CN104525422B - Method for controlling paths of spray robot - Google Patents
Method for controlling paths of spray robot Download PDFInfo
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- CN104525422B CN104525422B CN201510000829.6A CN201510000829A CN104525422B CN 104525422 B CN104525422 B CN 104525422B CN 201510000829 A CN201510000829 A CN 201510000829A CN 104525422 B CN104525422 B CN 104525422B
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- 239000007921 spray Substances 0.000 title claims abstract description 180
- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000005507 spraying Methods 0.000 claims description 306
- 238000005259 measurement Methods 0.000 claims description 35
- 239000013598 vector Substances 0.000 claims description 34
- 238000000576 coating method Methods 0.000 claims description 13
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- 239000003973 paint Substances 0.000 description 5
- 230000008021 deposition Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method for controlling paths of a spray robot. The method includes the following steps that three-dimensional projection views of a sprayed workpiece are read; spray parameters of the spray robot are read; according to the three-dimensional projection views and the spray parameters, the spray path on each single face of the sprayed workpiece is calculated; the spray path on each single face is displayed on a displayer; user commands are read; according to the user commands, the spray parameters are modified; according to the modified spray parameters, the spray path on each single face of the sprayed workpiece is calculated; according to the spray path on each single face, a whole spray path is generated; spray commands are generated, so that the spray robot is controlled to spray the sprayed workpiece.
Description
Technical field
The present invention relates to spraying field is and in particular to a kind of method in control spray robot path.
Background technology
Can avoid manually being chronically at poisonous and hazardous production environment using spray robot in spraying industry.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 to move the position of spray gun, to complete entirely to spray the setting in path.By record and
Preserve the Parameters variation in robot end joint and position so that robot can repeat original movement locus, with realize from
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, calculate spraying path according to having sprayed part model and spraying coating process, and according to this 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 workpiece often do not have cad or threedimensional model, then cannot be using offline
Programming software goes simulation to generate spraying path.
Content of the invention
The technical problem to be solved in the present invention is to provide a kind of method controlling spray robot path, artificial to reduce
Participate in, improve spraying coordinates measurement precision, reduce the complexity of spraying, improve operability.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that
The invention provides a kind of method controlling spray robot path is it is characterised in that described control spraying robot
The method in people path comprises the following steps:
Read tripleplane's view of spraying workpiece；
Read the spray parameters of described spray robot；
Calculate the spraying road of each one side of described spraying workpiece according to described tripleplane view and described spray parameters
Footpath；
The spraying path of each one side described is shown over the display；
Read user instruction；
Described spray parameters are changed according to described user instruction；
Calculate the spraying path of each one side of described spraying workpiece according to amended spray parameters；
Spraying path according to each one side described produces integral spray path；And
Produce spraying instruction, to control spraying workpiece described in described coating robot coats.
In one embodiment, described calculate described spraying workpiece according to described tripleplane view and described spray parameters
Each one side spraying path step also include:
Determine the face multiple to be sprayed of described workpiece according to described tripleplane view；
Spraying node according to described spray parameters and the spray gun of spray robot described in described tripleplane view computation
Span and coating cloud diameter；
Determine the spray in each face in the plurality of face to be sprayed according to described spraying node span and described coating cloud diameter
Apply node, and obtain the two-dimensional points coordinate of described spraying node；
The described spraying in each face is calculated according to each view two-dimensional points coordinate corresponding relation of described tripleplane view
The corresponding three-dimensional coordinate of node；
The three of the adjacent node of the three-dimensional coordinate of each node according to described spraying node and each node described
Dimension coordinate calculates the normal vector of each spraying node, and described normal vector represents the space shape in corresponding spraying node for the described spray gun
State；
Generate the spraying profile in described face to be sprayed according to the three-dimensional coordinate of described spraying node；
Spatial fit is carried out to described spraying profile, to obtain spraying profile after matching；
Calculate the running orbit of described spray gun according to the spraying profile after described matching.
In one embodiment, described tripleplane view includes front view, top view and left view, and described calculating is each
The step of the corresponding three-dimensional coordinate of described spraying node in individual face also includes:
Read the target spraying node in described front view, described target sprays two dimension seat in described front view for the node
It is designated as (x, z), described target spraying node is (x, y, z) in three-dimensional coordinate；
In the traversal described top view of detection, xth row belongs to the spraying node row coordinate of described workpiece for measurement；
Relatively described row coordinate, to obtain maximum y_max1 and minima y_min1 of described row coordinate；
Traversal detects that in described left view, z dependent of dead military hero is in the spraying rows of nodes coordinate of described workpiece for measurement；
Relatively described row coordinate, to obtain maximum y_max2 and minima y_min2 of described row coordinate；
Calculate the first difference between described maximum y_max1 and described maximum y_max2；
Calculate the second difference between described minima y_min1 and described minima y_min2；
When described first difference is more than the first predetermined threshold value or described second difference is more than the second predetermined threshold value, then stop
Only calculate the three-dimensional coordinate that described target sprays node, otherwise, continue executing with following step；
When described first difference, less than described first predetermined threshold value and described second difference is less than described second predetermined threshold value,
Then compare described maximum y_max1 and described maximum y_max2, and relatively described minima y_min1 and described minima
y_min2；
When described maximum y_max1 is equal to described maximum y_max2, then described target sprays in the three-dimensional coordinate of 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 described minima y_min1 is equal to described minima y_min2, then described target sprays in the three-dimensional coordinate of 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；
Read the spray-coating surface numbering of described workpiece to be sprayed；
When described numbering is odd number, then described target sprays the coordinate y of node equal to minima y_min；
When described numbering is even number, then described target sprays the coordinate y of node equal to maximum y_max；
In one embodiment, described tripleplane view includes front view, top view and left view, and described calculating is each
The step of individual spraying node normal vector also includes:
Read the three dimensional space coordinate that target sprays node j；
Detect that described target sprays the adjacent node on four adjacent directions of node；
Read the three dimensional space coordinate of described four adjacent nodes j1, j2, j3 and j4；
Respectively with straight line connect spraying node j, j1, j2, j3 and j4 constitute triangle (j, j1, j2), (j, j2, j3),
(j, j3, j4) and (j, j4, j1), wherein, node j, j1 and j2 are connected the triangle being formed by (j, j1, j2) expression straight line,
Node j, j2 and j3 are connected the triangle being formed by (j, j2, j3) expression straight line, and (j, j3, j4) expression straight line is by node
J, j3 and j4 connect the triangle being formed, and node j, j4 and j1 are connected the triangle being formed by (j, j4, j1) expression straight line；
Calculate 4 normal vectors of triangle (j, j1, j2), (j, j2, j3), (j, j3, j4) and (j, j4, j1) respectively；
Calculate the meansigma methodss of described 4 normal vectors, to obtain the normal vector that described target sprays node j.
