CN104707749B - A kind of method of the 3-D spraying nodal method vector that workpiece to be sprayed is set - Google Patents
A kind of method of the 3-D spraying nodal method vector that workpiece to be sprayed is set Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 70
- 239000013598 vector Substances 0.000 title claims abstract description 36
- 239000007921 spray Substances 0.000 claims abstract description 76
- 238000010586 diagram Methods 0.000 description 43
- 238000005259 measurement Methods 0.000 description 22
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- 238000000576 coating method Methods 0.000 description 7
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- 239000003973 paint Substances 0.000 description 6
- 230000008021 deposition Effects 0.000 description 4
- 230000001419 dependent effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
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Abstract
A kind of method that the invention discloses 3-D spraying nodal method vector arranging workpiece to be sprayed, comprises the following steps: determine multiple to be sprayed of described workpiece according to described tripleplane view；Spray parameters according to described spray gun and described tripleplane view determine the spraying node in each face of the plurality of to be sprayed, and obtain the two-dimensional points coordinate of described spraying node；The three-dimensional coordinate that described spraying node that each view two-dimensional points coordinate corresponding relation according to described tripleplane view calculates each face is corresponding；Traversal reads the spraying Nodes Three-dimensional coordinate in each face described, and determines the normal vector of each target spraying node.
Description
Technical field
The present invention relates to spraying field, a kind of method being specifically related to 3-D spraying nodal method vector that workpiece to be sprayed is set.
Background technology
Use spray robot can avoid manually being chronically at poisonous and hazardous production environment in spraying industry.At present the programming mode of spray robot is mainly included artificial lead-through teaching and off-line programing method.Artificial lead-through teaching is progressively to be moved the position of spray gun by veteran operative robot joystick, to complete the setting in whole spraying path.The Parameters variation by record and preserving robot end joint and position so that robot can repeat original movement locus, to realize spraying automatically.This kind of method has of a relatively high cost of labor.
Off-line programing method needs to utilize computer graphics techniques to previously generate spraying part model.Workpiece is sprayed when, calculate spraying path according to having sprayed part model and spraying coating process, and spray according to this spraying path command robot.But, the robot off-line programming software operation employed in actual application is relative complex, and needs accurate workpiece cad model or threedimensional model, could simulate generation and spray path the most accurately.But at Furniture panel etc. in the less demanding production environment of precision of spraying path, these sheet material workpiece often do not have CAD or threedimensional model, then off-line programming software cannot be utilized to go simulation to generate spraying path.
Summary of the invention
The technical problem to be solved in the present invention is a kind of method providing 3-D spraying nodal method vector arranging workpiece to be sprayed, to reduce artificial participation, improves spraying coordinates measurement precision, reduces the complexity of spraying, improve operability.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that
A kind of method that the invention provides 3-D spraying nodal method vector that workpiece to be sprayed is set, described normal vector represents the spray gun spatiality at described 3-D spraying node, it is characterized in that, the method for the described 3-D spraying nodal method vector arranging workpiece to be sprayed comprises the following steps:
Multiple to be sprayed of described workpiece is determined according to described tripleplane view；
Spray parameters according to described spray gun and described tripleplane view determine the spraying node in each face of the plurality of to be sprayed, and obtain the two-dimensional points coordinate of described spraying node；
The three-dimensional coordinate that described spraying node that each view two-dimensional points coordinate corresponding relation according to described tripleplane view calculates each face is corresponding；
Traversal reads the spraying Nodes Three-dimensional coordinate in each face described, and uses following methods to determine the normal vector of each target spraying node:
Read the three dimensional space coordinate of target spraying node J；
Detect adjacent node J1, J2, J3 and the J4 on four adjacent directions of described target spraying node；
Read the three dimensional space coordinate of described four adjacent nodes J1, J2, J3 and J4；
Spraying node J, J1, J2, J3 and J4 triangle (J, J1, J2), (J is connected respectively with straight line, J2, J3), (J, J3, and (J J4), J4, J1), wherein, (J, J1, J2) expression straight line by node J, J1 and J2 connect formed triangle, (J, J2, J3) node J, J2 and J3 are connected the triangle formed, (J, J3 by expression straight line, J4) node J, J3 and J4 are connected the triangle formed by expression straight line, node J, J4 and J1 are connected the triangle 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 methods of described 4 normal vectors, to obtain the normal vector of described target spraying node J.
