Three-dimensional cutting planning system and method

Abstract

The invention discloses a three-dimensional cutting planning system and method, and the system comprises a moving unit which provides an assembly basis for the three-dimensional cutting planning system and can freely move to any operation region; the multi-degree-of-freedom mechanical arm unit is fixedly mounted on the moving unit and connected with the industrial personal computer; the stereoscopic vision unit is fixedly mounted at the tail end of the multi-degree-of-freedom mechanical arm unit and is driven by the multi-degree-of-freedom mechanical arm unit to scan the morphology of the to-be-cut workpiece from different positions so as to obtain morphology information of the to-be-cut workpiece; and the industrial personal computer is fixedly mounted on the moving unit and is used for controlling the stereoscopic vision unit to collect the shape information of the workpiece to be cut, controlling the multi-degree-of-freedom mechanical arm unit to move according to a planned path and transmitting a cutting program to three-dimensional cutting equipment. According to the method, autonomous planning can be conducted on any machining track in the three-dimensional space of the workpiece, manual teaching is not needed, the production efficiency is improved, the cost is saved, and rapid response and flexible adaptation can be achieved according to the small-batch, diversified and customized product requirements.

Description

Technical Field

[0001] The invention belongs to the field of laser cutting, and in particular relates to a three-dimensional cutting planning system and method. Background Art

[0002] In the field of spatial processing of three-dimensional complex parts, three-dimensional laser cutting technology has been increasingly widely used due to its advantages such as high flexibility and no need for mold opening. Three-dimensional laser cutting equipment generally includes three-dimensional five-axis cutting machine tools, three-dimensional cutting robots, etc. At present, three-dimensional laser cutting processing generally uses special jigs, manual marking or machine tool teaching marking, and then based on the marking, teaching programming is performed to generate a three-dimensional cutting program and perform three-dimensional cutting operations. With the rapid development of the manufacturing industry, the shortcomings of the current processing method have gradually become apparent: (1) Relying on manual marking or teaching, programming is time-consuming, the quality is unstable, and high requirements are placed on the quality and ability of the operator; (2) When the processing quality of different batches of parts of the same specification is different or deformation occurs after processing, especially for large sheet metal parts, the original cutting program cannot be applied or the cutting accuracy is poor, and re-teaching programming is required; (3) When the product needs to be replaced or upgraded, manual re-teaching programming is required, and the response speed is slow. Summary of the invention

[0003] The purpose of the present invention is to provide a three-dimensional cutting planning system and method to solve the problems in the above-mentioned prior art, integrate stereoscopic vision technology, automatically analyze cutting tasks, intelligently identify cutting features, and autonomously plan measurement tasks. Without the need for manual marking, it can autonomously solve the cutting trajectory posture, intelligently plan the cutting path, and generate a cutting program. It can autonomously plan any processing trajectory in the three-dimensional space of the workpiece without manual teaching, greatly improve production efficiency, save labor costs, and can respond quickly and flexibly to small-batch, diversified, and customized product needs.

[0004] In order to achieve the above object, the present invention has the following technical solutions: In a first aspect, a three-dimensional cutting planning system is provided, comprising: A mobile unit, which provides an assembly basis for the three-dimensional cutting planning system and can be freely moved to any working area; The multi-degree-of-freedom robotic arm unit is fixedly mounted on the mobile unit and connected to the industrial computer; The stereoscopic vision unit is fixedly installed at the end of the multi-degree-of-freedom robotic arm unit. Under the drive of the multi-degree-of-freedom robotic arm unit, the stereoscopic vision unit scans the shape of the workpiece to be cut from different positions to obtain the shape information of the workpiece to be cut. The industrial computer is fixedly installed on the mobile unit, controls the stereo vision unit to collect the morphology information of the workpiece to be cut, controls the multi-degree-of-freedom robotic arm unit to move according to the planned path, and transmits the cutting program to the three-dimensional cutting equipment.

[0005] As a preferred solution, the mobile unit adopts a closed box driven by wheels, which includes an outer shell. Wheels with locking function are installed around the bottom surface of the outer shell, and a handle is installed on one side of the top of the outer shell. The mobile unit is pushed to any working area by the handle; the surface of the outer shell is also provided with a touch screen and a switch button, and the power of the system equipment is turned on or off by the switch button. The touch screen is connected to an industrial computer, and the three-dimensional cutting planning software is operated by touch to realize human-computer interaction; the industrial computer is fixedly installed inside the outer shell.

[0006] As a preferred solution, the multi-degree-of-freedom robotic arm unit includes a robot teach pendant, a robot mounting base, a multi-degree-of-freedom robot body and a robot controller. The robot teach pendant is arranged on the outer surface of the shell, the robot controller is fixedly installed inside the shell, and the multi-degree-of-freedom robot body is fixedly installed on the outer surface of the shell through the robot mounting base.

