CN107908152A - A kind of movable robot automatic spray apparatus, control system and method - Google Patents

A kind of movable robot automatic spray apparatus, control system and method Download PDF

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Publication number
CN107908152A
CN107908152A CN201711426480.8A CN201711426480A CN107908152A CN 107908152 A CN107908152 A CN 107908152A CN 201711426480 A CN201711426480 A CN 201711426480A CN 107908152 A CN107908152 A CN 107908152A
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CN
China
Prior art keywords
spraying
robot
unit
workpiece
spray
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CN201711426480.8A
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Chinese (zh)
Inventor
杨帆
汪九州
王松
江海清
刘磊
陈飞
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苏州瀚华智造智能技术有限公司
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Priority to CN201711426480.8A priority Critical patent/CN107908152A/en
Publication of CN107908152A publication Critical patent/CN107908152A/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4147Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using a programmable interface controller [PIC]
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/32Operator till task planning
    • G05B2219/32104Data extraction from geometric models for process planning

Abstract

The invention discloses a kind of movable robot automatic spray apparatus, control system and method, including visual identity unit, main control unit, image reconstruction unit, track programming unit, spray unit and robot control unit;Visual identity unit handles the workpiece image information of collection, obtains geological information;Image reconstruction unit optimizes processing to workpiece geological information, obtains the gridding threedimensional model of workpiece;Track programming unit automatic identification spraying area simultaneously calculates spraying profile strategy, obtains spraying profile file;Spray unit sprays path, generation robot executable code according to the position relationship and spraying profile file plan of workpiece and robot;Robot control unit controls industrial robot to perform spraying action according to above-mentioned code file;The present invention plans spraying profile, robot is automatically performed spray painting work, adds working flexibility, reduces programing work amount automatically using the method for planning track of view-based access control model identification for workpiece to be sprayed.

Description

A kind of movable robot automatic spray apparatus, control system and method

Technical field

The invention belongs to the automatic paint application technical field of robot, more particularly, to a kind of identification of view-based access control model Movable robot automatic spray apparatus, control system and method.

Background technology

Surface spraying is a vital ring in Product processing chain, and hand spray there are it is certain the defects of:First, people Work spraying operation quality is unstable, and spray gun is set all to be determined with factors such as technological parameters by artificial experience, causes entirely to produce The quality of product is uneven;Second, to ensure coating thickness uniformly without dead angle, operating personnel can glazing repeatedly, cause glaze A large amount of waste and production efficiency is low;3rd, spraying operation bad environments, working long hours has seriously worker's health Harm.

In recent years, it is continuous with the popularization of robot application, the requirement raising to sprayed product quality and cost of labor Improve, the robot automatic spraying system for substituting traditional-handwork operation comes into being.Spraying, which is that robot is most important, applies it One, Control During Paint Spraying by Robot technology is widely used in the various fields such as hardware, family property, plastic cement, military project, ship.

The programming mode of current Control During Paint Spraying by Robot application mainly has teaching programming and off-line programing two ways.Teaching is compiled Journey:Moved by technical staff by the teaching machine people that operates machine, the ginseng such as the joint of robot corner of recording track key point, speed Number, then repeats teaching track automatically using the tutorial program control robot of teaching machine storage.Skill is depended in teaching programming unduly The working experience of art personnel, teaching operation time length.Off-line programing:Using Computer-aided manufacturing, by robot, Spraying workpiece and work-yard are analyzed and processed, planned trajectory, generation robot trajectory's code and are transferred to robot control Device processed and etc., robot is performed spraying operation.But off-line programing highly relies on accurately part model and programming personnel Technical experience, when part is wide in variety, programing work amount is big, needs again to build part in the case of no part model Mould.In addition, the application scenarios of current robot spraying system are all fixed, it is impossible to meet changeable application scenarios demand.

In short, the existing programming mode of stationary machine people is high there is site requirements in the application of surface spraying, work Make flexible poor, many limitations such as programing work amount is big.

The content of the invention

For the disadvantages described above or Improvement requirement of the prior art, the present invention provides a kind of movable robot to spray automatically Device, control system and method, the method for planning track identified using view-based access control model, correspondence is calculated for workpiece to be sprayed automatically Spraying profile, improve working flexibility, reduce programing work amount, for non-standard component automatically spraying provide a kind of solution party Case.

