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1. (WO2018038630) METHOD FOR PROCESSING THREE-DIMENSIONAL OBJECTS

Pub. No.:    WO/2018/038630    International Application No.:    PCT/RU2016/000630
Publication Date: Fri Mar 02 00:59:59 CET 2018 International Filing Date: Tue Sep 20 01:59:59 CEST 2016
IPC: A01G 3/053
B25J 5/00
B25J 9/00
Applicants: SC "QUANTUM SYSTEMS"
АКЦИОНЕРНОЕ ОБЩЕСТВО "КВАНТУМ СИСТЕМС"
Inventors: KAMYSHNIKOV, Alexander Vadimovich
КАМЫШНИКОВ, Александр Вадимович
Title: METHOD FOR PROCESSING THREE-DIMENSIONAL OBJECTS
Abstract:
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.