[0007] As a preferred solution, the multi-degree-of-freedom robot body is comprehensively selected according to the external dimensions of the workpiece to be cut and the weight of the stereoscopic vision unit.

[0008] As a preferred solution, the stereoscopic vision unit includes a camera mounting bracket and a stereoscopic camera, and the stereoscopic camera is fixedly connected to the end flange of the multi-degree-of-freedom robot body through the camera mounting bracket.

[0009] As a preferred solution, the stereo camera is any one or more combinations of a structured light stereo camera and a binocular camera.

[0010] As a preferred solution, the industrial computer is internally installed with 3D cutting planning software, and the 3D cutting planning software includes: A calibration module is used for the calibration operation of the stereo camera and the multi-degree-of-freedom robot unit, obtaining the calibration conversion matrix between the stereo camera coordinate system and the multi-degree-of-freedom robot coordinate system, realizing the unification of the camera coordinate system and the multi-degree-of-freedom robot coordinate system, and realizing the splicing of the point cloud data collected by the stereo camera at different positions into the same coordinate system to truly reflect the morphology information of the workpiece to be cut; and, for the calibration operation of the stereo camera and the three-dimensional cutting equipment, obtaining the calibration conversion matrix between the stereo camera coordinate system and the three-dimensional cutting equipment tool coordinate system, realizing the conversion of the cutting trajectory posture solved based on the point cloud data collected by the stereo camera to the cutting equipment tool coordinate system, and executing the cutting program; The model analysis module is used to analyze the mathematical model of the workpiece to be cut that is imported into the software, identify and extract the cutting line information, and provide the associated feature area of ​​the cutting line as the input of the viewpoint planning module; The viewpoint planning module plans the stereo camera acquisition posture based on the associated feature area of ​​the cutting line and the field of view of the stereo camera, solves the axis angle of the multi-degree-of-freedom robot body, and plans the stereo camera acquisition path; The stereo camera acquisition module controls the multi-degree-of-freedom robot body to move according to the acquisition path planned by the viewpoint planning module, and at the same time controls the stereo camera to acquire point cloud data on the surface of the workpiece to be cut; The point cloud data processing module pre-processes the collected point cloud data, aligns the pre-processed point cloud data with the workpiece digital model, identifies and extracts the cutting line, and solves the cutting trajectory posture according to the cutting process requirements; The cutting planning module plans the cutting path of the cutting equipment based on the cutting trajectory posture and generates the cutting program according to the requirements of the cutting equipment. The cutting trajectory planning ensures that the cutting equipment does not interfere with or collide with each other and that the cutting path is executed continuously.

[0011] In a second aspect, a three-dimensional cutting planning method is provided, comprising: The digital model of the workpiece to be cut is imported into the 3D cutting planning software, the specifications and models of the workpiece to be cut are selected, the mathematical model of the corresponding workpiece is called out, and the mathematical model of the workpiece to be cut is analyzed to identify the cutting line of the workpiece to be cut and the associated feature area of ​​the cutting line as the object to be collected by the stereo camera; Input the acquisition control parameters of the stereo camera in advance, and call the pre-input acquisition control parameters when the stereo camera shoots to obtain the shape information of the workpiece to be cut; Obtain the coordinate transformation matrix of the stereo camera and the multi-degree-of-freedom robot body, and complete the calibration of the stereo camera and the multi-degree-of-freedom robot body; The calibrated stereo camera and the multi-degree-of-freedom robot body are moved to the cutting operation area and fixed and locked by the mobile unit, so that the stereo camera can scan the shape of the workpiece to be cut from different positions according to the pre-set acquisition object and acquisition control parameters, and obtain the shape information of the workpiece to be cut; Calibrate stereo cameras and cutting equipment; Fix the workpiece to be cut on the working platform, use the calibrated stereo camera and cutting equipment, plan the cutting path according to the cutting trajectory posture solved by the 3D cutting planning software, generate the cutting program, and complete the cutting operation.

[0012] As a preferred solution, the calibration of the stereo camera and the multi-degree-of-freedom robot body includes the following steps: The stereoscopic cooperation target is placed within the effective motion range of the multi-degree-of-freedom robot body and remains motionless. The multi-degree-of-freedom robot body is controlled to carry the stereo camera to move to different positions to shoot the stereoscopic cooperation target from different perspectives, and multiple sets of point cloud data of the stereoscopic cooperation target in different postures are obtained. At the same time, the posture information of the multi-degree-of-freedom robot body when the stereo camera is taking pictures is recorded; based on the feature matching principle, combined with the known posture information of the multi-degree-of-freedom robot body, the coordinate transformation matrix of the multi-degree-of-freedom robot body and the stereo camera is solved to complete the calibration of the stereo camera and the multi-degree-of-freedom robot body; The calibrating of the stereo camera and the cutting device comprises the following steps: Install a tip device on the cutting equipment to replace the laser point position; When the mobile unit moves to the cutting operation area, the multi-degree-of-freedom robot body carrying the stereo camera changes to different postures to shoot the top device on the cutting equipment, and at the same time records the posture information of each joint of the multi-degree-of-freedom robot body when the stereo camera is taking pictures. Combined with the calibration matrix of the multi-degree-of-freedom robot body and the stereo camera, the relationship between the processing coordinate system of the cutting equipment and the coordinate system of the stereo camera is obtained.

