Registered workpiece model editing system and robot

Abstract

The invention provides a model editing system for registered workpieces and a robot, the system comprises a processing unit, a display unit and a receiving unit, the display unit is used for displaying an operation interface of Max, and the processing unit comprises a model generation unit and a parameter setting unit; the receiving unit is used for receiving first operation information input by a user, so that an operation interface of the Max enters the Max model editor from a toolbar of the motion setting interface; the model generation unit is used for determining the type of a to-be-generated model according to the selection of a user when no preset model exists; the parameter setting unit is used for setting various parameters of the model to be generated; the display unit is further used for displaying the generated model in at least one display area in a three-dimensional mode. Therefore, the time of model registration can be greatly reduced, and abundant editing functions can be provided, so that the generated model meets the requirements of various application scenes, and the subsequent simulation debugging of the robot is facilitated.

Description

Background Art

[0002] Currently, the sorting of workpieces mainly relies on manual operation. This primitive manual sorting method is inefficient and difficult to meet the sorting requirements for a large number of workpieces. Using a manipulator to replace manual operation for workpiece sorting can effectively improve work efficiency and reduce errors that occur during manual sorting. Before debugging the robot for sorting operations on-site, the workpiece model to be sorted needs to be registered in the robot control software first, so as to help the robot accurately identify the workpiece to be grasped during the operation.

[0003] In existing robot control software, workpiece model registration basically adopts a preset method, that is, software engineers pre-design various types of workpieces, including dimensions, shapes, etc.

[0004] However, the above method of model registration takes a long time, has high requirements for users, and the generated models often have a large gap from the shapes of workpieces in the real scene, which is not convenient for subsequent debugging and use of the robot. Summary of the Invention

[0005] Aiming at the defects in the prior art, the purpose of the present invention is to provide a model editing system and a robot for registering workpieces.

[0006] In a first aspect, an embodiment of the present application provides a model editing system for registering workpieces, including: a processing unit, a display unit, and a receiving unit. Among them, the display unit is used to display the operation interface of Max, and the processing unit includes: a model generation unit and a parameter setting unit;

[0007] The receiving unit is used to receive the first operation information input by the user, so that the operation interface of Max enters the Max model editor from the toolbar of the motion setting interface;

[0008] The model generation unit is used to determine the type of the model to be generated according to the user's selection when there is no preset model;

[0009] The parameter setting unit is used to set various parameters of the model to be generated;

[0010] The display unit is further used to display the generated model in a three-dimensional manner in at least one display area.

[0011] Optionally, the model to be generated includes: a cylinder, a cuboid, a sphere, a brake disc, a bin, an outer bearing ring, and an inner bearing ring.

[0012] Optionally, when the user selects to set the bin, the parameter setting unit is specifically used to: respectively set the inner support length, inner support width, inner support height of the bin, and the wall thickness in the X-axis, Y-axis, and Z-axis directions;

[0013] The display unit is used to synchronously display the three-dimensional view, top view, and sectional view of the bin.

[0014] Optionally, when the user selects to set the brake disc, the parameter setting unit is specifically used for:

[0015] Respectively set the hat height, brake surface thickness, inner cavity depth, large circle diameter, inner cavity diameter, through hole diameter, and small circle diameter of the brake disc;

[0016] The display unit is used to synchronously display the three-dimensional view and sectional view of the brake disc.

[0017] Optionally, when the user selects to set the outer bearing ring, the parameter setting unit is specifically used for:

[0018] Respectively set the height, diameter, top diameter, and bottom diameter of the outer bearing ring;

[0019] The display unit is used to display the three-dimensional view and sectional view of the outer bearing ring.

[0020] Optionally, when the user selects to set the inner bearing ring, the parameter setting unit is specifically used for:

[0021] Respectively set the height, inner hole diameter, top diameter, first top thickness, second top thickness, bottom diameter, first bottom thickness, and second bottom thickness of the inner bearing ring;

[0022] The display unit is used to display the three-dimensional view and sectional view of the inner bearing ring.

