Space search algorithm for rigid workpiece reference

Abstract

The invention provides a spatial search algorithm for a rigid workpiece benchmark, and the algorithm comprises the steps: determining an evaluation point set and a plurality of groups of candidate positioning point sets from a point cloud corresponding to a workpiece, the candidate positioning point set comprising a plurality of candidate positioning points, the candidate positioning point set being used for limiting the degree of freedom of the workpiece in a plurality of directions, and the evaluation point set comprising a plurality of evaluation points; determining a loss value of each group of candidate positioning point sets according to the position relationship between the candidate positioning points in each group of candidate positioning point sets and the position relationship between the evaluation points and the candidate positioning points so as to obtain a plurality of loss values in one-to-one correspondence with the plurality of groups of candidate positioning point sets; and determining a target positioning point set from the plurality of groups of candidate positioning point sets according to the plurality of loss values. Compared with manual selection of the positioning point, the method can improve the determination efficiency of the positioning point, and can achieve a better positioning effect.

Description

Technical Field

[0001] The present application belongs to the field of workpiece simulation design, and in particular to a spatial search algorithm for a rigid workpiece benchmark. Background Art

[0002] In order to ensure that the workpiece is accurately positioned on the counterpart, fixture or tooling during welding, assembly and other processes, it is necessary to determine the positioning points on the workpiece. In the prior art, the positioning points are generally determined manually based on experience, which is inefficient and cannot achieve the optimal positioning effect. Summary of the invention

[0003] In view of this, an embodiment of the present application provides a spatial search algorithm for a rigid workpiece reference, which can improve the efficiency of determining positioning points and achieve better positioning effects.

[0004] A first aspect of an embodiment of the present application provides a method for determining a workpiece positioning point based on a spatial search algorithm (i.e., a method for determining a positioning point), comprising:

[0005] Determine an evaluation point set and multiple groups of candidate positioning point sets from the point cloud corresponding to the workpiece, the candidate positioning point set includes multiple candidate positioning points, the candidate positioning point set is used to limit the degrees of freedom of the workpiece in multiple directions, and the evaluation point set includes multiple evaluation points;

[0006] Determine the loss value of each set of candidate positioning points according to the positional relationship between the candidate positioning points in each set of candidate positioning points, and the positional relationship between the evaluation points and the candidate positioning points, so as to obtain a plurality of loss values ​​corresponding to the plurality of sets of candidate positioning points one by one;

[0007] A target positioning point set is determined from multiple groups of the candidate positioning point sets according to the multiple loss values. In one embodiment, the candidate positioning point set includes a first candidate positioning point set, the first candidate positioning point set includes multiple first candidate positioning points, the multiple first candidate positioning points are used to limit the degree of freedom of the workpiece in a first type of direction, the first type of direction is part of the multiple directions, the first type of direction includes at least one direction; the evaluation point set includes a first evaluation point set, the first evaluation point set includes multiple first evaluation points;

[0008] Determining the loss value of each set of candidate positioning points according to the positional relationship between the candidate positioning points in each set of candidate positioning points, and the positional relationship between each evaluation point and each candidate positioning point, comprises:

[0009] The loss value of each group of the first candidate positioning point sets is determined according to the positional relationship between the first candidate positioning points in each group of the first candidate positioning point sets, and the positional relationship between the first evaluation points and the first candidate positioning points.

[0010] In one embodiment, the first candidate positioning point set includes three first candidate positioning points, and the three first candidate positioning points are used to jointly limit the degrees of freedom of the workpiece in three directions; determining the loss value of each group of the first candidate positioning point set according to the positional relationship between the first candidate positioning points in each group of the first candidate positioning point set, and the positional relationship between the first evaluation points and the first candidate positioning points, includes:

[0011] The loss value of each group of the first candidate positioning points is determined based on the distance from each of the first candidate positioning points in each group to the straight line where the other two first candidate positioning points are located, and the distance from each of the first evaluation points to the straight line where any two of the first candidate positioning points are located.

[0012] In one embodiment, the candidate positioning point set includes a second candidate positioning point set, the second candidate positioning point set includes a plurality of second candidate positioning points, the holes where each point in the plurality of second candidate positioning points is located are used to limit the degree of freedom of the workpiece in a second type of direction, the second type of direction is part of the plurality of directions, the second type of direction includes at least one direction, and one hole is used to limit the degree of freedom of at least one direction; the evaluation point set includes a second evaluation point set, the second evaluation point set includes a plurality of second evaluation points;

[0013] Determining the loss value of each set of candidate positioning points according to the positional relationship between the candidate positioning points in each set of candidate positioning points, and the positional relationship between each evaluation point and each candidate positioning point, comprises:

[0014] The loss value of each set of the second candidate positioning points is determined according to the positional relationship between each of the second candidate positioning points in each set of the second candidate positioning points, and the positional relationship between each of the second evaluation points and each of the second candidate positioning points.

[0015] In one embodiment, the second candidate positioning point set includes two second candidate positioning points, wherein a hole where one of the second candidate positioning points is located is used to limit the freedom of the workpiece in two directions, and a hole where the other second candidate positioning point is located is used to limit the freedom of the workpiece in one direction; the loss value of each group of the second candidate positioning point set is determined according to the positional relationship between each of the second candidate positioning points in each group of the second candidate positioning point set, and the positional relationship between each of the second evaluation points and each of the second candidate positioning points, including:

[0016] The loss value of each set of the second candidate positioning points is determined according to the distance between two of the second candidate positioning points in each set of the second candidate positioning points, and the distance from each of the second evaluation points to the straight line where the two second candidate positioning points are located.

