A three-dimensional measurement path planning method and system based on cooperation of an AGV and a mechanical arm

Abstract

This invention relates to the field of robot vision 3D measurement technology, and discloses a 3D measurement path planning method and system based on AGV and robotic arm collaboration. The method includes the following steps: First, the measurement viewpoints of the 3D scanning measurement system are divided into horizontal and vertical viewpoints; second, a double-loop AGV motion path is constructed based on the physical parameters of the AGV, robotic arm, 3D scanning measurement system, and the part to be measured; next, an initial set of AGV measurement points is generated on this path with a fixed step size; then, these measurement points are optimized using a locally optimal measurement viewpoint clustering algorithm to obtain the final set of measurement points; finally, for each measurement point, a shortest distance-first no-loop planning algorithm is used to generate the robotic arm's motion path. This invention improves the efficiency and accuracy of robot vision 3D measurement by rationally dividing the measurement viewpoints and optimizing the measurement path, and also avoids the risk of the robotic arm damaging the part during the measurement process.

Description

Technical Field

[0001] This invention relates to the field of robot vision 3D measurement technology, and more specifically to a 3D measurement path planning method and system based on the collaboration of AGV and robotic arm. Background Technology

[0002] Currently, optical imaging-based 3D scanning systems are widely used in the analysis and measurement of the surface topography of large components in the aerospace field. Optical 3D scanning systems can acquire 3D data, such as point clouds and meshes, to represent the surface shape and quality of components. However, to meet the quality requirements of the measurement data, current optical 3D scanning systems have a relatively small single scan range, requiring repeated scanning until the measurement field of view covers the entire component surface.

[0003] Existing handheld 3D scanning equipment requires human intervention throughout the process, as operators hold the imaging device and scan the surface of parts. In the context of digital measurement, automated measurement without human intervention is needed. One common method for achieving automated measurement is to mount a 3D imaging device at the end effector of a robotic arm, integrating the robotic arm onto an AGV (Automated Guided Vehicle). The AGV and robotic arm's coordinated motion system then replaces the human measurement operator, achieving automated measurement. This process involves the motion path planning problem of the motion system, specifically, how to make the coordinated motion system of the AGV and robotic arm more effectively simulate the human measurement process.

[0004] To address the aforementioned issues, one solution is manual path planning. This involves pre-recording the measurement path using the teaching mode of the AGV and robotic arm, 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, leading to low measurement efficiency. Currently, some existing technologies propose automatic measurement path planning methods, but most only address individual robotic arms or AGVs and do not consider the measurement path planning problem for a coordinated motion system of AGV and robotic arm. Summary of the Invention

[0005] This invention addresses the automated 3D scanning of large aerospace components by proposing a 3D measurement path planning method and system based on AGV and robotic arm collaboration. This method solves the problem of unreasonable movement paths in the AGV-robotic arm collaborative motion system during automated measurement, caused by human subjectivity and motion conflicts between the AGV and robotic arm. This invention improves the effectiveness and safety of motion paths during automated measurement, and increases 3D measurement efficiency.

[0006] To achieve the above-mentioned objectives, the technical solution of the present invention is as follows:

[0007] This invention discloses a three-dimensional measurement path planning method based on the collaboration of AGV and robotic arm, the path method comprising the following steps:

[0008] Step S1. Using a threshold-based measurement viewpoint classification algorithm, the planned set of measurement viewpoints for the 3D scanning measurement system is divided into a horizontal measurement viewpoint set and a vertical measurement viewpoint set.

[0009] Step S2. Based on the AGV, robotic arm, 3D scanning measurement system, and physical parameters of the part to be measured, construct the AGV motion path forming a double loop;

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

[0011] Step S4. Based on the local optimum measurement viewpoint clustering algorithm, optimize the initial AGV measurement points, and finally obtain the optimized set of AGV measurement points on the AGV motion path;

[0012] Step S5. For each measurement point in the optimized AGV measurement point set, generate the motion path of the robotic arm in the measurement viewpoints contained in the current measurement point based on the shortest distance priority no-loop planning algorithm.

