CN104759379B - Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology - Google Patents
Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology Download PDFInfo
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- CN104759379B CN104759379B CN201510177390.4A CN201510177390A CN104759379B CN 104759379 B CN104759379 B CN 104759379B CN 201510177390 A CN201510177390 A CN 201510177390A CN 104759379 B CN104759379 B CN 104759379B
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Abstract
The invention provides an intelligent full-process closed-loop spray painting robot based on the spray painting target three-dimensional imaging technology. The robot conducts three-dimensional topography measurement on a spray painting target through the three-dimensional imaging technology, a three-dimensional model of the spray painting target is established, the route of the spray painting robot is planned through the measured three-dimensional topography and the three-dimensional model, and closed-loop online detection and feedback in the spray painting process are conducted. By directly conducting three-dimensional topography measurement on the spray painting target and conducting three-dimensional solid modeling through the robot, the conventional field teaching process and the like of the spray painting robot are avoided, the robot is high in applicability and production efficiency, good in spray painting quality and quite high in economic value, the route of the spray painting robot can be efficiently and accurately planned, the problems in the spray painting process can be found in time, and the spray painting quality and spray painting efficiency are remarkably improved.
Description
Technical field
The present invention relates to spray automation technical field, more particularly to it is a kind of based on the complete of coating objective 3 Dimension Image Technique
Flow process closed loop intelligence spray robot.
Background technology
Spray robot as industrial robot typical case application one of, lifted coating quality, reduce spraying cost, change
Kind working environment, meet the huge advantage that there is the aspects such as environmental requirement artificial or semi-automatic spraying to hardly match.With China
The iterative method of manufacturing industry transition and upgrade and machine replace it is artificial persistently carry out, advanced manufacturing technology to it is information-based,
Automation and intelligentized direction are developed, and with the intelligence manufacture that machine is artificially represented the important of development of manufacturing of future generation has been become
Content.
At present spray robot mostly is artificial teaching type and off-line programing type.So-called artificial teaching, refers to and is led to by operator
Cross the teaching box people that operates machine and complete job space tracing point position and the teaching about information such as speed and record, then by
Operation keyboard carries out the editor of user job program using robot language order, and is stored in training data area.During reproduction, machine
The computer control system of device people takes out one by one teaching order and position data automatically, is understood, computing and is judged, will
Various control signals are sent to corresponding drive system or port, make robot verily reproduce teaching action.Off-line programing is then
By using the robot model that calculator memory is stored up, robot actual motion is not required, to entering on the basis of teaching result
Row robot motion emulates, so that it is determined that teaching contents whether appropriate and robot whether it is anticipated that mode is moved.
Existing spray robot has the following disadvantages：
1. production flexibility is poor.For different coating objectives, different relative positions, different poses, it is required for again
Programming.Whole spraying process is rigid flow process, bad adaptability.
2. path planning efficiency is low.Either on-line teaching or off-line programing, being required to workman is rule of thumb carried out a little
Teaching to putting, efficiency is low, and quality differs, and the knowhow of heavy dependence staff and spraying are tested.
3. spraying process is opened loop control.Fail to carry out spray robot state, coating objective in real time in spraying process
Monitoring, it is impossible to find the problem and accident in spraying process, spraying process difficult quality guarantee in time.
The content of the invention
For above-mentioned deficiency, the present invention is intended to provide a kind of strong adaptability, production efficiency is high, coating quality it is good based on spray
The whole process closed loop intelligence spray robot of three-dimension object technology is applied, for solving the production that existing spray robot is present
Flexible poor, path planning efficiency is low, the defect that coating quality is difficult to ensure that.
