Three-dimensional measurement path planning method and system based on AGV and mechanical arm cooperation

Abstract

The invention relates to the technical field of robot vision three-dimensional measurement, and discloses a three-dimensional measurement path planning method and system based on AGV and mechanical arm collaboration, and the method comprises the following steps: firstly, dividing a measurement viewpoint of a three-dimensional scanning measurement system into a horizontal viewpoint and a vertical viewpoint; secondly, according to the physical parameters of the AGV, the mechanical arm, the three-dimensional scanning measurement system and the to-be-measured part, a double-loop AGV motion path is constructed; then, generating an initial AGV measurement site set on the path according to a fixed step length; then, optimizing the measurement sites by using a local optimal measurement viewpoint clustering algorithm to obtain a final measurement site set; and finally, aiming at each measurement site, generating a motion path of the mechanical arm by adopting a shortest distance priority loop-free planning algorithm. By reasonably dividing the measurement viewpoints and optimizing the measurement path, the efficiency and accuracy of robot vision three-dimensional measurement are improved, and the risk that a mechanical arm collides parts in the measurement process is also avoided.

Description

Technical Field

[0001] The present invention relates to the field of robot vision three-dimensional measurement technology, and more particularly to a three-dimensional measurement path planning method and system based on the collaboration of AGV and a robotic arm. Background Art

[0002] Currently, optical imaging-based 3D scanning systems are widely used in the aerospace industry for surface topography analysis and measurement of large components. These systems can capture 3D data, such as point clouds and meshes, that represent the quality of component surfaces. However, to meet the required measurement data quality, current optical 3D scanning systems have a limited single-scan range, necessitating repeated scanning until the entire component surface is covered.

[0003] Existing handheld 3D scanning equipment requires operators to hold the imaging device and scan the surface of parts. This process requires human intervention throughout the process. In the context of digital measurement, automated measurement without human intervention is required. Among them, a more common method to achieve automated measurement is to install a 3D imaging device at the end of a robotic arm, and then integrate the robotic arm into an AGV vehicle. The motion system coordinated by the AGV and the robotic arm replaces the measurement personnel to achieve automated measurement. In the above process, the motion path planning problem of the motion system is involved, that is, how to make the motion system coordinated by the AGV and the robotic arm more reasonably simulate the measurement process of the measurement personnel.

[0004] One solution to this problem involves manual path planning. This involves pre-recording the measurement path through the AGV and robotic arm's teach mode, and then controlling the motion system to automatically perform measurements based on the recorded path. However, this method requires pre-planning the scanning path for each different type of component to be measured, resulting in low measurement efficiency. Currently, some existing technologies have proposed automated measurement path planning methods, but most of these methods focus solely on individual robotic arms or AGVs, and do not consider the measurement path planning problem for a collaborative motion system involving an AGV and robotic arm. Summary of the Invention

[0005] This paper proposes a 3D measurement path planning method and system based on the collaboration of an AGV and a robotic arm for automated 3D scanning of large aviation parts. This method addresses the issue of illogical motion paths during automated measurement, often caused by human subjectivity and conflicting motion between the AGV and the robotic arm. This method improves the effectiveness and safety of motion paths during automated measurement, enhancing 3D measurement efficiency.

[0006] In order to achieve the above-mentioned object of the invention, the technical solution of the present invention is as follows:

[0007] On the one hand, the present invention discloses a three-dimensional measurement path planning method based on the cooperation of AGV and robotic arm. The path method includes the following steps:

[0008] Step S1. Divide the set of measurement viewpoints of the pre-planned three-dimensional scanning measurement system into a horizontal measurement viewpoint set and a vertical measurement viewpoint set through a measurement viewpoint classification algorithm based on threshold determination;

[0009] Step S2. Construct an AGV movement path forming a double loop according to the physical parameters of the used AGV, robotic arm, three-dimensional scanning measurement system, and the part to be measured;

[0010] Step S3. Generate an initial set of AGV measurement sites on the AGV movement path of the double loop at a fixed step size;

[0011] Step S4. Optimize the initial AGV measurement sites based on a measurement viewpoint clustering algorithm with local optimality, and finally obtain an optimized set of AGV measurement sites on the AGV movement path;

[0012] Step S5. For each measurement site in the optimized set of AGV measurement sites, generate a movement path of the robotic arm in the measurement viewpoints included in the current measurement site based on a loop-free planning algorithm with the shortest distance priority.

