CN118528076A - Finite element partition full-automatic polishing method based on two-dimensional vision - Google Patents
Finite element partition full-automatic polishing method based on two-dimensional vision Download PDFInfo
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- CN118528076A CN118528076A CN202310807272.1A CN202310807272A CN118528076A CN 118528076 A CN118528076 A CN 118528076A CN 202310807272 A CN202310807272 A CN 202310807272A CN 118528076 A CN118528076 A CN 118528076A
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- flaw
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- polishing method
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- 238000005498 polishing Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000005192 partition Methods 0.000 title claims abstract description 16
- 238000012800 visualization Methods 0.000 claims abstract description 12
- 238000006243 chemical reaction Methods 0.000 claims abstract description 7
- 238000005457 optimization Methods 0.000 claims abstract description 4
- 230000007704 transition Effects 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 6
- 238000012549 training Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 238000009825 accumulation Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 8
- 230000009471 action Effects 0.000 abstract description 7
- 238000012545 processing Methods 0.000 description 8
- 230000000007 visual effect Effects 0.000 description 3
- 238000007726 management method Methods 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Geometry (AREA)
- General Physics & Mathematics (AREA)
- Software Systems (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Computer Graphics (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a finite element partition full-automatic polishing method based on two-dimensional vision, which comprises the following steps of: s1: collecting all flaw information acquired by a robot, performing finishing analysis on the flaw information, pushing a flaw visualization module, performing flaw box selection on the three-dimensional model of the automobile, and acquiring path coordinates; s2: carrying out finite element optimization and splitting on areas of different parts of the vehicle; s3: a pose conversion point is arranged between two adjacent areas, so that collision can be avoided; s4: and when a flaw appears in a certain area, classifying and attributing, and transmitting corresponding coordinates and flaw types to the polishing robot. Compared with the prior art, the invention has the advantages that: the prior art can not realize complete linkage of actions of all areas, and the polishing method better solves the problems that linkage and complete automatic polishing are impossible in the market at present, and collision is caused in continuous treatment of real-time random defects.
Description
Technical Field
The invention relates to a polishing method, in particular to a finite element partition full-automatic polishing method based on two-dimensional vision, and belongs to the field of intelligent robots.
Background
In the prior art of automatic automobile polishing, chinese patent publication No. CN 108284388B, entitled "Intelligent force control polishing device with visual guidance" discloses an intelligent force control polishing device with visual guidance. The device comprises a grinding and polishing vision sensor, a moving unit, a force sensor, a grinding head and a control unit, wherein the moving unit is connected with the force sensor and has double degrees of freedom and is used for driving the tail end grinding head to move; the force sensor is used for detecting the contact force between the tail end grinding head and the workpiece to be processed; the visual sensors are symmetrically arranged on two sides of the moving unit and are used for monitoring the three-dimensional structure, the spatial position, the position of the grinding head and the processing quality of the surface of the workpiece to be processed; the control unit is connected with the mobile unit, the force sensor and the vision sensor. The advantages are that: the three-dimensional structure identification control can be carried out on the grinding area, and the defect is that: the whole set of processing scheme is a link, and the problems of a mechanical arm path, obstacle avoidance and the like are not solved better, so that intelligent partition planning actions cannot be performed and full-automatic polishing is performed.
The invention patent with the name of 'a method for planning polishing paths of outer surfaces of a space convex polyhedron' disclosed in Chinese patent publication No. CN 116021366A discloses a method for planning polishing paths of outer surfaces of a space convex polyhedron and a storage medium, wherein the method is based on the acquired working plane sets, and can directly acquire the sets of surfaces to be polished on each working plane, and comprises the following steps: s1, determining and sequencing a working plane to be polished; s2, sequencing a plurality of surfaces to be polished in a single working plane; s3, establishing a path point queue; s4, calculating time consumption to obtain a local optimal solution. According to the method for planning the polishing path of the outer surface of the spatial convex polyhedron, the spatial three-dimensional outer surface path planning is carried out based on the spatial coordinate set of three classified polishing elements which are obtained and the relationship of each topological node is known. The advantages are that: and (5) performing point location sorting and preliminary planning. The defects are that: the pose and the cut-in and cut-out of the polished area are not analyzed, and defects exist in the whole set of processing, so that intelligent partition planning actions cannot be performed and full-automatic polishing is performed.
