CN112720468A - Line laser full-automatic scanning path planning method based on CAD - Google Patents
Line laser full-automatic scanning path planning method based on CAD Download PDFInfo
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention discloses a CAD-based line laser full-automatic scanning path planning method, which comprises the steps of sampling a curved surface on the surface of a CAD model to obtain sampling points for generating viewpoints, calculating and correcting the directions of the sampling points to enable the directions of the sampling points to be uniformly outward, calculating the size of a visible cone based on parameters of a line laser scanner, generating the viewpoints according to the position and the direction of each sampling point and the size of the visible cone, establishing a coordinate system at each viewpoint to determine the scanning posture of the viewpoint, wherein the scanning direction is the direction of a connecting line between the viewpoint and the sampling points, combining redundant viewpoints, detecting the shielding at each viewpoint, adjusting the viewpoint to avoid the shielding, generating an execution path of a mechanical arm bearing the line laser scanner according to the position and the posture of the viewpoint, detecting the collision between the scanner at each viewpoint and a measured object and the collision in the path execution process based on the execution path, the collisions are then eliminated to form the scan path.
Description
Technical Field
The invention belongs to the field of computer geometric design and computer vision, and particularly relates to a CAD (computer-aided design) -based line laser full-automatic scanning path planning method.
Background
With the gradual development of digital factories, the field of automated scanning is gradually widely researched, and a path planning algorithm is the core of the automated scanning. Three-dimensional model data of the object to be measured are often required to ensure the stability of the path planning algorithm. However, the three-dimensional model used in the automatic scanning algorithm based on the three-dimensional model is a point cloud model or a triangular mesh model, and the path planning of the two models is performed by calculating the viewpoint according to the point and the normal direction thereof in principle.
The above information disclosed in this background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a CAD-based line laser full-automatic scanning path planning method, which can be used for independently planning each curved surface on the surface of a model so as to ensure that each curved surface is scanned as much as possible, thereby greatly improving the scanning integrity, and realizing the automatic generation of a scanning path by planning the path of a CAD model of a measured object.
The invention aims to realize the purpose through the following technical scheme, and the CAD-based line laser full-automatic scanning path planning method comprises the following steps of:
the first step, sampling the surface of the CAD model to obtain the position of a sampling point for generating a viewpoint, wherein the viewpoint is the middle point of a connecting line of the projection central points of two cameras of a binocular scanner,
a second step of calculating and correcting the directions of the sampling points so that the directions of the sampling points are uniformly outward,
the third step, calculating the size of the visible cone of the scanner based on the parameters of the line laser scanner, then generating a viewpoint according to the position and direction of each sampling point and the size of the visible cone, and establishing a coordinate system at the viewpoint to determine the scanning posture of the scanner at the viewpoint, wherein the scanning direction is the direction in which the viewpoint points to the sampling points, then merging the redundant viewpoints,
a fourth step of detecting occlusion at each viewpoint and adjusting the viewpoints to avoid occlusion,
a fifth step of generating an execution path of a robot arm carrying the line laser scanner according to the position and posture of the viewpoint,
and a sixth step of detecting a collision of the scanner with the measured object at each viewpoint and a collision of the execution path process based on the execution path, and then eliminating the collisions to form a scanning path.
In the method, the raw material is mixed with the water,
in the first step, each curved surface of the CAD model is read and converted into a NURLS curved surface, the curved surface with the area of the curved surface larger than or equal to a preset area value is an L surface, the curved surface with the area of the curved surface smaller than the preset area value is an S surface, isoparametric lines of the NURBS curved surface in parameter domain parameters u and v in the L surface are calculated, points are uniformly taken on the isoparametric line in the middle of the u direction or the v direction, tangent vectors of each point on the isoparametric lines are calculated, a tangent plane is constructed at each point, and finally, the intersection point of the tangent plane at each point and the isoparametric lines in the v direction or the u direction is calculated, wherein the intersection point is a sampling point, and the central point of the S surface is calculated in the S surface and is the sampling point.
In the second step, the tangent vectors of each sampling point on the isoparametric line in the two directions of the parameter domain u and v of the NIRBS curved surface are calculated and normalized, then the cross product of the two tangent vectors is calculated, the cross product result vector is the direction of the sampling point, and the direction of the sampling point of the measured object is calculated.
