CN113714012A - Automatic planning method and system for three-dimensional camouflage pattern spraying path - Google Patents
Automatic planning method and system for three-dimensional camouflage pattern spraying path Download PDFInfo
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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
- 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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- 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
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Abstract
The invention provides a method and a system for automatically planning a three-dimensional camouflage pattern spraying path, which belong to the technical field of spraying and coating, identify a generated three-dimensional camouflage pattern, acquire color block information of the three-dimensional camouflage pattern, and generate path points on the surface of a vehicle model by adopting a cutting projection method according to the color block information; and adding transition paths before and after switching on and off gun signals for path points to generate corresponding robot spraying paths by taking smooth and continuous pose, speed and acceleration without mutation as targets. The intelligent degree of the camouflage pattern path planning and the program generation is high; the generated path and the program can be modified and optimized correspondingly according to the requirements; the generated path has a large number of switching guns, and no rule exists, and the switching guns can be automatically generated according to colors; transition points can be added automatically, interference-proof optimization is automatically carried out on the generated path, and the collision interference condition is eliminated; the planning path is fast and efficient, the labor intensity of operators is reduced, and the working efficiency and the spraying quality are improved.
Description
Technical Field
The invention relates to the technical field of spraying and coating, in particular to a method and a system for automatically planning a three-dimensional camouflage pattern spraying path.
Background
Before robot camouflage spraying, a spraying path of a robot needs to be planned, but a spraying path planning technology aiming at a three-dimensional camouflage pattern does not exist at present, the existing camouflage spraying is that an operator draws the camouflage pattern on the surface of a target spraying surface, the robot manually teaches the path to spray according to a boundary line, multiple trial production correction and adjustment procedures are needed, the workload is large, the efficiency is low, the precision is poor, the path line needs to be redrawn, and time and labor are wasted; the digital camouflage large and irregular gun opening and closing cannot be processed; transition points cannot be added by themselves; the color of the plaque cannot be identified.
Disclosure of Invention
The invention aims to provide a method and a system for automatically planning a three-dimensional camouflage pattern spraying path, which have the advantages of reasonable on-off gun setting, high spraying efficiency and good spraying precision, so as to solve at least one technical problem in the background technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, the invention provides a method for automatically planning a three-dimensional camouflage pattern spraying path, which comprises the following steps:
step S110: identifying the generated three-dimensional camouflage patterns to obtain color block information of the three-dimensional camouflage patterns;
step S120: generating path points on the surface of the vehicle model by adopting a cutting projection method according to the color block information;
step S130: and (3) adding a smooth transition path before and after a switch gun signal to the spraying path to generate a corresponding robot spraying path by taking smooth and continuous pose, speed and acceleration without mutation as targets.
Preferably, the step of identifying the color of each color block in the three-dimensional camouflage pattern comprises the steps of respectively using the top view angle, the front view angle, the rear view angle, the left view angle and the right view angle of the three-dimensional camouflage pattern as a spraying surface, and dividing each spraying surface into a plurality of grid color blocks.
Preferably, the obtaining of the color block information of the three-dimensional camouflage pattern comprises:
and identifying the color of each grid color block in the three-dimensional camouflage pattern, forming a color area by a plurality of adjacent grid color blocks with the same color, comparing the color depth of all the color areas, and sequencing the spraying sequence of different color areas according to the relative color depth.
Preferably, generating the spray path represented by the path points on the surface of the vehicle model by using a cutting projection method according to the patch information comprises:
and the intersection point of the transverse middle line of each color block and the edge of each color block generates a gun opening point and a gun closing point, a first transition point is arranged at a first distance from the gun opening point of each path, and a second transition point is arranged at a second distance from the gun closing point of each path.
Preferably, a first safety point is arranged on each spraying surface before the first color area is sprayed, and the first safety point is positioned above a transition point of a first path of the first color area before a gun starting point; and after spraying all the color areas with the same color as the first color area, setting a second safety point.
Preferably, the first distance is 150mm and the second distance is 150 mm.
In a second aspect, the present invention provides an automatic planning system for a three-dimensional camouflage pattern spraying path, comprising:
the acquisition module is used for identifying the generated three-dimensional camouflage patterns and acquiring color block information of the three-dimensional camouflage patterns;
the cutting module is used for generating path points on the surface of the vehicle model by adopting a cutting projection method according to the color block information;
and the planning module is used for adding a smooth transition path before and after a switch gun signal to the spraying path to generate a corresponding robot spraying path by taking smooth continuity and no mutation of pose, speed and acceleration as targets.