To achieve the above object, one side according to the invention, there is provided a kind of movable robot sprays control automatically System processed, including visual identity unit, main control unit, image reconstruction unit, track programming unit and spray unit;

Visual identity unit is used to scan workpiece to be sprayed according to the scanning pattern previously generated, gathers the image letter of workpiece Cease and handled to obtain the geological information of workpiece to be sprayed;

Main control unit is used for realization the logic control of image reconstruction unit, track programming unit and spray unit;

Image reconstruction unit is used to optimize processing to the geological information of visual identity unit generation to obtain workpiece Position relationship between threedimensional model, and workpiece, visual identity unit and robot;Track programming unit is used for according to three-dimensional Model, automatic identification spraying area simultaneously calculate spraying profile strategy, obtain spraying profile file;Spray unit is used for according to figure The workpiece of reconstruction unit generation and the position relationship of robot, and spraying profile file plan spraying path, and road will be sprayed Footpath is converted to the code file that robot can perform.

Preferably, the above-mentioned automatic spraying control system of movable robot, its image reconstruction unit are used for visual identity The cloud data in a certain orientation of workpiece to be sprayed of unit collection carries out gridding processing, obtains the subregion of workpiece to be sprayed Threedimensional model;Track programming unit is used to choose a bit on the threedimensional model of image reconstruction unit generation, and planning scanning is flat Face and scanning distance, calculate scanning track;Spray unit is used to plan scanning pattern automatically according to scanning track, by scanning pattern Be converted to the code file that robot can perform;

Visual identity unit is controlled according to the scanning pattern automatically scanning workpiece to be sprayed according to code file.

Preferably, the above-mentioned automatic spraying control system of movable robot, further includes robot control unit, robot control The corresponding code file control visual identity unit of scanning pattern that unit processed is used to be generated according to spray unit is according to scanning road Footpath automatically scanning workpiece to be sprayed;And the corresponding code file in the spraying path for being generated according to spray unit controls industrial machine Device people performs spraying action.

Preferably, the above-mentioned automatic spraying control system of movable robot, its track programming unit include what is be in communication with each other Spraying area identification module and spraying profile computing module;Spraying area identification module with image reconstruction unit there is communication to connect Connect, spraying profile computing module with spray unit there is communication to connect;

Spraying area identification module is used for the threedimensional model of the workpiece generated according to image reconstruction unit, is sprayed by choosing Region color feature, optimization spraying area border, removes spraying area noise, obtains the threedimensional model in Workpiece painting region;

Spraying profile computing module is used for the threedimensional model according to Workpiece painting region, sets spraying parameter, according to Technological parameter calculates the spraying profile for meeting technological requirement automatically, obtains spraying profile file.

Preferably, the above-mentioned automatic spraying control system of movable robot, its spray unit are additionally operable to collection robot and exist Posture information in spraying process, real-time simulation is done to whole spraying process;

Spray unit includes emulation module and the post-processing module being in communication with each other;Emulation module respectively with image reconstruction unit With spraying profile computing module there is communication to connect, post-processing module with robot control unit there is communication to connect;

Emulation module is used for the position relationship for configuring workpiece and robot, obtains the spraying of spraying profile computing module generation Trail file simultaneously carries out interpolation calculating, automatic planning robot's path of motion, simulates spraying process;

Post-processing module is used for the code file that the path of motion that emulation module produces is converted into robot and can perform.

Preferably, the above-mentioned automatic spraying control system of movable robot, its spraying profile include spray gun and spraying area Distance relation, position, direction and speed when spray gun enters and exits spraying area, spray gun plays specking and terminates specking, The speed of service of spray gun and quantity for spray size in spraying process, and the spraying path of spray gun.

Other side according to the invention, there is provided a kind of movable automatic spray painting control method of robot, including with Lower step:

S1:The geological information of workpiece to be sprayed is obtained, geological information is handled to obtain the three-dimensional of workpiece to be sprayed Model, and the position relationship of workpiece and robot;

S2:According to the threedimensional model automatic identification spraying area of workpiece and spraying profile is calculated, obtains spraying profile file;

S3:According to workpiece and the position relationship of robot and above-mentioned spraying profile file plan spraying path, and will spraying The code file that path integration can perform into robot;

S4:Robot is controlled to perform spraying action according to above-mentioned code file.

Preferably, the automatic spray painting control method of above-mentioned movable robot, step S1 further include basis and previously generate before Scanning pattern workpiece to be sprayed is scanned, gather the image information of workpiece and handled to obtain workpiece to be sprayed The step of geological information;

The generating process of scanning pattern comprises the following steps:

S01:The cloud data in a certain orientation of workpiece to be sprayed is obtained, cloud data progress gridding is handled and is treated Spray the threedimensional model in workpiece portion region;

S02:A bit on threedimensional model is chosen, plans the plane of scanning motion and scanning distance, calculates scanning track;

S03:The code that robot can perform is converted to according to above-mentioned scanning trajectory planning scanning pattern, and by scanning pattern File.