For achieving the above object, the present invention takes technical scheme below：
Whole process closed loop intelligence spray robot based on coating objective 3 Dimension Image Technique, including control cabinet, manipulator,
Three-dimensional appearance instrument and computer；The output end of three-dimensional appearance instrument is connected with the input of computer, the output end of computer with
The input connection of control cabinet, the output end of control cabinet is connected with manipulator；Three-dimensional appearance instrument is used to carry out three to coating objective
Dimension topography measurement, obtains the three-dimensional data points cloud of coating objective；Computer is used to receiving and processing the three of the acquisition of three-dimensional appearance instrument
Dimension strong point cloud, obtains the movement locus in each joint of spray robot and generates user job program using robot language；Control
Case processed is used for automatically reading order and data one by one, generates various control signals；Manipulator sprays according to user job program performing
Painting process；The spray robot realizes that spraying operation is comprised the following steps：
（1）Obtain coating objective three-dimensional appearance data；
Measuring three-dimensional morphology is carried out to coating objective by three-dimensional appearance instrument, the three-dimensional data points cloud of coating objective is obtained,
Realize that mock-up is digitized；
（2）The three-dimensional entity model of reconstruct coating objective；
The three-dimensional data points cloud for first on computers measuring in three-dimensional appearance instrument carries out the triangulation network with particle cluster algorithm
Lattice are divided, and after the data of acquisition are pre-processed, obtain cloud data；Again by interpolation, approach be fitted to SPL or
Parameter curve, with modeling software instrument patch moulding is completed；Then by surface-edit, the complete curved surface of coating objective is obtained
Model；Technology of surface reconstruction is finally used, the three-dimensional CAD model of coating objective is obtained；
（3）Partition surface based on geometry topology and the online contexture by self in spraying path；
Carry out to the three-dimensional CAD model of coating objective triangle gridding on computers first, generate multiple tri patch；
Calculate the normal vector of each tri patch；The company of given threshold is less than according to the normal vector angle between adjacent triangular faces
Connect rule to generate after simply connected almost plane piece, each simply connected almost plane piece is processed, smoothed and kept
The curved surface of primary characteristic；Then according to path mode different on each simply connected almost plane piece and spray gun move towards to set up spray
The evaluation function in rifle path, and be optimization aim to the maximum with evaluation function value, selects optimal path mode and spray gun trend, then
The spray gun track of the dough sheet is generated using border box method；Finally obtain in whole coating objective with Swarm Intelligent Algorithm
Path planning between all dough sheets；
（4）Spraying process is implemented；
According to Inverse Kinematics principle, on computers the path planning of generation is converted to into spray robot
The movement locus in each joint, and emulation is analyzed, the editor of user job program is then carried out using robot language order；
When implementing spraying, control cabinet takes out one by one order and data automatically, and the various control signal control machinery hands of generation perform spraying and make
Industry；
（5）Spraying process closed loop on-line checking and feedback；
Manipulator in spraying process, by the six of six-dimension force sensor and three-dimensional appearance instrument on line real-time monitoring manipulator
Dimension space pose, to the sprayed surface quality of coating objective IMAQ is carried out, and obtains spraying effect by calculating to process, feedback
The repairing of spraying operation is performed to control cabinet control machinery hand.
Further, the step（3）In, computer " is less than according to the normal vector angle between adjacent triangular faces and sets
Determine threshold value concatenate rule generate simply connected almost plane piece " the step of be specially：
a）Normal vector angle threshold value between setting adjacent triangular faces, sets any one tri patch as initial three
Edged surface piece；
b）Centered on initial tri patch, calculate all tri patch around it and press from both sides with the normal vector of initial tri patch
Angle；
c）If calculated angle is less than normal vector angle threshold value, the tri patch is connected with initial tri patch
Piece is connected into, otherwise, searching not yet connects sheet of new tri patch as new initial tri patch, returns execution step b,
Till all tri patch all connect in flakes.
Compared to existing technology, the present invention has the advantages that：
The whole process closed loop intelligence spray robot based on coating objective 3 Dimension Image Technique that the present invention is provided, the present invention
Have the advantages that：
1）The robot is by directly to coating objective carrying out measuring three-dimensional morphology, d solid modeling, it is to avoid existing
The spray robot scene flow process such as teaching or off-line programing, strong adaptability, production efficiency is high.
2）The robot can be identified and spraying to the coating objective of any attitude, without in advance according to certain attitude
Coating objective is fixed and demarcation, with great production flexibility.
3）The robot can be based on the autonomous coating objective threedimensional model for obtaining, and independently efficiently and accurately carry out spraying robot
People's path planning, spray efficiency is high, coating quality is good.
4）The robot realizes spraying process closed-loop control by visual feedback, and can find in time in spraying process
Problem, is obviously improved coating quality and spray efficiency, with very high economic worth.