Preferably, the obtaining module comprises a dividing unit, and the dividing unit is used for respectively taking the three-dimensional camouflage pattern as a spraying surface at a top view angle, a front view angle, a rear view angle, a left view angle and a right view angle, and dividing each spraying surface into a plurality of grid color blocks.
In a third aspect, the present invention provides a computer device, comprising a memory and a processor, the processor and the memory being in communication with each other, the memory storing program instructions executable by the processor, the processor calling the program instructions to perform the three-dimensional camouflage pattern spray path automatic planning method as described above.
In a fourth aspect, the present invention further provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the method for automatically planning a spraying path of a three-dimensional camouflage pattern as described above.
The invention has the beneficial effects that: the intellectualization degree of the camouflage pattern path planning and the program generation is high; the generated path and the program can be modified and optimized correspondingly according to the requirements; the generated path has a large number of switching guns, and no rule exists, and the switching guns can be automatically generated according to colors; transition points can be added automatically, interference-proof optimization is automatically carried out on the generated path, and the collision interference condition is eliminated; the planning path is fast and efficient, the labor intensity of operators is reduced, and the working efficiency and the spraying quality are improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for automatically planning a three-dimensional camouflage pattern spraying path according to an embodiment of the invention.
Fig. 2 is a functional schematic block diagram of an automatic three-dimensional camouflage pattern spraying path planning system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by way of the drawings are illustrative only and are not to be construed as limiting the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In the description of the present specification, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," "coupled," and "disposed" are intended to be inclusive and mean, for example, that they may be fixedly coupled or disposed, or that they may be removably coupled or disposed, or that they may be integrally coupled or disposed. The specific meaning of the above terms in the present technology can be understood by those of ordinary skill in the art as appropriate.
For the purpose of facilitating an understanding of the present invention, the present invention will be further explained by way of specific embodiments with reference to the accompanying drawings, which are not intended to limit the present invention.
It should be understood by those skilled in the art that the drawings are merely schematic representations of embodiments and that the elements shown in the drawings are not necessarily required to practice the invention.
Example 1
Provided is a three-dimensional camouflage pattern spraying path automatic planning system, which comprises:
the acquisition module is used for identifying the generated three-dimensional camouflage patterns and acquiring color block information of the three-dimensional camouflage patterns;
the cutting module is used for generating path points on the surface of the vehicle model by adopting a cutting projection method according to the color block information; the path points comprise a safety point, a transition point, a gun opening point and a gun closing point;
and the planning module is used for adding transition paths before and after switching on and off the gun signal for path points to generate corresponding robot spraying paths by taking pose, speed and acceleration as targets, wherein the pose, the speed and the acceleration are smooth and continuous and have no mutation.
As shown in fig. 1, in embodiment 1 of the present invention, an automatic three-dimensional camouflage pattern spraying path planning method is implemented by using the automatic three-dimensional camouflage pattern spraying path planning system, and the method includes:
step S110: identifying the generated three-dimensional camouflage patterns to obtain color block information of the three-dimensional camouflage patterns;
step S120: generating path points on the surface of the vehicle model by adopting a cutting projection method according to the color block information;
step S130: and (3) adding a smooth transition path before and after a switch gun signal to the spraying path to generate a corresponding robot spraying path by taking smooth and continuous pose, speed and acceleration without mutation as targets.
In this embodiment 1, identifying the color of each color block in the three-dimensional camouflage pattern includes using the three-dimensional camouflage pattern as a spraying surface at a top view angle, a front view angle, a rear view angle, a left view angle, and a right view angle, respectively, and dividing each spraying surface into a plurality of grid color blocks.
Specifically, the obtaining of the color block information of the three-dimensional camouflage pattern includes:
and identifying the color of each grid color block in the three-dimensional camouflage pattern, forming a color area by a plurality of adjacent grid color blocks with the same color, comparing the color depth of all the color areas, and sequencing the spraying sequence of different color areas according to the relative color depth.