[0013] As a preferred solution, the steps of using a calibrated stereo camera and cutting equipment to plan a cutting path and generate a cutting program according to the cutting trajectory posture solved by the three-dimensional cutting planning software include: Open the 3D cutting planning software, select the specifications and models of the workpiece to be cut and the cutting equipment station, and the 3D cutting planning software reads the mathematical model of the workpiece to be cut and the cutting equipment model of the corresponding specifications and displays them on the software interface; The 3D cutting planning software analyzes the mathematical model of the workpiece to be cut, identifies and extracts the cutting line information, and gives the associated feature area of ​​the cutting line; The 3D cutting planning software plans the acquisition points and postures of the stereo camera based on the associated feature areas of the cutting line and the field of view of the stereo camera, solves the axis angles of the multi-degree-of-freedom robot body, and plans the camera acquisition path; The 3D cutting planning software controls the multi-degree-of-freedom robot body and the stereo camera to perform the acquisition task according to the planned path, obtains the point cloud data of the surface of the workpiece to be cut, and saves it; after the acquisition is completed, the multi-degree-of-freedom robot body carries the stereo camera back to the initial position, and the initial position does not interfere with the cutting equipment when performing the cutting operation; The 3D cutting planning software filters, reduces noise and splices the collected point cloud data, aligns the collected point cloud data with the mathematical model of the workpiece to be cut, identifies and extracts cutting-related features, and solves the real position information of the cutting trajectory; A closed trajectory inside the workpiece to be cut is taken as an independent cutting trajectory, and a trajectory intersecting with the outer boundary of the workpiece to be cut is taken as an independent cutting trajectory, and multiple cutting trajectories are sorted; The 3D cutting planning software plans the cutting path of the cutting equipment based on the solved cutting trajectory posture and combined with the cutting process requirements, and generates the cutting program in the format required by the cutting equipment.

[0014] Compared with the prior art, the present invention has at least the following beneficial effects: The 3D cutting planning system of the embodiment of the present invention analyzes the mathematical model of the workpiece to be cut, intelligently identifies the features to be cut, automatically solves the camera acquisition angle of view in combination with the performance parameters of the stereo camera itself, plans the scanning path, and the stereo camera collects according to the planned scanning path to obtain 3D point cloud data that meets the quality requirements. The 3D cutting planning system of the embodiment of the present invention is based on the mathematical model of the workpiece to be cut and the actual point cloud data, intelligently identifies and extracts the cutting trajectory, automatically plans the cutting path, and directly generates a cutting program executable by the cutting equipment without manual or machine marking, and has a high degree of intelligence. For the needs of multi-specification, small batch, and customized products, it only needs to replace the workpiece model to quickly adapt. For the situation where the processing quality of different batches of parts of the same specification is different or deformation occurs after processing, the cutting accuracy of the original cutting program is not high or cannot be adapted, and the 3D cutting planning system of the embodiment of the present invention can intelligently correct the cutting trajectory based on the real point cloud data collected by the camera to improve the cutting accuracy without reprogramming. The three-dimensional cutting planning system of the embodiment of the present invention is in a movable form and can be freely moved to any working area through a mobile unit. It has high flexibility and can serve various three-dimensional cutting equipment. It can be one-to-one or one-to-many, that is, one three-dimensional cutting planning system can serve multiple cutting equipment or multiple cutting production lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A schematic diagram of the overall appearance of a three-dimensional cutting planning system according to an embodiment of the present invention; Figure 2 A schematic diagram of the internal structure of a three-dimensional cutting planning system according to an embodiment of the present invention; Figure 3 A structural block diagram of the three-dimensional cutting planning system according to an embodiment of the present invention; Figure 4 A schematic diagram of the field of view of a stereo camera according to an embodiment of the present invention; Figure 5 Flow chart of the three-dimensional cutting planning method according to an embodiment of the present invention; Figure 6 A schematic diagram of a top device for replacing the position of a laser point installed on a cutting device according to an embodiment of the present invention; Figure 7 A schematic diagram of a working scenario of a three-dimensional cutting planning system according to an embodiment of the present invention; Figure 8 The embodiment of the present invention arranges multiple cutting tracks in order to plan a cutting path schematic diagram. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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. Based on the embodiments of the present invention, ordinary technicians in this field can also obtain other embodiments without making creative work.

