CN110181516A - A kind of paths planning method of spray robot, device, system and storage medium - Google Patents
A kind of paths planning method of spray robot, device, system and storage medium Download PDFInfo
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- CN110181516A CN110181516A CN201910526756.2A CN201910526756A CN110181516A CN 110181516 A CN110181516 A CN 110181516A CN 201910526756 A CN201910526756 A CN 201910526756A CN 110181516 A CN110181516 A CN 110181516A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention discloses a kind of paths planning method of spray robot, device, system and computer readable storage medium, this method includes that processing is scanned to workpiece to be processed, obtains the threedimensional model of workpiece to be processed；Cutting is carried out to threedimensional model, obtains multiple cloud tangent planes；Each cloud tangent plane is analyzed according to point cloud data corresponding with threedimensional model, determines each spraying data point of each cloud tangent plane；According to and the corresponding each spraying data point of each cloud plane obtain spraying corresponding with workpiece to be processed path.The present invention can determine corresponding spraying path according to the feature of workpiece to be processed itself, be conducive to ensure safety of workers, improve working efficiency, product quality and intelligent level.
Description
Technical field
The present embodiments relate to technical field of automation in industry, more particularly to a kind of path planning of spray robot
Method, apparatus, system and computer readable storage medium.
Background technique
Spraying operation is a job cumbersome, harmful to human body health, is carrying out spraying operation in the prior art
When, one is the spraying points that the method using artificial teaching manually calibrates spraying robot point by point, and not only production efficiency is low, safety
Property is poor, can also waste a large amount of coating；Another kind is that spraying path is determined using traditional off-line programing mode, due to every kind
The spraying path that the workpiece of type is determined is fixed, so off-line programing mode is higher to workpiece coherence request, work
It is very accurate to make station calibration needs, so that industrial robot is installed in spraying process, debugs and use difficulty larger, and by
There are individual differences between workpiece, also will affect the coating quality of workpiece.
In consideration of it, how providing a kind of paths planning method of spray robot for solving above-mentioned technical problem, device, being
System and computer readable storage medium become those skilled in the art's technical issues that need to address.
Summary of the invention
The purpose of the embodiment of the present invention is that providing a kind of paths planning method of spray robot, device, system and calculating
Machine readable storage medium storing program for executing is conducive to ensure safety of workers in use, improves working efficiency, product quality and intelligent water
It is flat.
In order to solve the above technical problems, the embodiment of the invention provides a kind of paths planning method of spray robot, packet
It includes:
Processing is scanned to workpiece to be processed, obtains the threedimensional model of the workpiece to be processed；
Cutting is carried out to the threedimensional model, obtains multiple cloud tangent planes；
Each described cloud tangent plane is analyzed according to point cloud data corresponding with the threedimensional model, is determined every
Each spraying data point of a described cloud tangent plane；
According to and the corresponding each spraying data point of each cloud plane obtain spraying corresponding with the workpiece to be processed
Path.
Optionally, foundation point cloud data corresponding with the threedimensional model is to each described cloud tangent plane minute
Analysis, determines the process of each spraying data point of each described cloud tangent plane are as follows:
The spatial aggregation of j-th cloud tangent plane two sides is determined according to point cloud data corresponding with the threedimensional model
Ωl={ Pli(xli, yli, zli), i=0,1..., n } and Ωr={ Pri′(xri′, yri′, zri′), i '=0,1..., n ' }, wherein
J=1,2,3 ..., m, m are point cloud tangent plane sum, and n is the spatial aggregation ΩlIn number of data points, n ' be the sky
Between set omegarIn number of data points；
According to preset rules by the spatial aggregation ΩlIn each data point and the spatial aggregation ΩrIn each number
Strong point is matched, and each matching double points are obtained；
By two points connection in each matching double points, and by every line and the j-th cloud tangent plane
Intersection point is as each spraying data point corresponding with the j-th cloud tangent plane.
Optionally, it is described according to preset rules by spatial aggregation ΩlIn each data point and the spatial aggregation ΩrIn
Data point matched, obtain the process of each matching double points are as follows:
From the spatial aggregation ΩrIn determine and the spatial aggregation ΩlIn i-th of data point distance it is nearest the
One target point, to obtain and the spatial aggregation ΩlIn each data point the first matching double points respectively pair；
From the spatial aggregation ΩlIn determine and the spatial aggregation ΩrIn the i-th ' a data point distance it is nearest the
Two target points, to obtain and the spatial aggregation ΩrIn each data point the second matching double points respectively pair；
Each first matching double points and each second matching double points are taken into union, obtain each match point
It is right.
