Web-based robot model editing system and method

Abstract

The invention belongs to the technical field of crossing of a robot technology and a Web development technology, and discloses a Web-based robot model editing system. The Web-based robot model editing system comprises a model editing engine, a URDF editor module, a 3D rendering engine module, a model simplification editing processing module, a schematic diagram generation editing module, a data storage module and a real-time updating module, a front-end and back-end separation architecture is constructed based on Vue.js and Three.jsWeb technology stacks, all mainstream browsers and operating systems are supported, and the system is a real-time model editing system. Special software does not need to be installed, and platform limitation of traditional desktop end software is broken; local data storage is achieved through IndexedDB, off-line editing is supported, the problem of network dependence is avoided, sensitive data safety is guaranteed, meanwhile, a user interface and interaction logic are unified, learning cost is reduced, and the defects that cross-platform adaptation is difficult and off-line work cannot be achieved through a traditional tool are overcome.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of the intersection of robot technology and Web development technology, and particularly relates to a Web-based robot model editing system and method. BACKGROUND

[0002] In the field of robot research and application, editing, processing and management of robot models are one of the core links, and the efficiency and convenience thereof directly affect the robot development cycle and application effect. With the penetration of robot technology into multiple fields, traditional robot model editing tools gradually expose many technical bottlenecks in actual application, and it is difficult to meet the needs of cross-platform collaboration, efficient editing and complex model processing. Specific problems are as follows: I. Poor cross-platform compatibility, dependent on specific operating environments Traditional robot model editing is mostly dependent on desktop dedicated software (such as various CAD tools and special robot modeling software), which needs to develop independent versions for different operating systems such as Windows, Linux and macOS, thereby increasing development and maintenance costs and bringing additional operation burden to users. II. High technical threshold for URDF file editing, low efficiency of manual operation URDF (Unified Robot Description Format) is a core file format for describing robot models, and the editing quality thereof directly determines the accuracy of robot models. In the prior art, URDF file editing mostly relies on manual writing of XML code, which requires users to be proficient in XML syntax and URDF specifications (such as definition rules of link and joint, configuration requirements of coordinate systems, etc.), and lacks real-time verification mechanism in the editing process, which is prone to model loading failure due to syntax errors or improper parameter configuration. Even if some tools support URDF editing, they cannot realize bidirectional conversion with other formats (such as JSON), which is difficult to adapt to programmatic processing needs; at the same time, when generating a URDF file from an STL model, key parameters such as joint connection relationship and coordinate system mapping need to be manually configured, which not only consumes time and effort (manual configuration workload accounts for more than 90%), but also has a high error rate, a long debugging cycle, and seriously restricts the model editing efficiency.

[0003] III. Complex model simplification, dependent on external tools and difficult to control the effect

[0004] A robot model (especially an industrial robot model) often contains a large number of detailed features, which is prone to cause rendering lag and low collision detection efficiency when directly used for simulation or application. In traditional technology, model simplification needs to rely on third-party special tools (such as MeshLab, Blender, etc.), and the processing process is cumbersome. IV. Low efficiency of collaborative editing, and chaotic file management Robot research and development is mostly in team collaboration mode, and the traditional tool has obvious short board in collaboration support: on the one hand, there is a lack of real-time synchronization mechanism, and when multiple users edit at the same time, they need to share the modified content through file transmission (such as email, cloud disk), which is easy to cause version conflict (such as multiple people modifying the same link parameter), and it is impossible to view the modification progress of others in real time, so the collaboration efficiency is low; on the other hand, the model file management lacks a systematic solution, and different versions of model files (such as original model, simplified model, intermediate model in the editing process) can only be distinguished by file name, it is difficult to trace the modification history, and once the file is lost or deleted, it cannot be recovered; in addition, the transmission and storage of large model files depend on network bandwidth, repeated transmission is easy to cause waste of network resources, and the data security is difficult to guarantee (such as sensitive model data uploaded to public cloud disk has the risk of leakage).

[0005] V. 3D rendering performance is insufficient, and real-time preview experience is poor

[0006] The 3D rendering of the traditional robot model editing tool mostly adopts CPU rendering or basic GPU rendering scheme, which is difficult to support smooth display of large and complex models. When the model contains more detailed features or components, the rendering frame rate decreases significantly, and the interactive operations such as model translation and rotation have obvious delay. Moreover, the existing tool lacks scene optimization mechanism, such as being unable to automatically switch model detail levels (LOD) according to the viewing distance, still loading all details when viewing from a distance, increasing the rendering burden; at the same time, the lighting simulation effect is simple, which cannot truly restore the appearance characteristics of the model, which is not conducive to the user's intuitive judgment of the rationality of the model design; in addition, the model needs to be reloaded after modification to preview the effect, which cannot realize the real-time preview of "modification as seen", further reducing the editing efficiency. SUMMARY

[0007] The purpose of the present application is to provide a Web-based robot model editing system and method to solve the problems raised in the background art.