[0017] In one embodiment, determining the loss value of each set of candidate positioning points according to the positional relationship between the candidate positioning points in each set of candidate positioning points, and the positional relationship between each evaluation point and each candidate positioning point, includes:

[0018] Determining a first stability coefficient according to a positional relationship between the candidate positioning points in each group of the candidate positioning points;

[0019] Determining a second stability coefficient according to a positional relationship between each of the evaluation points and each of the candidate positioning points;

[0020] According to the ratio of the second stability coefficient to the first stability coefficient, a loss value of the corresponding candidate positioning point set is determined.

[0021] In one embodiment, determining a target positioning point set from a plurality of sets of candidate positioning point sets according to the plurality of loss values ​​comprises:

[0022] A minimum loss value is determined from the multiple loss values, and the candidate positioning point set corresponding to the minimum loss value is used as the target positioning point set.

[0023] In one embodiment, determining the evaluation point set and multiple groups of candidate positioning point sets from the point cloud corresponding to the workpiece includes:

[0024] Dividing the point cloud corresponding to the workpiece into an evaluation point cluster and a positioning point cluster according to a positioning rule, wherein the positioning rule is used to represent the position distribution of each point cloud in the evaluation point cluster on the workpiece and the position distribution of each point cloud in the positioning point cluster on the workpiece;

[0025] Sampling the evaluation point cluster to obtain the evaluation point set;

[0026] The positioning point clusters are sampled to obtain multiple groups of candidate positioning point sets.

[0027] A second aspect of an embodiment of the present application provides a device for determining a workpiece positioning point based on a spatial search algorithm (a positioning point determination device), comprising:

[0028] A classification module, used to determine an evaluation point set and multiple groups of candidate positioning point sets from the point cloud corresponding to the workpiece, wherein the candidate positioning point set includes multiple candidate positioning points, the candidate positioning point set is used to limit the degrees of freedom of the workpiece in multiple directions, and the evaluation point set includes multiple evaluation points;

[0029] A calculation module, used to determine the loss value of each group of the candidate positioning point sets according to the positional relationship between the candidate positioning points in each group of the candidate positioning point sets, and the positional relationship between each evaluation point and each candidate positioning point, so as to obtain a plurality of loss values ​​corresponding to the plurality of groups of the candidate positioning point sets one by one;

[0030] An output module is used to determine a target positioning point set from multiple groups of candidate positioning point sets according to the multiple loss values.

[0031] A third aspect of an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for determining a workpiece positioning point based on a spatial search algorithm as described in the first aspect above is implemented.

[0032] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method for determining a workpiece positioning point based on a spatial search algorithm as described in the first aspect above is implemented.

[0033] A fifth aspect of the embodiments of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the method for determining a positioning point described in any one of the first aspects.

[0034] Compared with the prior art, the embodiments of the present application have the following beneficial effects: by determining an evaluation point set and multiple groups of candidate positioning point sets from the point cloud corresponding to the workpiece, for each group of candidate positioning point sets, a corresponding loss value is determined according to the positional relationship between each candidate positioning point and the positional relationship between each evaluation point and each candidate positioning point, so as to obtain multiple loss values ​​corresponding to the multiple groups of candidate positioning point sets one by one, and a target positioning point set is determined from the multiple groups of candidate positioning point sets according to the multiple loss values, thereby improving the efficiency of determining the positioning points, and selecting the optimal target positioning point set from the candidate positioning point set to achieve a better positioning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0036] Figure 1 This is a schematic diagram of the implementation process of a method for determining a positioning point provided in an embodiment of the present application;

[0037] Figure 2 is a schematic diagram of the degrees of freedom provided by an embodiment of the present application;

[0038] Figure 3 is a schematic diagram of a point cloud provided in an embodiment of the present application;

[0039] Figure 4 is a schematic diagram of determining a first stability coefficient and a second stability coefficient corresponding to a first candidate positioning point provided in an embodiment of the present application;

[0040] Figure 5 A schematic diagram of the main positioning direction positioning points provided in an embodiment of the present application;

[0041] Figure 6 A schematic diagram of a secondary positioning direction positioning point provided in an embodiment of the present application;

[0042] Figure 7 A schematic diagram of a device for determining a positioning point provided in an embodiment of the present application;

[0043] Figure 8 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0045] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0046] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0047] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0048] By fixing the workpiece at the positioning point, the workpiece can be accurately positioned on the opponent, fixture or tooling. By selecting appropriate positioning points on the workpiece, a better positioning effect can be achieved. The present application provides a method for determining positioning points, by determining an evaluation point set and multiple groups of candidate positioning point sets from the point cloud corresponding to the workpiece, determining a loss value based on the positional relationship between the evaluation points in the evaluation point set and each positioning point in the candidate positioning point set, and the positional relationship between each positioning point in the candidate positioning point set, and continuously searching based on the loss value, and determining a target positioning point set from multiple groups of candidate positioning point sets. Since the target positioning point set is determined by the loss value, a better target positioning point set can be determined based on the loss value, thereby improving the positioning effect. At the same time, compared with manually selecting positioning points, searching for positioning points by loss value can improve the efficiency of determining positioning points.