In this embodiment 1, generating a spraying path represented by path points on a surface of a vehicle model by using a cutting projection method according to the patch information includes:
and the intersection point of the transverse middle line of each color block and the edge of each color block generates a gun opening point and a gun closing point, a first transition point is arranged at a first distance from the gun opening point of each path, and a second transition point is arranged at a second distance from the gun closing point of each path. Setting a first safety point on each spraying surface before spraying a first color area, wherein the first safety point is positioned above a transition point of a first path of the first color area before a gun opening point; and after spraying all the color areas with the same color as the first color area, setting a second safety point. The first distance is 150mm, and the second distance is 150 mm.
Specifically, in this embodiment 1, the method for automatically planning the spraying path of the three-dimensional camouflage pattern includes:
firstly, carrying out image recognition on the generated three-dimensional camouflage pattern, and analyzing color block information: identifying the three-dimensional camouflage pattern color block information, identifying and numbering different color block colors, comparing with the example: the northern forest land digital camouflage has four colors, medium green, dark green, brown soil and loess, wherein the medium green is the ground color, no spraying needs to generate a path, and the other three colors are respectively numbered as 1, 2 and 3 (for example, yellow is numbered as 1, brown is numbered as 2, and dark green is numbered as 3)
Each digital camouflage pattern is divided into a plurality of squares with the side length of 100, color block information is analyzed by firstly identifying colors, numbering the colors as 1, 2 and 3, then identifying each small square forming the digital camouflage pattern, and entering the next step after identification
Remarking: the numbering is to determine the spraying sequence, for example, the spraying sequence can be 1-2-3, i.e., yellow is sprayed first, then brown is sprayed, and finally dark green is sprayed (the color is from light to dark), so as to reduce the time for changing the color of the gun, and eliminate or reduce the influence of the color of the previous spraying on the color of the next spraying
If the light color is not cleaned, the color difference influence of the next spraying color is small, and the dark color influence is large.
Then, a spray path represented by path points is generated on the surface of the vehicle model by adopting a cutting projection method: in embodiment 1, the division value is 800, which indicates that the interval between areas is 800, and the numerical value is the range of spraying by the seven-axis robot when the seven axes of the seven-axis robot are kept fixed, and the digital spraying effect is better than that when the seven axes are moved when the seven axes are fixed.
The serial number is: the spray paths represented by the path points are generated on the basis of all the patches of 1 yellow, 2 brown, and 3 dark green. The path point consists of a safety point, a transition point, a gun opening point and a gun closing point. Each small patch is a square with the side length of 100, and a path consisting of a transition point, a gun opening point and a gun closing point is generated on the basis of completing the color block identification in the previous step.
The specific method comprises the following steps:
generating a gun opening point and a gun closing point at the intersection point of the transverse central line of the square and the side of the square, wherein a green color point is the gun opening point, a red color point is the gun closing point, a yellow color point is a transition point, each path is provided with a transition point at a position 150mm away from the gun opening point, a transition point is arranged at a position 150mm away from the gun closing point, a plurality of gun opening points can be arranged in one path, but only one gun closing point is arranged, the number of the gun opening points depends on the number of the dark green patches, and the number of the gun opening points is the same as the number of the patches.
The mode of setting the safety points is explained by the model overlooking the dark green patches on the plane:
setting two safety points in total, namely setting a safety point before spraying the dark green of the surface, (locating above a transition point before the gun starting point of the first path of the surface, and the distance is determined according to the situation and is generally 300mm above the highest point of the model), setting a safety point after all the dark green of the surface is sprayed, (setting the point is to avoid the collision of the robot with a workpiece model when spraying the next surface after the surface is sprayed), and setting the safety points of the rest surfaces except the overlooking plane, wherein the safety points are required to meet the requirement of the overlooking plane, and the vertical distance from the surface is 300.
The robot needs to perform the action of washing the gun before starting spraying or when spraying the next color by one color. The gun washing is characterized in that a robot opens a gun to continuously spray paint of a certain color, residues of the paint of the previous color in an oil pipe or a gun head are discharged, the residual paint can be completely discharged after a period of time, and the color of the paint sprayed at the moment cannot be influenced. In this embodiment, the continuous gun-washing time of the painting robot is 7 seconds.
The gun washing and color changing path is that one kind of color paint is sprayed, and the color paint 7s to be sprayed is continuously sprayed in the color changing barrel when the next color paint is sprayed.
And optimizing and sequencing the spraying path sequence through the established optimization model, wherein the principle is that the spraying effect is optimal and the time is fastest.
When the robot sprays, the conversion path is executed firstly, then the gun washing and color changing path is executed, then the conversion path is executed, then the transition path is executed, and finally the spraying path is executed.
