Research And Application Of Robot Automatic Spraying System Based On Machine Vision

The sole spraying process is one of the most important processes in footwear production,at present,the gluing process of most companies is still done manually.In order to improve the quality and efficiency of sole gluing and reduce the cost of production,the automatic spraying system based on machine vision is developed.The application of machine vision technology can achieve the following functions: automatic identification and positioning of soles,automatic extraction of spray trajectory and complete sole spraying.Research on automatic spraying system not only can improve the level of automation,but also bring economic benefits to the company.In the course of research,according to the technical requirements of the system,through theoretical analysis and calculation,the key equipment of the system is selected and designed;The principle of coordinate transformation of visual system is analyzed,complete the transformation from pixel coordinates to robot world coordinates;The growth rate model of the adhesive film was established,and the optimum working distance and conditions of the spray gun are determined through experiments;In order to extract the trajectory of spray,the algorithm and process of image processing are designed;Analysis and comparison of different image processing methods,and chose the best method according to processing effect.In order to get a continuous and smooth spray trajectory,NURBS curve interpolation algorithm is used to interpolate the discrete points of the trajectory;The forward and inverse kinematics of the spraying robot are analyzed,and the working space of the robot is determined according to the motion range constraint of each joint;Cubic spline interpolation method,cubic quasi-uniform B-spline interpolation method and cubic triangular Bezier spline interpolation method were used to planning robot trajectory,and the acceleration mutation problem of Cubic spline interpolation and cubic triangular Bezier spline interpolation is improved;Comparison and analysis of the planning effect of different algorithms,and choose the best algorithm suitable for this subject.The hardware platform of automatic spraying system is designed and established,the system control program is designed,and the human-machine interaction interface is developed.The performance verification experiments were carried out based on the developed automatic spraying system.Field tests and experiments show that the algorithms for spray trajectory extraction is reasonably designed,and the system can accurately extract the spray trajectory;The trajectory planning algorithm has better performance,and the robot runs smoothly and without impact;The glue line is uniform and meets the technical requirements;The developed automatic spraying system can meet the needs of engineering application.