[0049] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0050] The method for determining a workpiece positioning point based on a spatial search algorithm provided in an embodiment of the present application is executed on an electronic device, and the electronic device may be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server.

[0051] like Figure 1 As shown, a method for determining a workpiece positioning point based on a spatial search algorithm provided in an embodiment of the present application includes:

[0052] S101: determining an evaluation point set and multiple groups of candidate positioning point sets from a point cloud corresponding to a workpiece, wherein the candidate positioning point set includes multiple candidate positioning points, the candidate positioning point set is used to limit the degrees of freedom of the workpiece in multiple directions, and the evaluation point set includes multiple evaluation points.

[0053] The workpiece has six degrees of freedom in 3D space, including three degrees of freedom of translation and three degrees of freedom of rotation. Figure 2As shown, in the XYZ coordinate system, the translational freedom includes translation along the X axis, translation along the Y axis, and translation along the Z axis. The rotational freedom includes rotation along the X axis, rotation along the Y axis, and rotation along the Z axis. The positioning points are located on the workpiece and are used to limit the freedom of the workpiece in multiple directions (for example, 6 directions or less than 6 directions). When positioning is performed by the positioning points, the workpiece cannot be translated or rotated. The positioning effects of each candidate positioning point set are different. According to the positioning effects of each candidate positioning point set, the optimal positioning point set, that is, the target positioning point set, can be determined from each candidate positioning point set.

[0054] In one embodiment, the electronic device obtains a three-dimensional model of the workpiece and converts the three-dimensional model of the workpiece into a point cloud set. Figure 3 As shown, the point cloud set includes multiple point clouds. Afterwards, the electronic device selects part of the point cloud from the point cloud as candidate positioning points, where multiple (e.g., 5 or 6) candidate positioning points form a group of candidate positioning point sets, each group of candidate positioning point sets includes the same number of candidate positioning points, and the same candidate positioning point can exist in multiple candidate positioning point sets. The electronic device also selects part of the point cloud from the point cloud as evaluation points, and the set composed of evaluation points is an evaluation point set, which is used to assist in determining the target positioning point set.

[0055] In one embodiment, the electronic device divides the point cloud into an evaluation point cluster and a positioning point cluster according to a positioning rule, wherein the positioning rule is used to represent the position distribution of each point cloud in the evaluation point cluster on the workpiece, and the position distribution of each point cloud in the positioning point cluster on the workpiece.

[0056] Exemplarily, the positioning rules can be set according to actual needs. For example, the positioning rules include the plane where the evaluation point set is located, the distance between each evaluation point in the evaluation point set and the edge of the workpiece, the plane where the candidate positioning point set is located, the distance between each candidate positioning point in the candidate positioning point set and the edge of the workpiece, etc.

[0057] For example, the point cloud set corresponding to the workpiece and the positioning rules can be input into the classification model to obtain the evaluation point cluster and the positioning point cluster output by the classification model. The classification model is a model established based on positioning experience and principles.

[0058] After obtaining the evaluation point cluster and the positioning point cluster, the electronic device samples the evaluation point cluster to obtain the evaluation point set, and samples the positioning point cluster to obtain multiple sets of candidate positioning point sets. By sampling after classifying the point cloud, the amount of calculation for the subsequent search for the target positioning point set can be reduced. Among them, the electronic device can uniformly sample the evaluation point cluster to obtain the evaluation point set, or it can sample the evaluation point cluster according to a pre-set sampling area or sampling ratio to obtain the evaluation point set. The electronic device can uniformly sample the positioning point cluster to obtain multiple sets of candidate positioning point sets, or it can sample the positioning point cluster according to a pre-set sampling area or sampling ratio to obtain multiple sets of candidate positioning point sets.

[0059] Each set of candidate positioning point sets obtained by sampling needs to meet set conditions. For example, the number of each set of candidate positioning point sets is a preset number, the distance between each positioning point in each set of candidate positioning point sets is within a preset range, the distance between each positioning point in the candidate positioning point set and the center of the plane is within a preset range, etc. Determining the target positioning point set from the candidate positioning point sets that meet the set conditions can reduce the amount of calculation in the subsequent search process.

[0060] The electronic device may sample each set of candidate positioning point sets while sampling the evaluation point sets corresponding to each set of candidate positioning point sets, or may obtain a set of evaluation point sets by sampling, and the evaluation point sets corresponding to each set of candidate positioning point sets are the same.

[0061] In another embodiment, after obtaining the point cloud set, the electronic device downsamples the point cloud set according to a preset ratio, and divides the downsampled point cloud into an evaluation point cluster and a positioning point cluster. After obtaining the point cloud set, the electronic device may also divide the point cloud into an evaluation point cloud and a positioning point cloud according to a positioning rule, and then downsample the evaluation point cloud and the positioning point cloud respectively according to a preset ratio to obtain an evaluation point cluster and a positioning point cluster, thereby reducing the amount of calculation.

[0062] S102: Determine the loss value of each group of candidate positioning points according to the positional relationship between the candidate positioning points in each group of candidate positioning points, and the positional relationship between each evaluation point and each candidate positioning point, so as to obtain a plurality of loss values ​​corresponding one-to-one to the plurality of groups of candidate positioning points.

