Study On Multi-Color Spraying Path Planning Personalized Patterns

Spraying robots are widely used in the manufacturing of buses,furniture,ships and aircraft to replace manual spraying tasks and improve production efficiency.In the case of camouflage painting of special equipment and pattern spraying of buses,multi-color spraying is required.With the support of overspray-free technology,it is important to study the multi-color spraying path planning of the spraying robot to improve the spraying efficiency,reduce the spray waste and reduce energy consumption.In this thesis,the key technologies of multi-color spraying path planning such as spraying color block segmentation,path planning within the spraying color block,especially the combination of optimal connection of paths between the spraying color blocks and cooperative path planning of double spraying robots are studied,and the main research works are as follows:(1)In response to the problem that most of the existing multi-color spraying path planning is based on manual experience to preformulate rule strategies that cannot satisfy the optimization objectives and lack of systematic mathematical description,this thesis establishes multi-color spraying path planning based on clustered traveling salesman problem.First,the connection between the traveling salesman problem and the single-color spraying path planning problem,and the connection between the clustered traveling salesman problem and the multi-color spraying path planning problem are analyzed;then,based on the analysis of the relationship between the spraying path planning and the traveling salesman problem,a mathematical model of the clustered traveling salesman problem for multi-color spraying path planning is established.(2)A single-robot multi-color spraying path planning algorithm based on a hierarchical optimization strategy is designed to optimize the solution of the color block spraying sequence and the path scheme selection within the color block in turn.First,considering the constraint of continuous spraying of the same color and the optimization objective of the shortest total path length,an improved genetic algorithm is designed to solve the color block spraying sequence of the multi-color spraying path planning based on the description of the clustered traveling salesman problem;second,considering the end position of the spraying path within the previous color block,the greedy method is used sequentially to initialize the spraying path scheme within each subsequent color block to obtain the initial local optimal solution of the multi-color spraying path planning;finally,the performance of the algorithm was tested by setting different numbers of color blocks with personalized patterns,and the simulation experiments verified the effectiveness of the algorithm in solving the multi-color spraying path planning of single robot,and the optimal solution was more than 16%shorter than the empirical path length.(3)A double-robot multi-color spraying path planning algorithm based on bipartite cooperative coevolution algorithm is proposed.First,the mathematical model of double-robot multi-color spraying path planning based on bipartite cooperative coevolution is proposed considering the optimization objectives of double-robot spraying work area constraint,same color continuous spraying constraint and the shortest total path length;secondly,in the bipartite cooperative coevolution algorithm,the optimized path scheme within the color block is considered to be affected by the adjustment of the spraying sequence of the subsequent color blocks,and the coevolution mechanism is designed to consider the distance between the former color block;finally,the performance of the algorithm was tested by setting different numbers of color blocks with personalized patterns,and the simulation experiments verified the effectiveness of the algorithm in solving the double-robot multi-color spraying path planning,and the optimal solution was more than 21%shorter than the empirical path length.