[0023] Optionally, the system further includes:

[0024] A model import unit, which is used to select a model file and directly import the model file according to the second operation information input by the user when there is a preset model;

[0025] The display unit is used to display the imported model in a three-dimensional manner in at least one display area and display the attributes corresponding to the imported model, and the attributes include: the number of triangular faces, fixed-point coordinates, dimensions, and the maximum value, minimum value, and central value corresponding to the X-axis, Y-axis, and Z-axis.

[0026] Optionally, the system further includes:

[0027] A model simplification unit, which is used to perform simplification processing on the imported model according to the third operation information input by the user, and the simplification processing includes: model convex decomposition and reduction of triangular faces, where: model convex decomposition means decomposing the model into several convex hulls and freely setting the number of convex hulls;

[0028] The display unit is configured to display the simplified processed model in a three-dimensional manner in at least one display area.

[0029] Optionally, the system further includes:

[0030] A model clipping unit, configured to clip the imported model according to the fourth operation information input by the user, and the clipping methods include: cuboid, cylinder, sphere;

[0031] A clipping parameter editing unit, configured to respectively set the length, width, and height of the clipping, and edit the axis pose.

[0032] In a second aspect, an embodiment of the present application provides a robot, including: a base, a robotic arm, a drive system, a vision sensor, a processor, and a model editing system for registering workpieces as described in any one of the first aspects, wherein:

[0033] The model editing system for registering workpieces is configured to generate or import a model according to various operation information input by the user, and save it;

[0034] The processor calls the saved model, and with the assistance of the vision sensor, identifies the workpiece to be grasped and generates a drive instruction;

[0035] The drive system drives the robotic arm to perform a grasping task according to the drive instruction.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] In the present application, according to the first operation information input by the user, enter the Max model editor through the toolbar of the motion setting interface; if there is no preset model, select to generate a model and determine the type of the model to be generated; set various parameters of the model to be generated, and display the generated model in a three-dimensional manner in at least one display area. Thereby, the time for model registration can be greatly reduced, and rich editing functions can be provided, so that the generated model meets the requirements of various application scenarios, facilitating subsequent simulation and debugging of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present invention will become more obvious:

[0039] Figure 1 It is a schematic diagram of the interface of the Max model editor provided by the embodiment of the present application;

[0040] Figure 2 It is a schematic diagram of the structure of a model editing system for registering workpieces provided by the embodiment of the present application;

[0041] Figure 3 It is a schematic diagram of the setting interface for generating a bin in the embodiment of the present application;

[0042] Figure 4 It is a schematic diagram of the setting interface for generating a brake disc in the embodiment of the present application;

[0043] Figure 5 It is a schematic diagram of the setting interface for generating an outer ring of a bearing in the embodiment of the present application;

[0044] Figure 6 It is a schematic diagram of the setting interface for the inner ring of the Shenchougou bearing in the embodiment of the present application;

[0045] Figure 7 It is a schematic diagram of the structure of another model editing system for registering workpieces provided by the embodiment of the present application;

[0046] Figure 8 It is a schematic diagram of the interface when importing a preset model in the embodiment of the present application;

[0047] Figure 9 It is a schematic diagram of the interface for model simplification in the embodiment of the present application;

[0048] Figure 10 It is a schematic diagram of the interface for model cropping in the embodiment of the present application;

[0049] Figure 11 It is a schematic diagram of the structure of a model editing device for registering workpieces provided by an embodiment of the present application;

[0050] Figure 12 It is a schematic diagram of the structure of the computer-readable storage medium in the embodiment of the present invention. Detailed implementation manners

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0052] It should be noted that when a component is referred to as "fixed to" another component, it can be directly on the other component or there may also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0054] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0055] The technical solutions of the present invention and how the technical solutions of this application solve the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0056] Some embodiments of this application will be described in detail below with reference to the drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0057] Figure 1 The following is a schematic diagram of the interface of the Max model editor provided for the embodiments of this application. As Figure 1 shown, on the Max home page, select "Motion" and through the toolbar of the motion settings interface, click "Max Model Editor", and the interface of the Max model editor will pop up. There are three tab controls on this interface, namely: File, Edit, and View. Through the "File" control, a model can be generated or an already set model can be imported. Through the "Edit" control, various editing processes can be performed on the generated model or the imported model. Through the "View" control, various view displays can be performed on the generated model or the imported model.

