Method and device for generating simulation model for workpiece hoisting
By generating and adjusting the simulation model of workpiece hoisting, the problem of insufficient positioning accuracy of the painting robot was solved, and the workpiece position and posture were accurately simulated in the simulation scenario, thus ensuring the production cycle.
Patent Information
- Application Number
- CN202511425954.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-30
- Publication Date
- 2026-01-02
AI Technical Summary
In existing technologies, painting robots suffer from poor environmental adaptability of vision sensors during workpiece hoisting, leading to decreased positioning accuracy and frequent equipment replacements, which affects the production cycle.
By acquiring parameter data of the lifting device and the workpiece, an initial simulation model is generated. The workpiece's three-dimensional model is then adjusted based on the pose parameter data to generate a target simulation model, thereby accurately simulating the workpiece's position and posture on the production site.
It enables accurate simulation of the position and orientation of workpieces in simulation scenarios, avoiding the increased costs and equipment failures associated with vision devices, and ensuring production cycle.
Smart Images
Figure CN121256984A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of workpiece hoisting technology, and in particular to a method and apparatus for generating a simulation model for workpiece hoisting. Background Technology
[0002] In the field of engineering machinery manufacturing, the painting of large workpieces (such as hydraulic supports, cargo boxes, etc.) is usually carried out by hoisting the workpieces with steel chains so that painting robots can spray them. In this process, painting engineers need to use simulation software to develop offline programs for the painting robot to control the painting robot's painting work on the workpiece. Therefore, it is required that the position and posture of the workpiece model in the simulation scene be consistent with the production site.
[0003] Although visual sensors are currently used to locate workpieces on-site and algorithms are used to correct offline programs to ensure their accuracy, visual solutions have poor environmental adaptability. Paint mist pollution at the painting site leads to a high sensor failure rate, which in turn reduces positioning accuracy and causes frequent equipment replacements, affecting the production cycle.
[0004] Therefore, a workpiece model that can accurately simulate the position and posture of the production site in a simulation scenario is urgently needed for research. Summary of the Invention
[0005] This application provides a method and apparatus for generating a simulation model for workpiece hoisting, which can obtain a target simulation model that accurately simulates the position and posture of the production site in the simulation scene.
[0006] Firstly, a method for generating a simulation model for workpiece hoisting is provided, comprising:
[0007] Based on the simulation scenario corresponding to the target painting line, obtain the lifting tool parameter data; the simulation scenario includes a simulated lifting tool device, and the lifting tool parameter data includes the lifting point position information, lifting tool structure information, and lifting tool size information of the simulated lifting tool device;
[0008] Based on the 3D model of the workpiece to be coated, obtain the workpiece parameter data; the workpiece parameter data includes the initial lifting lug coordinate information, the initial workpiece centroid coordinate information, and the workpiece mass information;
[0009] Based on workpiece parameter data and lifting fixture parameter data, an initial simulation model is generated; the initial simulation model is a model simulating the workpiece to be painted being lifted on the actual lifting fixture in the target painting line.
[0010] Based on the initial simulation model, determine the pose parameter data corresponding to the workpiece to be coated; the pose parameter data includes the workpiece centroid coordinate information, lifting lug coordinate information, rotation angle information, and tension information of the sling connected to the workpiece after it is hoisted.
[0011] The workpiece's 3D model is adjusted based on the pose parameter data to generate a target simulation model corresponding to the workpiece to be painted when it is hoisted.
[0012] Optionally, based on workpiece parameter data and lifting device parameter data, an initial simulation model is generated, including:
[0013] Based on the workpiece parameter data and the lifting tool parameter data, an initial simulation model is generated under preset constraints. The preset constraints include the constraint that the workpiece to be coated is an ideal rigid body, the constraint that the length of the lifting cable connected to the workpiece to be coated is a fixed value, and the constraint that the workpiece to be coated is in static equilibrium after being lifted.
[0014] Optionally, based on workpiece parameter data and lifting tool parameter data under preset constraints, an initial simulation model is generated, including:
[0015] Based on the position information of the slings, the direction of movement of the workpiece to be coated during the lifting process, and the actual lifting method of the workpiece to be coated by the actual lifting device, the initial position information of the workpiece to be coated is determined by initially placing it on the actual lifting device.
[0016] Under preset constraints, an initial simulation model is obtained based on the initial position information, workpiece parameter data, and lifting tool parameter data.
[0017] Optionally, based on the initial simulation model, the pose parameter data corresponding to the workpiece to be coated is determined, including:
[0018] Input the preset position information into the initial simulation model to obtain the predicted pose parameter data; the preset position information is the preset position corresponding to the workpiece to be coated being hoisted on the actual lifting device;
[0019] Based on the predicted pose parameter data, determine whether the workpiece to be coated can be stably hoisted onto the actual hoisting device.
[0020] If the workpiece to be coated cannot be stably hoisted on the actual lifting device, then new preset position information is determined, and the above steps are repeated until the workpiece to be coated can be stably hoisted on the actual lifting device, and the finally determined predicted pose parameter data is used as the final pose parameter.