[0063] In one embodiment, the electronic device determines a first stability coefficient based on the positional relationship between each candidate positioning point in each set of candidate positioning points, and determines a second stability coefficient based on the positional relationship between each evaluation point and each candidate positioning point. The first stability coefficient represents the stability of the workpiece when the corresponding candidate positioning point set is used for positioning. The second stability coefficient represents the stability of the workpiece relative to each evaluation point in the evaluation point set when the corresponding candidate positioning point set is used for positioning. Afterwards, the electronic device determines the loss value of the corresponding candidate positioning point set based on the ratio of the second stability coefficient to the first stability coefficient. The ratio of the second stability coefficient to the first stability coefficient represents the instability caused by the candidate positioning point set acting on the workpiece.

[0064] In one embodiment, the candidate positioning point set includes a first candidate positioning point set, the first candidate positioning point set includes a plurality of first candidate positioning points, the plurality of first candidate positioning points are part of the plurality of candidate positioning points, and the plurality of first candidate positioning points are used to limit the degree of freedom of the workpiece in a first type of direction. The first type of direction is part of the plurality of directions, the first type of direction includes at least one direction, and the degree of freedom of the first type of direction is the degree of freedom of some directions in the six degrees of freedom of the workpiece; the evaluation point set includes a first evaluation point set, the first evaluation point set includes a plurality of first evaluation points, and the plurality of first evaluation points are part of the evaluation points. The electronic device determines the loss value of each group of first candidate positioning point sets according to the positional relationship between each first candidate positioning point in each group of first candidate positioning point sets, and the positional relationship between each first evaluation point and each first candidate positioning point.

[0065] In one embodiment, the first candidate positioning point set includes three first candidate positioning points, and the three first candidate positioning points jointly limit the degrees of freedom of the workpiece in three directions. The electronic device determines the loss value of each set of first candidate positioning points according to the distance from each first candidate positioning point to the straight line where the other two first candidate positioning points are located, and the distance from each first evaluation point to the straight line where any two first candidate positioning points are located.

[0066] Specifically, the electronic device determines the first stability coefficient corresponding to the first candidate positioning point set according to the distance from each first candidate positioning point to the straight line where the other two first candidate positioning points are located in each group of first candidate positioning point sets, and the electronic device determines the second stability coefficient corresponding to the first candidate positioning point set according to the distance from each first evaluation point to the straight line where any two first candidate positioning points are located. Exemplarily, the distances from each first candidate positioning point to the straight line where the other two first candidate positioning points are located can be summed to obtain the first stability coefficient corresponding to the first candidate positioning point set, and the distances from each first evaluation point to the straight line where any two first candidate positioning points are located can be summed to obtain the second stability coefficient corresponding to the first candidate positioning point set. Afterwards, the electronic device determines the loss value of each group of first candidate positioning point sets according to the ratio of the second stability coefficient to the first stability coefficient.

[0067] For example, Figure 4As shown, the positioning point 41, the positioning point 42 and the positioning point 43 are three first candidate positioning points. The distance h1 from the positioning point 41 to the straight line where the positioning point 42 and the positioning point 43 are located, the distance h2 from the positioning point 42 to the straight line where the positioning point 41 and the positioning point 43 are located, and the distance h3 from the positioning point 43 to the straight line where the positioning point 42 and the positioning point 41 are located are determined, and the sum of each distance is obtained to obtain the first stability coefficient corresponding to the first candidate positioning point. The distance from each evaluation point to the straight line where the positioning point 42 and the positioning point 43 are located, the distance from each evaluation point to the straight line where the positioning point 41 and the positioning point 43 are located, and the distance from each evaluation point to the straight line where the positioning point 42 and the positioning point 41 are located are summed to obtain the second stability coefficient corresponding to the first candidate positioning point. Afterwards, the electronic device uses the ratio of the second stability coefficient to the first stability coefficient as the loss value of the first candidate positioning point set.

[0068] In one embodiment, the candidate positioning point set includes a second candidate positioning point set, the second candidate positioning point set includes a plurality of second candidate positioning points, the plurality of second candidate positioning points are part of the plurality of candidate positioning points, and the holes where each point in the plurality of second candidate positioning points is located are used to limit the degree of freedom of the workpiece in the second type of direction. The second type of direction is part of the plurality of directions, the second type of direction includes at least one direction, one hole is used to limit the degree of freedom of at least one direction, the first type of direction is different from the second type of direction, and the degree of freedom of the second type of direction is the degree of freedom of another part of the six degrees of freedom of the workpiece that is different from the first type of direction. The evaluation point set includes a second evaluation point set, the second evaluation point set includes a plurality of second evaluation points, and the plurality of second evaluation points are part of the evaluation points. The electronic device determines the loss value of each set of second candidate positioning point sets according to the positional relationship between each second candidate positioning point in each set of second candidate positioning point sets, and the positional relationship between each second evaluation point and each second candidate positioning point.

[0069] In one embodiment, the second candidate positioning point set includes two second candidate positioning points, wherein the hole where one second candidate positioning point is located is used to limit the freedom of the workpiece in two directions, and the hole where the other second candidate positioning point is located is used to limit the freedom of the workpiece in one direction. The electronic device determines the loss value of each set of second candidate positioning points according to the distance between the two second candidate positioning points in each set of second candidate positioning points and the distance from each second evaluation point to the straight line where the two second candidate positioning points are located.

