file based on the AnyCAD open source code library; S14. Read the shape and color of the model into memory.

3. The method for automatically positioning the surface to be polished of a sheet metal weldment based on AnyCAD according to claim 2, characterized in that: S2, model display: modeling is performed using the AnyCAD model modeling engine, and feature display is performed using the display engine; specifically, it includes: S21. AnyCAD modeling engine uses the read parameters to model each graphic and saves it as a topological type object; S22, calling the ShowGeometry() method to attach the topology graph to a fixed scene node; S23. Display the topology type objects through the AnyCAD display engine.

4. The method for automatically positioning the surface to be polished of a sheet metal weldment based on AnyCAD according to claim 3, characterized in that: S3, obtaining position information: obtaining the position of the read mark surface, and saving the position point coordinates containing the position information into a set; specifically including: Use a symbol that can represent the marked surface m i A collection of location points P i To describe the location information, it specifically includes the following steps: S31, read the TopoShape type topology graphic from the 3D model file; S32. Each time a topological graph is traversed, the color attribute value of the topological graph is determined to be equal to the given value. If they are equal, the color attribute value is saved in the marked face set. M And use the face vertex acquisition method to obtain this marked face m i A collection of location points P i If they are not equal, they are saved in the unlabeled face set. U middle; S33. If the reading of the TopoShape type topological graphic is not completed, repeat steps S31 to S33.

5. The method for automatically positioning the surface to be polished of a sheet metal weldment based on AnyCAD according to claim 1, characterized in that: The polygon is a rectangle. 6 . A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor is caused to perform the steps of the method according to claim 1 .

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