Optionally, the foundation each spraying data point corresponding with each cloud plane obtains and the workpiece to be processed
The process in corresponding spraying path are as follows:
Calculate the normal vector and corresponding pose of each spraying data point corresponding with each cloud plane；
Coordinate, normal vector and pose according to each spraying data point obtain and the corresponding spraying road of corresponding point cloud plane
Diameter；
Foundation and the corresponding spraying path of each cloud plane obtain spraying corresponding with workpiece to be processed road
Diameter.
Optionally, the process of the normal vector for calculating each spraying data point corresponding with each cloud plane are as follows:
The normal direction of each spraying data point corresponding with each cloud plane is calculated using cloud normal estimation algorithm
Amount.
It optionally, further include storing the coordinate of each spraying data point and corresponding pose, and generate machine
Tid file and tip file can be performed in device people.
The embodiment of the present invention provides a kind of path planning apparatus of spray robot accordingly, comprising:
Scan module obtains the threedimensional model of the workpiece to be processed for being scanned processing to workpiece to be processed；
Cutting module obtains multiple cloud tangent planes for carrying out cutting to the threedimensional model；
Analysis module, for being carried out according to point cloud data corresponding with the threedimensional model to each described cloud tangent plane
Analysis, determines each spraying data point of each described cloud tangent plane；
Computing module, for being obtained and the work to be processed according to each spraying data point corresponding with each cloud plane
The corresponding spraying path of part.
Optionally, the analysis module includes:
Determination unit, for determining j-th cloud tangent plane two according to point cloud data corresponding with the threedimensional model
The spatial aggregation Ω of sidel={ Pli(xli, yli, zli), i=0,1..., n } and Ωr={ Pri′(xri′, yri′, zri′), i '=0,
1..., n ' }, wherein j=1,2,3 ..., m, m are point cloud tangent plane sum, and n is the spatial aggregation ΩlIn data points
Amount, n ' are the spatial aggregation ΩrIn number of data points；
Matching unit, for according to preset rules by the spatial aggregation ΩlIn each data point and the space collection
Close ΩrIn each data point matched, obtain each matching double points；
Connection unit, for connecting two points in each matching double points, and by every line and described j-th
The intersection point of point cloud tangent plane is as each spraying data point corresponding with the j-th cloud tangent plane.
The embodiment of the invention also provides a kind of path planning systems of spray robot, comprising:
Memory, for storing computer program；
Processor realizes the paths planning method of spray robot as described above when for executing the computer program
The step of.
The embodiment of the invention also provides a kind of computer readable storage medium, deposited on the computer readable storage medium
Computer program is contained, the computer program realizes the path planning of spray robot as described above when being executed by processor
The step of method.
The embodiment of the invention provides a kind of paths planning method of spray robot, device, systems and computer-readable
Storage medium, comprising: processing is scanned to workpiece to be processed, obtains the threedimensional model of workpiece to be processed；To threedimensional model into
Row cutting obtains multiple cloud tangent planes；According to point cloud data corresponding with threedimensional model to each cloud tangent plane minute
Analysis, determines each spraying data point of each cloud tangent plane；According to each spraying data corresponding with each cloud plane
Point obtains spraying corresponding with workpiece to be processed path.
As it can be seen that the present invention can obtain corresponding threedimensional model by the scanning to workpiece to be processed, by three
Dimension module carries out cutting, obtains multiple cloud tangent planes corresponding with the workpiece to be processed, and according to the threedimensional model and accordingly
Point cloud data can obtain spraying data point corresponding with each cloud tangent plane, and then obtain corresponding with workpiece to be processed
Spray path.The present invention can determine corresponding spraying path according to the feature of workpiece to be processed itself, be conducive to protect
Hinder safety of workers, improves working efficiency, product quality and intelligent level.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow diagram of the paths planning method of spray robot provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of the path planning apparatus of spray robot provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the invention provides a kind of paths planning method of spray robot, device, systems and computer-readable
Storage medium is conducive to ensure safety of workers in use, improves working efficiency, product quality and intelligent level.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 is please referred to, Fig. 1 is that a kind of process of the paths planning method of spray robot provided in an embodiment of the present invention is shown
It is intended to.The paths planning method, comprising:
S110: processing is scanned to workpiece to be processed, obtains the threedimensional model of workpiece to be processed；
It is scanned specifically, in the present embodiment machining tool can be treated by control laser scanner, to acquire
To the point cloud data of workpiece to be processed, point cloud data can also be pre-processed, and then obtained corresponding with workpiece to be processed
Threedimensional model.