Compared with prior art, use the Study of Intelligent Robot Control system and method for the present invention can automatically measure workpiece three-view diagram, and automatically generate the spraying profile of spray gun according to three-view diagram.Need not during this manually try spray, thus improve deposition accuracies, alleviate artificial burden.Simultaneously as will not be limited by workpiece CAD diagram, the Study of Intelligent Robot Control system and method operation of the present invention is easier, and applicable surface is wider.
Accompanying drawing explanation
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 means 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 spraying workpiece carries out optical measurement according to an embodiment of the invention.
Fig. 8 show the method flow diagram that spraying workpiece carries out 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 the method flow diagram calculating three-dimensional coordinate corresponding to one side spraying node according to an embodiment of the invention.
Figure 14 show the method flow diagram calculating three-dimensional coordinate corresponding to front view spraying node according to an embodiment of the invention.
Figure 15 show the method flow diagram calculating three-dimensional coordinate corresponding to top view spraying node according to an embodiment of the invention.
Figure 16 show the method flow diagram calculating three-dimensional coordinate corresponding to left view spraying node according to an embodiment of the invention.
Figure 17 show the method flow diagram calculating each spraying nodal method vector according to an embodiment of the invention.
Figure 18 show target spraying node and the schematic diagram of adjacent node according to an embodiment of the invention.
Figure 19 show the method flow diagram that described spraying profile carries out spatial fit according to an embodiment of the invention.
Figure 20 show the method flow diagram producing integral spray path according to an embodiment of the invention.
Detailed description of the invention
Hereinafter embodiments of the invention will be provided detailed description.Although the present invention will be illustrated in conjunction with some detailed description of the invention and illustrate, but it should be noted that the present invention is not merely confined to these embodiments.On the contrary, the amendment carrying out the present invention or equivalent, all should contain in the middle of scope of the presently claimed invention.
It addition, in order to better illustrate the present invention, detailed description of the invention below gives numerous details.It will be understood by those skilled in the art that do not have these details, the present invention equally implements.In other example, known method, flow process, element and circuit are not described in detail, 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, intelligent robot paint finishing 100 includes optical measuring apparatus 106, main control device 102 and spraying equipment 104.In one embodiment, spraying equipment 104 includes spray robot 112 and is assemblied in the spray gun 110 of spray robot 112.Optical measuring apparatus 106 carries out optical measurement to spraying workpiece, to obtain tripleplane's view and the dimension information of described spraying workpiece of described spraying workpiece, and produces expression described tripleplane view and the workpiece signal of described dimension information.Main control device 102 is connected with optical measuring apparatus 106, for receiving described workpiece signal, read the spray parameters relevant to spray robot 112, calculate the spraying path of described spray robot 112 according to described workpiece signal and described spray parameters, and produce the spraying instruction comprising described spraying routing information.Spraying equipment 104 is connected with described main control device.Spraying equipment 104 carries out spraying operation according to described spraying instruction according to described spraying path.
Advantage is, intelligent robot paint finishing 100 utilizes optical measuring apparatus 106 to measure tripleplane's view of spraying workpiece in real time, and automatically generates the spraying profile of spray gun according to described tripleplane view.Owing to need not manual hand manipulation, intelligent robot paint finishing 100 improves deposition accuracies.Owing to need not the CAD diagram sheet 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, display 122, model interface 124 and control knob 128.Device drives memorizer 120, display 122, model interface 124 are connected with central controller 126 with control knob 128.Central controller 126 is communicated with optical measuring apparatus 106 by model interface 124, transmits, for receiving optical measuring apparatus 106, tripleplane's view of coming.Central controller 126 reads driving parameter from device drives memorizer 120, and gives optical measuring apparatus 106 and spraying equipment 104 configuration driven operational factor.Central controller 126 generates spraying path according to tripleplane's view and the spray parameters of workpiece for measurement, and shows on display 122.Staff checks, by display 122, the spraying path automatically generated.If the spraying path automatically generated needs amendment, staff revises spray parameters by control knob 128.Thus, central controller 126 generates spraying path again, and produces spraying instruction, completes spraying operation controlling spray robot 112.
