CN109967292A - A kind of automatic spraying system and its method based on the reconstruct of workpiece profile information three-dimensional - Google Patents
A kind of automatic spraying system and its method based on the reconstruct of workpiece profile information three-dimensional Download PDFInfo
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- CN109967292A CN109967292A CN201910314161.0A CN201910314161A CN109967292A CN 109967292 A CN109967292 A CN 109967292A CN 201910314161 A CN201910314161 A CN 201910314161A CN 109967292 A CN109967292 A CN 109967292A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automatic spraying systems and its method based on the reconstruct of workpiece profile information three-dimensional, including control system, three-dimensionalreconstruction module, transportation system and automatic spraying equipment, transportation system is connect with control system and automatic spraying equipment respectively, three-dimensionalreconstruction module, which can model the profile of workpiece to be painted and be sent to control system, carries out spraying path planning, paint spraying apparatus includes paint spray booth, paint spray booth is connect with control system, can be sprayed automatically according to spraying path to by workpiece to be painted.The present invention solves to be had a single function in existing paint industry, and the flexible not high problem of spraying improves the efficiency of spraying producing line.
Description
Technical field
The invention belongs to machine vision and automatic coating technical field, and in particular to one kind is based on workpiece profile information three-dimensional
The automatic spraying system and its method of reconstruct can especially parse the intelligence for obtaining any workpiece profile information and carrying out operation automatically
It can paint finishing.
Background technique
Using Control During Paint Spraying by Robot mostly manually by robot demonstrator to work to be sprayed in current existing paint line
Part presets spraying path after carrying out exterior contour teaching, robot trajectory's program is generated, to carry out single mechanical spraying
Operation, flexible degree is not high, encounters the workpiece that appearance profile is complicated, mutation is more, default spraying path takes a long time and the later period
It is faced with locally sprayed uneven as caused by artificial preset path limitation, needs repeatedly to optimize, manually carry out touch-up paint；One
Producing line can only carry out spraying operation to set workpiece, replace workpiece to be sprayed if needed and need again to define robot
The problems such as spraying parameter, there is no the advantages for playing robot progress spraying operation completely.
Three Dimensional Reconfiguration is one of the important research field of current machine vision.In recent years, Three Dimensional Reconfiguration is even more
Achieve significant progress.The technology building three-dimensional modeling data be widely used in mould processing, increasing material manufacturing, medicine at
The all trades and professions such as picture, reverse-engineering, virtual game.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of based on workpiece
The automatic spraying system and its method of profile information three-dimensionalreconstruction can obtain the profile information of workpiece online, and utilize this
Data directly carry out automatic spraying operating.
The invention adopts the following technical scheme:
It is a kind of based on workpiece profile information three-dimensional reconstruct automatic spraying system, including control system, three-dimensionalreconstruction module,
Transportation system and automatic spraying equipment, transportation system are connect with control system and automatic spraying equipment respectively, three-dimensionalreconstruction module
It is arranged in transportation system, including binocular stereo vision unit, binocular stereo vision unit can acquire workpiece to be painted for three
The phase of dimension structure light reflection, reflection interval parameter fitting at the profile modeling information that can continuously interact and are sent to control system
System, automatic spraying equipment include the robot with spray equipment, and control system is modeled according to the profile that three-dimensionalreconstruction module is sent
Information planning sprays path and sends to robot, and robot receives the automatic spraying that spraying path is completed to workpiece to be painted and grasps
Make.
Specifically, automatic spraying equipment further includes spray station and automatic with paint module, spray station, robot and
Automatic to be arranged in paint spray booth with paint module, the workpiece transport module connection of spray station and transportation system, workpiece to be painted is set
It sets in spray station, robot is connect with paint module for spraying with automatic.
Further, material moving area, material detection zone, spray coating operations region and rear end are provided in paint spray booth
Automatically controlled explosion-proof area, workpiece transport module are arranged in material moving area, and three-dimensionalreconstruction module is arranged in material detection zone
It is interior；Spray station is arranged in spray coating operations region, robot, automatic automatically controlled anti-in rear end with paint module and set-up of control system
In quick-fried region.
Further, control system includes control centre, and control centre sprays with three-dimensionalreconstruction module and automatically respectively
Equipment connection.
Specifically, transportation system uses step-by-step movement transmission mode.