[0013] Preferably, step S1 specifically includes:

[0014] Select the end of the part to be measured close to the ground as the reference plane, and for the measurement viewpoint vp i in the set of measurement viewpoints, calculate the vertical distance Dis from this measurement viewpoint to the reference plane of the part to be measured v ;

[0015] Calculate the projected horizontal distance Dis of the distance from the measurement viewpoint vp i to the center point Cp of the part to be measured on the reference plane of the part bottom surface h ;

[0016] Classify the measurement viewpoint vp i as a horizontal measurement point or a vertical measurement point according to the horizontal threshold horizontal_thres and the vertical threshold vertical_thres; among them, the horizontal test viewpoints satisfy:

[0017] Dis v > vertical_thres;

[0018] Dis h < horizontal_thres;

[0019] The vertical measurement viewpoints satisfy:

[0020] Dis v <vertical_thres;

[0021] Dis h >horizontal_thres;

[0022] Finally, output the horizontal measurement view point set VP H and the vertical measurement view point set VP V .

[0023] Preferably, in step S2, the physical parameters of the AGV, the robotic arm, the three-dimensional scanning measurement system, and the part to be measured include: the length Length_A of the AGV, the width Width_A of the AGV, the height Height_A of the AGV, the maximum working distance MaxW_R of the robotic arm, the minimum working distance MinW_R of the robotic arm, the working radius Radius_R of the robotic arm, the working distance Dis_M of the three-dimensional scanning measurement system, the length Length_P of the part to be measured, and the width Width_P of the part to be measured.

[0024] Preferably, in step S2, construct an AGV movement path forming a double loop, including:

[0025] After the part to be measured is stationary, take the upper left corner of the part as the starting point of the path, and generate an inner loop movement path of the AGV around the part to be measured at an equal distance according to the inner margin G inside Generate an inner loop movement path of the AGV around the part to be measured at an equal distance, and the inner margin G inside Satisfy:

[0026]

[0027] Among them, Width_A is the width of the AGV; MaxW_R is the maximum working distance of the robotic arm; Width_P is the width of the part to be measured;

[0028] After the inner loop movement path of the AGV is generated, generate an outer loop movement path of the AGV around the part to be measured at an equal distance according to the outer margin G outside Generate an outer loop movement path of the AGV around the part to be measured at an equal distance, and the outer margin G outside Satisfy:

[0029] G unside <G outside ;

[0030]

[0031] Among them, MinW_R is the minimum working distance of the robotic arm; Dis_M is the working distance of the three-dimensional scanning measurement system.

[0032] Preferably, in step S3, on the AGV movement path of the double loop, an initial AGV measurement site set is generated at a fixed step size, including:

[0033] A horizontal measurement starting site Pfa is set at the starting point and the ending point of the AGV inner loop movement path respectively in_1 and a horizontal measurement ending site Pfa in_0 , and then on the inner loop movement path between the horizontal measurement starting site and the horizontal measurement ending site, horizontal measurement sites are uniformly sampled at a fixed step size Step;

[0034] A vertical measurement starting site Pfa is set at the starting point and the ending point of the AGV outer loop movement path respectively out_1 and a vertical measurement ending site Pfa out_0 , and then on the outer loop movement path between the vertical measurement starting site and the vertical measurement ending site, vertical measurement sites are uniformly sampled at a fixed step size Step;

[0035] Finally, the horizontal measurement sites and the vertical measurement sites are combined to form an initial AGV measurement site set m and n respectively represent the number indices of the horizontal measurement sites and the vertical measurement sites.

[0036] Preferably, the fixed step size satisfies the following conditions:

[0037] Length_A < Step < MaxW_R;

[0038] wherein, Length_A is the length of the AGV; MaxW_R is the maximum working distance of the robotic arm.

[0039] Preferably, in step S4, based on the local optimal measurement view clustering algorithm, the initial AGV measurement sites are optimized, and an optimized AGV measurement site set on the AGV movement path is output, including:

[0040] For the horizontal measurement sites on the AGV inner loop movement path, starting from the horizontal measurement starting site Pfa in_1 , search for all horizontal measurement viewpoints reachable according to the robotic arm working radius Radius_R in the horizontal measurement viewpoint set VP H , and form a measurement viewpoint set VP pfa of the current horizontal measurement site; if the measurement viewpoint set of the previous horizontal measurement site completely contains the measurement viewpoints reachable by the current point, delete the current measurement site, continue to search for the next measurement site, and repeat the above process to obtain an updated horizontal measurement site set;

[0041] For the vertical measurement sites on the outer loop movement path of the AGV, perform the same search process as above to obtain an updated set of vertical measurement sites. Merge the updated set of horizontal measurement sites and the set of vertical measurement sites, and output the final set of AGV measurement sites FPA on the AGV movement path.

