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CN-121995853-A - Track checking and generating method and system of spraying robot

CN121995853ACN 121995853 ACN121995853 ACN 121995853ACN-121995853-A

Abstract

The invention relates to a track verification and generation method and system of a spraying robot, wherein the verification method comprises the steps of defining a plurality of datum points before generating a target spraying track, forming corresponding derivative vectors based on the plurality of datum points, obtaining derivative vectors, verifying the plurality of datum points based on bidirectional vector closed loop detection to obtain point position sequence verification information, verifying the plurality of datum points based on a Euclidean distance measurement mode to obtain point position distance verification information, verifying the plurality of datum points based on dot product comparison of the derivative vectors to obtain parallelism verification information, and verifying the plurality of datum points based on dot multiplication of the derivative vectors to obtain coplanarity verification information. According to the method, the target operation scene is fully evaluated through the verification systems such as the point position sequence, the point distance and the parallelism, so that the operation reliability of the spraying robot is improved, and the operation efficiency is improved.

Inventors

  • GAO JIAN
  • YANG CHAO
  • YANG HAIFENG

Assignees

  • 北京炎凌嘉业智能科技股份有限公司

Dates

Publication Date
20260508
Application Date
20260115

Claims (11)

  1. 1.A track verification method of a spraying robot is characterized in that the verification method comprises the steps of before generating a target spraying track, Defining a plurality of datum points in a target working area, and forming corresponding first derivative vectors based on the datum points; Acquiring the first derivative vector, checking a plurality of datum points based on bidirectional vector closed loop detection, obtaining point location sequence checking information, judging whether the point location sequence checking information is in a point location sequence threshold value, and if so, checking through the point location sequence; Checking a plurality of datum points based on a Euclidean distance measurement mode, obtaining point location distance checking information, judging whether the point location distance checking information is within a point location distance threshold value, and if so, passing the point location distance checking; Checking a plurality of datum points based on dot product comparison of derivative vectors, obtaining parallelism checking information, judging whether the parallelism checking information is in a parallelism threshold value or not, and if so, passing parallelism detection; And checking a plurality of datum points based on dot multiplication of the derivative vector, obtaining coplanarity checking information, judging whether the coplanarity checking information is in a coplanarity threshold value, and if so, passing coplanarity detection.
  2. 2. The method of trajectory verification of a painting robot of claim 1, wherein the verification method further comprises: and acquiring spraying scene information of a target spraying robot, and adjusting the point position distance threshold value, the parallelism threshold value and the coplanarity threshold value based on the spraying scene information.
  3. 3. The trajectory verification method of a painting robot according to claim 2, wherein the adjusting the dot position distance threshold, parallelism threshold, and coplanarity threshold based on the painting scene information includes: Adjusting the spraying fan of the spraying robot based on the obtained spraying scene information; and obtaining a corresponding point position distance threshold value, a parallelism threshold value and a coplanarity threshold value based on the belonging range of the spraying fan.
  4. 4. The method for verifying the trajectory of a painting robot according to claim 3, wherein the obtaining the corresponding point distance threshold based on the range to which the painting fan belongs satisfies: Wherein BM is the reference sector, For the current point distance to be the same, In order to be at the transition center position, For the steep coefficient of the transition, In order to adjust the factor of the width of the transition, Is a point distance threshold.
  5. 5. The method of trajectory verification of a painting robot of claim 1, wherein the verification method further comprises: selecting two of the datum points, and selecting an arc vertex based on an arc generated between the two selected datum points; and forming a derivative vector based on the arc vertex and the two corresponding selected reference points, obtaining arc surface verification information according to a three-point collineation detection mode, judging whether the arc surface verification information is in an arc surface threshold value, and detecting through the arc surface threshold value if the arc surface verification information is in the arc surface threshold value.
  6. 6. The method for verifying the trajectory of a painting robot according to claim 1, further comprising, after generating the target painting trajectory, evaluating a deviation of the generated trajectory from a theoretical trajectory by a fraiche distance, and if the deviation is greater than a deviation threshold, not passing the verification; and generating track mutation through acceleration change rate detection, and triggering to correct the generation estimation when the acceleration change rate is larger than an acceleration threshold value.
  7. 7. The method of trajectory verification of a painting robot according to claim 6, wherein the generating of the deviation of the trajectory from the theoretical trajectory by fraiche distance estimation comprises: And importing a discrete verification model to the generated spraying track and the actual spraying track of the spraying robot for verification, wherein the discrete verification model meets the following conditions: Wherein the said In order to be an actual spray trajectory, In order to generate a spray trajectory, For a continuous monotonically increasing function from interval 0,1 to itself to represent the speed of motion along the actual spray trajectory, In order to represent the speed of the generated spray trajectory motion by a continuous monotonically increasing function from the interval 0,1 to itself, Is the current time.
  8. 8. A trajectory generation method of a painting robot, the generation method comprising: performing the trajectory verification method of any one of claims 1 to 5; And if the verification is passed, the datum points are led into a track generation model so as to generate a spraying track in the target working area.
  9. 9. The trajectory generation method of a painting robot according to claim 8, wherein if the reference point passes the reference point verification, the reference point is introduced into a trajectory generation model to generate a painting trajectory in a target work area, the painting trajectory including a painting height trajectory satisfying: Wherein, the In order to achieve a spray height, the spray head is, The height of the spray coating is used as a reference, In order to achieve the desired coefficient of atomization, In order to achieve an atomization index, For the purpose of reference to the atomization index, As a function of the fan-amplitude attenuation coefficient, In order to be a sensitivity of the fan amplitude, As a reference to the extent of the fan, Is the smallest effective fan.
  10. 10. The trajectory generation method of a painting robot according to claim 8, wherein if the reference point passes the reference point verification, the reference point is introduced into a trajectory generation model to generate a painting trajectory in a target work area, the painting trajectory including a painting angle trajectory, the painting angle trajectory satisfying: Wherein, the For the final spray angle to be the same, As the reference spraying angle, the spray angle is the same as the reference spraying angle, In order to achieve the desired coefficient of atomization, In order to achieve an atomization index, As a function of the fan-amplitude attenuation coefficient, In order to be a sensitivity of the fan amplitude, Is an atomization index.
  11. 11. A trajectory generation system of a painting robot, comprising: The track checking module is used for defining a plurality of datum points in a target operation area and carrying out datum point checking on the datum points, wherein the datum point checking comprises point position sequence checking, point distance detection, parallelism detection and coplanarity detection on the plurality of datum points in sequence; the track generation film is used for guiding the datum points into the track generation model to generate the spraying track in the target working area if the datum point verification is passed.

