Robotic motion parameter estimation method and system based on static spray image

By using image processing technology based on static spraying images, the parameters of the spraying deposition area are automatically obtained, which solves the problems of low efficiency and unstable quality of robot spraying and realizes an efficient and stable spraying process.

CN122401427APending Publication Date: 2026-07-17BEIJING A&E TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING A&E TECH
Filing Date
2026-06-08
Publication Date
2026-07-17

AI Technical Summary

Technical Problem

Existing methods for planning motion parameters in robot spraying suffer from low efficiency, large parameter estimation errors, difficulty in adapting to actual working conditions, and reliance on human experience, leading to unstable spraying quality.

Method used

A robot motion parameter estimation method based on static spraying images is adopted. The geometric parameters of the spraying deposition area are obtained through image processing technology, including RGB image conversion to HSV color space, background mask generation, perspective projection transformation, spatial mapping ratio calculation and outer contour rectangle estimation of the spraying area, and robot motion parameters are automatically obtained.

Benefits of technology

It improves the efficiency and quality consistency of the robotic spraying process, reduces reliance on manual labor, adapts to different spray guns and workpiece specifications, reduces motion parameter estimation errors, and enhances spraying effect and automation level.

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Abstract

The application relates to the field of visual control, in particular to a robot motion parameter estimation method and system based on a static spraying image, and aims to solve the problems of improving the efficiency and accuracy of robot spraying motion parameter planning. The method comprises the following steps: acquiring an initial single-frame static test spraying deposition image, converting the image from RGB to HSV color space, obtaining a background plate mask image, performing perspective projection transformation on the background plate mask image to obtain a background plate area correction image, and obtaining the mapping ratio of the image space to the Cartesian space; obtaining the width and height of the minimum circumscribed rectangle of the effective spraying area outer contour according to the background plate area correction image, and mapping the width and height to the Cartesian space based on the mapping ratio to obtain the width and height of the robot spraying area, and obtaining the lateral movement speed and longitudinal movement interval of the robot. The scheme provided by the application effectively solves the problems of low robot spraying efficiency, poor quality consistency and high artificial dependence.
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