Model editing method for registered workpiece

Abstract

The invention provides a model editing method for registered workpieces, which comprises the following steps: entering a Max model editor through a toolbar of a motion setting interface according to first operation information input by a user; if the preset model does not exist, selecting a generation model, and determining the type of the to-be-generated model; setting various parameters of the to-be-generated model, and 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] At present, 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, it is necessary to first register the workpiece model to be sorted in the robot control software, so as to help the robot accurately identify the workpiece to be grasped during the operation.

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

[0004] However, the model registration in the above method takes a long time, has high requirements for users, and the generated models often have a large gap with 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 method for registering workpieces.

[0006] In a first aspect, an embodiment of the present application provides a model editing method for registering workpieces, including:

[0007] According to the first operation information input by the user, enter the Max model editor through the toolbar of the motion setting interface;

[0008] If there is no preset model, select to generate a model and determine the type of the model to be generated;

[0009] 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.

[0010] Optionally, the model to be generated includes: cylinder, cuboid, sphere, brake disc, material box, bearing outer ring, bearing inner ring.

[0011] Optionally, when the user selects to set the material box, the setting of various parameters of the model to be generated includes:

[0012] Display the three-dimensional view, top view, and sectional view of the material box;

[0013] Set 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 respectively.

[0014] Optionally, when the user selects to set the brake disc, the setting of various parameters of the model to be generated includes:

[0015] Display the 3D view and sectional view of the brake disc;

[0016] 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 respectively.

[0017] Optionally, when the user selects to set the outer bearing ring, various parameters of the model to be generated are set, including:

[0018] Display the 3D view and sectional view of the outer bearing ring;

[0019] Set the height, diameter, top diameter, and bottom diameter of the outer bearing ring respectively.

[0020] Optionally, when the user selects to set the inner bearing ring, various parameters of the model to be generated are set, including:

[0021] Display the 3D view and sectional view of the inner bearing ring;

[0022] 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 respectively.

[0023] Optionally, if there is a pre-set model, the method further includes:

[0024] Select a model file according to the second operation information input by the user and directly import the model file;

[0025] Display the imported model in 3D 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, minimum, and center values corresponding to the X-axis, Y-axis, and Z-axis.

[0026] Optionally, the method further includes:

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

[0028] Display the simplified model in 3D in at least one display area.

[0029] Optionally, the method further includes:

[0030] Perform cropping processing on the imported model according to the fourth operation information input by the user, where the cropping methods include: cuboid, cylinder, sphere;

[0031] Set the length, width, and height of the clipping respectively, and edit the axis pose.

[0032] In a second aspect, an embodiment of the present application provides a model editing device for registering workpieces, including: a processor and a memory. Executable program instructions are stored in the memory. When the processor calls the program instructions in the memory, the processor is configured to:

[0033] Execute the steps of the model editing method for registering workpieces according to any one of the first aspects.

[0034] In a third aspect, an embodiment of the present application provides a computer-readable storage medium for storing a program, and when the program is executed, it implements the steps of the model editing method for registering workpieces according to any one of the first aspects.

[0035] In a fourth aspect, an embodiment of the present application 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 robot can read the computer program from the readable storage medium, and the at least one processor executes the computer program to enable the robot to implement the steps of the model editing method for registering workpieces according to the first aspect.

[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 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, making the generated model meet the requirements of various application scenarios and facilitating subsequent simulation and debugging of the robot. 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 use in the description of the embodiments or the prior art. Obviously, the following drawings are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes, 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 flowchart of a model editing method for registering workpieces provided by an embodiment of the present application;

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

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

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

[0045] Figure 7 It is a flowchart of another model editing method for registering workpieces provided by an embodiment of the present application;

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

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

[0048] Figure 10 It is a schematic diagram of the interface for model cropping in an 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 a computer-readable storage medium in an 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. Apparently, 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 specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and do not necessarily have to be 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 does not necessarily have to be 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 following will specifically describe in detail the technical solutions of the present invention and how the technical solutions of this application solve the above technical problems. 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] The following will, with reference to the accompanying drawings, elaborate on some embodiments of this application. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0057] Figure 1 This is a schematic diagram of the interface of the Max model editor provided by 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 views of the generated model or the imported model can be displayed.

