KR101346028B1 - Automated system and controlling method for blasting - Google Patents

Abstract

A blasting automation system and control method are disclosed. Blasting automation system according to an aspect of the present invention, the blasting portion formed to be movable inside the block; A database unit storing work element factors according to the type of work area; A drive information generation unit for dividing the inside of the block into one or more work areas according to the type of work area, and matching each divided work area with work element factors stored in the database unit to generate drive data; And a controller configured to control driving of the blasting unit by receiving driving data.

Description

Blasting Automation System and Control Method {AUTOMATED SYSTEM AND CONTROLLING METHOD FOR BLASTING}

The present invention relates to a blasting automation system and a control method of the present invention, and more particularly, to a blasting automation system and a control method capable of optimizing a blasting operation in a block.

In general, a large ship is manufactured in units of blocks constituting each part of the hull, and is then constructed by assembling each block. The block is coated inside and outside to prevent corrosion, etc. At this time, the blasting (blasting) is performed as a pretreatment process for the block painting work. The blasting operation is to remove rust or foreign substances generated on the painted surface, so that the paint is firmly adhered to the painted surface, thereby obtaining an excellent quality coating film.

In general, the blasting operation is performed by spraying an abrasive, such as a grit, on a work target surface to remove rust or foreign matter. Therefore, during the blasting operation, a large amount of dust due to abrasives or foreign substances is generated, and due to the dust as described above, many difficulties in operation follow.

In particular, when blasting the outside of the block dust can be easily scattered to the atmosphere, but when blasting inside the block generated dust does not escape from the inside of the block, it can cause serious damage to the worker's respiratory system. In addition, in the case of the interior of the block because the working space is narrow, the worker had to work in an uncomfortable position for a long time, due to this, there was a problem causing the musculoskeletal disorders and the like to the worker. Furthermore, there was also a risk of injury to the operator due to the abrasive sprayed at high pressure.

Due to the above problems, methods for automating the blasting work inside the block have been sought, and for example, in Patent Document 1 (Korean Patent Publication No. 10-2010-0111187), a blasting apparatus and a blasting apparatus mounted on an autonomous mobile device are provided. Disclosed is an autonomous mobile device equipped with a. The patent document 1 aims at automating the blasting work in a block by forming a blasting apparatus so that autonomous movement in a block is possible.

Patent Document 1: Korean Patent Publication No. 10-2010-0111187 (published 14 October 2010)

Embodiments of the present invention are to provide a blasting automation system and control method that can optimize the blasting work in the block.

According to an aspect of the invention, the blasting portion formed to be movable inside the block; A database unit storing work element factors according to the type of work area; A drive information generation unit for dividing the inside of the block into one or more work areas according to the type of the work area, and matching the divided work areas with the work element factors stored in the database unit to generate drive data; And a control unit configured to control the driving of the blasting unit by receiving the driving data.

In this case, the type of the work area may be classified according to the shape of the object to be blasted.

In addition, the type of the work area may be classified to include a planar area, a corner area, and a corner area.

In addition, the work factor factor may include any one or more of the form of the blasting nozzle, abrasive injection amount, injection pressure, moving speed, weaving speed, weaving angle, injection distance, injection angle and injection posture.

The driving information generation unit may include an input unit configured to receive block shape information; A work area divider dividing the inside of the block into one or more work areas through the received block shape information; And a matching unit matching each of the divided work areas with the work element factors stored in the database unit.

The driving information generating unit may further include a welding line extracting unit extracting a welding line inside the block based on the received block shape information.

The driving information generation unit may further include a path generation unit configured to generate a movement path of the blasting unit based on the received block shape information.

In this case, the path generation unit may generate the movement path such that the moving distance or work time of the blasting unit is a minimum value.

The path generation unit may generate the movement path such that the blasting unit moves from the lower side to the upper side in order.

The driving information generation unit may further include a simulation unit simulating a movement of the blasting unit according to the generated movement path and feeding back to the path generation unit.

According to another aspect of the invention, the input step of receiving the block shape information; A partitioning step of dividing the inside of the block into one or more work areas according to the type of work area through the block shape information; A matching step of matching the divided work areas with respective work element factors corresponding to the type of the work area; And a blasting step of blasting each of the divided work areas according to the matched work element factors.

