CN-117840851-B - Track planning method and device for polishing steel plate groove

CN117840851BCN 117840851 BCN117840851 BCN 117840851BCN-117840851-B

Abstract

The application discloses a track planning method and a track planning device for polishing a steel plate groove, which are characterized in that firstly, steel plate point cloud data are identified and converted into steel plate CAD numbers, then the steel plate point cloud data are divided into steel plate plane point cloud data, edge estimation is carried out on the steel plate plane point cloud data according to groove edge information in the steel plate CAD numbers to obtain a point cloud set at the junction of a steel plate plane and a groove surface, initial polishing track points are generated, and final polishing positions are obtained according to initial polishing positions and correction transformation matrixes generated by the initial polishing track points. The precision of groove polishing can be improved by calculating the point cloud of the junction of the plane of the steel plate and the groove surface, the adaptability to complex-shaped grooves is improved by combining the CAD of the steel plate and the groove information planning polishing track, the positioning time of a steel plate tool can be saved by automatically acquiring the point cloud of the steel plate, the polishing paths are adapted to different planning polishing paths of the steel plate, the automation degree of a polishing workstation is improved, and the groove polishing efficiency is improved.

Inventors

FENG BIAO
DONG BIN
MA QIANG

Assignees

陕西戴伯特智能科技有限公司

Dates

Publication Date: 20260508
Application Date: 20240125

Claims (8)

1.A track planning method for polishing a steel plate groove, which is characterized by comprising the following steps: Identifying steel plate point cloud data and converting the steel plate point cloud data into steel plate CAD numbers; acquiring an included angle between a normal corresponding to each point in the steel plate point cloud data and a z-axis of a base coordinate system ; Will form an included angle Comparing the data with a separation threshold value to obtain steel plate plane point cloud data and groove surface data; Performing edge estimation on the steel plate plane point cloud data according to groove edge information in the CAD number of the steel plate to obtain a point cloud set at the junction of the steel plate plane and the groove surface; generating initial polishing track points according to point clouds at the joint of the plane of the steel plate and the bevel surface; And obtaining a final polishing pose according to the initial polishing pose generated by the initial polishing track points and the correction transformation matrix, continuously traversing to generate polishing tracks of each groove edge, and completing polishing track planning to obtain polishing tracks.
2. The method for planning a track for polishing a steel plate groove according to claim 1, wherein the step of identifying steel plate point cloud data and converting the steel plate point cloud data into a steel plate CAD number comprises: Acquiring point cloud data of the steel plate through a 3D camera; converting the point cloud data into a robot base coordinate system and performing noise reduction treatment; Extracting steel plate data in the point cloud data to obtain steel plate point cloud data; and converting the steel plate point cloud data into a two-dimensional steel plate image and performing template matching to obtain the steel plate CAD number.
3. The method for planning a track of a steel plate groove polishing as set forth in claim 1, wherein the step of performing edge estimation on the steel plate plane point cloud data according to groove edge information in the CAD number of the steel plate to obtain a point cloud set at the junction of the steel plate plane and the groove surface comprises: calculating the projection width of the groove surface according to the groove side information in the CAD number of the steel plate; Performing edge estimation on the plane point cloud data of the steel plate to obtain edge point cloud of the steel plate; And calculating the shortest distance from the edge point cloud of the steel plate to the groove edge information, and obtaining a point cloud set at the junction of the steel plate plane and the groove surface according to the shortest distance and the projection width of the groove surface.
4. The method for planning a track for polishing a steel plate groove as set forth in claim 1, wherein the step of generating initial polished track points from point clouds at the junction of the steel plate plane and the groove surface comprises: Fitting point clouds at the junction of the plane and the bevel surface of the steel plate according to the type of the edge of the steel plate to obtain junction point clouds; dividing the point cloud at the junction into initial polishing track points, wherein the initial polishing track points comprise linear polishing track points, circular polishing track points and circular polishing track points.
5. A track planning apparatus for polishing a groove of a steel plate, the apparatus comprising: The identification module is used for identifying the steel plate point cloud data and converting the steel plate point cloud data into a steel plate CAD number; The segmentation module is used for obtaining the included angle between the normal corresponding to each point in the steel plate point cloud data and the z axis of the base coordinate system ; Will form an included angle Comparing the data with a separation threshold value to obtain steel plate plane point cloud data and groove surface data; the edge estimation module is used for carrying out edge estimation on the steel plate plane point cloud data according to groove edge information in the CAD number of the steel plate to obtain point clouds at the junction of the steel plate plane and the groove surface; The track point generation module is used for generating initial polishing track points according to point clouds at the joint of the steel plate plane and the groove surface; And the polishing pose generation module is used for obtaining a final polishing pose according to the initial polishing pose generated by the initial polishing track points and the correction transformation matrix, continuously traversing and generating polishing tracks of each groove edge, and completing polishing track planning to obtain polishing tracks.
6. The apparatus for trajectory planning for groove grinding of steel sheet of claim 5, wherein the identification module is further configured to: Acquiring point cloud data of the steel plate through a 3D camera; converting the point cloud data into a robot base coordinate system and performing noise reduction treatment; Extracting steel plate data in the point cloud data to obtain steel plate point cloud data; and converting the steel plate point cloud data into a two-dimensional steel plate image and performing template matching to obtain the steel plate CAD number.
7. The apparatus for trajectory planning for groove grinding of steel sheet of claim 5, wherein said edge estimation module is further configured to: calculating the projection width of the groove surface according to the groove side information in the CAD number of the steel plate; Performing edge estimation on the plane point cloud data of the steel plate to obtain edge point cloud of the steel plate; And calculating the shortest distance from the edge point cloud of the steel plate to the groove edge information, and obtaining a point cloud set at the junction of the steel plate plane and the groove surface according to the shortest distance and the projection width of the groove surface.
8. The apparatus for trajectory planning for groove grinding of steel sheet according to claim 5, wherein the trajectory point generation module is further configured to: Fitting point clouds at the junction of the plane and the bevel surface of the steel plate according to the type of the edge of the steel plate to obtain junction point clouds; dividing the point cloud at the junction into initial polishing track points, wherein the initial polishing track points comprise linear polishing track points, circular polishing track points and circular polishing track points.