[0070] Specifically, the electronic device determines the first stability coefficient corresponding to the second candidate positioning point set according to the distance between two second candidate positioning points in each group of second candidate positioning point sets, and the electronic device determines the second stability coefficient corresponding to the second candidate positioning point set according to the distance from each second evaluation point to the straight line where the two second candidate positioning points are located. Exemplarily, the distance between the two second candidate positioning points is used as the first stability coefficient corresponding to the second candidate positioning point set, and the distance from each second evaluation point to the straight line where the two second candidate positioning points are located is summed to obtain the second stability coefficient corresponding to the second candidate positioning point set. Afterwards, the electronic device uses the ratio of the second stability coefficient to the first stability coefficient as the loss value of the second candidate positioning point set.

[0071] In another embodiment, the second candidate positioning point set includes three second candidate positioning points, and the three second candidate positioning points work together to limit the degree of freedom of the workpiece in the second type of direction, and the second type of direction includes three directions. In this case, the method for determining the loss value of the second candidate positioning point set is the same as the method for determining the loss value of the first candidate positioning point set.

[0072] In other embodiments, the ratio of the first stability coefficient to the second stability coefficient may be used as the loss value, or the difference between the first stability coefficient and the second stability coefficient may be used as the loss value.

[0073] It can be understood that in some embodiments, the candidate positioning point set only includes the first candidate positioning point set, and does not include the second candidate positioning point set, and the first candidate positioning point set is used to limit the degree of freedom of the workpiece in the first type of direction. In this case, the electronic device only calculates the loss value of each first candidate positioning point set, so as to determine the optimal positioning point set from the first candidate positioning point set. The optimal positioning point set for limiting the degree of freedom of the workpiece in the second type of direction can be set by other methods or experience.

[0074] In other embodiments, the candidate positioning point set includes only the second candidate positioning point set, but does not include the first candidate positioning point set, and the second candidate positioning point set is used to limit the degree of freedom of the workpiece in the second type of direction. In this case, the electronic device only calculates the loss value of each second candidate positioning point set, thereby determining the optimal positioning point set from the second candidate positioning point set. The optimal positioning point set for limiting the degree of freedom of the workpiece in the first type of direction can be set by other methods or experience.

[0075] In some other embodiments, the candidate positioning point set includes a first candidate positioning point set and a second candidate positioning point set, and the electronic device divides the candidate positioning point set into the first candidate positioning point set and the second candidate positioning point set, and the first candidate positioning point set and the second candidate positioning point set are respectively used to limit the degrees of freedom in different directions, and the first candidate positioning point set and the second candidate positioning point set work together to limit the degrees of freedom of the workpiece in 6 directions. Afterwards, the electronic device calculates the loss values ​​of the first candidate positioning point set and the second candidate positioning point set respectively, so that the optimal positioning point set can be determined from the first candidate positioning point set and the second candidate positioning point set according to the distribution of the candidate positioning point set, thereby improving the positioning effect of the target positioning point set obtained subsequently.

[0076] In a specific example, the evaluation point set includes a first evaluation point set and a second evaluation point set, and the candidate positioning point set includes a first candidate positioning point set and a second candidate positioning point set. The electronic device can pre-divide the point cloud corresponding to the workpiece into a first evaluation point cluster, a second evaluation point cluster, a first positioning point cluster and a second positioning point cluster, sample the first evaluation point cluster to obtain the first evaluation point set, sample the second evaluation point cluster to obtain the second evaluation point set, sample the first positioning point cluster to obtain the first candidate positioning point set, and sample the second positioning point cluster to obtain the second candidate positioning point set. Afterwards, according to the distance from each first candidate positioning point to the straight line where the other two first candidate positioning points are located in each group of first candidate positioning points, and the distance from each first evaluation point to the straight line where any two first candidate positioning points are located, the loss value of each group of first candidate positioning points is determined. According to the distance between the two second candidate positioning points in each group of second candidate positioning points, and the distance from each second evaluation point to the straight line where the two second candidate positioning points are located, the loss value of each group of second candidate positioning points is determined. Therefore, the optimal positioning point can be determined according to the loss values ​​of multiple first candidate positioning point sets, and the optimal positioning point can be determined according to the loss values ​​of multiple second candidate positioning point sets, that is, all the optimal positioning points for limiting the six degrees of freedom of the workpiece are determined.

[0077] In other embodiments, the candidate positioning point set includes multiple candidate positioning points, and the multiple candidate positioning points work together to limit the degree of freedom of the workpiece in the first direction and the second direction. After obtaining the candidate positioning point set, the electronic device samples the evaluation point cluster to obtain an evaluation point set corresponding to the candidate positioning point set. Afterwards, the electronic device determines the loss value of each set of candidate positioning point sets based on the positional relationship between all candidate positioning points in each set of candidate positioning point sets, and the positional relationship between all evaluation points in the evaluation point set and each candidate positioning point.

[0078] In one embodiment, according to the number of degrees of freedom restricted by the positioning points, the positioning points are divided into main positioning direction positioning points (main reference positioning points) and secondary positioning direction positioning points (secondary reference positioning points). The number of main positioning direction positioning points is 3, which are used to restrict the degrees of freedom of the workpiece in three directions. For example, the degrees of freedom in three directions include the translational degrees of freedom of one coordinate axis and the rotational degrees of freedom in the other two coordinate axes.