S120: cutting is carried out to threedimensional model, obtains multiple cloud tangent planes；
S130: each cloud tangent plane is analyzed according to point cloud data corresponding with threedimensional model, is determined each
Each spraying data point of point cloud tangent plane；
Specifically, after obtaining multiple cloud tangent planes, it can be by point cloud data to each cloud tangent plane minute
Analysis, obtains each spraying data point corresponding with each cloud tangent plane namely the corresponding multiple spraying numbers of a cloud tangent plane
Strong point.
Further, above-mentioned foundation point cloud data corresponding with threedimensional model analyzes each cloud tangent plane, really
The process for making each spraying data point of each cloud tangent plane, is specifically as follows:
The spatial aggregation Ω of j-th cloud tangent plane two sides is determined according to point cloud data corresponding with threedimensional modell=
{Pli(xli, yli, zli), i=0,1..., n } and Ωr={ Pri′(xri′, yri′, zri′), i '=0,1..., n ' }, wherein j=1,
2,3 ..., m, m are point cloud tangent plane sum, and n is spatial aggregation ΩlIn number of data points, n ' be spatial aggregation ΩrIn number
Strong point quantity；
It should be noted that for example obtaining m cloud tangent planes after to threedimensional model cutting, then for wherein j-th
Point cloud tangent plane obtains the data point for being located at j-th cloud tangent plane two sides (the specially left and right sides), the data of the left and right sides
Point respectively constitutes spatial aggregation ΩlWith spatial aggregation Ωr, wherein spatial aggregation ΩlIn include n data point, spatial aggregation Ωr
In include a data point of n ', the quantity of n and the middle data point of n ' may be identical, it is also possible to it is different, when the position of j-th cloud tangent plane
Set is not both that the quantity of the middle data point of n and n ' can change accordingly, therefore the quantity of the middle data point of n and n ' is according to j-th
The position of point cloud tangent plane and point cloud data corresponding with workpiece to be processed determine that the application does not do particular determination.
According to preset rules by spatial aggregation ΩlIn each data point and spatial aggregation ΩrIn each data point carry out
Matching, obtains each matching double points；
Specifically, for j-th cloud tangent plane, when determining corresponding spatial aggregation ΩlWith spatial aggregation Ωr
Afterwards, the data point in two spaces set is matched, to obtain multiple match points corresponding with j-th cloud tangent plane
It is right, it include two data points in each matching double points, the two data points are located at spatial aggregation ΩlWith spatial aggregation Ωr
In.
By two points connection in each matching double points, and using every line and the intersection point of j-th cloud tangent plane as
Each spraying data point corresponding with j-th cloud tangent plane.
Specifically, two points in each matching double points can be connected with straight line, since the two points are located at sky
Between set omegalWith spatial aggregation ΩrIn, so will intersect with j-th cloud tangent plane by the line after the two point connections,
Intersection point is spraying data point corresponding with j-th cloud tangent plane, due to matching corresponding with j-th cloud tangent plane
Point is multiple to having, so multiple spraying data points can be obtained, each spraying data point is corresponding with corresponding matching double points respectively.
It should be noted that being obtained according to the method described above and corresponding each spraying for each cloud tangent plane
Data point, the application are no longer described in detail one by one.
Further, it is above-mentioned according to preset rules by spatial aggregation ΩlIn each data point and spatial aggregation ΩrIn
Data point matched, obtain the process of each matching double points, be specifically as follows:
From spatial aggregation ΩrIn determine and spatial aggregation ΩlIn i-th of data point apart from nearest first object point,
To obtain and spatial aggregation ΩlIn each data point the first matching double points respectively pair；
From spatial aggregation ΩlIn determine and spatial aggregation ΩrIn nearest the second target of the i-th ' a data point distance
Point, to obtain and spatial aggregation ΩrIn each data point the second matching double points respectively pair；
Each first matching double points and each second matching double points are taken into union, obtain each matching double points.
It should be noted that being illustrated by taking j-th cloud tangent plane as an example, wherein for spatial aggregation ΩlIn it is every
A data point Pli, can be from spatial aggregation ΩrIn determine and PliApart from nearest Pri, as first object point P 'ri′, in turn
Obtain the first matching double points Pli-P′ri′, due to spatial aggregation ΩlIn include n data point, so by each data point
After matching, n the first matching double points can be obtained.
