CN108636671A - A kind of irregular dough sheet biasing spraying paths planning method - Google Patents
A kind of irregular dough sheet biasing spraying paths planning method Download PDFInfo
- Publication number
- CN108636671A CN108636671A CN201810510450.3A CN201810510450A CN108636671A CN 108636671 A CN108636671 A CN 108636671A CN 201810510450 A CN201810510450 A CN 201810510450A CN 108636671 A CN108636671 A CN 108636671A
- Authority
- CN
- China
- Prior art keywords
- spraying
- dough sheet
- cutting line
- spraying path
- irregular
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/126—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to target velocity, e.g. to relative velocity between spray apparatus and target
Landscapes
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The present invention relates to a kind of irregular dough sheet biasing spraying paths planning methods, by the variable range for establishing adjacent spraying path separation, optimize patch boundaries at spraying path to boundary distance, automatically generate along panel length direction and be parallel to the spraying path of patch boundaries, compared with existing spraying paths planning method, under the premise of ensureing coating layer thickness quality, paint waste of the spray gun at patch boundaries can be effectively reduced, to promote utilization efficiency of coatings, and reduce the pollution to environment.
Description
Technical field
The present invention relates to a kind of irregular dough sheet biasing spraying paths planning methods, belong to automatic spraying control technology neck
Domain.
Background technology
The coating quality that has due to spray robot off-line programing control method is high, labor intensity is low and by worker from having
The advantages that being freed in the environment of poison, is used in more and more in the fields such as automobile, ship and aerospace.Spray
It is an important factor for determining coating quality, spray efficiency and utilization efficiency of coatings, to have great importance to production to apply path planning.
Previous spraying paths planning method only simply considers the spraying path planning direction for influencing spray time, not yet payes attention to face
Influence of the sheet border to utilization efficiency of coatings, when the boundary of dough sheet is irregular curve, spray gun is also easy to produce at patch boundaries
Excessive paint waste influences utilization efficiency of coatings, and pollutes environment.
Invention content
Technical problem to be solved by the invention is to provide a kind of irregular dough sheet biasing spraying paths planning methods, pass through
The variable range for establishing adjacent spraying path separation, optimizes the spraying path at patch boundaries to the distance on boundary, is based on
The biasing of patch boundaries curve sprays path, effectively reduces the paint waste at irregular patch boundaries.
In order to solve the above-mentioned technical problem the present invention uses following technical scheme：The present invention devises a kind of irregular dough sheet
Biasing spraying paths planning method includes the following steps for obtaining the spraying path corresponding to irregular target dough sheet：
Step A. is according to default spray gun rate travel and default coating layer thickness allowable range, for irregular target dough sheet,
The corresponding spray rate optimal value of adjacent spraying path separations difference at different levels is obtained, and obtains spraying path to target dough sheet
The maximum distance h on boundarymax；
Step B. is according to default spray gun height and position variation range, default coating layer thickness allowable range and at different levels adjacent
The corresponding spray rate optimal value of path separation difference is sprayed, for irregular target dough sheet, obtains adjacent spraying path
Allow spacing range [δmin,δmax]；
Step C. confirms the minimum enclosed rectangle corresponding to irregular target dough sheet, select rectangle long side on straight line
One of direction, as spraying path planning direction；
Step D. is based on spraying path planning direction, in conjunction with the maximum distance h in spraying path to target patch boundariesmax, with
And the permission spacing range [δ in adjacent spraying pathmin,δmax], obtain the spraying path corresponding to irregular target dough sheet.
As a preferred technical solution of the present invention, the step A includes the following steps：
Step A1. obtains the static spray-on coating increment percent model f corresponding to the spray gun that coating cloud spatial form is cone
(r), r≤R, R indicate that the spraying swath radius of spray gun, r indicate that any point position is to spray gun axis in the range of spraying swath radius R
Vertical range；
Movements of the step A2. based on spray gun builds and is formed by coating layer thickness mould after kinetic spray on adjacent spraying path
Type；
Step A3. is according to default ideal coating thickness TdAnd adjacent spraying path separation δ, thickness is applied with any position
Degree and ideal coating thickness TdBetween variance it is minimum, build following optimization object function：
And it is based on optimization object function, it is excellent to solve the corresponding spray rate of acquisition adjacent spraying path separations difference at different levels
Change value；Wherein, v indicates the movement speed of spray gun, T1、T2The coating after spray gun kinetic spray on adjacent spraying path is indicated respectively
Thickness；
Step A4. is based on default coating layer thickness allowable error Δ T, is equal to according to irregular target patch boundaries coating layer thickness
TdΔ T obtains the distance for spraying path to target patch boundaries, the maximum distance as spraying path to target patch boundaries
hmax。
As a preferred technical solution of the present invention：In the step A3, it is based on optimization object function, passes through gold point
Method is cut, solves and obtains the corresponding spray rate optimal value of adjacent spraying path separations difference at different levels.