In one embodiment, the described step carrying out spatial fit to described spraying profile also includes:
Select the scan mode of each spraying node described；
That reads the plurality of face to be sprayed ought data above；
Three-dimensional coordinate according to line n node by described line n node project to described in ought above, with obtain described work as
The three-dimensional coordinate of the multiple projection nodes above gone up；
Calculate the oblique of the plurality of connecting line of each node node corresponding with described line n node projecting node
Rate；
Size relatively between the corresponding slope of each node and the corresponding slope of adjacent node, wherein, described projection section
Point includes primary nodal point；
When described comparative result shows that the slope of described primary nodal point is equal with adjacent slope, then described primary nodal point is added
Upper first numbering, otherwise, adds the second numbering to described primary nodal point；
The numbering of traversal detection the plurality of projection node；
When the numbering of described primary nodal point is the first numbering, then adjacent in described primary nodal point and described primary nodal point
Interval between node adds the first index value；
When the numbering of described primary nodal point is the second numbering, then adjacent in described primary nodal point and described primary nodal point
Interval between node adds the second index value；
Spraying profile according to each node described corresponding index value matching.
In one embodiment, the step of spraying profile described in each node corresponding index value matching described in described basis
Suddenly also include:
When described interval index value is the first index value, then described interval spraying profile is described in connection is contained in
The straight line of interval node；And
When described interval index value is the second index value, then points multiple to described Interval Sampling, and to the plurality of
Point carries out three difference matchings, and to obtain the curve in described interval, that is, described interval spraying profile is described curve.
In one embodiment, calculate the step of running orbit of described spray gun according to the spraying profile after described matching also
Including:
Matching track according to described spraying node and described normal vector calculate the spraying of described spray gun according to below equation
Track and normal vector:
Wherein, h represents the distance apart from described surface of the work to be sprayed for the described spray gun；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.
In one embodiment, described generation integral spray path step also includes:
When the spraying method in each face of described workpiece for measurement sprays for one side, then described overall path be described each
The spraying path of tested surface.
In one embodiment, described generation integral spray path step also includes:
When the spraying method in each face of described workpiece for measurement sprays for multiaspect, then the spraying to each tested surface described
Path is combined and interpolation, to produce multiaspect spraying path as described integral spray path.
In one embodiment, described generation integral spray path step also includes:
When the spraying method in each face of described workpiece for measurement includes one side spraying and multiaspect spraying, then for needing one side
The tested surface of spraying chooses the one side spraying path of described tested surface, and for the tested surface needing multiaspect to spray to described every
The spraying path of individual tested surface is combined and interpolation, to produce multiaspect spraying path；And
Combine described one side spraying path and described multiaspect spraying path, to form integral spray path.
Compared with prior art, whole Study of Intelligent Robot Control system is allow using the optical gauge of the present invention
Automatic measurement workpiece three-view diagram, and the spraying profile of spray gun is automatically generated according to three-view diagram.It is not required to during this manually to try
Spray, thus improve deposition accuracies, alleviates artificial burden.Simultaneously as will not be limited by workpiece cad figure, the present invention
Study of Intelligent Robot Control system and method operation easier, applicable surface is wider.
Brief description
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 controlling spray robot according to an embodiment of the invention.
Fig. 7 show the method flow diagram that according to an embodiment of the invention spraying workpiece is carried out with optical measurement.
Fig. 8 show the method flow diagram that spraying workpiece is carried out with optical measurement 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 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 and calculates the method stream that one side sprays the corresponding three-dimensional coordinate of node according to an embodiment of the invention
Cheng Tu.
Figure 14 show the method that front view sprays the corresponding three-dimensional coordinate of node that calculates according to an embodiment of the invention
Flow chart.
Figure 15 show the method that top view sprays the corresponding three-dimensional coordinate of node that calculates according to an embodiment of the invention
Flow chart.
Figure 16 show the method that left view sprays the corresponding three-dimensional coordinate of node that calculates according to an embodiment of the invention
Flow chart.
Figure 17 show the method flow diagram calculating each spraying node normal vector according to an embodiment of the invention.
Figure 18 show the schematic diagram that target according to an embodiment of the invention sprays node and adjacent node.
Figure 19 show the method flow diagram that according to an embodiment of the invention described spraying profile is carried out with spatial fit.
Figure 20 show the method flow diagram producing integral spray path according to an embodiment of the invention.
Specific embodiment
Hereinafter detailed description will be provided to embodiments of the invention.Although the present invention will be in conjunction with some specific embodiments
It is illustrated and illustrates, but it should be noted that the present invention is not merely confined to these embodiments.On the contrary, to the present invention
The modification 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, giving numerous details in specific embodiment below.