Description

Track planning method and device for polishing steel plate groove Technical Field The application relates to the technical field of machining, in particular to a track planning method and device for polishing a steel plate groove. Background The steel plate groove polishing is to process the surface of the steel plate through various groove tools to achieve a certain shape and size so as to adapt to different application requirements. One type of beveling commonly used is grinding the bevel. The surface quality and the service life of the steel plate can be improved by groove processing. The steel plate after groove processing has smoother surface, smaller roughness and correspondingly improved wear resistance and corrosion resistance, thereby being more durable in the application process. Secondly, the form of the steel plate can be changed in groove processing, so that different requirements are met. For example, for the steel plate which needs to be cut and bent, the shape and the size of the steel plate can be changed through groove processing, so that the steel plate is more suitable for specific application scenes. And the steel plate groove polishing track planning is used as one of key technologies in an intelligent polishing workstation and plays an indispensable role in modern welding engineering. Its position is increasingly important, mainly because it plays a vital role as a core step in improving the weld quality and overall performance of the workpiece. However, in the prior art, a manual or semi-automatic mode is generally adopted for polishing the steel plate groove, and a skilled worker with abundant experience is required for manual operation, but the semi-automatic equipment is not intelligent enough in track planning and control, so that the problems of low processing speed, low efficiency and the like are caused, and the conventional polishing method may cause insufficient processing precision due to insufficient experience of an operator, incorrect operation, inaccurate positioning of a tool and the like, so that the overall performance and reliability of a workpiece are affected. In addition, the traditional method is difficult to process grooves with complex geometric shapes, and the problems of dead angle processing, uneven surfaces and the like are easily caused, so that the welding quality and the overall appearance of the workpiece are affected. How to solve the above-mentioned problems is one of the directions studied by those skilled in the art. Disclosure of Invention The application aims to overcome the defects of the prior art, and provides a track planning method and device for polishing a steel plate groove, which can improve the accuracy of polishing the groove by calculating the point cloud at the joint of the plane and the groove surface of the steel plate, and simultaneously, the adaptability to a complex-shaped groove is improved by combining the CAD of the steel plate and the groove information planning polishing track. The aim of the application is achieved by the following technical scheme: in a first aspect, the present application provides a track planning method for polishing a steel plate groove, where the method includes: Identifying steel plate point cloud data and converting the steel plate point cloud data into steel plate CAD numbers; Dividing the steel plate point cloud data into steel plate plane point cloud data; Performing edge estimation on the steel plate plane point cloud data according to groove edge information in the CAD number of the steel plate to obtain a point cloud set at the junction of the steel plate plane and the groove surface; generating initial polishing track points according to point clouds at the joint of the plane of the steel plate and the bevel surface; and obtaining the final polishing pose according to the initial polishing pose generated by the initial polishing track points and the correction transformation matrix. In one possible embodiment, the step of identifying steel plate point cloud data and converting the steel plate point cloud data into a steel plate CAD number comprises: Acquiring point cloud data of the steel plate through a 3D camera; converting the point cloud data into a robot base coordinate system and performing noise reduction treatment; Extracting steel plate data in the point cloud data to obtain steel plate point cloud data; and converting the steel plate point cloud data into a two-dimensional steel plate image and performing template matching to obtain the steel plate CAD number. In one possible embodiment, the step of dividing the steel plate point cloud data into steel plate plane point cloud data includes: acquiring an included angle alpha i between a normal corresponding to each point in the steel plate point cloud data and a z axis of a base coordinate system; And comparing the included angle alpha i with a separation threshold value to obtain steel plate plane point cloud data. In one possible i