[0058] Figure 2 A structural schematic diagram of a model editing system for registering workpieces provided by an embodiment of the present application is shown as Figure 2 shown. The system in this embodiment may include: a processing unit 210, a display unit 220, and a receiving unit 230. Among them, the display unit 220 is used to display the operation interface of Max. The processing unit 210 includes: a model generation unit 211 and a parameter setting unit 212; the receiving unit 230 is used to receive the first operation information input by the user, so that the operation interface of Max enters the Max model editor from the toolbar of the motion setting interface; the model generation unit 211 is used to determine the type of the model to be generated according to the user's selection when there is no preset model; the parameter setting unit 212 is used to set various parameters of the model to be generated; the display unit 220 is also used to display the generated model in a three-dimensional manner in at least one display area.

[0059] In this embodiment, reference may be made to Figure 1 the interface of the Max model editor shown.

[0060] In this embodiment, the models to be generated include: cylinder, cuboid, sphere, brake disc, material box, bearing outer ring, bearing inner ring.

[0061] Exemplarily, Figure 3 A schematic diagram of the setting interface for generating a material box in an embodiment of the present application is shown as Figure 3 shown. When the user selects to set the material box, various parameters of the model to be generated are set, including: displaying the three-dimensional view, top view, and sectional view of the material box; respectively setting the inner support length, inner support width, inner support height, and wall thickness in the X-axis, Y-axis, and Z-axis directions of the material box.

[0062] Exemplarily, Figure 4 A schematic diagram of the setting interface for generating a brake disc in an embodiment of the present application is shown as Figure 4 shown. When the user selects to set the brake disc, various parameters of the model to be generated are set, including: displaying the three-dimensional view and sectional view of the brake disc; respectively setting the hat height, brake surface thickness, inner cavity depth, large circle diameter, inner cavity diameter, through hole diameter, and small circle diameter of the brake disc.

[0063] Exemplarily, Figure 5 A schematic diagram of the setting interface for generating a bearing outer ring in an embodiment of the present application is shown as Figure 5 shown. When the user selects to set the bearing outer ring, various parameters of the model to be generated are set, including: displaying the three-dimensional view and sectional view of the bearing outer ring; respectively setting the height, diameter, top diameter, and bottom diameter of the bearing outer ring.

[0064] Exemplarily,Figure 6 This is a schematic diagram of the setting interface for the inner ring of the Shenchougou bearing in the embodiment of the present application. As Figure 6 shown, when the user selects to set the inner ring of the bearing, various parameters of the model to be generated are set, including: displaying the three-dimensional diagram and sectional view of the inner ring of the bearing; respectively setting the height, inner hole diameter, top diameter, first top thickness, second top thickness, bottom diameter, first bottom thickness, and second bottom thickness of the inner ring of the bearing.

[0065] In this embodiment, after setting various parameters of the model to be generated, the generated model is displayed in a three-dimensional manner in the display area of the Max model editor, and the attributes corresponding to the generated model can be displayed at the same time. For example, the number of triangular faces, fixed-point coordinates, dimensions, and the maximum, minimum, and central values corresponding to the X-axis, Y-axis, and Z-axis, etc.

[0066] In this embodiment, according to the first operation information input by the user, enter the Max model editor through the toolbar of the motion setting interface; if there is no preset model, select to generate a model and determine the type of the model to be generated; set various parameters of the model to be generated, and display the generated model in a three-dimensional manner in at least one display area. Thereby, the time for model registration can be greatly reduced, and rich editing functions can be provided, so that the generated model meets the requirements of various application scenarios and is convenient for subsequent simulation and debugging of the robot.

[0067] Figure 7 This is a schematic structural diagram of another model editing system for registering workpieces provided by the embodiment of the present application. As Figure 7 shown, the system in this embodiment may include: a processing unit 210, a display unit 220, a receiving unit 230, and a model import unit 240. Among them, the display unit 220 is used to display the operation interface of Max, and the processing unit 210 includes: a model generation unit 211 and a parameter setting unit 212; among them, the model import unit 240 is used to select a model file and directly import the model file according to the second operation information input by the user when there is a preset model; the display unit 220 is used to display the imported model in a three-dimensional manner in at least one display area and display the attributes corresponding to the imported model. The attributes include: the number of triangular faces, fixed-point coordinates, dimensions, and the maximum, minimum, and central values corresponding to the X-axis, Y-axis, and Z-axis.

