Moving workpiece programming-free spraying system based on autonomous planning technology and working method

Abstract

The invention discloses a moving workpiece programming-free spraying system based on an autonomous planning technology and a working method of the moving workpiece programming-free spraying system. The system comprises a 3D sensing module, a spraying execution module, a spraying control module and an intelligent decision module. Wherein the 3D sensing module comprises a 3D sensor group, a line encoder and a photoelectric sensor, the spraying execution module comprises a spraying mechanical arm, an external shaft and spraying equipment, and the spraying control module comprises a calculation medium, an embedded controller, upper computer software and a 3D guide planning algorithm. The intelligent decision-making module comprises a following control decision-making algorithm and a spraying control decision-making algorithm. The 3D sensor, the embedded controller and the spraying mechanical arm are connected to the computing medium through the connecting equipment for communication, and the embedded controller is connected with the 3D sensor, the line body encoder, the photoelectric sensor and the robot. The system provides an industrial mechanical arm spraying method which is high in flexibility, free of programming and capable of conducting obstacle avoidance planning through automatic visual guidance in a motion scene, and the personnel use and maintenance cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent spraying technology, and specifically to a system and method for spraying a moving workpiece without programming based on autonomous planning technology. Background Art

[0002] With the development of 3D sensing technology and robotics technology, robotic spraying has gradually begun to replace manual spraying in the field of spraying with high labor intensity, harsh working environment and great harm to human body. The current spraying robot system has the following problems:

[0003] 1. Based on the preset robot arm execution trajectory, it has high requirements for workpiece positioning and cannot handle situations where the workpiece position and posture deviations are too large.

[0004] 2. Without environmental information, it is impossible to pre-evaluate and avoid potential collisions.

[0005] 3. Model types need to be taught one by one, even if the different types are only different in size, each size needs to be taught separately. When there are many models, the workload is extremely large and it is almost impossible to complete manually. Summary of the invention

[0006] The present invention provides a programming-free spraying system for moving workpieces based on autonomous planning technology and a working method thereof, aiming to allow users to configure the system to perform spraying operations on a large number of moving workpieces of different models and poor positioning accuracy without teaching programming, thereby improving spraying efficiency and reducing costs.

[0007] The present invention provides a motion workpiece programming-free spraying system with autonomous planning technology, and its technical solution is:

[0008] A program-free spraying system for moving workpieces based on autonomous planning technology includes a 3D perception module, which includes a line encoder for measuring the motion information of a conveyor line, a 3D sensor group for photographing workpieces, and a photoelectric sensor for detecting the arrival of workpieces; the module is used to measure the position and posture information of the workpiece. It includes a spraying execution module, which includes a spraying robot arm, an external axis for following the line body, and a spray gun device; it includes a spraying control module, which includes a computing medium, an embedded controller, spraying control software, and a 3D guidance planning algorithm. It includes an intelligent decision module, which includes a following control decision algorithm and a spraying control decision algorithm.

[0009] Furthermore, the photography of the 3D sensor and the reading of the line encoder are driven by the same hardware trigger signal. When driven, the field of view of the 3D sensor group can cover all characteristic areas of the workpiece on the conveyor line.

[0010] Furthermore, the photoelectric sensor signal for detecting the arrival of the workpiece is connected to the embedded controller of the spray control module, and the embedded controller processes and outputs a hardware trigger signal.

[0011] Furthermore, in the spraying execution module, the base of the spraying robot arm is installed on an external axis that can follow the line body, the external axis has one degree of freedom, and the running direction is parallel to the running direction of the conveyor line. The spray gun equipment is installed on the end flange of the spraying robot arm. The spraying robot arm is a serial industrial robot arm with more than 6 degrees of freedom.

[0012] The 3D sensor group, computing medium, embedded controller and spray robot arm can communicate with each other, and the 3D sensor trigger, line encoder, robot and embedded controller are connected.

[0013] Furthermore, the spray control software, 3D guidance planning algorithm and intelligent decision-making algorithm are loaded and run on the computing medium, and the spray control data obtained by planning is sent to the embedded controller and the robot controller for execution.

[0014] Furthermore, the intelligent decision-making algorithm includes a following control decision algorithm and a spraying control decision algorithm.

