CN104537712B - Method for establishing three-dimensional spray nodes of workpiece to be sprayed - Google Patents
Method for establishing three-dimensional spray nodes of workpiece to be sprayed Download PDFInfo
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- CN104537712B CN104537712B CN201510000857.8A CN201510000857A CN104537712B CN 104537712 B CN104537712 B CN 104537712B CN 201510000857 A CN201510000857 A CN 201510000857A CN 104537712 B CN104537712 B CN 104537712B
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- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
The invention discloses a method for establishing three-dimensional spray nodes of a workpiece to be sprayed. The method includes the steps that according to a three-dimensional projection view of the workpiece to be sprayed, multiple faces to be sprayed of the workpiece are determined; according to spray parameters of a spray robot and the three-dimensional projection view, the spray nodes of each face of the faces to be sprayed are determined, and two-dimensional point coordinates of the spray points are acquired; each spray node in a front view is read and the two-dimensional point coordinates of each spray node are converted into three-dimensional point coordinates through the following steps.
Description
Technical field
The present invention relates to spray field, and in particular to a kind of method of the 3-D spraying node for setting up workpiece to be sprayed.
Background technology
Can avoid manually being chronically at poisonous and hazardous production environment using spray robot in spraying industry.It is right at present
The programming mode of spray robot mainly includes artificial lead-through teaching and off-line programing method.Artificial lead-through teaching is by veteran work
People's operation robot joystick progressively moving the position of spray gun, to complete entirely to spray the setting in path.By record and
Parameters variation and the position in robot end joint are preserved so that robot can repeat original movement locus, to realize certainly
Dynamic spraying.This kind of method has of a relatively high cost of labor.
Off-line programing method needs to previously generate spraying part model using computer graphics techniques.Workpiece is being sprayed
When, spraying path is calculated according to part model and spraying coating process has been sprayed, and according to the spraying path command robot
Sprayed.However, the robot off-line programming software operation employed in practical application is relative complex, and need accurate
Workpiece CAD model or threedimensional model, could simulate generation and more accurately spray path.But in Furniture panel etc. to spraying road
In the less demanding production environment of footpath precision, these sheet material workpieces, then cannot be using offline often without CAD or threedimensional model
Programming software goes simulation to generate spraying path.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of spraying method of control spray robot, artificial to reduce
Participate in, improve spraying coordinates measurement precision, reduce the complexity of spraying, improve operability.
To solve above-mentioned technical problem, the present invention is adopted the following technical scheme that：
The invention provides a kind of method of the 3-D spraying node for setting up workpiece to be sprayed, it is characterised in that described to build
The method for founding the 3-D spraying node of workpiece to be sprayed is comprised the following steps：
The face multiple to be sprayed of the workpiece, the three-dimensional throwing are determined according to tripleplane's view of the workpiece to be sprayed
Video display figure includes front view, top view and left view；
Determine each of the plurality of face to be sprayed according to the spray parameters and tripleplane's view of spray robot
The spraying node in individual face, and obtain the two-dimensional points coordinate of the spraying node；And
Read each the spraying node in the front view, and using following steps by described each spraying node
Two-dimensional points coordinate is converted to three-dimensional point coordinate：
Read the target spraying node in the front view, two dimension seat of the target spraying node in the front view
It is designated as（X,Z）, and assume that the target spraying node is (X, Y, Z) in three-dimensional coordinate；
X rows belong to the spraying node row coordinate of the workpiece for measurement in the traversal detection top view；
The comparison row coordinate, to obtain the maximum Y_Max1 and minima Y_Min1 of the row coordinate；
Z dependents of dead military hero are in the spraying rows of nodes coordinate of the workpiece for measurement in the traversal detection left view；
The comparison row coordinate, to obtain the maximum Y_Max2 and minima Y_Min2 of the row coordinate；
Calculate the first difference between the maximum Y_Max1 and the maximum Y_Max2；
Calculate the second difference between minima Y_Min1 and minima Y_Min2；
When first difference is less than the first predetermined threshold value and second difference is less than the second predetermined threshold value, then compare institute
State the maximum Y_Max1 and maximum Y_Max2, and relatively minima Y_Min1 and minima Y_Min2；
When the maximum Y_Max1 is equal to the maximum Y_Max2, then in the three-dimensional coordinate of the target spraying node
The maximum Y_Max of Y-coordinate be equal to Y_Max1 or Y_Max2, otherwise, the maximum Y_Max of Y-coordinate is Y_Max1 and Y_
Smaller value in Max2；
When minima Y_Min1 is equal to minima Y_Min2, then in the three-dimensional coordinate of the target spraying node
The minima Y_ Min of Y-coordinate be equal to Y_Min1 or Y_Min2, otherwise, the minima Y_ Min of Y-coordinate is Y_Min1 and Y_
Smaller value in Min2；
One is selected to be worth as coordinate Y from Y_Min and Y_Max according to the spraying surface information of the workpiece to be sprayed, with
Determine that the target sprays node at three-dimensional coordinate (X, Y, Z).
In one embodiment, the method for the 3-D spraying node for setting up workpiece to be sprayed is further comprising the steps of：
When first difference more than first predetermined threshold value or second difference more than the described second default threshold
During value, then stop calculating the three-dimensional coordinate that the target sprays node.
In one embodiment, the method for the 3-D spraying node for setting up workpiece to be sprayed is further comprising the steps of：
Read the spray-coating surface numbering of the workpiece to be sprayed；
When the numbering is odd number, then the coordinate Y for judging the target spraying node is equal to minima Y_Min；And
When the numbering is even number, then the coordinate Y for judging the target spraying node is equal to maximum Y_Max.
In one embodiment, it is described from Y_Min and Y_Max select a value as coordinate Y value the step of also wrap
Include following steps：
Read the spray-coating surface numbering of the workpiece to be sprayed；
When the numbering is coupling number, then the coordinate Y for judging the target spraying node is equal to minima Y_Min；And
When the numbering is odd number, then the coordinate Y for judging the target spraying node is equal to maximum Y_Max.