[0068] In this embodiment, software engineers can preset some common models in advance according to the needs of users for direct call during registration. Of course, it should be noted that the imported model can also be adjusted for various parameters in the Max model editor provided by the present application, so that the final model meets the specific needs of users.

[0069] In this embodiment, the attributes of the model include: the number of triangular faces, the fixed-point coordinates, the dimensions, as well as the maximum values, minimum values, and central values corresponding to the X-axis, Y-axis, and Z-axis.

[0070] Exemplarily, Figure 8 As shown in the schematic diagram of the interface for importing a preset model in the embodiment of the present application, Figure 8 as shown, the imported model is displayed in a three-dimensional manner on the left side of the Max model editor interface, and the attributes of the model are displayed on the right side.

[0071] It should be noted that the user can modify various parameters in the attributes. Meanwhile, the modified model will be displayed on the left side.

[0072] In an alternative embodiment, the above system further includes: a model simplification unit 250, configured to perform a simplification process on the imported model according to the third operation information input by the user. The simplification process includes: convex decomposition of the model and reduction of triangular faces. Among them, convex decomposition of the model means decomposing the model into several convex hulls, and freely setting the number of convex hulls; a display unit 220, configured to display the simplified model in a three-dimensional manner in at least one display area.

[0073] In this embodiment, the simplification process includes: convex decomposition of the model and reduction of triangular faces. Among them, convex decomposition of the model means decomposing the model into several convex hulls, and freely setting the number of convex hulls; finally, the simplified model is displayed in a three-dimensional manner in at least one display area.

[0074] Exemplarily, Figure 9 As shown in the schematic diagram of the model simplification in the embodiment of the present application, Figure 9 as shown, first select the simplification method. For example, when selecting convex decomposition of the model, the number of triangular faces and vertices of the current model will be prompted, and a recommended number of convex hulls will be given.

[0075] In another alternative embodiment, the above system may further include: a model cropping unit 260 and a cropping parameter editing unit 270. Among them, the model cropping unit 260 is configured to perform a cropping process on the imported model according to the fourth operation information input by the user. The cropping methods include: cuboid, cylinder, sphere; the cropping parameter editing unit 270 is configured to respectively set the length, width, and height of the cropping, and edit the axis pose.

[0076] In this embodiment, the cropping methods include: cuboid, cylinder, sphere; then respectively set the length, width, and height of the cropping, and edit the axis pose.

[0077] Exemplarily, Figure 10 As shown in the schematic diagram of the model cropping in the embodiment of the present application, Figure 10As shown, first select the cropping method. Each cropping method corresponds to the cropping length, width, and height respectively, and then edit the axis pose.

[0078] In this embodiment, by simplifying and / or cropping the imported model, the complexity of the imported model can be reduced, the operation difficulty during background simulation can be decreased, and the operation efficiency can be improved.

[0079] This embodiment also provides a robot, which may include: a base, a robotic arm, a drive system, a vision sensor, a processor, and a model editing system for registering workpieces as described above, where: the model editing system for registering workpieces is used to generate or import a model according to various operation information input by the user and save it; the processor calls the saved model and, with the assistance of the vision sensor, identifies the workpiece to be grasped and generates a drive instruction; the drive system drives the robotic arm to perform a grasping task according to the drive instruction.

[0080] This application embodiment also provides a method for editing a model of a registered workpiece, and the method may include the following steps:

[0081] Step S1, enter the Max model editor through the toolbar of the motion setting interface according to the first operation information input by the user.

[0082] In this embodiment, reference may be made to Figure 1 the interface of the Max model editor as shown.

[0083] Step S2, if there is no preset model, select to generate a model and determine the type of the model to be generated.

[0084] In this embodiment, the models to be generated include: cylinder, cuboid, sphere, brake disc, bin, outer bearing ring, inner bearing ring.