[0013] Preferably, step S1 specifically includes:

[0014] Select the end of the component to be measured closest to the ground as the reference plane, and target the measurement viewpoint vp in the set of measurement viewpoints. i Calculate the vertical distance Dis from the measurement viewpoint to the reference surface of the part to be measured. v ;

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

[0016] The measurement viewpoint vp is determined based on the horizontal threshold horizontal_thres and the vertical threshold vertical_thres. i The points are classified as either horizontal or vertical measurement points; among them, horizontal test viewpoints satisfy the following:

[0017] Dis v >vertical_thres;

[0018] Dis h <horizontal_thres;

[0019] The vertical measurement viewpoint satisfies:

[0020] Dis v <vertical_thres;

[0021] Dis h >horizontal_thres;

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

[0023] Preferably, in step S2, the physical parameters of the AGV, robotic arm, 3D scanning measurement system, and the part to be measured include: AGV length Length_A, AGV width Width_A, AGV height Height_A, robotic arm maximum working distance MaxW_R, robotic arm minimum working distance MinW_R, robotic arm working radius Radius_R, 3D scanning measurement system working distance Dis_M, part to be measured length Length_P, and part to be measured width Width_P.

[0024] Preferably, in step S2, constructing the AGV motion path forming a double loop includes:

[0025] After placing the part to be measured at rest, take the upper left corner of the part as the starting point of the path, and follow the inner edge distance G. inside An AGV inner loop motion path is generated at equal intervals around the part to be measured, with an inner edge distance G. inside satisfy:

[0026]

[0027] Where Width_A is the width of the AGV; MaxW_R is the maximum working distance of the robotic arm; and Width_P is the width of the part to be measured.

[0028] After the AGV inner loop motion path is generated, according to the outer margin G outside An outer loop motion path for the AGV is generated at equal intervals around the part to be measured, with an outer edge distance G. outside satisfy:

[0029] G unside <G outside ;

[0030]

[0031] Wherein, MinW_R is the minimum working distance of the robotic arm; Dis_M is the working distance of the 3D scanning measurement system.

[0032] Preferably, in step S3, an initial set of AGV measurement points is generated along the AGV motion path of the dual-loop system using a fixed step size, including:

[0033] Horizontal measurement starting points Pfa are set at the beginning and end of the AGV's inner loop movement path, respectively. in_1 and horizontal measurement endpoint Pfa in_0 Then, on the inner loop motion path between the horizontal measurement starting point and the horizontal measurement ending point, the horizontal measurement points are obtained by uniform sampling according to a fixed step size Step.

[0034] Vertical measurement starting points Pfa are set at the beginning and end of the AGV's outer loop movement path, respectively. out_1 and vertical measurement endpoint Pfa out_0 Then, on the outer loop motion path between the vertical measurement start point and the vertical measurement end point, the vertical measurement point is obtained by uniform sampling according to a fixed step size Step.

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

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

[0037] Length_A <Step<MaxW_R;

[0038] Where 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 a locally optimal measurement viewpoint clustering algorithm, the initial AGV measurement points are optimized, and the optimized set of AGV measurement points on the AGV motion path is output, including:

[0040] For the horizontal measurement points on the inner loop motion path of the AGV, starting from the horizontal measurement starting point Pfa in_1 Begin by searching the set of horizontal measurement viewpoints VP. H The set of measurement viewpoints VP for the current horizontal measurement point is composed of all horizontal measurement viewpoints reachable according to the robotic arm's working radius Radius_R. pfa If the set of measurement viewpoints of the previous horizontal measurement point completely contains all the measurement viewpoints reachable from the current point, then delete the current measurement point, continue searching for the next measurement point, and repeat the above process to obtain an updated set of horizontal measurement points.