As a preferred technical solution of the present invention, the step B includes the following steps：
Step B1. is according to default spray gun height and position variation range [Hmin,Hmax], solution acquisition spray gun is located at minimum
Height and position Hmin, maximum height position HmaxWhen, the corresponding adjacent spraying path separation optimal value δ of difference1、δ2, build adjacent
Spray path separation primary variation range [δ1,δ2]；
And according to the corresponding spray rate optimal value of adjacent spraying path separations difference at different levels, obtain adjacent spraying road
Diameter spacing optimal value δ1、δ2, the corresponding spray rate optimal value v of difference1、v2；
Step B2. is based on adjacent spraying path separation primary variation range [δ1,δ2], according to ideal coating thickness Td, coating
Thickness allowable error Δ T builds following adjacent spraying path separation equation：
TS=T1(x,v1)+T2(δmin-x,v1)=Td+ΔTδmin-R1≤x≤δmin/2
TS=T1(x,v2)+T2(δmax-x,v2)=Td-ΔTδmax-R2≤x≤δmax/2
Step B3. is solved for adjacent spraying path separation equation, obtains adjacent spraying path separation variation range
[δmin,δmax], wherein TSIndicate the coating layer thickness of irregular target face on piece any position, T1(x,v1) indicate that spray gun is based on phase
Neighbour's spraying path separation x, rate travel v1, the coating layer thickness after kinetic spray；T1(x,v2) indicate that spray gun is based on adjacent spraying road
Diameter spacing x, rate travel v2, the coating layer thickness after kinetic spray；T2(δmin-x,v1) indicate that spray gun is based between adjacent spraying path
Away from δmin- x, rate travel v1, the coating layer thickness after kinetic spray；T2(δmax-x,v2) indicate that spray gun is based between adjacent spraying path
Away from δmax- x, rate travel v2, the coating layer thickness after kinetic spray.
As a preferred technical solution of the present invention, in the step B3, as follows, for adjacent spraying path
Spacing equation is solved, and adjacent spraying path separation variation range [δ is obtainedmin,δmax]；
Step B3-1. sets step-length w and p, and threshold values λ enables i=0；
Step B3-2. enables j=0；
Step B3-3. is enabledX=δmin,max- R1,2+ jp, if x≤δmin,max/ 2, in next step, otherwise turn
Step B3-5；
Step B3-4. is solved for adjacent spraying path separation equation, if | TS-(Td± Δ T) | ＞ λ are then directed to j
Value carry out plus 1 operation, be then back to step B3-3；Otherwise δ is exportedmin、δmaxValue；
Step B3-5. is carried out for the value of i plus 1 operation, and return to step B3-2.
As a preferred technical solution of the present invention, the step D includes the following steps：
Step D1. defines density parameter ρ, is located at smallest height H based on spray gunmin, optimized acquisition spraying path is arrived
The distance h of irregular target patch boundariesmin, and combine and belong to [δmin, δmax] between the adjacent spraying path that changes in range between
Away from δε, enable ρ≤hmin<δmin；
Areas of the step D2. based on minimum enclosed rectangle corresponding to irregular target dough sheet, using density parameter ρ as cutting
Line corresponds to the distribution density ρ of irregular target dough sheet, with the minimum enclosed rectangle long side corresponding to the irregular target dough sheet
Direction, for irregular target topsheet surface, each cutting line, each cutting line and irregular target patch boundaries phase are set
Intersection point is boundary point, and obtains the distance between two boundary point of outermost l on each cutting line respectivelyi, i=1 ..., I, I indicate
The radical of cutting line；
The boundary point that step D3. is intersected based on each cutting line with irregular target patch boundaries, obtains irregular target
Each spraying path discrete point on dough sheet, and be connected in series with for each spraying path discrete point, based on spraying path
It plans direction, obtains the spraying path corresponding to irregular target dough sheet.
