CN-121982438-A - Self-adaptive tracking spraying system for multiple types of workpieces

CN121982438ACN 121982438 ACN121982438 ACN 121982438ACN-121982438-A

Abstract

The invention relates to the technical field of workpiece spraying, in particular to a self-adaptive tracking spraying system for multiple types of workpieces, which comprises a workpiece analysis module, a flow compensation module, a path planning module, a speed resolving module, a joint optimizing module and an execution control module, wherein key information extraction is carried out on three-dimensional point cloud data to obtain a characteristic data set; the method comprises the steps of performing kinematic solution on a workpiece, performing real-time compensation correction on a type identifier to obtain a dynamic spraying parameter set, performing discretization path planning on a spraying robot to obtain a discretization tracking track, performing speed calculation on the spraying robot to obtain a theoretical moving speed range, performing joint constraint optimization on the theoretical moving speed range and the spraying robot to obtain a joint movement instruction set, and transmitting the joint movement instruction set and the dynamic spraying parameter set to the spraying robot to drive the spraying robot to perform corresponding joint movement and spray operation of a spray gun.

Inventors

ZOU SHENGHUA

Assignees

东莞骏伟塑胶五金有限公司

Dates

Publication Date: 20260505
Application Date: 20260407

Claims (10)

1. An adaptive tracking spray coating system for multiple types of workpieces, the system comprising a workpiece parsing module, a flow compensation module, a path planning module, a speed resolving module, a joint optimization module, and an execution control module, wherein: The workpiece analysis module is used for extracting key information of three-dimensional point cloud data of a workpiece to obtain a characteristic data set of the workpiece, wherein the characteristic data set comprises a type identifier and a space pose parameter; The flow compensation module is used for performing kinematic solution on the instantaneous space speed of the workpiece based on the space pose parameters and the real-time speed data of the workpiece, and performing real-time compensation correction on the basic spraying flow of the type identifier according to the solution result to obtain a dynamic spraying parameter set of the spraying robot; the path planning module is used for carrying out discretization path planning on the spraying robot based on the dynamic spraying parameter set and the contour feature data of the workpiece to obtain a discretization tracking track of the spraying robot; the speed resolving module is used for resolving the speed of the spraying robot at the sampling points of the discretization tracking track according to the dynamic spraying parameter set to obtain the theoretical movement speed range of the spraying robot; the joint optimization module is used for performing joint constraint optimization on the theoretical motion speed range and the joint motion capacity of the spraying robot to obtain a joint motion instruction set of the spraying robot; the execution control module is used for sending the joint movement instruction set and the dynamic spraying parameter set to the spraying robot so as to drive the spraying robot to execute corresponding joint movement and spray gun spraying operation.
2. The adaptive tracking spray system for multiple types of workpieces according to claim 1, wherein the workpiece parsing module is configured to, when performing key information extraction on three-dimensional point cloud data of a workpiece to obtain a feature dataset of the workpiece, wherein the feature dataset includes type identifiers and spatial pose parameters: Carrying out statistical filtering on the original three-dimensional point cloud data of the workpiece to obtain denoising point cloud data of the workpiece; performing point cloud cluster segmentation on the denoising point cloud data to obtain target workpiece point cloud data of the workpiece; detecting boundary characteristic points of the target workpiece point cloud to obtain a workpiece contour point set of the workpiece; Performing geometric feature fitting on the workpiece contour point set to obtain space pose parameters of the workpiece, and performing feature matching on the target workpiece point cloud and a preset workpiece type template library to obtain type identifiers of the workpiece; And carrying out structured packaging on the type identifier and the space pose parameter to obtain a characteristic data set of the workpiece.
3. The adaptive tracking spray system for multiple types of workpieces according to claim 1, wherein the flow compensation module is configured to, when executing a kinematic solution for an instantaneous spatial velocity of the workpiece based on the spatial pose parameter and the real-time velocity data of the workpiece, and performing a real-time compensation correction for a basic spray flow of the type identifier according to a solution result, obtain a dynamic spray parameter set of the spray robot: Performing space-time correlation on the real-time speed data of the workpiece and the central point coordinates in the space pose parameters to obtain an instantaneous motion vector of the workpiece; performing kinematic mapping on the instantaneous motion vector to obtain relative spraying posture parameters of the spraying robot; Based on the relative spraying attitude parameters, real-time setting is carried out on the basic spraying flow of the type identifier, and an instantaneous compensation flow value of the spraying robot is obtained; And carrying out parameter binding on the instantaneous compensation flow value, a preset atomization air pressure value and a spraying fan width value to obtain a dynamic spraying parameter set of the spraying robot.