[0015] The following control decision algorithm makes following control decisions based on the workpiece posture information, environmental information, and equipment information to determine the following strategy during spraying.

[0016] The spraying control decision algorithm makes spraying decisions based on the workpiece posture information, environmental information, and equipment information, and determines the spraying sequence strategy for the workpiece spray surface.

[0017] Furthermore, the 3D guided planning algorithm includes a 3D visual recognition measurement algorithm, a scene construction algorithm, a strategy constraint generation algorithm and a motion planning algorithm.

[0018] The 3D vision recognition and measurement algorithm is used to identify and measure the position and posture information of the target. The scene construction algorithm creates a planning scene according to the current spraying target. The strategy constraint generation algorithm generates a spraying path constraint based on the input spraying rule information and obstacle avoidance requirements. The motion planning algorithm performs motion planning in the planning scene according to the spraying path constraints, and generates the robot spraying trajectory and external axis tracking line parameters.

[0019] A working method of a motion workpiece programming-free spraying system based on autonomous planning technology, comprising the following steps:

[0020] S1. Enter the workpiece spraying strategy, including the specified spraying surface, the distance between the center of the spray gun and the spraying surface, the angle between the spraying direction of the spray gun and the normal of the spraying surface, and the spraying order.

[0021] S2. Start working, the embedded controller requests working parameters.

[0022] S3. Workpiece trigger photoelectric switch

[0023] S4. The embedded controller filters the photoelectric switch signal and outputs a hardware trigger signal

[0024] S5.3D sensor group takes pictures and collects images, while the embedded controller reads the line encoder value

[0025] S6. The computing medium reads the camera point cloud data, combines it with the linear encoder value, identifies the measured workpiece parameters, obtains the workpiece posture information and pushes it into the workpiece queue

[0026] S7. When the conveyor line movement distance exceeds a certain threshold, the workpiece information is taken out from the queue, and a decision is made for the workpiece and its surrounding scene to create a spraying and following strategy.

[0027] S8. Create a planning scenario, generate spraying constraints for the spraying and following strategies of the workpiece, and perform motion planning to obtain the robot arm planning path and external axis following parameters. The host computer sends the working parameters to the embedded controller and the spraying robot

[0028] S9. The external axis starts to follow, and the spraying robot arm follows the upper line body to execute the spraying program and complete the spraying.

[0029] S10. The robotic arm feeds back a completion signal to the embedded controller, and the embedded controller requests the computing medium to perform the next operation.

[0030] The beneficial effect of the present invention is that the present invention can handle large workpiece positioning deviations and automatically plan motion paths and spray paths based on environmental information, thereby achieving intelligent spraying of different types of moving workpieces without the need for teaching or programming. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0032] Figure 1 It is a structural schematic diagram of a program-free spraying system for a moving workpiece based on an autonomous planning technology of the present invention;

[0033] Figure 2 It is an operation flow chart of the program-free spraying system for moving workpieces based on the autonomous planning technology of the present invention; DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] like Figure 1 As shown, the structural schematic diagram of the moving workpiece spraying system based on the autonomous planning technology of the present invention. The system includes a 3D sensor group 1, a photoelectric sensor 2, a suspension chain body 3, a line body encoder 4, an external axis 5, a spraying robot 6, a spray gun device 7, an embedded controller 8, a computing medium 9, and a network switching device 10.

[0036] Specifically, the level signal of the photoelectric sensor 2 and the encoding signal of the line encoder 4 are connected to the embedded controller 8, and the trigger signal of the 3D sensor group is output by the embedded controller 8.

[0037] Specifically, the 3D sensor group 1, the spraying robot arm 6, the embedded controller 8, and the computing medium 9 are all connected to the network switching device 10 to achieve mutual communication.

[0038] Specifically, the hanging chain line 3 carries the workpiece through the photoelectric sensor 2. After the photoelectric sensor 2 is triggered, it generates a level signal which is input to the embedded controller 8. After being processed by the embedded controller 8, the 3D sensor group 1 is triggered to take photos, and the value of the line encoder 4 is recorded at the same time.

[0039] Specifically, the spray control software on the computing medium 9 reads the point cloud data of the 3D sensor group 1, and performs spatial point cloud filtering, point cloud matching, plane fitting, normal calculation, coordinate translation and rotation through a 3D visual recognition measurement algorithm to obtain the workpiece type and its spatial posture information in the robot coordinate system.

