复杂曲面喷涂姿态自主规划方法

Autonomous Planning Method for Spraying Attitude of Complex Surface

针对曲率变化大的复杂曲面喷涂问题,提出一种基于粒子群的喷涂姿态自主规划方法。该方法基于工件点云模型实现,通过改进的区域生长算法将曲率变化大的工件分割为若干简单曲面,根据喷涂工艺特点对各个简单曲面进行喷枪包围盒下采样,建立喷涂姿态目标函数,通过粒子群算法求解工件各个曲面的喷涂姿态。平均曲率范围为[2.01×10^(-6),1.83×10^(-2)]的工件试验结果表明:该方法可以有效地将复杂的曲面喷涂问题简化,将曲率变化大的曲面分割为边界规则的简单曲面,避免了待喷涂面超出工作空间或机器人进入奇异状态的问题,能够自主地实现复杂曲面的喷涂姿态规划。

Aiming at the spraying problem of complex curved surfaces with large curvature changes,an autonomous spraying attitude planning method based on particle swarms was proposed.The method was based on the workpiece point cloud model.The workpiece with large curvature changes was divided into several simple curved surfaces through an improved region growth algorithm,then each simple curved surface was down sampled by the spray gun bounding box according to the spraying process characteristics,finally the spraying attitude objective function was established.The spraying attitude of each surface of the workpiece was solved by the particle swarm algorithm.Experimental results with average curvature range of[2.01×10^(-6),1.83×10^(-2)]show that the method can be used to effectively simplify the complex surface spraying problem,the surface with large curvature changes is divided into simple surfaces with regular boundaries,and the problem of the surface to be sprayed beyond the working space or the robot enters a singular state can be avoided.The method can autonomously realize the spraying attitude planning of complex curved surfaces.