4. An adaptive chase spray coating system for multiple types of workpieces as recited in claim 3, wherein the flow compensation module, when executing real-time tuning of the base spray flow for the type identifier based on the relative spray attitude parameters, is specifically configured to: performing motion parameter fusion coupling on the normal approach speed and the tangential sweep speed of the relative spraying gesture parameters to obtain a spraying gesture feature vector of the workpiece; Performing feature matching on the spraying gesture feature vector and a preset flow setting mapping table to obtain a flow adjustment coefficient of the flow setting mapping table; And performing real-time adjustment on the basic spraying flow of the type identifier and the flow adjustment coefficient to obtain an instantaneous compensation flow value of the spraying robot, wherein the calculation formula of the instantaneous compensation flow value is as follows: ; In the formula, For the instantaneous compensation flow value, For the base spray flow rate in question, For the flow rate adjustment factor to be the same, A normal approach velocity vector for the relative spray gesture parameter, For a preset optimal normal approach velocity vector, As the maximum allowable value of the normal approach speed, A tangential sweep velocity vector for the relative spray pose parameter, For the maximum allowable value of the tangential sweep speed, In order to adaptively adjust the tangential velocity influence weighting coefficient according to the surface material characteristics of the workpiece, Is the included angle between the pointing gesture of the spray gun of the spraying robot and the normal direction of the surface of the workpiece.
5. An adaptive tracking spray coating system for multiple types of workpieces as recited in claim 3, wherein said path planning module, when executing discretized path planning for said spray coating robot based on said dynamic spray coating parameter set and profile feature data of said workpiece, is specifically configured to: Performing coverage interval operation on the workpiece according to the spraying fan width value to obtain a path planning interval parameter of the workpiece; Generating a scanning line for the contour feature data of the workpiece based on the path planning interval parameter to obtain a continuous scanning path line of the workpiece; based on the space step length of the instantaneous compensation flow value, performing space sampling on the continuous scanning path line to obtain a path sampling point of the workpiece; Performing gesture expansion on the path sampling points to obtain an initial discrete path point set of the spraying robot, and performing time sequence arrangement on the initial discrete path point set according to the sequence of spraying operations in the spraying robot to obtain a discretization tracking track of the spraying robot.
6. An adaptive chase spray coating system for multiple types of workpieces as recited in claim 3, wherein the velocity calculation module, when executing velocity calculation on the spray coating robot at the sampling points of the discretized chase trajectory in accordance with the dynamic spray coating parameter set, is specifically configured to: acquiring path sampling point information in the discretization tracking track; Track attribute analysis is carried out on the discretization tracking track to obtain track complexity parameters of the spraying robot; performing association analysis on the instantaneous compensation flow value and the track complexity parameter to obtain a basic passing speed reference value of the spraying robot, wherein the basic passing speed reference value has the following calculation formula: ; In the formula, Is the first The basis at the sampling points passes the speed reference value, Is the first The instantaneous compensation flow value at each sampling point, Is the first The included angle between the pointing posture of the spray gun and the normal direction of the surface of the workpiece at each sampling point, Is a preset target coefficient of the thickness of the coating, For the spray fan width value, Is the first The trajectory complexity parameter at each sampling point; Carrying out speed constraint optimization on the basic passing speed reference value by combining with the continuity constraint among the path sampling point information to obtain the lowest passing speed and the highest passing speed of the spraying robot; And integrating the minimum passing speed and the maximum passing speed in intervals to obtain a theoretical movement speed range of the spraying robot.