[0040] Specifically, according to the current position information of the spraying target, the type and posture information of the surrounding workpieces are obtained, and the following control decision algorithm is used to calculate the following target, following starting point, following end point, earliest spraying point, latest spraying point and other strategic requirements. Create a planning scenario.

[0041] Specifically, according to the position information of the current spraying target, the type and posture information of the surrounding workpieces are obtained, and the spraying sequence, spraying direction, spraying times and other strategic parameters of the spraying surface are calculated through the spraying control decision algorithm.

[0042] Specifically, according to the spraying strategy, an execution sequence of the robot's terminal spraying point in space is created as a constraint condition, combined with obstacle avoidance constraints, an optimization problem is constructed, and a robot path planning algorithm is used for path planning. The path planning algorithm includes but is not limited to RRT, RRT*, PRM, potential field method, etc.

[0043] Specifically, the robot spraying path and the external axis following position are sent to the spraying robot 6 and the embedded controller 8 respectively, and the embedded controller 8 controls the external axis 7 to follow the suspension chain body 3.

[0044] Specifically, when the external axis 7 follows successfully, the embedded controller 8 notifies the spraying robot 6 to perform the spraying action. After the spraying is completed, the spraying robot 6 feeds back a completion signal to the embedded controller 8, and the embedded controller 8 requests the computing medium 9 for the next working parameters.

[0045] like Figure 2 As shown, the working process of the moving workpiece spraying system based on the autonomous planning technology of the present invention is as follows:

[0046] S1. Enter the workpiece spraying rules, including the specified spraying surface, the distance between the spray gun center and the spraying surface, the angle between the spray gun spraying direction and the spraying surface normal, and the spraying order

[0047] S2. Start working, the embedded controller requests working parameters.

[0048] S3. Workpiece trigger photoelectric switch

[0049] S4. The embedded controller filters the photoelectric switch signal and outputs a hardware trigger signal

[0050] S5.3D sensor group takes pictures and collects images, while the embedded controller reads the line encoder value

[0051] S6. The computing medium reads the camera point cloud data, combines it with the linear encoder value, identifies the measured workpiece parameters, obtains the workpiece posture information and pushes it into the workpiece queue

[0052] S7. When the conveyor line movement distance exceeds a certain threshold, the workpiece information is taken out from the queue and a planning scenario is created for the workpiece

[0053] S8. Calculate the spraying constraints for the workpiece and perform motion planning to obtain the robot arm planning path and external axis following parameters. The host computer sends the working parameters to the embedded controller and the spraying robot

[0054] S9. The external axis starts to follow, and the spraying robot arm follows the upper line body to execute the spraying program and complete the spraying.

[0055] S10. The robotic arm feeds back a completion signal to the embedded controller, and the embedded controller requests the computing medium to perform the next operation.

[0056] It should be noted that the device is a device corresponding to the above method, and all implementation methods in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0057] The embodiment of the present invention further provides a computing medium, comprising: a processor, a memory storing a computer program, wherein when the computer program is executed by the processor, the method described above is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0058] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0059] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0060] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0061] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0062] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0063] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0064] In addition, it should be noted that in the apparatus and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it is understood that all or any steps or components of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in hardware, firmware, software or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0065] Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general device. Therefore, the purpose of the present invention can also be achieved by simply providing a program product containing a program code that implements the method or device. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order. Some steps can be performed in parallel or independently of each other.

[0066] The above is a preferred embodiment of the present invention. It should be noted that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be regarded as the scope of protection of the present invention. The above is a preferred embodiment of the present invention. It should be noted that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A programming-free spraying system for moving workpieces based on autonomous planning technology, characterized in that: It includes a 3D sensing module, which includes a line encoder for measuring the motion information of the conveyor line, a 3D sensor group for photographing the workpiece, and a photoelectric sensor for detecting the arrival of the workpiece; the module is used to measure the position and posture information of the workpiece, including a spraying execution module, which includes a spraying robot arm, an external axis for following the line body, and a spray gun device; It includes a spray control module, which includes a computing medium, an embedded controller, spray control software and a 3D guidance planning algorithm, including an intelligent decision module, which includes a follow-up control decision algorithm and a spray control decision algorithm.

