| In the task of spraying the signs of railway wagons,manual spraying is often used,which is easy to cause harm to human health.Traditional fixed spraying robots are not conducive to continuous spraying operations outdoors.In the modern age with the flourishing development of industrial robots and sensor technology,it is very practical to design a set of intelligent spraying robot system that can meet the task of spraying and marking railway wagons.This paper put forward a design scheme of an intelligent painting robot system for the markings of railway freight wagons,and carry out simulation experiments and field tests of the control system.Focusing on the overall design of the system,the image-based railway freight wagons identification algorithm and the painting trajectory planning of the painting robot are researched.The designed intelligent spraying robot system not only can carry out the continuous spraying marking operation of different railway freight wagons models outdoors,but also accurately locates the designated spraying position and can automatically identify the vehicle to be sprayed and select the corresponding spraying scheme for the spraying marking operation.The specific content of the paper is as follows:(1)Design the overall structure of the system,divide the system into three parts:main control system,auxiliary system and remote monitoring system,formulate the spraying operation process and spraying operation positioning plan,and select sensors,cameras,UR10,Jeston NANO host and other hardware,on the basis of the functional requirements of the painting system Robot,and designed a handheld terminal APP to debug the hardware of the system and realize data interaction between the hardware and the host.(2)Aiming at the problem of automatic identification of gondola models before spraying,this paper proposes an algorithm for identifying railway freight cars based on image processing.The algorithm preprocesses and segmentes the captured images,which is convenient for extracting the features of the carriages and removing redundant interference.By extracting the surface texture features,HSV color features,contour features and ORB features of the carriages,feature matching is performed,and comprehensive judgment is required for recognized model.(3)For the spraying trajectory planning of the spraying robot,this paper takes the UR10 robot as the research object,uses the standard D-H method to carry out the kinematics modeling of the robot,analyzes the working space and singularity of the spraying robot in the actual operation,and carry out simulation verification.Regarding the planning of the spraying trajectory,the three-time S-shaped acceleration and deceleration model is used for speed planning,and based on this model,the position planning of linear interpolation and circular interpolation is carried out.Finally,the simulation of speed planning,position planning and trajectory planning of painting marks is carried out. |