The method of the 3-D spraying node for setting up workpiece to be sprayed according to claim 1 and 2, it is characterised in that
The method of the 3-D spraying node for setting up workpiece to be sprayed is further comprising the steps of：
Read in the top view each spraying node, and using following steps by the top view each spray
The two-dimensional points coordinate for applying node is converted to three-dimensional point coordinate：
Read the target spraying node in the top view, two dimension seat of the target spraying node in the front view
It is designated as（X’,Y’）, and assume that target spraying node is (X ', Y ', Z ') in three-dimensional coordinate；
X ' rows belong to the spraying node row coordinate of the workpiece for measurement in the traversal detection front view；
Row coordinate in the comparison front view, to obtain maximum the Z ' _ Max1 and minima Z of the row coordinate ' _
Min1；
Y rows belong to the spraying node row coordinate of the workpiece for measurement in the traversal detection left view；
Row coordinate in the comparison left view, to obtain maximum the Z ' _ Max2 and minima Z of the row coordinate ' _
Min2；
Calculate the first difference between maximum the Z ' _ Max1 and maximum the Z ' _ Max2；
The second difference that minima Z is calculated between ' _ Min1 and minima Z ' _ Min2；
When first difference is less than the first predetermined threshold value and second difference is less than the second predetermined threshold value, then compare institute
State maximum Z ' _ Max1 and maximum the Z ' _ Max2, and relatively more described minima Z ' _ Min1 and minima Z ' _
Min2；
When maximum the Z ' _ Max1 is equal to maximum the Z ' _ Max2, then the target sprays the three-dimensional coordinate of node
In maximum the Z ' _ Max of Z ' coordinates be equal to Z ' _ Max1 or Z ' _ Max2, otherwise, maximum the Z ' _ Max of Z ' coordinates be Z ' _
Smaller value in Max1 and Z ' _ Max2；
' _ Min1 be equal to minima Z ' _ Min2 when minima Z, then the target spray the three-dimensional coordinate of node
In Z ' coordinates minima Z ' _ Min be equal to Z ' _ Min1 or Z ' _ Min2, otherwise, minima Z of Z ' coordinates ' _ Min be Z ' _
Smaller value in Min1 and Z ' _ Min2；
One value is selected as coordinate Z ' from Z ' _ Min and Z ' _ Max according to the spraying surface information of the workpiece to be sprayed,
To determine target spraying node at three-dimensional coordinate (X ', Y ', Z ').
In one embodiment, the method for the 3-D spraying node for setting up workpiece to be sprayed is further comprising the steps of：
Read in the left view each spraying node, and using following steps by the left view each spray
The two-dimensional points coordinate for applying node is converted to three-dimensional point coordinate：
Read the target spraying node in the left view, two dimension seat of the target spraying node in the left view
It is designated as（Y’’,Z’’）, and assume that target spraying node is (X ' ', Y ' ', Z ' ') in three-dimensional coordinate；
Z ' ' dependents of dead military hero are in the spraying rows of nodes coordinate of the workpiece for measurement in the traversal detection front view；
Row coordinate in the comparison front view, to obtain the maximum X ' ' _ Max1 and minima X of the row coordinate ' ' _
Min1；
Y ' ' dependents of dead military hero are in the spraying rows of nodes coordinate of the workpiece for measurement in the traversal detection top view；
Row coordinate in the comparison top view, to obtain the maximum X ' ' _ Max2 and minima X of the row coordinate ' ' _
Min2；
Calculate the first difference between the maximum X ' ' _ Max1 and the maximum X ' ' _ Max2；
The second difference that minima X is calculated between ' ' _ Min1 and minima X ' ' _ Min2；
When first difference is less than the first predetermined threshold value and second difference is less than the second predetermined threshold value, then compare institute
State maximum X ' ' _ Max1 and the maximum X ' ' _ Max2, and relatively more described minima X ' ' _ Min1 and the minima
X’’_Min2；
When the maximum X ' ' _ Max1 is equal to the maximum X ' ' _ Max2, then the three-dimensional of target spraying node is sat
The maximum X ' ' _ Max of the X ' ' coordinates in mark is equal to X ' ' _ Max1 or X ' ' _ Max2, otherwise, the maximum X ' ' of X ' ' coordinates _
Max is the smaller value in X ' ' _ Max1 and X ' ' _ Max2；
' ' _ Min1 be equal to minima X ' ' _ Min2 when minima X, the then three-dimensional seat of the target spraying node
Minima X of the X ' ' coordinates in mark ' ' _ Min be equal to X ' ' _ Min1 or X ' ' _ Min2, otherwise, minima X of X ' ' coordinates ' ' _
Min is the smaller value in X ' ' _ Min1 and X ' ' _ Min2；
One value is selected as coordinate from X ' ' _ Min and X ' ' _ Max according to the spraying surface information of the workpiece to be sprayed
X ' ', to determine target spraying node at three-dimensional coordinate (X ' ', Y ' ', Z ' ').
Compared with prior art, adopt the present invention Study of Intelligent Robot Control system and method can be with automatic measurement workpiece three
View, and the spraying profile of spray gun is automatically generated according to three-view diagram.Spray need not be manually tried during this, so as to improve spray
Precision is applied, artificial burden is alleviated.Simultaneously as will not be limited by workpiece CAD diagram, the Study of Intelligent Robot Control of the present invention
System and method operation is easier, and applicable surface is wider.
Description of the drawings
Fig. 1 show intelligent robot paint finishing according to an embodiment of the invention.
Fig. 2 show optical measuring apparatus according to an embodiment of the invention.
Fig. 3 show the schematic diagram of transfer station according to an embodiment of the invention.
Fig. 4 show the schematic diagram of light curtain support meanss according to an embodiment of the invention.
Fig. 5 show the structure chart of motor control module according to an embodiment of the invention.
Fig. 6 show the spraying method flow chart for controlling spray robot according to an embodiment of the invention.
Fig. 7 show carries out the method flow diagram of optical measurement to spraying workpiece according to an embodiment of the invention.
Fig. 8 show the method flow diagram that optical measurement is carried out to spraying workpiece according to another embodiment of the present invention.
Fig. 9 show the method flow diagram of central controller according to an embodiment of the invention.
Figure 10 show the other method flow chart of central controller according to an embodiment of the invention.
Figure 11 show the method flow diagram in the spraying path for calculating one side according to an embodiment of the invention.
Figure 12 show one side spraying node schematic diagram according to an embodiment of the invention.
Figure 13 show the method stream for calculating the corresponding three-dimensional coordinate of one side spraying node according to an embodiment of the invention
Cheng Tu.
Figure 14 show the method for calculating the corresponding three-dimensional coordinate of front view spraying node according to an embodiment of the invention
Flow chart.
Figure 15 show the method for calculating the corresponding three-dimensional coordinate of top view spraying node according to an embodiment of the invention
Flow chart.
Figure 16 show the method for calculating the corresponding three-dimensional coordinate of left view spraying node according to an embodiment of the invention
Flow chart.
Figure 17 show the method flow diagram for calculating each spraying node normal vector according to an embodiment of the invention.
Figure 18 show the schematic diagram of target spraying node and adjacent node according to an embodiment of the invention.
Figure 19 show carries out the method flow diagram of spatial fit to the spraying profile according to an embodiment of the invention.
Figure 20 show the method flow diagram for producing integral spray path according to an embodiment of the invention.
Specific embodiment
Hereinafter will embodiments of the invention be given with detailed description.Although the present invention will be with reference to some specific embodiments
It is illustrated and illustrates, but should be noted that the present invention is not merely confined to these embodiments.Conversely, to the present invention
The modification for carrying out or equivalent, all should cover in the middle of scope of the presently claimed invention.