[0021] If the workpiece to be coated can be stably hoisted on the actual lifting device, then the predicted pose parameter data will be used as the final pose parameter.
[0022] Optionally, based on the predicted pose parameter data, it is determined whether the workpiece to be coated can be stably hoisted onto the actual lifting device, including:
[0023] Based on the tension information of the sling connected to the workpiece to be coated in the predicted pose parameter data, determine the direction and value of the force on the sling;
[0024] If the direction of force on the sling does not conform to the preset direction, and / or the force value of the sling exceeds the preset range, then it is determined that the workpiece to be painted cannot be stably hoisted on the actual lifting device; and / or
[0025] The rotation angle information of the workpiece to be coated in the predicted pose parameter data is compared with the preset angle information;
[0026] If the rotation angle of the workpiece to be coated is greater than the preset angle, it is determined that the workpiece to be coated cannot be stably hoisted on the actual lifting device.
[0027] Optionally, the 3D model of the workpiece is adjusted based on the pose parameter data to generate a target simulation model corresponding to the workpiece to be painted when it is hoisted, including:
[0028] Based on affine transformation, the workpiece centroid coordinates and rotation angle information in the pose parameter data are mapped onto the workpiece 3D model to adjust the pose of the workpiece 3D model and generate the target simulation model corresponding to the workpiece to be painted when it is hoisted.
[0029] Optionally, it also includes:
[0030] A simulation scenario is constructed based on the actual scene corresponding to the target painting line; the simulated lifting device in the simulation scenario has the same structural, dimensional, and coordinate information as the actual lifting device in the actual scene.
[0031] Secondly, a device for generating a simulation model for workpiece hoisting is provided, comprising:
[0032] The first acquisition module is used to acquire lifting device parameter data based on the simulation scene corresponding to the target painting line; the simulation scene includes a simulated lifting device, and the lifting device parameter data includes the lifting point position information, lifting device structure information, and lifting device size information of the simulated lifting device;
[0033] The second acquisition module is used to acquire workpiece parameter data based on the workpiece 3D model corresponding to the workpiece to be coated; the workpiece parameter data includes initial lifting lug coordinate information, initial workpiece centroid coordinate information, and workpiece mass information;
[0034] The initial simulation model generation module is used to generate an initial simulation model based on workpiece parameter data and lifting device parameter data. The initial simulation model is a model simulating the workpiece to be painted being lifted on the actual lifting device in the target painting line.
[0035] The pose parameter data determination module is used to determine the pose parameter data corresponding to the workpiece to be coated based on the initial simulation model. The pose parameter data includes the workpiece centroid coordinate information, lifting lug coordinate information, rotation angle information, and tension information of the sling connected to the workpiece after it is hoisted.
[0036] The target simulation model generation module is used to adjust the 3D model of the workpiece based on the pose parameter data, and generate the target simulation model corresponding to the workpiece to be painted when it is hoisted.
[0037] Thirdly, an electronic device is provided, comprising: a processor and a memory for storing a computer program, the processor for calling and running the computer program stored in the memory, and performing the methods as described in the first aspect or its various implementations.
[0038] Fourthly, a computer storage medium is provided for storing a computer program that causes a computer to perform the methods of the second aspect or its various implementations.
[0039] The technical solution provided in this application generates an initial simulation model that can simulate the workpiece being hoisted on the actual hoisting device in the target coating line, based on the hoisting parameter data obtained from the simulation scene corresponding to the target coating line and the workpiece parameter data obtained from the workpiece 3D model corresponding to the workpiece to be coated. Then, based on the initial simulation model, the position and posture parameter data corresponding to the workpiece to be coated are determined. Finally, the workpiece 3D model is adjusted based on the position and posture parameter data to generate a target simulation model that corresponds to the actual hoisting device when the workpiece to be coated is hoisted on the target coating line, so as to accurately simulate the position and posture that are consistent with the workpiece to be coated on the production site.
[0040] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description
[0041] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0042] Figure 1 An application scenario diagram provided for an embodiment of this application;
[0043] Figure 2 A flowchart illustrating a method for generating a simulation model for workpiece hoisting, provided in an embodiment of this application;
[0044] Figure 3 A schematic diagram of a device for generating a simulation model for workpiece hoisting, provided in an embodiment of this application;
[0045] Figure 4 This is a schematic block diagram of the electronic device provided in the embodiments of this application. Detailed Implementation
[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.
[0047] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.
[0048] It should be understood that the technical solution of this application can be applied to the following scenarios, but is not limited to:
[0049] In some possible ways, Figure 1 An application scenario diagram provided for an embodiment of this application, such as... Figure 1 As shown, this application scenario may include electronic device 110 and network device 120. Electronic device 110 can establish a connection with network device 120 through a wired network or a wireless network.