In the method, in the second step, the average direction vector n at each sampling point is calculated according to the neighborhood point of each sampling pointmJudging the directions n and-n of the sampling points and the mean square vector nmThe direction with smaller included angle is the direction of the sampling point.
In the third step, the parameters of the line laser scanner include a standard scanning distance HsScanning format range, scanning depth of field DOF, scanning viewing angle alpha.
In the third step, the position of the sampling point is used as a starting point and the direction is used as an axis to generate a visual cone, and the shape is taken within the depth of field range of the visual coneThe heart position is used as a viewpoint VpThe scanning direction is a direction from the viewpoint to the sampling point.
In the method, in the third step, the scanning direction is taken as the Z axis, the upward direction of the long edge of the scanner is taken as the Y axis, the X axis is oriented by the right-hand rule, the viewpoint position is taken as the coordinate origin to establish the coordinate system at the viewpoint, and the viewpoints with similar scanning ranges are combined according to the scanning ranges of the viewpoints to combine the redundant viewpoints.
In the fourth step, the sampling point is taken as an origin, a connecting line of the sampling point and the corresponding viewpoint is taken as a ray, whether the ray intersects with the measured object or not is detected, and if the ray intersects with the measured object, shielding is considered to occur; and for the view points with occlusion, generating a plurality of view points according to a preset angle and a first preset interval by taking the sampling point corresponding to the current view point as an origin and the scanning direction as an axis, and then detecting the occlusion condition of each view point one by one until finding the view points without occlusion.
In the fifth step, the space is divided into M groups according to the position of the coordinate system of the CAD model after coordinate conversion is completed, viewpoints in each group are independently sequenced, the viewpoints in each group are divided into K groups again from bottom to top according to a second preset interval, the viewpoints in the K groups are sequentially connected in sequence from left to right to form K paths, the K paths are sequentially connected end to generate the path of each group, and all the groups are connected end to generate a complete execution path.
In the sixth step, N viewpoints are inserted at equal intervals between two adjacent viewpoints in the execution path, collision between the N viewpoints and the object to be measured is judged, if at least one point collides, the path is considered to collide, and the viewpoint and the path which collide are adjusted in a direction away from the object to be measured according to a third preset interval until collision does not occur.
Advantageous effects
The invention realizes the path planning algorithm by utilizing the CAD model, can accurately plan the scanning path of each surface, and effectively improves the scanning integrity. The method has strong adaptability to different measured objects, and the shape of the measured object does not influence the calculation of the scanning path, so that efficient and accurate scanning can be realized. The path planning algorithm is simple and efficient, is easy to implement and is suitable for different line laser scanners.
The above description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly apparent, and to make the implementation of the content of the description possible for those skilled in the art, and to make the above and other objects, features and advantages of the present invention more obvious, the following description is given by way of example of the specific embodiments of the present invention.
Drawings
Various other advantages and benefits of the present invention will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings in the specification are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. It is apparent that the drawings described below are only some embodiments of the invention and that other drawings can be derived from those figures by a person skilled in the art without inventive effort, and that like parts are denoted by like reference numerals throughout the figures.
In the drawings:
FIG. 1 is a flow chart of a method embodying the present invention;
FIG. 2(a) and FIG. 2(b) are schematic diagrams of CAD model surface sampling principles;
FIG. 3 is a schematic diagram of a method for calculating the direction of a sampling point;
FIG. 4 is a schematic view of the sample point direction correction;
FIG. 5 is a schematic diagram of generation of a visual cone;
FIG. 6 is a schematic diagram of the establishment of a viewpoint coordinate system;
FIG. 7 is a view point grouping diagram;
FIG. 8 is a schematic view of a group of view connections;
FIG. 9 is a schematic view of a collision of the scanner with the object under test;
FIG. 10 is a schematic collision detection of the paths;
fig. 11(a), 11(b), and 11(c) are schematic diagrams of calculation results of an actual measured object in each step, where fig. 11(a) is a schematic diagram of a CAD model sampling result, fig. 11(b) is a schematic diagram of a path plan view, and fig. 11(c) is a schematic diagram of a complete path.
The invention is further explained below with reference to the figures and examples.