[0008] In order to achieve the above purpose, the present application provides the following technical scheme: a Web-based robot model editing system, the Web-based robot model editing system comprises a model editing engine, a URDF editor module, a 3D rendering engine module, a model simplification editing processing module, a schematic diagram generation editing module, a data storage module and a real-time updating module; the system adopts a front-end and back-end separation architecture, is developed based on Vue.js and Three.js technology stack, supports online visual editing, real-time editing preview and automatic simplification editing processing of robot models; the data storage module realizes local editing data storage based on IndexedDB, and supports offline editing mode.

[0009] Preferably, the model editing engine includes a multi-format model editing processing module, and uses THREE.js's GLTFLoader and STLLoader to load and edit multi-format models. It supports automatic recognition, conversion and editing of STL, URDF, STEP and IGES industry standard formats, and can perform editing preprocessing on model files, automatically detect model integrity, repair damaged geometry and support model editing optimization.

[0010] Preferably, the URDF editor module is a CodeMirror-based visual XML editor that supports syntax highlighting, real-time validation, and intelligent editing. It can achieve bidirectional conversion between URDF and JSON formats to facilitate programmatic editing. It can also automatically generate URDF editing templates after detecting STL models, create corresponding link and joint structures, and support visual editing.

[0011] Preferably, the 3D rendering engine module is a WebGL rendering engine based on Three.js, which supports real-time loading and display of STL models, provides multiple perspective controls and interactive operations, and can realize translation, rotation, and scaling transformation control of the model to support the real-time editing and preview function of the robot model.

[0012] Preferably, the model simplification and editing module integrates an automated STL model simplification algorithm, supports convex hull decomposition and collision detection optimization, provides configurable simplification parameters including the number of vertices and the number of simple shapes, and can realize the comparison display of the original model and the simplified model, so as to realize the automatic simplification and editing function of the robot model.

[0013] Preferably, the real-time update module adopts the dirty marking algorithm, which only re-renders the model components that have changed, avoiding a full scene redraw. At the same time, it builds a real-time communication mechanism based on WebSocket, which supports the synchronization of model states during multi-user collaboration, and supports real-time replacement and updating of model files without reloading the entire scene.

[0014] A web-based robot model editing method, comprising the following steps: S1. Load the robot model file through the model editing engine, automatically identify the model format and perform integrity detection and repair. The model formats include STL, URDF, STEP, and IGES. S2. Use the URDF editor module to perform online visual editing of the robot model, and use the 3D rendering engine module to load and display the edited model in real time, realizing real-time editing preview; S3. The robot model is automatically simplified using the model simplification and editing module. After configuring the simplification parameters, a simplified model is generated, and the original model and the simplified model are compared and displayed. S4. The data storage module stores model data during the editing process based on IndexedDB, supporting offline editing data retention.

[0015] Preferably, in step S2, when the robot model is edited online, the URDF file is edited using a CodeMirror-based visual XML editor. During the editing process, syntax highlighting and real-time verification are implemented, and the URDF format can be converted bidirectionally to JSON format. It can also automatically generate a URDF editing template containing link and joint structures based on the detected STL model.

[0016] Preferably, in step S3, when performing automated simplification processing, the collision detection performance is optimized by using a convex hull decomposition algorithm. The number of vertices is configured to range from 8 to 512, the number of simple shapes is configured to range from 1 to 64, and the generated simplified model supports three types of collision geometry: mesh, convex_hull, and convex.

[0017] Preferably, in step S2, during the real-time editing preview process, the 3D rendering engine module provides multiple perspective controls and interactive operations to realize the translation, rotation, and scaling control of the model. Furthermore, the real-time update module uses a dirty marking algorithm to re-render the changed model components, ensuring the smoothness of the preview.

[0018] The beneficial effects of this invention are as follows: 1. This invention is based on the Vue.js and Three.js Web technology stack to build a front-end and back-end separation architecture, supporting all mainstream browsers and operating systems. No special software needs to be installed, breaking the platform limitations of traditional desktop software. Local data storage is achieved through IndexedDB, which not only supports offline editing and avoids network dependency issues, but also ensures the security of sensitive data. At the same time, it unifies the user interface and interaction logic, reduces the learning cost, and solves the defects of traditional tools that are difficult to adapt to cross-platform and cannot work offline.