In one embodiment, optical measuring apparatus 106 includes data-interface 130, picking sensor 132, depth camera 134, transfer station 136 and motor control module 138.Data-interface 130 is connected with main control device 102, drives parameter for receiving from main control device 102, and transmits tripleplane's view to main control device 102.The concrete structure of optical measuring apparatus 106 and operation 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 in figure 2 it is shown, transfer station 136 includes conveyer belt 224.Belt is covered, for spraying workpiece is sent to the other end from one end of transfer station on conveyer belt 224.Fig. 2 shows 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 that this spraying workpiece is respectively in transfer station two ends and the state in centre position.
In one embodiment, picking sensor 132 is installed in transfer station 136.More particularly, transfer station 136 includes two table tops, and picking sensor 132 is arranged on the junction of two table tops.In the embodiment of fig. 2, picking sensor 132 includes two groups of light curtain emitters and receptor, such as: first group of emitter 210 and receptor 211, second group of emitter 212 and 213.When transfer station 136 transmits described spraying workpiece, first and the projection view of second of described spraying workpiece is measured and recorded to described two groups of light curtain emitters and receptor respectively.Such as: the top view of described spraying workpiece is measured and recorded to emitter 210 and receptor 211；The front view of described spraying workpiece is measured and recorded to emitter 212 and receptor 213.More particularly, the emitter of each picking sensor sends equidistant light, and corresponding receptor receives corresponding light, when receptor receives light, is output as first signal of telecommunication；When light is blocked by the body, receptor does not receives light, then export second signal of telecommunication；Described picking sensor calculates the obverse shapes and sizes of described workpiece for measurement according to described first signal of telecommunication and described second point signal.
Depth camera 134 is installed on one end of transfer station 136.Depth camera 134 is according to the range difference measurement between described spraying workpiece and described transfer station background and records the projection view of the 3rd 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, uses two groups of picking sensors and the structure of depth camera of Fig. 2, and optical measuring apparatus 106 without three groups of picking sensors, not only facilitates 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 measuring and record the projection view (this embodiment not shown in figure) in three faces (i.e. front view, top view and left view) of described spraying workpiece respectively.
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 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 be with printing opacity, and therefore, light curtain emitter 210 and receptor 211 can be separately positioned on support glass 306 and under support glass 306.Additionally, light curtain emitter 212 and receptor 213 are separately positioned on the both sides of support glass 306.Additionally, as shown in Figures 2 and 3, light curtain emitter and receptor are all fixed in transfer station 136 (will be described) at Fig. 4 by light curtain support means 222.
Fig. 4 show the schematic diagram of light curtain support means 222 according to an embodiment of the invention.Fig. 4 will be described in conjunction with Fig. 2 and Fig. 3.Each light curtain emitter of picking sensor and receptor all use light curtain support means 222 as shown in Figure 4 to fix.Light curtain support means 222 includes two screw arms 402 and 406 and light curtain support arm 404.Two screw arms 402 and 406 lay respectively at the both sides of light curtain support arm 404, and screw arm 402 and 406 is connected by crossbeam 408 with light curtain support arm 404, and screw arm 402 and 406 is respectively provided with screw hole 412 and 414.Aforesaid light curtain emitter or receptor are arranged in light curtain support means 222 by light curtain support arm 404, and light curtain support means 222 is individually fixed on two table tops 224 and 226 by the screw of screw hole 412 and 414.
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 and encoder 506.Encoder 506 produces the feedback signal representing described conveyer belt speed, and controller 502 controls motor 504 according to described feedback signal, to control the speed of conveyer belt 504.Advantage is, by controlling the speed of conveyer belt 504, to reach picking sensor and the optimization effect on depth camera shooting perspective plane.
Fig. 6 show the spraying method flow chart 600 controlling spray robot according to an embodiment of the invention.Fig. 6 will be described to 5 in conjunction with Fig. 1.
In step 602, spraying workpiece is carried out optical measurement, to obtain tripleplane's view and the dimension information of described spraying workpiece of described spraying workpiece.In step 604, expression described tripleplane view and the workpiece signal of described dimension information are produced.In step 606, the spray parameters relevant to described spray robot is read.In step 608, calculate the spraying path of described spray robot according to described workpiece signal and described spray parameters, and produce the spraying instruction comprising described spraying routing information.In step 610, control described spray robot according to described spraying instruction and carry out spraying operation according to described spraying path.In step 612, the feedback signal of the conveyer belt speed representing transfer station 136 is produced.In step 614, control the motor 504 of transfer station 136 according to described feedback signal, to control described conveyer belt speed.