Detailed Description
Specific embodiments of the present invention will be described in more detail below with reference to fig. 1 to 11 (c). While specific embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It should be noted that certain terms are used throughout the description and claims to refer to particular components. As one skilled in the art will appreciate, various names may be used to refer to a component. The present specification and claims do not distinguish between components by way of noun differences, but rather differentiate between components in function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The description which follows is a preferred embodiment of the invention, but is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The scope of the invention is to be determined by the claims appended hereto.
For the purpose of facilitating an understanding of the embodiments of the present invention, the following detailed description will be given by way of example with reference to the accompanying drawings, and the drawings are not intended to limit the embodiments of the present invention.
A CAD-based line laser full-automatic scanning path planning method comprises the following steps:
the method comprises the following steps of firstly, sampling a surface patch of the surface of a CAD model to obtain a sampling point for generating a viewpoint, wherein the viewpoint is the midpoint position of a connecting line of the projection center points of two cameras of a binocular scanner.
And a second step of calculating and correcting the directions of the sampling points so that the directions of the sampling points are uniformly outward and the directions are the directions extending outwards from the surface points of the measured object.
And thirdly, calculating the size of a visible cone of the scanner based on the parameters of the line laser scanner, then generating a viewpoint according to the position and the direction of each sampling point and the size of the visible cone, establishing a coordinate system at the viewpoint to determine the scanning posture of the scanner at the viewpoint, wherein the scanning direction is the direction in which the viewpoint points to the sampling point, finally combining redundant viewpoints to improve the scanning efficiency, and determining the height of the visible cone through the depth range.
A fourth step of detecting occlusion at each viewpoint and adjusting the viewpoints to avoid occlusion,
a fifth step of generating an execution path of a robot arm carrying the line laser scanner according to the position and posture of the viewpoint,
and a sixth step of detecting a collision of the scanner with the measured object at each viewpoint and a collision of the execution path process based on the execution path, and then eliminating the collisions to form a scanning path.
In a preferred embodiment of the method described herein,
in the first step, each surface of the CAD model is read and converted to a NURBS surface, it being understood that straight surfaces can be considered special surfaces if desired. The curved surface with the curved surface area larger than or equal to the preset area value is an L surface, and the curved surface with the curved surface area smaller than the preset area value is an S surface. In the L surface, isoparametric lines of the NURBS curved surface in two directions of parameter domain parameters u and v are calculated, then points are uniformly taken on the isoparametric line in the middle of the u (or v) direction, tangential vectors of each point on the isoparametric lines are calculated, finally, a tangent plane is constructed at each point, and the intersection point of the tangent plane at each point and the isoparametric lines in the v (or u) direction is calculated, wherein the intersection point is a sampling point, in the S surface, the central point of the S surface is calculated, and the central point is a sampling point. Preferably, the predetermined area value is taken to be 60% of the standard scanned web of the scanner.
In a preferred embodiment of the method, the cut-off plane is formed at each point according to the point-wise method.
In a preferred embodiment of the method, in the second step, tangential vectors of each sampling point on the isoparametric line in the u and v directions are calculated and normalized, then cross multiplication of two tangential vectors is calculated, the cross multiplication result vector is the direction of the sampling point, and the direction of the sampling point of the measured object is calculated.
In a preferred embodiment of the method, in the second step, the average direction vector n at each sampling point is calculated from the neighborhood points of the sampling pointmJudging the directions n and-n of the sampling points and the average direction vector nmThe direction with the smaller included angle is the direction of the sampling point.
In a preferred embodiment of the method, in the third step, the parameters of the line laser scanner comprise the standard scanning distance HsScanning format range, scanning depth of field DOF, scanning viewing angle d.
In a preferred embodiment of the method, in the third step, a visual cone is generated with the position of the sampling point as a starting point and the direction as an axis, and a centroid position is taken as a viewpoint V within the depth of field range of the visual conepThe scanning direction is a direction from the viewpoint to the sampling point.
In a preferred embodiment of the method, in the third step, the scanning direction is taken as a Z axis, the upward direction of the long side of the scanner is taken as a Y axis, the X axis is oriented by a right-hand criterion, the viewpoint position is taken as a coordinate origin to establish a coordinate system at the viewpoint, and the viewpoints with similar scanning ranges are merged according to the scanning ranges of the viewpoints to merge redundant viewpoints.