At this time, prior to the dividing step, the welding seam extraction step of extracting the welding seam in the block through the block shape information; may further include.

The method may further include a path generation step of generating a moving path of the blasting unit through the block shape information after the matching step.

At this time, the path generation step, it is possible to generate the movement path such that the moving distance or the work time of the blasting unit is a minimum value.

In addition, in the path generation step, the moving path may be generated such that the blasting unit moves from the lower side to the upper side in order.

The method may further include a simulation step of following the path generation step, simulating the movement of the blasting unit according to the generated movement path, and feeding back the path generation step.

Meanwhile, the type of the work area may be classified according to the shape of the object to be blasted.

In addition, the type of the work area may be classified to include a planar area, a corner area, and a corner area.

In addition, the work factor factor may include any one or more of the form of the blasting nozzle, abrasive injection amount, injection pressure, moving speed, weaving speed, weaving angle, injection distance, injection angle and injection posture.

The blasting automation system and the control method according to the embodiments of the present invention can maximize the efficiency of the blasting work by allowing each divided work area to be blasted by a suitable work factor.

1 is a block diagram showing a blasting automation system according to an embodiment of the present invention.
2 is a schematic view showing a blasting unit according to an embodiment of the present invention.
3 is a structural diagram showing a data storage structure of a database unit according to an embodiment of the present invention.
4 is a flowchart illustrating a blasting automation control method according to another embodiment of the present invention.

Hereinafter, a blasting automation system according to an embodiment of the present invention will be described with reference to the drawings.

1 is a block diagram showing a blasting automation system according to an embodiment of the present invention.

Referring to FIG. 1, the blasting automation system 100 according to the present exemplary embodiment may include a blasting unit 110, a database unit 120, a drive information generation unit 130, and a controller 140.

The blasting unit 110 sprays an abrasive such as a grit to blast the inside of the block. In this case, the blasting unit 110 may be formed to be movable within the block. In addition, the blasting unit 110 may be formed to adjust the abrasive injection amount, the injection pressure, the moving speed, the weaving speed, the weaving angle, the injection distance, the injection angle, the injection posture and the like during the blasting operation.

The blasting unit 110 as described above may be implemented in various forms. For example, Korean Patent Application Publication No. 10-2010-0111187 filed by the present applicant (published on October 14, 2010) discloses a blasting device mounted on an autonomous mobile device and an autonomous mobile device equipped with a blasting device. .

Hereinafter, for convenience of description, the case in which the blasting unit 110 is implemented in the form disclosed in Korean Patent Laid-Open Publication No. 10-2010-0111187 will be described. The Korean Laid-Open Patent Publication No. 10-2010-0111187 The reference is incorporated herein by reference. However, the blasting unit 110 according to the present embodiment may be implemented in various forms in addition to the above, but is not limited to the above-described form. In addition, in the present embodiment, the blasting operation is performed inside the block as an example, but the present invention is not limited thereto, and includes all operations performed while moving inside the block, for example, a painting operation and a drying operation.

2 is a schematic view showing a blasting unit according to an embodiment of the present invention.

Referring to FIG. 2, the blasting unit 110 includes a moving platform 111 supported by a plurality of wires (not shown) and movable on the inside of the block, and a blasting device 112 mounted on the moving platform 111. Can be. In addition, the blasting apparatus 112 has a base (not shown) fastened to the movable platform 111 so as to be slidable, a articulated robot (not shown) provided at the base, and a blasting nozzle provided at the end of the articulated robot for spraying abrasives. (Not shown) and the like.

In addition, although not shown in FIG. 2, the blasting unit 110 provides the abrasive and compressed air to the blasting apparatus 112 as described above, and provides the blasting utility 113 to provide power and control signals required for driving. ) May be provided.

Since the detailed configuration and operation of the blasting unit 110 as described above is irrelevant to the technical gist of the present invention, the Korean Laid-Open Patent Publication No. 10-2010-0111187 will be used, and a detailed description thereof will be omitted.

Referring back to FIG. 1, the database unit 120 is configured to store information necessary for driving the blasting unit 110, and each work element factor according to the type of the work area may be stored. Specifically, the database unit 120 may include a work element factor storage unit 121 in which work element factors are stored, and the work element factor storage unit 121 as described above includes a work area of a work area to be blasted. Depending on the type, work factor suitable for each can be classified and stored.