It will be understood by those skilled in the art that not having these details, the present invention equally can be implemented.In other example, right
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
Robot spraying system 100 can include optical measuring apparatus 106, main control device 102 and spraying equipment 104.In an embodiment
In, spraying equipment 104 includes spray robot 112 and the spray gun 110 being assemblied in spray robot 112.Optical measuring apparatus 106
Optical measurement is carried out to spraying workpiece, to obtain tripleplane's view of described spraying workpiece and the size letter of described spraying workpiece
Breath, and produce the workpiece signal representing described tripleplane view and described dimension information.Main control device 102 and optical measurement set
Standby 106 are connected, and for receiving described workpiece signal, read the spray parameters related to spray robot 112, according to described workpiece
Signal and described spray parameters calculate the spraying path of described spray robot 112, and produce and comprise described spraying routing information
Spraying instruction.Spraying equipment 104 is connected with described main control device.Spraying equipment 104 is according to described spraying instruction according to described
Spraying path carries out spraying operation.
Advantage is, intelligent robot paint finishing 100 utilizes optical measuring apparatus 106 to measure the three of spraying workpiece in real time
Dimension projection view, and the spraying profile of spray gun is automatically generated according to described tripleplane view.Due to being not required to manually grasp
Make, intelligent robot paint finishing 100 improves deposition accuracies.Due to not needing the cad picture of 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 128 processed is connected with central controller 126.Central controller 126 is entered with optical measuring apparatus 106 by model interface 124
Row communication, for receiving tripleplane's view that optical measuring apparatus 106 transmission comes.Central controller 126 is deposited from device drives
Read in reservoir 120 and drive parameter, and give optical measuring apparatus 106 and spraying equipment 104 configuration driven operational factor.Central authorities' control
Device 126 processed generates spraying path according to tripleplane's view of workpiece for measurement and spray parameters, and shows on display 122.
Staff checks the spraying path automatically generating by display 122.If the spraying path automatically generating needs to change, work
Make personnel and spray parameters are changed by control knob 128.Thus, central controller 126 generates spraying path again, and produces spray
Apply instruction, to control spray robot 112 to complete spraying operation.
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 main control device 102 transmission tripleplane view.The concrete structure of optical measuring apparatus 106 and behaviour
Work will be described in conjunction with 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 is sent to 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 this spray
Apply workpiece respectively in the state at transfer station two ends and centre position.
In one embodiment, picking sensor 132 is installed in transfer station 136.More particularly, transfer station 136 is wrapped
Include two table tops, 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 emitter 212 He
213.When transfer station 136 transmits described spraying workpiece, described two groups of light curtain emitters and receptor measure respectively and record institute
State spraying the first face of workpiece and the projection view in the second face.For example: emitter 210 and receptor 211 measure and record described
The top view of spraying workpiece；Emitter 212 and receptor 213 measure and record the front view of described 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, it is output as first signal of telecommunication；When light is blocked by the body, receptor does not receive light, then export second
The signal of telecommunication；Described picking sensor goes out the right of described workpiece for measurement according to described first signal of telecommunication and described 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 described spraying workpiece and institute
The projection view stated the distance between transfer station background difference measurements and record the 3rd face of described spraying workpiece.More particularly,
Depth camera 134 is arranged on the direction of transfer face of described spraying workpiece, and thus, depth camera 134 arranges and have recorded
The left view of described spraying workpiece.
Advantage is, using two groups of picking sensors of Fig. 2 and the structure of depth camera, optical measuring apparatus 106 are no
Need three groups of picking sensors, not only facilitate building of transfer station 136, also a saving the cost of transfer station 136.
In another embodiment, picking sensor includes three groups of light curtain emitters and receptor, for respectively measurement and
Record projection view (in figure this enforcement not shown in three faces (i.e. front view, top view and left view) of described spraying workpiece
Example).
Fig. 3 show the schematic diagram of transfer station 136 according to an embodiment of the invention.Fig. 3 will be described in conjunction with 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 respectively
It is provided with conveyer belt 224.It is provided with support glass 306 between two table tops 302 and 304.Advantage is, 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 supporting glass 306.Additionally, as Fig. 2 and
Shown in Fig. 3, light curtain emitter and receptor are all fixed in transfer station 136 by light curtain support meanss 222 and (will 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 in conjunction with Fig. 2 and Tu
3 are described.Each light curtain emitter of picking sensor and receptor are all using light curtain support meanss as shown in Figure 4
222 is fixing.Light curtain support meanss 222 include two screw arms 402 and 406 and light curtain support arm 404.Two screw arm 402 Hes
406 both sides being located at light curtain support arm 404 respectively, screw arm 402 and 406 is connected by crossbeam 408 with light curtain support arm 404,
Screw arm 402 and 406 is respectively provided with 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 302 and 304.
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 representing described transmission tape speed, and controller 502 is according to described feedback letter
Number controlled motor 504, to control the speed of conveyer belt 224 and 226.Advantage is, by controlling the speed of conveyer belt 224 and 226
Rate, shoots the optimization effect on perspective plane to reach picking sensor and depth camera.
Fig. 6 show the spraying method flow chart 600 controlling spray robot according to an embodiment of the invention.Fig. 6 will
It is described to 5 in conjunction with Fig. 1.
In step 602, to spraying workpiece carry out optical measurement, with obtain described spraying workpiece tripleplane's view and
The dimension information of described spraying workpiece.In step 604, produce the work representing described tripleplane view and described dimension information
Part signal.In step 606, the spray parameters related to described spray robot are read.In step 608, according to described work
Part signal and described spray parameters calculate the spraying path of described spray robot, and produce and comprise described spraying routing information
Spraying instruction.In step 610, described spray robot is controlled to be sprayed according to described spraying path according to described spraying instruction
Apply operation.In step 612, produce the feedback signal of the transmission tape speed representing transfer station 136.In step 614, according to institute
State the motor 504 that feedback signal controls transfer station 136, to control described transmission tape speed.
Fig. 7 show the method flow diagram 602 that according to an embodiment of the invention spraying workpiece is carried out with optical measurement.Figure
7 is further describing to the step 602 in Fig. 6.