In a preferred embodiment of the method, in the fourth step, the sampling point is used as an origin point, a connecting line between the sampling point and the corresponding viewpoint is used as a ray, whether the ray intersects with the object to be measured is detected, and if the ray intersects with the object to be measured, shielding is considered to occur; and for the view points with occlusion, generating a plurality of view points according to a preset angle and a first preset interval by taking the sampling point corresponding to the current view point as an origin and the scanning direction as an axis, and then detecting the occlusion condition of each view point one by one until the view points without occlusion are found. Preferably, the initial value of the predetermined angle g is generally 15 degrees, and the initial value of the first predetermined interval h is generally 20 degrees, and if no unobstructed viewpoint is found, g can be increased or decreased appropriately to regenerate candidate test points.
In a preferred embodiment of the method, in the fifth step, the space is divided into M groups according to the position of the coordinate system, viewpoints in each group are sorted separately, the viewpoints in each group are divided into K groups again from bottom to top according to a second predetermined interval, the viewpoints in the K groups are sequentially connected in sequence from left to right to form K paths, the K paths are sequentially connected end to generate a path for each group, and all the groups are further connected end to generate a complete execution path. Preferably, the size of the second predetermined interval is such as to ensure that the connection path of the viewpoints of each of the K groups is relatively simple, typically 10 mm.
In a preferred embodiment of the method, in the sixth step, N viewpoints are inserted into the execution path at equal intervals between two adjacent viewpoints, collision between the N viewpoints and the object to be measured is determined, if at least one point collides, the path is considered to collide, and the viewpoints and the path which collide are adjusted according to a third predetermined interval in a direction away from the object to be measured until no collision occurs. Further, but directly deleting the viewpoint or path if the adjusted distance exceeds the depth of field range of the scanner. Preferably, the third predetermined interval is typically one tenth of the depth of field of the scanner, and may be increased as appropriate for increased efficiency.
In a preferred embodiment of the method, a bounding box of the object to be measured and a bounding box of the scanner at each viewpoint are calculated, whether the respective vertexes of the two bounding boxes intersect is judged, and if so, a collision is considered.
In order to further understand the present invention, in an embodiment, a CAD-based line laser automatic scan path planning method, specific algorithm steps are shown in fig. 1.
First step, sampling of CAD model: sampling all curved surfaces of the surface of the CAD model to obtain a series of sampling points for generating viewpoints, and the method specifically comprises the following steps:
(1) reading each surface of the CAD model according to the file format of the CAD model, and converting the surface into a NURLS curved surface;
(2) calculating the area of each surface, dividing all the surfaces of the CAD model into two groups according to the area, and marking the surfaces as an L surface and an S surface from large to small;
(3) as shown in fig. 2(a) and 2(b), for the L-plane, iso-parameters are first calculated for each curved surface at regular intervals, and the iso-parameter C (u) in the middlem) Uniformly taking points, calculating tangent vector t of each point on the isoparametric line, and constructing tangent plane P at each point according to the point normallnFinally, calculating the intersection points of the tangent plane at each point and other isoparametric lines, wherein the intersection points are sampling points; and for the S surface, directly calculating the central point of the isoparametric line of the NURLS curved surface in the u direction and the v direction, and taking the point as the sampling point of the S surface.
And secondly, calculating and correcting the direction of the sampling point: calculating the direction of the sampling point according to the tangent vector of the sampling point on the isoparametric line and correcting the direction to ensure that the direction of the sampling point is uniformly outward, wherein the specific method comprises the following steps:
(1) calculating the direction of the sampling point: as shown in fig. 3, firstly, the tangent vectors on the isoparametric line of each sampling point in the u and v directions are calculated and normalized, then the cross product of the two tangent vectors is calculated, and the cross product vector is the initial direction of the sampling point. However, the order of the cross product calculation performed by the two vectors is different, so that the directions of the cross product results are opposite, and therefore, the directions of the sampling points need to be corrected to be consistent outwards;
(2) correcting the direction of the sampling point: after the sampling points and directions of the whole model are calculated, the points are treated as a point cloud with directions, so that the problem becomes the problem of direction-consistent orientation of the point cloud. As shown in FIG. 4, first, the point of each point is calculated from the neighborhood of the pointMean direction vector nmThen, the direction n and-n of the point and the average direction vector n are determinedmThe direction with the smaller angle is the direction of the point. Fig. 11(a) is a schematic diagram showing a sampling result of an exemplary test object.
