The invention relates to the technical field of
robot vision three-dimensional measurement, and discloses a three-dimensional measurement path
planning method and
system based on AGV and mechanical arm
collaboration, and the method comprises the following steps: firstly, dividing a measurement viewpoint of a three-dimensional scanning measurement
system into a horizontal viewpoint and a vertical viewpoint; secondly, according to the physical parameters of the AGV, the mechanical arm, the three-dimensional scanning measurement
system and the to-be-measured part, a double-loop AGV motion path is constructed; then, generating an initial AGV
measurement site set on the path according to a fixed step length; then, optimizing the measurement sites by using a local optimal measurement viewpoint clustering
algorithm to obtain a final
measurement site set; and finally, aiming at each
measurement site, generating a motion path of the mechanical arm by adopting a
shortest distance priority loop-free planning
algorithm. By reasonably dividing the measurement
viewpoints and optimizing the measurement path, the efficiency and accuracy of
robot vision three-dimensional measurement are improved, and the risk that a mechanical arm collides parts in the measurement process is also avoided.