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Paint spraying trajectory planning method based on model calibration

A trajectory planning and standard trajectory technology, applied in spraying devices, instruments, adaptive control and other directions, can solve the problems affecting the spraying effect, the error between the actual workpiece and the standard workpiece, etc., and achieve the effect of solving the deformation of the workpiece and improving the accuracy and speed.

Active Publication Date: 2017-05-24
宁波智能装备研究院有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention is to solve the problem that the existing technology will cause a certain error between the actual workpiece and the standard workpiece, which will seriously affect the spraying effect, and proposes a system and method for spraying trajectory planning based on model calibration

Method used

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  • Paint spraying trajectory planning method based on model calibration
  • Paint spraying trajectory planning method based on model calibration
  • Paint spraying trajectory planning method based on model calibration

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specific Embodiment approach 1

[0018] Specific embodiment one: a kind of spraying trajectory planning method based on model calibration comprises the following steps:

[0019] The hardware structure that the present invention relies on is as figure 2 As shown, in order to achieve the desired effect, the selection and installation position of the hardware module are very critical.

[0020] Among them, the hardware device platform 202 includes several photoelectric modules 204, which are installed around the workpiece to ensure that the workpiece can be completely irradiated and imaged. The typical installation is two installations at an angle of 90 degrees to each other, and the workpiece is reasonably arranged. irradiated.

[0021] The CPU and the algorithm module 203 run relevant acquisition programs, projection control programs, trajectory planning programs, algorithm compensation programs, and the like. The camera acquisition module 206 samples the image of the workpiece, and transmits the relevant ou...

specific Embodiment approach 2

[0028] Embodiment 2: The difference between this embodiment and Embodiment 1 is that the standard trajectory in the step 1 specifically refers to the trajectory planning of the standard workpiece by using the time-optimized planning method or the most uniform coating thickness planning method. traces of;

[0029] S h ={(x,y,z)}

[0030] Where z represents the height; x, y represent the position coordinates of each point in the spray paint.

[0031] Wherein the light projection module is a device capable of projecting planar laser light, and the selected laser light is infrared light.

[0032] Other steps and parameters are the same as those in Embodiment 1.

specific Embodiment approach 3

[0033] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that the spatial trajectory in Step 2 specifically refers to the trajectory formed by using the three-dimensional imaging principle of infrared structured light;

[0034] S h '={(x',y',z')}

[0035] Among them, x', y' represent the position coordinates of each point in the spray paint using the three-dimensional imaging principle of infrared structured light, and z' represents the height of the three-dimensional imaging principle using infrared structured light;

[0036] The image acquisition module mentioned therein is a module sensitive to infrared light, and the specific acquisition device can be a general-purpose CCD or a general-purpose camera.

[0037] Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention relates to a paint spraying trajectory planning method based on model calibration, relates to the paint spraying trajectory planning method, and aims to solve the problem that in the prior art, a certain error exists between a practical workpiece and a standard workpiece, so that a spraying effect can be adversely affected. The paint spraying trajectory planning method comprises the steps of (1) utilizing a light projection module for projecting a standard trajectory to the surface of a corresponding workpiece to be sprayed; (2) utilizing a camera acquisition module for acquiring a trajectory, which is a space trajectory, projected to the surface of the workpiece to be sprayed; (3) comparing the space trajectory obtained through the step (2) and the standard trajectory, and building a corresponding relation of key points, wherein the key points are sampling points selected in a trajectory planning process; (4) carrying out parameter a (t) calibration on an original trajectory planning method according to the corresponding relation of the key points, wherein the a (t) is the trajectory of a spray gun. The paint spraying trajectory planning method based on model calibration provided by the invention is applied in the field of automatic paint spraying.

Description

technical field [0001] The invention relates to a painting trajectory planning method. Background technique [0002] At present, in the field of spraying, automated spraying technology is a direction, and the key point is to generate excellent spraying tracks. [0003] In the process of actual automatic spraying, the factors that are often considered are: the efficiency of spraying, the final effect of spraying, and the amount of paint used in the spraying process. However, various factors are mutually restrictive: the degree of refinement of spraying is affected by the spraying speed, which also restricts the amount of paint used. In the actual working environment, the selected optimization methods are not consistent for different scenarios. The models usually considered in the industry include: optimal time planning model, process library model, paint film thickness model, paint film growth model, key point acquisition model, etc. [0004] Based on the above model plann...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04B05B13/04
CPCB05B13/04G05B13/042
Inventor 高会军李湛杨佳锷佟明斯林伟阳
Owner 宁波智能装备研究院有限公司