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Workpiece track three-dimensional reconstruction method and system based on digital twinning

A technology of three-dimensional reconstruction and processing trajectory, applied in the field of three-dimensional reconstruction, can solve the problems of low efficiency, cumbersome steps, slow modeling speed, etc., to achieve the effect of improving accuracy, avoiding clamping errors, and speeding up

Pending Publication Date: 2021-10-26
XINJIANG UNIVERSITY
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

[0004] The present invention provides a three-dimensional reconstruction method of workpiece trajectory based on digital twins, which overcomes the shortcomings of the above-mentioned prior art, and can effectively solve the problems of cumbersome steps, slow modeling speed and low efficiency in traditional processing methods

Method used

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  • Workpiece track three-dimensional reconstruction method and system based on digital twinning
  • Workpiece track three-dimensional reconstruction method and system based on digital twinning
  • Workpiece track three-dimensional reconstruction method and system based on digital twinning

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Embodiment 1

[0046]Embodiment 1: as attached figure 1 As shown, this embodiment discloses a method for three-dimensional reconstruction of workpiece trajectory based on digital twins, including:

[0047] Step S101, in the real environment, obtain the three-dimensional information of the workpiece, wherein the three-dimensional information of the workpiece includes the shape, size and depth information of the workpiece, and the depth information includes the distance from the distance measuring device to the workpiece;

[0048] Step S102, in the virtual simulation environment, using the three-dimensional information of the workpiece to construct the corresponding model file and startup file of the workpiece, so as to realize the mapping of the workpiece to the real environment in the virtual simulation environment;

[0049] Step S103, obtain the workpiece trajectory of the workpiece in the real environment, calculate the interpolation point of the workpiece trajectory, transmit all the inte...

Embodiment 2

[0057] Embodiment 2, as attached figure 2 As shown, the implementation of the present invention discloses a method for three-dimensional reconstruction of workpiece trajectory based on digital twins, wherein obtaining the workpiece trajectory of the workpiece in the real environment further includes:

[0058] Step S201, obtaining the workpiece image in the real environment, wherein the workpiece image is obtained by subtracting image B from image A, image A is a photo of the workbench containing the workpiece, and image B is a photo of the workbench not containing the workpiece;

[0059] Step S202, the workpiece image is converted into a workpiece image containing pixels by the following formula;

[0060]

[0061] Among them, u and v represent the pixel plane coordinate system, and u 0 , v 0 Indicates the center coordinate value of the image plane in the pixel coordinate system, x and y indicate the actual size of the pixel on the photosensitive chip, d x 、d y Represen...

Embodiment 3

[0064] Embodiment 3, as attached image 3 , 6 As shown, the implementation of the present invention discloses a three-dimensional reconstruction method of workpiece trajectory based on digital twins, in which the interpolation point calculation is performed on the workpiece trajectory, and all interpolation point information is transmitted to the virtual simulation environment, further comprising:

[0065] Step S301, randomly pick a point P on the workpiece trajectory 0 , with P 0 As the boundary, the workpiece trajectory is divided into left half and right half;

[0066] Step S302, in the right half, from P 0 At the beginning, iteratively search the trajectory interpolation point of the workpiece with 0.01rad, where the interpolation step is R; judge whether the search point falls within the range of the workpiece trajectory, if it falls within the range of the workpiece trajectory, it is an interpolation point, If it does not fall within the range of the workpiece trajec...

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Abstract

The invention relates to the technical field of three-dimensional reconstruction, in particular to a workpiece track three-dimensional reconstruction method and system based on digital twinning, and the method comprises the steps: generating a workpiece model corresponding to a workpiece in a real environment in a virtual environment through the mapping of the real physical environment and the virtual simulation environment; acquiring the processing track in the virtual simulation environment by extracting the information of the real environment and the virtual simulation environment at the same time, comparing and adjusting the processing track in the virtual simulation environment and the workpiece track in the real environment, and correcting the processing track in the virtual simulation environment to increase the modeling speed and improve the modeling precision through mapping; after basic information of the workpiece is acquired in a real environment, a model file and a processing track are quickly established in a virtual simulation environment, further, three-dimensional information corresponding to the basic information is based on a workpiece tail end coordinate system, and when the information is used for processing, positioning errors of the workpiece relative to the robot and geometric errors generated when the sensor recognizes the workpiece are obtained.

Description

technical field [0001] The invention relates to the technical field of three-dimensional reconstruction, and relates to a method and system for three-dimensional reconstruction of workpiece tracks based on digital twins. Background technique [0002] At present, the steps of using robots to process all need to go through scanning and 3D reconstruction of the workpiece to be processed, and then import the 3D model into professional programming software for path planning, and then clamp the workpiece to be processed under the robot workspace, and correct the positioning error. A series of tedious procedures. [0003] The existing processing and modeling methods include: scanning the workpiece with a traditional handheld 3D scanner, and obtaining the point cloud by pasting the mark points of the workpiece; and reconstructing the point cloud through the complex algorithm of the 3D model, and using the complex algorithm to convert the 2D image Synthetic 3D model; this method has...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/20G06T5/30G06F30/20
CPCG06T17/20G06T5/30G06F30/20
Inventor 孙文磊徐洋洋谢文显刘国良
Owner XINJIANG UNIVERSITY
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