As a preferred technical solution of the present invention, the step D3 includes the following steps：
Step D3-1. is directed to each cutting line respectively, judges the distance between two boundary point of cutting line outermost liWhether
Less than 2hmin, it is the boundary point deleted the cutting line and the cutting line and intersected with irregular target patch boundaries, it is so complete
At the update of irregular target face on piece cutting line；
Step D3-2. is respectively for each cutting line, the boundary point that cutting line is intersected with irregular target patch boundaries,
H is biased along cutting line, to irregular target dough sheet internal directionminDistance obtains the cutting line and corresponds to irregular target dough sheet
Discrete point is sprayed, the spraying discrete point that each cutting line corresponds to irregular target dough sheet respectively is so obtained；
Step D3-3. is directed to based on minimum enclosed rectangle corresponding to irregular target dough sheet, is original with an angle of rectangle
Point O, length direction are X-axis, and wide direction is that Y-axis establishes rectangular coordinate system, and each cutting line is set to along X-axis positive direction
g1、…、gm、…、gM, M expressions are after step D3-1 operations, the quantity of irregular target face on piece cutting line；
Step D3-4. is as follows：
Fm=[lm/δmax]
It point segmentation such as carries out for each cutting line respectively, and obtains the Along ent position on each cutting line, as each
Root cutting line corresponds to the spraying discrete point of irregular target dough sheet respectively, wherein FmIt indicates for m root cutting lines etc. point segmentation
Hop count, i.e. the spraying that each cutting line corresponds to irregular target dough sheet respectively discrete counts out as km=Fm+ 1, all cutting lines
The spraying of corresponding irregular target dough sheet is discrete count out for
Step D3-5. sets p=1, calculates separately O points and sprays the distance between discrete point to K, takes wherein apart from shortest
Discrete point is spraying path starting point, and is numbered as Sp, j'=1 is initialized, cutting line where the starting point is gj'；
Step D3-6. is carried out for the value of j' plus 1 update, judges whether j' is more than M, is to enter step D3-9；Otherwise
Enter step D3-7；
Step D3-7. is with SpFor search center, point S is calculatedpTo cutting line gj'The distance between upper discrete point, takes cutting line
gj'Middle distance is most short, and still unnumbered discrete point is numbered as Sp+1, and the value for being directed to p carries out plus 1 update, whether judges p
Equal to K, it is, enters step D3-8；Otherwise return to step D3-6；
Step D3-8. is by each discrete point S after number1、S2、…、SKIt is attached, is gone forward side by side with smooth curve in order
Enter step D3-9；
Step D3-9. carries out subtracting 1 update for the value of j', and judges whether j' is equal to 0, is then return to step D3-6；It is no
Then enter step D3-10；
Step D3-10. is with SpFor search center, point S is calculatedpThe distance between discrete point, takes and cuts on to jth ' cutting line
Secant gj'Middle distance is most short, and still unnumbered discrete point is numbered as Sp+1, and the value for being directed to p carries out plus 1 update, judges p
Whether it is equal to K, is then return to step D3-8；Otherwise return to step D3-9.
A kind of irregular dough sheet biasing spraying paths planning method of the present invention is using above technical scheme and existing skill
Art is compared, and is had the following technical effects：
The irregular dough sheet biasing spraying paths planning method that the present invention designs, by establishing adjacent spraying path separation
Variable range optimizes the spraying path at patch boundaries to the distance on boundary, automatically generates along panel length direction and be parallel to
The spraying path of patch boundaries, compared with existing spraying paths planning method, under the premise of ensureing coating layer thickness quality, energy
Paint waste of the spray gun at patch boundaries is effectively reduced, to promote utilization efficiency of coatings, and reduces the pollution to environment.
Description of the drawings
Fig. 1 is the flow diagram for the irregular dough sheet biasing spraying paths planning method that the present invention designs；
Fig. 2 is the influence schematic diagram for spraying path to patch boundaries distance to utilization efficiency of coatings；
Fig. 3 is coating layer thickness distribution of the path separation in minimum value and maximum value；
Fig. 4 is the biasing spraying coordinates measurement principle schematic based on patch boundaries.
Specific implementation mode
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawings of the specification.
As shown in Figure 1, the present invention devises a kind of irregular dough sheet biasing spraying paths planning method, for not advised
The then spraying path corresponding to target dough sheet in practical application, specifically comprises the following steps：
Step A. is according to default spray gun rate travel and default coating layer thickness allowable range, for irregular target dough sheet,
The corresponding spray rate optimal value of adjacent spraying path separations difference at different levels is obtained, and obtains spraying path to target dough sheet
The maximum distance h on boundarymax。
For above-mentioned steps A, in practical application, as shown in Fig. 2, specifically comprising the following steps A1 to step A4.
Step A1. obtains the static spray-on coating increment percent model f corresponding to the spray gun that coating cloud spatial form is cone
(r), r≤R, R indicate that the spraying swath radius of spray gun, r indicate that any point position is to spray gun axis in the range of spraying swath radius R
Vertical range.
Movements of the step A2. based on spray gun builds and is formed by coating layer thickness mould after kinetic spray on adjacent spraying path
Type.
Step A3. is according to default ideal coating thickness TdAnd adjacent spraying path separation δ, thickness is applied with any position
Degree and ideal coating thickness TdBetween variance it is minimum, build following optimization object function：
And it is based on optimization object function, by Fibonacci method, solves and obtain adjacent spraying path separations difference institutes at different levels
Corresponding spray rate optimal value；Wherein, v indicates the movement speed of spray gun, T1、T2Spray gun on adjacent spraying path is indicated respectively
Coating layer thickness after kinetic spray.
Due to the reduction with distance h between spraying path and workpiece boundary, spraying path is generated closer to workpiece boundary
Paint waste it is more serious, in order under the premise of ensureing coating quality, paint waste be made to reduce to the greatest extent, therefore enable irregular mesh
It marks patch boundaries coating layer thickness and is equal to TdΔ T executes following steps A4.
Step A4. is based on default coating layer thickness allowable error Δ T, is equal to according to irregular target patch boundaries coating layer thickness
TdΔ T obtains the distance for spraying path to target patch boundaries, the maximum distance as spraying path to target patch boundaries
hmax。
Step B. is according to default spray gun height and position variation range, default coating layer thickness allowable range and at different levels adjacent
The corresponding spray rate optimal value of path separation difference is sprayed, for irregular target dough sheet, obtains adjacent spraying path
Allow spacing range [δmin,δmax]。
Above-mentioned steps B in practical applications, as shown in figure 3, specifically execute following steps B1 to step B3.