In addition, in order to better illustrate the present invention, numerous details are given in specific embodiment below.
It will be understood by those skilled in the art that without these details, the present invention equally can be implemented.It is right in other example
It is not described in detail in known method, flow process, element and circuit, in order to highlight the purport of the present invention.
Fig. 1 show intelligent robot paint finishing 100 according to an embodiment of the invention.In one embodiment, intelligence
Energy robot spraying system 100 includes optical measuring apparatus 106, main control device 102 and spraying equipment 104.In one embodiment
In, spraying equipment 104 includes spray robot 112 and is assemblied in the spray gun 110 of spray robot 112.Optical measuring apparatus 106
Optical measurement is carried out to spraying workpiece, to obtain tripleplane's view of the spraying workpiece and the size letter of the spraying workpiece
Breath, and produce the workpiece signal for representing tripleplane's view and the dimension information.Main control device 102 sets with optical measurement
Standby 106 are connected, and for receiving the workpiece signal, the spray parameters related to spray robot 112 are read, according to the workpiece
Signal and the spray parameters calculate the spraying path of the spray robot 112, and produce comprising the spraying routing information
Spraying instruction.Spraying equipment 104 is connected with the main control device.Spraying equipment 104 is according to the spraying instruction according to described
Spraying path carries out spraying operation.
Advantage is that intelligent robot paint finishing 100 is using the three of the workpiece of measurement spraying in real time of optical measuring apparatus 106
Dimension projection view, and the spraying profile of spray gun is automatically generated according to tripleplane's view.Due to need not manually grasp
Make, intelligent robot paint finishing 100 improves deposition accuracies.CAD diagram piece due to not needing standard workpiece, intelligent robot
Paint finishing 100 has saved cost.
In the embodiment illustrated in fig. 1, main control device 102 includes central controller 126, device drives memorizer 120, shows
Show device 122, model interface 124 and control knob 128.Device drives memorizer 120, display 122, model interface 124 and control
Button processed 128 is connected with central controller 126.Central controller 126 is entered by model interface 124 with optical measuring apparatus 106
Row communication, for receiving tripleplane's view that the transmission of optical measuring apparatus 106 comes.Central controller 126 is deposited from device drives
Read in reservoir 120 and drive parameter, and to optical measuring apparatus 106 and the configuration driven operational factor of spraying equipment 104.Central authorities' control
Device processed 126 generates spraying path according to tripleplane's view and spray parameters of workpiece for measurement, and shows on display 122.
Staff checks the spraying path for automatically generating by display 122.If the spraying path for automatically generating needs modification, work
Make personnel and spray parameters are changed by control knob 128.Thus, central controller 126 generates again spraying path, and produces spray
Instruction is applied, to control spray robot 112 spraying operation is completed.
In one embodiment, optical measuring apparatus 106 include data-interface 130, picking sensor 132, depth camera
Machine 134, transfer station 136 and motor control module 138.Data-interface 130 is connected with main control device 102, for from main control device
102 receive driving parameter, and to the transmission of main control device 102 tripleplane view.The concrete structure of optical measuring apparatus 106 and behaviour
Work will be described with reference to Fig. 2 to Fig. 5.
Fig. 2 show optical measuring apparatus 106 according to an embodiment of the invention.As shown in Fig. 2 transfer station 136 includes
Conveyer belt 224.Belt is covered on conveyer belt 224, for spraying workpiece to be sent to into the other end from one end of transfer station.Fig. 2 shows
Show that a spraying workpiece is sent to the schematic diagram of the other end from one end of transfer station.For convenience, Fig. 2 shows the spray
Workpiece is applied respectively in transfer station two ends and the state in centre position.
In one embodiment, picking sensor 132 is installed in transfer station 136.More particularly, transfer station 136 is wrapped
Two table tops are included, picking sensor 132 is arranged on the junction of two table tops.In the embodiment of fig. 2, picking sensor 132
Including two groups of light curtain emitters and receptor, for example：First group of emitter 210 and receptor 211, second group of He of emitter 212
213.When transfer station 136 transmits the spraying workpiece, two groups of light curtain emitters and receptor measure respectively and record institute
State the first face of spraying workpiece and the projection view in the second face.For example：Emitter 210 and receptor 211 are measured and record described
The top view of spraying workpiece；Emitter 212 and receptor 213 measure and record the front view of the spraying workpiece.More specifically
Say, the emitter of each picking sensor sends equidistant light, and corresponding receptor receives corresponding light, when receptor connects
When receiving light, first signal of telecommunication is output as；When light is blocked by the body, receptor does not receive light, then export second
The signal of telecommunication；The picking sensor goes out the right of the workpiece for measurement according to first signal of telecommunication and the second point signal of change
Answer the shapes and sizes in face.
Depth camera 134 is installed on one end of transfer station 136.Depth camera 134 is according to the spraying workpiece and institute
State the distance between transfer station background difference measurements and record the projection view in the 3rd face of the spraying workpiece.More particularly,
Depth camera 134 is arranged on the direction of transfer face of the spraying workpiece, and thus, depth camera 134 is arranged and have recorded
The left view of the spraying workpiece.
Advantage is, using two groups of picking sensors and the structure of depth camera of Fig. 2, the nothing of optical measuring apparatus 106
Three groups of picking sensors are needed, building for transfer station 136 is not only facilitated, the cost of transfer station 136 is also a saving.
In another embodiment, picking sensor includes three groups of light curtain emitters and receptor, for measuring respectively and
Record three faces of the spraying workpiece（That is front view, top view and left view）Projection view（This enforcement not shown in figure
Example）.
Fig. 3 show the schematic diagram of transfer station 136 according to an embodiment of the invention.Fig. 3 will be described with reference to Fig. 2.
Fig. 3 shows a part of view of transfer station 136.Transfer station 136 includes two table tops 302 and 304.Table top 302 and 304 is distinguished
It is provided with conveyer belt 224.Support glass 306 is provided between two table tops 302 and 304.Advantage is that support glass 306 can
With printing opacity, therefore, light curtain emitter 210 and receptor 211 can be separately positioned on support glass 306 and support glass
Under 306.Additionally, light curtain emitter 212 and receptor 213 are separately positioned on the both sides for supporting glass 306.Additionally, such as Fig. 2 and
Shown in Fig. 3, light curtain emitter and receptor are fixed in transfer station 136 by light curtain support meanss 222（To carry out in Fig. 4
Description）.
Fig. 4 show the schematic diagram of light curtain support meanss 222 according to an embodiment of the invention.Fig. 4 will be with reference to Fig. 2 and Tu
3 are described.Each light curtain emitter of picking sensor and receptor adopt light curtain support meanss as shown in Figure 4
222 fix.Light curtain support meanss 222 include two screw arms 402 and 406 and light curtain support arm 404.Two Hes of screw arm 402
406 respectively positioned at the both sides of light curtain support arm 404, and screw arm 402 and 406 is connected with light curtain support arm 404 by crossbeam 408,
Screw arm 402 and 406 has respectively screw hole 412 and 414.Aforesaid light curtain emitter or receptor pass through light curtain support arm
404 are arranged in light curtain support meanss 222, and light curtain support meanss 222 are individually fixed in by the screw of screw hole 412 and 414
On two table tops 224 and 226.