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

[0042] Preferably, in step S5, for each measurement point in the optimized AGV measurement point set, a motion path of the robotic arm within the measurement viewpoints included in the current measurement point is generated based on a shortest distance-first no-loop planning algorithm, including:

[0043] Calculate the spatial distances between all measurement viewpoints included at the current measurement site, forming an undirected distance matrix UDM. The horizontal and vertical axes of the undirected distance matrix UDM represent the sequence numbers of all measurement viewpoints included at the current measurement site, and the values ​​on the diagonal are all 0, indicating the distance from each measurement viewpoint to itself.

[0044] In the undirected distance matrix UDM, the movement path between the two measurement viewpoints represented by the minimum distance value is selected sequentially as part of the generated robotic arm motion path. This selection is repeated until all measurement viewpoints contained in the current measurement point can be reached, at which point the robotic arm motion path is generated.

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

[0046] The measurement viewpoint classification module of the 3D scanning measurement system divides the planned set of measurement viewpoints of the 3D scanning 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] The AGV motion path planning module constructs a double-loop AGV motion path based on the physical parameters of the AGV, robotic arm, 3D measurement system, and the part to be measured.

[0048] The AGV measurement point generation module generates initial AGV measurement points at fixed step sizes along the AGV movement path of the dual-loop system, forming an initial AGV measurement point set.

[0049] The AGV measurement site optimization module optimizes the initial AGV measurement sites based on a locally optimal measurement viewpoint clustering algorithm, and outputs the optimized set of AGV measurement sites along the AGV motion path.

[0050] The robotic arm motion path planning module generates a motion path for the robotic arm within the measurement viewpoints contained at the current measurement point for each measurement point in the optimized AGV measurement point set, based on the shortest distance-first no-loop planning algorithm.

[0051] Furthermore, another aspect of the present invention discloses a storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned three-dimensional measurement path planning method based on the collaboration of AGV and robotic arm.

[0052] Furthermore, another aspect of the present invention discloses a computer device, including a memory, a processor, and a computer program stored in the memory and executable in the processor, wherein when the processor executes the computer program, it implements the above-mentioned three-dimensional measurement path planning method based on AGV and robotic arm collaboration.

[0053] The beneficial effects of this invention are:

[0054] 1. Compared with the current method of manually planning the motion path of AGV and robotic arm based on the measurement viewpoint, the technical solution proposed in this invention can automatically generate the motion path of AGV and robotic arm in coordination based on the measurement viewpoint, thereby improving planning efficiency and reducing labor costs.

[0055] 2. Compared with some current methods that only plan the motion path of AGV or robotic arm, this invention uses a motion system of AGV and robotic arm working together as a device. Based on the set of measurement viewpoints, it comprehensively considers the factors of AGV measurement point and robotic arm measurement pose motion 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 movement during automated measurement.

[0056] 3. This invention rationally divides the measurement viewpoint set into horizontal and vertical measurement viewpoints according to measurement requirements, and performs measurement tasks on the AGV motion path of the double loop, which can greatly reduce the adjustment time of the robotic arm between different measurement postures, improve the overall measurement efficiency, and effectively avoid the possibility of the robotic arm damaging the part to be measured when making large adjustments to the measurement posture. Attached Figure Description

[0057] The foregoing and hereinafter detailed description of the invention becomes clearer when read in conjunction with the following drawings, in which:

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

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

[0060] Figure 3 This is a schematic diagram of the AGV motion path construction for the dual-loop system of the present invention. Detailed Implementation

[0061] To enable those skilled in the art to better understand the technical solutions of this invention, specific embodiments will be used to further illustrate the technical solutions for achieving the objectives of this invention. It should be noted that the technical solutions claimed by this invention include, but are not limited to, the following embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort should fall within the scope of protection of this invention.

[0062] The embodiments of the present invention propose a three-dimensional measurement path planning method and system based on the collaboration of AGV and robotic arm. The present invention first introduces and explains the three-dimensional measurement path planning method. Figure 1 This is a flowchart of the method of the present invention, please refer to the appendix to the specification. Figure 1 The three-dimensional measurement path planning method based on AGV and robotic arm collaboration specifically includes the following steps:

[0063] Step S1. Input the pre-planned set of measurement viewpoints VP for the 3D scanning measurement system. Using a threshold-based measurement viewpoint classification algorithm, divide the measurement viewpoints in the set VP into horizontal measurement viewpoints or vertical measurement viewpoints, and then form the horizontal measurement viewpoint set VP. H and the set of vertical measurement viewpoints VP V .

