CN105045098A - Control method of robot spraying track automatic generation system - Google Patents
Control method of robot spraying track automatic generation system Download PDFInfo
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Abstract
The invention discloses a control method of a robot spraying track automatic generation system, which comprises the steps that (1) a spraying process specialist system is formed; (2) workpiece image data is inputted; (3) the spraying process specialist system carries out image processing, detects features and sends the detected features to a track mapping module, and an automatic track generator carries out track automatic generation processing; (4) a track is generated automatically; (5) parameters are set; (6) a spline algorithm realizes constant speed and high smoothness; and (7) a robot controller forms a final track through carrying out kinematics calculation on splines. The control method disclosed by the invention has the advantages of high automation degree, high processing precision, wide application range and the like, can realize automatic generation of spraying tracks of different workpieces, shortens the time consumed by spraying processing, can automatically generate spraying tracks under conditions that the workpiece is deviated in placement position, different types of workpieces are placed in a mixed mode, and the like, and greatly improves the processing efficiency.
Description
Technical field
The present invention relates to industrial robot spray process technical field, specifically a kind of control method of Control During Paint Spraying by Robot track automatic creation system.
Background technology
Along with development and the application of Robotics, robot is more and more extensively applied in spraying industry, correlation parameter setting in spraying process on the spraying profile of robot and spraying point determines the quality of spraying, and the generating mode in Control During Paint Spraying by Robot path to be generally commissioning staff carry out point-to-point detail programming according to the 3D figure of workpiece to be painted and scene completes.The method complicated operation, flexibility is simultaneously poor to have higher professional skill to require to operator, requires to regroup new a set of track program after workpiece replacing, operate extremely loaded down with trivial details, consuming time longer, make the efficiency of spray process lower, have influence on the production efficiency of product.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of control method of Control During Paint Spraying by Robot track automatic creation system, different workpieces spraying profile can be realized automatically generate, thus reduce the operation easier of user, workpiece putting position deviation, variety classes workpiece are mixed the situation such as to put under automatically can generate spraying profile and improve service efficiency.
The present invention solves its technical matters and realizes by the following technical solutions:
A control method for Control During Paint Spraying by Robot track automatic creation system, comprises the following steps:
(1) formation of spraying coating process expert system: define a set of spraying coating process expert system based on long-term spraying project experiences and data, and by computers integrated for spraying coating process expert system;
(2) workpiece image data input: the vision system of various workpiece image acquisition form obtains the view data of workpiece with form that is fixing or movement, be transferred to spraying coating process expert system;
(3) spraying coating process expert system carries out image procossing, automatic generation Workpiece painting track, image processing system is utilized to receive from after vision system data, simulating human vision and reasoning be Delete superfluous information first, then the solid data extracting workpiece to be sprayed constitutes the geometric figure of workpiece to be sprayed, and by these features by being detected and being sent in trajectory map module, carry out the automatic generating process of track by automatic orbit maker;
(4) track generates automatically: the spray procedure being generated robot by automatic orbit maker, target is for the workpiece to be sprayed of any shape and size finds an optimal automatic coating track, automatic orbit maker is integrated with graph theory analysis, path optimization's algorithm, automatically generates robot movement locus, does not need to carry out the programming of point-to-point spray procedure and automatically generates spraying profile program;
(5) setting parameter: after track generates automatically, spraying coating process expert system provides following parameter to each point on spraying path: the rotational value of speed, wrist, the opening and closing of spray gun, spray distance, the amplitude range of spray gun, the flow of coating and color, the speed of track can be formulated for uniform motion to obtain best spraying quality, has been gone the spraying task set by analogue system dummy robot;
(6) spline algorithms realizes constant speed and high flatness: after step (5) completes, operator operates user interface and realizes spray painting control, utilize the workpiece coordinate dot information that spline algorithms obtains based on three-dimension sensor, with the correct height of the cartesian space in robot and walk upwards to insert each tracing point, batten calculating can be completed by analyzing the point closed on, the speed of robot between point of proximity and acceleration is made to keep continuously, can be analyzed robot trajectory by point of proximity, make the motion of robot smooth-going as much as possible;
(7) robot controller resolves by carrying out kinematics to batten, form final track: according in step (6) at robot trajectory's point that cartesian space is obtained by spline algorithms, carry out kinematics by robot controller to resolve, obtain the angle-data of corresponding joint servo motor, further discretize is carried out to data simultaneously, obtain servomotor position loop instruction.By corresponding control algolithm within the fixing sampling period, obtain servomotor speed command, current-order.Complete the Real-time Feedback to servomotor positional value and velocity amplitude by the scrambler being arranged on motor side (or joint output terminal), thus complete the position loop to servomotor, the real-time closed-loop of speed loop and current return controls.Robot is moved by projected path.