3 is a structural diagram showing a data storage structure of a database unit according to an embodiment of the present invention.

Referring to FIG. 3, work element factors may be stored in the work element factor storage unit 121 provided in the database unit 120 according to the type of the work area. For example, the work area may be classified into the first to third work areas W1, W2, and W3 according to the type, and the first corresponding to each of the classified first to third work areas W1, W2, and W3, respectively. To 3 work element factors (F1, F2, F3) can be stored. In this case, the type of the work area is not limited to the above-described number, and may be increased or decreased as necessary.

On the other hand, the type of work area may be classified according to the shape of the work target surface to be blasted. For example, the type of work area includes a planar area in which a work target surface is formed as a floor, a corner area in which a work target surface is formed as a boundary where two surfaces meet, and a corner area formed by a contact point where the work target surface meets three surfaces. Can be classified as. That is, in the above example, the first working area W1 illustrated in FIG. 3 may mean a planar area, a second working area W2 may be an edge area, and a third working area W3 may be a corner area.

However, the type of work area may be classified in various ways in addition to the above examples. For example, the type of the work area may be classified according to the length of each sheet of the welded portion to be blasted, or may be classified according to the type or thickness of the steel sheet on the surface to be blasted. In addition, even when classified according to the shape of the work target surface as illustrated above, it can be further subdivided according to the inclination of the planar region.

Hereinafter, for convenience of description, as illustrated above, the first work area W1 is a planar area, the second work area W2 is a corner area, and the third work area W3 is a corner area. The case will be described based on the case.

Meanwhile, the database unit 120 stores the first to third work element factors F1, F2, and F3 corresponding to the first to third work areas W1, W2, and W3, respectively. In this case, the work factor factor may include any one or more of the abrasive injection amount, the injection pressure, the moving speed, the weaving speed, the weaving angle, the injection distance, the injection angle and the injection posture of the blasting unit 110.

The moving speed may mean a speed at which the blasting nozzle passes the work target surface, and the weaving speed and the weaving angle may refer to a speed and angle range in which the blasting nozzle is rotated left and right or up and down. In addition, the injection distance may mean a distance between the blasting nozzle and the work target surface, and may mean an angle at which the abrasive is sprayed on the work target surface by the blasting nozzle. In addition, the injection posture may mean the posture of the blasting nozzle by the articulated robot.

However, the work element factor may further include various factors required for the blasting work in addition to the above examples, but is not limited to the above examples.

In addition, the work element factor may be configured to include only one of the respective factors exemplified above, or to combine two or more of the respective factors exemplified above. For example, the work element factor may be formed as a combination set of injection pressure, weaving speed and injection distance.

On the other hand, the work element factor may be formed to correspond to each type of work area. That is, as shown in FIG. 3, the first work factor factor F1 corresponds to the first work area W1, and the second work factor factor F2 corresponds to the second work area W2. The third work element factor F3 may be formed to correspond to the third work area.

In this case, the first to third work element factors F1, F2, and F3 may be configured as factors suitable for the blasting work of the corresponding first to third work areas W1, W2, and W3, respectively. That is, the first work factor F1 may be composed of an injection amount, a spray pressure, and the like suitable for blasting the first work area W1, which is a planar area, and the second work factor F2 is a second area that is an edge area. It can be configured with an injection amount, injection pressure and the like suitable for blasting the working area (W2). In addition, the third work element F3 may be configured with an injection amount, an injection pressure, and the like suitable for blasting the third work area W3 which is a corner area.

At this time, a suitable work factor for each type of work area may be obtained by a test method through test specimens. For example, by performing a blasting test by varying the work factor factors for the planar test specimens, it is possible to derive the work factor factors that can be optimally blasted for the planar region. In addition, it is possible to derive a suitable work factor by repeatedly performing the above test on the corner region or the corner region.

At this time, the work factor suitable for the type of each work area may be determined based on the work time required for the blasting work. That is, a combination of the work factor factors having the widest working range per hour within a range that satisfies a predetermined degree of reference quality may be derived and selected as a work factor factor suitable for each work area.

In addition, the work factor may be determined based on the work quality of the blasting work. That is, a combination of work element factors having the best work quality on the work target surface within a range that satisfies a predetermined work speed may be derived and selected as a work element factor suitable for each work area.

However, the selection criteria of the work element factors suitable for each work area may be variously set as necessary in addition to the above examples, but is not limited to the above.