[0058] Figure 2 The flowchart of a model editing method for registering workpieces provided by an embodiment of the present application is as follows Figure 2 As shown, the method in this embodiment may include:

[0059] Step S201: Enter the Max model editor through the toolbar of the motion setting interface according to the first operation information input by the user.

[0060] In this embodiment, reference may be made to Figure 1 the interface of the Max model editor shown.

[0061] Step S202: If there is no preset model, select to generate a model and determine the type of the model to be generated.

[0062] In this embodiment, the models to be generated include: cylinder, cuboid, sphere, brake disc, material box, outer bearing ring, inner bearing ring.

[0063] Exemplarily, Figure 3 The schematic diagram of the setting interface for generating a material box in an embodiment of the present application is as follows Figure 3 As 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.

[0064] Exemplarily, Figure 4 The schematic diagram of the setting interface for generating a brake disc in an embodiment of the present application is as follows Figure 4 As 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.

[0065] Exemplarily, Figure 5 The schematic diagram of the setting interface for generating an outer bearing ring in an embodiment of the present application is as follows Figure 5 As shown, when the user selects to set the outer bearing ring, various parameters of the model to be generated are set, including: displaying the three-dimensional view and sectional view of the outer bearing ring; respectively setting the height, diameter, top diameter, and bottom diameter of the outer bearing ring.

[0066] Exemplarily, Figure 6 The schematic diagram of the setting interface for the inner bearing ring of the Shenchougou bearing in an embodiment of the present application is as follows Figure 6As 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 3D drawing and sectional view of the inner ring of the bearing; 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 respectively.

[0067] Step S203: Set various parameters of the model to be generated, and display the generated model in 3D in at least one display area.

[0068] In this embodiment, after setting various parameters of the model to be generated, the generated model is displayed in 3D 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.

[0069] 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 3D 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.

[0070] Figure 7 It is a flowchart of another model editing method for registering workpieces provided by an embodiment of the present application. As Figure 7 shown, the method in this embodiment may include:

[0071] Step S701: According to the first operation information input by the user, enter the Max model editor through the toolbar of the motion setting interface.

[0072] Step S702: 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.

[0073] In this embodiment, software engineers can pre-set some common models according to the needs of users for direct calling 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.

[0074] Step S703: Display the imported model in 3D in at least one display area, and display the attributes corresponding to the imported model.

[0075] In this embodiment, the attributes include: the number of triangular faces, vertex coordinates, dimensions, and the maximum, minimum, and central values corresponding to the X-axis, Y-axis, and Z-axis.

[0076] Exemplarily, Figure 8 As shown in the schematic diagram of the interface when importing a preset model in the embodiment of the present application, Figure 8 as shown, the imported model is displayed in three dimensions on the left side of the Max model editor interface, and the attributes of the model are displayed on the right side.

[0077] It should be noted that the user can modify various parameters in the attributes, and at the same time, the modified model will be displayed on the left side.

[0078] In an alternative embodiment, the above method may further include:

[0079] Step S704: Perform a simplification process on the imported model according to the third operation information input by the user.

[0080] 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 three dimensions in at least one display area.

[0081] 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.

[0082] In another alternative embodiment, the above method may further include:

[0083] Step S705: Perform a cropping process on the imported model according to the fourth operation information input by the user.

[0084] In this embodiment, the cropping methods include: cuboid, cylinder, sphere; then the length, width, and height of the cropping are set respectively, and the axis pose is edited.

[0085] Exemplarily, Figure 10 As shown in the schematic diagram of the model cropping in the embodiment of the present application, Figure 10 as shown, first select the cropping method. For each cropping method, the length, width, and height of the cropping are respectively corresponding, and then the axis pose is edited.

[0086] In this embodiment, by performing a simplification and / or cropping process on the imported model, the complexity of the imported model can be reduced, the computational difficulty during background simulation can be reduced, and the computational efficiency can be improved.

[0087] Figure 11 The following is a schematic structural diagram of a model editing device for registering workpieces provided in an embodiment of the present application. The model editing device 1100 for registering workpieces in this embodiment may include: a processor 1101 and a memory 1102.

[0088] The memory 1102 is used to store programs; the memory 1102 may include a volatile memory (English: volatile memory), such as a random access memory (English: random-access memory, abbreviation: RAM), such as a static random access memory (English: static random-access memory, abbreviation: SRAM), a 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 a non-volatile memory (English: non-volatile memory), such as a 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. may be called by the processor 1101.

