Research On Intelligent Programming Algorithm And Software Development Of Painting Robot Based On Laser Sensing

The application of laser,vision and other sensors can improve the perception of offline programming systems,effectively reducing its dependence on the workpiece model,so that it can be applied to flexible production and processing scenes of multiple varieties and small batches.Current off-the-shelf programming systems developed by research institutes and robot manufacturers at home and abroad have the disadvantages of high degree of customization,low degree of sensor data utilization,lack of support for process libraries,etc.The effective combination of sensor and offline programming techniques to meet the actual production process requirements is worth further study.This paper takes the plane-painting task of steel structures as the main research object.Based on the ROBOLP off-line programming software platform independently researched and developed by the research group,it adopts a low-cost two-dimensional(2D)laser sensor as the front-end sensing module and constructs a set of orientations.The spraying robot's intelligent programming system for plane rapid spraying operations realizes the feature extraction of the workpiece surface and the path planning based on the characteristics of the spraying surface.The specific research content is as follows:Aiming at the architectural design problem of intelligent programming system for spraying robots,guided by the modular design criteria,the system framework of “intellience perception + universal off-line programming software platform + specific software process package” was proposed.Firstly,based on the traditional off-line programming technology,the Intelli Sense module is designed to improve the system's model perception capability.Secondly,an intermediate language and post-processing module are designed to enhance the versatility of the off-line programming software platform.Finally,the coating process software package is designed and embedded.In the system,it is responsible for spray-related processes such as path planning.Aiming at the problem of information acquisition on the sprayed surface,a method for extracting boundary polygon features of the sprayed surface based on low-cost 2D laser sensor was proposed.Secondly,an effective workpiece point cloud is obtained through operations such as interception,simplification,and filtering.Thirdly,the projection and boundary extraction technology extracts the boundary point cloud of the sprayed surface,and on this basis,fits the linear equation of the boundary.Finally,operations such as intersection,correction,and sorting are performed to obtain the vertex data of the boundary polygon to express the plane of the sprayed surface.Geometric features,and then meet the needs of the follow-up spray path planning.In order to solve the problem of planar spray path planning,a path planning method based on boundary polygonal of sprayed surface is proposed.Firstly,use the spray surface boundary polygon to replace the traditional triangle mesh model of workpiece as the planning object.For scanning surfaces that do not contain holes or have a small number of holes and a small area,the scanning line algorithm is used to solve the intersecting points between the spraying characteristic line and the boundary of the spraying surface.Then the spraying route points is further generated according to the spraying process parameters to realize the full coverage spraying route planning.Based on this,for the sprayed surface containing a large number of holes,a scanning line topology fragmentation algorithm based on concave layering is used to convert it into a set of sub-tiles without holes and a simple topology,each sub-slice is then individually covered by full coverage spray path planning.Finally,based on the existing research results of the research group,this paper completed the related software development work of the intelligent programming system for spraying robots.It mainly includes the front-end intellisense module that integrates sensor control and polygon feature extraction,the spraying operation planning subsystem for path planning,and the robot intermediate language system and supporting post-processing module for extending the versatility of offline programming platform.Using this system software as an experimental platform,many experimental verifications have been carried out on the method of extracting the information of the sprayed surface and the spraying path planning method proposed in this paper,to verify the validity and feasibility of the method discussed in this paper.