CN105045098B - A kind of control method of Control During Paint Spraying by Robot track automatic creation system - Google Patents
A kind of control method of Control During Paint Spraying by Robot track automatic creation system Download PDFInfo
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- CN105045098B CN105045098B CN201510289675.7A CN201510289675A CN105045098B CN 105045098 B CN105045098 B CN 105045098B CN 201510289675 A CN201510289675 A CN 201510289675A CN 105045098 B CN105045098 B CN 105045098B
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Abstract
The invention discloses a kind of control method of Control During Paint Spraying by Robot track automatic creation system, comprise the following steps：(1) formation of spraying coating process expert system；(2) workpiece image data input；(3) spraying coating process expert system carries out image procossing, and geometric figure is detected and sent into trajectory map module, and carrying out track by automatic orbit maker automatically generates processing；(4) track automatically generates；(5) parameter setting；(6) spline algorithms realize constant speed and high flatness；(7) robot controller forms final track by carrying out kinematics resolving to batten.The present invention has the advantages that automaticity is high, machining accuracy is high and widely applicable, different workpieces spraying profile can be achieved to automatically generate, shorten the time spent by spray process, spraying profile can be automatically generated when workpiece putting position deviation, variety classes workpiece are mixed and put, greatly improves processing efficiency.
Description
Technical field
The present invention relates to industrial robot spray process technical field, specifically a kind of Control During Paint Spraying by Robot track is automatic
The control method of generation system.
Background technology
With the development and application of robot technology, robot is applied spraying industry is more and more extensive, spray coated
Relevant parameter setting on the spraying profiles of Cheng Zhong robots and spraying point determines the quality of spraying, and Control During Paint Spraying by Robot path
Generating mode to be usually commissioning staff carry out point-to-point detail programming completion according to the 3D of workpiece to be painted figures and scene.This side
Method complex operation, there is higher professional skill requirement flexibility simultaneously poor to operator, require to regroup newly after workpiece replacing
A set of track program, operation it is extremely cumbersome, take it is longer so that spray process it is less efficient, have influence on the production of product
Efficiency.
The content of the invention
In order to solve the above-mentioned technical problem, the present invention provides a kind of controlling party of Control During Paint Spraying by Robot track automatic creation system
Method, can be achieved different workpieces spraying profile automatically generate, so as to reduce the operation difficulty of user, workpiece putting position deviation,
Variety classes workpiece is mixed put when can automatically generate spraying profile and improve service efficiency.
The present invention is solved its technical problem and realized using following technical scheme：
A kind of control method of Control During Paint Spraying by Robot track automatic creation system, comprises the following steps：
(1) formation of spraying coating process expert system：A set of spraying is formd based on long-term spraying project experiences and data
Technique expert system, and spraying coating process expert system is integrated on computers；
(2) workpiece image data input：Various workpiece images obtain the vision system of form with fixed or mobile shape
Formula obtains the view data of workpiece, is transferred to spraying coating process expert system；
(3) spraying coating process expert system carries out image procossing, automatically generates Workpiece painting track, utilizes image processing system
Receive after coming from vision system data, simulate human vision and redundant information is deleted in reasoning first, then extract work to be sprayed
The solid data of part constitutes the geometric figure of workpiece to be sprayed, and geometric figure is detected and sent into trajectory map module,
Track is carried out by automatic orbit maker and automatically generates processing；
(4) track automatically generates：By the spray procedure of automatic orbit maker generation robot, target is any for one
The workpiece to be sprayed of shape and size finds an optimal automatic spraying profile, and automatic orbit maker is integrated with figure reason
By analysis, path optimization's algorithm, automatically generate robot motion track, it is not necessary to carry out the programming of point-to-point spray procedure and
Spraying profile program is automatically generated；
(5) parameter setting：After track automatically generates, spraying coating process expert system provides to each point on spraying path
Following parameter：Speed, the rotational value of wrist, the opening and closing of spray gun, spray distance, the amplitude range of spray gun, the stream of coating
Amount and color, the speed of track can be formulated for uniform motion to obtain best spraying quality, machine simulated by analogue system
People goes to complete the spraying task set；
(6) spline algorithms realize constant speed and high flatness：After the completion of step (5), operator operates user interface
Spray painting control is realized, the workpiece coordinate point information obtained using spline algorithms based on three-dimension sensor, with the flute card of robot
The correct height in your space and walk to be inserted upwardly into each tracing point, can complete batten by analyzing the point closed on calculates, and makes
Obtain speed and acceleration of the robot between point of proximity and keep continuous, robot trajectory can be analyzed by point of proximity,
So that the motion of robot smoothes out as far as possible；
(7) robot controller forms final track by carrying out kinematics resolving to batten：According in step (6)
Robot trajectory's point that cartesian space is obtained by spline algorithms, kinematics resolving is carried out by robot controller, obtained pair
The angle-data of joint servo motor is answered, while further discretization is carried out to data, obtains servomotor position loop instruction.