[0079] For example, Figure 5 As shown, the positioning points A1, A2, and A3 are the main positioning direction positioning points, which are used to limit the translational freedom of the workpiece in the Z axis and the rotational freedom in the X and Y axes.

[0080] The number of secondary positioning direction points is 2, where the hole where one secondary positioning direction point is located is used to limit the freedom of the workpiece in two directions, and the hole where the other secondary positioning direction point is located is used to limit the freedom of the workpiece in one direction. For example, the holes where the two secondary positioning direction points are located are used to limit the translational freedom of the workpiece in two coordinate axes and the rotational freedom in another coordinate axis.

[0081] For example, Figure 6 As shown, positioning points B and C are positioning points in the secondary positioning direction. The hole with positioning point B as the center and the hole with positioning point C as the center work together to limit the translational freedom of the workpiece along the X-axis and Y-axis and the rotational freedom along the Z-axis.

[0082] The method for determining workpiece positioning points based on a spatial search algorithm provided in an embodiment of the present application is used to determine an optimal main positioning direction positioning point from a first candidate positioning point set, and / or, to determine an optimal secondary positioning direction positioning point from a second candidate positioning point set. The optimal main positioning direction positioning point is the positioning point with the highest degree of stability in the main positioning direction of the workpiece, and the optimal secondary positioning direction positioning point is the positioning point with the highest degree of stability in the secondary positioning direction of the workpiece. Therefore, the first candidate positioning point set may also be referred to as the main positioning direction candidate positioning point set, and the second candidate positioning point set may also be referred to as the secondary positioning direction candidate positioning point set.

[0083] S103: Determine a target positioning point set from a plurality of groups of candidate positioning point sets according to the plurality of loss values.

[0084] Specifically, the candidate positioning point set corresponding to the optimal loss value is used as the target positioning point set.

[0085] In one embodiment, the loss value is a ratio of the second stability coefficient to the first stability coefficient, and the smaller the loss value, the smaller the instability when the corresponding candidate positioning point set is used for positioning. After determining the loss values ​​of each group of candidate positioning point sets, the electronic device uses the candidate positioning point set corresponding to the minimum loss value among the multiple loss values ​​as the target positioning point set.

[0086] In one embodiment, the electronic device calculates the loss value of each first candidate positioning point set and the loss value of each second candidate positioning point set respectively. The minimum loss value is determined from the loss values ​​of the first candidate positioning point set, and the first candidate positioning point set corresponding to the minimum loss value is used as the first target positioning point set, that is, the optimal main positioning direction positioning point. The minimum loss value is determined from the loss values ​​of the second candidate positioning point set, and the second candidate positioning point set corresponding to the minimum loss value is used as the second target positioning point set, that is, the optimal secondary positioning direction positioning point. The point set composed of the first target positioning point set and the second target positioning point set is the target positioning point set.

[0087] In another embodiment, the electronic device may also determine each set of candidate positioning point sets by repeated iterations and calculate the loss value of each set of candidate positioning point sets. When the maximum number of iterations is reached, the candidate positioning point set obtained by the search is the target positioning point set.

[0088] In the above embodiment, an evaluation point set and multiple groups of candidate positioning point sets are determined from the point cloud corresponding to the workpiece. For each group of candidate positioning point sets, a corresponding loss value is determined according to the positional relationship between each candidate positioning point and the positional relationship between each evaluation point and each candidate positioning point, so as to obtain multiple loss values ​​corresponding to the multiple groups of candidate positioning point sets one by one. According to the multiple loss values, a target positioning point set is determined from the multiple groups of candidate positioning point sets, thereby improving the efficiency of determining the positioning points, and selecting the optimal target positioning point set from the candidate positioning point set to achieve a better positioning effect.

[0089] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0090] In the embodiment of the present application, the method for determining the positioning point through steps S101 to S103 is a method for determining the positioning point based on a spatial search algorithm.

[0091] Corresponding to the method for determining the workpiece positioning point based on the spatial search algorithm described in the above embodiment, Figure 7 A structural block diagram of a device for determining a workpiece positioning point based on a spatial search algorithm provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0092] like Figure 7 As shown, the device for determining the workpiece positioning point based on the space search algorithm includes:

[0093] A classification module 71, used to determine an evaluation point set and multiple groups of candidate positioning point sets from the point cloud corresponding to the workpiece, the candidate positioning point set includes multiple candidate positioning points, the candidate positioning point set is used to limit the freedom of the workpiece in multiple directions, and the evaluation point set includes multiple evaluation points;

[0094] A calculation module 72 is used to determine the loss value of each set of candidate positioning points according to the positional relationship between the candidate positioning points in each set of candidate positioning points, and the positional relationship between each evaluation point and each candidate positioning point, so as to obtain a plurality of loss values ​​corresponding to the plurality of sets of candidate positioning points one by one;

[0095] The output module 73 is used to determine a target positioning point set from multiple groups of candidate positioning point sets according to the multiple loss values.

[0096] In one embodiment, the candidate positioning point set includes a first candidate positioning point set, the first candidate positioning point set includes a plurality of first candidate positioning points, the plurality of first candidate positioning points are used to limit the degree of freedom of the workpiece in a first type of direction, the first type of direction is a part of the plurality of directions, the first type of direction includes at least one direction; the evaluation point set includes a first evaluation point set, the first evaluation point set includes a plurality of first evaluation points; the calculation module 72 is specifically used to:

[0097] The loss value of each group of the first candidate positioning point sets is determined according to the positional relationship between the first candidate positioning points in each group of the first candidate positioning point sets, and the positional relationship between the first evaluation points and the first candidate positioning points.