[0064] In the embodiments described in this invention, the measurement viewpoint set VP contains measurement viewpoint vp. i The format is: vp i ={C i =(x,y,z),f i};

[0065] Among them, C i = (x, y, z) represents the spatial coordinates of the measurement viewpoint, f i For measuring direction.

[0066] Furthermore, the end of the component to be measured closest to the ground is selected as the reference plane, and a measurement viewpoint vp in the set VP is used. i Calculate the vertical distance Dis from the measurement viewpoint to the reference surface of the part to be measured. v Next, extract the center point Cp of the part to be measured and calculate the measurement viewpoint vp. i The distance to the center point Cp is the horizontal distance Dis projected onto the reference plane of the bottom surface of the part. h; 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. Specifically, 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 VP 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 described in this invention, the physical parameters of the AGV, robotic arm, three-dimensional measurement system, and the part to be measured typically include parameters such as AGV length Length_A, AGV width Width_A, AGV height Height_A, maximum working distance of robotic arm MaxW_R, minimum working distance of robotic arm MinW_R, working radius of robotic arm Radius_R, working distance of three-dimensional measurement system Dis_M, length of part to be measured Length_P, and width of part to be measured Width_P.

[0078] Furthermore, the specific process for establishing the movement path of the AGV in the double-loop system is as follows:

[0079] After placing the part to be measured at rest, take the upper left corner of the part as the starting point of the path, and follow the inner edge distance G. inside An AGV inner loop motion path is generated at equal intervals around the part to be measured, with an inner edge distance G. inside The following conditions must be met:

[0080]

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

[0082] Similarly, after the AGV inner loop motion path is generated, it is based on the outer margin G. outside An AGV outer loop motion path is generated at equal intervals around the part to be measured, with an outer distance G. outside The following conditions must be met:

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

[0084]

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

[0086] Step S3. Then, generate an initial AGV measurement point set PFA along the motion path of the dual loop at a fixed step size. ori .

[0087] In the embodiment described in this invention, horizontal measurement starting points Pfa are first set at the beginning and end of the AGV's inner loop movement path, respectively. in_1 and horizontal measurement endpoint Pfa in_0, Next, on the movement path between the horizontal measurement start site and the horizontal measurement end site, horizontal measurement sites are evenly 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 points 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 evenly 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, and the expression of the set is as follows:

[0091]

[0092] where m and n respectively represent the number indices of the horizontally measured sites and vertically measured sites.

[0093] Step S4. Optimize the measurement sites in the initial AGV measurement site set PFA ori based on the locally optimal measurement view point 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 view points reachable according to the working radius of the robotic arm in the horizontal measurement view point set VP H to form the measurement view point set VP pfa of the current measurement site. When searching, the coordinates of the measurement view point 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_iThese represent the spatial coordinates and orientation of the measurement viewpoint pose transformation into the robotic arm's measurement pose, respectively.

[0098] If the robotic arm measures the pose space coordinates C pfa_i =(x pfa_i ,y pfa_i ,z pfa_i If the following formula is satisfied, then the measurement viewpoint is the measurement viewpoint reachable from the current AGV measurement position:

[0099]

[0100] Among them, (x a ,y a ,z a ) represents the coordinates of the bottom of the robotic arm, which can be determined based on the current AGV measurement point coordinates Pfa. in_j =(x j ,y j ,z j The calculation is as follows:

[0101]

[0102] If the set of measurement viewpoints of the previous measurement site completely contains all the measurement viewpoints reachable from the current point, then delete the current measurement site, continue searching 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 points on the outer loop movement path of the AGV, the same search process is performed as described above, and finally the set of vertical measurement points is updated to obtain the updated set of vertical measurement points.

[0104] The updated set of horizontal and vertical measurement sites are merged to form the final optimized AGV measurement site set FPA.