Description of the drawings：
Fig. 1 is the structural representation of the spray robot of the embodiment of the present invention.
1 is control cabinet in Fig. 1；2 is pedestal；3 is manipulator；4 is spray gun；5 is three-dimensional appearance instrument；6 is coating objective；7
For computer.
Fig. 2 completes the flow chart of spraying process for the intelligent spray robot of the embodiment of the present invention.
Specific embodiment：
The present invention is described in further detail with reference to the accompanying drawings and detailed description.Embodiment：
Whole process closed loop intelligence spray robot based on coating objective 3 Dimension Image Technique, as shown in Figure 1, 2, including control
Case processed 1, manipulator 3, three-dimensional appearance instrument 5 and computer 7；Wherein 2 is pedestal, and 4 is spray gun, and 6 is coating objective.Three-dimensional appearance
The output end of instrument is connected with the input of computer, and the output end of computer is connected with the input of control cabinet, control cabinet it is defeated
Go out end to be connected with manipulator；Manipulator is installed on the base 2, and the head of manipulator is provided with spray gun 4；It is right that three-dimensional appearance instrument is used for
Coating objective carries out measuring three-dimensional morphology, obtains the three-dimensional data points cloud of coating objective；Computer is used to receiving and processing three-dimensional
The three-dimensional data points cloud that pattern instrument is obtained, is obtained the movement locus in each joint of spray robot and is generated using robot language and used
Family working procedure；Control cabinet is used for automatically reading order and data one by one, generates various control signals, and various control signals are sent
To corresponding drive system or port；Manipulator is according to user job program performing spraying process；The spray robot is realized
Spraying operation is comprised the following steps：
（1）Obtain coating objective three-dimensional appearance data；
After relevant device inspection to be sprayed is errorless, by coating objective 6（Coat to be painted）It is placed on substrate.Then open three-dimensional
Pattern instrument 5（Camera, spatial digitizer etc.）, with based on principles such as mechanics, electronics, optics, acoustics and magnetics
The technologies such as machine vision, 3-D scanning, measuring three-dimensional morphology is carried out to coating objective 6, obtains the three-dimensional data points of coating objective 6
Cloud is simultaneously stored in computer 7, realizes that mock-up is digitized.
（2）The three-dimensional entity model of reconstruct coating objective；
The Scattered Point-Cloud first three-dimensional shape measuring apparatus 5 measured on computer 7（Initial data）With particle
Group's algorithm（PSO algorithms）Carry out triangulation, then carry out data sorting, simplify, denoising, filtering, the pretreatment such as splicing, obtain
Obtain high-quality cloud data.Then by interpolation, approach and be fitted to SPL or parameter curve, with modeling software instrument
（Such as imageware, Geomagic studio）Complete patch moulding, then by extending, cutting out and the surface-edit such as transition,
The complete surface model of coating objective 6 is obtained, with technology of surface reconstruction, the three-dimensional CAD model of coating objective 6 is obtained.
（3）Partition surface based on geometry topology and the online contexture by self in spraying path；
Triangle gridding is carried out to the three-dimensional CAD model of coating objective 6 on computer 7, multiple tri patch are generated；Meter
The normal vector of each tri patch is calculated, then according to the normal vector angle between following adjacent triangular faces is less than setting threshold
The concatenate rule of value generates larger simply connected almost plane piece：
a）Normal vector angle threshold value between setting adjacent triangular faces, sets any one tri patch as initial three
Edged surface piece；
b）Centered on initial tri patch, calculate all tri patch around it and press from both sides with the normal vector of initial tri patch
Angle；
c）If calculated angle is less than normal vector angle threshold value, the tri patch is connected with initial tri patch
Piece is connected into, otherwise, searching not yet connects sheet of new tri patch as new initial tri patch, returns execution step b,
Till all tri patch all connect in flakes.