Step B1. is under the premise of ensureing best coating uniformity, according to default spray gun height and position variation range [Hmin,
Hmax], it solves acquisition spray gun and is located at smallest height Hmin, maximum height position HmaxWhen, corresponding adjacent spray respectively
Apply path separation optimal value δ1、δ2, build adjacent spraying path separation primary variation range [δ1,δ2]。
And according to the corresponding spray rate optimal value of adjacent spraying path separations difference at different levels, obtain adjacent spraying road
Diameter spacing optimal value δ1、δ2, the corresponding spray rate optimal value v of difference1、v2。
Step B2. is based on adjacent spraying path separation primary variation range [δ1,δ2], according to ideal coating thickness Td, coating
Thickness allowable error Δ T builds following adjacent spraying path separation equation：
TS=T1(x,v1)+T2(δmin-x,v1)=Td+ΔTδmin-R1≤x≤δmin/2
TS=T1(x,v2)+T2(δmax-x,v2)=Td-ΔTδmax-R2≤x≤δmax/2
Step B3. is solved for adjacent spraying path separation equation, obtains adjacent spraying path separation variation range
[δmin,δmax], wherein TSIndicate the coating layer thickness of irregular target face on piece any position, T1(x,v1) indicate that spray gun is based on phase
Neighbour's spraying path separation x, rate travel v1, the coating layer thickness after kinetic spray；T1(x,v2) indicate that spray gun is based on adjacent spraying road
Diameter spacing x, rate travel v2, the coating layer thickness after kinetic spray；T2(δmin-x,v1) indicate that spray gun is based between adjacent spraying path
Away from δmin- x, rate travel v1, the coating layer thickness after kinetic spray；T2(δmax-x,v2) indicate that spray gun is based between adjacent spraying path
Away from δmax- x, rate travel v2, the coating layer thickness after kinetic spray.
Above-mentioned steps B3 considers the painting allowed on the basis of establishing best coating uniformity spraying path separation range
Layer thickness error range establishes the spraying path separation variation range [δ for meeting coating layer thickness error requirementsmin,δmax], then have
Body executes following steps B3-1 to step B3-5, is solved for adjacent spraying path separation equation, obtains adjacent spraying road
Diameter spacing variation range [δmin,δmax]。
Step B3-1. sets step-length w and p, and threshold values λ enables i=0.
Step B3-2. enables j=0.
Step B3-3. is enabledX=δmin,max- R1,2+ jp, if x≤δmin,max/ 2, in next step, otherwise turn
Step B3-5.
Step B3-4. is solved for adjacent spraying path separation equation, if | TS-(Td± Δ T) | ＞ λ are then directed to j
Value carry out plus 1 operation, be then back to step B3-3；Otherwise δ is exportedmin、δmaxValue.
Step B3-5. is carried out for the value of i plus 1 operation, and return to step B3-2.
Step C. confirms the minimum enclosed rectangle corresponding to irregular target dough sheet, select rectangle long side on straight line
One of direction, as spraying path planning direction.
Step D. is based on spraying path planning direction, in conjunction with the maximum distance h in spraying path to target patch boundariesmax, with
And the permission spacing range [δ in adjacent spraying pathmin,δmax], obtain the spraying path corresponding to irregular target dough sheet.
For above-mentioned steps D, as shown in figure 4, practical application specifically executes following steps D1 to step D3；
Step D1. defines density parameter ρ, is located at smallest height H based on spray gunmin, optimized acquisition spraying path is arrived
The distance h of irregular target patch boundariesmin, and combine and belong to [δmin, δmax] between the adjacent spraying path that changes in range between
Away from δε, enable ρ≤hmin<δmin。
Areas of the step D2. based on minimum enclosed rectangle corresponding to irregular target dough sheet, using density parameter ρ as cutting
Line corresponds to the distribution density ρ of irregular target dough sheet, with the minimum enclosed rectangle long side corresponding to the irregular target dough sheet
Direction, each cutting line is set for irregular target topsheet surface, obtains a series of cutting lines, each cutting line with do not advise
Then target patch boundaries crosspoint is boundary point, and obtains the distance between two boundary point of outermost on each cutting line respectively
li, i=1 ..., I, I indicate cutting line radical.
The boundary point that step D3. is intersected based on each cutting line with irregular target patch boundaries, obtains irregular target
Each spraying path discrete point on dough sheet, and be connected in series with for each spraying path discrete point, based on spraying path
It plans direction, obtains the spraying path corresponding to irregular target dough sheet.
And it is further, for above-mentioned steps D3, executes following steps D3-1 to step D3-1 and operated.
Step D3-1. is directed to each cutting line respectively, judges the distance between two boundary point of cutting line outermost liWhether
Less than 2hmin, it is the boundary point deleted the cutting line and the cutting line and intersected with irregular target patch boundaries, it is so complete
At the update of irregular target face on piece cutting line.
Step D3-2. is respectively for each cutting line, the boundary point that cutting line is intersected with irregular target patch boundaries,
H is biased along cutting line, to irregular target dough sheet internal directionminDistance obtains the cutting line and corresponds to irregular target dough sheet
Discrete point is sprayed, the spraying discrete point that each cutting line corresponds to irregular target dough sheet respectively is so obtained.
