CN105478285B - A kind of irregular curved tube inwall thick coating method for planning track of aerial spraying - Google Patents

Abstract

The invention provides a method for planning the trajectory of the inner wall thickness of the air spraying irregular curved pipe, which not only optimizes the overlap width and dislocation distance, but also ensures the longitudinal direction of the coating in the planning of the spraying path by means of the dislocation spraying method. Uniformity, and with the help of the horizontal intermittent track spraying method, intermittent construction operations can be performed, and the spray gun of the spraying robot does not need to rotate continuously in a single direction when spraying, so there is no need for complicated mechanical structures, which makes the planning of the spraying track can help simplify the spraying The structural design of the robot; at the same time, the relative relationship between the spraying movement rate of the spray gun and the spray gun paint transfer rate of different curvature surfaces is further considered, and the planning of the spraying movement rate is further improved. The lateral uniformity of the coating on the surface area; therefore, the trajectory planning method of the present invention is not only conducive to simplifying the structural design of the spraying robot, but also can greatly improve the uniformity of the thick coating.

Description

A trajectory planning method for air-spraying irregular curved pipe inner wall thickness coating trajectory

technical field

The invention relates to the technical field of robot spraying control, in particular to an air spraying method for planning a coating track with an inner wall thickness of an irregularly curved pipe.

Background technique

In the manufacturing industry, air spraying the inner wall thickness coating of irregular curved pipe is an important process. Irregular curved pipe refers to a curved pipe composed of a variety of different curvature surfaces and planes. Irregular curved pipe has the characteristics of curved center line, variable cross-section and narrow space. Some aircraft inlets are typical irregular Curved pipe. Thick coatings are coatings whose thickness is measured in millimeters and require multiple passes of air spray to achieve the required thickness. Due to the narrow internal space of the irregular curved pipe, only air can be used to spray its inner wall. The traditional manual spraying method has three obvious disadvantages: first, it is difficult to do manual work in a narrow space, and the coating uniformity after spraying is poor; second, the efficiency of spraying operation is low, which seriously affects the production progress; third, the coating contains heavy metals and toxic organic solvents, The harsh environment of construction is very harmful to the health of spraying workers. Using robot spraying process instead of manual spraying can solve the above problems well.

The basic principle of robotic spraying is that the axis of the spray gun is perpendicular to the plane or in the normal direction of the surface, and the distance between the spray gun and the plane or surface (spraying distance) remains constant. The unidirectional rotation angle of the currently designed dexterous spraying robot spray gun can exceed 360 degrees, but it cannot continuously rotate at any angle in a single direction. When the robot sprays the inner wall of the straight pipe, it can use the spiral trajectory for continuous spraying. However, the continuous spraying method of the helical trajectory requires the spray gun of the spraying robot to continuously rotate in a single direction when spraying. Such a spraying technology requires the spraying robot to have a relatively complicated mechanical structure, resulting in difficult structural design of the robot and high equipment manufacturing costs. The size is too large, too bulky and poor in flexibility, so it is difficult to spray the inner wall of irregularly curved pipes with curved centerlines. In addition, spraying thick coatings using the traditional method of only optimizing the overlap width (overlap width refers to the width of the overlapping area of the spray pattern of two adjacent spray strokes in a single spraying process), will lead to coating uniformity not ideal. Therefore, if it is necessary to simplify the structural design of the spraying robot and ensure better coating uniformity when spraying the coating with an irregular curved pipe inner wall thickness, the trajectory planning problem of the robot spraying operation must be solved first.

