Method for automatically creating robot track based on three-dimensional model

Abstract

The invention provides a method for automatically creating a robot track based on a three-dimensional model, which comprises the following steps of: acquiring the three-dimensional model of an object to be processed, extracting geometrical characteristics of the three-dimensional model, and identifying process characteristics of the three-dimensional model according to a preset process rule; determining a target processing technology according to geometric features and technology features of the three-dimensional model in combination with a target processing task demand; defining a starting point, an ending point and a middle point on the three-dimensional model according to a target processing task requirement and an operation constraint rule and in combination with a process requirement of a target processing process; in combination with corresponding rule constraints, a path planning algorithm is adopted, and a track path is generated among the defined starting point, the defined ending point and the defined middle point; exporting the trajectory path into a format which can be identified by robot simulation software, so as to perform simulation verification on the optimized trajectory in the robot simulation software; and outputting the track path which passes the simulation verification in a format which can be identified and executed by a robot controller.

Description

Technical Field

[0001] The invention relates to the field of welding, and in particular to a method for automatically creating a robot trajectory based on a three-dimensional model. Background Art

[0002] With the continuous development of industrial automation, robots are increasingly used in manufacturing. In the application of robots, trajectory planning is a key link, which directly affects the working efficiency and accuracy of robots. Traditional robot trajectory planning methods usually require manual design based on experience, which is inefficient and prone to errors, and difficult to adapt to complex three-dimensional working environments. In addition, robots of different types or specifications have different simulation software, which requires high manual trajectory planning and is prone to errors.

[0003] At present, there are some solutions that use simple geometric analysis on two-dimensional drawings to plan and generate preliminary robot trajectories, thereby realizing automatic planning of robot trajectories. However, such methods are also difficult to adapt to complex three-dimensional working environments. In addition, they often ignore the movement and mechanical constraints of the robot, resulting in the generated trajectory being not smooth and efficient enough in actual execution. Some solutions lack effective optimization steps after trajectory generation, resulting in redundant motion points in the trajectory, which increases the robot's movement time and energy consumption. In addition, some existing technologies are not comprehensive enough in the trajectory verification link, making it difficult to ensure the reliability and safety of the trajectory in a complex working environment.

[0004] Therefore, with the continuous development of three-dimensional modeling technology, how to realize the automatic creation and planning of robot trajectories on three-dimensional models and improve the efficiency and accuracy of trajectory planning has become an urgent problem to be solved in the current field of robotics technology.

[0005] In order to solve the above problems, people have been seeking an ideal technical solution. Summary of the invention

[0006] The purpose of the present invention is to provide a method for automatically creating robot trajectories based on a three-dimensional model in view of the deficiencies in the prior art.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is: a method for automatically creating a robot trajectory based on a three-dimensional model, comprising the following steps: Obtain a three-dimensional model of the object to be processed, extract the geometric features of the three-dimensional model, and identify the process features of the three-dimensional model according to preset process rules; Determine the target processing technology based on the geometric and process characteristics of the 3D model and the requirements of the target processing task; According to the target processing task requirements and operation constraint rules, combined with the process requirements of the target processing technology, define the starting point, end point and intermediate point on the 3D model; Combined with the corresponding rule constraints, a path planning algorithm is used to generate a trajectory path between the defined starting point, end point and intermediate points; Export the trajectory path into a format that can be recognized by the robot simulation software, so as to simulate and verify the optimized trajectory in the robot simulation software; The trajectory path verified by simulation is output in a format that can be recognized and executed by the robot controller, so that the robot can perform processing operations according to the trajectory path.

[0008] In a possible embodiment of the first aspect, identifying process features of a three-dimensional model according to preset process rules includes: identifying areas in the three-dimensional model that require specific processing operations according to the preset process rules, and marking these areas as process features.

[0009] In a possible embodiment of the first aspect, after the trajectory path is generated, redundant path points in the trajectory path are removed, and the kinematic and dynamic constraints of the robot are considered to simulate the execution process of the trajectory path, and the trajectory path is adjusted accordingly according to the simulation results, and the adjusted trajectory path is exported to a format that can be recognized by different types of robot simulation software.

[0010] In one possible embodiment, the trajectory path is exported into a format that can be recognized by different types of robot simulation software, so as to simulate the movement of the robot along the generated trajectory path in different types of robot simulation software, and check whether the robot collides with the surrounding environment and whether the movement of each joint of the robot exceeds its allowed range; if problems are found, the trajectory path is adjusted and optimized until the trajectory path passes the verification.