[0089] 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. may be called by the processor 1101.

[0090] The processor 1101 is used to execute the computer programs stored in the memory 1102 to implement each step in the method involved in the above embodiment.

[0091] For specific details, reference may be made to the relevant descriptions in the foregoing method embodiments.

[0092] The processor 1101 and the memory 1102 may be of an independent structure or an integrated structure integrated together. When the processor 1101 and the memory 1102 are of an independent structure, the memory 1102 and the processor 1101 may be coupled and connected through a bus 1103.

[0093] The model editing device 1100 for registering workpieces in this embodiment may execute Figures 2 to 4 the technical solutions in the method shown, and the specific implementation process and technical principle are referred to Figure 2 、 Figure 7The relevant descriptions in the method shown are not elaborated here.

[0094] 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.

[0095] In addition, an embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When at least one processor of the user device executes the computer-executable instructions, the user device executes the above various possible methods.

[0096] Among them, the computer-readable medium includes a computer storage medium and a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. An exemplary storage medium is coupled to the processor, so that the processor can 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. In addition, 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.

[0097] 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 at least one processor executes the computer program so that the server implements the method of any one of the above embodiments of the present invention.

[0098] 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 foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: Read-Only Memory (ROM), Random Access Memory (RAM), magnetic disk, or optical disk, etc., which can store program codes.

[0099] Figure 12 is a schematic structural diagram of the computer-readable storage medium in the embodiment of the present invention. Refer to Figure 12As 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 code, 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 the program can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0100] 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 (a non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an 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.

[0101] 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 the readable medium can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium can be transmitted by any appropriate medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination of the above.

[0102] The program code for performing the operations of the present invention can be written in any combination of one or more programming languages. The programming languages include object-oriented programming languages - such as Java, C++, etc., and also include conventional procedural programming languages - such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as an independent software package, partially on the user's computing device and partially 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 can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, by using an Internet service provider to connect through the Internet).

[0103] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made 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. The general principles defined herein can 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 these embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0104] 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 method for model editing of registered workpieces, characterized in that, it includes: Enter the Max model editor through the toolbar of the motion setting interface according to the first operation information input by the user; 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.

2. The method for model editing of registered workpieces according to claim 1, characterized in that, the model to be generated includes: cylinder, cuboid, sphere, brake disc, material box, bearing outer ring, bearing inner ring.

3. The method for model editing of registered workpieces according to claim 2, characterized in that, when the user selects to set the material box, setting various parameters of the model to be generated includes: 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 of the material box, and the wall thickness in the X-axis, Y-axis, and Z-axis directions.

4. The method for model editing of registered workpieces according to claim 2, characterized in that, when the user selects to set the brake disc, setting various parameters of the model to be generated includes: 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.

5. The method for model editing of registered workpieces according to claim 2, characterized in that, when the user selects to set the bearing outer ring, setting various parameters of the model to be generated includes: 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.

6. The method for model editing of registered workpieces according to claim 2, characterized in that, when the user selects to set the bearing inner ring, setting various parameters of the model to be generated includes: displaying the three-dimensional view 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.

7. The method for model editing of registered workpieces according to any one of claims 1-6, characterized in that, if there is a pre-set model, the method further includes: selecting a model file and directly importing the model file according to the second operation information input by the user; displaying the imported model in a three-dimensional manner in at least one display area and displaying 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 center value corresponding to the X-axis, Y-axis, and Z-axis.

8. The method for model editing of registered workpieces according to claim 7, characterized in that, the method further includes: performing a simplification process on the imported model according to the third operation information input by the user, and the simplification process includes: model convex decomposition and reduction of triangular faces, wherein: performing model convex decomposition means decomposing the model into several convex hulls and freely setting the number of convex hulls; Display the simplified processed model in a three-dimensional manner in at least one display area.

9. The model editing method for registering a workpiece according to claim 7, wherein, the method further includes: performing a cropping process on the imported model according to the fourth operation information input by the user, and the cropping methods include: cuboid, cylinder, sphere; respectively setting the length, width, and height of the cropping, and editing the axis pose.

10. A model editing device for registering a workpiece, wherein, the device includes: a processor and a memory, and executable program instructions are stored in the memory. When the processor calls the program instructions in the memory, the processor is configured to: execute the steps of the model editing method for registering a workpiece according to any one of claims 1 to 9.

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