[0085] Exemplarily, Figure 3 is a schematic diagram of the setting interface for generating a bin in this application embodiment. As Figure 3 shown, when the user selects to set the bin, various parameters of the model to be generated are set, including: displaying the 3D view, top view, and sectional view of the bin; respectively setting the inner support length, inner support width, inner support height of the bin, and the wall thickness in the X-axis, Y-axis, and Z-axis directions.

[0086] Exemplarily, Figure 4 is a schematic diagram of the setting interface for generating a brake disc in this application embodiment. As Figure 4 shown, when the user selects to set the brake disc, various parameters of the model to be generated are set, including: displaying the 3D view and sectional view of the brake disc; respectively setting the hat height, brake surface thickness, inner cavity depth, large circle diameter, inner cavity diameter, through hole diameter, and small circle diameter of the brake disc.

[0087] Exemplarily, Figure 5 This is a schematic diagram of the setting interface for generating the bearing outer ring in the embodiment of the present application. As Figure 5 shown, when the user selects to set the bearing outer ring, various parameters of the model to be generated are set, including: displaying the three-dimensional diagram and sectional view of the bearing outer ring; respectively setting the height, diameter, top diameter, and bottom diameter of the bearing outer ring.

[0088] Exemplarily, Figure 6 This is a schematic diagram of the setting interface for the inner ring of the Shenchougou bearing in the embodiment of the present application. As Figure 6 shown, when the user selects to set the bearing inner ring, various parameters of the model to be generated are set, including: displaying the three-dimensional diagram and sectional view of the bearing inner ring; respectively setting the height, inner hole diameter, top diameter, first top thickness, second top thickness, bottom diameter, first bottom thickness, and second bottom thickness of the bearing inner ring.

[0089] Step S3: Set various parameters of the model to be generated and display the generated model in a three-dimensional manner in at least one display area.

[0090] In this embodiment, after completing the setting of various parameters of the model to be generated, the generated model is displayed in a three-dimensional manner in the display area of the Max model editor, and the attributes corresponding to the generated model can be displayed simultaneously. For example, the number of triangular faces, fixed-point coordinates, dimensions, and the maximum, minimum, and central values corresponding to the X-axis, Y-axis, and Z-axis, etc.

[0091] In this embodiment, according to the first operation information input by the user, enter the Max model editor through the toolbar of the motion setting interface; if there is no pre-set model, select to generate a model and determine the type of the model to be generated; set various parameters of the model to be generated and display the generated model in a three-dimensional manner in at least one display area. Thereby, the time for model registration can be greatly reduced, and rich editing functions can be provided, so that the generated model meets the requirements of various application scenarios and is convenient for subsequent simulation and debugging of the robot.

[0092] In an alternative embodiment, the above method may further include:

[0093] Step S4: If there is a pre-set model, select the model file according to the second operation information input by the user and directly import the model file.

[0094] In this embodiment, software engineers can preset some common models in advance according to the needs of users for direct invocation during registration. Of course, it should be noted that the imported models can also be adjusted with various parameters in the Max model editor provided in this application, so that the final models meet the specific needs of users.

[0095] Step S5: Display the imported model in a three-dimensional manner in at least one display area, and display the attributes corresponding to the imported model.

[0096] In this embodiment, the attributes include: the number of triangular faces, vertex coordinates, dimensions, and the maximum value, minimum value, and central value corresponding to the X-axis, Y-axis, and Z-axis.

[0097] Exemplarily, Figure 8 is a schematic diagram of the interface when importing a preset model in an embodiment of this application. As Figure 8 shown, the imported model is displayed in a three-dimensional manner on the left side of the Max model editor interface, and the attributes of the model are displayed on the right side.

[0098] It should be noted that users can modify various parameters in the attributes. At the same time, the modified model will be displayed on the left side.

[0099] In an alternative embodiment, the above method may further include:

[0100] Step S6: Perform a simplification process on the imported model according to the third operation information input by the user.

[0101] In this embodiment, the simplification process includes: convex decomposition of the model and reduction of triangular faces. Among them, convex decomposition of the model means decomposing the model into several convex hulls and freely setting the number of convex hulls; finally, the simplified model is displayed in a three-dimensional manner in at least one display area.