In a step 702, described spraying workpiece is sent to the other end from one end of transfer station.In step 704, in institute
State in the transmit process of spraying workpiece, measure and record three of described spraying workpiece using three groups of emitters and receptor respectively
The projection view in face.
Fig. 8 show the method flow diagram that spraying workpiece is carried out with optical measurement according to another embodiment of the present invention
602’.Fig. 8 is further describing to the step 602 in Fig. 6.Fig. 7 with Fig. 8 is two kinds of different embodiments of step 602.
In step 802, described spraying workpiece is sent to the other end from one end of transfer station.In step 804, in institute
State in the transmit process of spraying workpiece, measure and record described spraying workpiece using two groups of light curtain emitters and receptor respectively
First face and the projection view in the second face.In step 806, using depth camera according to described spraying workpiece and described transmission
The distance between platform background difference measurements and the projection view recording described the 3rd face spraying workpiece.Enforcement in 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 just repeats no more.
Advantage is, uses optical measuring apparatus to measure the 3-D view of workpiece for measurement using the control method of Fig. 6 to Fig. 8
And dimension information, it is to avoid can-not be automatically generated the problem in spraying path in default of workpiece cad figure.Meanwhile, according to be measured
The 3-D view of workpiece and dimension information automatically generate spraying path, it is to avoid the error that produces because of artificial check and correction path,
Improve deposition accuracies, and which thereby enhance coating quality.
The method generating spraying path 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 based on threedimensional model identification.
In step 902, it is main control device 102, optical measuring apparatus 106 and spraying equipment 104 setting hardware driving ginseng
Number.Wherein, main control device 102 is included display 122, is connected with described spraying equipment 104 and described 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 described tripleplane view and dimension information, to control spraying robot
People 112 sprays described 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 controlling spray robot path.Figure 10 is the further illustrating of step 904 in Fig. 9.
In step 1002, read tripleplane's view of spraying workpiece.In step 1004, read described spraying robot
The spray parameters of people.In step 1006, described spraying workpiece is calculated according to described tripleplane view and described spray parameters
Each one side spraying path.In step 1008, the spraying path of each one side described is shown on display 122.
In step 1010, user judges whether this face spraying path is feasible.If spraying path is infeasible, enter step 1012,
User resets spray parameters by control knob 128.Thus, central controller 126 is according to changing later parameter again
Generate the spraying path of each one side of spraying workpiece, and enter step 1008.
If spraying path is feasible, enter step 1014, the spraying path according to each one side described produces overall spray
Apply path.
In step 1016, produce spraying instruction, to control spraying workpiece described in described coating robot coats.
Advantage is, is shown by display and the step of user's modification more optimizes so that spraying path.Meanwhile, with
Family manual operation spray gun measure spraying path method compare, change parameter and automatically generate spraying path method simplify people
Work operates, 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 calculating one side according to an embodiment of the invention.Figure 11
It is to the further illustrating of step 1006 in Figure 10.
In step 1102, the face multiple to be sprayed of described workpiece is determined according to described tripleplane view.In step
In 1104, spraying node according to described spray parameters and the spray gun of spray robot described in described tripleplane view computation across
Degree and coating cloud diameter, and each of the plurality of face to be sprayed is determined according to described spraying node span and described coating cloud diameter
The spraying node in face, and obtain the two-dimensional points coordinate of described spraying node.The two dimension spraying section to step 1104 for the step 1102
The two-dimensional coordinate computational methods of point will be described in conjunction with 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 this integral spray
Formula includes one side and multiaspect spraying, bound edge is preferential or one side is preferential.According to technological parameter, horizontal and vertical stroke is carried out to spray-coating surface
Point, ensure that spraying node falls within range of views simultaneously.As shown in figure 12, when needing to calculate spraying node, central controller
126 determine the scope of spray gun spraying coating cloud and the node moving every time according to spray gun distance, spraying coverage and angle of gun
Span.Thus, the position of each spraying node is set according to the scope and node span spraying coating cloud.
Return to Figure 11, in a step 1106, according to each view two-dimensional points coordinate corresponding relation of described tripleplane view
Calculate the corresponding three-dimensional coordinate of described spraying node in each face.Step 1106 will further describe in Figure 13 to Figure 16.
In step 1108, the three-dimensional coordinate of each node according to described spraying node and each node described
The three-dimensional coordinate of adjacent node calculates the normal vector of each spraying node, and wherein, described normal vector represents described spray gun right
The spatiality of node should be sprayed.Step 1106 will further describe in fig. 17.
In step 1110, the described spraying profile with spray-coating surface is generated according to the three-dimensional coordinate of described spraying node.Step
Rapid 1108 will further describe in Figure 17 to Figure 18.
In step 1112, spatial fit is carried out to described spraying profile, to obtain spraying profile after matching.Step 1112
To further describe in Figure 19.
The running orbit of described spray gun in step 1114, is calculated according to the spraying profile after described matching.Step 1114
To further describe in fig. 20.
Figure 13 show and calculates the method stream that one side sprays the corresponding three-dimensional coordinate of node according to an embodiment of the invention
Journey Figure 110 6.Figure 13 is to the further illustrating of step 1106 in Figure 11.In one embodiment, tripleplane's view includes leading
View, top view and left view.
In step 1302, the two-dimensional coordinate of the spraying node in front view is converted to three-dimensional coordinate.In step 1304
In, the two-dimensional coordinate of the spraying node in top view is converted to 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 that front view sprays the corresponding three-dimensional coordinate of node that calculates according to an embodiment of the invention
Flow chart 1302.Figure 14 is further describing to step 1302.Figure 14 is to enter taking the target spraying node in front view as a example
Row description.
In one embodiment, the three-dimensional coordinate of spraying node can be calculated using three-view diagram method for reconstructing, be 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)) makes x (h)=x (v), y (h)=y (w), just can obtain the three-dimensional coordinate of this point corresponding in front view
For (x (v), y (h), z (w)), the three-dimensional coordinate of this point otherwise cannot be 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 the z (v) that is not exactly equal in left view, need to choose immediate
Value z (v).Will be detailed below.