[0042] Preferably, in step S5, for each measurement site in the optimized set of AGV measurement sites, generate the movement path of the robotic arm in the measurement viewpoints included in the current measurement site based on the loopless planning algorithm with the shortest distance first, including:

[0043] Calculate the spatial distances between all the measurement viewpoints included in the current measurement site to form an undirected distance matrix UDM. The horizontal and vertical coordinates of the undirected distance matrix UDM are the serial numbers of the quantities of all the measurement viewpoints included in the current measurement site, and the values on the diagonal are all 0, indicating the distance from a measurement viewpoint to itself.

[0044] In the undirected distance matrix UDM, sequentially select the movement path between the two measurement viewpoints represented by the minimum distance value as a part of the generated movement path of the robotic arm. Repeat the selection until all the measurement viewpoints included in the current measurement site are reachable, and then the movement path of the robotic arm is generated.

[0045] Based on the same inventive concept, another aspect of the present invention also discloses a three-dimensional measurement path planning system based on the cooperation of an AGV and a robotic arm. The path planning system is used to implement the above-mentioned three-dimensional measurement path planning method based on the cooperation of an AGV and a robotic arm, including:

[0046] A measurement viewpoint classification module of the three-dimensional scanning measurement system divides the set of measurement viewpoints of the planned three-dimensional scanning measurement system into a set of horizontal measurement viewpoints and a set of vertical measurement viewpoints through a measurement viewpoint classification algorithm based on threshold determination;

[0047] An AGV movement path planning module constructs a double-loop AGV movement path according to the physical parameters of the used AGV, robotic arm, three-dimensional measurement system, and the part to be measured;

[0048] An AGV measurement site generation module generates initial AGV measurement sites at a fixed step length on the double-loop AGV movement path and forms an initial set of AGV measurement sites;

[0049] An AGV measurement site optimization module optimizes the initial AGV measurement sites according to the local optimal measurement viewpoint clustering algorithm and outputs an optimized set of AGV measurement sites on the AGV movement path;

[0050] The robotic arm motion path planning module generates the motion path of the robotic arm in the measurement viewpoints included in the current measurement site for each measurement site in the optimized AGV measurement site set according to the loopless planning algorithm with the shortest distance priority.

[0051] Furthermore, on the other hand, the present invention also discloses a storage medium with a computer program stored thereon. When the computer program is executed by a processor, the above-mentioned three-dimensional measurement path planning method based on the cooperation of AGV and robotic arm is realized.

[0052] Even further, on yet another aspect, the present invention also discloses a computer device, including a memory, a processor, and a computer program stored on the memory and executable in the processor. When the processor executes the computer program, the above-mentioned three-dimensional measurement path planning method based on the cooperation of AGV and robotic arm is realized.

[0053] Advantages of the present invention:

[0054] 1. Compared with the current method of manually planning the motion paths of AGV and robotic arm according to the measurement viewpoints, the technical solution proposed by the present invention can automatically generate the motion paths of the cooperation between AGV and robotic arm according to the measurement viewpoints, improving the planning efficiency and reducing the labor cost.

[0055] 2. Compared with some current methods that only plan the motion paths of AGV or robotic arm, the present invention uses the motion system of the cooperation between AGV and robotic arm as the device, and comprehensively considers the factors of AGV measurement sites and the motion of the measurement pose of the robotic arm based on the measurement viewpoint set when planning the motion path, ensuring the rationality and efficiency of the generated motion path, and avoiding the low measurement efficiency caused by unnecessary mechanical motion during automated measurement.

