KAMYSHNIKOV, Alexander Vadimovich,КАМЫШНИКОВ, Александр Вадимович
申请号：
RURU2016/000630
公开号：
WO2018/038630A1
申请日:
2016.09.19
申请国别(地区):
WO
年份:
2018
代理人:
摘要：
The invention relates to the use of robotic devices for processing three-dimensional objects. The present method includes using a robotic processing device, a mechanical arm of which holds a removable working tool, and a visual imaging device. The method includes steps in which the robotic processing device is moved successively to predetermined or randomly selected discrete working positions in direct proximity to a three-dimensional object. At each working position assumed by the robotic device, the actual coordinates and the orientation of the robotic device relative to the object to be processed are determined, as well as the surface coordinates of said object. For each working position assumed it is determined whether, from the given working position assumed, the working tool will be able to reach a region to be processed of the three-dimensional object, determined according to a known processing model. The path of travel of the working tool is calculated for the region to be processed of the three-dimensional object. Processing is carried out on the region to be processed of the three-dimensional object. Already processed areas of the region to be processed are excluded when determining whether the working tool will be able to reach the region to be processed from a given working position assumed and calculating the path of travel of the working tool. The visual imaging device displays at all times a graphical image of the surface of the object to be processed, said image having a processing model superimposed thereon to allow visual monitoring of the processing process. The method provides accuracy and allows the fully automated processing of three-dimensional objects of complex shape in real conditions, as well as monitoring of the processing process.Linvention concerne lutilisation de dispositifs robotisés pour le traitement dobjets volumétriques. Le procédé consiste à utiliser un dispositif robotisé de traitement dont le manipulateur comprend un instrument
