Demonstration-free track generation method based on multiple processes of industrial robot
By automatically calculating the robot trajectory path in offline programming software and combining multiple trajectory planning and generation strategies, the problem of manual dependence in existing technologies is solved, realizing the automation and intelligence of robot trajectory planning, and improving production efficiency and trajectory generation accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHENYANG SIASUN ROBOT & AUTOMATION
- Filing Date
- 2025-12-29
- Publication Date
- 2026-04-28
Smart Images
Figure CN121934484A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of offline programming technology for industrial robots, specifically a method for generating teachless trajectories based on various processes of industrial robots. Background Technology
[0002] With the popularization of industrial robot technology and the intelligent transformation and upgrading of manufacturing, industrial robots have become core equipment on modern production lines. Traditional robot trajectory planning relies heavily on manual on-site teaching, where operators guide the robot's end effector along a predetermined path using a handheld teach pendant, recording key position points to form a motion program. This method not only requires long downtime for the robot production line, severely impacting production efficiency, but also the teaching accuracy is closely related to the operator's experience, easily introducing human error and leading to unstable processing quality, especially in complex curved surfaces or precision assembly processes.
[0003] To overcome the aforementioned shortcomings, offline programming technology based on CAD models has developed rapidly. This technology allows technicians to perform trajectory planning and simulation using a 3D CAD model of the workpiece within a computer software environment, and then download the generated program code to the robot controller. This method significantly reduces equipment downtime and improves the safety of the planning process.
[0004] However, existing mainstream offline programming software still has significant shortcomings in trajectory generation: although it provides trajectory editing tools, specific trajectory paths (such as cutting lines, weld seams, and sprayed surface boundaries) still need to be manually selected, drawn, or spliced by the operator in the software. This process is not only tedious and time-consuming, but also places extremely high demands on the operator's spatial imagination and software operation skills. Essentially, it is still a form of "digital manual teaching," failing to fundamentally achieve automation and intelligence. Furthermore, facing diverse and personalized production process requirements (such as profile cutting, curved surface spraying, and multi-hole drilling), the lack of a rapid trajectory generation mechanism that can understand process intentions and automatically adapt to geometric features has become a key technical bottleneck restricting the flexible application of industrial robots and further improvement of overall production efficiency.
[0005] Therefore, how to break through the dependence of existing offline programming on manually specified paths and develop a method that can automatically understand various process geometric features without manual trajectory planning has become a technical problem that urgently needs to be solved in this field. Summary of the Invention
[0006] The purpose of this invention is to provide a teach-free trajectory generation method for industrial robots across various processes. By selecting parameters such as points, lines, and surfaces on a CAD model using offline programming software, the method automatically calculates and plans the robot's trajectory path. Furthermore, it provides multiple trajectory planning and generation schemes to address the complexities of different processes and models, ensuring that operators can quickly and accurately generate robot motion trajectories while adapting to complex models and diverse process scenarios. This method effectively solves the problems of existing technologies where robot trajectory planning relies on manual teaching, is cumbersome, and suffers from low efficiency due to complex workpieces and improper operation by technicians.
[0007] The technical solution adopted by this invention to achieve the above objectives is: a method for generating teachless trajectories based on multiple processes of industrial robots, executed by offline programming software on a processor, which generates the motion trajectory of the industrial robot by processing the CAD model of the workpiece, including the following steps:
[0008] Step S1: Receive the user's instruction to select a target strategy from multiple predefined trajectory generation strategies;
[0009] Step S2: In response to the instruction, provide an interactive interface to guide the user to select multiple geometric elements corresponding to the target strategy on the CAD model of the workpiece in sequence as control parameters for trajectory generation;
[0010] Step S3: Automatically verify the control parameters selected by the user;
[0011] Step S4: After the verification is passed, the trajectory planning algorithm that matches the target strategy is called to perform trajectory calculation, and the motion trajectory path point queue of the industrial robot is automatically calculated based on the control parameters that have passed the verification.
[0012] Step S5: Provide a robot selection interface, receive the user's selection instruction for the target robot, associate the generated motion trajectory path point queue with the selected target robot, and generate trajectory instructions that can be executed by the robot controller.
[0013] In step S1, the predefined multiple trajectory generation strategies include: along an edge of a surface, selecting a loop of a surface, selecting a loop of a surface, based on curve features, selecting an edge, surface clamping edge, selecting a cross-sectional line, drilling, and along an edge of the part boundary.
[0014] The nine different strategies define their respective trajectory generation rules based on different combinations and constraint relationships of point, line, and surface geometric elements in the CAD model.
[0015] Each of the nine different strategies has a specific combination of control parameters, spatial relationship verification rules, and trajectory point calculation logic, as detailed below:
[0016] (a) The strategy along one edge of a face has control parameters including the starting edge, the face it belongs to, the required edge, and the ending point; its verification rules include verifying that the starting edge and the required edge belong to the face it belongs to, and that the ending point is located on the boundary of the face it belongs to.
