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CN-122023507-A - Automobile spraying track generation method and system

CN122023507ACN 122023507 ACN122023507 ACN 122023507ACN-122023507-A

Abstract

The invention discloses a method and a system for generating an automobile spraying track, which relate to the field of path planning and comprise the steps of collecting a three-dimensional model of a workpiece, materials and area data and constructing a comprehensive data set; the method comprises the steps of adaptively dividing spraying subareas based on curvature of a curved surface and boundary conditions to generate a subarea mapping table, determining spraying parameters of all subareas through a multi-factor matching algorithm, generating an initial track through a contour parallel algorithm, optimizing thickness uniformity through finite element simulation, adjusting track parameters, carrying out collision detection and boundary correction by combining an obstacle model, and finally smoothing the track through a B spline curve, integrating time parameters to generate an executable time sequence instruction set and outputting the executable time sequence instruction set to spraying equipment. The intelligent and accurate planning method has the advantages that intelligent and accurate planning of the spraying track is realized, the intelligent and accurate planning method can be adapted to complex curved surfaces of automobile workpieces, the spraying uniformity is guaranteed, collision risks are avoided through multi-loop optimization, and the spraying quality and the operating efficiency are both considered.

Inventors

  • WANG QINGYUN
  • WANG SHUIBING

Assignees

  • 湖南钰宏新材料科技有限公司

Dates

Publication Date
20260512
Application Date
20260129

Claims (9)