[0056] 3. The present invention reasonably divides the measurement viewpoint set into horizontal measurement viewpoints and vertical measurement viewpoints according to the measurement requirements, and executes the measurement tasks on the double-loop AGV motion path respectively, which can greatly reduce the adjustment time of the robotic arm between different measurement poses, improve the overall measurement efficiency, and effectively avoid the possibility of the robotic arm damaging the parts to be measured when making large adjustments to the measurement pose. Description of the Drawings

[0057] The foregoing and following specific descriptions of the present invention become clearer when read in conjunction with the following drawings, in which:

[0058] Figure 1 is the flowchart of the method of the present invention;

[0059] Figure 2 is the schematic diagram of the measurement viewpoint classification algorithm based on threshold determination of the present invention;

[0060] Figure 3 Schematic diagram for constructing the AGV motion path of the dual-loop of the present invention. Specific embodiments

[0061] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the following will further illustrate the technical solutions for achieving the purpose of the present invention through specific embodiments. It should be noted that the technical solutions claimed by the present invention include, but are not limited to, the following embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

[0062] An embodiment of the present invention provides a three-dimensional measurement path planning method and system based on the cooperation of an AGV and a robotic arm. First, the three-dimensional measurement path planning method of the present invention will be introduced and described. Figure 1 Flowchart of the method of the present invention, referring to the attached drawings of the specification Figure 1 The three-dimensional measurement path planning method based on the cooperation of an AGV and a robotic arm specifically includes the following steps:

[0063] Step S1. Input the measurement viewpoint set VP of the pre-planned three-dimensional scanning measurement system. Through a measurement viewpoint classification algorithm based on threshold determination, the measurement viewpoints in the measurement viewpoint set VP are divided into horizontal measurement viewpoints or vertical measurement viewpoints, and then the horizontal measurement viewpoint set VP H and the vertical measurement viewpoint set VP V are respectively formed.

[0064] In the embodiment described in the present invention, the format of the measurement viewpoint vp i in the measurement viewpoint set VP is: vp i ={C i =(x,y,z), f i};

[0065] Among them, C i =(x,y,z) is the spatial coordinate value of the measurement viewpoint, and f i is the measurement direction.

[0066] Furthermore, select the end of the part to be measured close to the ground as the reference plane. For a certain measurement viewpoint vp i in the set VP, calculate the vertical distance Dis v from this measurement viewpoint to the reference plane of the part to be measured; next, extract the center point Cp of the part to be measured, and calculate the projected horizontal distance Dis i from the measurement viewpoint vp h to the center point Cp on the reference plane of the bottom surface of the part; Then, classify the measurement viewpoints into horizontal measurement points or vertical measurement points according to the horizontal threshold horizontal_thres and the vertical threshold vertical_thres. In particular, the horizontal measurement viewpoints should satisfy:

[0067] Dis v >vertical_thres Equation (1);

[0068] Dis h <horizontal_thres Equation (2);

[0069] That is to say, when a certain measurement viewpoint in the set VP satisfies the conditions of the above Equation (1) and Equation (2), this point is classified as a horizontal measurement viewpoint;

[0070] The vertical measurement viewpoints should satisfy:

[0071] Dis v <vertical_thres Equation (3);

[0072] Dis h >horizontal_thres Equation (4);

[0073] When a certain measurement viewpoint in the set VP satisfies the conditions of the above Equation (3) and Equation (4), this point is classified as a vertical measurement viewpoint;

[0074] Based on the above division process, all the measurement viewpoints in the measurement viewpoint set VP are divided into horizontal measurement points or vertical measurement points, and then the horizontal measurement viewpoint set VP3] H and the vertical measurement viewpoint set VP V .

[0075] It should be noted that the measurement viewpoint set VP of the three-dimensional scanning measurement system is pre-planned manually or by other measurement viewpoint planning methods, and the present invention does not restrict its generation process.

[0076] Step S2. Construct a double-loop AGV movement path according to the used AGV, robotic arm, three-dimensional measurement system, and the physical parameters of the part to be measured.

[0077] In the embodiments depicted by the present invention, the physical parameters of the AGV, robotic arm, 3D measurement system, and the part to be measured generally include parameters such as the AGV length Length_A, AGV width Width_A, AGV height Height_A, maximum working distance of the robotic arm MaxW_R, minimum working distance of the robotic arm MinW_R, working radius of the robotic arm Radius_R, working distance of the 3D measurement system Dis_M, length of the part to be measured Length_P, width of the part to be measured Width_P, etc.

[0078] Furthermore, for the AGV motion path of the double loop, the specific establishment process is as follows:

[0079] After the part to be measured is placed statically, taking the upper left corner of the part as the starting point of the path, and according to the inner margin G inside Generate an AGV inner loop motion path equidistantly around the part to be measured, and the inner margin G inside Should satisfy the following:

[0080]

[0081] Particularly, when the motion system of the AGV and the robotic arm in cooperation is on the inner loop motion path, the 3D scanning measurement system is only responsible for executing the measurement viewpoints in the horizontal measurement viewpoint set VP H Among the measurement viewpoints.