2. The program-free spraying system for moving workpieces based on autonomous planning technology according to claim 1 is characterized in that The 3D sensor's photography and the line encoder's reading are driven by the same hardware trigger signal. When driven, the 3D sensor group's field of view can cover all feature areas of the workpiece on the conveyor line.

3. The program-free spraying system for moving workpieces based on autonomous planning technology according to claim 2 is characterized in that The photoelectric sensor signal that detects the arrival of the workpiece is connected to the embedded controller of the spray control module, and the embedded controller processes and outputs a hardware trigger signal.

4. The program-free spraying system for moving workpieces based on autonomous planning technology according to claim 1 is characterized in that: In the spraying execution module, the spraying robot arm base is installed on an external axis that can follow the line body, the external axis has one degree of freedom, and the running direction is parallel to the running direction of the conveyor line. The spray gun equipment is installed on the end flange of the spraying robot arm. The spraying robot arm is a serial industrial robot arm with more than 6 degrees of freedom.

5. The program-free spraying system for moving workpieces based on autonomous planning technology according to claim 1 is characterized in that: The 3D sensor group, computing medium, embedded controller and spray robot arm can communicate with each other, and the 3D sensor trigger, line encoder, robot and embedded controller are connected.

6. The program-free spraying system for moving workpieces based on autonomous planning technology according to claim 5 is characterized in that: The computing medium runs and loads spray control software, 3D guidance planning algorithm and intelligent decision algorithm. The intelligent decision algorithm makes decisions on the workpiece information measured by the 3D perception module and generates a spray strategy. The planning algorithm obtains the spraying control data according to the strategy planning and sends it to the embedded controller and robot controller for execution.

7. The program-free spraying system for moving workpieces based on autonomous planning technology according to claim 6 is characterized in that: The 3D guided planning algorithm includes a 3D visual recognition and measurement algorithm, a scene construction algorithm, a strategy constraint generation algorithm, and a motion planning algorithm. The 3D visual recognition and measurement algorithm is used to identify and measure the position and posture information of the target, and the scene construction algorithm creates a planning scene according to the current spray target. The strategy constraint generation algorithm generates a spray path constraint according to the entered spray rule information and obstacle avoidance requirements. The motion planning algorithm performs motion planning in the planning scene according to the spray path constraint, and generates the robot spray trajectory and external axis tracking line parameters.

8. The program-free spraying system for moving workpieces based on autonomous planning technology according to claim 1 is characterized in that: The intelligent decision algorithm includes a following control decision algorithm and a spraying control decision algorithm. The following control decision algorithm makes a following control decision based on the workpiece posture information, environmental information, and equipment information to determine the following strategy during spraying. The spraying control decision algorithm makes a spraying decision based on the workpiece posture information, environmental information, and equipment information to determine the spraying sequence strategy for the workpiece spraying surface.

9. A method for operating a motion workpiece programming-free spraying system based on autonomous planning technology, characterized in that The following steps are involved: S1. Enter the workpiece spraying strategy, including the specified spraying surface, the distance between the spray gun center and the spraying surface, the angle between the spray gun spraying direction and the spraying surface normal, and the spraying order S2. Start working, the embedded controller requests working parameters. S3. Workpiece trigger photoelectric switch S4. The embedded controller filters the photoelectric switch signal and outputs a hardware trigger signal S5.3D sensor group takes pictures and collects images, while the embedded controller reads the line encoder value S6. The computing medium reads the camera point cloud data, combines it with the linear encoder value, identifies the measured workpiece parameters, obtains the workpiece posture information and pushes it into the workpiece queue S7. When the conveyor line movement distance exceeds a certain threshold, the workpiece information is taken out from the queue, and a decision is made for the workpiece and its surrounding scene to create a spraying and following strategy. S8. Create a planning scenario, generate spraying constraints for the spraying and following strategies of the workpiece, and perform motion planning to obtain the robot arm planning path and external axis following parameters. The host computer sends the working parameters to the embedded controller and the spraying robot S9. The external axis starts to follow, and the spraying robot arm follows the upper line body to execute the spraying program and complete the spraying. S10. The robotic arm feeds back a completion signal to the embedded controller, and the embedded controller requests the computing medium to perform the next operation.

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