Thirdly, calculating and combining the viewpoints: calculating the execution point position and the posture of the mechanical arm according to the position and the direction of the sampling point, wherein the specific method comprises the following steps:
(1) determining a visual cone: as shown in FIG. 5, the viewing cone size is determined based on the parameters of the line laser scanner, the required parameters including the standard scan distance HsScanning breadth range, scanning depth of field DOF and scanning visual angle d;
(2) and (3) calculating a viewpoint: generating a visual cone by taking the position P of the sampling point as a starting point and the direction n as an axis, and taking the centroid position as a viewpoint V in the depth of field range of the visual conepPosition of (1), scanning direction nsThe direction from the viewpoint to the sampling point;
(3) and (3) calculating the viewpoint posture: the viewpoint pose establishes a viewpoint coordinate system, so that the scanning direction is taken as the Z axis, the upward direction of the long side of the scanner is taken as the Y axis, the X axis is oriented according to the right-hand rule, and the viewpoint position is taken as the coordinate origin to establish a viewpoint coordinate system, which is shown in fig. 6.
(4) And combining the viewpoints with similar scanning ranges according to the scanning ranges of the viewpoints to improve the scanning efficiency.
Fourthly, shielding detection and elimination: detecting the occlusion at each viewpoint, and adjusting the position and the posture to avoid the occlusion, the specific method comprises the following steps:
(1) and (3) detection of occlusion: taking a sampling point as an origin point, taking a connecting line of the sampling point and a viewpoint as a direction to make a ray, then detecting whether the ray intersects with the tested model, and if so, determining that shielding occurs;
(2) and (3) removing the shielding: and for the points with occlusion, generating a plurality of viewpoints at a certain angle and interval by taking the sampling point corresponding to the current viewpoint as an origin and the scanning direction as an axis, and then detecting the occlusion condition of each viewpoint one by one until no occlusion exists.
And fifthly, generating a scanning path: generating an execution path of the mechanical arm according to the position and the posture of the viewpoint, wherein the specific method comprises the following steps:
(1) grouping the viewpoints: as shown in fig. 7, the space is divided into M groups according to the position of the coordinate system, and the viewpoints in each group are sorted separately, where M is generally 4 or 6, and if the model is complicated, the value of M can be increased appropriately;
(2) implementing path generation within a group: as shown in fig. 8, the viewpoints in each group are divided into K groups again from bottom to top at certain intervals, and then the viewpoints in the K groups are sequentially connected from left to right to form K connected paths;
(3) and (3) generating a complete path: and sequentially performing head-to-tail connection on the K paths to generate a path of each group, and then performing head-to-tail connection on all the groups again to generate a complete path. The present invention provides exemplary scan paths of the object to be measured as shown in fig. 11(b) and 11 (c).
Sixth, collision detection and elimination: detecting the collision between the scanner and the measured object at each viewpoint and the collision in the process of executing the path, wherein the specific method comprises the following steps:
(1) as shown in fig. 9, calculating the bounding box of the measured object and the bounding box of the scanner at each viewpoint, determining whether the respective vertexes of the two bounding boxes intersect, and if so, determining that a collision occurs;
(2) as shown in fig. 10, N viewpoints are inserted between two adjacent points in the path at equal intervals, collision between the N viewpoints and the object to be measured is determined, if at least one point collides, the path is considered to collide, wherein the inserted point is only used for collision detection and is not used for scanning;
(3) and adjusting the viewpoint and the path which are collided at certain intervals in the direction far away from the measured object until no collision occurs, but directly deleting the viewpoint or the path if the adjustment distance exceeds the depth range of the scanner.
Although the embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments and application fields, and the above-described embodiments are illustrative, instructive, and not restrictive. Those skilled in the art, having the benefit of this disclosure, may effect numerous modifications thereto without departing from the scope of the invention as defined by the appended claims.