Fig. 5 show the structure chart of motor control module 138 according to an embodiment of the invention.In one embodiment,
Motor control module 138 is arranged under the table top of transfer station 136.Motor control module 138 includes controller 502, motor 504
With encoder 506.Encoder 506 produces the feedback signal for representing the transmission tape speed, and controller 502 is according to the feedback letter
Number controlled motor 504, to control the speed of conveyer belt 504.Advantage is, by the speed for controlling conveyer belt 504, to reach
Picking sensor and depth camera shoot the optimization effect on perspective plane.
Fig. 6 show the spraying method flow chart 600 for controlling spray robot according to an embodiment of the invention.Fig. 6 will
It is described to 5 with reference to Fig. 1.
In step 602, to spray workpiece carry out optical measurement, with obtain it is described spraying workpiece tripleplane's view and
The dimension information of the spraying workpiece.In step 604, the work for representing tripleplane's view and the dimension information is produced
Part signal.In step 606, the spray parameters related to the spray robot are read.In step 608, according to the work
Part signal and the spray parameters calculate the spraying path of the spray robot, and produce comprising the spraying routing information
Spraying instruction.In step 610, sprayed according to the spraying path according to the spraying instruction control spray robot
Apply operation.In step 612, the feedback signal of the transmission tape speed for representing transfer station 136 is produced.In step 614, according to institute
The motor 504 that feedback signal controls transfer station 136 is stated, to control the transmission tape speed.
Fig. 7 show carries out the method flow diagram 602 of optical measurement to spraying workpiece according to an embodiment of the invention.Figure
7 is further describing to the step 602 in Fig. 6.
In a step 702, the spraying workpiece is sent to into the other end from one end of transfer station.In step 704, in institute
In stating the transmit process of spraying workpiece, three of the spraying workpiece are measured and recorded respectively using three groups of emitters and receptor
The projection view in face.
Fig. 8 show the method flow diagram that optical measurement is carried out to spraying workpiece according to another embodiment of the present invention
602’.Fig. 8 is further describing to the step 602 in Fig. 6.Fig. 7 and two kinds of different embodiments that Fig. 8 is step 602.
In step 802, the spraying workpiece is sent to into the other end from one end of transfer station.In step 804, in institute
In stating the transmit process of spraying workpiece, the spraying workpiece is measured and recorded respectively using two groups of light curtain emitters and receptor
First face and the projection view in the second face.In step 806, using depth camera according to the spraying workpiece and the transmission
The distance between platform background difference measurements and the projection view for recording the 3rd face for spraying workpiece.In the enforcement of Fig. 7 or Fig. 8
In example, transfer station, support glass, depth camera, motor control module and picking sensor adopt the structure of Fig. 2 to Fig. 5,
This is just repeated no more.
Advantage is that the 3-D view of workpiece for measurement is measured using optical measuring apparatus using the control method of Fig. 6 to Fig. 8
And dimension information, it is to avoid can-not be automatically generated in default of workpiece CAD diagram the problem in spraying path.Meanwhile, according to be measured
The 3-D view and dimension information of workpiece automatically generates spraying path, it is to avoid the error produced because of artificial check and correction path,
Deposition accuracies are improve, and which thereby enhances coating quality.
The method that spraying path is generated according to 3-D view will be described further below.
Fig. 9 show the method flow diagram 900 of central controller 126 according to an embodiment of the invention.Method flow diagram
900 describe a kind of spray robot control method recognized based on threedimensional model.
It is that main control device 102, optical measuring apparatus 106 and spraying equipment 104 arrange hardware driving ginseng in step 902
Number.Wherein, main control device 102 includes what display 122 was connected with the spraying equipment 104 and the optical measuring apparatus 106
Data-interface 130.Spraying equipment 104 includes spray gun 110 and spray robot 112.
In step 904, tripleplane's view of workpiece to be sprayed is read from optical measuring apparatus 106.
In step 906, spraying instruction is produced according to tripleplane's view and dimension information, to control spraying robot
People 112 sprays the spraying workpiece.
Figure 10 show the other method flow chart 904 of central controller 126 according to an embodiment of the invention.Method stream
Journey Figure 90 4 describes a kind of method in control spray robot path.Figure 10 is that step 904 is further illustrated in Fig. 9.
In step 1002, tripleplane's view of spraying workpiece is read.In step 1004, the spraying robot is read
The spray parameters of people.In step 1006, the spraying workpiece is calculated according to tripleplane's view and the spray parameters
Each one side spraying path.In step 1008, the spraying path of each one side is included on display 122.
In step 1010, user judges whether the face spraying path is feasible.If spraying path is infeasible, into step 1012,
User resets spray parameters by control knob 128.Thus, central controller 126 is according to changing later parameter again
The spraying path of each one side of spraying workpiece is generated, and into step 1008.
If spraying path is feasible, into step 1014, overall spray is produced according to the spraying path of each one side
Apply path.
In step 1016, spraying instruction is produced, to control to spray workpiece described in the coating robot coats.
Advantage is to show the step of changing with user by display so that spraying path more optimizes.Meanwhile, with
Manual operation spray gun in family determines the method in spraying path and compares, and the method for changing parameter and automatically generating spraying path simplifies people
Work is operated, and improves the computational accuracy in spraying path.
In another embodiment, central controller 126 eliminates step 1008 to step 1010.
Figure 11 show the method flow diagram 1006 in the spraying path for calculating one side according to an embodiment of the invention.Figure 11
It is that step 1006 in Figure 10 is further illustrated.
In step 1102, the face multiple to be sprayed of the workpiece is determined according to tripleplane's view.In step
In 1104, according to the spray parameters and tripleplane's view computation the spraying node of the spray gun of spray robot across
Degree and coating cloud diameter, and each of the plurality of face to be sprayed is determined according to the spraying node span and the coating cloud diameter
The spraying node in face, and obtain the two-dimensional points coordinate of the spraying node.Two dimension spraying section in step 1102 to step 1104
The two-dimensional coordinate computational methods of point will be described with reference to Figure 12.
Figure 12 show one side spraying node schematic diagram 1200 according to an embodiment of the invention.In one embodiment,
Spray parameters include technological parameter and path parameter.Wherein, technological parameter includes spray gun distance, spraying coverage, spraying time
Number and angle of gun.Path parameter includes the mode to workpiece integral spray and surface information to be sprayed.The side of the integral spray
Formula includes one side and multiaspect spraying, bound edge is preferential or one side is preferential.Horizontal and vertical stroke is carried out to spray-coating surface according to technological parameter
Point, while ensureing that spraying node falls within range of views.As shown in figure 12, when needing to calculate spraying node, central controller
126 scopes and node mobile every time that spray gun spraying coating cloud is determined according to spray gun distance, spraying coverage and angle of gun
Span.Thus, the position of each spraying node is arranged according to the scope and node span of spraying coating cloud.