[0018] See also Figure 1 and Figure 2 The embodiment of the present invention proposes a three-dimensional cutting planning system, which mainly includes: Mobile unit 1, which provides the assembly basis of the 3D cutting planning system and can be freely moved to any working area; The multi-degree-of-freedom mechanical arm unit 2 is fixedly mounted on the mobile unit 1 and connected to the industrial computer 4; The stereo vision unit 3 is fixedly mounted at the end of the multi-degree-of-freedom robotic arm unit 2. Under the drive of the multi-degree-of-freedom robotic arm unit 2, the stereo vision unit 3 scans the shape of the workpiece to be cut from different positions to obtain the shape information of the workpiece to be cut. The industrial computer 4 is fixedly installed on the mobile unit 1, controls the stereoscopic vision unit 3 to collect the morphology information of the workpiece to be cut, controls the multi-degree-of-freedom robot arm unit 2 to move according to the planned path, and transmits the cutting program to the three-dimensional cutting device.

[0019] In a possible implementation, the mobile unit 1 is a closed box driven by wheels 15, and the closed box includes a shell 14, which is made of sheet metal. Wheels 15 with locking functions are installed around the bottom of the shell 14, and a handle 11 is installed on one side of the top of the shell 14. The mobile unit 1 can be pushed to any working area by the handle 11. The surface of the shell 14 is also provided with a touch screen 12 and a switch button 13. The switch button 13 can turn on or off the power of the system equipment. The touch screen 12 is connected to the industrial computer 4, and the three-dimensional cutting planning software is operated by touch to realize human-computer interaction.

[0020] In a possible implementation, the industrial computer 4 is fixedly installed inside the housing 14, and the industrial computer 4 is connected to the multi-degree-of-freedom robot arm unit 2 and the stereoscopic vision unit 3 through Ethernet, respectively, for transmission of information such as data and control instructions. In addition, when the three-dimensional cutting planning system of the embodiment of the present invention is working, the industrial computer 4 is also connected to the three-dimensional cutting device (not shown in the figure) for transmission of the cutting program and controlling the cutting device to perform the cutting operation.

[0021] See also Figure 3 The multi-degree-of-freedom robot arm unit 2 of the embodiment of the present invention comprises a robot teaching pendant 21, a robot mounting base 22, a multi-degree-of-freedom robot body 23 and a robot controller 24, wherein the robot teaching pendant 21 is arranged on the outer surface of the housing 14, the robot controller 24 is fixedly mounted inside the housing 14, and the multi-degree-of-freedom robot body 23 is fixedly mounted on the outer surface of the housing 14 through the robot mounting base 22. Furthermore, the multi-degree-of-freedom robot body 23 of the embodiment of the present invention is comprehensively selected according to the outer dimensions of the workpiece to be cut and the weight of the stereoscopic vision unit 3.

[0022] In a possible implementation, the stereoscopic vision unit 3 includes a camera mounting bracket 31 and a stereo camera 32 , and the stereo camera 32 is fixedly connected to the end flange of the multi-degree-of-freedom robot body 23 via the camera mounting bracket 31 .

[0023] In a possible implementation, the stereo camera 32 includes but is not limited to a structured light stereo camera and a binocular camera.

[0024] In a possible implementation manner, the industrial computer 4 of the embodiment of the present invention is internally installed with 3D cutting planning software, and the 3D cutting planning software includes: The calibration module 40 is used for the calibration operation of the stereo camera 32 and the multi-degree-of-freedom robot unit 2, obtaining the calibration conversion matrix between the stereo camera coordinate system and the multi-degree-of-freedom robot coordinate system, realizing the unification of the camera coordinate system and the multi-degree-of-freedom robot coordinate system, and realizing the splicing of the point cloud data collected by the stereo camera 32 at different positions into the same coordinate system, so as to truly reflect the morphological information of the workpiece to be cut; and, for the calibration operation of the stereo camera 32 and the three-dimensional cutting equipment, obtaining the calibration conversion matrix between the stereo camera coordinate system and the tool coordinate system of the three-dimensional cutting equipment, realizing the conversion of the cutting trajectory posture solved based on the point cloud data collected by the stereo camera to the tool coordinate system of the cutting equipment, and executing the cutting program; The model analysis module 41 is used to analyze the mathematical model of the workpiece to be cut imported into the software, identify and extract the cutting line information, and provide the associated feature area of ​​the cutting line as the input of the viewpoint planning module 42; The viewpoint planning module 42 plans the acquisition posture of the stereo camera 32 based on the associated feature area of ​​the cutting line and the field of view of the stereo camera 32, combined with the imaging characteristics of the three-dimensional stereo camera, solves the axis angle of the multi-degree-of-freedom robot body 23, and plans the acquisition path of the stereo camera 32; when planning the acquisition path, it is necessary to ensure that the multi-degree-of-freedom robot arm and the three-dimensional stereo camera will not interfere with each other and collide, and the acquisition path is continuous and reachable. Among them, the field of view of the three-dimensional stereo camera is generally trapezoidal or fan-shaped, such as Figure 4 The object to be measured needs to be within the field of view of the 3D camera to collect point cloud data.