[0011] A second aspect provides a robot trajectory automatic creation device based on a three-dimensional model, comprising: A three-dimensional model acquisition module is used to acquire a three-dimensional model of an object to be processed; A feature acquisition module is used to extract geometric features of the 3D model and identify the process features of the 3D model according to preset process rules; A processing technology determination module is used to determine the target processing technology according to the geometric features and process features of the 3D model and the requirements of the target processing task; The point determination module is used to define the starting point, end point and intermediate point on the 3D model according to the target processing task requirements and operation constraint rules, and in combination with the process requirements of the target processing technology; The trajectory path generation module is used to generate a trajectory path between the defined starting point, end point and intermediate point by combining corresponding rule constraints and adopting a path planning algorithm; The trajectory output module 1 is used to export the trajectory path into a format that can be recognized by the robot simulation software, so as to simulate and verify the optimized trajectory in the robot simulation software; The trajectory output module 2 is used to output the trajectory path verified by simulation in a format that can be recognized and executed by the robot controller, so that the robot can perform processing operations according to the trajectory path.

[0012] In a possible embodiment of the second aspect, a trajectory optimization module is further included, wherein the trajectory optimization module is used to remove redundant path points in the trajectory path, consider the kinematic and dynamic constraints of the robot, simulate the execution process of the trajectory path, and adjust the trajectory path accordingly according to the simulation results.

[0013] A third aspect provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method described in the first aspect.

[0014] A fourth aspect provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0015] The present invention has outstanding substantive features and significant progress compared to the prior art. Specifically, The present invention performs robot trajectory planning based on a three-dimensional model, can adapt to complex three-dimensional working environments, provides strong support for the application of robots in various working scenarios, and significantly improves the trajectory generation speed; Based on the robot's kinematic and dynamic constraints, the initially generated trajectory path is optimized and adjusted, which can smoothly process the automatically planned trajectory and simulation verification, ensuring the stability and safety of the robot's movement; Because trajectory planning is done at the front end, it can adapt to robots of different types and models, greatly shortening the production and operation cycle; It reduces excessive manual intervention, improves the efficiency and accuracy of robot trajectory planning, achieves more efficient parts processing, and improves the consistency of product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of the method for automatically creating robot trajectories based on a three-dimensional model according to the present invention.

[0017] Figure 2 It is a schematic diagram of the application implementation process of the present invention.

[0018] Figure 3It is a structural schematic diagram of the device for automatically creating robot trajectories based on a three-dimensional model described in the present invention. DETAILED DESCRIPTION

[0019] The technical solution of the present invention is further described in detail below through specific implementation methods.

[0020] Example 1 This embodiment provides a method for automatically creating a robot trajectory based on a three-dimensional model, which is applied to a trajectory planning system, such as Figure 1 As shown, the following steps are included: Acquisition of 3D model and model analysis: Acquire the 3D model of the object to be processed, extract the geometric features of the 3D model, and identify the process features of the 3D model according to preset process rules.

[0021] Specifically, a precise three-dimensional model of the object to be processed can be acquired or created through professional three-dimensional modeling software, such as SolidWorks, CATIA, etc., and the created or acquired three-dimensional model can be imported into the trajectory planning system in a common file format.

[0022] Furthermore, in the trajectory planning system, the imported 3D model is analyzed in detail to extract the surface contour, edges, holes, chamfers, grooves and other geometric features of the 3D model. At the same time, according to the preset process rules, the areas that need specific processing operations are identified, such as the edges that need to be grooved, the positions that need to be welded, etc. These areas are marked as process features. Among them, the preset processes include: welding process, groove cutting process, etc.

[0023] Determine the processing technology: Determine the target processing technology based on the geometric and process characteristics of the 3D model and the requirements of the target processing task.

[0024] The target processing task requirements may be input in advance or automatically generated based on the geometric features and process features of the three-dimensional model extracted above.

[0025] For example, if the 3D model needs to be cut with a groove, select the corresponding flame or plasma cutting process; if two parts need to be connected, further select the welding process, etc.

[0026] Generate points: Define the starting point, end point and intermediate point on the 3D model according to the target processing task requirements and operation constraints, and in combination with the process requirements of the target processing technology.

[0027] Specifically, the operation constraints and processing technology requirements all adopt the current standards. The specific rules and constraints include the weld sequence, welding area, point requirements, etc. in welding, and the cutting sequence in beveling, etc.

[0028] Trajectory creation: Combined with the corresponding rule constraints, a path planning algorithm is used to generate a trajectory path between the defined starting point, end point and intermediate points.

[0029] It can be understood that constraining the trajectory path according to various rules and combining the process can ensure that a trajectory that can be used on the production site can be generated.