[0050] For example, electronic device 110 may be a desktop computer, laptop computer, tablet computer, etc., but is not limited thereto. Network device 120 may be a terminal device or a server, but is not limited thereto. In one embodiment of this application, electronic device 110 may send a request message to network device 120, which may be used to request the acquisition of lifting device parameter data. Further, electronic device 110 may receive a response message sent by network device 120, which includes the acquisition of lifting device parameter data.
[0051] also, Figure 1 An electronic device 110 and a network device 120 are provided as examples, but other numbers of electronic devices and network devices may be included in practice, and this application does not limit this.
[0052] In other possible implementations, the technical solution of this application may also be executed by the aforementioned electronic device 110, or by the aforementioned network device 120, and this application does not impose any restrictions on this.
[0053] After introducing the application scenarios of the embodiments of this application, the technical solution of this application will be described in detail below:
[0054] Figure 2 A flowchart illustrating a method for generating a simulation model for workpiece hoisting, provided in this application embodiment, is included. This method is applied to electronic devices and can be generated by, for example... Figure 1 The electronic device 110 shown performs, but is not limited to, its functions. For example... Figure 2 As shown, the method may include the following steps:
[0055] S210. Based on the simulation scenario corresponding to the target painting line, obtain the lifting tool parameter data.
[0056] The simulation scenario includes a simulated lifting device, and the lifting device parameter data includes the lifting point position information, lifting device structure information, and lifting device size information of the simulated lifting device.
[0057] Here, the simulated lifting device can include a simulated truss and a simulated lifting trolley, and the lifting point position information, lifting structure information, and lifting size information of the simulated lifting device are identical to those of the actual lifting device. In addition, the simulation scenario also includes a simulated painting robot.
[0058] S220. Obtain workpiece parameter data based on the workpiece 3D model corresponding to the workpiece to be coated.
[0059] Here, the workpiece parameter data includes the initial lifting lug coordinate information, the initial workpiece centroid coordinate information, and the workpiece mass information.
[0060] The workpiece 3D model can be a 3D model obtained from the PLM system, and it can be saved in .stp file format.
[0061] S230. Based on the workpiece parameter data and the lifting tool parameter data, generate an initial simulation model.
[0062] Here, the initial simulation model is a model simulating the workpiece to be coated being hoisted on the actual lifting device in the target coating line.
[0063] Before step S230, the workpiece parameter data and lifting tool parameter data can be stored in a .Json file for later use in step S230.
[0064] It should be noted that the initial simulation model can be a mathematical model based on mechanical equilibrium.
[0065] S240. Based on the initial simulation model, determine the pose parameter data corresponding to the workpiece to be coated.
[0066] Here, the pose parameter data includes the coordinates of the workpiece's center of mass, the coordinates of the lifting lugs, the rotation angle, and the tension of the sling connected to the workpiece after it has been hoisted. Note that the pose parameter data is simulated based on the initial simulation model and is not the actual parameter data corresponding to the workpiece.
[0067] Among them, the coordinate information of the workpiece's center of mass, the coordinate information of the lifting lug, the rotation angle information, and the tension information of the sling connected to the workpiece after it is hoisted can be understood as the workpiece being hoisted by the actual lifting device and kept stationary on the actual lifting device, or it can be understood as the workpiece being located in the working position on the actual lifting device.
[0068] It should be noted that the pose parameter data refers to the pose parameter data of the workpiece to be coated after it has been hoisted and is stationary relative to the actual lifting device. Determining the pose parameter data corresponding to the workpiece to be coated may include: obtaining the initial pose parameter data of the workpiece to be coated at the moment it is placed on the actual lifting device in the target coating line, based on the initial simulation model; obtaining the pose parameter change data of the workpiece to be coated when it is stably hoisted and stationary on the actual lifting device in the target coating line, i.e., when the workpiece is in the working position on the actual lifting device, based on the initial simulation model. This pose parameter change data includes information on the change of the workpiece's center of mass coordinates, the change of the lifting lug coordinates, the change of the rotation angle, and the change of the tension of the sling connected to the workpiece; finally, obtaining the pose parameter data corresponding to the workpiece to be coated based on the initial pose parameter data and the pose parameter change data.
[0069] S250. Adjust the three-dimensional model of the workpiece according to the pose parameter data to generate the target simulation model corresponding to the workpiece to be painted when it is hoisted.
[0070] In this step, the 3D model of the workpiece is adjusted according to the pose parameter data. This means adjusting the position and attitude of the 3D model of the workpiece according to the coordinate information of the workpiece's center of mass, the coordinate information of the lifting lug, the rotation angle information, and the tension information of the sling connected to the workpiece after it is hoisted. This allows the generated target simulation model to simulate the position and attitude of the workpiece on the actual hoisting device when it is hoisted, so that the staff can determine the position and attitude of the workpiece on the target coating line through the target simulation model.
[0071] In addition, after obtaining the target simulation model, the target simulation model can be input into the simulation scene corresponding to the target coating line to simulate the state of the workpiece to be coated on the target coating line.