For spatial aggregation ΩrIn each data point Pri′, can be from spatial aggregation ΩlIn determine and Pri′Distance is most
Close PliAs first object point P 'li, and then obtain the first matching double points Pri′-P′li, due to spatial aggregation ΩrIn include n '
A data point, so a second matching double points of n ' can be obtained after by the matching to each data point.
In addition, due to spatial aggregation ΩlThe quantity and spatial aggregation Ω of middle data pointrThe quantity of middle data point may be identical,
May also be different, and there are identical matching double points in n the first matching double points and a second matching double points of n ', it is possible to
N the first matching double points and a second matching double points of n ' are taken into union, it is corresponding with j-th cloud tangent plane so as to obtain
Each matching double points.
Specifically, with the intersection point of j-th cloud tangent plane being P after two data point lines in each matching double pointsIj, then
As n=n ', matching double points corresponding with j-th cloud tangent plane are n, I=1,2 ..., n；As n > n ', with j-th
The corresponding matching double points of point cloud tangent plane are n, I=1,2 ..., n；It is corresponding with j-th cloud tangent plane as n < n '
Matching double points are that n ' is a, I=1,2 ..., n '.For example, the P in matching double pointsli(xli, yli, zli) and Pri′(xri′, yri′, zri′)
The space line of composition are as follows:
Thus, A indicates constant, Pli(xli, yli, zli) and Pri′(xri′, yri′, zri′) constitute space line and jth
The intersection point P of a cloud tangent planeIj(xIj′yIj, zIj) coordinate are as follows:
S140: according to and the corresponding each spraying data point of each cloud plane obtain spraying corresponding with workpiece to be processed
Path.
Specifically, after obtaining each spraying data point corresponding with each cloud tangent plane, can according to each point
The corresponding each spraying data point of cloud tangent plane obtains spraying path accordingly, and the spraying path is corresponding with workpiece to be processed, right
Different workpieces to be processed obtains corresponding spraying path difference after carrying out personality analysis.
Further, above-mentioned foundation each spraying data point corresponding with each cloud plane obtains and workpiece to be processed pair
The process in the spraying path answered, is specifically as follows:
Calculate the normal vector and corresponding pose of each spraying data point corresponding with each cloud plane；
Coordinate, normal vector and pose according to each spraying data point obtain and the corresponding spraying road of corresponding point cloud plane
Diameter；
Foundation and the corresponding spraying path of each cloud plane obtain spraying corresponding with workpiece to be processed path.
Specifically, being described in detail by taking j-th cloud tangent plane as an example, wherein obtaining and j-th cloud tangent plane
After corresponding each spraying data point, it may further determine that out the coordinate of each spraying data point, can be adopted in the present embodiment
Normal vector corresponding with each spraying data point is calculated with a cloud normal estimation algorithm, and is obtaining each spraying
After the normal vector of data point, can further obtain it is each spraying data point at spray gun pose, and by with j-th point
The coordinate and normal vector of the corresponding each spraying data point of cloud tangent plane are capable of determining that position and the phase of each spraying data point
The path direction of neighbour's spraying data point is cut flat with so that each spraying data point head and the tail are sequentially connected to obtain with j-th cloud
The corresponding spraying path in face.Each cloud tangent plane according to the method described above, obtains spraying path accordingly, so according to it is every
The corresponding spraying path of a cloud tangent plane obtains spraying corresponding with workpiece to be processed path.
Wherein, the mistake of normal vector corresponding with each spraying data point is calculated using cloud normal estimation algorithm
Journey are as follows:
For intersection point PIj(xIj, yIj, zIj) where normal to a surface estimation can final abbreviation be to a covariance matrix
Feature vector and characteristic value analysis, it is specific as follows:
Wherein, { 0,1,2 } j ' ∈
Wherein, C indicates that constant, k indicate point PIjThe number of neighbor point,Indicate the three-dimensional mass center of nearest neighbors, λj′It is
J-th of characteristic value of covariance matrix, vj′It is jth ' a feature vector of covariance matrix.
Intersection point PIj(xIj, yIj, zIj) normal vector be nij=(λ0, λ1, λ2)。
Vision point is setpIt determines the direction of normal, n should be metij ·(Vp-Pij) > 0
Further, the method in the present embodiment can also include by the coordinate of each spraying data point and corresponding position
Appearance is stored, and generates robot and tid file and tip file can be performed.