Fig. 7 show the method flow diagram 602 that spraying workpiece carries out optical measurement according to an embodiment of the invention.Fig. 7 is further describing 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, during the transmission of described spraying workpiece, three groups of emitters and receptor is used to measure and record the projection view in three faces of described spraying workpiece respectively.
Fig. 8 show the method flow diagram 602 ' that spraying workpiece carries out optical measurement according to another embodiment of the present invention.Fig. 8 is further describing 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, during the transmission of described spraying workpiece, two groups of light curtain emitters and receptor is used to measure and record first and the projection view of second of described spraying workpiece respectively.In step 806, depth camera is used according to the range difference measurement between described spraying workpiece and described transfer station background and to record the projection view of the 3rd of described spraying workpiece.In the embodiment of Fig. 7 or Fig. 8, transfer station, support glass, depth camera, motor control module and picking sensor use the structure of Fig. 2 to Fig. 5, just repeat no more at this.
Advantage is, use the control method of Fig. 6 to Fig. 8 to use optical measuring apparatus to measure the 3-D view of workpiece for measurement and dimension information, it is to avoid the problem that can-not be automatically generated spraying path in default of workpiece CAD diagram.Meanwhile, automatically generate spraying path according to the 3-D view of workpiece for measurement and dimension information, 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 describes a kind of spray robot control method based on threedimensional model identification.
In step 902, hardware driving parameter is set for main control device 102, optical measuring apparatus 106 and spraying equipment 104.Wherein, main control device 102 includes display 122, the data-interface 130 being connected with described spraying equipment 104 and described optical measuring apparatus 106.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, produce spraying instruction according to described tripleplane view and dimension information, spray described spraying workpiece controlling spray robot 112.
Figure 10 show the other method flow chart 904 of central controller 126 according to an embodiment of the invention.Method flow diagram 904 describes a kind of method controlling spray robot path.Figure 10 is the further illustrating of step 904 in Fig. 9.
In step 1002, tripleplane's view of spraying workpiece is read.In step 1004, read the spray parameters of described spray robot.In step 1006, the spraying path of each one side of described spraying workpiece is calculated according to described tripleplane view and described spray parameters.In step 1008, the spraying path of described each one side is shown on display 122.In step 1010, user judges that this spraying path, face is the most feasible.If spraying path is infeasible, then entering step 1012, user resets spray parameters by control knob 128.Thus, central controller 126 is according to changing the spraying path that later parameter regenerates each one side of spraying workpiece, and enters step 1008.
If spraying path is feasible, then enter step 1014, produce integral spray path according to the spraying path of described each one side.
In step 1016, produce spraying instruction, to control to spray described in described coating robot coats workpiece.
Advantage is, is shown by display and the step of user's amendment makes spraying path more optimize.Meanwhile, compared with the method that user's manual operation spray gun measures spraying path, change parameter and automatically generate the method in spraying path and simplify manual operation, and improve 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 is to the further illustrating of step 1006 in Figure 10.
In step 1102, multiple to be sprayed of described workpiece is determined according to described tripleplane view.In step 1104, the spraying node span of the spray gun according to spray robot described in described spray parameters and described tripleplane view computation and coating cloud diameter, and determine the spraying node in each face of the plurality of to be sprayed according to described spraying node span and described coating cloud diameter, and obtain the two-dimensional points coordinate of described spraying node.Step 1102 will be described in conjunction with Figure 12 to the two-dimensional coordinate computational methods of the two dimension spraying node in step 1104.
Figure 12 show one side spraying node schematic diagram 1200 according to an embodiment of the invention.In one embodiment, spray parameters includes technological parameter and path parameter.Wherein, technological parameter includes spray gun distance, spraying coverage, spraying number of times and angle of gun.Path parameter includes the mode to workpiece integral spray and surface information to be sprayed.The mode of this integral spray includes one side and multiaspect spraying, bound edge is preferential or one side is preferential.According to technological parameter, spray-coating surface is carried out horizontal and vertical division, ensure that spraying node falls within range of views simultaneously.As shown in figure 12, when needing to calculate spraying node, central controller 126 determines scope and the node span of movement every time of spray gun spraying coating cloud according to spray gun distance, spraying coverage and angle of gun.Thus, scope and node span according to spraying coating cloud arrange each position spraying node.
