Fast intelligent programming method for spraying robot for planar/approximate planar workpieces

Abstract

The invention discloses a fast intelligent programming method for a spraying robot for planar/approximate planar workpieces. Firstly, laser is adopted to scan the surface of a workpiece to acquire a set of original point clouds, the point cloud of the workpiece is then intercepted, the point clouds are simplified and noise points are filtered; secondly, a two-dimensional plane point cloud representing the spraying surface is separated from a three-dimensional point cloud, the polygonal boundary features of the point cloud are further extracted, and straight line fitting is carried out; thirdly, the boundary polygonal features of the spraying surface are extracted through operations such as polygon fitting, correction and vertex sorting; and finally, the full-coverage path on the surface ofthe workpiece is planned. According to the fast, intelligent and de-teaching programming method for the planar/approximate planar workpieces, a tedious manual teaching process is not needed, the workpiece surface features are extracted through automatic scanning of low-cost 2D line laser, the full-coverage path of the robot is automatically optimized and generated, and the spraying efficiency andthe spraying operation quality of a specific workpiece surface can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of the advanced manufacturing industry of spraying robots, in particular to a fast and intelligent programming method for a spraying robot facing plane / approximately plane workpieces. Background technique [0002] Industrial 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 current technical bottleneck in the manufacturing process of spraying robots lies in the traditional manual teaching and programming methods. The cycle is too long, it is difficult to apply to the spraying process of workpieces with more complex structures, and the quality of programming is too dependent on the experience of workers. In contrast, the emerging off-line programming technology, that is, a new programming method that combines automatic programming technology...

AI Technical Summary

Problems solved by technology

[0004] However, the method of importing workpieces through the model is too dependent on the quality of the workpiece model, and this method is not suitable for small batches of workpieces with many varieties without models; in the case of flat spraying, there are many algorithms for the two spraying path planning methods defect

First of all, the sprayed surface is a plane, so there is no need to construct a bounding box; secondly, using triangles to represent the sprayed surface will lead...

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