Preferably, the automatic spray painting control method of above-mentioned movable robot, step S2 specifically include following sub-step:

S21:The threedimensional model of workpiece is obtained, by picking up spraying area color characteristic, optimization spraying area border, removes Spraying area noise, obtains the threedimensional model in Workpiece painting region;

S22:According to the threedimensional model in Workpiece painting region, spraying parameter is set, is combined and is based on according to technological parameter The trajectory planning algorithm of coating thickness calculates the spraying profile strategy for meeting technological requirement automatically, obtains spraying profile file.

Preferably, the automatic spray painting control method of above-mentioned movable robot, step S3 specifically include following sub-step:

S31:The position relationship of workpiece and robot is obtained, builds virtual workbench automatically;Virtual workbench includes The position relationship of the key message of real work platform, including robot model, spray gun and robot, visual identity unit and The position relationship and user coordinate system of robot;

S32:Obtain spraying profile file and carry out robot pose calculating, automatic planning robot's path of motion, simulation Spraying process;

S33:Path of motion is converted into the code file that robot can perform.

Other side according to the invention, there is provided one kind is based on the above-mentioned movable automatic spray painting control method of robot Movable robot automatic spray apparatus, including industrial robot, robot control unit, spray gun and paint gas alliance unit, Further include visual identity unit, computer control terminal and travel table;Wherein, industrial robot, robot control are single Member and paint gas alliance unit are placed on travel table, and mobile movable type working platform, makes spraying workpiece be in industrial machine With convenient working in the working space of device people;

Computer control terminal is mutually communicated with robot control unit and visual identity unit respectively;Visual identity unit It is installed on spray gun by attachment device on industrial robot end;

Automatic spray procedure is loaded with computer control terminal, which realizes movable machine when running The step of people's automatic spray painting control method.

Preferably, above-mentioned movable robot automatic spray apparatus, the visual identity unit are realized using three-dimensional camera.

In general, by the contemplated above technical scheme of the present invention compared with prior art, it can obtain down and show Beneficial effect:

(1) a kind of movable robot automatic spray apparatus, control system and method provided by the invention, using based on regarding Feel identification method for planning track, establish corresponding spraying area model automatically for workpiece to be sprayed, when replace robot or When need to be sprayed to the workpiece of variety classes model, without again to workpiece modeling to be sprayed, without for workpiece to be sprayed It is programmed with robot, adds the adaptability to spraying workpiece, reduce programing work amount, is non-under non professional environment Automatically spraying provides a solution to standard component.

(2) a kind of movable robot automatic spray apparatus, control system and method provided by the invention, view-based access control model are known Other unit and main control unit realize scanning workpiece, track programming, simulation process and the sequence of operations step for performing spraying automatically Suddenly, without manual intervention, the technical experience requirement of Striping operators is reduced, workflow is easy to learn, parameter setting one Mesh is clear, and spray coating operations is possessed wider array of adaptability and quality conformance, for being sprayed compared to stationary machine people, activity Formula robot adds the adaptability and dilatancy to operative scenario.

Brief description of the drawings

Fig. 1 is a kind of logic diagram of movable automatic spraying control system of robot provided in an embodiment of the present invention;

Fig. 2 is the general flow chart of automatic spray painting control method provided in an embodiment of the present invention;

Fig. 3 is the method flow diagram of generation spraying area model provided in an embodiment of the present invention;

Fig. 4 is the method flow diagram of generation spraying profile file provided in an embodiment of the present invention;

Fig. 5 is a kind of composition schematic diagram of movable robot automatic spray apparatus provided in an embodiment of the present invention;

Fig. 6 is spraying workpiece schematic diagram provided in an embodiment of the present invention.

Embodiment

In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below Not forming conflict each other can be mutually combined.

Fig. 1 is a kind of logic diagram of movable automatic spraying control system of robot provided in an embodiment of the present invention, such as Shown in Fig. 1, a kind of movable automatic spraying control system of robot provided in this embodiment, including visual identity unit, master control Unit, image reconstruction unit, track programming unit, spray unit and robot control unit;

Wherein, the first control terminal of main control unit is connected with the first input end of image reconstruction unit, the second control terminal with The first input end of track programming unit is connected, and the 3rd control terminal is connected with the first input end of spray unit;Visual identity list The output terminal of member is connected with the second input terminal of image reconstruction unit, and the first output terminal of image reconstruction unit and track programming are single Second input terminal of member is connected, and the second output terminal is connected with the second input terminal of spray unit;The output terminal of track programming unit It is connected with the 3rd input terminal of spray unit;The output terminal of spray unit is connected with robot control unit.