Return to Figure 11, in a step 1106, the three-dimensional coordinate that the described spraying node that calculates each face according to each view two-dimensional points coordinate corresponding relation of described tripleplane view is corresponding.Step 1106 will further describe in Figure 13 to Figure 16.
In step 1108, the three-dimensional coordinate of the three-dimensional coordinate of each node according to described spraying node and the adjacent node of each node described calculates the normal vector of each spraying node, wherein, described normal vector represents the described spray gun spatiality at correspondence spraying node.Step 1106 will further describe in fig. 17.
In step 1110, the three-dimensional coordinate according to described spraying node generates the spraying profile of described band spray-coating surface.Step 1108 will further describe in Figure 17 to Figure 18.
In step 1112, described spraying profile is carried out spatial fit, to obtain spraying profile after matching.Step 1112 will further describe in Figure 19.
In step 1114, calculate the running orbit of described spray gun according to the spraying profile after described matching.Step 1114 will further describe in fig. 20.
Figure 13 show the method flow diagram 1106 calculating three-dimensional coordinate corresponding to one side spraying node according to an embodiment of the invention.Figure 13 is to the further illustrating of step 1106 in Figure 11.In one embodiment, tripleplane's view includes front 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, the two-dimensional coordinate of the spraying node in top view is converted to three-dimensional coordinate.In step 1306, the two-dimensional coordinate of the spraying node in left view 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 flow diagram 1302 calculating three-dimensional coordinate corresponding to front view spraying node according to an embodiment of the invention.Figure 14 is further describing step 1302.Figure 14 is to be described as a example by the target in front view sprays node.
In one embodiment, utilize three-view diagram method for reconstructing can calculate the three-dimensional coordinate of spraying node, be equivalent to arrive on the surface that model is actual spraying node motion.The principle of Figure 14 is: in three-view diagram, for (an x (v) in front view, z (v)), needs meet in left view a bit (y (w), z (w)), z (w)=z (v), and there is a bit (x (h) in a top view, y (h)) make x (h)=x (v), y (h)=y (w), the three-dimensional coordinate that just can obtain this point corresponding in front view is (x (v), y (h), z (w)), otherwise cannot obtain the three-dimensional coordinate of this point.In one embodiment, if the point of left view (y (w), z (w)) or the point (x (h) of top view, y (h)) be positioned at beyond the actual surface of model, 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, then 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 two-dimensional coordinate in described front view is (X, Z), it is assumed that described target spraying node is (X, Y, Z) at three-dimensional coordinate.In step 1404, during traversal detects described top view, X row belongs to the spraying node row coordinate of described workpiece for measurement.In step 1406, relatively described row coordinate, to obtain maximum Y_Max1 and minima Y_Min1 of described row coordinate.What deserves to be explained is, for the point in top view, (x, y), the point that x coordinate is corresponding in a top view is likely not determined as spraying node, in this case it is necessary to first determine a value range of Y.
In step 1408, in the traversal described left view of detection, Z dependent of dead military hero is in the spraying rows of nodes coordinate of described workpiece for measurement.In step 1410, relatively 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 in left view, (y, z), the point that Z coordinate is corresponding in left view is likely 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 difference 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 step 1426, stop calculating the three-dimensional coordinate of described target spraying node, otherwise, entrance step 1420.During due to difference more than threshold value, specification error is too big, then cannot find rational corresponding point, therefore, stop calculating three-dimensional coordinate.
In step 1420, determine maximum Y_Max and minima Y_Min of coordinate Y.Specifically, when described first difference is less than described second predetermined threshold value less than described first predetermined threshold value and described second difference, 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, and the maximum Y_Max of the Y coordinate in the three-dimensional coordinate of the most described target spraying node 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, and the minima Y_ Min of the Y coordinate in the three-dimensional coordinate of the most described target spraying node is equal to Y_Min1 or Y_Min2, and otherwise, the minima Y_ Min of Y coordinate is the smaller value in Y_Min1 and Y_Min2.