[0025] The stereo camera acquisition module 43 controls the multi-degree-of-freedom robot body 23 to move according to the acquisition path planned by the viewpoint planning module 42, and controls the stereo camera 32 to acquire point cloud data of the surface of the workpiece to be cut; The point cloud data processing module 44 performs filtering, noise reduction and splicing processing on the collected point cloud data, and then aligns the collected point cloud data with the workpiece digital model, identifies and extracts the cutting line, and solves the cutting trajectory posture according to the cutting process requirements; The cutting planning module 45 plans the cutting path of the cutting equipment based on the cutting trajectory posture and generates the cutting program according to the requirements of the cutting equipment. The cutting trajectory planning ensures that the cutting equipment does not interfere with or collide with each other and the cutting path is executed continuously. The cutting program formats required by different cutting equipment are different, and an adapted cutting program needs to be output according to the requirements of the cutting equipment.

[0026] The three-dimensional cutting planning system of the embodiment of the present invention is independent of the three-dimensional cutting equipment. It is equipped with a three-dimensional camera, a multi-degree-of-freedom robotic arm and a high-performance industrial computer on a mobile body to realize the intelligent planning of three-dimensional cutting of workpieces. The system of this embodiment performs model analysis to automatically identify the features to be cut based on the theoretical model information of the workpiece to be cut, and intelligently plans the camera scanning path based on the features to be cut. The system controls the three-dimensional camera to collect and obtain the real morphology point cloud data of the features to be cut according to the planned scanning path. Then the actual point cloud data is aligned with the theoretical model data, the real posture of the trajectory to be cut is extracted, the cutting path is autonomously planned, and the cutting program is generated. The system of this embodiment does not require manual teaching programming, manual or machine marking, and directly generates a cutting program that can be executed by the cutting equipment. It can well adapt to the processing deformation or processing deviation of large sheet metal parts without re-teaching programming; for small batch, diversified, and customized product requirements, the system of this embodiment responds quickly and has higher flexibility.

[0027] See also Figure 5 and Figure 7 Another embodiment of the present invention further provides a three-dimensional cutting planning method, comprising the following steps: Figure 7The middle component 5 is a three-dimensional cutting device (external equipment), and the component 6 is a gantry bracket (external equipment).

[0028] Import the digital model of the workpiece to be cut into the three-dimensional cutting planning software, select the specification model of the workpiece to be cut, call out the mathematical model of the corresponding workpiece, and analyze the mathematical model of the workpiece to be cut to identify the cutting line of the workpiece to be cut and the associated characteristic area of ​​the cutting line as the object to be collected by the stereo camera 32; Input the acquisition control parameters of the stereo camera 32 in advance, and call the pre-input acquisition control parameters when the stereo camera 32 shoots, so as to obtain more stable point cloud data of the workpiece to be measured. The acquisition control parameters of the stereo camera can be tested multiple times to obtain the most suitable parameter combination; The stereo camera 32 is fixedly mounted on the end flange of the multi-degree-of-freedom robot body 23, the coordinate transformation matrix of the stereo camera 32 and the multi-degree-of-freedom robot body 23 is obtained, and the calibration of the stereo camera 32 and the multi-degree-of-freedom robot body 23 is completed; The calibrated stereo camera 32 and the multi-degree-of-freedom robot body 23 are moved to the cutting operation area and fixed and locked by the mobile unit 1, so that the stereo camera 32 can scan the shape of the workpiece to be cut from different positions according to the pre-set acquisition object and acquisition control parameters, and obtain the shape information of the workpiece to be cut; Calibrate the stereo camera 32 and the cutting device; Fix the workpiece to be cut on the working platform, use the calibrated stereo camera 32 and cutting equipment, plan the cutting path according to the cutting trajectory posture solved by the three-dimensional cutting planning software, generate the cutting program, and complete the cutting operation.

[0029] In a possible implementation, the calibration of the stereo camera 32 and the multi-DOF robot body 23 includes the following steps: the stereo camera 32 is fixedly mounted on the end flange of the multi-DOF robot body 23, which is an eye-on-hand form. The stereo cooperation target is placed in the effective motion range of the multi-DOF robot body 23 and remains stationary, and the multi-DOF robot body 23 is controlled to carry the stereo camera 32 to move to different positions to shoot the stereo cooperation target from different perspectives, so as to obtain multiple sets of stereo cooperation target point cloud data in different postures, and at the same time record the posture information of the multi-DOF robot body 23 when the stereo camera 32 is taking pictures; based on the feature matching principle, combined with the known posture information of the multi-DOF robot body 23, the coordinate transformation matrix of the multi-DOF robot body 23 and the stereo camera 32 is solved to complete the calibration of the stereo camera 32 and the multi-DOF robot body 23.