Described vision system adopts the scanning of the realization such as grating, laser sensor to workpiece to be sprayed.
Described image processing system comprises search to workpiece image information to be sprayed and analysis, automatically generates spraying profile, does not need to carry out point-to-point pilot teaching programming to robot.
In step (6), spline algorithms requires the workpiece coordinate dot information obtained based on three-dimension sensor, with at correct height and walk upwards to insert each tracing point, above calculating can be completed by analyzing the point closed on, as a digitized function, realize constant spraying rate and high flatness.
Spray gun in described step (6) must perpendicular to surface of the work.
Be black when surface of the work is smooth or surperficial, adopt wave filter to carry out reducing or ignore interference process.
The invention has the beneficial effects as follows:
The present invention has that automaticity is high, machining precision is high and the advantage such as widely applicable, different workpieces spraying profile can be realized automatically generate, thus reduce the operation easier of user, instead of the artificial programming of traditional workpiece to be sprayed for single different model, shorten the time spent by spray process, workpiece putting position deviation, variety classes workpiece are mixed the situation such as to put under automatically can generate spraying profile, greatly improve working (machining) efficiency.
Embodiment
In order to make object of the present invention, technical scheme and beneficial effect clearly, be described in detail below in conjunction with preferred embodiment, the present invention will be further described, to facilitate the technical staff to understand.
A control method for Control During Paint Spraying by Robot track automatic creation system, comprises the following steps:
(1) formation of spraying coating process expert system: define a set of spraying coating process expert system based on long-term spraying project experiences and data, and by computers integrated for spraying coating process expert system;
(2) workpiece image data input: the vision system of various workpiece image acquisition form obtains the view data of workpiece with form that is fixing or movement, be transferred to spraying coating process expert system;
(3) spraying coating process expert system carries out image procossing, automatic generation Workpiece painting track, image processing system is utilized to receive from after vision system data, simulating human vision and reasoning be Delete superfluous information first, then the solid data extracting workpiece to be sprayed constitutes the geometric figure of workpiece to be sprayed, and by these features by being detected and being sent in trajectory map module, carry out the automatic generating process of track by automatic orbit maker;
(4) track generates automatically: the spray procedure being generated robot by automatic orbit maker, target is for the workpiece to be sprayed of any shape and size finds an optimal automatic coating track, automatic orbit maker is integrated with graph theory analysis, path optimization's algorithm, automatically generates robot movement locus, does not need to carry out the programming of point-to-point spray procedure and automatically generates spraying profile program;
(5) setting parameter: after track generates automatically, spraying coating process expert system provides following parameter to each point on spraying path: the rotational value of speed, wrist, the opening and closing of spray gun, spray distance, the amplitude range of spray gun, the flow of coating and color, the speed of track can be formulated for uniform motion to obtain best spraying quality, has been gone the spraying task set by analogue system dummy robot;
(6) spline algorithms realizes constant speed and high flatness: after step (5) completes, operator operates user interface and realizes spray painting control, utilize the workpiece coordinate dot information that spline algorithms obtains based on three-dimension sensor, with the correct height of the cartesian space in robot and walk upwards to insert each tracing point, batten calculating can be completed by analyzing the point closed on, the speed of robot between point of proximity and acceleration is made to keep continuously, can be analyzed robot trajectory by point of proximity, make the motion of robot smooth-going as much as possible;
(7) robot controller resolves by carrying out kinematics to batten, form final track: according in step (6) at robot trajectory's point that cartesian space is obtained by spline algorithms, carry out kinematics by robot controller to resolve, obtain the angle-data of corresponding joint servo motor, further discretize is carried out to data simultaneously, obtain servomotor position loop instruction.By corresponding control algolithm within the fixing sampling period, obtain servomotor speed command, current-order.Complete the Real-time Feedback to servomotor positional value and velocity amplitude by the scrambler being arranged on motor side (or joint output terminal), thus complete the position loop to servomotor, the real-time closed-loop of speed loop and current return controls.Robot is moved by projected path.