And finally, aiming at smooth and continuous pose, speed and acceleration without mutation, adding a smooth transition path (namely adding a transition point) before and after a switch gun signal to the spraying path to generate a corresponding spraying track of the robot so as to prevent the spraying effect from being influenced by jitter during spraying operation. And adding a block conversion path between the spraying paths of the block areas according to the actual spraying condition, and adding a gun washing and color changing path according to the color block property and the spraying time. The method is characterized in that robot kinematics and dynamics are applied, the acceleration performance of the robot is considered, the spraying time is taken as an optimization target, an optimization model is established, and based on the principle of preferential combination of color blocks in a block area, a spraying path, a transition path, a switching path, a gun washing and color changing path are reasonably combined, so that the optimization of the operation track of the robot is realized. The spraying path of each surface of the vehicle meets the spraying requirement.
Example 2
As shown in fig. 2, an embodiment 2 of the present invention provides an automatic planning system for a three-dimensional camouflage pattern spraying path, including:
the acquisition module is used for identifying the generated three-dimensional camouflage patterns and acquiring color block information of the three-dimensional camouflage patterns;
the cutting module is used for generating path points on the surface of the vehicle model by adopting a cutting projection method according to the color block information; the path points comprise a safety point, a transition point, a gun opening point and a gun closing point;
and the planning module is used for adding transition paths before and after switching on and off the gun signal for path points to generate corresponding robot spraying paths by taking pose, speed and acceleration as targets, wherein the pose, the speed and the acceleration are smooth and continuous and have no mutation.
The acquisition module comprises a dividing unit, wherein the dividing unit is used for respectively taking the three-dimensional camouflage patterns as a spraying surface at a top view angle, a front view angle, a rear view angle, a left view angle and a right view angle, and dividing each spraying surface into a plurality of grid color blocks.
In this embodiment 2, the three-dimensional camouflage pattern spraying path automatic planning method is implemented by using the three-dimensional camouflage pattern spraying path automatic planning system. The method comprises the following steps:
step S110: identifying the generated three-dimensional camouflage patterns to obtain color block information of the three-dimensional camouflage patterns;
step S120: generating path points on the surface of the vehicle model by adopting a cutting projection method according to the color block information;
step S130: and (3) adding a smooth transition path before and after a switch gun signal to the spraying path to generate a corresponding robot spraying path by taking smooth and continuous pose, speed and acceleration without mutation as targets.
Identifying the color of each color block in the three-dimensional camouflage pattern comprises the steps of respectively taking the three-dimensional camouflage pattern as a spraying surface at a top view angle, a front view angle, a rear view angle, a left view angle and a right view angle, and dividing each spraying surface into a plurality of grid color blocks.
The obtaining of the color block information of the three-dimensional camouflage pattern comprises: and identifying the color of each grid color block in the three-dimensional camouflage pattern, forming a color area by a plurality of adjacent grid color blocks with the same color, comparing the color depth of all the color areas, and sequencing the spraying sequence of different color areas according to the relative color depth.
Generating a spraying path represented by path points on the surface of the vehicle model by adopting a cutting projection method according to the color block information comprises the following steps: and the intersection point of the transverse middle line of each color block and the edge of each color block generates a gun opening point and a gun closing point, a first transition point is arranged at a first distance from the gun opening point of each path, and a second transition point is arranged at a second distance from the gun closing point of each path. Setting a first safety point on each spraying surface before spraying a first color area, wherein the first safety point is positioned above a transition point of a first path of the first color area before a gun opening point; and after spraying all the color areas with the same color as the first color area, setting a second safety point. The first distance is 150mm, and the second distance is 150 mm.
Example 3
The embodiment 3 of the present invention provides a computer device, including a memory and a processor, where the processor and the memory are in communication with each other, the memory stores a program instruction executable by the processor, and the processor calls the program instruction to execute a method for automatically planning a spraying path of a three-dimensional camouflage pattern, where the method includes:
step S110: identifying the generated three-dimensional camouflage patterns to obtain color block information of the three-dimensional camouflage patterns;
step S120: generating path points on the surface of the vehicle model by adopting a cutting projection method according to the color block information;
step S130: and (3) adding a smooth transition path before and after a switch gun signal to the spraying path to generate a corresponding robot spraying path by taking smooth and continuous pose, speed and acceleration without mutation as targets.