Figure 11 is returned to, in a step 1106, according to each view two-dimensional points coordinate corresponding relation of tripleplane's view
Calculate the corresponding three-dimensional coordinate of the spraying node in each face.Step 1106 will be further described in Figure 13 to Figure 16.
In step 1108, according to the three-dimensional coordinate and each node of each node of the spraying node
The three-dimensional coordinate of adjacent node calculates the normal vector of each spraying node, wherein, the normal vector represents the spray gun right
The spatiality of node should be sprayed.Step 1106 will be further described in fig. 17.
In step 1110, the spraying profile with spray-coating surface is generated according to the three-dimensional coordinate of the spraying node.Step
Rapid 1108 will further describe in Figure 17 to Figure 18.
In step 1112, spatial fit is carried out to the spraying profile, with spraying profile after being fitted.Step 1112
To further describe in Figure 19.
In step 1114, the running orbit of the spray gun is calculated according to the spraying profile after the fitting.Step 1114
To further describe in fig. 20.
Figure 13 show the method stream for calculating the corresponding three-dimensional coordinate of one side spraying node according to an embodiment of the invention
Journey Figure 110 6.Figure 13 is that step 1106 in Figure 11 is further illustrated.In one embodiment, tripleplane's view includes master
View, top view and left view.
In step 1302, the two-dimensional coordinate of the spraying node in front view is converted to into three-dimensional coordinate.In step 1304
In, the two-dimensional coordinate of the spraying node in top view is converted to into three-dimensional coordinate.In step 1306, by the spraying in left view
The two-dimensional coordinate of node is converted to three-dimensional coordinate.What deserves to be explained is, step 1302 to 1306 can arbitrarily exchange execution sequence.
Figure 14 show the method for calculating the corresponding three-dimensional coordinate of front view spraying node according to an embodiment of the invention
Flow chart 1302.Figure 14 is further describing to step 1302.Figure 14 is entered by taking the target spraying node in front view as an example
Row description.
In one embodiment, the three-dimensional coordinate of spraying node can be calculated using three-view diagram method for reconstructing, equivalent to
Spraying node motion has been arrived on the actual surface of model.The principle of Figure 14 is：In three-view diagram, for one in front view
(x (v), z (v)), need to meet in left view a bit (y (w), z (w)), z (w)=z (v), and exist in a top view
A bit (x (h), y (h)) causes x (h)=x (v), y (h)=y (w), can just obtain the three-dimensional coordinate of the corresponding point in front view
For (x (v), y (h), z (w)), the three-dimensional coordinate of the point cannot be otherwise obtained.In one embodiment, if the point (y of left view
(w), z (w)) or top view point (x (h), y (h)) be located at model actual surface beyond, then cannot obtain three-dimensional coordinate.
In one embodiment, if the z (w) in front view is not fully equal to the z (v) in left view, need to choose immediate
Value z (v).Will be detailed below.
In step 1402, the target spraying node in the front view is read.The target sprays node in institute
The two-dimensional coordinate stated in front view is（X,Z）, it is assumed that the target spraying node is (X, Y, Z) in three-dimensional coordinate.
In step 1404, X rows belong to the spraying node row coordinate of the workpiece for measurement in the traversal detection top view.In step
In 1406, the comparison row coordinate, to obtain the maximum Y_Max1 and minima Y_Min1 of the row coordinate.It is worth explanation
It is, for the point in top view（x,y）, in a top view the corresponding point of x coordinate be possible to be not determined as spray node,
In this case, a value range for first determining Y is needed.
In step 1408, Z dependents of dead military hero are sat in the spraying rows of nodes of the workpiece for measurement in the traversal detection left view
Mark.In step 1410, relatively more described row coordinate, to obtain the maximum Y_Max2 and minima Y_Min2 of the row coordinate.
What deserves to be explained is, for the point in left view（Y, z）, the corresponding point of Z coordinate is possible to be not determined as in left view
Spraying node, in this case it is necessary to first determine a value range of Y.
In step 1412, the first difference between the maximum Y_Max1 and maximum Y_Max2 is calculated.
In step 1414, the second difference between minima Y_Min1 and minima Y_Min2 is calculated.When described first poor
Value is more than the first predetermined threshold value（Step 1416）Or second difference is more than the second predetermined threshold value（Step 1418）When, then enter
Enter step 1426, stop calculating the three-dimensional coordinate that the target sprays node, otherwise, into step 1420.Because difference is more than
During threshold value, specification error is too big, then cannot find rational corresponding point, therefore, stop calculating three-dimensional coordinate.
In step 1420, the maximum Y_Max and minima Y_Min of coordinate Y is determined.Specifically, when described first
When difference is less than second predetermined threshold value less than first predetermined threshold value and second difference, then the maximum
The Y_Max1 and maximum Y_Max2, and relatively minima Y_Min1 and minima Y_Min2.When it is described most
Big value Y_Max1 is equal to the maximum Y_Max2, then the maximum of the Y-coordinate in the three-dimensional coordinate of the target spraying node
Y_Max is equal to Y_Max1 or Y_Max2, and otherwise, the maximum Y_Max of Y-coordinate is the smaller value in Y_Max1 and Y_Max2.When
Minima Y_Min1 is equal to minima Y_Min2, then the target sprays the Y-coordinate in the three-dimensional coordinate of node
Minima Y_ Min is equal to Y_Min1 or Y_Min2, otherwise, the minima Y_ Min of Y-coordinate be in Y_Min1 and Y_Min2 compared with
Little value.
In step 1422, coordinate Y is determined according to spray-coating surface label.In one embodiment, the work to be sprayed is read
The spray-coating surface numbering of part.When the numbering is odd number, then the coordinate Y of the target spraying node is equal to minima Y_Min.When
When the numbering is even number, then the coordinate Y of the target spraying node is equal to maximum Y_Max.In step 1424, three are drawn
Dimension coordinate (X, Y, Z).
Figure 15 show the method for calculating the corresponding three-dimensional coordinate of top view spraying node according to an embodiment of the invention
Flow chart 1304.Figure 15 is further describing to step 1304.Figure 15 is entered by taking the target spraying node in top view as an example
Row description.
In step 1502, the target spraying node in the top view is read, the target sprays node in the master
Two-dimensional coordinate in view is（X’,Y’）, and assume that target spraying node is (X ', Y ', Z ') in three-dimensional coordinate.