The invention patent with the name of 'a method, a device, equipment and a storage medium for planning a split-area full-coverage path' with the name of CN 113759907A discloses a method, a device, equipment and a storage medium for planning a split-area full-coverage path, which are applied to intelligent tracking equipment and comprise the following steps: constructing a grid cost map according to the environment information and the positioning information of the intelligent tracking equipment; converting the grid cost map into a common pixel map; dividing the common pixel map into a plurality of sub-areas; and determining a first path of each sub-area in the respective area and a second path between the sub-areas, and determining the optimal path of the intelligent tracking equipment according to the first path and the second path. The advantages are that: the blocking process is performed. The defects are that: the actual numerical processing is not planned in detail, and full-automatic polishing still cannot be completed.
Therefore, the development of the finite element partition full-automatic polishing method based on two-dimensional vision solves the problem that intelligent partition planning actions cannot be performed in the prior art, and becomes a problem to be solved by a person skilled in the art.
Disclosure of Invention
The invention aims to solve the defects and provides a finite element partition full-automatic polishing method based on two-dimensional vision.
The above object of the present invention is achieved by the following technical solutions: a finite element partition full-automatic polishing method based on two-dimensional vision comprises the following steps:
S1: collecting all flaw information acquired by a robot, performing finishing analysis on the flaw information, pushing a flaw visualization module, performing flaw box selection on the three-dimensional model of the automobile, and acquiring path coordinates;
s2: carrying out finite element optimization and splitting on areas of different parts of the vehicle;
S3: a pose conversion point is arranged between two adjacent areas, so that collision can be avoided;
S4: and when a flaw appears in a certain area, classifying and attributing, and transmitting corresponding coordinates and flaw types to the polishing robot.
In step S1, the collecting robot carries a collecting camera to collect and sort flaw point information of a workpiece to be processed, processes the flaw point information, pushes the flaw point information to a visualization module, and the visualization module is provided with a database of the visualization module, performs data accumulation through early training, confirms flaw types through comparison, performs display and output through communication, acquires two-dimensional space coordinates through a collecting system, and acquires the pose of the mechanical arm through digital-analog reduction and pose conversion matrix.
In step S2, the large-area mechanical arm pose data are obtained and statistically calculated, so as to conduct range division on multi-curvature pose points, sort and combine the same pose and similar pose, conduct region similar division on grinding points by adopting a finite element method and taking curvature as constraint condition, and conduct unified tool-entering and tool-retracting pose management on the same region class, similar pose class and coincident point class.
In step S3, a one-to-many transition gesture training simulation is performed on the region divided by the finite element, the transition gestures between different regions are compared and optimally stored, and when the blemishes of the two regions with different gestures are obtained, the transition points are selected, so that better transition is achieved.
In step S4, when the collecting system obtains the flaw point information, the corresponding region pose and transition pose coordinate points can be directly called out from the database, and output as numerical variables, and transmitted to the polishing robot through the communication protocol, the polishing robot can select polishing parameters (pressure, flexible feedback time, rotation speed, moving speed, polishing action) according to the type of the flaw.
Compared with the prior art, the invention has the advantages that: the prior art can not realize complete linkage of actions of all areas, and the polishing method better solves the problems that linkage and complete automatic polishing are impossible in the market at present, and collision is caused in continuous treatment of real-time random defects.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic illustration of a sanding scenario of the present invention.
Fig. 3 is a left side view of fig. 2.
Fig. 4 is a top view of fig. 2.
Description of the embodiments
The invention is further described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 4, a two-dimensional vision-based full-automatic finite element partition polishing method comprises the following steps:
S1: the acquisition robot 1 carries an acquisition camera to collect and arrange flaw point information of a workpiece to be processed, carries out processing analysis on the flaw point information, pushes the flaw point information to a visualization module, and the visualization module is provided with a database of the visualization module, performs data accumulation through early training, confirms flaw types through comparison, displays and outputs the flaw types through a communication module, performs flaw frame selection on a three-dimensional model of an automobile, acquires two-dimensional space coordinates through an acquisition system, and acquires the pose of a mechanical arm through digital-analog reduction and pose conversion matrix.
S2: the method comprises the steps of carrying out finite element optimization and splitting on areas of different parts of a vehicle, carrying out range division on multi-curvature pose points through obtaining and counting the pose data of a large-area mechanical arm, carrying out arrangement and combination on the same pose and similar pose, carrying out similar division on grinding points by adopting a finite element method and taking curvature as a constraint condition, and carrying out unified tool-entering and tool-retracting pose management on the same area, similar pose and coincident point.