  1. 1. The method for generating the automobile spraying track is characterized by comprising the following steps of: Acquiring a three-dimensional geometric model, surface material parameters and boundary data of a spraying area of an automobile workpiece to be sprayed, preprocessing and correlating structural data to generate a comprehensive data set containing geometric, material and area characteristics; dividing spraying subareas by a self-adaptive algorithm based on curvature of curved surfaces of the workpiece, normal distribution and preset boundaries, enabling the similarity of curved surface characteristics in each subarea to reach a threshold value and enabling the boundaries to be smooth, and distributing labels for each subarea to form a subarea mapping table; the spraying parameter database is called, the spraying parameters of all the subareas are obtained through a multi-factor coupling matching algorithm by combining the curved surfaces, the materials and the preset spraying thickness of all the subareas, and a spraying parameter configuration table of all the subareas is generated; generating an initial spraying track through a contour parallel algorithm based on the partition mapping table and the spraying parameter configuration table, planning a starting point and track distance to enable spraying to be covered completely, and optimizing through inter-area path connection to form an initial track set; Carrying out spray uniformity simulation analysis on the obtained initial track set based on finite element simulation, identifying a thickness uneven region by calculating the distribution of the coating deposition thickness under the initial track, dynamically adjusting track spacing and spray gun speed, optimizing the track and generating an optimized track set; Constructing an obstacle model by combining the three-dimensional geometric model of the workpiece and the information of the fixture, performing collision detection and offset correction on the optimized track set, and correcting deviation between a track line and the boundary by performing adaptive verification on tracks at boundaries of all sub-areas to generate a qualified track set; and (3) carrying out smooth transition on broken line inflection points in the track by adopting a B spline curve fitting algorithm, integrating a qualified track set and spraying parameters to generate a time sequence instruction set containing a time sequence, and outputting the time sequence instruction set to spraying equipment.
  2. 2. The method for generating the spraying track of the automobile according to claim 1, wherein the steps of acquiring the three-dimensional geometric model, the surface material parameters and the spraying area boundary data of the automobile workpiece to be sprayed, correlating the structural data after preprocessing, and generating the comprehensive data set containing geometric, material and area features specifically comprise: Collecting three-dimensional geometric model data, surface material parameters and preset spraying area boundary data of an automobile workpiece to be sprayed, denoising and simplifying the three-dimensional geometric model data, removing redundant vertexes and invalid surfaces, and structurally associating the surface material parameters with the preset spraying area boundary data to generate a comprehensive data set containing geometric features, material properties and area division; The three-dimensional geometric model data are obtained through laser scanning and photogrammetry, surface material parameters comprise material heat conductivity coefficient, surface roughness and adsorption coefficient to paint, and the boundary of a preset spraying area is extracted from a workpiece high-definition image through an image segmentation algorithm and is aligned with the three-dimensional geometric model in coordinates.
  3. 3. The method for generating the spraying track of the automobile according to claim 1, wherein the dividing the spraying subareas by a self-adaptive algorithm based on curvature of the curved surface of the workpiece, normal distribution and a preset boundary to enable the similarity of the curved surface characteristics in each subarea to reach a threshold value and the boundary to be smooth, and allocating labels to each subarea, and forming a subarea mapping table specifically comprises: dividing the surface of a workpiece to be sprayed into a plurality of spraying subareas by adopting a self-adaptive area dividing algorithm based on the curvature change of a three-dimensional geometric model curved surface, normal direction distribution and preset spraying area boundary in the acquired comprehensive data set; In the dividing process, the curvature abrupt change point of the curved surface, the normal direction change threshold value and the boundary of a preset area are taken as partition basis, so that the similarity of the curved surface characteristics in each spraying sub-area meets the preset threshold value, and the boundary between the adjacent sub-areas is in smooth transition; And distributing unique area identification and material attribute labels to each spraying subarea to form a subarea mapping table.
  4. 4. The method for generating an automobile spraying track according to claim 1, wherein the step of retrieving a spraying parameter database, combining curved surfaces, materials and preset spraying thicknesses of all sub-areas, and obtaining the spraying parameters of all the sub-areas through a multi-factor coupling matching algorithm, and the step of generating a spraying parameter configuration table of all the sub-areas specifically comprises the following steps: Based on the obtained partition mapping table, a spraying parameter database is called, and based on the curvature of a curved surface, the surface roughness, the material adsorption coefficient and the preset spraying thickness requirement of each spraying subarea, the spraying pressure, the spraying flow, the moving speed of a spray gun and the distance parameters of the spray gun and the surface of a workpiece corresponding to each subarea are obtained through a multi-factor coupling matching algorithm; The spraying parameter database comprises reference spraying parameters and correction coefficients corresponding to the characteristics of different materials and curved surfaces; And the multi-factor coupling matching algorithm calculates the influence weight of each characteristic parameter on the spraying effect through weighting, and adapts the spraying parameters to the characteristics of the subareas to generate a spraying parameter configuration table of each subarea.
  5. 5. The method for generating an automobile spraying track according to claim 1, wherein the generating an initial spraying track by a contour parallel algorithm based on the partition mapping table and the spraying parameter configuration table, planning a distance between a start point and a track to fully cover the spraying, and optimizing the inter-area path connection to form an initial track set specifically comprises: Generating an initial spraying track by adopting a contour parallel path generation algorithm and taking the boundary of each spraying subarea as a constraint based on the partition mapping table and the spraying parameter configuration table; in the path planning process, selecting non-key characteristic positions of the boundaries of the subareas as a starting point and an ending point of the spray gun in each subarea; Calculating the distance between adjacent track lines by taking the track coverage as a target of no omission and no overlapping based on the spray gun moving speed and the spray width in the spray parameters; And planning transition tracks among all the subareas through inter-area path connection optimization, reducing idle strokes of the spray guns, and generating an initial track set comprising tracks in the subareas and transition tracks among the subareas.
  6. 6. The method for generating an automobile spraying track according to claim 1, wherein the performing spraying uniformity simulation analysis on the obtained initial track set based on finite element simulation, identifying a thickness non-uniform region by calculating a coating deposition thickness distribution under the initial track, dynamically adjusting track pitch and spray gun speed, optimizing the track, and generating an optimized track set specifically comprises: Performing spray uniformity simulation analysis on the generated initial track set, calculating the coating deposition thickness distribution of each subarea under the initial track through finite element simulation, comparing with a preset spray thickness threshold value, and identifying areas with uneven thickness distribution; For the areas with uneven thickness, adopting a track pitch dynamic adjustment algorithm to optimize the pitch of adjacent track lines, setting a curved surface curvature dividing threshold value, reducing the track pitch for the areas with large curved surface curvature to improve the spraying density, and increasing the track pitch for the curved surface gentle areas to improve the spraying efficiency; And (3) carrying out spray gun speed-shifting optimization by adopting speed control of uniform deceleration, uniform speed and uniform acceleration at track steering and region transition positions to obtain an optimized track set.
  7. 7. The method for generating an automobile spraying track according to claim 1, wherein the step of constructing an obstacle model by combining the workpiece three-dimensional geometric model and the fixture information, performing collision detection and offset correction on the optimized track set, and correcting the deviation between the track line and the boundary by performing adaptive verification on the track at the boundary of each sub-region, wherein the step of generating a qualified track set specifically comprises: combining the three-dimensional geometric model of the automobile workpiece to be sprayed and the position information of the fixture in the actual spraying scene to construct a spraying space obstacle model; traversing all track points in the optimized track set by adopting a collision detection algorithm, and judging whether the movement track of the spray gun collides with an obstacle or not; If collision risk exists, the paths of the corresponding track segments are adjusted through a track deviation correction algorithm, boundary point coordinate comparison is carried out on the tracks at the boundaries of all the subareas, deviation between the track line and the boundary is corrected, and a verification qualified track set is generated after verification is passed.
  8. 8. The method for generating an automobile spraying track according to claim 1, wherein the step of adopting a B-spline curve fitting algorithm to smoothly transition a broken line inflection point in the track, integrating a qualified track set and spraying parameters to generate a time sequence instruction set containing a time sequence, and outputting the time sequence instruction set to a spraying device specifically comprises: adopting a B spline curve fitting algorithm to carry out smooth transition on broken line inflection points in the qualified track set; Integrating the motion parameters of the track, correlating the spraying parameters, track coordinates and moving speed data of each sub-region, and generating a track instruction set containing a time sequence; and converting the format of the track instruction set, and outputting spraying track data which can be directly driven to be executed by the spraying equipment.
  9. 9. An automobile spray trajectory generation system for implementing an automobile spray trajectory generation method as claimed in any one of claims 1 to 8, comprising: the data acquisition module acquires a three-dimensional geometric model of the workpiece, surface material parameters and a spraying area boundary through laser scanning and image processing technology, and integrates the three-dimensional geometric model, the surface material parameters and the spraying area boundary into a structured comprehensive data set; The self-adaptive partitioning module is used for partitioning the spraying subareas and generating a partitioning mapping table based on curvature of the curved surface, normal distribution and preset boundaries; The parameter matching module is used for matching optimal spraying parameters from a database through a multi-factor coupling algorithm by combining the material, the curved surface characteristics and the spraying thickness requirements to generate a sub-region parameter configuration table; the track planning module is used for generating an initial spraying track by adopting a contour parallel algorithm, optimizing the starting points, the distances and the inter-region path connection, and forming a full-coverage collision-free initial track set; The simulation optimizing module is used for analyzing the deposition uniformity of the coating through finite element simulation, dynamically adjusting the track distance and the speed of the spray gun and optimizing the distribution of the spraying thickness; The collision detection and correction module is used for constructing an obstacle model to perform collision detection, correcting track deviation and boundary deviation and generating a qualified track set; The instruction generation and output module integrates the time sequence and the spraying parameters by utilizing the smooth track of the B spline curve to generate a time sequence instruction set executable by equipment; The processor is used for processing the calculation process of each formula and the construction calculation process of each model.

