Invention Grant
- Patent Title: Method for constructing curve of robot processing path of part with small curvature based on point cloud boundary
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Application No.: US17059469Application Date: 2020-06-13
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Publication No.: US11200351B2Publication Date: 2021-12-14
- Inventor: Wenlong Li , Cheng Jiang , Gang Wang , Zelong Peng , Han Ding
- Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY
- Applicant Address: CN Hubei
- Assignee: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY
- Current Assignee: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY
- Current Assignee Address: CN Hubei
- Agency: JCIP Global Inc.
- Priority: CN201910581630.5 20190630
- International Application: PCT/CN2020/095988 WO 20200613
- International Announcement: WO2021/000720 WO 20210107
- Main IPC: G06F30/10
- IPC: G06F30/10 ; G06T17/30 ; G06K9/62 ; G09C1/00

Abstract:
The disclosure discloses a method for constructing actual processing curve of part with small curvature based on a point cloud boundary. The method includes: (a) encrypting a three-dimensional ordered boundary curve of a part to be processed; (b) fitting encrypted boundary points into a plane, and projecting each boundary point into the plane to obtain a projection point; (c) performing Euclidean cluster within the plane to obtain point sets, and fitting the obtained point sets into a straight line; (d) performing the Euclidean cluster on projection points that are not fitted into the straight line to obtain corner point sets, and fitting a sharp corner or a rounded corner of the corner point sets to obtain a fitted boundary curve within the plane; (e) mapping the fitted boundary curve to a curved surface of the three-dimensional ordered boundary curve to obtain an actual processing curve of the part to be processed.
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