In step 1504, X ' rows belong to the spraying node row coordinate of the workpiece for measurement in the traversal detection front view.In step
In rapid 1506, the row coordinate of the comparison front view, to obtain maximum the Z ' _ Max1 and minima Z of the row coordinate ' _
Min1.In step 1508, Y rows belong to the spraying node row coordinate of the workpiece for measurement in the traversal detection left view.
In step 1510, the row coordinate in the comparison left view, to obtain maximum the Z ' _ Max2 and minima of the row coordinate
Z’_Min2.In step 1512, the first difference between maximum the Z ' _ Max1 and maximum the Z ' _ Max2 is calculated.
The second difference in step 1514, calculating minima Z between ' _ Min1 and minima Z ' _ Min2.
When first difference is less than the first predetermined threshold value（Step 1516）And second difference is less than the second default threshold
Value（Step 1518）, then into step 1520, otherwise, into step 1526, coordinates computed Z is stopped.
In step 1520, maximum the Z ' _ Max and minima Z of coordinate Z ' ' _ Min are determined.More particularly, institute is compared
State maximum Z ' _ Max1 and maximum the Z ' _ Max2, and relatively more described minima Z ' _ Min1 and minima Z ' _
Min2.When maximum the Z ' _ Max1 is equal to maximum the Z ' _ Max2, then in the three-dimensional coordinate of the target spraying node
Maximum the Z ' _ Max of Z ' coordinates be equal to Z ' _ Max1 or Z ' _ Max2, otherwise, maximum the Z ' _ Max of Z ' coordinates is Z ' _ Max1
And the smaller value in Z ' _ Max2；' _ Min1 be equal to minima Z ' _ Min2 when minima Z, then the target spraying section
Point three-dimensional coordinate in Z ' coordinates minima Z ' _ Min be equal to Z ' _ Min1 or Z ' _ Min2, otherwise, the minima of Z ' coordinates
Z ' _ Min is the smaller value in Z ' _ Min1 and Z ' _ Min2.
In step 1522, one is selected from Z ' _ Min and Z ' _ Max according to the spraying surface information of the workpiece to be sprayed
Value as coordinate Z ', to determine the target spraying node at three-dimensional coordinate (X ', Y ', Z ')（Step 1524）.
Figure 16 show the method for calculating the corresponding three-dimensional coordinate of left view spraying node according to an embodiment of the invention
Flow chart 1306.Figure 16 is further describing to step 1306.Figure 16 is entered by taking the target spraying node in left view as an example
Row description.
In step 1602, the target spraying node in the left view is read, the target sprays node on the left side
Two-dimensional coordinate in view is（Y’’,Z’’）, and assume target spraying node three-dimensional coordinate for (X ' ', Y ' ',
Z’’)。
In step 1604, Z ' ' dependents of dead military hero are in the spraying rows of nodes of the workpiece for measurement in the traversal detection front view
Coordinate.In step 1606, the row coordinate in relatively more described front view, with obtain the row coordinate maximum X ' ' _ Max1 and
Minima X ' ' _ Min1.In step 1608, Y ' ' dependents of dead military hero are in the spraying of the workpiece for measurement in the traversal detection top view
Rows of nodes coordinate.
In step 1610, the row coordinate in the comparison top view, with obtain the maximum X ' ' of the row coordinate _
Max2 and minima X ' ' _ Min2.In step 1612, the maximum X ' ' _ Max1 and the maximum X ' ' _ Max2 is calculated
Between the first difference.In step 1614, minima X is calculated between ' ' _ Min1 and minima X ' ' _ Min2
Second difference.
When first difference is less than the first predetermined threshold value（Step 1616）And second difference is less than the second default threshold
Value（Step 1618）, then into step 1620, otherwise, coordinates computed X ' ' is stopped.
In step 1620, the maximum X ' ' _ Max and X ' ' _ Min of X ' ' is determined.In one embodiment, it is relatively more described
Maximum X ' ' _ Max1 and the maximum X ' ' _ Max2, and relatively more described minima X ' ' _ Min1 and minima X ' ' _
Min2.When the maximum X ' ' _ Max1 is equal to the maximum X ' ' _ Max2, then the target sprays the three-dimensional coordinate of node
In X ' ' coordinates maximum X ' ' _ Max be equal to X ' ' _ Max1 or X ' ' _ Max2, otherwise, the maximum X ' ' _ Max of X ' ' coordinates
For the smaller value in X ' ' _ Max1 and X ' ' _ Max2.' ' _ Min1 be equal to minima X ' ' _ Min2 when minima X, then
Minima X of the X ' ' coordinates in the three-dimensional coordinate of target spraying node ' ' _ Min is equal to X ' ' _ Min1 or X ' ' _ Min2,
Otherwise, minima X of X ' ' coordinates ' ' _ Min be X ' ' _ Min1 and X ' ' _ Min2 in smaller value；
In step 1622, one is selected from X ' ' _ Min and X ' ' _ Max according to the spraying surface information of the workpiece to be sprayed
Individual value as coordinate X ' ', to determine the target spraying node at three-dimensional coordinate (X ' ', Y ' ', Z ' ')（Step
1624）.
Figure 17 show the method flow diagram for calculating each spraying node normal vector according to an embodiment of the invention
1108.Figure 17 is further describing to the step 1108 in Figure 11.Figure 17 is to choose wherein to lift to a target spraying node J
Example explanation.As it was previously stated, spraying node normal vector γ represents spatial attitude of the spray gun in spraying node.
Figure 18 show showing for the spraying node J of target according to an embodiment of the invention and adjacent node J1, J2, J3 and J4
It is intended to.It is described below with reference to Figure 17 and Figure 18.
In step 1702, the three dimensional space coordinate that target sprays node J is read.In step 1704, the mesh is detected
Adjacent node J1, J2, J3 and J4 on four adjacent directions of mark spraying node.In step 1706, four phases are read
The three dimensional space coordinate of neighbors J1, J2, J3 and J4.In step 1708, respectively with straight line connection spraying node J, J1, J2,
The triangle that J3 and J4 is constituted（J, J1, J2）、（J, J2, J3）、（J, J3, J4）With（J, J4, J1）, wherein,（J, J1, J2）Represent
Node J, J1 and J2 are connected into the triangle to be formed with straight line,（J, J2, J3）Node J, J2 and J3 are connected shape by expression straight line
Into triangle,（J, J3, J4）Node J, J3 and J4 are connected the triangle to be formed by expression straight line,（J, J4, J1）Represent
Node J, J4 and J1 are connected into the triangle to be formed with straight line.In step 1708, triangle is calculated respectively（J, J1, J2）、（J,
J2, J3）、（J, J3, J4）With（J, J4, J1）4 normal vectors.The normal vector of triangle refers to that the face formed with triangle is hung down
Straight direction vector.In step 1710, the meansigma methodss of 4 normal vectors are calculated, to obtain the target spraying node J's
Normal vector.