Step D3-3. is directed to based on minimum enclosed rectangle corresponding to irregular target dough sheet, is original with an angle of rectangle
Point O, length direction are X-axis, and wide direction is that Y-axis establishes rectangular coordinate system, and each cutting line is set to along X-axis positive direction
g1、…、gm、…、gM, M expressions are after step D3-1 operations, the quantity of irregular target face on piece cutting line.
Step D3-4. is as follows：
Fm=[lm/δmax]
It point segmentation such as carries out for each cutting line respectively, and obtains the Along ent position on each cutting line, as each
Root cutting line corresponds to the spraying discrete point of irregular target dough sheet respectively, wherein FmIt indicates for m root cutting lines etc. point segmentation
Hop count, i.e. the spraying that each cutting line corresponds to irregular target dough sheet respectively discrete counts out as km=Fm+ 1, all cutting lines
The spraying of corresponding irregular target dough sheet is discrete count out for
Step D3-5. sets p=1, calculates separately O points and sprays the distance between discrete point to K, takes wherein apart from shortest
Discrete point is spraying path starting point, and is numbered as Sp, j'=1 is initialized, cutting line where the starting point is gj'。
Step D3-6. is carried out for the value of j' plus 1 update, judges whether j' is more than M, is to enter step D3-9；Otherwise
Enter step D3-7.
Step D3-7. is with SpFor search center, point S is calculatedpTo cutting line gj'The distance between upper discrete point, takes cutting line
gj'Middle distance is most short, and still unnumbered discrete point is numbered as Sp+1, and the value for being directed to p carries out plus 1 update, whether judges p
Equal to K, it is, enters step D3-8；Otherwise return to step D3-6.
Step D3-8. is by each discrete point S after number1、S2、…、SKIt is attached, is gone forward side by side with smooth curve in order
Enter step D3-9.
Step D3-9. carries out subtracting 1 update for the value of j', and judges whether j' is equal to 0, is then return to step D3-6；It is no
Then enter step D3-10.
Step D3-10. is with SpFor search center, point S is calculatedpThe distance between discrete point, takes and cuts on to jth ' cutting line
Secant gj'Middle distance is most short, and still unnumbered discrete point is numbered as Sp+1, and the value for being directed to p carries out plus 1 update, judges p
Whether it is equal to K, is then return to step D3-8；Otherwise return to step D3-9.
Irregular dough sheet biasing spraying paths planning method designed by above-mentioned technical proposal, by establishing adjacent spraying path
The variable range of spacing, optimize the spraying path at patch boundaries to boundary distance, automatically generate along panel length direction and
It is parallel to the spraying path of patch boundaries, compared with existing spraying paths planning method, before ensureing coating layer thickness quality
It puts, paint waste of the spray gun at patch boundaries can be effectively reduced, to promote utilization efficiency of coatings, and reduce the dirt to environment
Dye.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode within the knowledge of a person skilled in the art can also be without departing from the purpose of the present invention
It makes a variety of changes.
Claims (7)
1. a kind of irregular dough sheet biasing spraying paths planning method, for obtaining the spraying road corresponding to irregular target dough sheet
Diameter, which is characterized in that include the following steps：
Step A. is obtained according to default spray gun rate travel and default coating layer thickness allowable range for irregular target dough sheet
The corresponding spray rate optimal value of adjacent spraying path separations difference at different levels, and spraying path is obtained to target patch boundaries
Maximum distance hmax；
Step B. is according to default spray gun height and position variation range, default coating layer thickness allowable range and adjacent spraying at different levels
The corresponding spray rate optimal value of path separation difference obtains the permission in adjacent spraying path for irregular target dough sheet
Spacing range [δmin,δmax]；
Step C. confirms the minimum enclosed rectangle corresponding to irregular target dough sheet, select rectangle long side on straight line wherein
One direction, as spraying path planning direction；
Step D. is based on spraying path planning direction, in conjunction with the maximum distance h in spraying path to target patch boundariesmax, Yi Jixiang
Permission spacing range [the δ in neighbour's spraying pathmin,δmax], obtain the spraying path corresponding to irregular target dough sheet.
2. a kind of irregular dough sheet biasing spraying paths planning method according to claim 1, which is characterized in that the step
A includes the following steps：
Step A1. obtains the static spray-on coating increment percent model f (r) corresponding to the spray gun that coating cloud spatial form is cone, r
≤ R, R indicate that the spraying swath radius of spray gun, r indicate that any point position is to the vertical of spray gun axis in the range of spraying swath radius R
Distance；
Movements of the step A2. based on spray gun builds and is formed by coating layer thickness model after kinetic spray on adjacent spraying path；
Step A3. is according to default ideal coating thickness TdAnd adjacent spraying path separation δ, with any position coating layer thickness and reason
Think coating thickness TdBetween variance it is minimum, build following optimization object function：
And it is based on optimization object function, it solves and obtains the corresponding spray rate optimization of adjacent spraying path separations difference at different levels
Value；Wherein, v indicates the movement speed of spray gun, T1、T2The painting thickness after spray gun kinetic spray on adjacent spraying path is indicated respectively
Degree；
Step A4. is based on default coating layer thickness allowable error Δ T, is equal to T according to irregular target patch boundaries coating layer thicknessd-Δ
T obtains the distance for spraying path to target patch boundaries, the maximum distance h as spraying path to target patch boundariesmax。
3. a kind of irregular dough sheet biasing spraying paths planning method according to claim 2, it is characterised in that：The step
In A3, based on optimization object function, by Fibonacci method, solves and obtain corresponding to adjacent spraying path separations difference at different levels
Spray rate optimal value.