In step 1402, read the described target spraying node in described front view.Described target spraying node is in institute
Stating the two-dimensional coordinate in front view is (x, z) it is assumed that described target spraying node is (x, y, z) in three-dimensional coordinate.?
In step 1404, in the traversal described top view of detection, xth row belongs to the spraying node row coordinate of described workpiece for measurement.In step
In 1406, relatively described row coordinate, to obtain maximum y_max1 and minima y_min1 of described row coordinate.It is worth explanation
It is that for the point (x, y) in top view, the corresponding point of x coordinate is possible to be not determined as spraying node in a top view,
In this case, need first to determine a value range of y.
In step 1408, traversal detects that in described left view, z dependent of dead military hero is sat in the spraying rows of nodes of described workpiece for measurement
Mark.In step 1410, compare described row coordinate, to obtain maximum y_max2 and minima y_min2 of described row coordinate.
What deserves to be explained is, for the point (y, z) in left view, in left view, the corresponding point of z coordinate is possible to be not determined as
Spraying node, in this case it is necessary to first determine a value range of y.
In step 1412, calculate the first difference between described maximum y_max1 and described maximum y_max2.?
In step 1414, calculate the second difference between described minima y_min1 and described minima y_min2.When described first is poor
When value is more than the second predetermined threshold value (step 1418) more than the first predetermined threshold value (step 1416) or described second difference, then enter
Enter step 1426, stop calculating the three-dimensional coordinate that described target sprays node, otherwise, enter step 1420.Because difference is more than
During threshold value, specification error is too big, then cannot find rational corresponding point, therefore, stops calculating three-dimensional coordinate.
In step 1420, determine maximum y_max and minima y_min of coordinate y.Specifically, when described first
When difference is less than described first predetermined threshold value and described second difference and is less than described second predetermined threshold value, then more described maximum
Y_max1 and described maximum y_max2, and relatively described minima y_min1 and described minima y_min2.When described
Big value y_max1 is equal to described maximum y_max2, then described target sprays the maximum of the y-coordinate in the three-dimensional coordinate of 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
Described minima y_min1 is equal to described minima y_min2, then described 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 relatively
Little value.
In step 1422, coordinate y is determined according to spray-coating surface label.In one embodiment, read described work to be sprayed
The spray-coating surface numbering of part.When described numbering is odd number, then described target sprays the coordinate y of node equal to minima y_min.When
When described numbering is even number, then described target sprays the coordinate y of node equal to maximum y_max.In step 1424, draw three
Dimension coordinate (x, y, z).
Figure 15 show the method that top view sprays the corresponding three-dimensional coordinate of node that calculates according to an embodiment of the invention
Flow chart 1304.Figure 15 is further describing to step 1304.Figure 15 is to enter taking the target spraying node in top view as a example
Row description.
In step 1502, read the target spraying node in described top view, described target spraying node is in described master
Two-dimensional coordinate in view is (x ', y '), and assumes that described target spraying node is (x ', y ', z ') in three-dimensional coordinate.
In step 1504, traversal detects xth in described front view ' the capable spraying node row coordinate belonging to described workpiece for measurement.In step
In rapid 1506, compare the row coordinate of described front view, to obtain maximum z ' _ max1 and minima z of described row coordinate ' _
min1.In step 1508, in the traversal described left view of detection, y row belongs to the spraying node row coordinate of described workpiece for measurement.
In step 1510, compare the row coordinate in described left view, to obtain maximum z ' _ max2 and the minima of described row coordinate
z’_min2.In step 1512, calculate the first difference between described maximum z ' _ max1 and described maximum z ' _ max2.
In step 1514, calculate the second difference between described minima z ' _ min1 and described minima z ' _ min2.
When described first difference, less than the first predetermined threshold value (step 1516) and described second difference is less than the second default threshold
Value (step 1518), then enter step 1520, otherwise, enters step 1526, stops coordinates computed z.
In step 1520, determine maximum z ' _ max and minima z of coordinate z ' ' _ min.More particularly, compare institute
State maximum z ' _ max1 and described maximum z ' _ max2, and relatively described minima z ' _ min1 and described minima z ' _
min2.When described maximum z ' _ max1 is equal to described maximum z ' _ max2, then described target sprays in the three-dimensional coordinate of node
Maximum the z ' _ max of z ' coordinate be equal to z ' _ max1 or z ' _ max2, otherwise, maximum the z ' _ max of z ' coordinate is z ' _ max1
And the smaller value in z ' _ max2；' _ min1 be equal to described minima z ' _ min2 when described minima z, then described target spraying section
Point three-dimensional coordinate in z ' coordinate minima z ' _ min be equal to z ' _ min1 or z ' _ min2, otherwise, the minima of z ' coordinate
Z ' _ min is the smaller value in z ' _ min1 and z ' _ min2.
In step 1522, the spraying surface information according to described workpiece to be sprayed selects one from z ' _ min and z ' _ max
Value as coordinate z ', to determine described target spraying node in three-dimensional coordinate (x ', y ', z ') (step 1524).
Figure 16 show the method that left view sprays the corresponding three-dimensional coordinate of node that calculates according to an embodiment of the invention
Flow chart 1306.Figure 16 is further describing to step 1306.Figure 16 is to enter taking the target spraying node in left view as a example
Row description.
In step 1602, read the target spraying node in described left view, described target spraying node is on a described left side
Two-dimensional coordinate in view is (y ' ', z ' '), and assume described target spraying node in three-dimensional coordinate be (x ' ', y ' ',
z’’).
