CN107598775A - It is a kind of by laser detect the method that simultaneously multi-axis robot is polished - Google Patents
It is a kind of by laser detect the method that simultaneously multi-axis robot is polished Download PDFInfo
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- CN107598775A CN107598775A CN201710623766.9A CN201710623766A CN107598775A CN 107598775 A CN107598775 A CN 107598775A CN 201710623766 A CN201710623766 A CN 201710623766A CN 107598775 A CN107598775 A CN 107598775A
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Abstract
The present invention provides a kind of method for by laser detect simultaneously multi-axis robot polishing, based on 3D point cloud template matches, is scanned for by features such as surface normal and specific profiles in the database of threedimensional model, completes pattern match；It is theoretical based on polishing, automatically generate the algorithm of polishing programme；Pass through the Digital Algorithm for opening up the technology, automatically planning cutter track track of mending and ask difference of threedimensional model；Communication system of the industrial computer real-time Transmission to multi-axis robot motion control program, complete the control work of robot polishing.Automatically generate corresponding polishing scheme；Improve the automatization level of polishing operation；Increase 3D point cloud in vision processing algorithm and digitize the matching feature of three-dimensional template, multiple product can accurately be distinguished by matching, while improve the accuracy rate of vision-based detection；Real-time communication multiaxis milling robot, robot command are polished automatically, improve production efficiency.
Description
Technical field
The present invention relates to robot control field, more particularly to one kind by laser detect and multi-axis robot is polished
Method.
Background technology
Intelligent visual detection and the method for polishing are to replace human eye by industrial camera and vision system, are obtained real
Workpiece information.On the other hand, human hand is replaced by robot, corresponding polishing processing is carried out to workpiece.Therefore, intelligent vision
Detection and polishing system not only solve the manually efficiency by vision-based detection and polishing, while can also solve sander and deposit
Test problems.Contribute to the full-automation of promotion polishing operation, improve crudy and efficiency.
The patent of invention of Patent No. 2017100621443 discloses a kind of online vision-based detection for robot polishing
System, the system include the motion platform and three-dimensional laser camera of detection, accurately can carry out vision to workpiece
Detection, and processing is digitized to data by industrial computer, the data after processing can be used for the programming of robot polishing.
Pattern match is not carried out to the data of collection in the digital information processing of the system, such Detection accuracy is low and examines
Surveying the form of workpiece must be consistent, it is impossible to while detect the workpiece of different shape.Communication between the system and robot
It is to rely on artificial programming and data are post-processed, automation level and productivity is relatively low.The system also lacks simultaneously
To the tool path planning algorithm for scheme of polishing.Therefore, for complicated, diversified polishing scheme, the system just need manually to enter
Row is changed and optimized one by one, has lacked versatility and high efficiency.
The content of the invention
In view of the above-mentioned problems of the prior art, detect and more by laser it is an object of the invention to provide one kind
The method of axle robot polishing, based on 3D point cloud template matches, by features such as surface normal and specific profiles in three-dimensional mould
Scanned in the database of type, complete pattern match；It is theoretical based on polishing by matching threedimensional model, automatically generate polishing
The algorithm of programme；Pass through the Digital Algorithm for opening up the technology, automatically planning cutter track track of mending and ask difference of threedimensional model；Work
Communication system of the control machine real-time Transmission to multi-axis robot motion control program, complete the control work of robot polishing.
The present invention provides a kind of method for by laser detect simultaneously multi-axis robot polishing, the polishing process step
It is as follows：
Step 1：The workpiece that needs are detected by XY motion platforms first is moved to region to be measured, can be wired in relevant position
Laser scanner is scanned to workpiece, while camera is caught to laser signal and generates cloud data；
Step 2：Built-in algorithms in a computer afterwards, the Morphological scale-space of image, extraction reaction can be carried out to cloud data
The feature of workpiece form；
Step 3：By these features, scanned in the database of threedimensional model, complete pattern match, determine the workpiece
Which classification belonged to；
Step 4：After the classification that have matched the workpiece, the information that is caught by the predefined information of classification and Laser video camera head,
The cutter track of polishing can be generated by after-treatment system；
Step 5：Again by the module of robot motion, the program of control machine people's movement locus is compiled out；
Step 6：After motion control program compiling completes, by the ethernet communication between industrial computer and robot,
Control program is transferred to the motor control unit of robot, realizes the polishing work of robot.
Further improvement is that：The feature of extraction reaction workpiece form includes surface normal or special in the step 2
Contour feature or particular plane feature.
Sign is further improved to be：The polishing cutter track of generation described in the step 4 can include two or more
Polishing scheme is parallel.