In step 1422, determine coordinate Y according to spray-coating surface label.In one embodiment, the spray-coating surface numbering of described workpiece to be sprayed is read.When described numbered odd number, the coordinate Y of the most described target spraying node is equal to minima Y_Min.When described numbered even number, the coordinate Y of the most described target spraying node is equal to maximum Y_Max.In step 1424, draw three-dimensional coordinate (X, Y, Z).
Figure 15 show the method flow diagram 1304 calculating three-dimensional coordinate corresponding to top view spraying node according to an embodiment of the invention.Figure 15 is further describing step 1304.Figure 15 is to be described as a example by the target in top view sprays node.
In step 1502, reading the target spraying node in described top view, described target spraying node two-dimensional coordinate in described front view be (X ', Y '), and assumes that described target spraying node is (X ', Y ', Z ') at three-dimensional coordinate.In step 1504, traversal detects X ' row in described front view and belongs to the spraying node row coordinate of described workpiece for measurement.In step 1506, the relatively row coordinate of described front view, to obtain maximum Z ' _ Max1 and minima Z of described row coordinate ' _ Min1.In step 1508, traversal detects Y row in described left view and belongs to the spraying node row coordinate of described workpiece for measurement.In step 1510, the relatively row coordinate in described left view, to obtain maximum Z ' _ Max2 and minima Z of described row coordinate ' _ Min2.In step 1512, calculate the first difference between described maximum Z ' _ Max1 and described maximum Z ' _ Max2.The second difference in step 1514, calculating described minima Z between ' _ Min1 and described minima Z ' _ Min2.
When described first difference is less than the second predetermined threshold value (step 1518) less than the first predetermined threshold value (step 1516) and described second difference, then enter step 1520, otherwise, enter step 1526, stop coordinates computed Z.
In step 1520, determine maximum Z ' _ Max and minima Z of coordinate Z ' ' _ Min.More particularly, relatively described 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, maximum the Z ' _ Max of the Z ' coordinate in the three-dimensional coordinate of the most described target spraying node is equal to Z ' _ Max1 or Z ' _ Max2, otherwise, maximum the Z ' _ Max of Z ' coordinate is the smaller value in Z ' _ Max1 and Z ' _ Max2；' _ Min1 equal to described minima Z ' _ Min2 when described minima Z, minima Z of Z ' coordinate in the three-dimensional coordinate of the most described target spraying node ' _ Min is equal to Z ' _ Min1 or Z ' _ Min2, otherwise, minima Z of Z ' coordinate ' _ Min is the smaller value in Z ' _ Min1 and Z ' _ Min2.
In step 1522, according to the spray-coating surface information of described workpiece to be sprayed select from Z ' _ Min and Z ' _ Max a value as coordinate Z ', to determine that described target spraying node is in three-dimensional coordinate (X ', Y ', Z ') (step 1524).
Figure 16 show the method flow diagram 1306 calculating three-dimensional coordinate corresponding to left view spraying node according to an embodiment of the invention.Figure 16 is further describing step 1306.Figure 16 is to be described as a example by the target in left view sprays node.
In step 1602, read in described left view target spraying node, described target spraying node two-dimensional coordinate in described left view be (Y ' ', Z ' '), and assume that described target spraying node is (X ' ', Y ' ', Z ' ') at three-dimensional coordinate.
In step 1604, in the traversal described front view of detection, Z ' ' dependent of dead military hero is in the spraying rows of nodes coordinate of described workpiece for measurement.In step 1606, the relatively row-coordinate in described front view, to obtain maximum X ' ' _ Max1 and minima X of described row-coordinate ' ' _ Min1.In step 1608, in the traversal described top view of detection, Y ' ' dependent of dead military hero is in the spraying rows of nodes coordinate of described workpiece for measurement.
In step 1610, the relatively row-coordinate in described top view, to obtain maximum X ' ' _ Max2 and minima X of described row coordinate ' ' _ Min2.In step 1612, calculate the first difference between described maximum X ' ' _ Max1 and described maximum X ' ' _ Max2.In step 1614, the second difference calculating described minima X between ' ' _ Min1 and described minima X ' ' _ Min2.
When described first difference is less than the second predetermined threshold value (step 1618) less than the first predetermined threshold value (step 1616) and described second difference, then enter step 1620, otherwise, stop coordinates computed X ' '.
