Laser Three-dimensional Modeling And Spray Trajectory Planning

As an important application of intelligent robots in the field of industrial manufacturing,automatic painting robots are widely used in the fields of vehicle manufacturing,ship painting and even airship assembly,and have played an important role in improving the paint processing environment and high-volume spraying production.In spite of this,smart and efficient painting robot technology is still a research hotspot.For example,under the premise of completing the spraying task,the spraying trajectory can be planned and designed reasonably to improve the spraying quality.This paper is about the distribution of coating thickness obtained by coating operations.With the help of laser three-dimensional reconstruction technology,the spraying trajectory of the spraying robot is planned and designed.First of all,introduced the process of automatic painting process,analyzed the influence of spraying process parameters such as spraying height,spraying interval and moving speed on the coating thickness,and established a model related to electrostatic spraying process,focusing on the plane Spray process theory and experimental models and surface coating thickness calculation models,and the model was related to simulation verification.On this basis,with the objective function of the actual coating and the expected coating thickness deviation and coating film uniformity,an optimization model of the coating thickness parameters was established.The optimization parameters of the coating process parameters were optimized and the optimized parameters were effectively improved.The effect of coating distribution;then,the principle and method of measuring surface information by a laser scanner are given.The point cloud data including the surface geometric features of the laser scanner is scanned through a laser scanner,and is then used in a point cloud library.After preprocessing such as registration,filtering,denoising smoothing,and streamlining,the reconstruction of the workpiece to be coated is completed according to a multi-criterion triangulation method;after that,the geometric features of the surface of the workpiece to be coated are planar and free-form surfaces.In the situation,the point cloud data slice technique was used to solve the path information of the spray gun on the surface of the workpiece to be coated,and the normal vector of the planar spray path was obtained by the least squares method and the vector weighting method based on the triangular patch sampling point method was used to complete the Solve the normal vector of the curved spray path point,and further normalize the set of slicing points.Spray pose information set to get the gun.Finally,using the six-axis spray robot as a model,the DH parameter method was used to establish the kinematics equation of the spray robot,and the polynomial interpolation method was used to interpolate the angle,angular velocity,and angular acceleration of each joint angle in the joint space.,and use linear and circular interpolation to interpolate the trajectory of the movement of the gun at the end of the robot,so that the movement path of the painting robot is more stable and continuous,and its simulation is verified.