As it can be seen that the present invention can obtain corresponding threedimensional model by the scanning to workpiece to be processed, by three
Dimension module carries out cutting, obtains multiple cloud tangent planes corresponding with the workpiece to be processed, and according to the threedimensional model and accordingly
Point cloud data can obtain spraying data point corresponding with each cloud tangent plane, and then obtain corresponding with workpiece to be processed
Spray path.The present invention can determine corresponding spraying path according to the feature of workpiece to be processed itself, be conducive to protect
Hinder safety of workers, improves working efficiency, product quality and intelligent level.
On the basis of the above embodiments, the embodiment of the present invention provides a kind of path planning of spray robot accordingly
Device, specifically referring to figure 2..The device includes:
Scan module 21 obtains the threedimensional model of workpiece to be processed for being scanned processing to workpiece to be processed；
Cutting module 22 obtains multiple cloud tangent planes for carrying out cutting to threedimensional model；
Analysis module 23, for analyzing according to point cloud data corresponding with threedimensional model each cloud tangent plane,
Determine each spraying data point of each cloud tangent plane；
Computing module 24, for being obtained and workpiece to be processed according to each spraying data point corresponding with each cloud plane
Corresponding spraying path.
Optionally, analysis module 23 includes:
Determination unit, for determining j-th cloud tangent plane two sides according to point cloud data corresponding with threedimensional model
Spatial aggregation Ωl={ PIj(xli, yli, zli), i=0,1..., n } and Ωr={ Pri′(xri′, yri′, zri′), i '=0,1...,
N ' }, wherein j=1,2,3 ..., m, m are point cloud tangent plane sum, and n is spatial aggregation ΩlIn number of data points, n ' be sky
Between set omegarIn number of data points；
Matching unit, for according to preset rules by spatial aggregation ΩlIn each data point and spatial aggregation ΩrIn
Each data point is matched, and each matching double points are obtained；
Connection unit for connecting two points in each matching double points, and every line and j-th cloud is cut flat with
The intersection point in face is as each spraying data point corresponding with j-th cloud tangent plane.
On the basis of the above embodiments, the embodiment of the invention also provides a kind of path planning systems of spray robot
System, the system include:
Memory, for storing computer program；
Processor, when for executing computer program the step of the realization such as paths planning method of above-mentioned spray robot.
For example, the processor in the present embodiment is scanned processing for realizing to workpiece to be processed, work to be processed is obtained
The threedimensional model of part；Cutting is carried out to threedimensional model, obtains multiple cloud tangent planes；According to corresponding with threedimensional model cloud number
It is analyzed according to each cloud tangent plane, determines each spraying data point of each cloud tangent plane；Foundation and each point
The corresponding each spraying data point of cloud plane obtains spraying corresponding with workpiece to be processed path.
On the basis of the above embodiments, the embodiment of the invention also provides a kind of computer readable storage mediums, calculate
It is stored with computer program on machine readable storage medium storing program for executing, such as above-mentioned spray robot is realized when computer program is executed by processor
Paths planning method the step of.
The computer readable storage medium may include: USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence " including one ... ", not
There is also other identical elements in the process, method, article or apparatus that includes the element for exclusion.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of paths planning method of spray robot characterized by comprising
Processing is scanned to workpiece to be processed, obtains the threedimensional model of the workpiece to be processed；
Cutting is carried out to the threedimensional model, obtains multiple cloud tangent planes；
Each described cloud tangent plane is analyzed according to point cloud data corresponding with the threedimensional model, determines each institute
State each spraying data point of a cloud tangent plane；
According to and the corresponding each spraying data point of each cloud plane obtain spraying corresponding with workpiece to be processed path.
2. the paths planning method of spray robot according to claim 1, which is characterized in that the foundation and described three
The corresponding point cloud data of dimension module analyzes each described cloud tangent plane, determines each of each described cloud tangent plane
The process of a spraying data point are as follows:
The spatial aggregation Ω of j-th cloud tangent plane two sides is determined according to point cloud data corresponding with the threedimensional modell=
{Pli(xli, yli, zli), i=0,1..., n } and Ωr={ Pri'(xri', yri', zri'), i'=0,1..., n'}, wherein j=1,
2,3 ..., m, m are point cloud tangent plane sum, and n is the spatial aggregation ΩlIn number of data points, n' be the spatial aggregation
ΩrIn number of data points；
According to preset rules by the spatial aggregation ΩlIn each data point and the spatial aggregation ΩrIn each data point
It is matched, obtains each matching double points；
By two points connection in each matching double points, and by the intersection point of every line and the j-th cloud tangent plane
As each spraying data point corresponding with the j-th cloud tangent plane.