[0030] In a possible implementation, the calibration of the stereo camera 32 and the cutting device includes the following steps: The calibration of the stereo camera 32 and the cutting device is in the form of eye-to-hand. Since the laser of the cutting device is a non-physical object, it cannot be captured by the stereo camera. Therefore, a top device is installed on the cutting device to replace the laser point position, such as Figure 6 As shown. When the mobile unit 1 moves to the cutting operation area, the multi-degree-of-freedom robot body 23 carries the stereo camera 32 to change different postures to shoot the top device on the cutting equipment, and at the same time records the posture information of each joint of the multi-degree-of-freedom robot body 23 when the stereo camera 32 takes pictures. By combining the calibration matrix of the multi-degree-of-freedom robot body 23 and the stereo camera 32, the relationship between the processing coordinate system of the cutting equipment and the coordinate system of the stereo camera 32 can be obtained. Once the position of the mobile unit 1 changes, the stereo camera 32 and the cutting equipment need to be recalibrated.

[0031] In a possible implementation, the embodiment of the present invention uses a calibrated stereo camera 32 and a cutting device to plan a cutting path according to the cutting trajectory posture solved by the three-dimensional cutting planning software, and the steps of generating a cutting program include: Open the 3D cutting planning software, select the specifications and models of the workpiece to be cut and the cutting equipment station, and the 3D cutting planning software reads the mathematical model of the workpiece to be cut and the cutting equipment model of the corresponding specifications and displays them on the software interface; The 3D cutting planning software analyzes the mathematical model of the workpiece to be cut, identifies and extracts the cutting line information, and gives the associated feature area of ​​the cutting line; The 3D cutting planning software plans the acquisition point and posture of the stereo camera 32 based on the associated feature area of ​​the cutting line and the field of view of the stereo camera 32, solves the axis angle of the multi-degree-of-freedom robot body 23, and plans the camera acquisition path; When collecting path planning, there is a situation where planning fails; at this time, the 3D cutting planning software interface will prompt the point where planning fails, and the viewpoint posture is manually adjusted within a certain range and re-planned; the manual adjustment range depends on the field of view of the stereo camera 32 and the quality of the collected point cloud; The 3D cutting planning software controls the multi-degree-of-freedom robot body 23 and the stereo camera 32 to perform the acquisition task according to the planned path, obtains the point cloud data of the surface of the workpiece to be cut, and saves it; after the acquisition is completed, the multi-degree-of-freedom robot body 23 carries the stereo camera 32 back to the initial position, and the initial position does not interfere with the cutting equipment when performing the cutting operation; The 3D cutting planning software filters, reduces noise and splices the collected point cloud data, aligns the collected point cloud data with the mathematical model of the workpiece to be cut, identifies and extracts cutting-related features, and solves the real position information of the cutting trajectory; A closed track inside the workpiece to be cut is taken as an independent cutting track, and a track intersecting with the outer boundary of the workpiece to be cut is taken as an independent cutting track. There may be multiple cutting tracks on the workpiece to be cut. Considering the cutting working conditions and cutting efficiency, multiple cutting tracks need to be sorted. The sorting principle is generally: cut the internal track first, then cut the external track, and then cut the adjacent tracks in sequence. Figure 8 As shown. The cutting track arrangement order is: first cut the internal circular hole tracks ①-⑥, then cut the outer contour tracks ⑦, ⑧, that is, the cutting track order can be ①->②->③->④->⑤->⑥->⑦->⑧, there are other possible ordering methods, which are not listed here one by one.

[0032] The 3D cutting planning software plans the cutting path of the cutting equipment based on the solved cutting trajectory posture and combined with the cutting process requirements, and generates the cutting program in the format required by the cutting equipment. Similarly, when planning the cutting path, planning failure may occur. At this time, the 3D cutting planning software interface prompts the planning failure point, and then the posture of the failure point is manually adjusted; the manual adjustment range needs to be carried out within the range of the cutting process requirements; The 3D cutting planning software transmits the generated cutting program to the 3D cutting device, and the 3D cutting device performs the cutting operation according to the cutting program.

[0033] 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.

[0034] If the integrated 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, which can 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 at least include: any entity or device that can carry the computer program code to the camera device / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electrical carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0035] 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.