Visual identity unit is used to shoot a certain orientation of workpiece to be sprayed, obtains the cloud data in the orientation;

Main control unit is used to carry out logic control, calls figure reconstruction unit, track programming unit and spray unit to realize Concrete function;

Wherein, image reconstruction unit is used to carry out at gridding a certain azimuthal point cloud data that visual identity unit obtains Reason obtains the threedimensional model of the subregion of workpiece to be sprayed;Track programming unit is used for the part for obtaining above-mentioned workpiece to be sprayed The threedimensional model in region, chooses a bit on threedimensional model, plans the parameter such as the plane of scanning motion and scanning distance, calculates scanning rail Mark;Spray unit is used to go out scanning pattern according to above-mentioned scanning trajectory planning, is converted into the code text that robot can perform Part is simultaneously transmitted to robot control unit;

Robot control unit controls visual identity unit to be treated automatically according to scanning pattern according to the code file of acquisition Workpiece is applied to be scanned;

Specifically, the substantially strategy of scanning pattern holds visual identity unit for robot and carries out 180 ° around workpiece to be sprayed Scanning, is scanned, visual identity unit is protected in scanning process around workpiece to be sprayed again after a height is raised after the completion of scanning Hold and at the uniform velocity walk, and have certain distance with workpiece to be sprayed.

Visual identity unit, according to scanning pattern automatically scanning workpiece to be sprayed, is adopted under the control of robot control unit Collect the multi aspect images information of workpiece and handled, obtain the geological information of workpiece to be sprayed;

Image reconstruction unit is used to optimize processing to the geological information of visual identity unit generation, obtains the net of workpiece The position relationship formatted between threedimensional model, and workpiece, visual identity unit and industrial robot;Optimization processing includes school Accurate, fitting and smoothness processing;

The spraying area that track programming unit is used in the gridding threedimensional model to the generation of image reconstruction unit sieves Choosing and optimization processing, obtain the threedimensional model in Workpiece painting region;According to the threedimensional model of spraying area, spraying coating process is set to join Number, it is automatic to calculate spraying profile strategy, obtain spraying profile file;Track programming unit includes connected spraying area identification mould Block and spraying profile computing module;The input terminal of spraying area identification module is connected with the first output terminal of image reconstruction unit, Its output terminal is connected with the input terminal of spraying profile computing module;The output terminal of spraying profile computing module and the of spray unit Three input terminals are connected;

Spraying area identification module is used for the gridding threedimensional model according to obtained workpiece, by choosing spraying area face Color characteristic, optimization spraying area border, removes spraying area noise, obtains the threedimensional model in Workpiece painting region;Spraying profile Computing module is used for the threedimensional model in the Workpiece painting region generated according to spraying area identification module, sets spraying coating process to join Number, is combined according to above-mentioned technological parameter and is calculated the spraying for meeting technological requirement automatically based on coating thickness control trajectory planning algorithm Track strategy, obtains spraying profile file;The coating thickness control trajectory planning algorithm provided in this embodiment that is based on is to consider Previous bar spraying profile calculates the position of latter bar spraying profile in the influence to the coating thickness of workpiece, two spraying profiles it Between region must be fulfilled for the constraint of default coating thickness;It is previous bar spraying profile to update latter bar spraying profile, and repetition is held The row above process;It is on the basis of the coating thickness accumulation of existing spraying profile based on coating thickness control trajectory planning algorithm Calculate new spraying profile, can the whole spraying area of strict guarantee be satisfied by thickness requirement.

The position relationship that spray unit is used for the workpiece and industrial robot generated according to image reconstruction unit is built virtually Workbench, the automatic planning robot's path of motion of spraying profile file generated according to spraying profile computing module, and will be raw Into path of motion be converted into the code file that industrial robot can perform;Spray unit includes connected emulation module and rear place Manage module;The first input end of emulation module is connected with the second output terminal of image reconstruction unit, its second input terminal and spraying The output terminal of trajectory computation module is connected, its output terminal is connected with one end of post-processing module;The other end of post-processing module with Robot control unit is connected;

Emulation module is used for the position relationship for configuring workpiece and industrial robot, obtains spraying profile file and to spraying rail Mark carries out interpolation calculating, and automatic planning robot's path of motion, simulates spraying process;Post-processing module is used to produce emulation module Raw path of motion is converted into the code file that industrial robot can perform and is transmitted to robot control unit, by robot control Unit control industrial robot processed performs spraying action;Spray unit is additionally operable to gather robot location from robot control unit And attitude information, real-time simulation is done to whole spraying process.

The real-time information interaction of spray unit and robot control unit are realized by Ethernet interface, spray unit Character string instruction is sent to robot control unit, character string instruction can be comprising the data for performing file or obtain Obtain the request of robotary.