Described vision system adopts the scanning of the realization such as grating, laser sensor to workpiece to be sprayed.
Described image processing system comprises search to workpiece image information to be sprayed and analysis, automatically generates spraying profile, does not need to carry out point-to-point pilot teaching programming to robot.
In step (6), spline algorithms requires the workpiece coordinate dot information obtained based on three-dimension sensor, with at correct height and walk upwards to insert each tracing point, above calculating can be completed by analyzing the point closed on, as a digitized function, realize constant spraying rate and high flatness.
Spray gun in described step (6) must perpendicular to surface of the work.
Be black when surface of the work is smooth or surperficial, 3-D scanning result is by noise effect, the data obtained are made to occur a lot of mistake, such as the change detection of height and the distortion etc. of the edge of work, the operation of robot can be caused to occur fluctuation, therefore the special wave filter that adopts carries out reducing or ignore interference process, to make the surface of workpiece smooth as much as possible.
What finally illustrate is, above preferred embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although by above preferred embodiment to invention has been detailed description, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from claims of the present invention limited range.
Claims (6)
1. a control method for Control During Paint Spraying by Robot track automatic creation system, is characterized in that: comprise the following steps:
(1) formation of spraying coating process expert system: define a set of spraying coating process expert system based on long-term spraying project experiences and data, and by computers integrated for spraying coating process expert system;
(2) workpiece image data input: the vision system of various workpiece image acquisition form obtains the view data of workpiece with form that is fixing or movement, be transferred to spraying coating process expert system;
(3) spraying coating process expert system carries out image procossing, automatic generation Workpiece painting track, image processing system is utilized to receive from after vision system data, simulating human vision and reasoning be Delete superfluous information first, then the solid data extracting workpiece to be sprayed constitutes the geometric figure of workpiece to be sprayed, and by these features by being detected and being sent in trajectory map module, carry out the automatic generating process of track by automatic orbit maker;
(4) track generates automatically: the spray procedure being generated robot by automatic orbit maker, target is for the workpiece to be sprayed of any shape and size finds an optimal automatic coating track, automatic orbit maker is integrated with graph theory analysis, path optimization's algorithm, automatically generates robot movement locus, does not need to carry out the programming of point-to-point spray procedure and automatically generates spraying profile program;
(5) setting parameter: after track generates automatically, spraying coating process expert system provides following parameter to each point on spraying path: the rotational value of speed, wrist, the opening and closing of spray gun, spray distance, the amplitude range of spray gun, the flow of coating and color, the speed of track can be formulated for uniform motion to obtain best spraying quality, has been gone the spraying task set by analogue system dummy robot;
(6) spline algorithms realizes constant speed and high flatness: after step (5) completes, operator operates user interface and realizes spray painting control, utilize the workpiece coordinate dot information that spline algorithms obtains based on three-dimension sensor, with the correct height of the cartesian space in robot and walk upwards to insert each tracing point, batten calculating can be completed by analyzing the point closed on, the speed of robot between point of proximity and acceleration is made to keep continuously, can be analyzed robot trajectory by point of proximity, make the motion of robot smooth-going as much as possible;
(7) robot controller resolves by carrying out kinematics to batten, form final track: according in step (6) at robot trajectory's point that cartesian space is obtained by spline algorithms, carry out kinematics by robot controller to resolve, obtain the angle-data of corresponding joint servo motor, further discretize is carried out to data simultaneously, obtain servomotor position loop instruction, by corresponding control algolithm within the fixing sampling period, obtain servomotor speed command, current-order, the Real-time Feedback to servomotor positional value and velocity amplitude is completed by the scrambler being arranged on motor side or joint output terminal, thus the position loop completed servomotor, the real-time closed-loop of speed loop and current return controls, robot is moved by projected path.