[0017] Its trajectory point calculation logic includes: traversing the topological edge set of the face to generate a trajectory point queue by taking the vertex sequence on the continuous path from the starting edge, passing through the necessary edges, and finally reaching the ending point.
[0018] (b) Select a loop strategy for the face, whose control parameters include the starting edge and the face it belongs to; the verification rule is to verify that the starting edge belongs to the face it belongs to.
[0019] Its trajectory point calculation logic includes: traversing to obtain all closed loops on the surface, identifying and extracting the vertex sequence of the closed loop containing the starting edge as the trajectory point queue;
[0020] (c) The loop strategy for selecting the surface, whose control parameter is the selection surface; its verification rule is to verify the validity of the selection surface;
[0021] Its trajectory point calculation logic includes: extracting the vertex sequence of all inner rings on the selected surface and merging them to generate a trajectory point queue;
[0022] (d) According to the curve feature strategy, its control parameters include the selected curve and the selected surface; its verification rule is to verify that the selected curve belongs to the selected surface.
[0023] Its trajectory point calculation logic includes: identifying all curves connected to the selected curve on the selected surface, integrating their vertices to generate a closed trajectory point queue in sequence;
[0024] (e) Edge selection strategy, whose control parameters include the selection face and the selection edge located on the face; its verification rule is to verify that all vertices on the selection edge are located on the selection face;
[0025] Its trajectory point calculation logic includes: directly using the vertex sequence of the selected edge as the trajectory point queue;
[0026] (f) The edge-clamping strategy, whose control parameters include the selected edge, the first selected face, and the second selected face; its verification rule is to verify that the selected edge belongs to both the first and second selected faces simultaneously.
[0027] Its trajectory point calculation logic includes: using the vertex sequence of the selected edge as a trajectory point queue;
[0028] (g) Select the section line strategy, whose control parameters include the selection surface, the guide line and the reference plane; its verification rules include: verifying that the guide line is located on the selection surface, verifying that the selection surface intersects with the reference plane, and verifying that the guide line is perpendicular to the reference plane;
[0029] Its trajectory point calculation logic includes: calculating the queue of intersection points between the selected surface and the reference plane, calculating a displacement vector based on the reference plane normal vector and the guide line direction vector, and translating the intersection points along the displacement vector to obtain the trajectory point queue;
[0030] (h) Drilling strategy, whose control parameter is the selection of hole edge; its verification rules include verifying that the selected hole edge is a closed loop and that there is a coaxial corresponding loop on the opposite surface of the workpiece;
[0031] Its trajectory point calculation logic includes: calculating the center points of the two rings respectively, and generating a queue of straight line points connecting the two center points as the trajectory point queue;
[0032] (i) A strategy along the boundary of the part, the control parameter of which is a selected edge on the outer boundary of the part; the verification rule is to verify that the selected edge belongs to the outer boundary of the part.
[0033] Its trajectory point calculation logic includes: obtaining the complete outer boundary vertex sequence of the part, taking the selected edge as the starting point, extracting vertices along the boundary in sequence to generate a closed trajectory point queue.
[0034] In step S2, the step of sequentially selecting multiple geometric elements corresponding to the target strategy as control parameters for trajectory generation specifically involves:
[0035] Step 2-1: When the user moves the cursor over a geometric feature in the CAD model, the geometric feature under the current cursor is visually highlighted;
[0036] Step 2-2: When the user clicks to confirm the selection, determine whether the type of the clicked geometric feature matches the type of feature required for the current step;
[0037] Steps 2-3: If the type matches, the information of the geometric elements will be successfully entered and set as the corresponding control parameters;
[0038] Steps 2-4: If the type does not match, refuse to enter and provide a prompt message.
[0039] Step S3 specifically includes:
[0040] Step S3-1: Check whether all necessary control parameters have been set. If any are missing, generate an error message.
[0041] Step S3-2: If all required parameters have been set, then verify the spatial relationship between the set geometric elements based on the geometric constraints corresponding to the selected target strategy.
[0042] The verification is performed based on the geometric constraints defined by the selected strategy. The spatial relationship types involved include at least one of the following: belonging relationship, intersection relationship, perpendicular relationship, parallel relationship, coplanar relationship, connection relationship, and coaxial relationship.
[0043] Step S3-2 specifically includes the following steps:
[0044] Based on the type of the selected target strategy, determine one or more specific sets of spatial relationships and their corresponding geometric element pairs that need to be verified;
[0045] For each specific set of spatial relationships, the corresponding geometric calculation and judgment logic is invoked for verification.
[0046] If all spatial relationships to be verified meet the preset conditions, the spatial relationship verification is deemed successful; if any relationship does not meet the conditions, the verification fails, and an error message containing the specific type of spatial relationship that is not met is generated.