Present invention also offers a kind of movable automatic spray painting control method of robot, Fig. 2 be it is provided in this embodiment from The general flow chart of dynamic spray painting control method, specifically includes following steps:

S1:Arrange spray coating operations scene, demarcate between visual identity unit and industrial robot, and spray gun and industrial machine Position relationship between device people;

Arrangement sprays scene:Mobile industrial robot, makes the work that workpiece to be sprayed is in industrial robot empty In, the spray gun face workpiece to be sprayed on industrial robot end;If exist on workpiece to be sprayed and be not required to spraying Region, covers the part that need not be sprayed with spray paint shield paper, mobile industrial robot, makes spray gun face area to be sprayed The center in domain.

S2:Automatically scanning is carried out to workpiece to be sprayed according to the scanning pattern previously generated, gathers the image information of workpiece And image procossing is carried out, obtain the geological information of workpiece;

Wherein, the generating process of scanning pattern comprises the following steps:

S21:The a certain orientation of workpiece to be sprayed is shot to obtain the cloud data in the orientation,

S22:Gridding is carried out to above-mentioned cloud data to handle to obtain the threedimensional model in workpiece portion region to be sprayed;

S23:The parameter such as a bit on threedimensional model, the planning plane of scanning motion, scanning distance is chosen, calculates scanning track;

S24:According to above-mentioned scanning trajectory planning scanning pattern, scanning pattern is converted into the code text that robot can perform Part;

S25:Robot control unit controls visual identity unit automatically scanning to be painted according to the above-mentioned code file of acquisition Apply workpiece.

S3:The geological information of workpiece is calibrated, is fitted and smoothness processing, the gridding three that output triangular plate is formed Position relationship between dimension module, and workpiece, visual identity unit and industrial robot;

S4:According to the threedimensional model of workpiece, automatic identification spraying area simultaneously calculates spraying profile, obtains spraying profile text Part;

Specifically, step S4 includes following sub-step:

S41:According to obtained workpiece threedimensional model, by picking up spraying area color characteristic, optimize spraying area border, Spraying area noise is removed, the threedimensional model in Workpiece painting region is obtained and imported into spraying profile computing module;Fig. 3 is this hair The method flow diagram for the generation spraying area model that bright embodiment provides;After picking up spraying area color characteristic, set for the color Certain tolerance is put, the size of the tolerance has considerable influence to spraying effect;By tolerance to the border of spraying area into Row optimization;The present embodiment additionally provides a kind of mode for choosing spraying area manually, and user can be by the way of polygon be chosen Determine spraying area;

S42:According to the threedimensional model in Workpiece painting region, spraying parameter, including film thickness, paint kind are set Class, spray gun species etc., combines according to above-mentioned technological parameter and meets work based on automatic calculate of coating thickness control trajectory planning algorithm The spraying profile strategy of skill requirement, obtains spraying profile file;Fig. 4 is generation spraying profile file provided in an embodiment of the present invention Method flow diagram;

The spraying profile calculated is with reference to the thought of hand spray, the distance relation containing spray gun and spraying area, spray gun Into and position, direction and speed when exiting spraying area, spray gun play specking and terminate specking (when send beginning with Supply paint feeding system is given in halt instruction), the speed of service and quantity for spray size of spray gun in spraying process, spray gun is with which kind of after playing spray Path policy is to realize optimal spraying effect.Optimal spraying strategy is obtained by above-mentioned strategic planning, is meeting spraying effect Under the premise of reduce spray painting amount, it is cost-effective.

S5:Path is sprayed according to the position relationship and spraying profile file plan of workpiece and industrial robot, generates machine People's executable code;

Specifically, step S5 includes following sub-step:

S51:The position relationship of workpiece and industrial robot is obtained, builds virtual workbench automatically;Virtual workbench Contain the key message of real work platform, including robot model (including three-dimensional dimension, distance between axles, axis rotational angle model Enclose), the position relationship of spray gun and industrial robot, the position relationship of visual identity unit and industrial robot, user coordinates System etc.;

S52:Spraying profile file is obtained, carries out industrial robot Attitude Calculation, automatic planning robot's path of motion, mould Intend spraying process;

S53:The path of motion of generation is converted into the code file that industrial robot can perform.

S6:The robot executable code generated in step S5 is transmitted to robot control unit, is controlled by robot Unit control industrial robot performs spraying action;During spraying is performed, the pose letter of industrial robot is gathered in real time Breath, real-time simulation is done to whole spraying process.

The embodiment of the present invention additionally provides a kind of movable robot based on above-mentioned automatic spraying control system and sprays automatically Coating device, as shown in figure 5, including three-dimensional camera 5, industrial robot 6, travel table 8, computer control terminal 10, machine Device people controller 7, spray gun 4, paint feeding system 3 and air supply system 2;Wherein, industrial robot 6, robot controller 7, painting system System 3 and air supply system 2 are placed on travel table 8, and the mobile movable type working platform 8 for being equipped with industrial robot 6, makes Spraying workpiece 1 is in the working space of industrial robot 6 with convenient working.