Advantage is that the method for the calculating normal vector in Figure 17 considers the situation of the four direction of destination node, thus,
The normal vector can more accurately show spray gun in the due angle of destination node and attitude, improve the accuracy of spraying.
Figure 19 show carries out the method flow diagram of spatial fit to the spraying profile according to an embodiment of the invention
1112.Figure 19 is further describing to the step 1112 in Figure 11.
For the spraying node that space generates, per a line（Row）It is a space curve in space representation.If will two-by-two
Represented with straight line between spraying node, be then unfavorable for the spraying operation of robot, it is therefore desirable to which the spraying profile to generating is intended
Close, be indicated with straight line and curve.
In step 1902, the scan mode of each spraying node is selected.In step 1904, swept according to described
The mode of retouching read the plurality of face to be sprayed ought be above data.In step 1906, according to the three-dimensional coordinate of Nth row node
By the Nth row node project to it is described ought above, to obtain the three-dimensional coordinate in the multiple projection nodes that ought above go up.
In step 1908, the connecting line of each node node corresponding with the Nth row node of the plurality of projection node is calculated
Slope.In step 1910, compare the size between the corresponding slope of each node and the corresponding slope of adjacent node.In step
In rapid 1912, when the comparative result shows that the slope of present node is equal with adjacent slope（Illustrate present node and adjacent segments
Point is in a plane）, then the primary nodal point is numbered plus first, otherwise（Illustrate present node and adjacent node
It is in Different Plane）, to the primary nodal point plus the second numbering.
In step 1914, index value is determined according to the numbering.The numbering of the plurality of projection node of traversal detection.When
When the numbering of the present node is the first numbering, then between the adjacent node of the present node and the present node
Interval adds the first index value（For example：Logical zero）.When the numbering of the primary nodal point is the second numbering, then described first
Interval between the adjacent node of node and the primary nodal point adds the second index value（For example：Logic 1）.
In step 1916, the spraying profile is fitted according to the corresponding index value of described each node.Specifically,
When the interval index value is the first index value（Represent present node with adjacent node at grade）When, then the area
Between spraying profile be that connection is contained in the straight line of the interval node.When the interval index value is the second index value（Table
Show present node with adjacent node in Different Plane）When, then points multiple to the Interval Sampling, and the plurality of point is carried out
Three difference fittings, to obtain the curve in the interval, i.e., described interval spraying profile is the curve.
After spraying node fitting track and normal vector is obtained, it is possible to calculate the spray of the spray gun according to below equation
Apply track and normal vector：
Wherein, H represents distance of the spray gun apart from the surface of the work to be sprayed；P ' (X, Y, Z) represents the fortune of spray gun
Node in row track；P (X, Y, Z) represents the spraying node on face to be sprayed；V ' (X, Y, Z) represents the normal direction of spraying node
Amount；V (X, Y, Z) represents the normal vector of spray gun.
Figure 20 show the method flow diagram 1014 for producing integral spray path according to an embodiment of the invention.Figure 20 is
The further description of the step 1014 in Figure 10.
In step 2002, if the spraying method in each face of the workpiece for measurement is one side spraying, into step
2003, the overall path is the spraying path of each tested surface, otherwise, into step 2004.In step 2004, such as
The spraying method in each face of really described workpiece for measurement is multiaspect spraying, then into step 2005, to each tested surface
Spraying path is combined and interpolation, path is sprayed as the integral spray path to produce multiaspect, otherwise, into step
2006。
In step 2006, the spraying method in each face of the workpiece for measurement includes one side spraying and multiaspect spraying, this
When, into step 2007, for the one side spraying path that the tested surface for needing one side to spray chooses the tested surface, and for
The tested surface that multiaspect is sprayed is needed to be combined and interpolation the spraying path of each tested surface, to produce multiaspect spraying road
Footpath.The one side spraying path and multiaspect spraying path are combined, to form integral spray path.
In sum, adopt the present invention Study of Intelligent Robot Control system and method can with automatic measurement workpiece three-view diagram,
And the spraying profile of spray gun is automatically generated according to three-view diagram.Spray need not be manually tried during this, so as to improve spraying essence
Degree, alleviates artificial burden.Simultaneously as will not be limited by workpiece CAD diagram, the Study of Intelligent Robot Control system of the present invention
Easier with method operation, applicable surface is wider.
Specifically above embodiment and accompanying drawing are only the conventional embodiment of the present invention.Obviously, without departing from claims
Can there are various supplements, modification on the premise of the present invention spirit for being defined and invention scope and replace.Those skilled in the art
It should be understood that the present invention in actual applications can be according to specific environment and job requirement on the premise of without departing substantially from invention criterion
It is varied from form, structure, layout, ratio, material, element, component and other side.Therefore, the embodiment of here disclosure
It is merely to illustrate and unrestricted, the scope of the present invention is defined by appended claim and its legal equivalents, and before not limited to this
Description.
Claims (6)
1. a kind of method of the 3-D spraying node for setting up workpiece to be sprayed, it is characterised in that described to set up workpiece to be sprayed
The method of 3-D spraying node is comprised the following steps：
The face multiple to be sprayed of the workpiece is determined according to tripleplane's view of the workpiece to be sprayed, the tripleplane regards
Figure includes front view, top view and left view；
Determine each face in the plurality of face to be sprayed according to the spray parameters and tripleplane's view of spray robot
Spraying node, and obtain it is described spraying node two-dimensional points coordinate；And
Read in the front view each spraying node, and using following steps by it is described each spraying node two dimension
Point coordinates is converted to three-dimensional point coordinate：
The target spraying node in the front view is read, two-dimensional coordinate of the target spraying node in the front view is
（X,Z）, and assume that the target spraying node is (X, Y, Z) in three-dimensional coordinate；
X rows belong to the spraying node row coordinate of workpiece for measurement in the traversal detection top view；
The comparison row coordinate, to obtain the maximum Y_Max1 and minima Y_Min1 of the row coordinate；
Z dependents of dead military hero are in the spraying rows of nodes coordinate of workpiece for measurement in the traversal detection left view；
The comparison row coordinate, to obtain the maximum Y_Max2 and minima Y_Min2 of the row coordinate；
Calculate the first difference between the maximum Y_Max1 and the maximum Y_Max2；
Calculate the second difference between minima Y_Min1 and minima Y_Min2；
When first difference is less than the second predetermined threshold value less than the first predetermined threshold value and second difference, then relatively it is described most
Big value Y_Max1 and the maximum Y_Max2, and relatively minima Y_Min1 and minima Y_Min2；
When the maximum Y_Max1 is equal to the maximum Y_Max2, then the target sprays the Y in the three-dimensional coordinate of node
The maximum Y_Max of coordinate is equal to Y_Max1 or Y_Max2, and otherwise, the maximum Y_Max of Y-coordinate is in Y_Max1 and Y_Max2
Smaller value；
When minima Y_Min1 is equal to minima Y_Min2, then the target sprays the Y in the three-dimensional coordinate of node
The minima Y_ Min of coordinate is equal to Y_Min1 or Y_Min2, and otherwise, the minima Y_ Min of Y-coordinate is Y_Min1 and Y_Min2
In smaller value；
One value is selected as coordinate Y from Y_Min and Y_Max according to the spraying surface information of the workpiece to be sprayed, to determine
The target sprays node at three-dimensional coordinate (X, Y, Z).