[0082] Similarly, after the AGV inner loop motion path is generated, according to the outer margin G outside Generate an AGV outer loop motion path equidistantly around the part to be measured, and the outer margin G outside Should satisfy the following:

[0083] G inside <G outside Equation (6);

[0084]

[0085] When the motion system of the AGV and the robotic arm in cooperation is on the outer loop motion path, the 3D scanning measurement system is only responsible for executing the measurement viewpoints in the vertical measurement viewpoint set VP V Among the measurement viewpoints.

[0086] Step S3. Then generate an initial AGV measurement site set PFA on the motion path of the double loop at a fixed step size ori .

[0087] In the embodiments depicted by the present invention, first set a horizontal measurement starting site Pfa in_1 and a horizontal measurement ending site Pfa in_0, Next, on the movement path between the horizontal measurement start site and the horizontal measurement end site, horizontal measurement sites are uniformly sampled at a fixed step size Step. In particular, the fixed step size Step satisfies the following conditions:

[0088] Length_A < Step < MaxW_R Equation (8);

[0089] Similarly, a vertical measurement start site Pfa out_1 and a vertical measurement end site Pfa out_0 are respectively set at the start and end of the movement path of the AGV outer loop. Then, on the movement path between the vertical measurement start site and the vertical measurement end site, vertical measurement sites are uniformly sampled at the same fixed step size Step as the inner loop path;

[0090] Finally, the horizontally measured sites and vertically measured sites obtained by the sampling are combined to form an initial AGV measurement site set. The expression of the set is as follows:

[0091]

[0092] where m and n respectively represent the number indices of the horizontal measurement sites and the vertical measurement sites.

[0093] Step S4. Optimize the measurement sites in the initial AGV measurement site set PFA ori based on the locally optimal measurement viewpoint clustering algorithm, and finally output the optimized measurement site set PFA on the double-loop AGV movement path.

[0094] In the embodiment described in the present invention, for the horizontal measurement sites on the AGV inner loop movement path, starting from the horizontal measurement start site Pfa in_1 , search for all horizontally measurable viewpoints in the horizontal measurement viewpoint set VP H reachable according to the working radius of the robotic arm to form the measurement viewpoint set VP pfa of the current measurement site. When searching, the coordinates of the measurement viewpoint vp i need to be converted into the mechanical measurement pose coordinates, and the calculation method is as follows:

[0095] C pfa_i = RC i + T Equation (10);

[0096] f pfa_i = Rf i Equation (11);

[0097] where R and T are the pose transformation matrices from the three-dimensional measurement device coordinate system to the robotic arm end coordinate system; C pfa_i and f pfa_irespectively represent the spatial coordinates and directions for transforming the measured visual point pose into the robotic arm measurement pose;

[0098] If the spatial coordinates C pfa_i =(x pfa_i , y pfa_i , z pfa_i ) of the robotic arm measurement pose satisfy the following formula, then this measured visual point is the measured visual point reachable by the current AGV measurement site:

[0099]

[0100] wherein, (x a , y a , z a ) is the coordinate point at the bottom of the robotic arm, and can be calculated according to the coordinate Pfa in_j =(x j , y j , z j ) of the current AGV measurement site, and the calculation method is as follows:

[0101]

[0102] If the set of measured visual points of the previous measurement site completely contains the measured visual points reachable by the current site, then delete the current measurement site, continue to search for the next measurement site, repeat the above process, and finally update the set of horizontal measurement sites to obtain the updated set of horizontal measurement sites;

[0103] Similarly, for the vertical measurement sites on the outer loop movement path of the AGV, perform the same search process as above, and finally update the set of vertical measurement sites to obtain the updated set of vertical measurement sites;

[0104] Merge the updated set of horizontal measurement sites and the updated set of vertical measurement sites, which is the finally optimized AGV measurement site set FPA.

[0105] It can be understood that in the present invention, usually one measurement site corresponds to multiple measured visual points.

[0106] Step S5. For each measurement site in the optimized AGV measurement site set PFA, generate the movement path of the robotic arm in the measured visual points included in the current measurement site. Thus, the three-dimensional measurement path planning based on the cooperation of the AGV and the robotic arm is completed.

