METHOD FOR PROCESSING VOLUMETRIC OBJECTS Russian patent published in 2017 - IPC A01G3/53 B25J5/00 

FIELD: physics.

SUBSTANCE: method involves the use of a robotic processing device, the manipulator 2 of which holds the detachable working tool 5, the visual display devices. The method includes the steps of sequential moving a robotic device for processing to pre-calculated or randomly selected discrete workstations in close proximity to a three-dimensional object. On each busy robotic workstation device with the help of the positioning system, the real coordinates and orientation of the robotic device for processing with respect to the processing object and the coordinates of the object surface are determined. For each occupied workplace, it is determined that the working tool 5 can be reached from this occupied workplace of, at least, a part of the processing area of the three-dimensional object defined in accordance with the known processing model. The trajectory of the working tool is calculated for a part of the processing area of the volumetric object. A part of the processing area of the three-dimensional object is processed. When determining the possibility of reaching the working tool of, at least, a part of the processing area from this occupied workplace and calculating the working tool path, the previously processed parts of the processing area are excluded. The visual display device displays a graphic image of the processing object surface at a time, combined with a processing model to allow visual control over the processing process.

EFFECT: method provides accuracy and complete automated processing of three-dimensional objects of complex shape in real conditions and control over the processing process.

6 cl, 2 dwg