2. a kind of method of 3-D spraying node for setting up workpiece to be sprayed according to claim 1, it is characterised in that institute
The method for stating the 3-D spraying node for setting up workpiece to be sprayed is further comprising the steps of：
When first difference is more than second predetermined threshold value more than first predetermined threshold value or second difference,
Then stop calculating the three-dimensional coordinate that the target sprays node.
3. a kind of method of 3-D spraying node for setting up workpiece to be sprayed according to claim 1 and 2, its feature exists
In the method for the 3-D spraying node for setting up workpiece to be sprayed is further comprising the steps of：
Read the spray-coating surface numbering of the workpiece to be sprayed；
When the numbering is odd number, then the coordinate Y for judging the target spraying node is equal to minima Y_Min；And
When the numbering is even number, then the coordinate Y for judging the target spraying node is equal to maximum Y_Max.
4. a kind of method of 3-D spraying node for setting up workpiece to be sprayed according to claim 1 and 2, its feature exists
In described further comprising the steps of the step of one value being worth as coordinate Y of selection from Y_Min and Y_Max：
Read the spray-coating surface numbering of the workpiece to be sprayed；
When the numbering is coupling number, then the coordinate Y for judging the target spraying node is equal to minima Y_Min；And
When the numbering is odd number, then the coordinate Y for judging the target spraying node is equal to maximum Y_Max.
5. the method for the 3-D spraying node for setting up workpiece to be sprayed according to claim 1 and 2, it is characterised in that institute
The method for stating the 3-D spraying node for setting up workpiece to be sprayed is further comprising the steps of：
Each the spraying node in the top view is read, and is saved each spraying in the top view using following steps
The two-dimensional points coordinate of point is converted to three-dimensional point coordinate：
The target spraying node in the top view is read, two-dimensional coordinate of the target spraying node in the front view is
（X’,Y’）, and assume that target spraying node is (X ', Y ', Z ') in three-dimensional coordinate；
X ' rows belong to the spraying node row coordinate of workpiece for measurement in the traversal detection front view；
Row coordinate in the comparison front view, to obtain maximum the Z ' _ Max1 and minima Z of the row coordinate ' _ Min1；
Y rows belong to the spraying node row coordinate of workpiece for measurement in the traversal detection left view；
Row coordinate in the comparison left view, to obtain maximum the Z ' _ Max2 and minima Z of the row coordinate ' _ Min2；
Calculate the first difference between maximum the Z ' _ Max1 and maximum the Z ' _ Max2；
The second difference that minima Z is calculated between ' _ Min1 and minima Z ' _ Min2；
When first difference is less than the second predetermined threshold value less than the first predetermined threshold value and second difference, then relatively it is described most
Big value Z ' _ Max1 and maximum the Z ' _ Max2, and comparison minima Z ' _ Min1 and minima Z ' _ Min2；
When maximum the Z ' _ Max1 is equal to maximum the Z ' _ Max2, then in the three-dimensional coordinate of the target spraying node
Maximum the Z ' _ Max of Z ' coordinates is equal to Z ' _ Max1 or Z ' _ Max2, otherwise, maximum the Z ' _ Max of Z ' coordinates be Z ' _ Max1 and
Smaller value in Z ' _ Max2；
' _ Min1 be equal to minima Z ' _ Min2 when minima Z, then in the three-dimensional coordinate of the target spraying node
Minima Z of Z ' coordinates ' _ Min be equal to Z ' _ Min1 or Z ' _ Min2, otherwise, minima Z of Z ' coordinates ' _ Min is Z ' _ Min1
And the smaller value in Z ' _ Min2；
One value is selected as coordinate Z ' from Z ' _ Min and Z ' _ Max according to the spraying surface information of the workpiece to be sprayed, with true
The fixed target spraying node is at three-dimensional coordinate (X ', Y ', Z ').
6. the method for the 3-D spraying node for setting up workpiece to be sprayed according to claim 5, it is characterised in that described to build
The method for founding the 3-D spraying node of workpiece to be sprayed is further comprising the steps of：
Each the spraying node in the left view is read, and is saved each spraying in the left view using following steps
The two-dimensional points coordinate of point is converted to three-dimensional point coordinate：
The target spraying node in the left view is read, two-dimensional coordinate of the target spraying node in the left view is
（Y’’,Z’’）, and assume that target spraying node is (X ' ', Y ' ', Z ' ') in three-dimensional coordinate；
Z ' ' dependents of dead military hero are in the spraying rows of nodes coordinate of workpiece for measurement in the traversal detection front view；
Row coordinate in the comparison front view, to obtain the maximum X ' ' _ Max1 and minima X of the row coordinate ' ' _
Min1；
Y ' ' dependents of dead military hero are in the spraying rows of nodes coordinate of workpiece for measurement in the traversal detection top view；
Row coordinate in the comparison top view, to obtain the maximum X ' ' _ Max2 and minima X of the row coordinate ' ' _
Min2；
Calculate the first difference between the maximum X ' ' _ Max1 and the maximum X ' ' _ Max2；
The second difference that minima X is calculated between ' ' _ Min1 and minima X ' ' _ Min2；
When first difference is less than the second predetermined threshold value less than the first predetermined threshold value and second difference, then relatively it is described most
Big value X ' ' _ Max1 and the maximum X ' ' _ Max2, and comparison minima X ' ' _ Min1 and minima X ' ' _
Min2；
When the maximum X ' ' _ Max1 is equal to the maximum X ' ' _ Max2, then in the three-dimensional coordinate of the target spraying node
X ' ' coordinates maximum X ' ' _ Max be equal to X ' ' _ Max1 or X ' ' _ Max2, otherwise, the maximum X ' ' _ Max of X ' ' coordinates is
Smaller value in X ' ' _ Max1 and X ' ' _ Max2；
' ' _ Min1 be equal to minima X ' ' _ Min2 when minima X, then in the three-dimensional coordinate of the target spraying node
X ' ' coordinates minima X ' ' _ Min be equal to X ' ' _ Min1 or X ' ' _ Min2, otherwise, minima X of X ' ' coordinates ' ' _ Min
For the smaller value in X ' ' _ Min1 and X ' ' _ Min2；
One value is selected as coordinate X ' ' from X ' ' _ Min and X ' ' _ Max according to the spraying surface information of the workpiece to be sprayed,
To determine target spraying node at three-dimensional coordinate (X ' ', Y ' ', Z ' ').
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