[0047] In the selected section line strategy (g), the verification guide line is perpendicular to the reference plane, including the following steps:
[0048] Obtain the normal vector of the reference plane;
[0049] Calculate the direction vector vect based on the geometric information of the guide line;
[0050] The cross product (cross) of the normal vector `normal` and the direction vector `vect` is calculated by calculating the cross product `cross` of the reference plane normal vector `normal` and the guide line direction vector `vect`, i.e.:
[0051]
[0052] Calculate the cross product Length | | = | If the magnitude of the cross product |cross| is greater than 0, the guide line is determined to be not perpendicular to the reference plane, and the verification fails. After all the above verifications pass, the trajectory calculation is performed.
[0053] In the selected section line strategy (g), the verification guide line is located on the selection surface and the verification selection surface intersects with the reference plane, specifically including:
[0054] Step a) Verify that the guide line is located on the selection surface:
[0055] Step a1: Obtain the first set of points for all vertices on the selected face;
[0056] Step a2: Obtain the second set of all vertices on the guiding line;
[0057] Step a3: Calculate the number of points that coincide with the first point set and the second point set;
[0058] Step a4: If the number of overlapping points is less than the total number of points in the second point set, then the guide line is not on the selected surface, and the verification fails.
[0059] Step b) Verify that the selected plane intersects with the reference plane:
[0060] Step b1: Obtain the first edge set of all edges that constitute the boundary of the selected face;
[0061] Step b2: Obtain the second set of all edges that constitute the boundary of the reference plane;
[0062] Step b3: Determine whether there are any overlapping edges between the first edge set and the second edge set;
[0063] Step b4: If there are no overlapping edges, it is determined that the selected surface does not intersect with the reference plane, and the verification fails.
[0064] In the selection of the cross-section line strategy (g), the trajectory point calculation logic is as follows:
[0065] Step S4-1: Calculate the spatial intersection line between the selected surface and the reference plane, and obtain the discrete point set of the intersection line. ;
[0066] Step S4-2: Calculate a displacement vector guid based on the normal vector normal of the reference plane and the direction vector vect of the guide line;
[0067] Step S4-3: Set the intersection points Each point in The target points are translated along the displacement vector guid to obtain new points, thus forming a queue of translated target points. This forms the final queue of motion trajectory path points.
[0068] In the drilling strategy (h), the trajectory point calculation includes:
[0069] Calculate the center point C1 of the annulus corresponding to the selected hole edge;
[0070] Calculate the center point C2 of the corresponding annulus on the opposite surface of the workpiece;
[0071] Generate an ordered queue of points, which contains only the center point C1 and the center point C2, as the trajectory point queue.
[0072] The present invention has the following beneficial effects and advantages:
[0073] 1. This invention is based on CAD models and combines them with offline programming technology for industrial robots to realize direct simulation of trajectory generation process on the software side, reduce repetitive manual teaching operations, and improve the efficiency of trajectory planning operations for industrial robots.
[0074] 2. This invention achieves the goal of enabling operators to quickly and accurately generate robot motion trajectories by implementing trajectory planning algorithms under various processes and model scenarios, thereby ensuring the safety of the robotic arm while further improving trajectory planning efficiency.
[0075] 3. This invention, through interactive designs such as mouse-operated highlighting, strategy parameter limitation alarms, and trajectory generation result display, accurately avoids trajectory generation errors caused by insufficient skills or improper operation, and achieves an automated and intelligent trajectory planning solution. Attached Figure Description
[0076] Figure 1 This is a schematic diagram illustrating the trajectory generation strategy along one edge of a surface in this invention.
[0077] Figure 2 This is a schematic diagram of a loop strategy for generating a trajectory in this invention;
[0078] Figure 3 This is a schematic diagram of the trajectory generation using the loop strategy in this invention;
[0079] Figure 4 This is a schematic diagram of the trajectory generation strategy based on curve features in this invention;
[0080] Figure 5 This is a schematic diagram of the trajectory generation using the face-edge clamping strategy in this invention;
[0081] Figure 6 This is a schematic diagram of the trajectory generation strategy using the cross-section line in this invention;
[0082] Figure 7 This is a schematic diagram of the trajectory generated by the punching strategy in this invention;
[0083] Figure 8 This is a schematic diagram of the trajectory generation strategy along one edge of the part boundary in this invention;
[0084] Figure 9 This is a flowchart of the method for generating cross-sectional line trajectories in this invention;
[0085] Figure 10 This is a schematic diagram illustrating the mouse hover highlighting tooltip for the cross-sectional line trajectory generation scheme in this invention. Detailed Implementation
[0086] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.