In step 1620, determine maximum X ' ' _ Max and the X ' ' _ Min of X ' '.In one embodiment, relatively 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, the maximum X ' ' _ Max of the X ' ' coordinate in the three-dimensional coordinate of the most described target spraying node is equal to X ' ' _ Max1 or X ' ' _ Max2, otherwise, the maximum X ' ' _ Max of X ' ' coordinate is the smaller value in X ' ' _ Max1 and X ' ' _ Max2.' ' _ Min1 equal to described minima X ' ' _ Min2 when described minima X, minima X of X ' ' coordinate in the three-dimensional coordinate of the most described target spraying node ' ' _ Min is equal to X ' ' _ Min1 or X ' ' _ Min2, otherwise, minima X of X ' ' coordinate ' ' _ Min is the smaller value in X ' ' _ Min1 and X ' ' _ Min2；
In step 1622, spray-coating surface information according to described workpiece to be sprayed selects a value as coordinate X ' ' from X ' ' _ Min and X ' ' _ Max, to determine that described target spraying node is in three-dimensional coordinate (X ' ', Y ' ', Z ' ') (step 1624).
Figure 17 show the method flow diagram 1108 calculating each spraying nodal method vector according to an embodiment of the invention.Figure 17 is further describing the step 1108 in Figure 11.Figure 17 is to choose wherein to illustrate to a target spraying node J.As it was previously stated, spraying nodal method vector γ represents the spray gun spatial attitude at spraying node.
Figure 18 show target spraying node J and the schematic diagram of adjacent node J1, J2, J3 and J4 according to an embodiment of the invention.It is described below with reference to Figure 17 and Figure 18.
In step 1702, read the three dimensional space coordinate of target spraying node J.In step 1704, detect adjacent node J1, J2, J3 and the J4 on four adjacent directions of described target spraying node.In step 1706, read the three dimensional space coordinate of described four adjacent nodes J1, J2, J3 and J4.In step 1708, spraying node J is connected respectively with straight line, J1, J2, triangle (the J that J3 and J4 is constituted, J1, J2), (J, J2, J3), (J, J3, and (J J4), J4, J1), wherein, (J, J1, J2) expression straight line is by node J, J1 and J2 connects the triangle formed, (J, J2, J3) expression straight line is by node J, J2 and J3 connects the triangle formed, (J, J3, J4) expression straight line is by node J, J3 and J4 connects the triangle formed, (J, J4, J1) expression straight line is by node J, J4 and J1 connects the triangle formed.In step 1708, calculate 4 normal vectors of triangle (J, J1, J2), (J, J2, J3), (J, J3, J4) and (J, J4, J1) respectively.The normal vector of triangle refers to the direction vector vertical with the face that triangle is formed.In step 1710, calculate the meansigma methods of described 4 normal vectors, to obtain the normal vector of described target spraying node J.
Advantage is, the method calculating normal vector in Figure 17 considers the situation of four direction of destination node, and thus, this normal vector can show spray gun more accurately in the due angle of destination node and attitude, improves the accuracy of spraying.
Figure 19 show the method flow diagram 1112 that described spraying profile carries out spatial fit according to an embodiment of the invention.Figure 19 is further describing the step 1112 in Figure 11.
The spraying node generated for space, each row (column) is a space curve at space representation.Represent with straight line between node if will spray two-by-two, be then unfavorable for the spraying operation of robot, it is therefore desirable to the spraying profile generated is fitted, is indicated with straight line and curve.
In step 1902, select the scan mode of each spraying node described.In step 1904, according to described scan mode read the plurality of to be sprayed ought data above.In step 1906, according to the three-dimensional coordinate of Nth row node described Nth row node projected to described ought above, to obtain the three-dimensional coordinate at the described multiple projection nodes that ought above go up.In step 1908, calculate the slope of the connecting line of each node of the plurality of projection node node corresponding with described Nth row node.Size in step 1910, between slope that relatively each node is corresponding and slope corresponding to adjacent node.In step 1912, when described comparative result shows the slope equal with adjacent slope (explanation present node is in a plane) of present node with adjacent node, then to described primary nodal point plus the first numbering, otherwise (explanation present node is in Different Plane with adjacent node), to described primary nodal point plus the second numbering.
In step 1914, determine index value according to described numbering.Traversal detects the numbering of the plurality of projection node.When numbered first numbering of described present node, then the interval between the adjacent node of described present node and described present node adds the first index value (such as: logical zero).When numbered second numbering of described primary nodal point, then the interval between the adjacent node of described primary nodal point and described primary nodal point adds the second index value (such as: logic 1).