Meanwhile, referring back to FIG. 1, the database unit 120 according to the present exemplary embodiment may further include a performance and error storage unit 122. Performance and error storage unit 122 stores the data related to the actual work performance or error of the blasting unit 110.

Meanwhile, the driving information generation unit 130 generates driving data for driving control of the blasting unit 110 based on the work element factors stored in the database unit 120.

At this time, the drive information generation unit 130 is composed of an input unit 131, a weld line extraction unit 132, a work area splitter 133, a matching unit 134, a path generation unit 135 and a simulation unit 136. Can be.

The input unit 131 receives block shape information. In this case, the block shape information includes information on the shape of the inside of the block to be blasted, and may include CAD data. In addition, if necessary, the input unit 131 may receive a work cell. That is, when the block is partitioned into a plurality of cells, the input unit 131 may receive or select a work cell to perform the blasting work from the user.

Meanwhile, the welding line extracting unit 132 extracts the welding line in the block through the block shape information received from the input unit 131. In general, in the case of the weld seam, rust and corrosion are more likely to occur than other areas, and blasting work is required intensively.

The work area splitter 133 divides the inside of the block into one or more work areas through the block shape information received from the input unit 131. In this case, the work area splitter 133 may divide the inside of the block according to the type of the work area. That is, in the present embodiment, the type of work area is classified into a planar area, a corner area, and a corner area. For example, the work area divider 133 divides the inside of the block into planar areas, corner areas, and corner areas. To divide the work area.

The matching unit 134 matches each of the divided work areas with the work element factors stored in the database unit 120. That is, the matching unit 134 searches the database unit 120 for a suitable work element factor according to the type of each divided work area, and corresponds the searched work element factor to each divided work area.

For example, when the divided work area is a planar area, the matching unit 134 extracts the first work element factor F1 (see FIG. 3) corresponding to the planar area from the database unit 120, and the first job. The element factor F1 corresponds to the divided work area. In addition, when the divided work area is a corner area, the matching unit 134 extracts the third work element factor F3 (see FIG. 3) corresponding to the corner area from the database unit 120, and the third work element factor. (F3) corresponds to the divided work area.

In this manner, the matching unit 134 matches the work element factors corresponding to each divided work area.

Meanwhile, the path generation unit 135 generates a movement path of the blasting unit 110. That is, the path generation unit 135 may determine the order in which the blasting unit 110 passes each divided work area.

In this case, the path generation unit 135 may generate a movement path such that the blasting unit 110 passes all of the divided work areas. In addition, if necessary, the path generation unit 135 may generate a movement path such that the blasting unit 110 passes only some of the divided work areas. For example, when a blasting operation is not required for some work areas, the path generation unit 135 may generate a movement path so that the blasting unit 110 does not move to the some work areas.

On the other hand, the path generation unit 135 may generate a movement path such that the moving distance or the work time of the blasting unit 110 is a minimum value. In addition, the path generation unit 135 may generate a movement path such that the blasting unit 110 moves from the lower side to the upper side in the block. This is for blasting the inside of the block from the bottom to the ceiling surface in consideration of dust and the like laminated on the floor during the blasting operation.

However, the path generation unit 135 may generate the moving path of the blasting unit 110 in various ways in addition to the above-described method. For example, the path generation unit 135 may generate a movement route so that the blasting unit 110 preferentially works on the same type of work area, but is not limited to the above example.

Meanwhile, the simulation unit 136 simulates the movement of the blasting unit 110 according to the movement path generated by the path generation unit 135, and feeds back the result to the path generation unit 135. That is, the simulation unit 136 virtually moves the blasting unit 110 within the block according to the movement path generated by the path generation unit 135, and the collision or work time according to the path generation unit 135 Feedback back to.

In addition, the path generation unit 135 corrects and supplements the previously generated movement path through the feedback result. For example, as a result of the simulation of the simulation unit 136, when a collision occurs between the blasting unit 110 and the structure inside the block, the path generation unit 135 partially corrects and supplements the previously generated movement path. Through the above process, the path generation unit 135 generates a more optimized movement path, thereby minimizing the working time.