[0102] Exemplarily, Figure 9 is a schematic diagram of the interface for model simplification in an embodiment of this application. As Figure 9 shown, first select the simplification method. For example, when selecting convex decomposition of the model, the number of triangular faces and vertices of the current model will be prompted, and the recommended number of convex hulls will be given.

[0103] In another alternative embodiment, the above method may further include:

[0104] Step S7: Perform a cropping process on the imported model according to the fourth operation information input by the user.

[0105] In this embodiment, the cropping methods include: cuboid, cylinder, sphere; then set the length, width, and height of the cropping respectively, and edit the axis pose.

[0106] Exemplarily, Figure 10 FIG. 1 is a schematic diagram of the interface for model pruning in an embodiment of the present application. As Figure 10 shown, first, select the pruning method. For each pruning method, the corresponding pruning lengths, widths, and heights are respectively provided, and then the axis pose is edited.

[0107] In this embodiment, by simplifying and / or pruning the imported model, the complexity of the imported model can be reduced, the computational difficulty during background simulation can be decreased, and the computational efficiency can be improved.

[0108] Figure 11 FIG. 2 is a schematic structural diagram of a model editing device for a registration workpiece provided in an embodiment of the present application. The model editing device 1100 for the registration workpiece in this embodiment may include: a processor 1101 and a memory 1102.

[0109] The memory 1102 is used to store programs; the memory 1102 may include volatile memory (English: volatile memory), such as random access memory (English: random-access memory, abbreviation: RAM), such as static random access memory (English: static random-access memory, abbreviation: SRAM), double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviation: DDR SDRAM), etc.; the memory may also include non-volatile memory (English: non-volatile memory), such as flash memory (English: flash memory). The memory 1102 is used to store computer programs (such as application programs and functional modules for implementing the above methods), computer instructions, etc. The above computer programs, computer instructions, etc. may be stored in one or more memories 1102 in a partitioned manner. And the above computer programs, computer instructions, data, etc. can be called by the processor 1101.

[0110] The above computer programs, computer instructions, etc. may be stored in one or more memories 1102 in a partitioned manner. And the above computer programs, computer instructions, data, etc. can be called by the processor 1101.

[0111] The processor 1101 is used to execute the computer programs stored in the memory 1102 to implement each step in the method described in the above embodiment.

[0112] Specifically, reference may be made to the relevant descriptions in the foregoing method embodiments.

[0113] The processor 1101 and the memory 1102 can be independent structures or integrated structures integrated together. When the processor 1101 and the memory 1102 are independent structures, the memory 1102 and the processor 1101 can be coupled through a bus 1103.

[0114] The model editing device 1100 for registering workpieces in this embodiment can execute the technical solutions in the above method. For the specific implementation process and technical principle, refer to the relevant descriptions in the above method and will not be elaborated here.

[0115] Those skilled in the art can understand that various aspects of the present invention can be implemented as a system, a method, or a program product. Therefore, various aspects of the present invention can be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software aspects, which can be collectively referred to as "circuit", "module", or "platform" here.

[0116] In addition, the embodiments of the present application further provide a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium. When at least one processor of the user device executes the computer-executable instructions, the user device executes the above various possible methods.

[0117] Among them, the computer-readable medium includes a computer storage medium and a communication medium. The communication medium includes any medium facilitating the transmission of a computer program from one place to another. The storage medium can be any available medium accessible by a general-purpose or special-purpose computer. An exemplary storage medium is coupled to the processor, enabling the processor to read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. Additionally, the ASIC can be located in the user device. Of course, the processor and the storage medium can also exist as discrete components in the communication device.

[0118] The present application also provides a program product. The program product includes a computer program. The computer program is stored in a readable storage medium. At least one processor of the server can read the computer program from the readable storage medium, and the execution of the computer program by at least one processor enables the server to implement the method of any one of the above embodiments of the present invention.

[0119] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments. The aforementioned storage medium includes various media that can store program codes, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0120] Figure 12 is a schematic structural diagram of a computer-readable storage medium in an embodiment of the present invention. Refer to Figure 12 As shown, a program product 1200 for implementing the above method according to an embodiment of the present invention is described. It can be a portable compact disc read-only memory (CD-ROM) and includes program codes, and can run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device.

