Robot control method capable of being used for multi-vehicle intelligent spraying

Abstract

The invention provides a robot control method capable of being used for multi-vehicle intelligent spraying. The robot control method is used for identifying hubs of different vehicle models and conducting particle spraying. The robot control method includes the steps that two-dimensional images of a target machining area are acquired in real time at the preset position, whether a workpiece entersor not is judged according to changes of feature points in gray values in the two-dimensional images before and after the entry of the workpiece, and meanwhile whether the workpiece is a hub workpieceor not can be further determined when first stereoscopic contour features of a target workpiece are obtained; and by comparing the first stereoscopic contour features with a stereoscopic model set ofan existing preset hub model base, a first stereoscopic model corresponding to the target workpiece is quickly obtained, and the increase of operation burden on equipment caused by regeneration of anew stereoscopic model is avoided.

Description

technical field [0001] The invention relates to the field of automatic control of intelligent machines, in particular to a robot control method applicable to intelligent spraying of multiple vehicle models. Background technique [0002] With the explosive development of electronic technology in the 1980s, various information-based robots began to replace some workers to perform various industrial production activities. With the improvement of information technology, industrial robot technology is widely applied to production lines, including assembly, welding, gluing and other occasions where robots perform operations. For example, people have higher and higher requirements for the performance and appearance of machined products such as automobiles. The effect of car painting is the most direct impression of car appearance. The automobile painting process is one of the four major automobile manufacturing processes (stamping, welding, painting, and final assembly), and its ...

AI Technical Summary

Problems solved by technology

[0004] Most of the existing spraying robots carry out the spraying operation according to the generated ideal trajectory. In order to ensure the quality of spraying, the workpiece to be sprayed must be placed in the ideal position, but there will be position errors when the workpiece to be sprayed is actually fixed, so it will not be able to achieve the ideal during spraying. Effect

However, the method of obtaining the workpiece model according to the on-site scanning of the workpiece, and then processing the scanned data on-site to obtain the real-time model of the workpiece will increase the computing burden of the equipment, resulting in longer spraying time for a single workpiece, and also speeding up the spraying robot. processor loss

Images