By corresponding control algolithm within the fixed sampling period, servomotor speed command, current-order are obtained.By installed in
The encoder of motor side (or joint output end) is completed to servomotor positional value and the Real-time Feedback of velocity amplitude, so as to complete pair
The real-time closed-loop control of the position loop of servomotor, speed loop and current loop.So that robot is entered by predetermined track
Row motion.
The vision system realizes the scanning to workpiece to be sprayed using grating, laser sensor.
Described image processing system includes the search and analysis to workpiece image information to be sprayed, automatically generates spraying rail
Mark, it is not necessary to which point-to-point pilot teaching programming is carried out to robot.
The workpiece coordinate point information that spline algorithms requirement is obtained based on three-dimension sensor in step (6), with correct
Highly and walk to be inserted upwardly into each tracing point, the calculating of the above can be completed by analyzing the point closed on, as a digitlization
Function, realize constant spraying rate and high flatness.
Spray gun in the step (6) must be perpendicular to workpiece surface.
When workpiece surface is smooth or surface is black, is reduced using wave filter or ignore interference processing.
The beneficial effects of the invention are as follows：
The present invention has the advantages that automaticity is high, machining accuracy is high and widely applicable, and different workpieces spraying can be achieved
Track automatically generates, and so as to reduce the operation difficulty of user, instead of traditional workpiece to be sprayed for single different model
Artificial programming, the time spent by spray process is shortened, in the mixed feelings such as put of workpiece putting position deviation, variety classes workpiece
Spraying profile can be automatically generated under condition, greatly improves processing efficiency.
Embodiment
In order that the purpose of the present invention, technical scheme and beneficial effect are clearer, enter below in conjunction with preferred embodiment
Row detailed description, the present invention will be further described, to facilitate the technical staff to understand.
A kind of control method of Control During Paint Spraying by Robot track automatic creation system, comprises the following steps：
(1) formation of spraying coating process expert system：A set of spraying is formd based on long-term spraying project experiences and data
Technique expert system, and spraying coating process expert system is integrated on computers；
(2) workpiece image data input：Various workpiece images obtain the vision system of form with fixed or mobile shape
Formula obtains the view data of workpiece, is transferred to spraying coating process expert system；
(3) spraying coating process expert system carries out image procossing, automatically generates Workpiece painting track, utilizes image processing system
Receive after coming from vision system data, simulate human vision and redundant information is deleted in reasoning first, then extract work to be sprayed
The solid data of part constitutes the geometric figure of workpiece to be sprayed, and geometric figure is detected and sent into trajectory map module,
Track is carried out by automatic orbit maker and automatically generates processing；
(4) track automatically generates：By the spray procedure of automatic orbit maker generation robot, target is any for one
The workpiece to be sprayed of shape and size finds an optimal automatic spraying profile, and automatic orbit maker is integrated with figure reason
By analysis, path optimization's algorithm, automatically generate robot motion track, it is not necessary to carry out the programming of point-to-point spray procedure and
Spraying profile program is automatically generated；
(5) parameter setting：After track automatically generates, spraying coating process expert system provides to each point on spraying path
Following parameter：Speed, the rotational value of wrist, the opening and closing of spray gun, spray distance, the amplitude range of spray gun, the stream of coating
Amount and color, the speed of track can be formulated for uniform motion to obtain best spraying quality, machine simulated by analogue system
People goes to complete the spraying task set；
(6) spline algorithms realize constant speed and high flatness：After the completion of step (5), operator operates user interface