Meanwhile, the driving information generation unit 130 generates driving data necessary for driving control of the blasting unit 110 by synthesizing the data generated by the matching unit 134 and the path generation unit 135 as described above. In this case, the driving data may include welding lines in the block, each divided work area, work element factors corresponding to each work area, and movement data of the blasting unit 110.

The controller 140 controls to control the blasting unit 110 through the drive data generated by the drive information generation unit 130. Specifically, the control unit 140 may include a work instruction unit 141 for driving control of the blasting unit 110, the work instruction unit 141 as described above receives the drive data from the drive information generation unit 130 The driving control of the blasting unit 110 is performed. At this time, the blasting unit 110 is driven to be controlled by the movement path, work element factors, and the like contained in the drive data.

In addition, if necessary, the controller 140 may include a monitoring unit 142. The monitoring unit 142 monitors the actual working situation of the blasting unit 110 and, if necessary, transmits the performance results or errors to the database unit 120 to be stored and managed in the performance and error storage unit 122. do.

Hereinafter, the operation of the blasting automation system 100 according to the present embodiment.

First, block shape information and a work cell are input to the input unit 131 by a user. In addition, the welding line extracting unit 132 extracts the welding line from the inside of the block through the input block shape information, and the work area splitter 133 divides the inside of the block into one or more working spaces. At this time, the work area divider 133 divides the inside of the block according to the type of the work space as described above.

On the other hand, when the inside of the block is divided into respective work areas as described above, the matching unit 134 matches each divided work area with a corresponding work element factor. In this case, the work element factors according to the type of each work area may be pre-stored in the database unit 120.

In addition, the path generation unit 135 generates a moving path passing through each of the divided work areas. In this case, as described above, the movement path may be determined in consideration of the moving distance of the blasting unit 110, the work time required, the work direction, and the like. In addition, the generated movement path may be supplemented and modified through a simulation and feedback process through the simulation unit 136.

Meanwhile, when the work area division, work element factor matching, and movement path generation are completed as described above, the drive information generation unit 130 generates drive data for driving control of the blasting unit 110 to the controller 140. send. In this case, the driving data may include welding lines inside the block, each divided work area, work element factors corresponding to each work area, and data about a movement path of the blasting unit 110.

The controller 140 controls driving of the blasting unit 110 through the received driving data. Specifically, the work instruction unit 141 provided in the control unit 140 moves the moving platform 111 and the like according to the movement path generated by the path generation unit 135, and the work element factors corresponding to the divided work areas. According to the driving control of the blasting apparatus 112 and the like. For example, when the work area is an edge area, the work instruction unit 141 controls the injection pressure, the weaving speed, and the like of the blasting nozzle according to the work factor corresponding to the edge area.

Therefore, in the blasting automation system 100 according to the present exemplary embodiment, each divided work area may be blasted by a suitable work factor according to the type of work area, thereby maximizing the efficiency of the blasting work. .

That is, even when the same blasting operation is performed, the injection pressure, the injection angle, etc. in which the efficient blasting is performed according to the type of each working area, such as the planar area, the corner area, and the corner area may be different. In view of the above, the blasting automation system 100 according to the present exemplary embodiment provides a work factor that can achieve an optimal blasting work according to the type of work area, and a suitable work according to the type of work area. By performing the blasting work to apply the factor factor, it is possible to maximize the efficiency of the blasting work, such as shortening the working time and improving the work quality.

Hereinafter, a blasting automation control method according to another embodiment of the present invention will be described with reference to the drawings. However, hereinafter, descriptions overlapping with the above-described embodiments will be omitted for convenience of description.

4 is a flowchart illustrating a blasting automation control method according to another embodiment of the present invention.

Referring to Figure 4, the blasting automation control method according to this embodiment, the input step (S10), welding line extraction step (S20), division step (S30), matching step (S40), path generation step (S50), simulation It may be composed of a step (S60) and a blasting step (S70).

The input step S10 is similar to the step of inputting block shape information to the input unit 131 in the above-described embodiment, and block shape information such as CAD data may be input. In addition, if necessary, in the input step S10, selection and input of a work cell may be performed.

In the welding line extraction step (S20), the welding line is extracted through the input block shape information. This is similar to the operation of the welding line extracting portion 132 in the above-described embodiment.

Meanwhile, in the dividing step S30, the inside of the block is divided into one or more work areas. In this case, the division of the inside of the block may be performed according to the work area type according to the shape of the work area, and the like in the above-described embodiment.