Claims (10)
1. A CAD-based line laser full-automatic scanning path planning method comprises the following steps:
the first step, sampling the surface of the CAD model to obtain the position of a sampling point for generating a viewpoint, wherein the viewpoint is the middle point of a connecting line of the projection center points of two cameras of a binocular scanner,
a second step of calculating and correcting the directions of the sampling points so that the directions of the sampling points are uniformly outward,
the third step, calculating the size of the visual cone of the scanner based on the parameters of the line laser scanner, then generating a viewpoint according to the position and the direction of each sampling point and the size of the visual cone, establishing a coordinate system at the viewpoint to determine the scanning posture of the scanner at the viewpoint, wherein the scanning direction is the direction in which the viewpoint points to the sampling points, then merging the redundant viewpoints,
a fourth step of detecting occlusion at each viewpoint and adjusting the viewpoints to avoid occlusion,
a fifth step of generating an execution path of a robot arm carrying the line laser scanner according to the position and posture of the viewpoint,
and a sixth step of detecting a collision of the scanner with the measured object at each viewpoint and a collision of the execution path process based on the execution path, and then eliminating the collisions to form a scanning path.
2. The method according to claim 1, wherein, preferably,
in the first step, each curved surface of the CAD model is read and converted into a NURLS curved surface, the curved surface with the area of the curved surface larger than or equal to a preset area value is an L surface, the curved surface with the area of the curved surface smaller than the preset area value is an S surface, isoparametric lines of the NURBS curved surface in the parameter domain parameters u and v in the L surface are calculated, points are uniformly taken on the isoparametric line in the middle of the u direction or the v direction, tangent vectors of each point on the isoparametric lines are calculated, a tangent plane is constructed at each point, finally, the intersection point of the tangent plane at each point and the isoparametric line in the v direction or the u direction is calculated, the intersection point is a sampling point, and the central point of the S surface is calculated in the S surface and is the sampling point.
3. The method of claim 1, wherein in the second step, tangential vectors of each sampling point on the isoparametric lines in both directions of the parameter domain u and v of the NURBS surface are calculated and normalized, then cross multiplication of the two tangential vectors is calculated, the resultant vector of the cross multiplication is the direction of the sampling point, and the direction of the sampling point of the measured object is calculated.
4. The method according to claim 1, wherein in the second step, the average direction vector n at each sampling point is calculated from the neighborhood points of the sampling pointmJudging the directions n and-n of the sampling points and the average direction vector nmThe direction with smaller included angle is the direction of the sampling point.
5. The method of claim 1, wherein in the third step, the parameter of the line laser scanner comprises a standard scanning distance HsScanning format range, scanning depth of field DOF, scanning viewing angle alpha.
6. The method according to claim 1, wherein in the third step, a visual cone is generated with the position of the sampling point as a starting point and the direction as an axis, and the center position is taken as the viewpoint V within the depth of field of the visual conepThe scanning direction is a direction from the viewpoint to the sampling point.
7. The method as claimed in claim 1, wherein in the third step, the scanning direction is taken as a Z-axis, the long side of the scanner is taken as a Y-axis, the X-axis is oriented by a right-hand rule, the viewpoint position is taken as a coordinate origin to establish a coordinate system at the viewpoint, and the viewpoints with similar scanning ranges are combined according to the scanning ranges of the viewpoints to combine the redundant viewpoints.
8. The method according to claim 1, wherein in the fourth step, the sampling point is taken as an origin, a connecting line of the sampling point and the corresponding viewpoint is taken as a ray, whether the ray intersects with the object to be measured is detected, and if the ray intersects with the object to be measured, the shielding is considered to occur; and for the view points with occlusion, generating a plurality of view points according to a preset angle and a first preset interval by taking the sampling point corresponding to the current view point as an origin and the scanning direction as an axis, and then detecting the occlusion condition of each view point one by one until the view points without occlusion are found.
9. The method according to claim 1, wherein in the fifth step, the space is divided into M groups according to the position of the coordinate system of the CAD model after the coordinate conversion is completed, viewpoints in each group are sorted individually, the viewpoints in each group are divided into K groups again from bottom to top at a second predetermined interval, the viewpoints in the K groups are connected in sequence from left to right to form K paths, the K paths are connected end to end in sequence to generate a path for each group, and all the groups are connected end to end again to generate a complete execution path.
10. The method according to claim 1, wherein in the sixth step, N viewpoints are inserted at equal intervals between two adjacent viewpoints in the execution path, collision between the N viewpoints and the object to be measured is determined, if at least one point collides, the path is considered to collide, and the viewpoints and the path which collide are adjusted in a direction away from the object to be measured according to a third predetermined interval until no collision occurs.
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