[0098] In one embodiment, the first candidate positioning point set includes three first candidate positioning points, and the three first candidate positioning points jointly limit the degrees of freedom of the workpiece in three directions; the calculation module 72 is specifically used for:

[0099] The loss value of each group of the first candidate positioning points is determined based on the distance from each of the first candidate positioning points in each group to the straight line where the other two first candidate positioning points are located, and the distance from each of the first evaluation points to the straight line where any two of the first candidate positioning points are located.

[0100] In one embodiment, the candidate positioning point set includes a second candidate positioning point set, the second candidate positioning point set includes a plurality of second candidate positioning points, the holes where each point in the plurality of second candidate positioning points is located are used to limit the degree of freedom of the workpiece in a second type of direction, the second type of direction is part of the plurality of directions, the second type of direction includes at least one direction, and one hole is used to limit the degree of freedom of at least one direction; the evaluation point set includes a second evaluation point set, the second evaluation point set includes a plurality of second evaluation points; the calculation module 72 is specifically used to:

[0101] The loss value of each set of the second candidate positioning points is determined according to the positional relationship between each of the second candidate positioning points in each set of the second candidate positioning points, and the positional relationship between each of the second evaluation points and each of the second candidate positioning points.

[0102] In one embodiment, the second candidate positioning point set includes two second candidate positioning points, wherein a hole where one of the second candidate positioning points is located is used to limit the freedom of the workpiece in two directions, and a hole where the other second candidate positioning point is located is used to limit the freedom of the workpiece in one direction; the calculation module 72 is specifically used to:

[0103] The loss value of each set of the second candidate positioning points is determined according to the distance between two of the second candidate positioning points in each set of the second candidate positioning points, and the distance from each of the second evaluation points to the straight line where the two second candidate positioning points are located.

[0104] In one embodiment, the calculation module 72 is specifically used for:

[0105] Determining a first stability coefficient according to a positional relationship between the candidate positioning points in each group of the candidate positioning points;

[0106] Determining a second stability coefficient according to a positional relationship between each of the evaluation points and each of the candidate positioning points;

[0107] According to the ratio of the second stability coefficient to the first stability coefficient, a loss value of the corresponding candidate positioning point set is determined.

[0108] In one embodiment, the calculation module 72 is specifically used for:

[0109] A minimum loss value is determined from the multiple loss values, and the candidate positioning point set corresponding to the minimum loss value is used as the target positioning point set.

[0110] In one embodiment, the classification module 71 is specifically used for:

[0111] Dividing the point cloud corresponding to the workpiece into an evaluation point cluster and a positioning point cluster according to a positioning rule, wherein the positioning rule is used to represent the position distribution of each point cloud in the evaluation point cluster on the workpiece and the position distribution of each point cloud in the positioning point cluster on the workpiece;

[0112] Sampling the evaluation point cluster to obtain the evaluation point set;

[0113] The positioning point clusters are sampled to obtain multiple groups of candidate positioning point sets.

[0114] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0115] Figure 8 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0116] like Figure 8 As shown, the electronic device of this embodiment includes: a processor 81, a memory 82, and a computer program 83 stored in the memory 82 and executable on the processor 81. When the processor 81 executes the computer program 83, the steps in the above-mentioned method for determining a positioning point are implemented, for example Figure 1 Alternatively, when the processor 81 executes the computer program 83, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Figure 7 The functions of the classification module 71 to the output module 73 are shown.

[0117] Exemplarily, the computer program 83 may be divided into one or more modules / units, which are stored in the memory 82 and executed by the processor 81 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 83 in the electronic device.

[0118] Those skilled in the art will understand that Figure 8 These are merely examples of electronic devices and do not constitute a limitation of the electronic device. The electronic device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0119] The processor 81 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0120] The memory 82 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. The memory 82 may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device. Further, the memory 82 may also include both an internal storage unit of the electronic device and an external storage device. The memory 82 is used to store the computer program and other programs and data required by the electronic device. The memory 82 may also be used to temporarily store data that has been output or is to be output.

[0121] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0122] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0123] In the embodiments provided in the present application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0124] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0126] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0127] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for determining a workpiece positioning point based on a spatial search algorithm, characterized in that: include: Determine an evaluation point set and multiple groups of candidate positioning point sets from the point cloud corresponding to the workpiece, the candidate positioning point set includes multiple candidate positioning points, the candidate positioning point set is used to limit the freedom of the workpiece in multiple directions, and the evaluation point set includes multiple evaluation points; Determine the loss value of each set of candidate positioning points according to the positional relationship between the candidate positioning points in each set of candidate positioning points, and the positional relationship between the evaluation points and the candidate positioning points, so as to obtain a plurality of loss values ​​corresponding to the plurality of sets of candidate positioning points one by one; A target positioning point set is determined from a plurality of sets of the candidate positioning point sets according to the plurality of loss values.