7. The adaptive chase spray coating system for multiple types of workpieces as recited in claim 6, wherein the velocity resolution module, when performing a trajectory attribute resolution of the discretized chase trajectory, is specifically configured to: Measuring and calculating the sampling point distance of the path sampling point information to obtain a space distance sequence of the spraying robot; Carrying out differential comparison on the path sampling point information to obtain a gesture variation sequence of the spraying robot; based on the space distance sequence and the attitude variation sequence, carrying out track segment clustering on the discretization tracking track to obtain a continuous track section of the spraying robot; Performing characteristic value aggregation on the continuous track section to obtain a section characteristic value of the spraying robot; and carrying out normalized mapping on the section characteristic values to obtain the track complexity parameter of the spraying robot.
8. An adaptive chase spray coating system for multiple types of workpieces as recited in claim 1, wherein the joint optimization module, when executing joint constraint optimization of the theoretical motion speed range and the articulation capability of the spray robot, is operable to obtain an articulation instruction set for the spray robot, in particular: based on the theoretical movement speed range, performing joint space conversion on the discretization tracking track to obtain a joint theoretical rotation speed demand sequence of the spraying robot; Performing joint-by-joint matching identification on the joint theoretical rotating speed demand sequence, the joint maximum rotating speed limit and the joint maximum acceleration limit of the spraying robot to obtain a speed overrun track section of the spraying robot; performing adaptive adjustment on the speed overrun track section to obtain a joint executable speed curve of the spraying robot; Based on the joint executable speed curve, time sequence reassignment is carried out on the path sampling points to obtain a target position sequence and a target speed sequence of the spraying robot; And carrying out instruction arrangement on the target position sequence and the target speed sequence to obtain an articulation instruction set of the spraying robot.
9. The adaptive chase spray coating system for multiple types of workpieces as recited in claim 8, wherein the joint optimization module, when performing an adaptive adjustment of the speed overrun trajectory segment, is operable to obtain a joint executable speed profile for the spray robot, is operable to: extracting overrun characteristics of the speed overrun track section to obtain overrun joint identification and overrun time interval distribution of the spraying robot; performing interval calibration on the discretization tracking track based on the overrun period distribution to obtain an overrun section and a non-overrun section of the spraying robot; Performing amplitude clamping on a theoretical rotating speed demand sequence of the overrun joint in the overrun section according to the overrun joint identification to obtain a limiting rotating speed sequence of the spraying robot; Carrying out linking smoothing treatment on the amplitude limiting rotating speed sequence and the theoretical rotating speed demand sequence of the non-overrun section to obtain a smooth rotating speed sequence of the spraying robot; And carrying out motion cooperative matching on the theoretical rotating speed demand sequence of the non-overrun joint in the overrun section based on the smooth rotating speed sequence to obtain a joint cooperative rotating speed sequence of the spraying robot, and carrying out splicing fusion on the joint cooperative rotating speed sequence and the theoretical rotating speed demand sequence of the non-overrun section to obtain a joint executable speed curve of the spraying robot.
10. An adaptive chase spray coating system for multiple types of workpieces as recited in claim 3, wherein the execution control module, when executing the sending of the articulation instruction set and the dynamic spray parameter set to the spray robot to drive the spray robot to perform the corresponding articulation and spray gun spray operations, is specifically configured to: Performing protocol conversion on the joint movement instruction set to obtain a joint driving signal sequence of the spraying robot, and sending the joint driving signal sequence to a servo driver of the spraying robot; Performing signal modulation on the instantaneous compensation flow value, the atomization air pressure value and the fan width value to obtain an analog quantity control signal of the spraying robot; Generating a trigger time sequence of the time stamp information of the path sampling point to obtain a spray gun trigger pulse signal of the spraying robot; the analog quantity control signal and the spray gun trigger pulse signal are sent to a spraying executing mechanism of the spraying robot so as to drive a spray gun of the spraying executing mechanism to execute spraying operation according to the analog quantity control signal when the spraying robot moves to the path sampling point; and acquiring the actual joint position feedback of the spraying robot and the actual working state feedback of the spraying executing mechanism in real time to obtain the spraying process monitoring data of the spraying executing mechanism, and sending a spraying end signal to the spraying executing mechanism after the spraying robot finishes the path sampling point.