[0036] 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 three-dimensional cutting planning system, characterized in that: include: A mobile unit (1), which provides an assembly basis for the three-dimensional cutting planning system and can be freely moved to any working area; A multi-degree-of-freedom mechanical arm unit (2) is fixedly mounted on the mobile unit (1) and connected to the industrial computer (4); A stereoscopic vision unit (3) is fixedly mounted on the end of the multi-degree-of-freedom robotic arm unit (2) and, under the drive of the multi-degree-of-freedom robotic arm unit (2), scans the shape of the workpiece to be cut from different positions to obtain shape information of the workpiece to be cut; The industrial control computer (4) is fixedly mounted on the mobile unit (1), controls the stereoscopic vision unit (3) to collect morphological information of the workpiece to be cut, controls the multi-degree-of-freedom mechanical arm unit (2) to move according to the planned path, and transmits the cutting program to the three-dimensional cutting device.

2. The three-dimensional cutting planning system according to claim 1, characterized in that: The mobile unit (1) adopts a closed box body driven by wheels (15), the closed box body comprising a shell (14), wheels (15) with a locking function are installed around the bottom surface of the shell (14), and a handle (11) is installed on one side of the top of the shell (14), and the mobile unit (1) is pushed to any working area by the handle (11); the surface of the shell (14) is also provided with a touch screen (12) and a switch button (13), and the power supply of the system equipment is turned on or off by the switch button (13); the touch screen (12) is connected to the industrial control computer (4), and the three-dimensional cutting planning software is operated by touch to realize human-computer interaction; the industrial control computer (4) is fixedly installed inside the shell (14).

3. The three-dimensional cutting planning system according to claim 2, characterized in that: The multi-degree-of-freedom robot arm unit (2) comprises a robot teaching pendant (21), a robot mounting base (22), a multi-degree-of-freedom robot body (23) and a robot controller (24), wherein the robot teaching pendant (21) is arranged on the outer surface of a housing (14), the robot controller (24) is fixedly mounted inside the housing (14), and the multi-degree-of-freedom robot body (23) is fixedly mounted on the outer surface of the housing (14) via the robot mounting base (22).

4. The three-dimensional cutting planning system according to claim 3, characterized in that: The multi-degree-of-freedom robot body (23) is comprehensively selected according to the external dimensions of the workpiece to be cut and the weight of the stereoscopic vision unit (3).

5. The three-dimensional cutting planning system according to claim 3, characterized in that: The stereoscopic vision unit (3) comprises a camera mounting bracket (31) and a stereoscopic camera (32); the stereoscopic camera (32) is fixedly connected to an end flange of a multi-degree-of-freedom robot body (23) via the camera mounting bracket (31).

6. The three-dimensional cutting planning system according to claim 5, characterized in that: The stereo camera (32) is any one or more combinations of a structured light stereo camera and a binocular camera.

7. The three-dimensional cutting planning system according to claim 5, characterized in that: The industrial computer (4) is internally installed with three-dimensional cutting planning software, and the three-dimensional cutting planning software includes: A calibration module (40) is used for calibration operations of a stereo camera (32) and a multi-degree-of-freedom robot unit (2), obtaining a calibration conversion matrix between a stereo camera coordinate system and a multi-degree-of-freedom robot coordinate system, achieving unification of the camera coordinate system and the multi-degree-of-freedom robot coordinate system, and splicing point cloud data collected by the stereo camera (32) at different positions into the same coordinate system to truly reflect the morphological information of the workpiece to be cut; and, for calibration operations of a stereo camera (32) and a three-dimensional cutting device, obtaining a calibration conversion matrix between a stereo camera coordinate system and a three-dimensional cutting device tool coordinate system, and achieving conversion of a cutting trajectory posture solved based on the point cloud data collected by the stereo camera into the cutting device tool coordinate system to execute a cutting program; A model analysis module (41) is used to analyze the mathematical model of the workpiece to be cut imported into the software, identify and extract cutting line information, and provide the associated feature area of ​​the cutting line as input to the viewpoint planning module (42); A viewpoint planning module (42) plans the acquisition posture of the stereo camera (32) based on the associated feature area of ​​the cutting line and the field of view of the stereo camera (32), solves the axis angle of the multi-degree-of-freedom robot body (23), and plans the acquisition path of the stereo camera (32); A stereo camera acquisition module (43) controls the multi-degree-of-freedom robot body (23) to move along the acquisition path planned by the viewpoint planning module (42), and simultaneously controls the stereo camera (32) to acquire point cloud data of the surface of the workpiece to be cut; A point cloud data processing module (44) pre-processes the collected point cloud data, aligns the pre-processed point cloud data with the workpiece digital model, identifies and extracts the cutting line, and solves the cutting trajectory posture according to the cutting process requirements; The cutting planning module (45) plans the cutting path of the cutting device based on the cutting trajectory posture and generates a cutting program according to the requirements of the cutting device. The cutting trajectory planning ensures that the cutting device does not interfere with or collide with each other and that the cutting path is executed continuously.