S3: and a pose conversion point is arranged between two adjacent areas, so that collision can be avoided. And carrying out one-to-many transition gesture training simulation on the region divided by the finite element, comparing, optimizing and storing the transition gestures between different regions, and selecting transition points when the defects of the two regions with different gestures are obtained, so that better transition is realized.
S4: when a flaw appears in a certain area, classifying and attributing are carried out, and corresponding coordinates and flaw types are sent to the polishing robot 2, namely: when the acquisition system acquires flaw point information, corresponding regional pose and transition pose coordinate points can be directly called out from the database, the regional pose and transition pose coordinate points are output as numerical variables and transmitted to the polishing robot 2 through a communication protocol, and the polishing robot can select polishing parameters (pressure, flexible feedback time, rotating speed, moving speed and polishing action) according to the type of the flaw.
The polishing method relates to two modules, namely a machine hardware drive module and a data processing module; the hardware comprises the following components: the device comprises a singlechip, a driving plate, a robot, a polishing head, a constant force polishing device, an acquisition camera and an acquisition data processing industrial personal computer; the software comprises: the system comprises an image acquisition part, a camera calibration module, an image processing module and a path planning module.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (5)
1. A finite element partition full-automatic polishing method based on two-dimensional vision is characterized by comprising the following steps of: the method comprises the following steps:
S1: collecting all flaw information acquired by a robot, performing finishing analysis on the flaw information, pushing a flaw visualization module, performing flaw box selection on the three-dimensional model of the automobile, and acquiring path coordinates;
s2: carrying out finite element optimization and splitting on areas of different parts of the vehicle;
S3: a pose conversion point is arranged between two adjacent areas, so that collision can be avoided;
S4: and when a flaw appears in a certain area, classifying and attributing, and transmitting corresponding coordinates and flaw types to the polishing robot.
2. The two-dimensional vision-based finite element partition full-automatic polishing method is characterized by comprising the following steps of: in step S1, the collecting robot carries a collecting camera to collect and sort flaw point information of a workpiece to be processed, processes the flaw point information, pushes the flaw point information to a visualization module, and the visualization module is provided with a database of the visualization module, performs data accumulation through early training, confirms flaw types through comparison, performs display and output through communication, acquires two-dimensional space coordinates through a collecting system, and acquires the pose of the mechanical arm through digital-analog reduction and pose conversion matrix.
3. The two-dimensional vision-based finite element partition full-automatic polishing method is characterized by comprising the following steps of: in step S2, the large-area mechanical arm pose data are obtained and statistically calculated, so as to conduct range division on multi-curvature pose points, sort and combine the same pose and similar pose, conduct region similar division on grinding points by adopting a finite element method and taking curvature as constraint condition, and conduct unified tool-entering and tool-retracting pose management on the same region class, similar pose class and coincident point class.
4. The two-dimensional vision-based finite element partition full-automatic polishing method is characterized by comprising the following steps of: in step S3, a one-to-many transition gesture training simulation is performed on the region divided by the finite element, the transition gestures between different regions are compared and optimally stored, and when the blemishes of the two regions with different gestures are obtained, the transition points are selected, so that better transition is achieved.
5. The two-dimensional vision-based finite element partition full-automatic polishing method is characterized by comprising the following steps of: in step S4, when the collecting system obtains the flaw point information, the corresponding region pose and transition pose coordinate points can be directly called out from the database, and output as numerical variables, and transmitted to the polishing robot through a communication protocol, and the polishing robot can select polishing parameters according to the flaw type.
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| CN202310807272.1A CN118528076A (en) | 2023-07-03 | 2023-07-03 | Finite element partition full-automatic polishing method based on two-dimensional vision |
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| CN202310807272.1A CN118528076A (en) | 2023-07-03 | 2023-07-03 | Finite element partition full-automatic polishing method based on two-dimensional vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118798597A (en) * | 2024-09-12 | 2024-10-18 | 湘江实验室 | A multimodal data-driven fuzzy decision-making robot scheduling method |
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2023
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118798597A (en) * | 2024-09-12 | 2024-10-18 | 湘江实验室 | A multimodal data-driven fuzzy decision-making robot scheduling method |
| CN118798597B (en) * | 2024-09-12 | 2024-12-17 | 湘江实验室 | Multi-mode data-driven fuzzy decision robot scheduling method |
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