Then each simply connected almost plane piece is processed with 3L algorithms, is smoothed and kept primary characteristic
Curved surface.Then according to path mode different on each simply connected almost plane piece and spray gun trend set up commenting for spray gun path
Valency function, and optimization aim is to the maximum with evaluation function value, select optimal spray gun path mode and trend.Reuse border box
Method（That is bounding-box methods）Generate the spray gun track of simply connected almost plane piece, i.e., a known dough sheet, with a box
The dough sheet is included completely.FRONT directions are the injection directions of spray gun, and RIGHT directions are along simply connected almost plane
The direction of piece longest edge, wherein injection track generation be with perpendicular to a series of plane in RIGHT directions go cut the dough sheet,
A series of cross spider is obtained on the dough sheet, every cross spider is divided into several parts by some sampled points, the sampled point it
Between distance in the cutting direction be spacing between the adjacent path after coordinates measurement, will sample finally along RIGHT directions
Point is attached the spray gun path that just can be obtained on the dough sheet.Finally use ant group algorithm, particle swarm optimization algorithm（PSO）Deng group
Body intelligent optimization algorithm solves the path planning between the approximate dough sheet of all simply connecteds in whole coating objective 6.
（4）Spraying process is implemented；
According to Robotic inverse kinematics principle, the path planning just generated on computer 7 is converted to manipulator 3 and respectively closes
The movement locus of section, and be analyzed emulation, to check the motion in each joint of manipulator 3 whether meet the constraint condition, if send out
Raw mechanical arm encounters the situation of coating objective 6.Then the editor that user job program is carried out using robot language order.Implement
During spraying, closure control cabinet 1 is switched, and opens painting, air supply system, and the control cabinet 3 of robot reads one by one computer 7 and gives birth to automatically
Into order and data, understood, computing and judged, while generating various control signals, various control signals are given
To corresponding drive system or port, the execution spraying operation of control machinery hand 3.
（5）Spraying process closed loop on-line checking and feedback；
Manipulator 3 directly affects coating quality in spraying process relative to the sextuple space pose of coating objective 6.
Spray gun 4 is implemented in spraying process, by six-dimensional force（Torque）Sensor and machine vision（Three-dimensional appearance instrument 5）, online prison in real time
The sextuple space pose of control manipulator 3, it is ensured that in any regional area, robot end's spray gun 4 has relative solid with coating objective 6
Fixed sextuple space pose（I.e. spray gun has relatively-stationary distance with spraying point, and spray gun has relative solid with spraying point normal direction
Fixed pose）Meet the uniformity of coating quality.
In spraying process, gun slot and the surface of coating objective 6 keep constant distance to manipulator 3, and spray gun 4 according to advising
Draw path to be moved.By machine vision（Three-dimensional appearance instrument 5）Monitor in real time coating objective 6, finds in time in spraying process
Problem and accident, and the sprayed surface quality to coating objective carries out IMAQ, and by calculating to process spraying effect is obtained
（Such as coating quality associated documents：Coating layer thickness extreme value and error, the uniformity etc.）, feed back spraying control system（Computer 7, control
Case processed 1）, constitute closed loop feedback.I.e. bad for spraying effect region, computer 7 regenerates control according to spraying effect
Order, control cabinet 1 and then control machinery hand 3 re-start spraying to the region again, complete the repairing of spraying operation, and composition is closed
Ring feeds back.
After the completion of the surface spraying of coating objective 6, computer 7 stops control program operation, and three-dimensional appearance instrument 5 is obtained
Spraying result data stored, so that follow-up is researched and analysed, disconnect control cabinet 1 and switch, stop painting, air supply system
Supply, coating objective 6 withdraws substrate.Spraying process terminates.
The robot is by directly to coating objective carrying out measuring three-dimensional morphology, d solid modeling, it is to avoid existing
Spray robot scene teaching or off-line programing etc. flow process, strong adaptability, production efficiency is high.In addition the robot can be to any appearance
The coating objective of state is identified and spraying, without being fixed to coating objective and demarcation according to certain attitude in advance, has
There is great production flexibility.And the autonomous coating objective threedimensional model for obtaining can be based on, independently efficiently and accurately carry out flush coater
Device people's path planning, spray efficiency is high, coating quality is good.Simultaneously the robot realizes spraying process closed loop by visual feedback
Control, and the problem in spraying process can be in time found, coating quality and spray efficiency are obviously improved, with very high economic valency
Value.
Finally illustrate, above example is only unrestricted to illustrate technical scheme, although with reference to compared with
Good embodiment has been described in detail to the present invention, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent, and without deviating from the objective and scope of technical solution of the present invention, it all should cover at this
In the middle of the right of invention.