The beneficial effects of the invention are as follows：After workpiece information is acquired using the Laser video camera head of three-dimensional, to extracting
3D point cloud information be digitized post processing, automatically generate corresponding polishing scheme；Improve the Automated water of polishing operation
It is flat；3D point cloud is added in vision processing algorithm and digitizes the matching feature of three-dimensional template, can accurately be distinguished by matching
Other multiple product, while improve the accuracy rate of vision-based detection；Real-time communication multiaxis milling robot, having generated and optimized
Polishing scheme transmission into the motion controller of robot, robot command is polished automatically, improves production efficiency.
Brief description of the drawings
Fig. 1 is the work-based logic figure of the present invention.
Embodiment
In order to deepen the understanding of the present invention, below in conjunction with embodiment, the invention will be further described, the embodiment
It is only used for explaining the present invention, is not intended to limit the scope of the present invention..
The present embodiment provides a kind of method for by laser detect simultaneously multi-axis robot polishing, is moved first by XY
The workpiece that platform detects needs is moved to region to be measured, and have line laser scanner in relevant position is scanned to workpiece,
Camera is caught to laser signal and generates cloud data simultaneously.Built-in algorithms in a computer afterwards, can be to a cloud
Data carry out the Morphological scale-space of image, the feature of extraction reaction workpiece form.And these features are relied on, in threedimensional model
Scanned in database, complete pattern match, determine which classification the workpiece belongs to.After the classification that have matched the workpiece,
The information caught by the predefined information of classification and Laser video camera head, the cutter track of polishing can be generated by after-treatment system,
Here it is parallel that the polishing cutter track generated can include a variety of polishing schemes.Again by the module of robot motion, control is compiled out
The program of robot motion track processed.After motion control program compiling completes, by between industrial computer and robot
Ethernet communication, control program is transferred to the motor control unit of robot, realizes the polishing work of robot.
Claims (3)
1. a kind of by laser detect the method that simultaneously multi-axis robot is polished, it is characterised in that：The polishing process step
It is as follows：
Step 1：The workpiece that needs are detected by XY motion platforms first is moved to region to be measured, can be wired in relevant position
Laser scanner is scanned to workpiece, while camera is caught to laser signal and generates cloud data；
Step 2：Built-in algorithms in a computer afterwards, the Morphological scale-space of image, extraction reaction can be carried out to cloud data
The feature of workpiece form；
Step 3：By these features, scanned in the database of threedimensional model, complete pattern match, determine the workpiece
Which classification belonged to；
Step 4：After the classification that have matched the workpiece, the information that is caught by the predefined information of classification and Laser video camera head,
The cutter track of polishing can be generated by after-treatment system；
Step 5：Again by the module of robot motion, the program of control machine people's movement locus is compiled out；
Step 6：After motion control program compiling completes, by the ethernet communication between industrial computer and robot,
Control program is transferred to the motor control unit of robot, realizes the polishing work of robot.
A kind of 2. method for by laser detect simultaneously multi-axis robot polishing as claimed in claim 1, it is characterised in that：
The feature of extraction reaction workpiece form includes surface normal or specific profile feature or particular plane feature in the step 2.
A kind of 3. method for by laser detect simultaneously multi-axis robot polishing as claimed in claim 1, it is characterised in that：
It is parallel that the polishing cutter track of generation described in the step 4 can include two or more polishing schemes.
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Cited By (7)
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|---|---|---|---|---|
| CN109483369A (en) * | 2018-12-13 | 2019-03-19 | 中国船舶重工集团公司第七六研究所 | A kind of robot polishing system and its control method with 3D vision |
| CN109623656A (en) * | 2018-11-12 | 2019-04-16 | 南京航空航天大学 | Mobile dual robot collaboration grinding device and method based on thickness on-line checking |
| CN110340891A (en) * | 2019-07-11 | 2019-10-18 | 河海大学常州校区 | Mechanical arm positioning grasping system and method based on cloud template matching technique |
| CN111805543A (en) * | 2020-07-10 | 2020-10-23 | 佛山科学技术学院 | Infrared imaging target operation track detection system and coordinate conversion method thereof |
| CN111843143A (en) * | 2020-08-11 | 2020-10-30 | 成都飞匠智能科技有限公司 | Workpiece surface shaping method and system based on plasma air gouging |
| CN108942940B (en) * | 2018-08-01 | 2022-02-22 | 东南大学 | Teleoperation robot polishing control system based on multi-sensor fusion |
| CN117140354A (en) * | 2023-10-31 | 2023-12-01 | 雅安成建工业化建筑有限公司 | Polishing system for metal product for building based on track optimization |
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| CN108942940B (en) * | 2018-08-01 | 2022-02-22 | 东南大学 | Teleoperation robot polishing control system based on multi-sensor fusion |
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| CN117140354A (en) * | 2023-10-31 | 2023-12-01 | 雅安成建工业化建筑有限公司 | Polishing system for metal product for building based on track optimization |
| CN117140354B (en) * | 2023-10-31 | 2024-01-05 | 雅安成建工业化建筑有限公司 | Polishing system for metal product for building based on track optimization |
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Application publication date: 20180119 |