[0030] It should be noted that since the trajectory path is based on connecting different points on the three-dimensional model into trajectory lines, it can be adapted to multiple robots as long as the format that the required robot can recognize is output during the output process.

[0031] The trajectory path generated here is universal and can be adapted to robots of various types and specifications.

[0032] Trajectory verification and optimization adjustment: Export the trajectory path to a format that can be recognized by the robot simulation software, so as to simulate and verify the trajectory path in the robot simulation software, and when the verification process record is received, adjust and optimize the trajectory path according to the verification process record until a verification pass message is received.

[0033] It should be noted that in order to solve the problem that some existing technologies are not comprehensive enough in the trajectory verification link and it is difficult to ensure the reliability and safety of the trajectory in a complex working environment, this embodiment further exports the trajectory path into a format that can be recognized by different types of robot simulation software (RobotStudio, ROBOGUIDE, DELMIA, etc.), so that different types of robot simulation software can simulate the robot to move according to the generated trajectory path, and check whether the robot has a collision with the surrounding environment (such as a fixture, workbench, etc.), and whether the movement of each joint of the robot exceeds its allowed range; if there is a collision with the surrounding environment and / or the movement of each joint of the robot exceeds its allowed range, it is determined that the verification has failed, and the verification process record is returned to the trajectory planning system for adjustment and optimization of the trajectory path; otherwise, it is determined that the verification has passed, and a verification pass message is returned to the trajectory planning system, and the trajectory path that has passed the simulation verification is output in a format that can be recognized and executed by the robot controller, so that the robot can perform processing operations according to the trajectory path.

[0034] Specifically, the trajectory path verified by simulation is usually output in the G code format. After the robot controller receives the G code, it can control the robot to perform actual processing operations according to the predetermined trajectory.

[0035] In specific implementation, after the trajectory path is generated, the trajectory path is first optimized and adjusted, and then the trajectory path is exported into a format that can be recognized by the robot simulation software.

[0036] Specifically, the optimization and adjustment of the trajectory path include the following steps: removing redundant path points in the trajectory path to reduce the motion time and energy consumption of the robot; optimizing the trajectory path based on the kinematic and dynamic constraints of the robot (such as joint angle constraints, speed constraints, etc.), simulating the execution process of the optimized trajectory path, predicting possible problems such as collisions, jams, jerks, or impacts, and making corresponding adjustments to the trajectory path again according to the simulation results, and then exporting the adjusted trajectory path into a format recognizable by different types of robot simulation software.

[0037] Embodiment 2 This embodiment provides an application example, as Figure 2 shown.

[0038] Taking the groove process as an example, the specific process of the method for automatically creating a robot trajectory described in Embodiment 1 is given: 1) Obtain the three-dimensional model of the part that needs to be grooved, parse the model in the trajectory planning system, and identify and extract features such as the outer contour, edges, and chamfers of the model. At the same time, according to the preset process rules, identify the edges that need to be grooved, etc., and mark them as process features.

[0039] 2) Determine that the part is a groove process.

[0040] 3) Taking the actual cutting sketch drawn as a reference, combining the parsed outer contour of the model and various features, if the groove to be cut on the part is an upward groove, set the length of the part as L, the width as D, and the actual cutting groove width of the part as X. By comparing the cutting sketch of each edge with the theoretical model, the cutting difference is obtained as M, so as to obtain the length L1 = L - 2M - 2X and the width D1 = D - 2M - 2X of the actual cutting trajectory line of the part finally.

[0041] 4) Connect the obtained actual cutting trajectory lines according to the original model contour trajectory to obtain the cutting trajectory line of the part when grooving.

[0042] Embodiment 3 This embodiment provides a device for automatically creating a robot trajectory based on a three-dimensional model, as Figure 3 shown, including: A three-dimensional model acquisition module for acquiring a three-dimensional model of an item to be processed; A feature acquisition module for extracting geometric features of the three-dimensional model and identifying process features of the three-dimensional model according to preset process rules; A processing process determination module for determining a target processing process according to the geometric features and process features of the three-dimensional model and in combination with the requirements of the target processing task; A point location determination module, configured to define a starting point, an ending point, and intermediate points on a three-dimensional model according to the requirements of a target processing task and operation constraint rules, and in combination with the process requirements of the target processing technology; A trajectory path generation module, configured to generate a trajectory path between the defined starting point, ending point, and intermediate points by using a path planning algorithm in combination with corresponding rule constraints; A trajectory output module I, configured to export the trajectory path into a format recognizable by a robot simulation software, so as to simulate and verify the optimized trajectory in the robot simulation software; A trajectory output module II, configured to output the trajectory path that has passed the simulation verification in a format recognizable and executable by a robot controller, for the robot to perform processing operations according to the trajectory path.

