A 3D slice-based industrial robot trajectory generation method

Abstract

This invention discloses a method for generating industrial robot trajectories based on 3D slicing, comprising the following steps: 1) system calibration; 2) slicing 3D drawings or 3D models to convert three-dimensional data into two-dimensional data, and extracting contour data and / or feature point data from the two-dimensional data; 3) obtaining the corresponding actual coordinates of the robot system based on the extracted contour data and / or feature point data, and mapping matrix relationships, and generating the robot system's operating instructions; 4) inserting the robot system's pose transformation instructions into the robot system's operating instructions to generate the robot trajectory. This industrial robot trajectory generation method can quickly generate corresponding robot trajectories for different production needs, and the generated robot trajectories have high accuracy, ensuring high-precision industrial production.

Description

Technical Field

[0001] This invention relates to the field of robot trajectory generation technology, and in particular to a method for generating industrial robot trajectories based on 3D slicing. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in industrial fields. They possess a certain degree of automation and can perform various industrial processing and manufacturing functions using their own power and control capabilities. When robots complete industrial processing and manufacturing, it is necessary to generate robot trajectories. Existing robot trajectory generation methods cannot quickly generate trajectories for different production processes, exhibiting poor adaptability. Summary of the Invention

[0003] In view of the above-mentioned defects or deficiencies in the existing technology, it is desirable to provide an industrial robot trajectory generation method based on 3D slicing, which can quickly generate corresponding robot trajectories for different production needs, and the generated robot trajectories have high accuracy, thus ensuring high-precision industrial production.

[0004] This invention provides a method for generating industrial robot trajectories based on 3D slicing, comprising the following steps:

[0005] 1) System calibration: The coordinates of the drawing system and the robot system are calibrated to obtain the mapping matrix relationship between the coordinates of the drawing system and the coordinates of the robot system;

[0006] 2) Obtain 3D drawings or 3D models stored in the drawing system, slice the 3D drawings or 3D models, convert the three-dimensional data into two-dimensional data, and extract contour data and / or feature point data from the two-dimensional data.

[0007] 3) Based on the extracted contour data and / or feature point data, and the mapping matrix relationship, obtain the corresponding actual coordinates of the robot system, and generate the robot system's operating instructions;

[0008] 4) Based on the actual situation of the robot system, insert the robot system's pose transformation instructions into the robot system's operation instructions to generate the robot trajectory.

[0009] Furthermore, in step 1), the coordinates of the drawing system and the robot system are calibrated using the nine-point calibration method.

[0010] Furthermore, in step 2), for the surface processing of the part, the 3D drawing or 3D model of the part is sliced ​​into multiple layers, the edge line of each slice is calculated, and the point coordinate information of the edge line is extracted.

[0011] Furthermore, in step 2), for the 3D printing of the part, the 3D drawing or 3D model of the part is sliced, the polygons contained in each slice are parsed, and then each polygon is filled with straight lines to extract the point coordinate information of each straight line.

[0012] Furthermore, in step 2), for welding or cutting of parts, it is not necessary to slice the 3D drawing or 3D model of the parts. It is only necessary to rotate or scale the 3D drawing or 3D model of the parts and obtain the required coordinate point information by clicking the mouse.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] The robot trajectory generation method of this invention involves slicing 3D drawings or 3D models of parts to convert three-dimensional data into two-dimensional data, extracting contour data and / or feature point data from the two-dimensional data, and generating a robot trajectory through coordinate transformation. It can quickly generate corresponding robot trajectories for different processing and production processes, and the generated robot trajectories have high accuracy, ensuring high-precision industrial production.

[0015] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0016] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0017] Figure 1 This is a flowchart of a robot trajectory generation method. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] Please refer to Figure 1 The present invention provides a method for generating industrial robot trajectories based on 3D slicing, comprising the following steps:

[0021] 1) System calibration: The coordinates of the drawing system and the robot system are calibrated to obtain the mapping matrix relationship between the coordinates of the drawing system and the coordinates of the robot system;

[0022] 2) Obtain 3D drawings or 3D models stored in the drawing system, slice the 3D drawings or 3D models, convert the three-dimensional data into two-dimensional data, and extract contour data and / or feature point data from the two-dimensional data.

[0023] 3) Based on the extracted contour data and / or feature point data, and the mapping matrix relationship, obtain the corresponding actual coordinates of the robot system, and generate the robot system's operating instructions;

[0024] 4) Based on the actual situation of the robot system, insert the robot system's pose transformation instructions into the robot system's operation instructions to generate the robot trajectory.