Three-dimensional camera 5 as visual identity sensor is installed on 6 end of industrial robot by attachment device 9, peace Pay attention to keeping three-dimensional camera 5 horizontal when industrial robot 6 is in mechanical zero position during dress;Three-dimensional camera 5 passes through data cable It is connected with adapter, adapter is mutually communicated by data cable or wireless mode with computer control terminal 10;Spray gun 4 also by Attachment device 9 is installed on 6 end of industrial robot, and paint feeding system 3 is connected with air supply system 2 and spray gun 4 respectively by pipeline, The pipeline of its promising painting is connected on spray gun 4;Attachment device 9 is homemade frock clamp, for three-dimensional camera and spray gun is same When be installed on 6 end of industrial robot;Paint feeding system 3 and air supply system 2 form paint gas alliance unit, and electricity is connected to by pipeline Magnet valve, is eventually connected to spray gun.

Industrial robot 6 is by power cable and controls cable connection to robot controller 7;Computer control terminal 10 are connected by Ethernet with robot controller 7, realize signal real-time Transmission with interacting;Loaded in computer control terminal 10 There is automatic spraying software program, this sprays the movable robot that above-mentioned view-based access control model identification is realized during software program operation automatically In automatic spray painting control method the step of S3~S5, and during generation scanning pattern the step of S22~S24.

Fig. 6 is spraying workpiece schematic diagram, before spraying, opens power supply, opens computer control terminal 10, treat to spray automatically soft Part, which starts, to be finished, and the mobile travel table 8 for carrying industrial robot 6 makes 4 face of spray gun workpiece to be sprayed, and observation is automatic 5 form of three-dimensional camera that spraying software is shown, controls industrial robot 6 workpiece area to be sprayed is in three-dimensional camera 5 manually The centre of form;Three-dimensional camera 5 scans workpiece to be sprayed, gathers its image and geological information, computer control terminal 10 The image and geological information of workpiece are handled, obtain the threedimensional model in Workpiece painting region, according to above-mentioned threedimensional model and Position relationship calculates spraying profile strategy, generates spraying profile file and is converted to the code file that industrial robot can perform, Above-mentioned code file is transferred to robot controller 7, and industrial robot 6 is driven by spraying profile pair by robot controller 7 Workpiece is sprayed.

Wherein, the kinect v2 cameras that three-dimensional camera 5 is preferably produced using Microsoft;Industrial robot includes each product The industrial robot of board model, the TKB 030 6 that the present embodiment is preferably produced using Co., Ltd of upper sea chart Ling Zhizao robots Shaft industrial robot, including body, control cabinet and teaching machine;Spray gun 4 is preferably produced using Kremlin-Rexson companies of France A-25 type automatic air spray guns.

The application scenarios that automatic spray apparatus provided in this embodiment is sprayed mainly for auto parts and components, can be applied to vapour The field such as car manufacture and repairing, realizes the automatic spraying to parts, reduces the technical experience requirement to operating personnel, makes spray Apply work and possess wider array of adaptability and quality conformance, spraying provides one kind automatically for the non-standard component under non professional environment Solution.

Movable robot automatic spray apparatus, control system and the side of a kind of view-based access control model identification provided by the invention Method, the method for planning track identified using view-based access control model, corresponding spraying area model is established for workpiece to be sprayed automatically, when Robot is replaced or when need to be sprayed to the workpiece of variety classes model, without again to workpiece modeling to be sprayed, without pin Workpiece to be sprayed and robot are programmed, the adaptability to spraying workpiece is added, reduces programing work amount, is non-special Automatically spraying provides a solution to non-standard component under industry environment.

As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., should all include Within protection scope of the present invention.

Claims (11)