4. according to a kind of irregular dough sheet biasing spraying paths planning method described in Claims 2 or 3, which is characterized in that described
Step B, includes the following steps：
Step B1. is according to default spray gun height and position variation range [Hmin,Hmax], it solves acquisition spray gun and is located at minimum altitude
Position Hmin, maximum height position HmaxWhen, the corresponding adjacent spraying path separation optimal value δ of difference1、δ2, build adjacent spraying
Path separation primary variation range [δ1,δ2]；
And according to adjacent spraying path separations at different levels corresponding spray rate optimal values respectively, obtain between adjacent spraying path
Away from optimal value δ1、δ2, the corresponding spray rate optimal value v of difference1、v2；
Step B2. is based on adjacent spraying path separation primary variation range [δ1,δ2], according to ideal coating thickness Td, coating layer thickness
Allowable error Δ T builds following adjacent spraying path separation equation：
TS=T1(x,v1)+T2(δmin-x,v1)=Td+ΔT δmin-R1≤x≤δmin/2
TS=T1(x,v2)+T2(δmax-x,v2)=Td-ΔT δmax-R2≤x≤δmax/2
Step B3. is solved for adjacent spraying path separation equation, obtains adjacent spraying path separation variation range [δmin,
δmax], wherein TSIndicate the coating layer thickness of irregular target face on piece any position, T1(x,v1) indicate that spray gun is based on adjacent spray
Apply path separation x, rate travel v1, the coating layer thickness after kinetic spray；T1(x,v2) indicate that spray gun is based between adjacent spraying path
Away from x, rate travel v2, the coating layer thickness after kinetic spray；T2(δmin-x,v1) indicate that spray gun is based on adjacent spraying path separation
δmin- x, rate travel v1, the coating layer thickness after kinetic spray；T2(δmax-x,v2) indicate that spray gun is based on adjacent spraying path separation
δmax- x, rate travel v2, the coating layer thickness after kinetic spray.
5. a kind of irregular dough sheet biasing spraying paths planning method according to claim 4, which is characterized in that the step
It in B3, as follows, is solved for adjacent spraying path separation equation, obtains adjacent spraying path separation variation range
[δmin,δmax]；
Step B3-1. sets step-length w and p, and threshold values λ enables i=0；
Step B3-2. enables j=0；
Step B3-3. is enabledX=δmin,max- R1,2+ jp, if x≤δmin,max/ 2, in next step, otherwise go to step
B3-5；
Step B3-4. is solved for adjacent spraying path separation equation, if | TS-(Td± Δ T) | ＞ λ are then directed to the value of j
It carries out plus 1 operates, be then back to step B3-3；Otherwise δ is exportedmin、δmaxValue；
Step B3-5. is carried out for the value of i plus 1 operation, and return to step B3-2.
6. a kind of irregular dough sheet biasing spraying paths planning method according to claim 5, which is characterized in that the step
D includes the following steps：
Step D1. defines density parameter ρ, is located at smallest height H based on spray gunmin, optimized acquisition sprays path to not advising
The then distance h of target patch boundariesmin, and combine and belong to [δmin, δmax] spacing between the adjacent spraying path that changes in range
δε, enable ρ≤hmin<δmin；
Areas of the step D2. based on minimum enclosed rectangle corresponding to irregular target dough sheet, using density parameter ρ as cutting line pair
The distribution density ρ for answering irregular target dough sheet, with the side of the minimum enclosed rectangle long side corresponding to the irregular target dough sheet
To each cutting line, each cutting line and irregular target patch boundaries crosspoint is arranged for irregular target topsheet surface
For boundary point, and the distance between two boundary point of outermost l on each cutting line is obtained respectivelyi, i=1 ..., I, I indicate cutting
The radical of line；
The boundary point that step D3. is intersected based on each cutting line with irregular target patch boundaries obtains irregular target dough sheet
On each spraying path discrete point, and be connected in series with for each spraying path discrete point, based on spraying path planning
Direction obtains the spraying path corresponding to irregular target dough sheet.