In addition, in the matching step S40, each divided work area is matched with a corresponding work element factor. That is, in the matching step S40, suitable work element factors are matched for each divided work area, which is similar to the operation of the matching unit 134 in the above-described embodiment.

Meanwhile, when the matching step S40 is completed, the path generation step S50 may be performed. The path generation step S50 determines a work order between the divided work areas and generates a moving path of the blasting unit 110 (see FIG. 1). This is similar to the operation of the path generation unit 135 in the above-described embodiment.

In addition, the generated movement path may be verified through a simulation step S60. That is, in the simulation step (S60) to simulate the movement of the blasting unit 110 in accordance with the generated movement path, the collision or work time is fed back to the path generation step (S50) to go through the process of correction and supplementation of the movement path. . This is similar to the operation of the simulation unit 136 in the above-described embodiment.

On the other hand, when the work element factor matching, the movement path generation, etc. are completed through the above process, the blasting step (S70) for blasting the inside of the block may be performed. At this time, in the blasting step (S70) it is possible to blast the respective divided work area according to the matching work element factors in the previous matching step (S40). In addition, in the blasting step S70, the blasting operation may be performed according to the movement path generated by the path generation unit 135. This is similar to the control of the blasting unit 110 by the work ordering unit 141 in the above-described embodiment.

As described above, the blasting automation control method according to the present embodiment can maximize the efficiency of the blasting work by allowing each divided work area to be blasted by a suitable work factor factor.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, many modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims. The present invention can be variously modified and changed by those skilled in the art, and it is also within the scope of the present invention.

100: blasting automation system
110: blasting unit 120: database
130: drive information generation unit 140: control unit

Claims (17)

A blasting unit which is formed to be movable inside the block and performs a blasting operation within the block;
Work element factors are stored according to the type of work area, and the type of work area is classified to include a planar area, a corner area and a corner area, and the work element factors include the type of blasting nozzle, abrasive injection amount, injection pressure, and movement. A database unit including any one or more of speed, weaving speed, weaving angle, injection distance, injection angle, and injection posture;
Drives the blasting unit by receiving block shape information and dividing the inside of the block into a plurality of work areas according to the type of the work area, and matching each of the divided work areas with the work element factors stored in the database unit. A drive information generator for generating data; And
And a control unit configured to receive the driving data from the driving information generation unit and control the driving of the blasting unit so that the blasting unit blasts the inside of the block according to the driving data.
delete delete delete The method of claim 1,
The drive information generation unit,
An input unit to receive the block shape information;
A work area divider for dividing the inside of the block into a plurality of work areas through the received block shape information; And
And a matching unit for matching each of the divided work areas with the work element factors stored in the database unit.
The method of claim 5,
The drive information generation unit,
And a welding line extracting unit for extracting a welding line inside the block based on the received block shape information.
The method of claim 5,
The drive information generation unit,
And a path generation unit configured to generate a movement path of the blasting unit based on the received block shape information.
The method of claim 7, wherein
The path generation unit, the blasting automation system for generating the movement path so that the moving distance or the work time of the blasting unit is a minimum value.
The method of claim 7, wherein
The drive information generation unit,
And a simulation unit for simulating the movement of the blasting unit according to the generated movement path and feeding back to the path generation unit.
An input step of receiving block shape information;
A partitioning step of dividing the inside of the block into a plurality of work areas according to the type of work area through the block shape information;
Matching the divided working areas with the respective work element factors corresponding to the type of the work area, the work element factor is the type of blasting nozzle, abrasive injection amount, injection pressure, moving speed, weaving speed, weaving angle, A matching step including any one or more of an injection distance, an injection angle, and an injection posture; And
And a blasting step of blasting each of the divided work areas according to the matched work element factors.
The method of claim 10,
Prior to the dividing step, the welding line extraction step of extracting a welding seam from the inside of the block through the block shape information; further comprising a blasting automation control method.
The method of claim 10,
And a path generation step of generating a moving path of the blasting part based on the block shape information after the matching step.
The method of claim 12,
The path generation step, the blasting automation control method for generating the movement path so that the moving distance or the work time of the blasting unit is a minimum value.
The method of claim 12,
And a simulation step subsequent to the path generation step, simulating the movement of the blasting part according to the generated movement path, and feeding back to the path generation step.
delete delete delete

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