  1. A kind of 1. automatic spraying control system of movable robot, it is characterised in that including visual identity unit, main control unit, Image reconstruction unit, track programming unit and spray unit;
    The visual identity unit is used to scan workpiece to be sprayed according to the scanning pattern previously generated, to gather the image of workpiece Information is simultaneously handled, and obtains the geological information of workpiece to be sprayed;
    The main control unit is used for realization the logic control of image reconstruction unit, track programming unit and spray unit;
    The image reconstruction unit is used to optimize the geological information processing to generate the threedimensional model of workpiece, and generates Position relationship between workpiece, visual identity unit and robot;The track programming unit is used for according to image reconstruction unit The workpiece threedimensional model automatic identification spraying area of generation simultaneously calculates spraying profile, forms spraying profile file;The spraying is single Member is used for the workpiece generated according to image reconstruction unit and the position relationship of robot and the spraying profile file plan is sprayed Path is applied, and is the code file that robot can perform by the spraying path integration.
  2. 2. the movable automatic spraying control system of robot as claimed in claim 1, it is characterised in that the image reconstruction list Member is used to carry out gridding processing to the cloud data in a certain orientation of workpiece to be sprayed of visual identity unit collection, obtains to be painted Apply the threedimensional model of the subregion of workpiece;The track programming unit is used for the threedimensional model for choosing the generation of image reconstruction unit On a bit, plan the plane of scanning motion and scanning distance, calculate scanning track;The spray unit is used for according to track programming unit Scanning pattern is planned in the scanning track of generation automatically, and the scanning pattern is converted to the code file that robot can perform.
  3. 3. the movable automatic spraying control system of robot as claimed in claim 1 or 2, it is characterised in that further include machine People's control unit, the corresponding code file of scanning pattern that the robot control unit is used to be generated according to spray unit control Visual identity unit is according to the scanning pattern automatically scanning workpiece to be sprayed;And the spraying road for being generated according to spray unit The corresponding code file control industrial robot in footpath performs spraying action.
  4. 4. the movable automatic spraying control system of robot as claimed in claim 3, it is characterised in that the track programming is single Member includes the spraying area identification module and spraying profile computing module being in communication with each other;The spraying area identification module and figure There is reconstruction unit communication to connect, and the spraying profile computing module with spray unit there is communication to connect;
    The spraying area identification module is used for the threedimensional model of the workpiece generated according to image reconstruction unit, is sprayed by choosing Region color feature, optimization spraying area border, removes spraying area noise, obtains the threedimensional model in Workpiece painting region;
    The spraying profile computing module is used for the threedimensional model in the Workpiece painting region generated according to spraying area identification module, Spraying parameter is set, the spraying profile strategy for meeting technological requirement is calculated automatically according to the technological parameter, is sprayed Trail file.
  5. 5. the automatic spraying control system of movable robot as described in claim 3 or 4, it is characterised in that the spraying is single Member is additionally operable to posture information of the collection robot in spraying process, and real-time simulation is done to whole spraying process;
    The spray unit includes emulation module and the post-processing module being in communication with each other;The emulation module respectively with image reconstruction There is communication to connect for unit and spraying profile computing module, and the post-processing module with robot control unit there is communication to connect Connect;
    The emulation module is used for the position relationship for configuring workpiece and robot, obtains the spraying of spraying profile computing module generation Trail file simultaneously carries out interpolation calculating, automatic planning robot's path of motion, simulates spraying process;
    The post-processing module is used for the code file that the path of motion that emulation module produces is converted into robot and can perform.
  6. 6. the movable automatic spraying control system of robot as claimed in claim 1, it is characterised in that the spraying profile bag The distance relation of spray gun and spraying area is included, spray gun enters and exit position, direction and the speed during spraying area, and spray gun rises Specking and terminate specking, the speed of service and quantity for spray size of spray gun in spraying process, and the spraying path of spray gun.
  7. A kind of 7. automatic spray painting control method of movable robot, it is characterised in that comprise the following steps:
    S1:The geological information of workpiece to be sprayed is obtained, the geological information is handled to obtain the three-dimensional of workpiece to be sprayed Model, and the position relationship of the workpiece and robot;
    S2:According to the threedimensional model automatic identification spraying area and spraying profile is calculated, obtains spraying profile file;
    S3:According to the workpiece and the position relationship of robot and spraying profile file plan spraying path, and by described in The code file that spraying path integration can perform into robot;
    S4:Robot is controlled to perform spraying action according to the code file.
  8. 8. the movable automatic spray painting control method of robot as claimed in claim 7, it is characterised in that also wrapped before step S1 Include and workpiece to be sprayed is scanned according to the scanning pattern previously generated, gather the image information of workpiece and handled to obtain To workpiece to be sprayed geological information the step of;
    The generating process of the scanning pattern comprises the following steps:
    S01:The cloud data in a certain orientation of workpiece to be sprayed is obtained, cloud data progress gridding is handled and is treated Spray the threedimensional model in workpiece portion region;
    S02:A bit on threedimensional model is chosen, plans the plane of scanning motion and scanning distance, calculates scanning track;
    S03:According to the scanning trajectory planning scanning pattern, and the scanning pattern is converted into the code that robot can perform File.
  9. 9. the movable automatic spray painting control method of robot as claimed in claim 7 or 8, it is characterised in that step S2 is specific Including following sub-step:
    S21:The threedimensional model is obtained, by picking up spraying area color characteristic, optimization spraying area border, removes spraying area Domain noise, obtains the threedimensional model in Workpiece painting region;
    S22:According to the threedimensional model in the Workpiece painting region, spraying parameter is set, is combined according to the technological parameter Trajectory planning algorithm based on coating thickness calculates the spraying profile strategy for meeting technological requirement automatically, obtains spraying profile text Part.
  10. 10. the movable automatic spray painting control method of robot as claimed in claim 9, it is characterised in that step S3 is specifically wrapped Include following sub-step:
    S31:The position relationship of workpiece and robot is obtained, builds virtual workbench automatically;The virtual workbench includes The position relationship of the key message of real work platform, including robot model, spray gun and robot, visual identity unit and The position relationship and user coordinate system of robot;
    S32:Obtain the spraying profile file and carry out robot pose calculating, automatic planning robot's path of motion, simulation Spraying process;
    S33:The path of motion is converted into the code file that robot can perform.
  11. 11. a kind of movable robot of the automatic spray painting control method of movable robot based on described in claim 10 is automatic Spray equipment, including industrial robot, robot control unit, spray gun and paint gas alliance unit, it is characterised in that further include and regard Feel recognition unit, computer control terminal and travel table;Wherein, the industrial robot, robot control unit and Paint gas alliance unit is placed on travel table, and the mobile movable type working platform, makes spraying workpiece be in industrial machine With convenient working in the working space of device people;
    The computer control terminal is mutually communicated with robot control unit and visual identity unit respectively;The visual identity Unit and spray gun are installed on industrial robot end;
    Automatic spray procedure is loaded with the computer control terminal, the automatic spray procedure realizes claim when running The step of 10 automatic spray painting control method.
CN201711426480.8A 2017-12-26 2017-12-26 A kind of movable robot automatic spray apparatus, control system and method CN107908152A (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108636662A (en) * 2018-05-28 2018-10-12 盐城工学院 A kind of robot spray apparatus and method
CN109483409A (en) * 2018-11-21 2019-03-19 无锡荣恩科技有限公司 The paint removal method that aviation components fill spray automatically
CN109760045A (en) * 2018-12-27 2019-05-17 西安交通大学 A kind of off-line programing orbit generation method and the dual robot collaborative assembly system based on this 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
CN110216672A (en) * 2019-05-17 2019-09-10 广东博智林机器人有限公司 Information interacting method, server and construction robot
CN110237993A (en) * 2019-06-20 2019-09-17 珠海格力智能装备有限公司 A kind of pcb board glue spraying method of view-based access control model detection, spraying colloid system, glue sprayer
CN110404715A (en) * 2019-08-15 2019-11-05 茂联橡胶制品(深圳)有限公司 Rubber spray-painting production line control system and method based on robot
CN110448919A (en) * 2018-12-28 2019-11-15 东莞市诺诚自动化科技有限公司 A kind of full-automatic hair implanter coordinate transformation method controlled based on programming
CN111013857A (en) * 2019-12-11 2020-04-17 北京东方昊为工业装备有限公司 Spraying robot control system and control method
CN111054553A (en) * 2020-01-02 2020-04-24 辽宁石油化工大学 Multifunctional split type full-automatic indoor spraying robot
WO2020134254A1 (en) * 2018-12-27 2020-07-02 南京芊玥机器人科技有限公司 Method employing reinforcement learning to optimize trajectory of spray painting robot