Description

Track checking and generating method and system of spraying robot Technical Field The invention relates to the field of intelligent control, in particular to a track checking and generating method and system of a spraying robot. Background In the traditional spray sites of automobiles, furniture and general industrial parts, the track planning is mainly performed by 'manual teaching and trial spray correction'. The operator records the pose of the spray gun point by point through the demonstrator, then carries out real spray detection, and repeatedly fine-adjusts according to the film thickness deviation. The method has the following defects that the teaching period is long, the whole track calibration is finished in 3-5 days on average for a new vehicle model, the fault tolerance is poor, the track distortion is caused by slightly abnormal input point sets (such as reverse order and too close two points), the film thickness deviation can reach +/-25 mu m, and the teaching result difference of different technicians is large and the consistency is difficult to guarantee when the same workpiece is used for line change production depending on experience. In recent years, 3D vision + offline programming schemes have emerged on the market. The method comprises the typical processes of scanning a workpiece by 3D line laser or structured light, acquiring point cloud, extracting edge characteristics, generating a primitive set, dispersing into six-dimensional pose points according to preset offset and interval parameters, and outputting a robot executable file. The scheme omits manual teaching, but only performs two-dimensional convex hull or minimum bounding box detection, cannot identify three-dimensional anomalies such as spatial coplanarity, sequence conflict and the like, and lacks comprehensive verification before generation of the generation track. This may cause a problem that the target job scenario is not sufficiently evaluated in accordance with the generated job track, and thus a job interrupt or the like may occur. Disclosure of Invention Accordingly, it is necessary to provide a trajectory verification and generation method and generation system for a painting robot, which is required to solve the problem that the painting robot is likely to interrupt the work during the work. A track verification method of a spraying robot comprises the steps of before generating a target spraying track, Defining a plurality of datum points in a target working area, and forming corresponding first derivative vectors based on the datum points; Acquiring the first derivative vector, checking a plurality of datum points based on bidirectional vector closed loop detection, obtaining point location sequence checking information, judging whether the point location sequence checking information is in a point location sequence threshold value, and if so, checking through the point location sequence; Checking a plurality of datum points based on a Euclidean distance measurement mode, obtaining point location distance checking information, judging whether the point location distance checking information is within a point location distance threshold value, and if so, passing the point location distance checking; Checking a plurality of datum points based on dot product comparison of derivative vectors, obtaining parallelism checking information, judging whether the parallelism checking information is in a parallelism threshold value or not, and if so, passing parallelism detection; And checking a plurality of datum points based on dot multiplication of the derivative vector, obtaining coplanarity checking information, judging whether the coplanarity checking information is in a coplanarity threshold value, and if so, passing coplanarity detection. In one preferred embodiment, the verification method further comprises: and acquiring spraying scene information of a target spraying robot, and adjusting the point position distance threshold value, the parallelism threshold value and the coplanarity threshold value based on the spraying scene information. In one preferred embodiment, the adjusting the dot distance threshold, the parallelism threshold, and the coplanarity threshold based on the spraying scene information includes: Adjusting the spraying fan of the spraying robot based on the obtained spraying scene information; and obtaining a corresponding point position distance threshold value, a parallelism threshold value and a coplanarity threshold value based on the belonging range of the spraying fan. In one preferred embodiment, the obtaining the corresponding point distance threshold based on the range of the spraying fan meets the following conditions: Wherein BM is the reference sector, For the current point distance to be the same,In order to be at the transition center position,For the steep coefficient of the transition,In order to adjust the factor of the width of the transition,Is a point distance threshold. In one p