7. a kind of irregular dough sheet biasing spraying paths planning method according to claim 6, which is characterized in that the step
D3 includes the following steps：
Step D3-1. is directed to each cutting line respectively, judges the distance between two boundary point of cutting line outermost liWhether it is less than
2hmin, it is the boundary point deleted the cutting line and the cutting line and intersected with irregular target patch boundaries, so completes not
The update of cutting line on regular targets dough sheet；
Step D3-2. is directed to each cutting line, the boundary point that cutting line is intersected with irregular target patch boundaries respectively, and edge is cut
Secant biases h to irregular target dough sheet internal directionminDistance obtains the spraying that the cutting line corresponds to irregular target dough sheet
Discrete point so obtains the spraying discrete point that each cutting line corresponds to irregular target dough sheet respectively；
Step D3-3. is directed to based on minimum enclosed rectangle corresponding to irregular target dough sheet, using an angle of rectangle as origin O,
Length direction is X-axis, and wide direction is that Y-axis establishes rectangular coordinate system, and each cutting line is set to g along X-axis positive direction1、…、
gm、…、gM, M expressions are after step D3-1 operations, the quantity of irregular target face on piece cutting line；
Step D3-4. is as follows：
Fm=[lm/δmax]
It point segmentation such as carries out for each cutting line respectively, and obtains the Along ent position on each cutting line, cut as each
Secant corresponds to the spraying discrete point of irregular target dough sheet respectively, wherein FmIndicate the section for m root cutting lines etc. point segmentation
Number, the i.e. spraying that each cutting line corresponds to irregular target dough sheet respectively discrete are counted out as km=Fm+ 1, all cutting lines correspond to
The spraying of irregular target dough sheet is discrete count out for
Step D3-5. sets p=1, calculates separately O points and sprays the distance between discrete point to K, takes wherein apart from shortest discrete
Point is spraying path starting point, and is numbered as Sp, j'=1 is initialized, cutting line where the starting point is gj'；
Step D3-6. is carried out for the value of j' plus 1 update, judges whether j' is more than M, is to enter step D3-9；Otherwise enter
Step D3-7；
Step D3-7. is with SpFor search center, point S is calculatedpTo cutting line gj'The distance between upper discrete point takes cutting line gj'In
Distance is most short, and still unnumbered discrete point is numbered as Sp+1, and the value for being directed to p carries out plus 1 update, judges whether p is equal to
K is to enter step D3-8；Otherwise return to step D3-6；
Step D3-8. is by each discrete point S after number1、S2、…、SKIt is attached in order with smooth curve, and enters step
Rapid D3-9；
Step D3-9. carries out subtracting 1 update for the value of j', and judges whether j' is equal to 0, is then return to step D3-6；Otherwise into
Enter step D3-10；
Step D3-10. is with SpFor search center, point S is calculatedpThe distance between discrete point, takes cutting line on to jth ' cutting line
gj'Middle distance is most short, and still unnumbered discrete point is numbered as Sp+1, and the value for being directed to p carries out plus 1 update, whether judges p
It is then return to step D3-8 equal to K；Otherwise return to step D3-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810510450.3A CN108636671B (en) | 2018-05-24 | 2018-05-24 | Irregular surface patch offset spraying path planning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810510450.3A CN108636671B (en) | 2018-05-24 | 2018-05-24 | Irregular surface patch offset spraying path planning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108636671A true CN108636671A (en) | 2018-10-12 |
| CN108636671B CN108636671B (en) | 2020-08-04 |
Family
ID=63757942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810510450.3A Active CN108636671B (en) | 2018-05-24 | 2018-05-24 | Irregular surface patch offset spraying path planning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108636671B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390715A (en) * | 2017-07-07 | 2017-11-24 | 深圳市华琥技术有限公司 | A kind of spraying control method based on unmanned plane |
| CN111420819A (en) * | 2020-03-31 | 2020-07-17 | 联想(北京)有限公司 | Spraying operation control method and device |
| CN111744706A (en) * | 2020-06-23 | 2020-10-09 | 梅卡曼德（北京）机器人科技有限公司 | Glue spraying method and device for object, electronic equipment and storage medium |
| CN112241584A (en) * | 2020-08-29 | 2021-01-19 | 盐城工学院 | Method for setting boundary constraint distance value of boundary constraint spraying track planning |
| CN113199480A (en) * | 2021-05-11 | 2021-08-03 | 梅卡曼德（北京）机器人科技有限公司 | Trajectory generation method and apparatus, electronic device, storage medium, and 3D camera |
| CN113457874A (en) * | 2020-03-31 | 2021-10-01 | 广东博智林机器人有限公司 | Method, device, equipment and medium for determining spraying path |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117290907A (en) * | 2023-11-22 | 2023-12-26 | 南昌华翔汽车内外饰件有限公司 | Automobile bumper spraying method, system and equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120156362A1 (en) * | 2010-12-21 | 2012-06-21 | Alexandr Sadovoy | Method and device for coating path generation |
| CN103495516A (en) * | 2013-09-24 | 2014-01-08 | 盐城工学院 | Two-pass automatic-spraying track optimization method of complex curved surfaces |
| CN104777838A (en) * | 2015-04-15 | 2015-07-15 | 盐城工学院 | Continuous variational inclination angle spraying track planning method for corner characteristic curved surface |