In step 1604, traversal detects that in described front view, z ' ' dependent of dead military hero is in the spraying rows of nodes of described workpiece for measurement
Coordinate.In step 1606, the row coordinate relatively in described front view, with obtain described row coordinate maximum x ' ' _ max1 and
Minima x ' ' _ min1.In step 1608, traversal detects that in described top view, y ' ' dependent of dead military hero is in the spraying of described workpiece for measurement
Rows of nodes coordinate.
In step 1610, row coordinate relatively in described top view, with obtain the maximum x ' ' of described row coordinate _
Max2 and minima x ' ' _ min2.In step 1612, calculate described maximum x ' ' _ max1 and described maximum x ' ' _ max2
Between the first difference.In step 1614, calculate between described minima x ' ' _ min1 and described minima x ' ' _ min2
Second difference.
When described first difference, less than the first predetermined threshold value (step 1616) and described second difference is less than the second default threshold
Value (step 1618), then enter step 1620, otherwise, stops coordinates computed x ' '.
In step 1620, determine maximum x ' ' _ max and the x ' ' _ min of x ' '.In one embodiment, relatively more described
Maximum x ' ' _ max1 and described maximum x ' ' _ max2, and relatively described minima x ' ' _ min1 and described minima x ' ' _
min2.When described maximum x ' ' _ max1 is equal to described maximum x ' ' _ max2, then described target sprays the three-dimensional coordinate of node
In x ' ' coordinate maximum x ' ' _ max be equal to x ' ' _ max1 or x ' ' _ max2, otherwise, the maximum x ' ' _ max of x ' ' coordinate
For the smaller value in x ' ' _ max1 and x ' ' _ max2.' ' _ min1 be equal to described minima x ' ' _ min2 when described minima x, then
Described target sprays minima x of the x ' ' coordinate in the three-dimensional coordinate of node ' ' _ min is equal to x ' ' _ min1 or x ' ' _ min2,
Otherwise, minima x of x ' ' coordinate ' ' _ min be x ' ' _ min1 and x ' ' _ min2 in smaller value；
In step 1622, the spraying surface information according to described workpiece to be sprayed selects one from x ' ' _ min and x ' ' _ max
Individual value as coordinate x ' ', to determine described target spraying node in three-dimensional coordinate (x ' ', y ' ', z ' ') (step
1624).
Figure 17 show the method flow diagram 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 the spatial attitude in spraying node for the spray gun.
Figure 18 show target according to an embodiment of the invention and sprays showing of node j 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, read the three dimensional space coordinate that target sprays node j.In step 1704, detect described mesh
Adjacent node j1, j2, j3 and j4 on four adjacent directions of mark spraying node.In step 1706, read described four phases
The three dimensional space coordinate of neighbors j1, j2, j3 and j4.In step 1708, respectively with straight line connect spraying node j, j1, j2,
The triangle (j, j1, j2), (j, j2, j3), (j, j3, j4) and (j, j4, j1) that j3 and j4 is constituted, wherein, (j, j1, j2) represents
With straight line, node j, j1 and j2 are connected the triangle being formed, node j, j2 and j3 are connected shape by (j, j2, j3) expression straight line
The triangle becoming, node j, j3 and j4 are connected the triangle being formed by (j, j3, j4) expression straight line, and (j, j4, j1) represents
With straight line, node j, j4 and j1 are connected the triangle being formed.In step 1708, respectively calculate triangle (j, j1, j2), (j,
J2, j3), 4 normal vectors of (j, j3, j4) and (j, j4, j1).The normal vector of triangle refers to be hung down in the face being formed with triangle
Straight direction vector.In step 1710, calculate the meansigma methodss of described 4 normal vectors, spray node j's to obtain described target
Normal vector.
Advantage is, the method for the calculating normal vector in Figure 17 considers the situation of the four direction of destination node, thus,
This normal vector can more accurately show spray gun in the due angle of destination node and attitude, improves the accuracy of spraying.
Figure 19 show the method flow diagram that according to an embodiment of the invention described spraying profile is carried out with spatial fit
1112.Figure 19 is further describing to the step 1112 in Figure 11.
The spraying node generating for space, each row (column) 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 intend to the spraying profile generating
Close, be indicated with straight line and curve.
In step 1902, select the scan mode of each spraying node described.In step 1904, swept according to described
What the mode of retouching read the plurality of face to be sprayed ought data above.In step 1906, according to the three-dimensional coordinate of line n node
By described line n node project to described ought above, to obtain the three-dimensional coordinate in the described multiple projection nodes that ought above go up.
In step 1908, calculate the connecting line of each node node corresponding with described line n node of the plurality of projection node
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 described comparative result shows the slope of present node (explanation present node and adjacent segments equal with adjacent slope
Point is in a plane), then described primary nodal point is added with the first numbering, otherwise (explanation present node and adjacent node
It is in Different Plane), described primary nodal point is added with the second numbering.
In step 1914, index value is determined according to described numbering.The numbering of traversal detection the plurality of projection node.When
When the numbering of described present node is the first numbering, then between the adjacent node of described present node and described present node
Interval adds the first index value (for example: logical zero).When the numbering of described primary nodal point is the second numbering, then described first
Interval between the adjacent node of node and described primary nodal point adds the second index value (for example: logic 1).
In step 1916, spraying profile according to each node described corresponding index value matching.Specifically,
When described interval index value is the first index value (representing present node with adjacent node at grade), then described area
Between spraying profile be connect be contained in described interval node straight line.When described interval index value is the second index value (table
Show present node and adjacent node in Different Plane) when, then points multiple to described Interval Sampling, and the plurality of point is carried out
Three difference matchings, to obtain the curve in described interval, that is, described interval spraying profile is described curve.
It is possible to calculate the spray of described spray gun according to below equation after obtaining spraying node matching track and normal vector
Painting track and normal vector:
Wherein, h represents the distance apart from described surface of the work to be sprayed for the described spray gun；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 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 described workpiece for measurement sprays for one side, enter step
2003, described overall path is the spraying path of each tested surface described, otherwise, enters step 2004.In step 2004, such as
The spraying method in each face of really described workpiece for measurement sprays for multiaspect, then enter step 2005, to each tested surface described
Spraying path is combined and interpolation, to produce multiaspect spraying path as described integral spray path, otherwise, enters step
2006.