3. the paths planning method of spray robot according to claim 2, which is characterized in that described according to preset rules
By spatial aggregation ΩlIn each data point and the spatial aggregation ΩrIn data point matched, obtain each match point
Pair process are as follows:
From the spatial aggregation ΩrIn determine and the spatial aggregation ΩlIn nearest the first mesh of i-th of data point distance
Punctuate, to obtain and the spatial aggregation ΩlIn each data point the first matching double points respectively pair；
From the spatial aggregation ΩlIn determine and the spatial aggregation ΩrIn nearest the second mesh of the i-th ' a data point distance
Punctuate, to obtain and the spatial aggregation ΩrIn each data point the second matching double points respectively pair；
Each first matching double points and each second matching double points are taken into union, obtain each matching double points.
4. the paths planning method of spray robot according to claim 3, which is characterized in that the foundation and each point
The corresponding each spraying data point of cloud plane obtains the process in spraying path corresponding with the workpiece to be processed are as follows:
Calculate the normal vector and corresponding pose of each spraying data point corresponding with each cloud plane；
Coordinate, normal vector and pose according to each spraying data point obtain and the corresponding spraying path of corresponding point cloud plane；
Foundation and the corresponding spraying path of each cloud plane obtain spraying corresponding with workpiece to be processed path.
5. the paths planning method of spray robot according to claim 4, which is characterized in that it is described calculate with each
The process of the normal vector of the corresponding each spraying data point of point cloud plane are as follows:
The normal vector of each spraying data point corresponding with each cloud plane is calculated using cloud normal estimation algorithm.
6. the paths planning method of spray robot according to claim 4, which is characterized in that further including will be each described
The coordinate and corresponding pose for spraying data point are stored, and generate robot and tid file and tip file can be performed.
7. a kind of path planning apparatus of spray robot characterized by comprising
Scan module obtains the threedimensional model of the workpiece to be processed for being scanned processing to workpiece to be processed；
Cutting module obtains multiple cloud tangent planes for carrying out cutting to the threedimensional model；
Analysis module, for foundation point cloud data corresponding with the threedimensional model to each described cloud tangent plane minute
Analysis, determines each spraying data point of each described cloud tangent plane；
Computing module, for being obtained and the workpiece to be processed pair according to each spraying data point corresponding with each cloud plane
The spraying path answered.
8. the path planning apparatus of spray robot according to claim 7, which is characterized in that the analysis module packet
It includes:
Determination unit, for determining j-th cloud tangent plane two sides according to point cloud data corresponding with the threedimensional model
Spatial aggregation Ωl={ Pli(xli, yli, zli), i=0,1..., n } and Ωr={ Pri'(xri', yri', zri'), i'=0,1...,
N'}, wherein j=1,2,3 ..., m, m are point cloud tangent plane sum, and n is the spatial aggregation ΩlIn number of data points, n'
For the spatial aggregation ΩrIn number of data points；
Matching unit, for according to preset rules by the spatial aggregation ΩlIn each data point and the spatial aggregation Ωr
In each data point matched, obtain each matching double points；
Connection unit, for connecting two points in each matching double points, and by every line and j-th cloud
The intersection point of tangent plane is as each spraying data point corresponding with the j-th cloud tangent plane.
9. a kind of path planning system of spray robot characterized by comprising
Memory, for storing computer program；
Processor, realizing the spray robot as described in claim 1 to 6 any one when for executing the computer program
The step of paths planning method.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes the road of the spray robot as described in claim 1 to 6 any one when the computer program is executed by processor
The step of diameter planing method.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910526756.2A CN110181516A (en) | 2019-06-18 | 2019-06-18 | A kind of paths planning method of spray robot, device, system and storage medium |
Applications Claiming Priority (1)
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| CN113276130B (en) * | 2021-05-28 | 2022-10-04 | 山东大学 | Free-form surface spraying path planning method and system based on point cloud slice |
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| CN114419065A (en) * | 2022-01-13 | 2022-04-29 | 如你所视(北京)科技有限公司 | Building painting method and device and computer readable storage medium |
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