| CN105381912A (en) * | 2015-10-15 | 2016-03-09 | 东南大学 | Surface-curvature-based automatic path generation method for spraying robot |
-
2018
- 2018-05-24 CN CN201810510450.3A patent/CN108636671B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120156362A1 (en) * | 2010-12-21 | 2012-06-21 | Alexandr Sadovoy | Method and device for coating path generation |
| CN103495516A (en) * | 2013-09-24 | 2014-01-08 | 盐城工学院 | Two-pass automatic-spraying track optimization method of complex curved surfaces |
| CN104777838A (en) * | 2015-04-15 | 2015-07-15 | 盐城工学院 | Continuous variational inclination angle spraying track planning method for corner characteristic curved surface |
| CN105381912A (en) * | 2015-10-15 | 2016-03-09 | 东南大学 | Surface-curvature-based automatic path generation method for spraying robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390715A (en) * | 2017-07-07 | 2017-11-24 | 深圳市华琥技术有限公司 | A kind of spraying control method based on unmanned plane |
| CN111420819A (en) * | 2020-03-31 | 2020-07-17 | 联想(北京)有限公司 | Spraying operation control method and device |
| CN113457874A (en) * | 2020-03-31 | 2021-10-01 | 广东博智林机器人有限公司 | Method, device, equipment and medium for determining spraying path |
| CN111420819B (en) * | 2020-03-31 | 2021-12-24 | 联想(北京)有限公司 | Spraying operation control method and device |
| CN111744706A (en) * | 2020-06-23 | 2020-10-09 | 梅卡曼德（北京）机器人科技有限公司 | Glue spraying method and device for object, electronic equipment and storage medium |
| CN111744706B (en) * | 2020-06-23 | 2022-04-15 | 梅卡曼德（北京）机器人科技有限公司 | Glue spraying method and device for object, electronic equipment and storage medium |
| CN112241584A (en) * | 2020-08-29 | 2021-01-19 | 盐城工学院 | Method for setting boundary constraint distance value of boundary constraint spraying track planning |
| CN112241584B (en) * | 2020-08-29 | 2024-05-07 | 盐城工学院 | Boundary constraint spraying track planning boundary constraint distance value setting method |
| CN113199480A (en) * | 2021-05-11 | 2021-08-03 | 梅卡曼德（北京）机器人科技有限公司 | Trajectory generation method and apparatus, electronic device, storage medium, and 3D camera |
| CN113199480B (en) * | 2021-05-11 | 2023-02-10 | 梅卡曼德（北京）机器人科技有限公司 | Track generation method and device, electronic equipment, storage medium and 3D camera |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108636671B (en) | 2020-08-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108636671A (en) | A kind of irregular dough sheet biasing spraying paths planning method | |
| CN105222779B (en) | The path planning method and device of plant protection unmanned plane | |
| CN108508846B (en) | Curved surface spraying track planning method | |
| CN106354932B (en) | robot spraying and track setting method for cambered surface transition area between smooth curved surfaces | |
| CN108958285B (en) | Efficient multi-unmanned aerial vehicle collaborative track planning method based on decomposition idea | |
| CN105381912B (en) | A kind of spray robot automatic path generation method based on surface curvature | |
| CN103394430B (en) | A kind of complex-curved even application manufacture method based on blind area Optimization Technology between sheet | |
| CN112632718B (en) | Spraying robot track planning method based on improved point cloud slicing algorithm | |
| CN108465583B (en) | A kind of curved surface spraying orbit generation method and system based on surface parameterization | |
| Conner et al. | Paint deposition modeling for trajectory planning on automotive surfaces | |
| CN108196575A (en) | A kind of unmanned plane task distribution and route planning method | |
| CN104324861A (en) | Multi-parameter time-varying robot spraying method | |
| CN108827311B (en) | Route planning method for unmanned carrying system in manufacturing workshop | |
| CN108161941B (en) | Robot track optimization method and device applied to wood spraying industry | |
| CN108716919A (en) | Plant protection drone path planning method based on arbitrary polygon clear area | |
| CN108445834A (en) | A kind of offline method for planning track of complex large-scale component processing of robots | |
| CN107065919A (en) | Agricultural plant protection unmanned plane back and forth spray back and forth during turning path flight control method, device and unmanned plane | |
| CN108205322A (en) | A kind of agricultural machinery working method and system that working path is not automatically generated by map | |
| CN203018258U (en) | Wheel paint automatic paint-spraying system | |
| CN115657724A (en) | Manned and unmanned aircraft cooperative formation form transformation system and method | |
| CN112241584B (en) | Boundary constraint spraying track planning boundary constraint distance value setting method | |
| CN104777838B (en) | Continuous variational inclination angle spraying track planning method for corner characteristic curved surface | |
| CN115906532A (en) | Modeling method and system for deposition model of spraying asphalt waterproof coating | |
| CN115739553B (en) | Aircraft coating method based on paint mist particle sedimentation control | |
| Yu et al. | A robotic spraying path generation algorithm for free-form surface based on constant coating overlapping width |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210120 Address after: 224000 building 3, east of Zhongxing North Road, Shizhuang neighborhood committee, DAZONGHU Town, Yandu District, Yancheng City, Jiangsu Province Patentee after: YANCHENG GUANGYU COATING TECHNOLOGY Co.,Ltd. Address before: 224051 middle road of hope Avenue, Yancheng City, Jiangsu Province, No. 1 Patentee before: YANCHENG INSTITUTE OF TECHNOLOGY |
|
| TR01 | Transfer of patent right |