[0087] This invention provides a teach-free trajectory generation method for industrial robots in various processes. Based on process requirements and workpiece shape characteristics, different trajectory generation schemes are specified, and the automatic planning and calculation of path points are realized by setting trajectory generation parameters.
[0088] In this invention, a method for generating teach-free trajectories for industrial robots across multiple processes includes the following nine strategies:
[0089] 1) Along one edge of a face: By selecting an edge as the starting edge, and adding the face on which this edge is located, the necessary edges are further searched along the starting edge on the face until the ending point is reached to generate the trajectory;
[0090] 2) Select a loop on the face: By selecting an edge as the starting edge, and adding the face containing this edge, further search for points on the face along the starting edge, and finally complete a closed loop to generate the trajectory;
[0091] 3) Selecting loops on a surface: By searching for all closed curves on the selected surface, all inner loops on the surface are automatically picked up and a trajectory is generated at once;
[0092] 4) Based on curve characteristics: By finding all closed curves in the selected area, the trajectory is automatically merged and combined;
[0093] 5) Edge selection: By selecting a single edge, confining the selected face, a trajectory is generated by traversing all points on the edge;
[0094] 6) Face-to-Edge: Generate a trajectory by using the picked edge as the starting edge and traversing all points on the intersection line of two intersecting faces;
[0095] 7) Select the section line: By selecting the face, the guide line of the face, and the reference plane, the trajectory is calculated and generated based on the relationship between the three.
[0096] 8) Drilling: By picking up the edge of the hole, find all the vertices of the ring, calculate the center of the ring, and calculate the center of the ring that penetrates the part, and automatically generate a trajectory that passes through the center of the ring;
[0097] 9) Along one edge of the part's boundary, by selecting the edge as the starting point, find all the outer boundaries connected to it and automatically generate the part's boundary trajectory.
[0098] like Figure 1 As shown, Strategy 1) is explained in detail:
[0099] 1-1) Set control parameters, including starting edge, face, required edges, and ending point. The starting edge refers to the edge where the trajectory begins to move, the face refers to the face where the trajectory is generated, the required edges refer to the edges contained in the trajectory, and the ending point refers to the point where the trajectory finally ends.
[0100] 1-2) The strategy adopts a clockwise traversal followed by a counterclockwise traversal. First, obtain the edge information of the face. Start from the starting edge and traverse the edge queue clockwise until the ending point. Check if the trajectory edge contains a necessary edge. If it does, return directly to the trajectory point queue. If it does not, perform the above traversal operation counterclockwise again until the control condition is met.
[0101] 1-3) The strategy is applicable to generating trajectories on a plane, where the trajectory starts, passes through, and ends, thus automatically completing trajectory planning.
[0102] like Figure 2 As shown, Strategy 2) is explained in detail:
[0103] 2-1) Set control parameters, including the starting edge and the face it is located on;
[0104] 2-2) The strategy first traverses and obtains all closed loops on the selected surface, generates a loop queue, and then traverses the loop queue clockwise from the starting edge until a closed loop trajectory is formed, and finally returns the trajectory point queue.
[0105] 2-3) The strategy is suitable for generating trajectories on a simple plane, where the trajectory is a closed loop, starting from the initial edge and ending at the closed loop, to generate a queue of trajectory points.
[0106] like Figure 3 As shown, Strategy 3) is explained in detail:
[0107] 3-1) Set control parameters and select the face;
[0108] 3-2) The strategy first traverses and obtains all closed loops on the selected surface (excluding closed loops on the outer edge of the surface), generates a loop queue, then traverses the loop queue and adds all points to generate the target trajectory;
[0109] 3-3) The strategy is suitable for generating trajectories on a simple plane, with one or more closed loops in the plane, and for extracting all the loops as the target trajectory.
[0110] like Figure 4 As shown, Strategy 4) is explained in detail:
[0111] 4-1) Set control parameters, select curve, select surface, part / assembly. Select curve refers to a part of the target curve for which you want to generate the trajectory, select surface is the surface where the curve is located, and part refers to the workpiece where the trajectory is located.
[0112] 4-2) The strategy first obtains all the curves on the face of the part, then traverses the curve queue from the starting edge to form a closed curve trajectory, and then continues to traverse the curve queue until all closed curves are added to the target trajectory queue.
[0113] 4-3) The strategy is applicable to generating trajectories on a simple plane, where the target trajectory is one or more closed lines on the plane. By selecting one of the curves, all curves can be obtained to achieve trajectory planning.
[0114] Strategy 5) is described in detail below:
[0115] 5-1) Set control parameters, select faces, select edges, and select edges on the selected faces;
[0116] 5-2) The strategy first obtains all points on the selected edge, constructs a point queue, then traverses the point queue and determines whether all points are on the selected surface. If all points are on the surface, the point queue is returned as the target trajectory.
[0117] 5-3) This strategy is applicable to using one edge of a part as the generated trajectory, while the trajectory must be limited to the selected face to avoid misselection.