Another technical solution of the invention is that a kind of operating method of automatic spraying system, workpiece to be painted passes through conveying
System carries out visual scanning through three-dimensionalreconstruction module, and the binocular stereo vision unit for carrying light source acquires workpiece to be painted for three-dimensional
The reflected phase parameter of structure light, and be fitted to the profile modeling information that can continuously interact and be sent to control system, control system
Host computer is outputed signal to, host computer exports spraying profile signal to robot, chain conveying of the workpiece to be painted through transportation system
Line is run to the spray station of automatic spraying equipment, automatic to carry out automatic painting, machine with the spray gun that paint module is robot carrying
Device people executes spraying operation, and workpiece is delivered to outside the automatic paint spray booth with paint module by transportation system automatically after the completion.
Specifically, binocular stereo vision unit acquires the inner parameter and external parameter mark for first carrying out camera before workpiece to be painted
It is fixed, the inner parameter of camera is solved by known multiple three-dimensional point coordinates and corresponding two-dimensional image point coordinate and outside is joined
Number.
Further, index point matching is first carried out respectively after two cameras shooting sequence image of binocular stereo vision unit
Posture relationship is established between image, then the initial three-dimensional coordinate of calculation flag point, then carries out nonlinear least square method optimization
Complete single camera focal length, principal point coordinate, lens distortion calibration, the accuracy flag point three-dimensional coordinate for then obtaining calibration, two
The focal length of a camera, principal point coordinate, lens distortion parameter and two cameras sequence image carry out double camera calibrating external parameters,
By optimizing to obtain appearance of the accurate camera coordinates system under world coordinate system based on two camera backwards projection error minimum functions
State.
Further, binocular stereo vision unit obtains the calibration object angle of deviation, then solves double vision axis deviation, if discontented
Feedback deviation information is sent to host computer by sufficient deflection condition, and host computer compensating pole angular difference is moved by pose and carries out angle tune
It is whole, re-start self-calibration；If meeting deflection condition, next step operation is carried out.
Compared with prior art, the present invention at least has the advantages that
A kind of automatic spraying system based on the reconstruct of workpiece profile information three-dimensional of the present invention, using modularized design, land occupation
Area is suitable with traditional automatic spraying production line occupied area, is also applied for old line transformation.The profile of workpiece can be obtained online
Information, and online path planning is directly carried out to robot using this data, realize automatic spraying operating.It can obtain online
The profile information of workpiece, and automatic spraying operating is directly carried out using this data.
Further, three-dimensionalreconstruction module is distinguished using optical effect of the workpiece profile to be painted to visible light wave range structure light
Degree, and then can be realized the On-line testing to workpiece three-D profile information to be painted, without importing model in advance, also change in advance
The traditional work mode for programming teaching, greatly improves working efficiency.
The invention also discloses a kind of operating methods based on workpiece profile information three-dimensional reconstruct automatic spraying system, are not necessarily to
Pre-set program is suitble to the spray-painting production line of product category multiplicity, it can be achieved that on-line automatic spraying.
Further, the inside of camera is solved by known multiple three-dimensional point coordinates and corresponding two-dimensional image point coordinate
Parameter and external parameter, can inner parameter to camera and external parameter demarcate, protect profile reconstruct and Work position information
Accuracy.
Further, control system can be solved according to the profile modeling information that can continuously interact by coordinate transform
To the whole position and posture in spray robot world coordinate system of work, and planning sprays path automatically, realizes automatic spray
It applies.
It is had a single function in existing paint industry in conclusion the present invention solves, the flexible not high problem of spraying improves
Spray the efficiency of producing line.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the system composition block diagram；
Fig. 2 is system layout figure；
Fig. 3 is system process figure；
The inside and outside parameter calibration flow chart of the position Fig. 4 camera.
Wherein: 1. workpiece transport modules；2. robot；3. paint spray booth；4. three-dimensionalreconstruction module；5. spray station；6. from
It is dynamic to match paint module；7. control centre.
Specific embodiment
The invention discloses it is a kind of based on workpiece profile information three-dimensional reconstruct automatic spraying system, including control system,
Three-dimensionalreconstruction module 4 and automatic spraying equipment are provided with binocular stereo vision unit, binocular tri-dimensional in three-dimensionalreconstruction module 4
Feel that unit for obtaining phase, the reflection interval parameter that workpiece to be painted reflects three-dimensional structure light, is mentioned according to the difference of parameter
It takes three-dimensional data and data is fitted to the profile modeling information that can continuously interact and be sent to control system, pass through coordinate transform
It solves and obtains the whole position and posture in spray robot world coordinate system of work, and planning spraying path automatically, spray painting
Equipment includes paint spray booth 3, and paint spray booth 3 is connect with control system, can be sprayed automatically according to spraying path to by workpiece to be painted
It applies.