Spray painting control is realized, the workpiece coordinate point information obtained using spline algorithms based on three-dimension sensor, with the flute card of robot
The correct height in your space and walk to be inserted upwardly into each tracing point, can complete batten by analyzing the point closed on calculates, and makes
Obtain speed and acceleration of the robot between point of proximity and keep continuous, robot trajectory can be analyzed by point of proximity,
So that the motion of robot smoothes out as far as possible；
(7) robot controller forms final track by carrying out kinematics resolving to batten：According in step (6)
Robot trajectory's point that cartesian space is obtained by spline algorithms, kinematics resolving is carried out by robot controller, obtained pair
The angle-data of joint servo motor is answered, while further discretization is carried out to data, obtains servomotor position loop instruction.
By corresponding control algolithm within the fixed sampling period, servomotor speed command, current-order are obtained.By installed in
The encoder of motor side (or joint output end) is completed to servomotor positional value and the Real-time Feedback of velocity amplitude, so as to complete pair
The real-time closed-loop control of the position loop of servomotor, speed loop and current loop.So that robot is entered by predetermined track
Row motion.
The vision system realizes the scanning to workpiece to be sprayed using grating, laser sensor.
Described image processing system includes the search and analysis to workpiece image information to be sprayed, automatically generates spraying rail
Mark, it is not necessary to which point-to-point pilot teaching programming is carried out to robot.
The workpiece coordinate point information that spline algorithms requirement is obtained based on three-dimension sensor in step (6), with correct
Highly and walk to be inserted upwardly into each tracing point, the calculating of the above can be completed by analyzing the point closed on, as a digitlization
Function, realize constant spraying rate and high flatness.
Spray gun in the step (6) must be perpendicular to workpiece surface.
When workpiece surface is smooth or surface is black, 3-D scanning result is by noise effect so that the data of acquisition occur
Many mistakes, such as the change detection and the deformation etc. of the edge of work of height, can cause the operation of robot to be fluctuated, therefore
Spy is reduced or ignored interference processing using wave filter, make it that the surface of workpiece is smooth as far as possible.
Finally illustrate, preferred embodiment above is merely illustrative of the technical solution of the present invention and unrestricted, although logical
Cross above preferred embodiment the present invention is described in detail, it is to be understood by those skilled in the art that can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (5)
- A kind of 1. control method of Control During Paint Spraying by Robot track automatic creation system, it is characterised in that：Comprise the following steps：(1) formation of spraying coating process expert system：A set of spraying coating process is formd based on long-term spraying project experiences and data Expert system, and spraying coating process expert system is integrated on computers；(2) workpiece image data input：The vision system that various workpiece images obtain form is obtained in the form of fixed or be mobile The view data of workpiece is obtained, is transferred to spraying coating process expert system；(3) spraying coating process expert system carries out image procossing, automatically generates Workpiece painting track, is received using image processing system After vision system data, simulate human vision and redundant information is deleted in reasoning first, then extract workpiece to be sprayed Solid data constitutes the geometric figure of workpiece to be sprayed, and geometric figure is detected and sent into trajectory map module, by certainly Dynamic track creator carries out track and automatically generates processing；(4) track automatically generates：By the spray procedure of automatic orbit maker generation robot, target is for an any shape An optimal automatic spraying profile is found with the workpiece to be sprayed of size, automatic orbit maker is integrated with graph theory point Analysis, path optimization's algorithm, automatically generate robot motion track, it is not necessary to carry out the programming of point-to-point spray procedure and automatic Generate spraying profile program；(5) parameter setting：After track automatically generates, spraying coating process expert