[0118] like Figure 5 As shown, Strategy 6) is explained in detail:
[0119] 6-1) Set control parameters, select edges, select faces, select side faces. The intersection of two selected faces forms an intersection line, and the selected edges are part of the intersection line;
[0120] 6-2) The strategy first obtains all points on the selected edge, constructs a point queue, then traverses the point queue and determines whether all points are on the selected face and the selected side. If the above conditions are met at the same time, the point queue is returned as the target trajectory.
[0121] 6-3) The strategy is suitable for generating trajectories that are the intersection lines of two faces, and extracts all vertices of the intersection lines as the target trajectory.
[0122] like Figure 6 As shown, Strategy 7) is explained in detail:
[0123] 7-1) Set control parameters: Select the face, guide line, and reference plane. The selected face is the face to be cut by the cross-section; it can be a plane or a curved surface. The cross-section will leave a cross-section line on the selected face. The guide line is a line on the selected face, perpendicular to the cross-section, used to guide the cross-section to cut along its direction. The reference plane is a plane parallel to the cross-section and perpendicular to the guide line.
[0124] 7-2) The strategy first determines whether the guide line is perpendicular to the reference plane, and then determines whether the selected surface intersects with the reference plane. If both conditions are met, the midpoint of the guide line is obtained, and the cross-sectional line of the cross-section and the selected surface is calculated through the midpoint. The cross-sectional line point queue is returned as the target trajectory.
[0125] 7-3) This strategy is applicable when the generated trajectory is the intersection of the selected surface and its cross section, and the trajectory path cannot be directly selected on the selected surface. This strategy can automatically generate the cross section line and obtain the target trajectory.
[0126] like Figure 7 As shown, Strategy 8) is explained in detail:
[0127] 8-1) Set control parameters, select hole edge, which refers to the closed loop at the drilling position;
[0128] 8-2) The strategy first determines whether the edge of the selected hole is a closed loop, then determines whether there is an identical closed loop on the opposite surface to determine that there is a hole at the drilling position, and then calculates the center points of the two opposite loops and connects the two center points as the target trajectory.
[0129] 8-3) This strategy is applicable when parts need to be drilled. There is a through-hole on two opposite surfaces of the part. Extract the edge of one of the holes, and the strategy will automatically plan the trajectory path to form a trajectory that runs through the hole.
[0130] like Figure 8 As shown, Strategy 9) is explained in detail:
[0131] 9-1) Set the control parameters, select "edge", which refers to an edge on the outer boundary of the part;
[0132] 9-2) The strategy first obtains all points on the selected edge, then obtains all points on the outer boundary of the part, determines whether the selected edge is on the boundary, traverses the part boundary point queue, takes the selected edge as the starting position, constructs the trajectory point queue in a clockwise direction, and generates the target trajectory.
[0133] 9-3) The strategy is applicable to using the outer boundary of the part as the trajectory path. The strategy automatically completes trajectory planning through one edge on the boundary.
[0134] The following section uses the "cross-section line" trajectory generation scheme as an example to introduce the principle and process of the scheme's implementation:
[0135] Example 1:
[0136] like Figure 6 The diagram shown is a schematic of the trajectory generation strategy using the cross-section line in this invention, and the flowchart of the generation strategy is as follows. Figure 9 As shown, the specific steps include:
[0137] Step S1: After importing the robot controller and workpiece, click the Generate Trajectory menu to enter the trajectory generation module. Select the "Cross-section Line" strategy in the configuration options and receive the user's instruction to select the "Cross-section Line" strategy from multiple predefined trajectory generation strategies.
[0138] Step S2: In response to the instruction, provide an interactive interface to guide the user to select multiple geometric elements corresponding to the target strategy on the CAD model of the workpiece in sequence as control parameters for trajectory generation;
[0139] Step 2-1: When the user moves the cursor over a geometric feature in the CAD model, the geometric feature under the current cursor is visually highlighted;
[0140] Step 2-2: When the user clicks to confirm the selection, determine whether the type of the clicked geometric feature matches the type of feature required for the current step;
[0141] Steps 2-3: If the type matches, the information of the geometric elements will be successfully entered and set as the corresponding control parameters;
[0142] Steps 2-4: If the type does not match, refuse to enter and provide a prompt message.
[0143] The implementation process is as follows:
[0144] When you hover the mouse over a line or face of the model, a highlight tooltip will appear on the model, such as... Figure 10 As shown, clicking on a point, line, or face will automatically enter the value into the parameter text box on the right. However, different types of attributes will not be automatically entered into the text box. For example, if the attribute requires the selection of a line, but a face is selected in the model, the value cannot be entered in this case.
[0145] Step S3: After setting the parameters, click the confirmation button. The system will then perform data validity verification based on the set parameters.