Example 4
An embodiment 4 of the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements a method for automatically planning a three-dimensional camouflage pattern spray path, the method including:
step S110: identifying the generated three-dimensional camouflage patterns to obtain color block information of the three-dimensional camouflage patterns;
step S120: generating path points on the surface of the vehicle model by adopting a cutting projection method according to the color block information;
step S130: and (3) adding a smooth transition path before and after a switch gun signal to the spraying path to generate a corresponding robot spraying path by taking smooth and continuous pose, speed and acceleration without mutation as targets.
In summary, the method and the system for automatically planning the three-dimensional camouflage pattern spraying path according to the embodiments of the present invention have high intellectualization degree of camouflage pattern path planning and program generation; the generated path and the program can be modified and optimized correspondingly according to the requirements; the generated path has a large number of switching guns, and no rule exists, and the switching guns can be automatically generated according to colors; transition points can be added automatically, interference-proof optimization is automatically carried out on the generated path, and the collision interference condition is eliminated; the planning path is fast and efficient, the labor intensity of operators is reduced, and the working efficiency and the spraying quality are improved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Those skilled in the art will appreciate that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts based on the technical solutions disclosed in the present invention.
Claims (10)
1. A three-dimensional camouflage pattern spraying path automatic planning method is characterized by comprising the following steps:
step S110: identifying the generated three-dimensional camouflage patterns to obtain color block information of the three-dimensional camouflage patterns;
step S120: generating path points on the surface of the vehicle model by adopting a cutting projection method according to the color block information; the path points comprise a safety point, a transition point, a gun opening point and a gun closing point;
step S130: and adding transition paths before and after switching on and off gun signals for path points to generate corresponding robot spraying paths by taking smooth and continuous pose, speed and acceleration without mutation as targets.
2. The method of claim 1, wherein the method comprises: identifying the color of each color block in the three-dimensional camouflage pattern comprises the steps of respectively taking the three-dimensional camouflage pattern as a spraying surface at a top view angle, a front view angle, a rear view angle, a left view angle and a right view angle, and dividing each spraying surface into a plurality of grid color blocks.
3. The method of claim 2, wherein obtaining patch information of the three-dimensional camouflage pattern comprises:
and identifying the color of each grid color block in the three-dimensional camouflage pattern, forming a color area by a plurality of adjacent grid color blocks with the same color, comparing the color depth of all the color areas, and sequencing the spraying sequence of different color areas according to the relative color depth.
4. The method of claim 3, wherein generating the spray path represented by the path points on the surface of the vehicle model by the cutting projection method according to the patch information comprises:
and the intersection point of the transverse middle line of each color block and the edge of each color block generates a gun opening point and a gun closing point, a first transition point is arranged at a first distance from the gun opening point of each path, and a second transition point is arranged at a second distance from the gun closing point of each path.
5. The method according to claim 4, wherein a first safety point is arranged on each spraying surface before the spraying of the first color zone is started, and the first safety point is positioned above a transition point of the first path of the first color zone before the gun opening point; and after spraying all the color areas with the same color as the first color area, setting a second safety point.
6. The method of claim 5, wherein the first distance is 150mm and the second distance is 150 mm.
7. A three-dimensional camouflage pattern spraying path automatic planning system is characterized by comprising:
the acquisition module is used for identifying the generated three-dimensional camouflage patterns and acquiring color block information of the three-dimensional camouflage patterns;
the cutting module is used for generating path points on the surface of the vehicle model by adopting a cutting projection method according to the color block information; the path points comprise a safety point, a transition point, a gun opening point and a gun closing point;
and the planning module is used for adding transition paths before and after switching on and off the gun signal for path points to generate corresponding robot spraying paths by taking pose, speed and acceleration as targets, wherein the pose, the speed and the acceleration are smooth and continuous and have no mutation.
8. The system of claim 7, wherein the system further comprises: the acquisition module comprises a dividing unit, wherein the dividing unit is used for respectively taking the three-dimensional camouflage patterns as a spraying surface at a top view angle, a front view angle, a rear view angle, a left view angle and a right view angle, and dividing each spraying surface into a plurality of grid color blocks.
9. A computer device comprising a memory and a processor, the processor and the memory in communication with each other, characterized in that: the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any one of claims 1-6.
10. A computer-readable storage medium storing a computer program, characterized in that: the computer program, when executed by a processor, implements the method of any one of claims 1-6.
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