[0072] In this embodiment, an initial simulation model is generated based on the lifting parameter data obtained from the simulation scene corresponding to the target painting line and the workpiece parameter data obtained from the workpiece 3D model corresponding to the workpiece to be painted. This initial simulation model can simulate the workpiece to be painted being lifted onto the actual lifting device in the target painting line. Then, based on the initial simulation model, the pose parameter data corresponding to the workpiece to be painted is determined. Finally, the workpiece 3D model is adjusted based on the pose parameter data to generate a target simulation model corresponding to the actual lifting device when the workpiece to be painted is lifted onto the target painting line. Thus, this application adopts a "simulation prediction" followed by "programming" approach, which can obtain a target simulation model that accurately simulates the position and posture of the production site in the simulation scene. At the same time, it can save the cost of adding hardware (such as vision equipment) and avoid subsequent maintenance costs. Furthermore, the target simulation model will not be unable to simulate the site due to equipment failure affecting on-site production, thus ensuring the production cycle.
[0073] In some possible implementations, generating an initial simulation model based on workpiece parameter data and lifting device parameter data may include: generating an initial simulation model under preset constraints based on workpiece parameter data and lifting device parameter data.
[0074] Here, the preset constraints include the constraint that the workpiece to be coated is an ideal rigid body, the constraint that the length of the sling connected to the workpiece to be coated is a fixed value, and the constraint that the workpiece to be coated is in static equilibrium after being hoisted.
[0075] The workpiece to be coated is an ideal rigid body, which can be understood as follows: the workpiece to be coated is regarded as an ideal rigid body and does not undergo its own deformation; the length of the sling connected to the workpiece to be coated is a fixed value, which can be understood as follows: the length of the sling is fixed and cannot be extended after the workpiece to be coated is lifted; the workpiece to be coated is in a state of static equilibrium after being lifted, which can be understood as follows: the workpiece to be coated is in a static state after being lifted, and the resultant force and resultant torque on the workpiece to be coated are both zero.
[0076] By using the above method, when generating the initial simulation model, by setting the above-mentioned preset constraints, the generated initial simulation model can be subject to the constraints that the workpiece to be coated is an ideal rigid body, the length of the sling, and the workpiece to be coated is in a static equilibrium state after being lifted. This ensures that the initial simulation model satisfies the above constraints and can also accurately simulate the actual lifting device on the target coating line where the workpiece to be coated is lifted.
[0077] Furthermore, based on the workpiece parameter data and the lifting device parameter data under preset constraints, an initial simulation model is generated, which may include the following steps:
[0078] S310. Based on the position information of the sling, the direction of movement of the workpiece to be coated during the lifting process, and the lifting method of the actual lifting device for the workpiece to be coated, determine the initial position information of the workpiece to be coated initially placed on the actual lifting device.
[0079] It should be noted that the direction of movement of the workpiece to be coated during the hoisting process can be understood as: the direction of movement of the workpiece to be coated during the process of moving it to the working position on the actual hoisting device after it has been placed in the initial position of the actual hoisting device.
[0080] Since the hoisting mechanics equations used in generating the initial simulation model are mechanics equations of a highly nonlinear multivariable system, there may be multiple local optimal solutions. Therefore, it is necessary to set a reasonable initial value to guide the solver to find a reasonable solution. Thus, from the initial position of the workpiece to be coated on the actual hoisting device to the process of the workpiece being hoisted to the working position on the actual hoisting device, the workpiece mainly moves along the direction of gravity.
[0081] To ensure greater stability of the workpiece during lifting, a symmetrical lifting method is typically chosen. Therefore, the initial position information of the workpiece placed on the actual lifting device can be accurately determined by considering the position information of the slings, the direction of movement of the workpiece during lifting, and the lifting method of the actual lifting device.
[0082] S320. Under the preset constraints, an initial simulation model is obtained based on the initial position information, workpiece parameter data, and lifting tool parameter data.
[0083] In this step, the initial position information, workpiece parameter data, and lifting device parameter data can be substituted into the following set of mechanical equations for calculation to obtain the position coordinates of the center of mass of the workpiece to be coated after it is lifted on the actual lifting device, the tension of the sling, and the rotation angle of the workpiece to be coated around the center of mass.
[0084] ||Q_i-P_new_i||=L_i
[0085] ∑(T_i·u_i)+[0,0,-mg]=[0,0,0]
[0086] ∑(R_i×(T_i·u_i))=[0,0,0]
[0087] Where, Q_i is the coordinates (fixed point) corresponding to the initial position information; P_new_i is the coordinate information of the lifting lug of the workpiece to be coated after it is in the working position on the actual lifting device; L_i is the length (constant) of the sling connected to the workpiece to be coated; T_i is the tension of the sling; u_i is the unit vector of the sling direction; mg is the gravity direction of the workpiece to be coated (negative Z-axis direction); R_i is the position vector of the lifting lug of the workpiece to be coated relative to the centroid of the workpiece; × is the cross product of vectors (representing torque).