[0019] 2. This invention relies on a visual XML editor based on CodeMirror to achieve URDF syntax highlighting and real-time verification, replacing manual code writing; it supports bidirectional conversion between URDF and JSON, reducing the difficulty of understanding; it can automatically detect STL models and generate URDF templates with link and joint structures, reducing manual configuration work by 90%, while also detecting and fixing common URDF errors in real time, solving the problems of traditional URDF editing requiring professional skills, tedious manual configuration, and high error rate.

[0020] 3. This invention integrates an automated STL model simplification algorithm and convex hull decomposition technology, which can automatically generate collision geometry without relying on external tools; it provides configurable simplification parameters (number of vertices 8-512, number of simple shapes 1-64), supports real-time comparison between the original and simplified models, and, together with quality evaluation indicators, enables simplification on demand, solving the problems of traditional model simplification requiring switching between multiple tools, relying on human experience, and having difficult-to-control effects.

[0021] 4. This invention enables real-time collaboration and model status synchronization among multiple users based on WebSocket, avoiding version conflicts; it provides model version control, change history and rollback functions to ensure file traceability; it achieves local caching and incremental synchronization of large files through IndexedDB, supports file classification and tag management, and solves the problems of traditional collaboration relying on file transfer, version chaos and inefficient storage management.

[0022] 5. This invention uses the Three.js WebGL rendering engine, which utilizes GPU hardware acceleration to support smooth display of large models; through multi-level LOD management, it switches model details according to the viewing distance to reduce the rendering burden; in conjunction with HDR panoramic lighting maps, it improves display quality, and uses a dirty marking algorithm to redraw only changed components, realizing real-time preview of model modifications, solving the problems of traditional rendering stuttering and the need to reload the scene for preview. Attached Figure Description

[0023] Fig. 1 This is a diagram of the single-model simulation engine architecture of the present invention; Fig. 2 This is a flowchart of the simulation engine for a single model in this invention; Fig. 3 This is a diagram of the simulation engine architecture for multiple models in this invention. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] like Figs. 1 to 3As shown, this embodiment of the invention provides a web-based robot model editing system. The web-based robot model editing system includes a model editing engine, a URDF editor module, a 3D rendering engine module, a model simplification and editing module, a schematic diagram generation and editing module, a data storage module, and a real-time update module. The system adopts a front-end and back-end separation architecture, developed based on the Vue.js and Three.js technology stack, and supports online visual editing of robot models, real-time editing preview, and automatic simplification and editing functions. The data storage module uses IndexedDB to implement local editing data storage and supports offline editing mode.

[0026] The model editing engine includes a multi-format model editing module and uses THREE.js's GLTFLoader and STLLoader to load and edit multi-format models. It supports automatic recognition, conversion, and editing of STL, URDF, STEP, and IGES industry standard formats. It can also perform pre-processing on model files, automatically detect model integrity, repair damaged geometry, and support model editing optimization.

[0027] The URDF editor module is a visual XML editor based on CodeMirror. It supports syntax highlighting, real-time validation, and intelligent editing. It can perform bidirectional conversion between URDF and JSON formats to facilitate programmatic editing. It can also automatically generate URDF editing templates after detecting STL models, create corresponding link and joint structures, and support visual editing.

[0028] The 3D rendering engine module is a WebGL rendering engine based on Three.js, which supports real-time loading and display of STL models, provides multiple perspective controls and interactive operations, and can realize translation, rotation, and scaling transformation control of models to support real-time editing and preview functions of robot models.

[0029] The model simplification and editing module integrates an automated STL model simplification algorithm, supports convex hull decomposition and collision detection optimization, provides configurable simplification parameters, including the number of vertices and the number of simple shapes, and can compare and display the original model with the simplified model to achieve automatic simplification and editing of robot models.

[0030] The real-time update module uses a dirty marking algorithm to re-render only the model components that have changed, avoiding a full scene re-draw. It also uses a real-time communication mechanism built on WebSocket to support model state synchronization during multi-user collaboration and to support real-time replacement and updating of model files without reloading the entire scene.

[0031] A web-based robot model editing method, comprising the following steps: S1. Load robot model files through the model editing engine, automatically identify model formats and perform integrity checks and repairs. Model formats include STL, URDF, STEP, and IGES. S2. Use the URDF editor module to perform online visual editing of the robot model, and use the 3D rendering engine module to load and display the edited model in real time, realizing real-time editing preview; S3. The robot model is automatically simplified using the model simplification and editing module. After configuring the simplification parameters, a simplified model is generated, and the original model and the simplified model are compared and displayed. S4. The data storage module stores model data during the editing process based on IndexedDB, supporting offline editing data retention.

[0032] In step S2, when the robot model is edited online, the URDF file is edited using a CodeMirror-based visual XML editor. During the editing process, syntax highlighting and real-time verification are implemented, and the URDF format can be converted bidirectionally to JSON format. It can also automatically generate a URDF editing template containing link and joint structures based on the detected STL model.