Please refer to Fig. 1 and Fig. 2, a kind of automatic spraying system based on the reconstruct of workpiece profile information three-dimensional of the present invention, including
Workpiece transport module 1, paint spray booth 3, the robot 2 with spray equipment, workpiece three-dimensionalreconstruction component 4 to be painted and control centre 7,
Workpiece transport module 1 is connect by three-dimensionalreconstruction component 4 with the spray station 5 being arranged in paint spray booth 3, and workpiece transport module 1 is used
In the transport of realization workpiece, displacement and in the loading and unloading function of spray station 5；Robot 2 is arranged in paint spray booth 3, with spray
What is be arranged in paint room 3 is automatic with paint 6 cooperating of module, for spraying to the workpiece to be painted in spray station 5；Workpiece fortune
Defeated module 1, robot 2, three-dimensionalreconstruction component 4, spray station 5 and it is automatic with paint module 6 respectively with the control that is arranged in paint spray booth 3
Center 7 processed connects.
Three-dimensionalreconstruction module includes binocular stereo vision unit, carry light source binocular stereo vision unit can acquire to
Spray workpiece three-dimensional structure light is reflected phase, reflection interval parameter fitting at the profile modeling information that can continuously interact simultaneously
It is sent to control system.
3 integral layout of paint spray booth includes that material moving area, material detection zone, spray coating operations region and rear end are automatically controlled
Explosion-proof area.Workpiece transport module 1 is arranged in material moving area, and three-dimensionalreconstruction module 4 is arranged in material detection zone；
Spray station 5 is arranged in spray coating operations region, and the spraying operation of workpiece to be painted, robot are mainly completed in spray coating operations region
2, automatic to be arranged in the automatically controlled explosion-proof area in rear end with paint module 6 and control centre 7, the spraying path of generation is sent out by control centre
Paint-spray robot is given, after workpiece reaches spray station, robot executes path precession work, meanwhile, automatic painting module
For robot carry the automatic painting of spray gun, to complete the automatic spraying of workpiece.
Whole Work Flow the present invention is based on the automatic spraying system of workpiece profile information three-dimensional reconstruct is:
By transporting equipment by workpiece transport to be sprayed to scanning area, controls three-dimensional structure light and be actively projected to workpiece table
Face, binocular vision obtain the parametric functions relationship such as phase, reflection interval, relative illumination in the light field of structure light reflection.According to this
The variation of a little parameters solves profile point cloud data, and by data prediction, Fast Fitting obtains outer workpiece wheel after Surface Creation
Wide three-dimensional information.By coordinate transform by the profile modeling information reflection to spraying world coordinate system of workpiece, flush coater is generated
The motion profile of device people, spray robot execute spraying operation.
A kind of operating method of the automatic spraying system based on the reconstruct of workpiece profile information three-dimensional of the present invention, is equipped in system
For transporting the chain type conveyor line of workpiece to be painted, which successively carries out vision through three-dimensionalreconstruction module 4
Scanning, then workpiece to be painted is sprayed automatically through the spraying area that the chain type conveyor line of transportation system is run to automatic spraying equipment
It applies, the binocular stereo vision unit for carrying light source acquires workpiece to be painted for parameters such as the reflected phases of three-dimensional structure light, passes through
Software processing, is fitted to the profile modeling information that can continuously interact, is sent to control system；Control system outputs signal to upper
Machine, host computer export spraying profile signal to robot 2, and workpiece to be painted is run through carrier chain to spray station 5, matches Qi Mo automatically
Block 6 be robot carry the automatic painting of spray gun, spray robot start execute spraying operation, after the completion chain conveyor system from
It is dynamic that workpiece is delivered to outside paint spray booth.The present invention is based on the workflows of the automatic spraying system of workpiece profile information three-dimensional reconstruct
As shown in Figure 3, the specific steps are as follows:
Each module status of detection system is executed after S1, booting, binocular stereo vision unit is executed online certainly by scaling board
The static error of visual coordinate system is eliminated in calibration；
Binocular stereo vision unit obtains the calibration object angle of deviation, double vision axis deviation is then solved, if being unsatisfactory for deviation item
Part, feedback deviation information to host computer, host computer compensating pole angular difference are moved by pose and carry out angle adjustment, are re-started certainly
Calibration；If meeting deflection condition, next step operation is carried out.