[0088] After obtaining the coordinates of the center of mass of the workpiece to be coated after it is hoisted on the actual lifting device, the tension of the sling, and the rotation angle of the workpiece about its center of mass, under preset constraints, an initial simulation model that can simulate the workpiece being hoisted on the actual lifting device can be obtained based on the coordinates of the center of mass of the workpiece to be coated after it is hoisted on the actual lifting device, the tension of the sling, the rotation angle of the workpiece about its center of mass, as well as the workpiece parameter data and the lifting device parameter data.
[0089] In some possible implementations, determining the pose parameter data corresponding to the workpiece to be coated based on the initial simulation model may include the following steps:
[0090] S410. Input the preset position information into the initial simulation model to obtain the predicted pose parameter data. The preset position information is the preset position corresponding to the workpiece to be painted being hoisted on the actual lifting device.
[0091] Here, the preset position can be a position defined by the staff, that is, the preset position determined by the staff based on the actual lifting device and the workpiece to be painted, so that the workpiece to be painted will be hoisted on the actual lifting device.
[0092] It should be noted that the predicted pose parameter data includes the workpiece's center of mass coordinates, lifting lug coordinates, rotation angle, and tension information of the sling connected to the workpiece after the workpiece is lifted by the actual lifting device and placed in the working position.
[0093] S420. Based on the predicted pose parameter data, determine whether the workpiece to be coated can be stably hoisted onto the actual hoisting device.
[0094] S430. If the workpiece to be coated cannot be stably hoisted on the actual lifting device, then determine new preset position information and repeat the above steps until the workpiece to be coated can be stably hoisted on the actual lifting device, and use the finally determined predicted pose parameter data as the final pose parameter.
[0095] S440. If the workpiece to be coated can be stably hoisted on the actual lifting device, then the predicted pose parameter data shall be used as the final pose parameter.
[0096] The preset position in step S410 is set by the operator. Therefore, if the workpiece to be coated is placed on the actual lifting device according to the preset position information set by the operator, there may be a situation where the workpiece to be coated cannot be stably lifted on the actual lifting device. Therefore, here, based on the predicted pose parameter data, it is judged whether the workpiece to be coated can be stably lifted on the actual lifting device. If the workpiece to be coated cannot be stably lifted on the actual lifting device, a new preset position information is determined. This continues until the finally determined preset position information can guarantee that the workpiece to be coated can be stably lifted on the actual lifting device. The predicted pose parameter data corresponding to the preset position information at this time is used as the final pose parameter so that the 3D model of the workpiece after the final pose parameter adjustment can simulate the posture of the workpiece to be coated after being lifted on the actual lifting device.
[0097] Furthermore, based on the predicted pose parameter data, determining whether the workpiece to be coated can be stably hoisted onto the actual lifting device can include the following steps:
[0098] S510. Based on the tension information of the sling connected to the workpiece to be coated in the predicted pose parameter data, determine the direction and value of the force on the sling.
[0099] S520. If the direction of force on the sling does not conform to the preset direction, and / or the force value of the sling exceeds the preset range, then it is determined that the workpiece to be painted cannot be stably hoisted on the actual lifting device.
[0100] Here, the preset range can be the maximum value that the sling can withstand. Therefore, when the force value of the sling exceeds the preset range, it is necessary to change the model of the sling chain or reselect the lifting point position on the actual lifting device, which means reselecting the preset position information.
[0101] When determining whether the force direction of the sling conforms to the preset direction, the value corresponding to the force of the sling can be compared with the value corresponding to the force in the preset direction. If they are not the same, it is determined that the force direction of the sling does not conform to the preset direction. Therefore, it is necessary to reselect the lifting point position on the actual lifting device, which is to reselect the preset position information.
[0102] Furthermore, if the lifting method for the workpiece to be coated is symmetrical, then if the magnitude of the force on the sling in the symmetrical direction is different, it is determined that the workpiece to be coated cannot be stably lifted onto the actual lifting device.
[0103] S530. Compare the rotation angle information of the workpiece to be coated in the predicted pose parameter data with the preset angle information.
[0104] S540. If the rotation angle information of the workpiece to be coated is greater than the preset angle information, it is determined that the workpiece to be coated cannot be stably hoisted on the actual hoisting device.
[0105] Here, the preset angle information can be determined according to the process standards of the workpiece to be coated during the coating process.
[0106] Using the above method, a comprehensive and thorough judgment can be made on whether the workpiece to be coated can be stably hoisted on the actual lifting device based on the force direction of the sling, the force value of the sling, and the rotation angle of the workpiece to be coated, thereby ensuring the accuracy of the final judgment result.
[0107] In some possible implementations, adjusting the workpiece 3D model based on pose parameter data to generate a target simulation model corresponding to the workpiece to be painted when it is hoisted may include the following steps: mapping the workpiece centroid coordinate information and rotation angle information in the pose parameter data onto the workpiece 3D model based on affine transformation, so as to adjust the pose of the workpiece 3D model and generate a target simulation model corresponding to the workpiece to be painted when it is hoisted.