[0146] Step S3-1: Check whether all necessary control parameters have been set. If any are missing, generate an error message.
[0147] Step S3-2: If all required parameters have been set, then verify the spatial relationship between the set geometric elements based on the geometric constraints corresponding to the selected target strategy.
[0148] The verification is performed based on the geometric constraints defined by the selected strategy. The types of spatial relationships involved include at least one of the following: belonging relationship, intersection relationship, perpendicular relationship, parallel relationship, coplanar relationship, connection relationship, and coaxial relationship.
[0149] Step S3-2 specifically includes the following steps:
[0150] Based on the type of the selected target strategy, determine one or more specific sets of spatial relationships and their corresponding geometric element pairs that need to be verified;
[0151] For each specific set of spatial relationships, the corresponding geometric calculation and judgment logic is invoked for verification.
[0152] If all spatial relationships to be verified meet the preset conditions, the spatial relationship verification is deemed successful; if any relationship does not meet the conditions, the verification fails, and an error message containing the specific type of spatial relationship that is not met is generated.
[0153] Among them, with Figure 6 Taking the parameter settings in the schematic diagram as an example, the parameter verification process in step S3 will be explained in detail:
[0154] (1) First, obtain all configuration parameters and determine whether they are empty. If they are empty, directly report an error message. If they are not empty, perform parameter validity verification.
[0155] (2) Based on the guide line index edge_index, obtain the guide line guidLine from the edge list edgelist of the 3D model, and obtain the guide line point queue guidLinePoints based on the guidLine information; based on the selected face index face_index, obtain the face face from the face list facelist of the 3D model, and obtain the point queue of all points on the face based on the face information.
[0156] (3) Determine if the guide line is on the selected face:
[0157] Iterate through the points on `points`, and then iterate through the points on `guidLinePoints` within the loop. Count the number of points on `points` that overlap with `guidLinePoints`. If the number is less than the number of points on `guidLinePoints`, the guide line is not on the surface, and an error message is displayed.
[0158] (4) Determine if the reference plane intersects with the selected plane:
[0159] Get the edge queue edgelist1 of the face. Based on the reference face index referenceFaceIndex, get the reference face facelist[referenceFaceIndex] and the edge queue edgelist2 of the reference face. Determine the number of overlapping edges in edgelist1 and edgelist2. If the number is zero, the reference face and the selected face do not intersect, and an error message is displayed.
[0160] (5) Determine if the guide line is perpendicular to the reference plane:
[0161] Based on the reference surface information, obtain the reference surface normal vector (normal), calculate the guide line direction vector (vect) according to the guide line point queue (guidLinePoints), and calculate the cross product (cross) of the normal vector and the guide line direction vector (cross).
[0162]
[0163] cross product Length | | = | If | If | > 0, then the guide line is not parallel to the normal vector, that is, the guide line is not perpendicular to the reference plane, and an error message will be displayed.
[0164] Step S4: After the verification is passed, the trajectory planning algorithm that matches the target strategy is called to perform trajectory calculation, and the motion trajectory path point queue of the industrial robot is automatically calculated based on the control parameters that have passed the verification.
[0165] After the configuration parameters fully meet the requirements, the trajectory points are calculated as follows:
[0166] (1) Obtain the queue of points commonLine of the intersection line common;
[0167] (2) Based on the reference surface normal vector normal, calculate the midpoint direction vector guid of the guide line direction vector vect;
[0168] (3) Traverse the set of points in the intersection point queue commonLine. Adjust the intersection point by the GUID displacement to obtain the displacement point queue. ;
[0169] (4) Return the adjusted point queue as the target trajectory.
[0170] Step S5: After the trajectory point queue is generated, a page for assigning a specified robot will pop up. Select the robot and click the OK button to generate the robot trajectory line, such as... Figure 6 As shown. By configuring the parameters, it is ensured that the target trajectory is generated on the selected surface, and a cross-section of the selected surface is drawn along the midpoint of the reference line. The intersection of the cross-section and the reference surface is the target trajectory.
[0171] In summary, the complete implementation process using the "selecting the cross-section line" strategy as an example demonstrates that the method described in this invention transforms the traditional trajectory planning work, which relies on manual experience and repeated debugging, into a standardized and automated process of "strategy selection - intuitive picking - automatic verification and calculation." This not only significantly lowers the operational threshold and improves planning efficiency but also ensures the process accuracy of the trajectory and the safety of robot movement through rigorous geometric relationship verification. The other eight strategies disclosed in this invention (such as "drilling" and "along the boundary") all follow similar core logic, providing fast and accurate teach-free trajectory generation solutions for their respective specific process scenarios, collectively forming an intelligent offline programming tool system covering various industrial robot processes.