[0105] It can be understood that, in this invention, one measurement point typically corresponds to multiple measurement viewpoints.

[0106] Step S5. For each measurement point in the optimized AGV measurement point set PFA, generate the motion path of the robotic arm in the measurement viewpoint contained in the current measurement point. At this point, the three-dimensional measurement path planning based on the collaboration between AGV and robotic arm is completed.

[0107] In the embodiment described in this invention, for each measurement point in the AGV measurement point set FPA optimized in step S4, a shortest distance-first no-loop planning algorithm is used to generate the motion path of the robotic arm within the measurement viewpoints contained at the current point. The specific process is as follows:

[0108] The shortest distance-first, loop-free programming algorithm first calculates the spatial distances between all measurement viewpoints included at the current measurement point, forming an undirected distance matrix UDM. The horizontal and vertical axes of the UDM represent the sequence numbers of all measurement viewpoints included at the current measurement point, and the diagonal values ​​are all 0, representing the distance from each measurement viewpoint to itself. The UDM has valid values ​​only in the upper half, where each valid value represents the distance between the corresponding measurement viewpoint sequence numbers represented by its horizontal and vertical axes. Next, the movement path between the two measurement viewpoints with the smallest distance value is selected sequentially from the matrix and used as part of the generated robotic arm motion path. This selection is repeated until all measurement viewpoints included at the current measurement point are reachable, at which point the robotic arm motion path is generated.

[0109] The aforementioned shortest distance-first no-loop planning algorithm for generating the robotic arm's motion path satisfies the following conditions when selecting the shortest distance: ① Valid values ​​in the undirected distance matrix UDM cannot be selected repeatedly; ② If the currently selected valid shortest distance value would cause a motion loop in the robotic arm's movement path, the current selection is abandoned, and the next valid shortest distance value is traversed. Specifically, to prevent collisions when the AGV moves between different measurement points, it is stipulated that when switching measurement points, the robotic arm should be in a safe placement position Sp preset by its control system; that is, the starting and ending points of the planned robotic arm motion path are both the safe placement position Sp.

[0110] Based on the same inventive concept, this invention also discloses a three-dimensional measurement path planning system based on AGV and robotic arm collaboration. Since the principle of this system in solving the problem is similar to the three-dimensional measurement path planning method based on AGV and robotic arm collaboration, the implementation of this system can refer to the implementation of the method, and repeated details will not be elaborated further. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the system described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated. The system may include: a three-dimensional scanning measurement system measurement viewpoint classification module, an AGV motion path planning module, an AGV measurement site generation module, an AGV measurement site optimization module, and a robotic arm motion path planning module; wherein,

[0111] The measurement viewpoint classification module of the 3D scanning measurement system is used to divide the planned set of measurement viewpoints of the 3D scanning measurement system into a set of horizontal measurement viewpoints and a set of vertical measurement viewpoints using a measurement viewpoint classification algorithm based on threshold determination.

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

[0113] The AGV measurement point set generation module generates initial AGV measurement points along the AGV movement path of the dual-loop circuit at a fixed step size, and forms an initial AGV measurement point set.

[0114] The AGV measurement site optimization module optimizes the initial AGV measurement sites based on a locally optimal measurement viewpoint clustering algorithm, and outputs the optimized set of AGV measurement sites on the AGV movement path.

[0115] The robotic arm motion path planning module generates a motion path for the robotic arm within the measurement viewpoints contained at the current measurement point for each measurement point in the optimized AGV measurement point set PFA, based on the shortest distance priority no-loop planning algorithm.

[0116] It should be noted that the systems, devices, models, or units described in the above embodiments can be implemented by computer chips or physical entities, or by products with certain functions. For ease of description, the above systems are described in this specification by dividing them into various functional units. Of course, in implementing this invention, the functions of each unit can be implemented in one or more software and / or hardware.

[0117] Furthermore, in this specification, adjectives such as first and second may only be used to distinguish an element or action, without necessarily implying any actual such relationship or order.