[0025] In this embodiment, when generating the robot trajectory, the 3D drawing or 3D model of the part is sliced ​​to convert the three-dimensional data into two-dimensional data. Contour data and / or feature point data are extracted from the two-dimensional data, and the robot trajectory is generated through coordinate transformation. Corresponding robot trajectories can be quickly generated for different processing and production needs, and the generated robot trajectories have high accuracy, ensuring high-precision industrial production.

[0026] In a preferred embodiment, in step 1), the coordinates of the drawing system and the robot system are calibrated using a nine-point calibration method. This involves marking nine points on the drawing in the drawing system and then performing a calibration transformation on these nine points to generate a mapping matrix. Subsequently, the coordinates of the robot system can be calculated using the drawing coordinates and the mapping matrix.

[0027] In a preferred embodiment, in step 2), for the surface processing of the part, the 3D drawing or 3D model of the part is sliced ​​into multiple layers, the edge line of each slice is calculated, and the point coordinate information of the edge line is extracted. This point coordinate information is converted into coordinates in the robot coordinate system through a mapping matrix relationship. The robot moves along these coordinates and processes the parts layer by layer to complete the overall surface processing of the part, such as grinding or sandblasting.

[0028] In a preferred embodiment, in step 2), for the 3D printing of the part, the 3D drawing or 3D model of the part is sliced, the polygons contained in each slice are parsed, and then each polygon is filled with straight lines to extract the point coordinate information of each straight line. These point coordinate information are converted into coordinates in the robot coordinate system through a mapping matrix relationship. The robot moves along these coordinates, and the process is carried out layer by layer to complete the overall printing and shaping of the part, such as additive manufacturing.

[0029] In a preferred embodiment, in step 2), for welding or cutting the part, it is not necessary to slice the 3D drawing or 3D model of the part. It is only necessary to rotate and scale the 3D drawing or 3D model of the part, and obtain the required coordinate point information by clicking the mouse. These point coordinate information are converted into coordinates in the robot coordinate system through a mapping matrix relationship, and finally form the robot trajectory, that is, the welding or cutting path is obtained.

[0030] This application's approach to the digital analysis of 3D models originates from the principles of calculus. A 3D model is decomposed into several layers, resulting in multiple 2D planar drawings. These 2D drawings are then further decomposed, and the required contour data and / or feature point data are extracted according to production needs. This data is then converted into coordinate points in the robot's coordinate system; these coordinate points are the robot's motion control points. Finally, the posture and mapping matrix relationships are superimposed and transformed to generate the robot's actual running trajectory. Corresponding robot trajectories can be quickly generated for different processing and production processes, and the generated robot trajectories have high accuracy, ensuring high-precision industrial production.

[0031] In the description of this specification, the terms "one embodiment," "some embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0032] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for generating industrial robot trajectories based on 3D slicing, characterized in that, Includes the following steps: 1) System calibration: The coordinates of the drawing system and the robot system are calibrated to obtain the mapping matrix relationship between the coordinates of the drawing system and the coordinates of the robot system; 2) Obtain 3D drawings or 3D models stored in the drawing system, slice the 3D drawings or 3D models, convert the three-dimensional data into two-dimensional data, and extract contour data and / or feature point data from the two-dimensional data. 3) Based on the extracted contour data and / or feature point data, and the mapping matrix relationship, obtain the corresponding actual coordinates of the robot system, and generate the robot system's operating instructions; 4) Based on the actual situation of the robot system, insert the robot system's pose transformation instructions into the robot system's operation instructions to generate the robot trajectory.

2. The industrial robot trajectory generation method based on 3D slicing according to claim 1, characterized in that, In step 1), the coordinates of the drawing system and the robot system are calibrated using the nine-point calibration method.

3. The industrial robot trajectory generation method based on 3D slicing according to claim 1, characterized in that, In step 2), for the surface processing of the part, the 3D drawing or 3D model of the part is sliced ​​into multiple layers, the edge line of each slice is calculated, and the point coordinate information of the edge line is extracted.

4. The industrial robot trajectory generation method based on 3D slicing according to claim 1, characterized in that, In step 2), for the 3D printing of the part, the 3D drawing or 3D model of the part is sliced, the polygons contained in each slice are parsed, and then each polygon is filled with straight lines to extract the point coordinate information of each straight line.

5. The industrial robot trajectory generation method based on 3D slicing according to claim 1, characterized in that, In step 2), for welding or cutting of parts, it is not necessary to slice the 3D drawing or 3D model of the parts. It is only necessary to rotate or scale the 3D drawing or 3D model of the parts and obtain the required coordinate point information by clicking the mouse.

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