[0043] Further, the robot trajectory automatic creation device further includes a trajectory optimization module, configured to remove redundant path points in the trajectory path, consider the kinematic and dynamic constraints of the robot, simulate the execution process of the trajectory path, and make corresponding adjustments to the trajectory path according to the simulation results.

[0044] Embodiment 4 This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in Embodiment 1 are implemented.

[0045] Embodiment 5 This embodiment provides a computer program product, including a computer program. When the computer program is executed by a processor, the steps of the method described in Embodiment 1 are implemented.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the specific implementation manners of the present invention or perform equivalent replacements for some technical features; without departing from the spirit of the technical solutions of the present invention, they should all be covered by the scope of the technical solutions claimed by the present invention.

Claims

1. A method for automatically creating robot trajectories based on a three-dimensional model, applied to a trajectory planning system, characterized in that: The following steps are involved: Obtain a three-dimensional model of the object to be processed, extract the geometric features of the three-dimensional model, and identify the process features of the three-dimensional model according to preset process rules; Determine the target processing technology based on the geometric and process characteristics of the 3D model and the requirements of the target processing task; According to the target processing task requirements and operation constraint rules, combined with the process requirements of the target processing technology, define the starting point, end point and intermediate point on the 3D model; Combined with the corresponding rule constraints, a path planning algorithm is used to generate a trajectory path between the defined starting point, end point and intermediate points; The trajectory path is exported to a format that can be recognized by the robot simulation software to simulate and verify the trajectory path in the robot simulation software, and when the verification process record is received, the trajectory path is adjusted and optimized according to the verification process record until a verification pass message is received.

2. A method for automatically creating robot trajectories based on a three-dimensional model according to claim 1, characterized in that: Identify the process features of the 3D model according to preset process rules, including: According to the preset process rules, the areas in the 3D model that need specific processing operations are identified and marked as process features.

3. A method for automatically creating robot trajectories based on a three-dimensional model according to claim 1 or 2, characterized in that: After the trajectory path is generated, the redundant path points in the trajectory path are removed, and the kinematic and dynamic constraints of the robot are considered to simulate the execution process of the trajectory path. The trajectory path is adjusted accordingly according to the simulation results, and then the adjusted trajectory path is exported to a format that can be recognized by different types of robot simulation software.

4. The method for automatically creating robot trajectories based on a three-dimensional model according to claim 3, characterized in that: The trajectory path is exported into a format that can be recognized by different types of robot simulation software, so that different types of robot simulation software can simulate the movement of the robot along the generated trajectory path, and check whether the robot has any collision with the surrounding environment, and whether the movement of each joint of the robot exceeds its allowed range; if there is a collision with the surrounding environment and / or the movement of each joint of the robot exceeds its allowed range, it is determined that the verification has failed, and the verification process record is returned to the trajectory planning system for adjustment and optimization of the trajectory path; otherwise, it is determined that the verification has passed, and a verification pass message is returned to the trajectory planning system, and the trajectory path that has passed the simulation verification is output in a format that can be recognized and executed by the robot controller, so that the robot can perform processing operations according to the trajectory path.

5. A robot trajectory automatic creation device based on a three-dimensional model, characterized in that: include: A three-dimensional model acquisition module is used to acquire a three-dimensional model of an object to be processed; A feature acquisition module is used to extract geometric features of the 3D model and identify the process features of the 3D model according to preset process rules; A processing technology determination module is used to determine the target processing technology according to the geometric features and process features of the 3D model and the requirements of the target processing task; The point determination module is used to define the starting point, end point and intermediate point on the 3D model according to the target processing task requirements and operation constraint rules, and in combination with the process requirements of the target processing technology; The trajectory path generation module is used to generate a trajectory path between the defined starting point, end point and intermediate point by combining corresponding rule constraints and adopting a path planning algorithm; The trajectory output module 1 is used to export the trajectory path into a format that can be recognized by the robot simulation software, so as to simulate and verify the optimized trajectory in the robot simulation software; The trajectory output module 2 is used to output the trajectory path verified by simulation in a format that can be recognized and executed by the robot controller, so that the robot can perform processing operations according to the trajectory path.

6. The device for automatically creating robot trajectories based on a three-dimensional model according to claim 5, characterized in that: It also includes a trajectory optimization module, which is used to remove redundant path points in the trajectory path, consider the kinematic and dynamic constraints of the robot, simulate the execution process of the trajectory path, and adjust the trajectory path accordingly according to the simulation results.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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