Research On Automatic Spraying System Based On Machine Vision

The traditional spraying system exists many unavoidable problems,such as low spraying efficiency,harsh spraying environment and poor spraying quality.The automatic spraying system that realized by the spraying robot not only solves the problems of traditional spraying system,but also uses spraying robot instead of spraying worker to work in harsh environment.However,the current automatic spraying system is only apply to some large manufacturers who producing large quantities of single product,and not apply to some small manufacturers who producing small yield of multiple products.Therefore,the project designs a set of automatic spraying system based on machine vision,which tacking the door spraying project of Guangzhou Ningji Intelligent System Limited Company as the project's background.The system not only realizes the automatic detection and spraying of the different workpiece,but also greatly reduces the production cost.According to the system function,the system is divided into three modules:transportation module,machine vision module and spraying robot module.By using two conveyor chains,hoist and photoelectric sensors and other equipment,the transportation module realizes the function of quickly and accurately transporting the workpiece to the image detection area and the spraying area.On the basis of specific to the distinctiveness of the spraying environment,this paper completes the hardware equipment selection in machine vision module.What's more,this paper analyzes the image processing in detail which is related with the judgment of workpiece's type and the measurement of workpiece's size,such as histogram equalization,image denoise,threshold segmentation,edge detection,linear detection and so on.Finally,the system of machine vision is calibrated by using the traditional calibration method.In the spraying robot module,this paper establishes a conical spray model and establishes coating accumulation rate model by using the ? distribution model.Moreover,the thickness variance of the coating is used as an evaluation function of the coating uniformity.According to the physical characteristics of the workpiece,this paper puts forward a path planning algorithm based on plane gradient.At final,a machine vision detection software based on HALCON and WinForm is designed for the machine vision module.This paper simulates and verifies the spraying path of the workpiece by using the IRB5500 spraying robot in the Robot Studio application software.