The inside and outside parameter calibration of the camera of binocular stereo vision unit specifically:
Posture relationship between index point matching and image is first carried out after two camera shooting sequence images respectively to establish, is then counted
The initial three-dimensional coordinate of index point is calculated, then carries out nonlinear least square method optimization and completes one camera calibration of camera, then
The inner parameter of accuracy flag point three-dimensional coordinate, two cameras that calibration is obtained and the sequence image of two cameras carry out two-phase
Machine calibrating external parameters, by optimizing to obtain accurate camera external parameter based on two camera backwards projection error minimum functions.
S2, after all functional modules are normal, host computer issue work order, material transportation module by workpiece transport to examine
Survey region.Using structured light light source active illumination, binocular stereo vision unit obtains phase, the fortune that workpiece reflects structure light
The variation of dynamic time obtains point cloud data by resolving, and obtains the profile modeling information of workpiece after being fitted.
Material transportation module configures feeding parameter, and time feedbacking is to host computer real-time display working condition, host computer root
According to feedback adjustment kinematic parameter.S3, host computer obtain modeling information of the workpiece profile to be painted in visual coordinate system, and pass through view
Feel coordinate transform of the coordinate system for robot coordinate system, profile information is transmitted to robot coordinate system, configuration spraying path
And workpiece to be painted is moved to station and stopping to be sprayed by other spray parameters, material transportation module, spray robot is held
Row spraying operation；Workpiece transport is gone out paint spray booth by material transportation module after the completion.
Host computer exports spray parameters and carries out spraying detection in real time, if there is drain spray is then determined as rejected product, if full
Sufficient testing conditions, export workpiece information, and workpiece is completed in transport.
Whole system works under control system closed loop.
The scan module of three-dimensional reconfiguration system of the present invention observes object by simulation mankind's eyes using binocular camera
Two dimensional image is converted to the three-dimensional information of workpiece to be painted by the mode of body, and structure is simple, flexible operation.Two cameras difference are never
The two dimensional image for obtaining workpiece to be painted simultaneously with angle obtains workpiece to be painted according to stereoscopic parallax principle by matching picture point
Three-D profile.But in practical applications, since there are trueness errors to make two camera internal parameters can not for production process
It is completely the same, and two cameras not can guarantee the absolute parallel of installation.Therefore, polar curve direction and image slices vegetarian refreshments place axis side
To angle it is indefinite, cause to need before being scanned process to carry out parameter calibration processes to two cameras.The essence of camera calibration
It is inner parameter (focal length, principal point that camera is solved by known multiple three-dimensional point coordinates and corresponding two-dimensional image point coordinate
Coordinate, lens distortion) and external parameter (posture of the camera coordinates system under world coordinate system), the precision solved directly determines
The measurement accuracy of three-dimensionalreconstruction component 4 in workpiece sensing region.The above content is merely illustrative of the invention's technical idea, cannot
Limited the scope of protection of the present invention with this, it is all according to the technical idea provided by the invention, done on the basis of technical solutions
Any change, each falls within the protection scope of claims of the present invention.
Claims (9)
1. a kind of automatic spraying system based on the reconstruct of workpiece profile information three-dimensional, which is characterized in that including control system, three-dimensional
Reconstructed module (4), transportation system and automatic spraying equipment, transportation system are connect with control system and automatic spraying equipment respectively,
Three-dimensionalreconstruction module (4) is arranged in transportation system, including binocular stereo vision unit, binocular stereo vision unit can acquire
Phase that workpiece to be painted reflects three-dimensional structure light, reflection interval parameter fitting are at the profile modeling information that can continuously interact
And it is sent to control system, automatic spraying equipment includes the robot (2) with spray equipment, and control system is according to three-dimensionalreconstruction mould
The profile modeling information planning spraying path and transmission that block (4) is sent are given robot (2), and it is complete that robot (2) receives spraying path
The automatic spraying operation of pairs of workpiece to be painted.
2. paint finishing according to claim 1, automatic spraying equipment further includes spray station (5) and matches Qi Mo automatically
Block (6), spray station (5), robot (2) and automatic paint module (6) of matching are arranged in paint spray booth (3), spray station (5)
Connect with the workpiece transport module (1) of transportation system, workpiece setting to be painted on spray station (5), robot (2) with match automatically
Module (6) connection is painted for spraying.