[0172] Those skilled in the art will understand that the above description is merely a preferred embodiment of the present invention, and the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. This is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
[0173] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention. Clearly, those skilled in the art can make various alterations and modifications to the invention without departing from its spirit and scope. Thus, if these modifications and modifications of the invention fall within the scope of the claims and their equivalents, the invention is also intended to include these modifications and modifications.
Claims
1. A method for generating teach-free trajectories based on multiple processes of industrial robots, characterized in that, Executed on the processor by offline programming software, the motion trajectory of the industrial robot is generated by processing the CAD model of the workpiece, including the following steps: Step S1: Receive the user's instruction to select a target strategy from multiple predefined trajectory generation strategies; Step S2: In response to the instruction, provide an interactive interface to guide the user to select multiple geometric elements corresponding to the target strategy on the CAD model of the workpiece in sequence as control parameters for trajectory generation; Step S3: Automatically verify the control parameters selected by the user; Step S4: After the verification is passed, the trajectory planning algorithm that matches the target strategy is called to perform trajectory calculation, and the motion trajectory path point queue of the industrial robot is automatically calculated based on the control parameters that have passed the verification. Step S5: Provide a robot selection interface, receive the user's selection instruction for the target robot, associate the generated motion trajectory path point queue with the selected target robot, and generate trajectory instructions that can be executed by the robot controller.
2. The method for generating teachless trajectories based on multiple processes of industrial robots according to claim 1, characterized in that, In step S1, the predefined multiple trajectory generation strategies include: along an edge of a surface, selecting a loop of a surface, selecting a loop of a surface, based on curve features, selecting an edge, surface clamping edge, selecting a cross-sectional line, drilling, and along an edge of the part boundary. The nine different strategies define their respective trajectory generation rules based on different combinations and constraint relationships of point, line, and surface geometric elements in the CAD model.
3. The method for generating teachless trajectories based on multiple processes of industrial robots according to claim 2, characterized in that, Each of the nine different strategies has a specific combination of control parameters, spatial relationship verification rules, and trajectory point calculation logic, as detailed below: (a) The strategy along one edge of a face has control parameters including the starting edge, the face it belongs to, the required edge it passes through, and the ending point it terminates; its verification rules include verifying that the starting edge and the required edge belong to the face it belongs to, and that the ending point is located on the boundary of the face it belongs to. Its trajectory point calculation logic includes: traversing the topological edge set of the face to generate a trajectory point queue by taking the vertex sequence on the continuous path from the starting edge, passing through the necessary edges, and finally reaching the ending point. (b) Select a loop strategy for the face, whose control parameters include the starting edge and the face it belongs to; the verification rule is to verify that the starting edge belongs to the face it belongs to. Its trajectory point calculation logic includes: traversing to obtain all closed loops on the surface, identifying and extracting the vertex sequence of the closed loop containing the starting edge as the trajectory point queue; (c) The loop strategy for selecting the surface, whose control parameter is the selection surface; its verification rule is to verify the validity of the selection surface; Its trajectory point calculation logic includes: extracting the vertex sequence of all inner rings on the selected surface and merging them to generate a trajectory point queue; (d) According to the curve feature strategy, its control parameters include the selected curve and the selected surface; its verification rule is to verify that the selected curve belongs to the selected surface. Its trajectory point calculation logic includes: identifying all curves connected to the selected curve on the selected surface, integrating their vertices to generate a closed trajectory point queue in sequence; (e) Edge selection strategy, whose control parameters include the selection face and the selection edge located on the face; its verification rule is to verify that all vertices on the selection edge are located on the selection face; Its trajectory point calculation logic includes: directly using the vertex sequence of the selected edge as the trajectory point queue; (f) The edge-clamping strategy, whose control parameters include the selected edge, the first selected face, and the second selected face; its verification rule is to verify that the selected edge belongs to both the first and second selected faces simultaneously. Its trajectory point calculation logic includes: using the vertex sequence of the selected edge as a trajectory point queue; (g) Select the section line strategy, whose control parameters include the selection surface, the guide line and the reference plane; its verification rules include: verifying that the guide line is located on the selection surface, verifying that the selection surface intersects with the reference plane, and verifying that the guide line is perpendicular to the reference plane; Its trajectory point calculation logic includes: calculating the queue of intersection points between the selected surface and the reference plane; calculating a displacement vector based on the reference plane normal vector and the guide line direction vector; and translating the intersection points along the displacement vector to obtain the trajectory point queue. (h) Drilling strategy, whose control parameter is the selection of hole edge; its verification rules include verifying that the selected hole edge is a closed loop and that there is a coaxial corresponding loop on the opposite surface of the workpiece; Its trajectory point calculation logic includes: calculating the center points of the two rings respectively, and generating a queue of straight line points connecting the two center points as the trajectory point queue; (i) A strategy along the boundary of the part, the control parameter of which is a selected edge on the outer boundary of the part; the verification rule is to verify that the selected edge belongs to the outer boundary of the part. Its trajectory point calculation logic includes: obtaining the complete outer boundary vertex sequence of the part, taking the selected edge as the starting point, extracting vertices along the boundary in sequence to generate a closed trajectory point queue.