In step 2006, the spraying method in each face of described workpiece for measurement includes one side spraying and multiaspect spraying, this
When, enter step 2007, the tested surface needing one side spraying is chosen to the one side spraying path of described tested surface, and for
The tested surface needing multiaspect spraying is combined and interpolation to the spraying path of each tested surface described, to produce multiaspect spraying road
Footpath.Combine described one side spraying path and described multiaspect spraying path, 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.It is not required to during this will manually try to spray, thus improve spraying essence
Degree, alleviates artificial burden.Simultaneously as will not be limited by workpiece cad figure, the Study of Intelligent Robot Control system of the present invention
Easier with method operation, applicable surface is wider.
The conventional embodiment of embodiment and the accompanying drawing only present invention specifically above.Obviously, without departing from claims
Can there are various supplements, modification and replacement on the premise of the present invention spirit being defined and invention scope.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, assembly 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 (9)
1. a kind of method controlling spray robot path is it is characterised in that the method bag in described control spray robot path
Include following steps:
Read tripleplane's view of spraying workpiece；
Read the spray parameters of described spray robot；
Calculate the spraying path of each one side of described spraying workpiece according to described tripleplane view and described spray parameters；
The spraying path of each one side described is shown over the display；
Read user instruction；
Described spray parameters are changed according to described user instruction；
Calculate the spraying path of each one side of described spraying workpiece according to amended spray parameters；
Spraying path according to each one side described produces integral spray path；And
Produce spraying instruction, to control spraying workpiece described in described coating robot coats；
The spraying road of described each one side calculating described spraying workpiece according to described tripleplane view and described spray parameters
The step in footpath also includes:
Determine the face multiple to be sprayed of described workpiece according to described tripleplane view；
Spraying node span according to described spray parameters and the spray gun of spray robot described in described tripleplane view computation
With coating cloud diameter；
Determine the spraying section in each face in the plurality of face to be sprayed according to described spraying node span and described coating cloud diameter
Point, and obtain the two-dimensional points coordinate of described spraying node；
The described spraying node in each face is calculated according to each view two-dimensional points coordinate corresponding relation of described tripleplane view
Corresponding three-dimensional coordinate；
The three-dimensional seat of the adjacent node of the three-dimensional coordinate of each node according to described spraying node and each node described
Mark calculates the normal vector of each spraying node, and described normal vector represents the spatiality in corresponding spraying node for the described spray gun；
Generate the spraying profile in described face to be sprayed according to the three-dimensional coordinate of described spraying node；
Spatial fit is carried out to described spraying profile, to obtain spraying profile after matching；
Calculate the running orbit of described spray gun according to the spraying profile after described matching.
2. the method controlling spray robot path according to claim 1 is it is characterised in that described tripleplane view
Including front view, top view and left view, the step of the corresponding three-dimensional coordinate of described spraying node in described each face of calculating
Also include:
Read the target spraying node in described front view, described target spraying two-dimensional coordinate in described front view for the node is
(x, z), described target spraying node is (x, y, z) in three-dimensional coordinate；
In the traversal described top view of detection, xth row belongs to the spraying node row coordinate of workpiece for measurement；
Relatively described row coordinate, to obtain maximum y_max1 and minima y_min1 of described row coordinate；
Traversal detects that in described left view, z dependent of dead military hero is in the spraying rows of nodes coordinate of workpiece for measurement；
Relatively described row coordinate, to obtain maximum y_max2 and minima y_min2 of described row coordinate；
Calculate the first difference between described maximum y_max1 and described maximum y_max2；
Calculate the second difference between described minima y_min1 and described minima y_min2；
When described first difference is more than the first predetermined threshold value or described second difference is more than the second predetermined threshold value, then stop meter
Calculate the three-dimensional coordinate that described target sprays node, otherwise, continue executing with following step；
Be less than described second predetermined threshold value when described first difference is less than described first predetermined threshold value and described second difference, then than
More described maximum y_max1 and described maximum y_max2, and relatively described minima y_min1 and described minima y_
min2；
When described maximum y_max1 is equal to described maximum y_max2, then described 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 described minima y_min1 is equal to described minima y_min2, then described 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；
Read the spray-coating surface numbering of described workpiece to be sprayed；
When described numbering is odd number, then described target sprays the coordinate y of node equal to minima y_min；
When described numbering is even number, then described target sprays the coordinate y of node equal to maximum y_max.
3. the method controlling spray robot path according to claim 1 and 2 is it is characterised in that described tripleplane
View includes front view, top view and left view, and the step of each spraying node normal vector of described calculating also includes:
Read the three dimensional space coordinate that target sprays node j；
Detect that described target sprays the adjacent node on four adjacent directions of node；
Read the three dimensional space coordinate of described four adjacent nodes j1, j2, j3 and j4；
Respectively with straight line connect spraying node j, j1, j2, j3 and j4 constitute triangle (j, j1, j2), (j, j2, j3), (j,
J3, j4) and (j, j4, j1), wherein, node j, j1 and j2 are connected the triangle being formed by (j, j1, j2) expression straight line, (j,
J2, j3) node j, j2 and j3 connect the triangle being formed by expression straight line, and (j, j3, j4) expression straight line is by node j, j3
Connect the triangle being formed with j4, node j, j4 and j1 are connected the triangle being formed by (j, j4, j1) expression straight line；
Calculate 4 normal vectors of triangle (j, j1, j2), (j, j2, j3), (j, j3, j4) and (j, j4, j1) respectively；
Calculate the meansigma methodss of described 4 normal vectors, to obtain the normal vector that described target sprays node j.