Description

Automobile spraying track generation method and system Technical Field The invention relates to the field of path planning, in particular to a method and a system for generating an automobile spraying track. Background With the continuous improvement of the requirements of the automobile industry on the quality, the environmental protection and the production efficiency of the coating, the robot automatic spraying gradually becomes the mainstream. However, the planning of the spray trajectory directly affects the coating uniformity, film thickness distribution and process cost, and the spray gun dynamics parameters, workpiece geometry, coating characteristics and spray process constraints need to be comprehensively considered. Early track generation relies on manual experience or simple path repetition, and is difficult to adapt to the optimization requirement of complex curved surfaces. The current automobile spraying track generation method on the market is difficult to adapt to the high-precision spraying requirement of complex workpieces. Most methods rely on manual teaching or simple off-line programming, have low automation degree, are time-consuming and labor-consuming, and are highly dependent on experience of operators, so that the method is difficult to cope with various small-batch production scenes. In complex surface treatment, the self-adaptive partitioning capability is lacking, the fixed track spacing and the spraying speed are adopted, the dynamic changes of curvature and normal distribution of the curved surface cannot be matched, and the problems of uneven coating thickness, incomplete coverage and the like are easy to occur. The track generation is mostly discrete waypoint splicing, complicated post-processing is needed, breakpoints are easy to generate, smoothness is poor, so that the robot runs in a pause, meanwhile, a precise finite element simulation optimization link is lacked, and the problems of pre-judging in advance and spraying uniformity are difficult to solve. In addition, the collision detection mechanism of part of the method is imperfect, obstacle information such as a fixture and the like is not fully fused, operation risks exist, multi-factor coupling proper matching is not realized by parameter matching, and universality and stability are poor. Disclosure of Invention In order to perfect the existing method and system, the method and the system for generating the automobile spraying track are provided, the method realizes intelligent and accurate planning of the spraying track, can be adapted to complex curved surfaces of automobile workpieces, ensures the spraying uniformity through multi-loop optimization, avoids collision risks, and combines the spraying quality and the operating efficiency. In order to achieve the above purpose, the invention adopts the following technical scheme: A method for generating an automobile spraying track comprises the following steps: Acquiring a three-dimensional geometric model, surface material parameters and boundary data of a spraying area of an automobile workpiece to be sprayed, preprocessing and correlating structural data to generate a comprehensive data set containing geometric, material and area characteristics; dividing spraying subareas by a self-adaptive algorithm based on curvature of curved surfaces of the workpiece, normal distribution and preset boundaries, enabling the similarity of curved surface characteristics in each subarea to reach a threshold value and enabling the boundaries to be smooth, and distributing labels for each subarea to form a subarea mapping table; the spraying parameter database is called, the spraying parameters of all the subareas are obtained through a multi-factor coupling matching algorithm by combining the curved surfaces, the materials and the preset spraying thickness of all the subareas, and a spraying parameter configuration table of all the subareas is generated; generating an initial spraying track through a contour parallel algorithm based on the partition mapping table and the spraying parameter configuration table, planning a starting point and track distance to enable spraying to be covered completely, and optimizing through inter-area path connection to form an initial track set; Carrying out spray uniformity simulation analysis on the obtained initial track set based on finite element simulation, identifying a thickness uneven region by calculating the distribution of the coating deposition thickness under the initial track, dynamically adjusting track spacing and spray gun speed, optimizing the track and generating an optimized track set; Constructing an obstacle model by combining the three-dimensional geometric model of the workpiece and the information of the fixture, performing collision detection and offset correction on the optimized track set, and correcting deviation between a track line and the boundary by performing adaptive verification on tracks at boundaries of all