Claims (1)
1. the intelligent spray robot of whole process closed loop based on coating objective 3 Dimension Image Technique, it is characterised in that including control
Case, manipulator, three-dimensional appearance instrument and computer；The output end of three-dimensional appearance instrument is connected with the input of computer, computer
Output end be connected with the input of control cabinet, the output end of control cabinet is connected with manipulator；Three-dimensional appearance instrument is used for spraying
Target carries out measuring three-dimensional morphology, obtains the three-dimensional data points cloud of coating objective；Computer is used to receiving and processing three-dimensional appearance
The three-dimensional data points cloud that instrument is obtained, obtains the movement locus in each joint of spray robot and generates user's work using robot language
Make program；Control cabinet is used for automatically reading order and data one by one, generates various control signals；Manipulator is according to user job journey
Sequence performs spraying process；The spray robot realizes that spraying operation is comprised the following steps：
（1）Obtain coating objective three-dimensional appearance data；
Measuring three-dimensional morphology is carried out to coating objective by three-dimensional appearance instrument, the three-dimensional data points cloud of coating objective is obtained, is realized
Mock-up is digitized；
（2）The three-dimensional entity model of reconstruct coating objective；
The three-dimensional data points cloud for first on computers measuring in three-dimensional appearance instrument carries out triangle gridding and draws with particle cluster algorithm
Point, after the data of acquisition are pre-processed, obtain cloud data；Again by interpolation, approach and be fitted to SPL or parameter
Curve, with modeling software instrument patch moulding is completed；Then by surface-edit, the complete curved die of coating objective is obtained
Type；Technology of surface reconstruction is finally used, the three-dimensional CAD model of coating objective is obtained；
（3）Partition surface based on geometry topology and the online contexture by self in spraying path；
Carry out to the three-dimensional CAD model of coating objective triangle gridding on computers first, generate multiple tri patch；Calculate
Go out the normal vector of each tri patch；Advise less than the connection of given threshold according to the normal vector angle between adjacent triangular faces
Then generate after simply connected almost plane piece, each simply connected almost plane piece is processed, smoothed and kept and be original
The curved surface of characteristic；Then according to path mode different on each simply connected almost plane piece and spray gun trend set up spray gun road
The evaluation function in footpath, and be optimization aim to the maximum with evaluation function value, selects optimal path mode and spray gun trend, reuses
Border box method generates the spray gun track of the simply connected almost plane piece；Finally entirely sprayed with Swarm Intelligent Algorithm
Apply the path planning between all simply connected almost plane pieces in target；Computer is " according to the normal direction between adjacent triangular faces
The step of concatenate rule generation simply connected almost plane piece of the amount angle less than given threshold ", is specially：
a）Normal vector angle threshold value between setting adjacent triangular faces, sets any one tri patch as initial triangular facet
Piece；
b）Centered on initial tri patch, the normal vector angle of all tri patch and initial tri patch around it is calculated；
c）If calculated angle is less than normal vector angle threshold value, the tri patch is connected into initial tri patch
Piece, otherwise, searching not yet connects sheet of new tri patch as new initial tri patch, returns execution step b, until
Till all tri patch all connect in flakes；
（4）Spraying process is implemented；
According to Inverse Kinematics principle, on computers the path planning of generation is converted to into spray robot and is respectively closed
The movement locus of section, and emulation is analyzed, the editor of user job program is then carried out using robot language order；Implement
During spraying, control cabinet takes out one by one order and data automatically, generates various control signals, and control machinery hand performs spraying operation；
（5）Spraying process closed loop on-line checking and feedback；
Manipulator is in spraying process, and the 6 DOF by six-dimension force sensor and three-dimensional appearance instrument on line real-time monitoring manipulator is empty
Between pose, IMAQ is carried out to the sprayed surface quality of coating objective, by calculate process obtain spraying effect, feed back to control
Case control machinery hand processed performs the repairing of spraying operation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510177390.4A CN104759379B (en) | 2015-04-15 | 2015-04-15 | Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology |
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| CN201510177390.4A CN104759379B (en) | 2015-04-15 | 2015-04-15 | Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology |
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| CN104759379A CN104759379A (en) | 2015-07-08 |
| CN104759379B true CN104759379B (en) | 2017-05-03 |
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