4. The method for generating teachless trajectories based on multiple processes of industrial robots according to claim 1, characterized in that, In step S2, the step of sequentially selecting multiple geometric elements corresponding to the target strategy as control parameters for trajectory generation specifically involves: Step 2-1: When the user moves the cursor over a geometric feature in the CAD model, the geometric feature under the current cursor is visually highlighted; Step 2-2: When the user clicks to confirm the selection, determine whether the type of the clicked geometric feature matches the type of feature required for the current step; Steps 2-3: If the type matches, the information of the geometric elements will be successfully entered and set as the corresponding control parameters; Steps 2-4: If the type does not match, refuse to enter and provide a prompt message.
5. The method for generating teachless trajectories based on multiple processes of industrial robots according to claim 3, characterized in that, Step S3 specifically includes: Step S3-1: Check whether all necessary control parameters have been set. If any are missing, generate an error message. Step S3-2: If all required parameters have been set, then verify the spatial relationship between the set geometric elements based on the geometric constraints corresponding to the selected target strategy. The verification is performed based on the geometric constraints defined by the selected strategy. The spatial relationship types involved include at least one of the following: belonging relationship, intersection relationship, perpendicular relationship, parallel relationship, coplanar relationship, connection relationship, and coaxial relationship.
6. The method for generating teachless trajectories based on multiple processes of industrial robots according to claim 5, characterized in that, Step S3-2 specifically includes the following steps: Based on the type of the selected target strategy, determine one or more specific sets of spatial relationships and their corresponding geometric element pairs that need to be verified; For each specific set of spatial relationships, the corresponding geometric calculation and judgment logic is invoked for verification. If all spatial relationships to be verified meet the preset conditions, the spatial relationship verification is deemed successful; if any relationship does not meet the conditions, the verification fails, and an error message containing the specific type of spatial relationship that is not met is generated.
7. The method for generating teachless trajectories based on multiple processes of industrial robots according to claim 3, characterized in that, In the selected section line strategy (g), the verification guide line is perpendicular to the reference plane, including the following steps: Obtain the normal vector of the reference plane; Calculate the direction vector vect based on the geometric information of the guide line; The cross product (cross) of the normal vector `normal` and the direction vector `vect` is calculated by calculating the cross product `cross` of the reference plane normal vector `normal` and the guide line direction vector `vect`, i.e.: Calculate the cross product Length | | = | If the magnitude of the cross product |cross| is greater than 0, the guide line is determined to be not perpendicular to the reference plane, and the verification fails. After all the above verifications pass, the trajectory calculation is performed.
8. The method for generating teachless trajectories based on multiple processes of industrial robots according to claim 3, characterized in that, In the selected section line strategy (g), the verification guide line is located on the selection surface and the verification selection surface intersects with the reference plane, specifically including: Step a) Verify that the guide line is located on the selection surface: Step a1: Obtain the first set of points for all vertices on the selected face; Step a2: Obtain the second set of all vertices on the guiding line; Step a3: Calculate the number of points that coincide with the first point set and the second point set; Step a4: If the number of overlapping points is less than the total number of points in the second point set, then the guide line is not on the selected surface, and the verification fails. Step b) Verify that the selected plane intersects with the reference plane: Step b1: Obtain the first edge set of all edges that constitute the boundary of the selected face; Step b2: Obtain the second set of all edges that constitute the boundary of the reference plane; Step b3: Determine whether there are any overlapping edges between the first edge set and the second edge set; Step b4: If there are no overlapping edges, it is determined that the selected surface does not intersect with the reference plane, and the verification fails.
9. The method for generating teachless trajectories based on multiple processes of industrial robots according to claim 3, characterized in that, In the selection of the cross-section line strategy (g), the trajectory point calculation logic is as follows: Step S4-1: Calculate the spatial intersection line between the selected surface and the reference plane, and obtain the discrete point set of the intersection line. ; Step S4-2: Calculate a displacement vector guid based on the normal vector normal of the reference plane and the direction vector vect of the guide line; Step S4-3: Set the intersection points Each point in The target points are translated along the displacement vector guid to obtain new points, thus forming a queue of translated target points. This forms the final queue of motion trajectory path points.
10. The method for generating teachless trajectories based on multiple processes of industrial robots according to claim 3, characterized in that, In the drilling strategy (h), the trajectory point calculation includes: Calculate the center point C1 of the annulus corresponding to the selected hole edge; Calculate the center point C2 of the corresponding annulus on the opposite surface of the workpiece; Generate an ordered queue of points, which contains only the center point C1 and the center point C2, as the trajectory point queue.