[0108] Here, the following formula is used to map the workpiece centroid coordinates and rotation angle information from the pose parameter data onto the workpiece 3D model based on affine transformation, so as to adjust the pose of the workpiece 3D model:
[0109]
[0110] Where [X_cad,Y_cad,Z_cad] are points in the workpiece's 3D model; [[X_sim,Y_sim,Z_sim]] are points in the target simulation model; R 3×3 It is the rotation transformation matrix; T 3×1 It is a translation transformation vector.
[0111] Using the above method, a target simulation model can be obtained when the workpiece to be coated is hoisted. This target simulation model can simulate the three-dimensional model of the workpiece and the stress of the sling, thereby improving the accuracy, production efficiency and safety of the offline program.
[0112] In some possible implementations, the method further includes: constructing a simulation scene based on the actual scene corresponding to the target painting line; wherein the simulated lifting device in the simulation scene has the same structural information, size information, and coordinate information as the actual lifting device in the actual scene.
[0113] Here, the actual scene corresponding to the target painting line can be obtained based on the CAD drawings corresponding to the target painting line.
[0114] In this embodiment, by constructing a simulation scene based on the actual scene corresponding to the target painting line, and ensuring that the simulated lifting device in the simulation scene has the same structural information, size information, and coordinate information as the actual lifting device in the actual scene, the simulation scene can simulate the actual scene corresponding to the target painting line, thus ensuring the credibility of the simulation scene construction.
[0115] Figure 3 This is a schematic diagram of a device 600 for generating a simulation model of workpiece hoisting, according to an embodiment of the present invention. This device 600 is applied to electronic devices, such as… Figure 3 As shown, the device includes:
[0116] The first acquisition module 610 is used to acquire lifting tool parameter data based on the simulation scene corresponding to the target painting line; the simulation scene includes a simulated lifting tool device, and the lifting tool parameter data includes the lifting point position information, lifting tool structure information, and lifting tool size information of the simulated lifting tool device.
[0117] The second acquisition module 620 is used to acquire workpiece parameter data based on the workpiece 3D model corresponding to the workpiece to be coated; the workpiece parameter data includes initial lifting lug coordinate information, initial workpiece centroid coordinate information, and workpiece mass information.
[0118] The initial simulation model generation module 630 is used to generate an initial simulation model based on workpiece parameter data and lifting device parameter data; the initial simulation model is a model simulating the workpiece to be painted being lifted on the actual lifting device in the target painting line;
[0119] The pose parameter data determination module 640 is used to determine the pose parameter data corresponding to the workpiece to be coated based on the initial simulation model. The pose parameter data includes the workpiece centroid coordinate information, lifting lug coordinate information, rotation angle information, and tension information of the sling connected to the workpiece after it is hoisted.
[0120] The target simulation model generation module 650 is used to adjust the three-dimensional model of the workpiece based on the pose parameter data and generate the target simulation model corresponding to the workpiece to be painted when it is hoisted.
[0121] In some implementations, the initial simulation model generation module 630 includes:
[0122] The initial simulation model generation unit is used to generate an initial simulation model based on the workpiece parameter data and the lifting tool parameter data under preset constraints. The preset constraints include the constraint that the workpiece to be coated is an ideal rigid body, the constraint that the length of the lifting cable connected to the workpiece to be coated is a fixed value, and the constraint that the workpiece to be coated is in a static equilibrium state after being lifted.
[0123] In some implementations, the initial simulation model generation unit includes:
[0124] The initial position information determination subunit is used to determine the initial position information of the workpiece to be coated on the actual lifting device based on the position information of the sling, the direction of movement of the workpiece to be coated during the lifting process, and the lifting method of the actual lifting device.
[0125] The initial simulation model generation sub-unit is used to obtain the initial simulation model under preset constraints, based on the initial position information, workpiece parameter data, and lifting tool parameter data.
[0126] In some implementations, the pose parameter data determination module 640 includes:
[0127] The prediction data unit is used to input preset position information into the initial simulation model to obtain predicted pose parameter data; the preset position information is the preset position corresponding to the workpiece to be coated being hoisted on the actual lifting device.
[0128] The judgment unit is used to determine whether the workpiece to be coated can be stably hoisted on the actual lifting device based on the predicted pose parameter data.
[0129] The repeat execution unit is used to determine new preset position information and repeat the above steps if the workpiece to be coated cannot be stably hoisted on the actual lifting device, and to use the finally determined predicted pose parameter data as the final pose parameter.
[0130] The pose parameter determination unit is used to determine the pose parameter data as the final pose parameter if the workpiece to be coated can be stably hoisted on the actual hoisting device.
[0131] In some implementations, the decision unit includes:
[0132] The force determination subunit is used to determine the force direction and force value of the sling connected to the workpiece to be coated based on the tension information of the sling in the predicted pose parameter data.