In step 1916, according to spraying profile described in the index value matching that each node described is corresponding.Specifically, when the index value in described interval is the first index value (representing that present node is with adjacent node at grade), the spraying profile in the most described interval is the straight line connecting and being contained in described interval node.When the index value in described interval is the second index value (representing that present node and adjacent node are in Different Plane), 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, the spraying profile in the most described interval is described curve.
After obtaining spraying node matching track and normal vector, it is possible to according to spraying profile and the normal vector of the below equation described spray gun of calculating:
Wherein, H represents the described spray gun distance apart from described surface of the work to be sprayed；P ' (X, Y, Z) represents the node in the running orbit of spray gun；P (X, Y, Z) represents the spraying node on 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.
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 of each of described workpiece for measurement is one side spraying, then entering step 2003, described overall path is the spraying path of described each tested surface, otherwise, enters step 2004.In step 2004, if the spraying method of each of described workpiece for measurement is multiaspect spraying, then enter step 2005, the spraying path of described each tested surface is combined and interpolation, using generation multiaspect spraying path as described integral spray path, otherwise, enter step 2006.
In step 2006, the spraying method of each of described workpiece for measurement includes that one side spraying and multiaspect spray, now, enter step 2007, tested surface for needing one side to spray chooses the one side spraying path of described tested surface, and the spraying path of described each tested surface is combined and interpolation by the tested surface for needing multiaspect to spray, to produce multiaspect spraying path.Combine described one side spraying path and described multiaspect spraying path, to form integral spray path.
In sum, use the Study of Intelligent Robot Control system and method for the present invention can automatically measure workpiece three-view diagram, and automatically generate the spraying profile of spray gun according to three-view diagram.Need not during this manually try spray, thus improve deposition accuracies, alleviate artificial burden.Simultaneously as will not be limited by workpiece CAD diagram, the Study of Intelligent Robot Control system and method operation of the present invention is easier, and applicable surface is wider.
Embodiment and accompanying drawing are only the conventional embodiment of the present invention specifically above.Obviously, can there is various supplement on the premise of the present invention spirit defined without departing from claims and invention scope, revise and replace.It should be appreciated by those skilled in the art that the present invention can be varied from form, structure, layout, ratio, material, element, assembly and other side on the premise of without departing substantially from invention criterion according to concrete environment and job requirement in actual applications.Therefore, at this, the embodiment of disclosure is merely to illustrate and unrestricted, and the scope of the present invention is defined by appended claim and legal equivalents thereof, and is not limited to description before this.
Claims (1)
1. the method for the 3-D spraying nodal method vector that workpiece to be sprayed is set, described normal vector represents the spray gun spatiality at described 3-D spraying node, it is characterized in that, the method for the described 3-D spraying nodal method vector arranging workpiece to be sprayed comprises the following steps:
Multiple to be sprayed of described workpiece is determined according to tripleplane's view；
Spray parameters according to described spray gun and described tripleplane view determine the spraying node in each face of the plurality of to be sprayed, and obtain the two-dimensional points coordinate of described spraying node；
The three-dimensional coordinate that described spraying node that each view two-dimensional points coordinate corresponding relation according to described tripleplane view calculates each face is corresponding；
Traversal reads the spraying Nodes Three-dimensional coordinate in each face described, and uses following methods to determine the normal vector of each target spraying node:
Read the three dimensional space coordinate of target spraying node J；
Detect adjacent node J1, J2, J3 and the J4 on four adjacent directions of described target spraying node；
Read the three dimensional space coordinate of described four adjacent nodes J1, J2, J3 and J4；
Spraying node J, J1, J2, J3 and J4 triangle (J, J1, J2), (J is connected respectively with straight line, J2, J3), (J, J3, and (J J4), J4, J1), wherein, (J, J1, J2) expression straight line by node J, J1 and J2 connect formed triangle, (J, J2, J3) node J, J2 and J3 are connected the triangle formed, (J, J3 by expression straight line, J4) node J, J3 and J4 are connected the triangle formed by expression straight line, node J, J4 and J1 are connected the triangle 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 methods of described 4 normal vectors, to obtain the normal vector of described target spraying node J.
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