Method and apparatus of determining point for processing workpiece
AssigneeABB Schweiz AG
InventorsWenzhou Yan, Tongshuai Zhu, Lun Jiang, Hao Chen, Xiaodi Yu
Life of this patent
Estimating the term…
Abstract
Methods and devices for determining a point for processing a workpiece. The methods include receiving an input representing an offset for adjusting a sample workpiece point, the sample workpiece point corresponding to a workpiece point for processing the workpiece, adjusting the sample workpiece point based on the input, so as to generate an adjusted sample workpiece point, and determining the workpiece point based on the adjusted sample workpiece point.
Claims6
A method of determining a point for processing a workpiece, comprising:
- receiving, via a human machine interface, an input representing an offset for adjusting a sample workpiece point, the sample workpiece point corresponding to a workpiece point for processing the workpiece, wherein the user is able to adjust the sample workpiece point on a screen of the human machine interface;
- acquiring, from a 3D camera, a plurality of sample workpiece contour points representing a contour of the sample workpiece;
- determining, based on a plurality of model contour points and the plurality of sample workpiece contour points, a workpiece matrix for transforming the plurality of model contour points to the plurality of sample workpiece contour points;
- adjusting the sample workpiece point based on the input, so as to generate an adjusted sample workpiece point as an adjusted point on the screen;
- determining the workpiece point based on the adjusted sample workpiece point by mapping the adjusted sample workpiece point onto a coordinate system established on the workpiece;
- wherein determining the workpiece point comprises determining a workpiece section of a workpiece groove of the sample workpiece based on the plurality of workpiece contour points;
- and
- processing the workpiece based on the workpiece point using an industrial robot.
An apparatus of determining a point for processing a workpiece, comprising:
- an input reception module configured to receive an input via a human machine interface including a screen representing an offset for adjusting a sample workpiece point, the sample workpiece point corresponding to a workpiece point for processing the workpiece, wherein a user is able to adjust the sample workpiece point on the screen;
- a sample workpiece acquisition module configured to acquire, from a 3D camera, a plurality of sample workpiece contour points representing a contour of the sample workpiece;
- an adjustment module configured to adjust the sample workpiece point based on the input, so as to generate an adjusted sample workpiece point as an adjusted point on the screen;
- wherein the adjustment module is configured to determine, based on a plurality of model contour points and the plurality of sample workpiece contour points, a workpiece matrix for transforming the plurality of model contour points to the plurality of sample workpiece contour points;
- a workpiece determination module configured to determine the workpiece point based on the adjusted sample workpiece point by mapping the adjusted sample workpiece on the screen;
- wherein determining the workpiece point comprises determining a workpiece section of a workpiece groove of the sample workpiece based on the plurality of workpiece contour points;
- and
- a processing module configured to process the workpiece based on the workpiece point using an industrial robot.
Dependencies are inferred from the claim text.