8. A three-dimensional cutting planning method, characterized in that: include: The digital model of the workpiece to be cut is imported into the three-dimensional cutting planning software, the specification and model of the workpiece to be cut are selected, the mathematical model of the corresponding workpiece is called out, and the mathematical model of the workpiece to be cut is analyzed to identify the cutting line of the workpiece to be cut and the associated characteristic area of ​​the cutting line as the object to be collected by the stereo camera (32); Inputting acquisition control parameters of the stereo camera (32) in advance, and calling the pre-input acquisition control parameters when the stereo camera (32) takes pictures to obtain the shape information of the workpiece to be cut; Obtaining a coordinate transformation matrix between the stereo camera (32) and the multi-degree-of-freedom robot body (23), and completing calibration of the stereo camera (32) and the multi-degree-of-freedom robot body (23); The calibrated stereo camera (32) and the multi-degree-of-freedom robot body (23) are moved to a cutting operation area and fixedly locked by a moving unit (1), so that the stereo camera (32) can scan the shape of the workpiece to be cut from different positions according to the pre-set collection object and collection control parameters, and obtain the shape information of the workpiece to be cut; Calibrate the stereo camera (32) and the cutting device; The workpiece to be cut is fixed on the working platform, and a calibrated stereo camera (32) and a cutting device are used to plan the cutting path and generate a cutting program according to the cutting trajectory posture solved by the three-dimensional cutting planning software to complete the cutting operation.

9. The three-dimensional cutting planning method according to claim 1, characterized in that: The calibration of the stereo camera (32) and the multi-degree-of-freedom robot body (23) comprises the following steps: The stereoscopic cooperation target is placed within the effective movement range of the multi-degree-of-freedom robot body (23) and remains stationary, and the multi-degree-of-freedom robot body (23) is controlled to carry the stereo camera (32) to move to different positions to photograph the stereoscopic cooperation target from different perspectives, thereby obtaining multiple groups of point cloud data of the stereoscopic cooperation target in different positions and postures, and simultaneously recording the position and posture information of the multi-degree-of-freedom robot body (23) when the stereo camera (32) is capturing images; Based on the feature matching principle and in combination with the known position information of the multi-degree-of-freedom robot body (23), the coordinate transformation matrix between the multi-degree-of-freedom robot body (23) and the stereo camera (32) is obtained, and the calibration of the stereo camera (32) and the multi-degree-of-freedom robot body (23) is completed; The calibrating of the stereo camera (32) and the cutting device comprises the following steps: Install a tip device on the cutting equipment to replace the laser point position; When the mobile unit (1) moves to the cutting operation area, the multi-degree-of-freedom robot body (23) carries a stereo camera (32) and changes different postures to shoot the top device on the cutting equipment. At the same time, the posture information of each joint of the multi-degree-of-freedom robot body (23) when the stereo camera (32) is taking pictures is recorded. The calibration matrix of the multi-degree-of-freedom robot body (23) and the stereo camera (32) is combined to obtain the coordinate system relationship between the cutting equipment processing coordinate system and the stereo camera (32).

10. The three-dimensional cutting planning method according to claim 1, characterized in that: The steps of using the calibrated stereo camera (32) and the cutting device to plan the cutting path according to the cutting trajectory posture solved by the three-dimensional cutting planning software and generate the cutting program include: Open the 3D cutting planning software, select the specifications and models of the workpiece to be cut and the cutting equipment station, and the 3D cutting planning software reads the mathematical model of the workpiece to be cut and the cutting equipment model of the corresponding specifications and displays them on the software interface; The 3D cutting planning software analyzes the mathematical model of the workpiece to be cut, identifies and extracts the cutting line information, and gives the associated feature area of ​​the cutting line; The three-dimensional cutting planning software plans the acquisition point position and posture of the stereo camera (32) based on the associated feature area of ​​the cutting line and the field of view of the stereo camera (32), solves the axis angle of the multi-degree-of-freedom robot body (23), and plans the camera acquisition path; The three-dimensional cutting planning software controls the multi-degree-of-freedom robot body (23) and the stereo camera (32) to perform the acquisition task according to the planned path, obtains the point cloud data of the surface of the workpiece to be cut, and saves it; after the acquisition is completed, the multi-degree-of-freedom robot body (23) carries the stereo camera (32) back to the initial position, and the initial position does not interfere with the cutting equipment when performing the cutting operation; The 3D cutting planning software filters, reduces noise and splices the collected point cloud data, aligns the collected point cloud data with the mathematical model of the workpiece to be cut, identifies and extracts cutting-related features, and solves the real position information of the cutting trajectory; A closed trajectory inside the workpiece to be cut is taken as an independent cutting trajectory, and a trajectory intersecting with the outer boundary of the workpiece to be cut is taken as an independent cutting trajectory, and multiple cutting trajectories are sorted; The 3D cutting planning software plans the cutting path of the cutting equipment based on the solved cutting trajectory posture and combined with the cutting process requirements, and generates the cutting program in the format required by the cutting equipment.

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