[0033] In step S3, when performing automated simplification, the collision detection performance is optimized by using the convex hull decomposition algorithm. The number of vertices is configured to range from 8 to 512, the number of simple shapes is configured to range from 1 to 64, and the generated simplified model supports three types of collision geometry: mesh, convex_hull, and convex.

[0034] In step S2, during the real-time editing preview, the 3D rendering engine module provides multiple perspective controls and interactive operations to achieve translation, rotation, and scaling control of the model. The real-time update module uses a dirty marking algorithm to re-render the changed model components to ensure smooth preview.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A web-based robot model editing system, characterized in that: The web-based robot model editing system includes a model editing engine, a URDF editor module, a 3D rendering engine module, a model simplification and editing module, a schematic diagram generation and editing module, a data storage module, and a real-time update module. The system adopts a front-end and back-end separation architecture, and is developed based on the Vue.js and Three.js technology stack. It supports online visual editing of robot models, real-time editing preview, and automatic simplification of editing processes. The data storage module is based on IndexedDB to realize local editing data storage and supports offline editing mode.

2. The Web-based robot model editing system according to claim 1, characterized in that: The model editing engine includes a multi-format model editing processing module, and uses THREE.js's GLTFLoader and STLLoader to load and edit multi-format models. It supports automatic recognition, conversion and editing of STL, URDF, STEP and IGES industry standard formats. It can also perform editing preprocessing on model files, automatically detect model integrity, repair damaged geometry and support model editing optimization.

3. The Web-based robot model editing system according to claim 1, characterized in that: The URDF editor module is a visual XML editor based on CodeMirror, which supports syntax highlighting, real-time verification and intelligent editing. It can realize bidirectional conversion between URDF and JSON formats to facilitate programmatic editing and processing. It can also automatically generate URDF editing templates after detecting STL models, create corresponding link and joint structures and support visual editing.

4. The Web-based robot model editing system according to claim 1, characterized in that: The 3D rendering engine module is a WebGL rendering engine based on Three.js, which supports real-time loading and display of STL models, provides multiple perspective controls and interactive operations, and can realize translation, rotation, and scaling transformation control of models to support real-time editing and preview functions of robot models.

5. The Web-based robot model editing system according to claim 1, characterized in that: The model simplification and editing module integrates an automated STL model simplification algorithm, supports convex hull decomposition and collision detection optimization, provides configurable simplification parameters including the number of vertices and the number of simple shapes, and can compare and display the original model with the simplified model to achieve automatic simplification and editing of robot models.

6. The Web-based robot model editing system according to claim 1, characterized in that: The real-time update module uses a dirty marking algorithm to re-render only the model components that have changed, avoiding a full scene redraw. It also uses a real-time communication mechanism built on WebSocket to support model state synchronization during multi-user collaboration and to support real-time replacement and updating of model files without reloading the entire scene.

7. A Web-based robot model editing method, characterized in that: The web-based robot model editing method includes the following steps: S1. Load the robot model file through the model editing engine, automatically identify the model format and perform integrity detection and repair. The model formats include STL, URDF, STEP, and IGES. S2. Use the URDF editor module to perform online visual editing of the robot model, and use the 3D rendering engine module to load and display the edited model in real time, realizing real-time editing preview; S3. The robot model is automatically simplified using the model simplification and editing module. After configuring the simplification parameters, a simplified model is generated, and the original model and the simplified model are compared and displayed. S4. The data storage module stores model data during the editing process based on IndexedDB, supporting offline editing data retention.

8. A Web-based robot model editing method according to claim 7, characterized in that: In step S2, when the robot model is edited online, the URDF file is edited using a CodeMirror-based visual XML editor. During the editing process, syntax highlighting and real-time verification are implemented, and the URDF format can be converted bidirectionally to JSON format. It can also automatically generate a URDF editing template containing link and joint structures based on the detected STL model.

9. A Web-based robot model editing method according to claim 7, characterized in that: In step S3, when performing automated simplification processing, the collision detection performance is optimized by using the convex hull decomposition algorithm. The number of vertices is configured to range from 8 to 512, the number of simple shapes is configured to range from 1 to 64, and the generated simplified model supports three types of collision geometry: mesh, convex_hull, and convex.

10. A Web-based robot model editing method according to claim 7, characterized in that: In step S2, during the real-time editing preview process, the 3D rendering engine module provides multiple perspective controls and interactive operations to realize the translation, rotation, and scaling control of the model. In addition, the real-time update module uses the dirty marking algorithm to re-render the changed model components to ensure the smoothness of the preview.

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