[0133] The first judgment subunit is used to determine that the workpiece to be painted cannot be stably hoisted on the actual lifting device if the force direction of the sling does not conform to the preset direction and / or the force value of the sling exceeds the preset range.
[0134] The comparison subunit is used to compare the rotation angle information of the workpiece to be coated in the predicted pose parameter data with the preset angle information;
[0135] The second judgment subunit is used to determine that if the rotation angle information of the workpiece to be coated is greater than the preset angle information, the workpiece to be coated cannot be stably hoisted on the actual hoisting device.
[0136] In some implementations, the target simulation model generation module 650 includes:
[0137] The model adjustment unit is used to map the workpiece centroid coordinate information and rotation angle information in the pose parameter data onto the workpiece 3D model based on affine transformation, so as to adjust the pose of the workpiece 3D model and generate the target simulation model corresponding to the workpiece to be painted when it is hoisted.
[0138] In some possible implementations, the device further includes:
[0139] The simulation scene construction unit is used to construct a simulation scene based on the actual scene corresponding to the target painting line; wherein, the simulated lifting device in the simulation scene has the same structural information, size information and coordinate information as the actual lifting device in the actual scene.
[0140] The apparatus 600 of this invention, in conjunction with the accompanying drawings, has been described above from the perspective of functional modules. It should be understood that this functional module can be implemented in hardware, in software instructions, or in a combination of hardware and software modules. Specifically, the steps of the method for generating and detecting the simulation model for workpiece hoisting in this invention can be completed by integrated logic circuits in the processor's hardware and / or by software instructions. The steps of the method for generating and detecting the simulation model for workpiece hoisting disclosed in this invention can be directly implemented by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. Optionally, the software module can be located in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above-described method for generating and detecting the simulation model for workpiece hoisting.
[0141] Figure 4 This is a schematic block diagram of an electronic device 110 according to an embodiment of the present invention.
[0142] like Figure 4 As shown, the electronic device 110 may include:
[0143] The system includes a memory 111 and a processor 112. The memory 111 stores computer programs and transfers the program code to the processor 112. In other words, the processor 112 can retrieve and run the computer programs from the memory 111 to implement the methods described in the embodiments of the present invention.
[0144] For example, the processor 112 can be used to execute the above-described method embodiments according to instructions in the computer program.
[0145] In some embodiments of the present invention, the electronic device 110 may include, but is not limited to:
[0146] 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.
[0147] In some embodiments of the present invention, the memory 111 includes, but is not limited to:
[0148] Volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).
[0149] In some embodiments of the present invention, the computer program may be divided into one or more modules, which are stored in the memory 111 and executed by the processor 112 to perform the method provided by the present invention. The one or more modules may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the controller.
[0150] like Figure 4 As shown, the electronic device 110 may further include:
[0151] Transceiver 113, which can be connected to processor 112 or memory 111.
[0152] The processor 112 can control the transceiver 113 to communicate with other devices; specifically, it can send information or data to other devices or receive information or data sent by other devices. The transceiver 113 may include a transmitter and a receiver. The transceiver 113 may further include antennas, and the number of antennas may be one or more.
[0153] It should be understood that the various components in the electronic device are connected through a bus system, which includes a data bus, a power bus, a control bus, and a status signal bus.
[0154] The present invention also provides a computer storage medium having a computer program stored thereon, which, when executed by a computer, enables the computer to perform the methods of the above-described method embodiments. Alternatively, one embodiment of the present invention also provides a computer program product containing instructions that, when executed by a computer, cause the computer to perform the methods of the above-described method embodiments.
[0155] When implemented using software, it can be implemented entirely or partially as a computer program product. This computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., Digital Video Disc (DVD)), or a semiconductor medium (e.g., Solid State Disk (SSD)).
[0156] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.
[0157] In the several embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or modules may be electrical, mechanical, or other forms.
[0158] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. For example, the functional modules in the various embodiments of this application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.
[0159] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.
Claims
1. A method for generating a simulation model for workpiece hoisting, characterized in that, include: Based on the simulation scenario corresponding to the target painting line, the lifting tool parameter data is obtained; the simulation scenario includes a simulated lifting tool device, and the lifting tool parameter data includes the lifting point position information, lifting tool structure information, and lifting tool size information of the simulated lifting tool device. Based on the 3D model of the workpiece to be coated, obtain the workpiece parameter data; The workpiece parameter data includes initial lifting lug coordinate information, initial workpiece centroid coordinate information, and workpiece mass information; Based on the workpiece parameter data and the lifting device parameter data, an initial simulation model is generated; the initial simulation model is a model simulating the actual lifting device suspending the workpiece to be coated in the target coating line. Based on the initial simulation model, the pose parameter data corresponding to the workpiece to be coated is determined; the pose parameter data includes the workpiece centroid coordinate information, lifting lug coordinate information, rotation angle information, and tension information of the sling connected to the workpiece after it is hoisted. The workpiece 3D model is adjusted based on the pose parameter data to generate a target simulation model corresponding to the workpiece to be painted when it is hoisted.