2. the control method of a kind of Control During Paint Spraying by Robot track automatic creation system according to claim 1, is characterized in that: described vision system adopts the scanning of the realization such as grating, laser sensor to workpiece to be sprayed.
3. the control method of a kind of Control During Paint Spraying by Robot track automatic creation system according to claim 1, it is characterized in that: described image processing system comprises search to workpiece image information to be sprayed and analysis, automatic generation spraying profile, does not need to carry out point-to-point pilot teaching programming to robot.
4. the control method of a kind of Control During Paint Spraying by Robot track automatic creation system according to claim 1, it is characterized in that: in step (6), spline algorithms requires the workpiece coordinate dot information obtained based on three-dimension sensor, with at correct height and walk upwards to insert each tracing point, above calculating can be completed by analyzing the point closed on.
5. the control method of a kind of Control During Paint Spraying by Robot track automatic creation system according to claim 1, is characterized in that: the spray gun in described step (6) must perpendicular to surface of the work.
6. the control method of a kind of Control During Paint Spraying by Robot track automatic creation system according to claim 4, is characterized in that: when surface of the work is smooth or surperficial for black, adopts wave filter to carry out reducing or ignore interference process.
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| CN107335571A (en) * | 2017-08-25 | 2017-11-10 | 无锡康柏斯机械科技有限公司 | A kind of large tank inner wall anti-corrosive layer spray equipment |
| CN107908152A (en) * | 2017-12-26 | 2018-04-13 | 苏州瀚华智造智能技术有限公司 | A kind of movable robot automatic spray apparatus, control system and method |
| CN108481322A (en) * | 2018-03-05 | 2018-09-04 | 北京镁伽机器人科技有限公司 | With robot, control parts of motion, method and the medium for accurately controlling function |
| CN108921808A (en) * | 2018-06-27 | 2018-11-30 | 清华大学 | A kind of flat work pieces spraying profile generation method, system and computer storage medium |
| CN109068933A (en) * | 2015-11-17 | 2018-12-21 | 罗伯特有限责任公司 | It is surface-treated by the robot assisted of robot |
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| CN109308370A (en) * | 2017-07-27 | 2019-02-05 | 都林安川机器人有限公司 | Vehicle paintwork robot simulation's method |
| CN109794382A (en) * | 2019-02-27 | 2019-05-24 | 华南理工大学 | A kind of micro- coating robot of 3D and its coating method |
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| CN112757293A (en) * | 2020-12-25 | 2021-05-07 | 希美埃（芜湖）机器人技术有限公司 | Robot vision-based method for identifying and spraying various mixed plates |
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| US11789447B2 (en) | 2015-12-11 | 2023-10-17 | RobArt GmbH | Remote control of an autonomous mobile robot |
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| CN108921808B (en) * | 2018-06-27 | 2020-12-22 | 清华大学 | Method and system for generating spraying track of planar workpiece and computer storage medium |
| CN108921808A (en) * | 2018-06-27 | 2018-11-30 | 清华大学 | A kind of flat work pieces spraying profile generation method, system and computer storage medium |
| CN109201424A (en) * | 2018-11-14 | 2019-01-15 | 珠海格力智能装备有限公司 | Circuit board spraying method and device, storage medium and processor |
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| US11904871B2 (en) * | 2019-10-30 | 2024-02-20 | Deere & Company | Predictive machine control |
| US20210129853A1 (en) * | 2019-10-30 | 2021-05-06 | Deere & Company | Predictive machine control |
| CN111002317A (en) * | 2019-11-20 | 2020-04-14 | 希美埃（芜湖）机器人技术有限公司 | Novel spraying method and novel spraying device based on robot vision in door and window spraying industry |
| CN112757293A (en) * | 2020-12-25 | 2021-05-07 | 希美埃（芜湖）机器人技术有限公司 | Robot vision-based method for identifying and spraying various mixed plates |
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