3. paint finishing according to claim 2, which is characterized in that be provided with material moving area, object in paint spray booth (3)
Expect that detection zone, the automatically controlled explosion-proof area in spray coating operations region and rear end, workpiece transport module (1) are arranged in material moving area
Interior, three-dimensionalreconstruction module (4) is arranged in material detection zone；Spray station (5) is arranged in spray coating operations region, robot
(2), automatic paint module (6) and set-up of control system of matching is in the automatically controlled explosion-proof area in rear end.
4. paint finishing according to claim 3, which is characterized in that control system includes control centre (7), control centre
(7) it is connect respectively with three-dimensionalreconstruction module (4) and automatic spraying equipment.
5. paint finishing according to claim 1, which is characterized in that transportation system uses step-by-step movement transmission mode.
6. a kind of operating method of paint finishing according to claim 1, which is characterized in that workpiece to be painted passes through transportation system
Visual scanning is carried out through three-dimensionalreconstruction module (4), the binocular stereo vision unit for carrying light source acquires workpiece to be painted for three-dimensional
The reflected phase parameter of structure light, and be fitted to the profile modeling information that can continuously interact and be sent to control system, control system
Host computer is outputed signal to, host computer exports spraying profile signal to robot (2), and workpiece to be painted is defeated through the chain type of transportation system
Line sending is run to the spray station of automatic spraying equipment (5), automatic to carry out with the spray gun that paint module (6) is robot (2) carrying
Automatic painting, robot (2) execute spraying operation, and workpiece is delivered to automatic with paint module (6) by transportation system automatically after the completion
Paint spray booth outside.
7. operating method according to claim 6, which is characterized in that before binocular stereo vision unit acquisition workpiece to be painted first
The inner parameter and calibrating external parameters for carrying out camera are sat by known multiple three-dimensional point coordinates and corresponding two-dimensional image point
Mark solves the inner parameter and external parameter of camera.
8. operating method according to claim 7, which is characterized in that two cameras of binocular stereo vision unit shoot sequence
Posture relationship between index point matching and image is first carried out after column image respectively to establish, then the initial three-dimensional seat of calculation flag point
Mark, then carry out nonlinear least square method optimization and complete single camera focal length, principal point coordinate, lens distortion calibration, it then will mark
Surely the accuracy flag point three-dimensional coordinate that obtains, the focal length of two cameras, principal point coordinate, lens distortion parameter and two cameras sequence
Column image carries out double camera calibrating external parameters, accurate by optimizing to obtain based on two camera backwards projection error minimum functions
Posture of the camera coordinates system under world coordinate system.
9. operating method according to claim 7, which is characterized in that binocular stereo vision unit obtains calibration object deviation
Then angle solves double vision axis deviation, if being unsatisfactory for deflection condition, feedback deviation information is sent to host computer, host computer is mended
It is poor to repay polar angle, is moved by pose and carries out angle adjustment, re-start self-calibration；If meeting deflection condition, carry out next
Step operation.
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Cited By (17)
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| CN110433989A (en) * | 2019-07-30 | 2019-11-12 | 天津普达软件技术有限公司 | A kind of method of workpiece surface spraying |
| CN110702035A (en) * | 2019-10-25 | 2020-01-17 | 四川大学青岛研究院 | Household appliance spraying quality detection system and method based on surface structured light |
| CN110756359A (en) * | 2019-11-07 | 2020-02-07 | 合肥工业大学 | Automatic spraying device and method based on vision |
| CN112381710A (en) * | 2020-10-13 | 2021-02-19 | 中铭谷智能机器人(广东)有限公司 | 2D vision algorithm system for automobile plate spraying |
| CN112403716A (en) * | 2020-10-12 | 2021-02-26 | 江苏苏力机械股份有限公司 | Coating production line on-line detection system based on machine vision |
| CN112452581A (en) * | 2020-10-13 | 2021-03-09 | 江苏三立液压机械有限公司 | Moving workpiece automatic spraying robot system based on machine vision and working method |
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| CN116714001A (en) * | 2023-08-11 | 2023-09-08 | 星力驰(北京)智能科技有限公司 | Artificial intelligence control system and control method and vehicle coating workstation |
| CN118080205A (en) * | 2024-04-24 | 2024-05-28 | 四川吉埃智能科技有限公司 | Automatic spraying method and system based on vision |
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