2. The method according to claim 1, characterized in that, The process of generating an initial simulation model based on the workpiece parameter data and the lifting device parameter data includes: The initial simulation model is generated based on the workpiece parameter data and the lifting tool parameter data under preset constraints. The preset constraints include the constraint that the workpiece to be coated is an ideal rigid body, the constraint that the length of the sling connected to the workpiece to be coated is a fixed value, and the constraint that the workpiece to be coated is in static equilibrium after being lifted.
3. The method according to claim 2, characterized in that, The step of generating the initial simulation model based on the workpiece parameter data and the lifting device parameter data under preset constraints includes: Based on the position information of the sling, the direction of movement of the workpiece to be coated during the lifting process, and the lifting method of the actual lifting device on the workpiece to be coated, the initial position information of the workpiece to be coated initially placed on the actual lifting device is determined; Under the preset constraints, the initial simulation model is obtained based on the initial position information, workpiece parameter data, and lifting tool parameter data.
4. The method according to claim 1, characterized in that, The step of determining the pose parameter data corresponding to the workpiece to be coated based on the initial simulation model includes: The preset position information is input into the initial simulation model to obtain the predicted pose parameter data; the preset position information is the preset position corresponding to the workpiece to be coated being hoisted on the actual hoisting device. Based on the predicted pose parameter data, it is determined whether the workpiece to be coated can be stably hoisted on the actual hoisting device; If the workpiece to be coated cannot be stably hoisted on the actual lifting device, then new preset position information is determined, and the above steps are repeated until the workpiece to be coated can be stably hoisted on the actual lifting device, and the finally determined predicted pose parameter data is used as the final pose parameter. If the workpiece to be coated can be stably hoisted on the actual hoisting device, then the predicted pose parameter data shall be used as the final pose parameter.
5. The method according to claim 4, characterized in that, The step of determining whether the workpiece to be coated can be stably hoisted onto the actual lifting device based on the predicted pose parameter data includes: Based on the tension information of the sling connected to the workpiece to be coated in the predicted pose parameter data, the force direction and force value of the sling are determined. If the direction of force on the sling does not conform to the preset direction, and / or the force value of the sling exceeds the preset range, then it is determined that the workpiece to be painted cannot be stably hoisted on the actual lifting device; and / or The rotation angle information of the workpiece to be coated in the predicted pose parameter data is compared with the preset angle information. If the rotation angle information of the workpiece to be coated is greater than the preset angle information, it is determined that the workpiece to be coated cannot be stably hoisted on the actual hoisting device.
6. The method according to claim 1, characterized in that, The step of adjusting the 3D model of the workpiece based on the pose parameter data to generate a target simulation model corresponding to the workpiece to be painted when it is hoisted includes: Based on affine transformation, the workpiece centroid coordinate information and rotation angle information in the pose parameter data are mapped to the workpiece 3D model to adjust the pose of the workpiece 3D model and generate the target simulation model corresponding to the workpiece to be painted when it is hoisted.
7. The method according to claim 1, characterized in that, Also includes: Based on the actual scene corresponding to the target painting line, the simulation scene is constructed; wherein, the simulated lifting device in the simulation scene has the same structural information, size information, and coordinate information as the actual lifting device in the actual scene.
8. A device for generating a simulation model for workpiece hoisting, characterized in that, include: The first acquisition module is used to acquire lifting tool parameter data based on the simulation scene corresponding to the target painting line; the simulation scene includes a simulated lifting tool device, and the lifting tool parameter data includes the lifting point position information, lifting tool structure information, and lifting tool size information of the simulated lifting tool device. The second acquisition module is used to acquire workpiece parameter data based on the workpiece 3D model corresponding to the workpiece to be coated. The workpiece parameter data includes initial lifting lug coordinate information, initial workpiece centroid coordinate information, and workpiece mass information; An initial simulation model generation module is used to generate an initial simulation model based on the workpiece parameter data and the lifting tool parameter data; The initial simulation model is a model simulating the actual lifting device that hoists the workpiece to be coated in the target coating line; The pose parameter data determination module is used to determine the pose parameter data corresponding to the workpiece to be coated based on the initial simulation model. The pose parameter data includes the workpiece centroid coordinate information, lifting lug coordinate information, rotation angle information, and tension information of the sling connected to the workpiece after it is hoisted. The target simulation model generation module is used to adjust the three-dimensional model of the workpiece according to the pose parameter data, and generate the target simulation model corresponding to the workpiece to be painted when it is hoisted.
9. An electronic device, characterized in that, include: A processor and a memory, the memory being used to store a computer program, the processor being used to invoke and run the computer program stored in the memory to perform the method of any one of claims 1 to 7.
10. A computer storage medium, characterized in that, Used to store a computer program that causes a computer to perform the method as described in any one of claims 1 to 7.