| Automatic programming technology of intelligent spraying robot is a research focus and difficult point for recent 20 years, as well as the core to realize intellectualization. The self-programming technology of spraying means melting automatic path planning of robot with spraying technology, namely, the spray robot produces a path automatically according to the geometric feature of the workpiece and optimize the path with the consideration of the effect on spraying. In the traditional manual spray and training job, the spraying work has a higher skill requirement for operators and it is difficult to control the quality of spraying. Automatic programming technology of spraying can significantly improve spraying environment, production efficiency and intelligent level and it has a prospect application in aerospace, automotive and military field, especially outstanding when applied to many kinds of flexible spraying production line. Therefore, this paper did a research about automatic programming technology of spraying based on point cloud technology in reverse engineering with the problem of automatic path planning for spraying robot.Firstly, the modeling and parameter optimization of spraying process is investigated by using mono-objective optimization algorithm with multiple constraints based on the analysis of spraying technology and the distribution of coating thickness in the spraying process. Analyzing spraying process through the research of spraying field, then establishing coating deposition rate model accurately for spraying process based on the analysis of spraying process. Then selecting expected thickness of the coating, maximum allowable deviation as the constraint conditions and the coating thickness distribution uniformity as the optimization goal to optimize the spraying parameters through solving multi-objective optimization problem with constraints, the optimization result will be fused in spraying path planning algorithm in the form of spraying process.Secondly, a clustering analysis method on the basis of point cloud’s streamline technology is proposed, which solves the problem that surface reconstruction algorithm conducts slowly in dealing with enormous data. Using 3D sensor device Kinect 2.0 scans artifacts to get point cloud model and using the Point Cloud Library(PCL) to preprocess original point cloud data of the artifacts, which mainly including denoising, smoothing, simplification, etc. and then reconstructing the surface through the fast greedy triangulation algorithm to get a triangle surface model.Thirdly, this article puts forward a new means due to surface subdivision algorithm and point cloud slicing technique in order to overcome the difficulty in the automatic path planning on the complex surface. As for simple surface, directly using point cloud slicing technology with the requirement of related spraying craft to conduct spraying path planning. If the surface is more complex, firstly using subdivision algorithm to slice triangulation surface, then using the point cloud slicing algorithm on each shard to realize the whole spray path planning.Finally, in view of the intelligent flexible spraying requirements for spraying robot in this subject, this article developed the spraying robot automatic programming software based on the MFC framework and Open CV, PCL and a mixture programming technology with C++ and MATLAB under the environment of Visual Studio 2013 and realized model reconstruction and spraying path planning for many kinds of workpiece. Besides, the spraying path point file and programs which can be executed by spraying robot are generated. Finally, using the six degrees of freedom industrial robot HR20-1700-C10 produced by Huibo robot co., LTD as the experimental platform to conduct experiments. |
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