Research On Spraying Planning Technology Of Customized Digital Camo Robot For Vehicle Surface

Spraying of Digital Camouflage on automobile surface is an important link in the production of military equipment.The Digital Camouflage spraying process is cumbersome,costly and inefficient.In view of this situation,it is necessary to study robot automatic digital camouflage spraying system.Compared with the traditional manual spraying,robot automatic spraying significantly improves the production efficiency,and reduces the steps such as marking and shielding.The biggest difference between the robot automatic digital camouflage spraying system and the traditional manual spraying system is to integrate some of the work needed in the field to the software.The main difficulty is the development of the related algorithms.After analyzing the related technologies at home and abroad,the robot Digital Camouflage spray system is deeply studied in this paper.Details are summarized as follows:Aiming at the inverse kinematics analysis and virtual robot calibration of the robot in the spraying process,the spraying system wants to simulate the actual robot movement.First,the virtual calibration of the robot is needed in the simulation environment,so that the parameters and the motion relation of the robot are the same as the actual robot.Then the robot's control cabinet is simulated by inverse kinematics algorithm,and the joint angles of the robot are obtained when the target position is reached.Finally,robot motion instructions are generated according to spray requirements and robot joint angles.This will become a virtual and realistic connection interface.For the hand-painted camouflage on the device,this paper proposes a texture mapping technique based on the octree theory.The main function of this algorithm is to map the 2D camouflage to the 3D model and output the mapping result.Considering that it is necessary to control the boundaries of the color blocks in the spraying process,an octree based fast segmentation algorithm is proposed to change the real data of the grid.In order to meet the spraying precision requirements,this paper studied the point cloud filtering algorithm and applied it to the meshing mesh to minimize the deformation of the mesh.Through the technology of volume mapping,we can reduce the visual deformation in the process of mapping,and achieve the purpose of camouflage in military camouflage.In order to solve the problem of the movement of the robot's end effector in the spraying process,this paper proposes a spraying planning algorithm based on the projection method,which mainly completes the spraying trajectory planning and parameter planning.The algorithm takes the result of the mapping as input and transforms the boundary of the color patch to the trajectory planning plane through spatial transformation.Taking into account that the plane spacing and the projection spacing may be different,a "scanning" type grid trajectory planning is proposed.In order to meet the control requirements of the boundary of camouflage coating color blocks,grid-type and spiral-type mixing trajectories are used as the final spray trajectory,and relevant parameters in the spraying process are planned according to the spraying requirements.A spray planning experiment verification system was designed,and a preliminary validation correlation algorithm was established for the simulation environment.Finally,the feasibility of a robotized digital camouflage spraying system for robots was verified through physical spraying experiments.