4. according to claim 3 control spray robot path method it is characterised in that described to described spraying rail
The step that mark carries out spatial fit also includes:
Select the scan mode of each spraying node described；
That reads the plurality of face to be sprayed ought data above；
Three-dimensional coordinate according to line n node by described line n node project to described in ought above, with obtain described ought be above
On multiple projection nodes three-dimensional coordinate；
Calculate the slope of the connecting line of each node node corresponding with described line n node of the plurality of projection node；
Size relatively between the corresponding slope of each node and the corresponding slope of adjacent node, wherein, described projection node bag
Include primary nodal point；
When described comparative result shows that the slope of described primary nodal point is equal with adjacent slope, then the is added to described primary nodal point
One numbering, otherwise, adds the second numbering to described primary nodal point；
The numbering of traversal detection the plurality of projection node；
When the numbering of described primary nodal point is the first numbering, then in the adjacent node of described primary nodal point and described primary nodal point
Between interval add the first index value；
When the numbering of described primary nodal point is the second numbering, then in the adjacent node of described primary nodal point and described primary nodal point
Between interval add the second index value；
Spraying profile according to each node described corresponding index value matching.
5. according to claim 4 control spray robot path method it is characterised in that described according to described each
Described in the corresponding index value matching of individual node, the step of spraying profile also includes:
When described interval index value is the first index value, then described interval spraying profile is contained in described interval for connection
The straight line of node；And
When described interval index value is the second index value, then points multiple to described Interval Sampling, and to the plurality of click-through
Three difference matchings of row, to obtain the curve in described interval, that is, described interval spraying profile is described curve.
6. the method controlling spray robot path according to claim 5 is it is characterised in that after according to described matching
The step that spraying profile calculates the running orbit of described spray gun also includes:
Matching track according to described spraying node and described normal vector calculate the spraying profile of described spray gun according to below equation
And normal vector:
Wherein, h represents the distance apart from described surface of the work to be sprayed for the described spray gun；P ' (x, y, z) represents the operation rail of spray gun
Node in mark；P (x, y, z) represents the spraying node on face to be sprayed；V ' (x, y, z) represents the normal vector of spraying node；v
(x, y, z) represents the normal vector of spray gun.
7. the method controlling spray robot path according to claim 6 is it is characterised in that described generation integral spray
Path step also includes:
When the spraying method in each face of workpiece for measurement sprays for one side, then described overall path is each tested surface described
Spraying path.
8. the method controlling spray robot path according to claim 6 is it is characterised in that described generation integral spray
Path step also includes:
When the spraying method in each face of workpiece for measurement sprays for multiaspect, then the spraying path of each tested surface described is carried out
Combination and interpolation, to produce multiaspect spraying path as described integral spray path.
9. the method controlling spray robot path according to claim 6 is it is characterised in that described generation integral spray
Path step also includes:
When the spraying method in each face of workpiece for measurement includes one side spraying and multiaspect spraying, then for needing one side spraying to treat
The one side spraying path of described tested surface is chosen in survey face, and for the tested surface needing multiaspect to spray to each tested surface described
Spraying path be combined and interpolation, with produce multiaspect spraying path；And
Combine described one side spraying path and described multiaspect spraying path, to form integral spray path.
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| CN104841593B (en) * | 2015-05-29 | 2017-04-19 | 希美埃（芜湖）机器人技术有限公司 | Control method of robot automatic spraying system |
| CN106423657B (en) * | 2016-08-23 | 2018-11-30 | 武汉理工大学 | A kind of thermal spraying robot path planning method and system based on index curve |
| CN106327561A (en) * | 2016-08-31 | 2017-01-11 | 武汉湾流科技股份有限公司 | Intelligent spraying method and system based on machine vision technology |
| CN107899814A (en) * | 2017-12-20 | 2018-04-13 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot spraying system and its control method |
| JP7026308B2 (en) * | 2018-03-29 | 2022-02-28 | 澁谷工業株式会社 | Cleaning device and its operation setting method |
| CN109000560B (en) * | 2018-06-11 | 2021-07-06 | 广东工业大学 | Method, device and equipment for detecting package size based on three-dimensional camera |
| CN109317383B (en) * | 2018-10-25 | 2021-07-16 | 佛山市顺德区东亚汽车部件有限公司 | High-efficiency spraying production process and system for surface machining of injection molding part |
| CN109703228A (en) * | 2019-02-01 | 2019-05-03 | 佛山市彩正自动化设备有限公司 | A kind of spray equipment and method using high definition visual pathway |
| CN109948247B (en) * | 2019-03-18 | 2023-04-07 | 福州大学 | Handicraft surface spraying simulation method capable of automatically optimizing spraying direction |
| JP7385109B2 (en) * | 2019-09-02 | 2023-11-22 | 澁谷工業株式会社 | Cleaning equipment and its operation setting method |
| CN111530671A (en) * | 2020-05-07 | 2020-08-14 | 佛山科学技术学院 | Intelligent robot spraying method based on spraying system |
| CN115608537B (en) * | 2022-11-22 | 2023-03-14 | 广州泽亨实业有限公司 | Automatic spraying control method and control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102007026041A1 (en) * | 2006-11-28 | 2008-06-12 | Abb Ag | Method for determining spraying parameters for controlling a spraying device using paint spraying device |
| CN102500498B (en) * | 2011-11-11 | 2014-06-04 | 江苏科技大学 | Optimization method for spray gun track of spraying robot on irregular polyhedron |
| CN102909148B (en) * | 2012-08-13 | 2014-10-29 | 东南大学 | Spraying path automatic generating method for adaptive modeling of multiple spray guns |
| CN103611646B (en) * | 2013-12-09 | 2016-05-25 | 江苏科技大学 | Spray robot space path planing method |
| CN103990571B (en) * | 2014-05-22 | 2017-01-04 | 北京铭隆世纪科技有限公司 | The implementation method of auto spray painting and device |
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