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108636662A (en) * 2018-05-28 2018-10-12 盐城工学院 A kind of robot spray apparatus and method
CN109483409A (en) * 2018-11-21 2019-03-19 无锡荣恩科技有限公司 The paint removal method that aviation components fill spray automatically
CN109760045A (en) * 2018-12-27 2019-05-17 西安交通大学 A kind of off-line programing orbit generation method and the dual robot collaborative assembly system based on this method
WO2020134254A1 (en) * 2018-12-27 2020-07-02 南京芊玥机器人科技有限公司 Method employing reinforcement learning to optimize trajectory of spray painting robot
CN110448919A (en) * 2018-12-28 2019-11-15 东莞市诺诚自动化科技有限公司 A kind of full-automatic hair implanter coordinate transformation method controlled based on programming
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
WO2020173111A1 (en) * 2019-02-27 2020-09-03 华南理工大学 3d micro-coating robot and coating method therefor
CN110216672A (en) * 2019-05-17 2019-09-10 广东博智林机器人有限公司 Information interacting method, server and construction robot
CN110237993A (en) * 2019-06-20 2019-09-17 珠海格力智能装备有限公司 A kind of pcb board glue spraying method of view-based access control model detection, spraying colloid system, glue sprayer
CN110404715A (en) * 2019-08-15 2019-11-05 茂联橡胶制品(深圳)有限公司 Rubber spray-painting production line control system and method based on robot
CN111013857A (en) * 2019-12-11 2020-04-17 北京东方昊为工业装备有限公司 Spraying robot control system and control method
CN111054553A (en) * 2020-01-02 2020-04-24 辽宁石油化工大学 Multifunctional split type full-automatic indoor spraying robot

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