Method, device and system for determining three-dimensional model of object to be measured

Abstract

The embodiment of the invention discloses a method, device and system for determining a three-dimensional model of a to-be-detected object. The method comprises the following steps: enabling an elastic detection element arranged on an end effector to keep a predetermined contact force or contact moment to move on each surface of an object to be detected based on adjusting the position of the end effector of the robot; determining contour data of each surface based on the position adjustment amount of the end effector in the movement process of the elastic detection element on each surface; and determining a three-dimensional model of the to-be-measured object based on the contour data of each surface. According to the embodiment of the invention, the three-dimensional model of the to-be-measured object can be determined without laser scanning equipment, the cost is saved, and the method is also suitable for large-size to-be-measured objects. In addition, the embodiment of the invention has no special requirement on the photosensitive attribute of the to-be-detected object.

Description

technical field [0001] The present invention relates to the field of robotics, and in particular, to a method, a device and a system for determining a three-dimensional model of an object to be measured. Background technique [0002] A three-dimensional (3D) model is a polygonal representation of an object, usually displayed with a computer or other video device. Objects displayed can be real-world entities or imaginary objects. Now, 3D models have been used in a variety of different fields. They are used in the medical industry to make accurate models of organs; the film industry uses them for moving characters, objects, and real-life movies; the video game industry uses them as resources in computers and video games; and the science industry uses them as accurate models of chemical compounds ; the construction industry uses them to present proposed architectural or landscape representations; the engineering community uses them to design new equipment, vehicles, structure...

AI Technical Summary

Problems solved by technology

However, laser scanning equipment is expensive, leading to cost issues

In addition, in laser scanning, the size of the scanned object needs to be limited to be smaller than the specified value, so this method cannot be applied to large-sized objects

Moreover, the laser scanning method has strict requirements on the surface of the object and is not suitable for objects that are sensitive to light.

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