system provides as follows to each point on spraying path Parameter：Speed, the rotational value of wrist, the opening and closing of spray gun, spray distance, the amplitude range of spray gun, coating flow and Color, the speed of track can be formulated for uniform motion to obtain best spraying quality, and by analogue system, dummy robot goes Complete the spraying task set；(6) spline algorithms realize constant speed and high flatness：After the completion of step (5), operator operates user interface and realized Spray painting control, the workpiece coordinate point information obtained using spline algorithms based on three-dimension sensor, with empty in the Descartes of robot Between correct height and walk to be inserted upwardly into each tracing point, can complete batten by analyzing the point closed on calculates so that machine Speed and acceleration of the device people between point of proximity keep continuous, robot trajectory can be analyzed by point of proximity so that The motion of robot smoothes out as far as possible；(7) robot controller forms final track by carrying out kinematics resolving to batten：According in step (6) in flute card Robot trajectory's point that your space is obtained by spline algorithms, kinematics resolving is carried out by robot controller, obtain corresponding close The angle-data of servomotor is saved, while further discretization is carried out to data, servomotor position loop instruction is obtained, solid By corresponding control algolithm in the fixed sampling period, servomotor speed command, current-order are obtained, by installed in motor The encoder of end or joint output end is completed to servomotor positional value and the Real-time Feedback of velocity amplitude, so as to complete to servo electricity The real-time closed-loop control of the position loop of machine, speed loop and current loop so that robot is moved by predetermined track.
- A kind of 2. control method of Control During Paint Spraying by Robot track automatic creation system according to claim 1, it is characterised in that： The vision system realizes the scanning to workpiece to be sprayed using grating or laser sensor.
- A kind of 3. control method of Control During Paint Spraying by Robot track automatic creation system according to claim 1, it is characterised in that： Described image processing system includes the search and analysis to workpiece image information to be sprayed, automatically generates spraying profile, it is not necessary to Point-to-point pilot teaching programming is carried out to robot.
- A kind of 4. control method of Control During Paint Spraying by Robot track automatic creation system according to claim 1, it is characterised in that： Spray gun in the step (6) must be perpendicular to workpiece surface.
- A kind of 5. control method of Control During Paint Spraying by Robot track automatic creation system according to claim 1, it is characterised in that： In step (6), when workpiece surface is smooth or surface is black, is reduced using wave filter or ignore interference processing.
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| DE102015119501A1 (en) | 2015-11-11 | 2017-05-11 | RobArt GmbH | Subdivision of maps for robot navigation |
| DE102015119865B4 (en) * | 2015-11-17 | 2023-12-21 | RobArt GmbH | Robot-assisted processing of a surface using a robot |
| DE102015121666B3 (en) | 2015-12-11 | 2017-05-24 | RobArt GmbH | Remote control of a mobile, autonomous robot |
| DE102016102644A1 (en) | 2016-02-15 | 2017-08-17 | RobArt GmbH | Method for controlling an autonomous mobile robot |
| US11709489B2 (en) | 2017-03-02 | 2023-07-25 | RobArt GmbH | Method for controlling an autonomous, mobile robot |
| KR101991053B1 (en) * | 2017-07-27 | 2019-10-01 | 두림야스카와(주) | Method for simulation of vehicle painting robot |
| 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 |
| CN108481322B (en) * | 2018-03-05 | 2019-08-16 | 北京镁伽机器人科技有限公司 | Robot, control parts of motion, method and medium with accurate control function |
| 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 |
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| 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 |
| CN110465422B (en) * | 2019-08-29 | 2020-06-19 | 内蒙古大学 | FPGA-based spraying machine motion control system and motion control method thereof |
| US11904871B2 (en) * | 2019-10-30 | 2024-02-20 | 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 |
| CN115488897A (en) * | 2022-10-28 | 2022-12-20 | 安徽省凤阳县前力玻璃制品有限公司 | Optimal space trajectory planning method for stacking mechanical arms |
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