[0121] The program product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0122] The computer-readable storage medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium can also be any readable medium other than the readable storage medium, and this readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination of the above.

[0123] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user's computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., by using an Internet service provider to connect through the Internet).

[0124] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts among the various embodiments may be referred to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0125] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A model editing system for registering workpieces, characterized in that, it includes: a processing unit, a display unit, and a receiving unit. Among them, the display unit is used to display the operation interface of Max, and the processing unit includes: a model generation unit and a parameter setting unit; the receiving unit is used to receive the first operation information input by the user, so that the operation interface of Max enters the Max model editor from the toolbar of the motion setting interface; the model generation unit is used to determine the type of the model to be generated according to the user's selection when there is no pre-set model; the parameter setting unit is used to set various parameters of the model to be generated; the display unit is also used to display the generated model in a three-dimensional manner in at least one display area.

2. The model editing system for registering workpieces according to claim 1, characterized in that, the models to be generated include: cylinder, cuboid, sphere, brake disc, material box, bearing outer ring, bearing inner ring.

3. The model editing system for registering workpieces according to claim 2, characterized in that, when the user selects to set the material box, the parameter setting unit is specifically used for: respectively setting the inner support length, inner support width, inner support height of the material box, and the wall thickness in the X-axis, Y-axis, and Z-axis directions; the display unit is used to synchronously display the three-dimensional view, top view, and sectional view of the material box.

4. The model editing system for registering workpieces according to claim 2, characterized in that, when the user selects to set the brake disc, the parameter setting unit is specifically used for: respectively setting the hat height, brake surface thickness, inner cavity depth, large circle diameter, inner cavity diameter, through hole diameter, and small circle diameter of the brake disc; the display unit is used to synchronously display the three-dimensional view and sectional view of the brake disc.

5. The model editing system for registering workpieces according to claim 2, characterized in that, when the user selects to set the bearing outer ring, the parameter setting unit is specifically used for: respectively setting the height, diameter, top diameter, and bottom diameter of the bearing outer ring; the display unit is used to display the three-dimensional view and sectional view of the bearing outer ring.

6. The model editing system for registering workpieces according to claim 2, characterized in that, when the user selects to set the bearing inner ring, the parameter setting unit is specifically used for: respectively setting the height, inner hole diameter, top diameter, first top thickness, second top thickness, bottom diameter, first bottom thickness, and second bottom thickness of the bearing inner ring; the display unit is used to display the three-dimensional view and sectional view of the bearing inner ring.

7. The model editing system for registering workpieces according to any one of claims 1-6, characterized in that, the system further includes: a model import unit, which is used to select a model file and directly import the model file according to the second operation information input by the user when there is already a pre-set model; The display unit is configured to display the imported model in a three-dimensional manner in at least one display area, and display the attributes corresponding to the imported model, where the attributes include: the number of triangular faces, vertex coordinates, dimensions, and the maximum value, minimum value, and central value corresponding to the X-axis, Y-axis, and Z-axis.

8. The model editing system for registered workpieces according to claim 7, wherein, the system further includes: a model simplification unit configured to simplify the imported model according to the third operation information input by the user, where the simplification process includes: convex decomposition of the model and reduction of triangular faces, and among them, convex decomposition of the model means decomposing the model into a plurality of convex hulls and freely setting the number of convex hulls; the display unit is configured to display the simplified model in a three-dimensional manner in at least one display area.

9. The model editing system for registered workpieces according to claim 7, wherein, the system further includes: a model clipping unit configured to clip the imported model according to the fourth operation information input by the user, and the clipping methods include: cuboid, cylinder, sphere; a clipping parameter editing unit configured to respectively set the length, width, and height of the clipping and edit the axis pose.

10. A robot, wherein, it includes: a base, a robotic arm, a drive system, a vision sensor, a processor, and the model editing system for registered workpieces according to any one of claims 1-9, and among them: the model editing system for registered workpieces is configured to generate or import a model according to various operation information input by the user and save it; the processor calls the saved model and, with the assistance of the vision sensor, identifies the workpiece to be grasped and generates a drive instruction; the drive system drives the robotic arm to perform a grasping task according to the drive instruction.

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