[0107] In the embodiment described in the present invention, for each measurement site in the optimized AGV measurement site set FPA in step S4, generate the movement path of the robotic arm in the measured visual points included in the current site based on the loop-free planning algorithm with the shortest distance first. The specific process is as follows:

[0108] The loop-free planning algorithm based on the shortest distance first calculates the spatial distances between all the measurement viewpoints included in the current measurement site first, and forms an undirected distance matrix UDM. The horizontal and vertical coordinates of the undirected distance matrix UDM are both the serial numbers of the quantities of all the measurement viewpoints included in the current measurement site. The values on the diagonal are all 0, indicating the distance from a measurement viewpoint to itself. The undirected distance matrix UDM only has valid values in the upper half matrix, and the valid values represent the distance values between the serial numbers of the measurement viewpoints represented by their corresponding horizontal and vertical coordinates. Next, in the matrix, the movement path between the two measurement viewpoints represented by the minimum distance value is sequentially selected as a part of the generated robotic arm movement path, and the selection is repeated until all the measurement viewpoints included in the current measurement site are reachable, then the robotic arm movement path is generated.

[0109] When the loop-free planning algorithm based on the shortest distance first generates the robotic arm movement path, the selection of the shortest distance should satisfy the following: ① The valid values in the undirected distance matrix UDM cannot be repeatedly selected; ② If the currently selected valid value of the shortest distance will cause a movement loop in the robotic arm movement path, then the current selection is abandoned and the traversal of the next valid value of the shortest distance is continued. In particular, to prevent the robotic arm from colliding when the AGV moves between different measurement sites, it is stipulated that when switching measurement sites, the robotic arm should be in the safe placement position Sp preset by its control system, that is, both the starting point and the ending point of the planned robotic arm movement path are the robotic arm safe placement position Sp.

[0110] Based on the same inventive concept, the embodiment of the present invention also discloses a three-dimensional measurement path planning system based on the cooperation of an AGV and a robotic arm. Since the principle of solving problems by this system is similar to that of the three-dimensional measurement path planning method based on the cooperation of an AGV and a robotic arm, the implementation of this system can refer to the implementation of the method, and the repeated parts will not be described again. As used hereinafter, the term "unit" or "module" can be a combination of software and / or hardware that can implement a predetermined function. Although the systems described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated. The system may include: a measurement viewpoint classification module of a three-dimensional scanning measurement system, an AGV movement path planning module, an AGV measurement site generation module, an AGV measurement site optimization module, and a robotic arm movement path planning module; wherein,

[0111] The measurement viewpoint classification module of the three-dimensional scanning measurement system is used to divide the measurement viewpoint set of the planned three-dimensional scanning measurement system into a horizontal measurement viewpoint set and a vertical measurement viewpoint set through a measurement viewpoint classification algorithm based on threshold determination;

[0112] AGV motion path planning module, which constructs a double-loop AGV motion path according to the physical parameters of the used AGV, robotic arm, 3D measurement system, and the part to be measured.

[0113] AGV measurement point set generation module, which generates initial AGV measurement points at a fixed step length on the double-loop AGV motion path and forms an initial AGV measurement point set.

[0114] AGV measurement point optimization module, which optimizes the initial AGV measurement points according to the locally optimal measurement viewpoint clustering algorithm and outputs an optimized AGV measurement point set on the AGV motion path.

[0115] Robotic arm motion path planning module, which generates a motion path of the robotic arm in the measurement viewpoints included in each measurement point in the optimized AGV measurement point set PFA according to the loop-free planning algorithm with the shortest distance first.

[0116] It should be noted that the systems, devices, models, or units described in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. For the convenience of description, in this specification, when describing the above systems, various units are described separately according to their functions. Of course, when implementing the present invention, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0117] In addition, in this specification, adjectives such as first and second can only be used to distinguish one element or action, and do not necessarily imply any actual such relationship or order.

[0118] Furthermore, in another aspect of this embodiment, a computer device is further provided. The computer device includes a processor, an input device, an output device, and a memory, and the processor, input device, output device, and memory are interconnected. Among them, the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions to execute the steps in the above embodiments.

[0119] Even further, in yet another aspect of this embodiment, a computer-readable storage medium is further provided, characterized in that: the computer-readable storage medium stores a computer program, the computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to execute the steps in the above embodiments.

[0120] In this embodiment, the processor may be a Central Processing Unit (CPU). The processor may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., or a combination of the above types of chips.

[0121] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs, non-transitory computer-executable programs, and units, such as the corresponding program units in the above method embodiments of the present invention. By running the non-transitory software programs, instructions, and modules stored in the memory, the processor can execute various functional applications and work data processing of the processor, that is, implement the methods in the above method embodiments.