[0118] Furthermore, this embodiment also provides a computer device, which includes a processor, an input device, an output device, and a memory, all interconnected. The memory stores a computer program, which includes program instructions, and the processor is configured to invoke the program instructions to execute the steps described in the above embodiment.

[0119] Furthermore, another aspect of this embodiment provides a computer-readable storage medium, characterized in that: the computer-readable storage medium stores a computer program, the computer program including program instructions, which, when executed by a processor, cause the processor to perform the steps in the above embodiments.

[0120] In this embodiment, the processor can be a central processing unit (CPU). The processor can 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, or combinations of the above types of chips.

[0121] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and units, such as the program units corresponding to the above-described method embodiments of the present invention. The processor executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions, and modules stored in the memory, thereby implementing the methods described in the above-described method embodiments.

[0122] The memory may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, corporate 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, perform the methods described in the above embodiments.

[0124] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects.

[0125] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A three-dimensional measurement path planning method based on AGV and robotic arm collaboration, characterized in that, Includes the following steps: Step S1. Using a threshold-based measurement viewpoint classification algorithm, the set of measurement viewpoints of the planned 3D scanning measurement system is divided into a horizontal measurement viewpoint set and a vertical measurement viewpoint set. Step S2. Based on the AGV, robotic arm, 3D scanning measurement system, and physical parameters of the part to be measured, construct the AGV motion path forming a double loop; After placing the part to be measured at rest, take the upper left corner of the part as the starting point of the path, and follow the inner edge distance. An AGV inner loop motion path is generated at equal intervals around the part to be measured, with inner edge distance... satisfy: Equation (5); After the AGV inner loop motion path is generated, according to the outer margin Generate an outer loop motion path for the AGV at equal intervals around the part to be measured, with the outer edge distance... satisfy: Equation (6); Equation (7); in, Width of the AGV; This is the maximum working distance of the robotic arm; The width of the part to be measured; This is the minimum working distance of the robotic arm; This refers to the working distance of the 3D scanning measurement system. Step S3. Generate an initial set of AGV measurement points on the AGV movement path of the double loop at a fixed step size; Horizontal measurement starting points are set at the beginning and end of the AGV's inner loop movement path, respectively. and horizontal measurement endpoint Then, along the inner loop movement path between the horizontal measurement starting point and the horizontal measurement ending point, a fixed step size is used. Horizontal measurement sites are obtained through uniform sampling; Vertical measurement starting points are set at the beginning and end of the AGV's outer loop movement path, respectively. and vertical measurement endpoint Then, along the outer loop movement path between the vertical measurement starting point and the vertical measurement ending point, a fixed step size is used. Uniform sampling yields vertical measurement sites; Finally, the horizontal and vertical measurement points are combined to form the initial AGV measurement point set. , m and n These represent the indexes indicating the number of horizontal and vertical measurement sites, respectively. Step S4. Based on the local optimum measurement viewpoint clustering algorithm, optimize the initial AGV measurement points, and finally obtain the optimized set of AGV measurement points on the AGV motion path; Step S5. For each measurement point in the optimized AGV measurement point set, generate the motion path of the robotic arm in the measurement viewpoints contained in the current measurement point based on the shortest distance priority no-loop planning algorithm.

2. The three-dimensional measurement path planning method based on AGV and robotic arm collaboration according to claim 1, characterized in that, Step S1 specifically includes: Select the end of the component to be measured closest to the ground as the reference plane, and then select the measurement viewpoints from the set of measurement viewpoints. Calculate the vertical distance from the measurement viewpoint to the reference surface of the part to be measured. ; Calculate the measurement viewpoint To the center point of the part to be measured The distance is the horizontal distance projected onto the reference plane of the bottom surface of the part. ; Based on the horizontal threshold and vertical threshold Measurement viewpoint The points are classified as either horizontal or vertical measurement points; among them, horizontal test viewpoints satisfy the following: ； ； The vertical measurement viewpoint satisfies: ； ； Finally, output the set of horizontal measurement viewpoints. and vertical measurement viewpoint set .

