Surface-curvature-based automatic path generation method for spraying robot

Abstract

The invention discloses a surface-curvature-based automatic path generation method for a spraying robot. The method includes the following steps that firstly, the Gaussian curvatures of all the positions of the curved surface of a workpiece to be sprayed are measured and calculated; secondly, segmentation treatment is conducted on the curved surface of the workpiece to be sprayed through a Gaussian-curvature-based improved watershed algorithm and a projection approximate segmentation method, and multiple sub-curved-surfaces with the gentle surface curvatures and the simple topology are obtained; thirdly, a seed curve is selected on one sub-curved-surface through a geodesic line method, the current path speed and the adjacent stroke interval are optimized according to a deposition distribution model of paint sprayed by a spray gun to the surface of the workpiece to the sprayed, and a next polarization path is generated; fourthly, next polarization paths are obtained by using the third step for the other sub-curved-surfaces, and the optimized spraying paths completely covering the surface of the workpiece to be sprayed are generated. By means of the method, based on the surface curvatures of workpieces to be sprayed, the spraying quality and the spraying efficiency of the complex workpieces can be improved, and the paint cost is saved.

Description

technical field [0001] The invention relates to the technical field of painting robot manufacturing, in particular to an automatic path generation method for a painting robot based on surface curvature. Background technique [0002] Robots have been widely used in the automation industry. As a product of the combination of robot technology and spraying technology, spraying robots are mainly used in the production of spraying industries. However, the manual teaching method has a long programming cycle and often takes three to five months to complete. Planning the spray gun path, and programming time is precisely the key issue in bringing the spray robot widely to the market. At this time, the combination of automatic programming technology and spraying robot can solve this problem well, so the off-line trajectory planning technology of spraying robot has become a research hotspot. [0003] Replacing manual labor with robots, and replacing manual teaching with offline program...

AI Technical Summary

Problems solved by technology

The main shortcomings of the current off-line trajectory planning technology for spraying robots are: for various complex and diverse workpieces to be sprayed, there is a lack of a unified process algorithm for spraying robots, how to solve the problem of complex surface segmentation, and how to optimize the spraying trajectory to meet the surface of the workpiece Complete and uniform coverage, thereby promoting the automation process of the spraying industry, improving the productivity level of the spraying manufacturing industry, and reducing production costs

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