[0122] The memory may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created by the processor, etc. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely provided relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above networks include but are not limited to the Internet, enterprise intranets, local area networks, mobile communication networks, and combinations thereof.

[0123] The one or more units are stored in the memory and, when executed by the processor, execute the methods in the above embodiments.

[0124] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects.

[0125] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Any simple modification or equivalent change made to the above embodiments based on the technical essence of the present invention falls within the protection scope of the present invention.

Claims

1. A three-dimensional measurement path planning method based on the collaboration of AGV and robotic arm, characterized in that, It includes the following steps: Step S1. Divide the set of measurement viewpoints of the planned three-dimensional scanning measurement system into a horizontal measurement viewpoint set and a vertical measurement viewpoint set by means of a measurement viewpoint classification algorithm based on threshold determination; Step S2. Construct an AGV movement path forming a double loop according to the physical parameters of the used AGV, robotic arm, three-dimensional scanning measurement system, and the part to be measured; Step S3. Generate an initial set of AGV measurement sites on the AGV movement path of the double loop at a fixed step size; Step S4. Optimize the initial AGV measurement sites based on a locally optimal measurement viewpoint clustering algorithm, and finally obtain an optimized set of AGV measurement sites on the AGV movement path; Step S5. For each measurement site in the optimized set of AGV measurement sites, generate the movement path of the robotic arm in the measurement viewpoints included in the current measurement site based on a shortest-distance-first loop-free planning algorithm.

2. The three-dimensional measurement path planning method based on the cooperation of AGV and robotic arm according to claim 1, wherein The specific content of Step S1 includes: Select the end of the component to be measured close to the ground as the reference plane, and for the measurement viewpoint vp in the measurement viewpoint set i Calculate the vertical distance Dis from the measurement viewpoint to the reference surface of the part to be measured v ; Calculate the measurement view point vp i The projected horizontal distance Dis of the distance from the measurement view point vp to the center point Cp of the part to be measured on the reference plane of the part bottom surface h ; Classify the measurement viewpoint vp according to the horizontal threshold horizontal_thres and the vertical threshold vertical_thres i into a horizontal measurement point or a vertical measurement point; among them, the horizontal test viewpoint satisfies: Dis v >vertical_thres; Dis h <horizontal_thres; The vertical measurement viewpoints satisfy: Dis v <vertical_thres; Dis h >horizontal_thres; Finally, output the horizontal measurement viewpoint set VP H and the vertical measurement viewpoint set VP V .

3. A three-dimensional measurement path planning method based on the cooperation of an AGV and a robotic arm according to claim 1, characterized in that, In Step S2, the physical parameters of the used AGV, robotic arm, three-dimensional scanning measurement system, and the part to be measured include: AGV length Length_A, AGV width Width_A, AGV height Height_A, maximum working distance of the robotic arm MaxW_R, minimum working distance of the robotic arm MinW_R, working radius of the robotic arm Radius_R, working distance of the three-dimensional scanning measurement system Dis_M, length of the part to be measured Length_P, and width of the part to be measured Width_P.

4. A three-dimensional measurement path planning method based on the collaboration of AGV and robotic arm according to claim 1, characterized in that, In Step S2, constructing the AGV movement path of the double loop includes: After the part to be measured is static, taking the upper left corner of the part as the starting point of the path, follow the inner margin G inside Generate an AGV inner loop motion path equidistantly around the part to be measured, with the inner margin G inside Satisfy: Among them, Width_A is the AGV width; MaxW_R is the maximum working distance of the robotic arm; Width_P is the width of the part to be measured; After the AGV inner loop motion path is generated, according to the outer margin G outside An AGV outer loop motion path is generated equidistantly around the part to be measured, with an outer margin G outside Satisfy: G inside <G outside ; Among them, MinW_R is the minimum working distance of the robotic arm; Dis_M is the working distance of the three-dimensional scanning measurement system.

5. A three-dimensional measurement path planning method based on the cooperation of an AGV and a robotic arm according to claim 1, characterized in that In Step S3, generating an initial set of AGV measurement sites on the AGV movement path of the double loop at a fixed step size includes: Set the horizontal measurement starting site Pfa at the starting point and the ending point of the inner loop movement path of the AGV respectively in_1 and the horizontal measurement ending site Pfa in_0 , and then evenly sample horizontal measurement sites at a fixed step size Step on the inner loop movement path between the horizontal measurement starting site and the horizontal measurement ending site; Set the vertical measurement starting site Pfa at the starting point and the ending point of the AGV outer loop movement path respectively out_1 and the vertical measurement ending site Pfa out_0 , and then evenly sample the vertical measurement sites along the outer loop movement path between the vertical measurement starting site and the vertical measurement ending site at a fixed step size Step; Finally, combine the horizontal measurement sites and the vertical measurement sites to form an initial AGV measurement site set m and n respectively represent the number indexes of the horizontal measurement sites and the vertical measurement sites.