Description

Self-adaptive tracking spraying system for multiple types of workpieces Technical Field The invention relates to the technical field of workpiece spraying, in particular to a self-adaptive tracking spraying system for multiple types of workpieces. Background In the field of workpiece spraying, the spraying operation of multiple types of workpieces faces the technical problems of various workpiece forms and dynamic change of space pose, most of existing spraying systems adopt immobilized spraying parameters and preset moving paths, self-adaptive adjustment cannot be carried out according to the actual types and real-time space states of the workpieces, the spraying flow is not matched with the workpiece moving states, the problems of uneven coating thickness, spraying omission or excessive spraying are easy to occur, and the consistency of the spraying quality of different types of workpieces is difficult to guarantee. The traditional spray coating system is disjointed from the robot joint motion control, the constraint optimization is not carried out on the theoretical motion speed by combining the joint motion capability of the robot, the conditions of overrun of joint motion and insufficient track tracking precision are easy to occur, the motion stability and track tracking efficiency of the spray coating robot are reduced, the overall spray coating operation efficiency of multiple types of workpieces is greatly reduced due to frequent speed adjustment and action clamping, and the spray coating system is further limited in suitability and operation efficiency due to the lack of targeted spray coating parameter setting strategies for the workpieces with different materials and different contours, so that the self-adaptive tracking spray coating efficiency of the multiple types of workpieces is improved. Disclosure of Invention In order to achieve the above object, the present invention provides an adaptive tracking spray coating system for multiple types of workpieces, which is characterized in that the system comprises a workpiece analysis module, a flow compensation module, a path planning module, a speed resolving module, a joint optimizing module and an execution control module, wherein: The workpiece analysis module is used for extracting key information of three-dimensional point cloud data of a workpiece to obtain a characteristic data set of the workpiece, wherein the characteristic data set comprises a type identifier and a space pose parameter; The flow compensation module is used for performing kinematic solution on the instantaneous space speed of the workpiece based on the space pose parameters and the real-time speed data of the workpiece, and performing real-time compensation correction on the basic spraying flow of the type identifier according to the solution result to obtain a dynamic spraying parameter set of the spraying robot; the path planning module is used for carrying out discretization path planning on the spraying robot based on the dynamic spraying parameter set and the contour feature data of the workpiece to obtain a discretization tracking track of the spraying robot; the speed resolving module is used for resolving the speed of the spraying robot at the sampling points of the discretization tracking track according to the dynamic spraying parameter set to obtain the theoretical movement speed range of the spraying robot; the joint optimization module is used for performing joint constraint optimization on the theoretical motion speed range and the joint motion capacity of the spraying robot to obtain a joint motion instruction set of the spraying robot; the execution control module is used for sending the joint movement instruction set and the dynamic spraying parameter set to the spraying robot so as to drive the spraying robot to execute corresponding joint movement and spray gun spraying operation. In a preferred embodiment, the workpiece analysis module performs key information extraction on three-dimensional point cloud data of a workpiece to obtain a feature dataset of the workpiece, where the feature dataset includes a type identifier and a spatial pose parameter, and is specifically configured to: Carrying out statistical filtering on the original three-dimensional point cloud data of the workpiece to obtain denoising point cloud data of the workpiece; performing point cloud cluster segmentation on the denoising point cloud data to obtain target workpiece point cloud data of the workpiece; detecting boundary characteristic points of the target workpiece point cloud to obtain a workpiece contour point set of the workpiece; Performing geometric feature fitting on the workpiece contour point set to obtain space pose parameters of the workpiece, and performing feature matching on the target workpiece point cloud and a preset workpiece type template library to obtain type identifiers of the workpiece; And carrying out structured packaging on the type identifier and the sp