2. The method according to claim 1, characterized in that: The candidate positioning point set includes a first candidate positioning point set, and the first candidate positioning point set includes a plurality of first candidate positioning points. The plurality of first candidate positioning points are used to limit the degree of freedom of the workpiece in a first type of direction, the first type of direction is part of the plurality of directions, and the first type of direction includes at least one direction; the evaluation point set includes a first evaluation point set, and the first evaluation point set includes a plurality of first evaluation points; Determining the loss value of each set of candidate positioning points according to the positional relationship between the candidate positioning points in each set of candidate positioning points, and the positional relationship between each evaluation point and each candidate positioning point, comprises: The loss value of each group of the first candidate positioning point sets is determined according to the positional relationship between the first candidate positioning points in each group of the first candidate positioning point sets, and the positional relationship between the first evaluation points and the first candidate positioning points.

3. The method according to claim 2, characterized in that The first candidate positioning point set includes three first candidate positioning points, and the three first candidate positioning points are used to jointly limit the degrees of freedom of the workpiece in three directions; the loss value of each group of the first candidate positioning point set is determined according to the positional relationship between the first candidate positioning points in each group of the first candidate positioning point set, and the positional relationship between the first evaluation points and the first candidate positioning points, including: The loss value of each group of the first candidate positioning points is determined based on the distance from each of the first candidate positioning points in each group to the straight line where the other two first candidate positioning points are located, and the distance from each of the first evaluation points to the straight line where any two of the first candidate positioning points are located.

4. The method according to any one of claims 1 to 3, characterized in that: The candidate positioning point set includes a second candidate positioning point set, the second candidate positioning point set includes a plurality of second candidate positioning points, the holes where each point in the plurality of second candidate positioning points is located are used to limit the degree of freedom of the workpiece in a second type of direction, the second type of direction is part of the plurality of directions, the second type of direction includes at least one direction, and one hole is used to limit the degree of freedom in at least one direction; the evaluation point set includes a second evaluation point set, the second evaluation point set includes a plurality of second evaluation points; Determining the loss value of each set of candidate positioning points according to the positional relationship between the candidate positioning points in each set of candidate positioning points, and the positional relationship between each evaluation point and each candidate positioning point, comprises: The loss value of each set of the second candidate positioning points is determined according to the positional relationship between each of the second candidate positioning points in each set of the second candidate positioning points, and the positional relationship between each of the second evaluation points and each of the second candidate positioning points.

5. The method according to claim 4, characterized in that The second candidate positioning point set includes two second candidate positioning points, wherein a hole where one of the second candidate positioning points is located is used to limit the degree of freedom of the workpiece in two directions, and a hole where the other second candidate positioning point is located is used to limit the degree of freedom of the workpiece in one direction; the loss value of each group of the second candidate positioning point set is determined according to the positional relationship between each of the second candidate positioning points in each group of the second candidate positioning point set, and the positional relationship between each of the second evaluation points and each of the second candidate positioning points, including: The loss value of each set of the second candidate positioning points is determined according to the distance between two of the second candidate positioning points in each set of the second candidate positioning points, and the distance from each of the second evaluation points to the straight line where the two second candidate positioning points are located.

6. The method according to any one of claims 1 to 3, characterized in that: Determining the loss value of each set of candidate positioning points according to the positional relationship between the candidate positioning points in each set of candidate positioning points, and the positional relationship between each evaluation point and each candidate positioning point, comprises: Determining a first stability coefficient according to a positional relationship between the candidate positioning points in each group of the candidate positioning points; Determining a second stability coefficient according to a positional relationship between each of the evaluation points and each of the candidate positioning points; According to the ratio of the second stability coefficient to the first stability coefficient, a loss value of the corresponding candidate positioning point set is determined.

7. The method according to any one of claims 1 to 3, characterized in that: The step of determining a target positioning point set from a plurality of sets of candidate positioning point sets according to the plurality of loss values ​​comprises: The candidate positioning point set corresponding to the minimum loss value among the multiple loss values ​​is used as the target positioning point set.

8. The method according to any one of claims 1 to 3, characterized in that: The step of determining the evaluation point set and multiple groups of candidate positioning point sets from the point cloud corresponding to the workpiece includes: Dividing the point cloud corresponding to the workpiece into an evaluation point cluster and a positioning point cluster according to a positioning rule, wherein the positioning rule is used to represent the position distribution of each point cloud in the evaluation point cluster on the workpiece and the position distribution of each point cloud in the positioning point cluster on the workpiece; Sampling the evaluation point cluster to obtain the evaluation point set; The positioning point clusters are sampled to obtain multiple groups of candidate positioning point sets.

9. A device for determining a workpiece positioning point based on a spatial search algorithm, characterized in that: include: A classification module, used to determine an evaluation point set and multiple groups of candidate positioning point sets from the point cloud corresponding to the workpiece, wherein the candidate positioning point set includes multiple candidate positioning points, the candidate positioning point set is used to limit the degrees of freedom of the workpiece in multiple directions, and the evaluation point set includes multiple evaluation points; A calculation module, used to determine the loss value of each group of the candidate positioning point sets according to the positional relationship between the candidate positioning points in each group of the candidate positioning point sets, and the positional relationship between each evaluation point and each candidate positioning point, so as to obtain a plurality of loss values ​​corresponding to the plurality of groups of the candidate positioning point sets one by one; An output module is used to determine a target positioning point set from multiple groups of candidate positioning point sets according to the multiple loss values.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for determining a workpiece positioning point based on a spatial search algorithm as described in any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for determining a workpiece positioning point based on a spatial search algorithm as described in any one of claims 1 to 8 is implemented.

Images