6. A three-dimensional measurement path planning method based on the collaboration of an AGV and a robotic arm according to claim 5, characterized in that, The fixed step size satisfies the following conditions: Length_A < Step < MaxW_R; Among them, Length_A is the AGV length; MaxW_R is the maximum working distance of the robotic arm.

7. A three-dimensional measurement path planning method based on the collaboration of an AGV and a robotic arm according to claim 1, characterized in that, In Step S4, optimizing the initial AGV measurement sites based on a locally optimal measurement viewpoint clustering algorithm and outputting an optimized set of AGV measurement sites on the AGV movement path includes: For the horizontal measurement sites on the inner loop movement path of the AGV, starting from the horizontal measurement starting site Pfa in_1 Search for all the horizontal measurement viewpoints in the set VP H that can be reached according to the working radius Radius_R of the robotic arm, and form the measurement viewpoint set VP of the current horizontal measurement site pfa ; if the measurement viewpoint set of the previous horizontal measurement site completely contains the measurement viewpoints reachable by the current point, delete the current measurement site, continue to search for the next measurement site, and repeat the above process to obtain the updated horizontal measurement site set; For the vertical measurement sites on the outer loop movement path of the AGV, perform the same search process as above to obtain an updated set of vertical measurement sites, and merge the updated set of horizontal measurement sites and the set of vertical measurement sites, and output the final set of AGV measurement sites FPA on the AGV movement path.

8. A three-dimensional measurement path planning method based on the cooperation of an AGV and a robotic arm according to claim 1, characterized in that In Step S5, for each measurement site in the optimized set of AGV measurement sites, generating the movement path of the robotic arm in the measurement viewpoints included in the current measurement site based on a shortest-distance-first loop-free planning algorithm includes: Calculate the spatial distances between all the measurement viewpoints included in the current measurement site to form an undirected distance matrix UDM. The horizontal and vertical coordinates of the undirected distance matrix UDM are the sequence numbers of the quantities of all the measurement viewpoints included in the current measurement site. The values on the diagonal are all 0, indicating the distance from a measurement viewpoint to itself. In the undirected distance matrix UDM, sequentially select the movement path between the two measurement viewpoints represented by the minimum distance value as a part of the generated robotic arm movement path. Repeat the selection until all the measurement viewpoints included in the current measurement site are reachable, then the robotic arm movement path is generated.

9. A three-dimensional measurement path planning system based on the cooperation of an AGV and a robotic arm, which is used to implement the three-dimensional measurement path planning method according to any one of the above claims 1-8, and is characterized in that, It includes: A measurement viewpoint classification module for the three-dimensional scanning measurement system, which divides the measurement viewpoint set of the planned three-dimensional scanning measurement system into a horizontal measurement viewpoint set and a vertical measurement viewpoint set through a measurement viewpoint classification algorithm based on threshold determination. An AGV movement path planning module, which constructs a double-loop AGV movement path according to the physical parameters of the used AGV, robotic arm, three-dimensional measurement system, and the part to be measured. An AGV measurement site generation module, which generates initial AGV measurement sites at a fixed step length on the double-loop AGV movement path and forms an initial AGV measurement site set. An AGV measurement site optimization module, which optimizes the initial AGV measurement sites according to a locally optimal measurement viewpoint clustering algorithm and outputs an optimized AGV measurement site set on the AGV movement path. A robotic arm movement path planning module, which generates the movement path of the robotic arm among the measurement viewpoints included in the current measurement site for each measurement site in the optimized AGV measurement site set according to a loop-free planning algorithm with the shortest distance first.

10. A storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements a three-dimensional measurement path planning method based on the cooperation of an AGV and a robotic arm as described in any one of claims 1 to 8 above.

11. A computer device, including a memory, a processor, and a computer program stored on the memory and executable in the processor. When the processor executes the computer program, it implements a three-dimensional measurement path planning method based on the cooperation of an AGV and a robotic arm as described in any one of claims 1 to 8 above.

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