3. The three-dimensional measurement path planning method based on AGV and robotic arm collaboration according to claim 1, characterized in that, In step S2, the physical parameters of the AGV, robotic arm, 3D scanning measurement system, and the part to be measured include: AGV length. AGV width AGV height Maximum working distance of the robotic arm Minimum working distance of robotic arm Robotic arm working radius 3D scanning measurement system working distance Length of the part to be measured and the width of the part to be measured .

4. The three-dimensional measurement path planning method based on AGV and robotic arm collaboration according to claim 1, characterized in that, The fixed step size satisfies the following condition: ； in, AGV length; This represents the maximum working distance of the robotic arm.

5. The three-dimensional measurement path planning method based on AGV and robotic arm collaboration according to claim 1, characterized in that, In step S4, based on a locally optimal measurement viewpoint clustering algorithm, the initial AGV measurement points are optimized, and the optimized set of AGV measurement points along the AGV motion path is output, including: For horizontal measurement points on the inner loop movement path of the AGV, starting from the horizontal measurement starting point... Begin by searching the set of horizontal measurement viewpoints. All based on the working radius of the robotic arm The reachable horizontal measurement viewpoints constitute the set of measurement viewpoints at the current horizontal measurement location. If the set of measurement viewpoints of the previous horizontal measurement point completely contains all the measurement viewpoints reachable from the current point, then delete the current measurement point, continue searching for the next measurement point, and repeat the above process to obtain an updated set of horizontal measurement points. For the vertical measurement points on the outer loop movement path of the AGV, perform the same search process as described above to obtain an updated set of vertical measurement points. Then, merge the updated set of horizontal measurement points and the set of vertical measurement points to output the final set of AGV measurement points on the AGV movement path. .

6. The three-dimensional measurement path planning method based on AGV and robotic arm collaboration according to claim 1, characterized in that, In step S5, for each measurement point in the optimized AGV measurement point set, a shortest distance-first no-loop planning algorithm is used to generate the motion path of the robotic arm within the measurement viewpoints included at the current measurement point, including: Calculate the spatial distances between all measurement viewpoints included at the current measurement site, and construct an undirected distance matrix. The undirected distance matrix The horizontal and vertical axes represent the sequence numbers of all measurement viewpoints included at the current measurement location. The values ​​on the diagonal are all 0, indicating the distance from the measurement viewpoint to itself. In the undirected distance matrix The movement path between the two measurement viewpoints represented by the minimum distance value is selected sequentially as part of the generated robotic arm motion path. This selection is repeated until all measurement viewpoints contained in the current measurement point can be reached, at which point the robotic arm motion path is generated.

7. A three-dimensional measurement path planning system based on AGV and robotic arm collaboration, the system being used to implement the three-dimensional measurement path planning method based on AGV and robotic arm collaboration as described in any one of claims 1-6, characterized in that, include: The measurement viewpoint classification module of the 3D scanning measurement system divides the planned set of measurement viewpoints of the 3D scanning 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. The AGV motion path planning module constructs a double-loop AGV motion path based on the physical parameters of the AGV, robotic arm, 3D measurement system, and the part to be measured. The AGV measurement point generation module generates initial AGV measurement points at fixed step sizes along the AGV movement path of the dual-loop system, forming an initial AGV measurement point set. The AGV measurement site optimization module optimizes the initial AGV measurement sites based on a locally optimal measurement viewpoint clustering algorithm, and outputs the optimized set of AGV measurement sites along the AGV motion path. The robotic arm motion path planning module generates a motion path for the robotic arm within the measurement viewpoints contained at the current measurement point for each measurement point in the optimized AGV measurement point set, based on the shortest distance-first no-loop planning algorithm.

8. A storage medium storing a computer program thereon, wherein when the computer program is executed by a processor, it implements a three-dimensional measurement path planning method based on the collaboration of an AGV and a robotic arm as described in any one of claims 1 to 6.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable in the processor, wherein when the processor executes the computer program, it implements a three-dimensional measurement path planning method based on AGV and robotic arm collaboration as described in any one of claims 1 to 6.

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