Contents of the invention

In view of the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a method for planning the trajectory of the inner wall thickness of the air spraying irregular curved pipe, which is used to plan the spraying trajectory of the spraying control of the spraying robot, which not only helps to simplify the The structural design of the spraying robot can greatly improve the uniformity of thick coatings.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

A method of air spraying the coating track planning method for the inner wall thickness of irregular curved pipes, which is used to plan and determine the spraying trajectory of the spray gun of the spraying robot on the inner wall of irregular curved pipes; it includes the following steps:

A) Establish a space model: use a computer to carry out three-dimensional space modeling on the inner wall of the irregular curved pipe to be sprayed, and obtain a three-dimensional space model of the inner wall of the irregular curved pipe;

B) Planning the spraying path: set the overlap width S _d and the misalignment distance S _c of the spraying path planning, and plan and determine the spraying path of the spray gun as follows:

b1) Set a cross-section perpendicular to the extension line of the central axis at every interval (WS _d ) along the extension line of the central axis of the three-dimensional space model of the inner wall of the irregular curved pipe, and use this series of cross-sections as the first group of cross-sections , W represents the spray width of the spray gun spraying on the plane, and a series of section lines obtained by intersecting the first group of cross-sections with the inner wall of the irregular curved pipe respectively are used as the first group of spraying paths;

_b2 ) A series of cross-sections obtained by moving the first group of cross-sections backwards or forwards along the central axis of the three-dimensional space model of the irregularly curved pipe wall, as the second group of cross-sections, A series of section lines obtained by intersecting the second group of cross-sections with the inner wall of the irregular curved pipe respectively are used as the second group of spraying paths;

b3) Plan the spraying gun to execute the spraying operation in the order of completing the first group of spraying paths first, and then complete the second group of spraying paths; wherein, the method of planning the spraying direction of any group of spraying paths for the spray gun is that the spray gun is used for the same The two adjacent spraying paths in a group of spraying paths are sprayed in the opposite direction of the spraying movement, and after one spraying path is sprayed, the gun is turned off, and the next spraying path in the same group of spraying paths is translated. After sweeping the position of the path, execute the gun operation to carry out the spraying operation until the spraying operation on each spraying path in the group of spraying paths is completed;

C) Planned spraying movement rate: set the spraying movement rate V _P of the spray pattern center of the spray gun on the spraying path of the plane area, and plan and determine the first group of spraying paths and the second group of spraying paths as follows Speed of sweep movement on path:

c1) Calculate the curvature of the lines on each part of the first group of spraying paths and the second group of spraying paths, and divide the part of each spraying path with continuous lines and the same curvature into one spraying path area, and then divide each spraying path into several different spraying areas according to the curvature of the lines;

c2) For any y-th spraying area on any one of the first group of spraying paths and the second group of spraying paths, plan the sweeping movement rate V _y of the y-th spraying area = β _y V _P ; Wherein, β _y represents the paint transfer rate ratio of the yth spray area, which is the spray gun paint transfer rate η _y when spraying the yth spray area and the spray gun paint transfer when spraying the plane area The ratio of the rate η _P , that is Thereby, respectively determine the spraying movement rate of each spraying area on each spraying path in the first group of spraying paths and the second group of spraying paths;

D) Determining the trajectory of the spray gun: According to the planning results of the above-mentioned spraying path and spraying movement rate, and according to the relationship between the spray gun and the workpiece of the irregular curved pipe, determine the spraying of the spray gun on the inner wall of the irregular curved pipe through coordinate transformation calculation job track.

In the above-mentioned air spraying irregular curved pipe inner wall thickness coating trajectory planning method, as a preferred solution, in the step B), the lap width S _d and the misalignment distance S _c of the spraying path planning are set as follows:

S _d = d · W, S _c = c · W;

Among them, d is the proportional coefficient of the overlap width, c is the proportional coefficient of the dislocation distance, and the two values are selected according to any of the following value ranges:

①, d∈[0.1800,0.1925], c∈[0.495(1-d),0.505(1-d)];

②, d∈[0.2950,0.3075], c∈[0.22(1-d),0.27(1-d)];

③, d∈[0.2950,0.3075], c∈[0.730(1-d),0.780(1-d)];

④, d∈[0.4100,0.4375], c∈[0.475(1-d),0.525(1-d)].

In the above-mentioned trajectory planning method for air spraying the inner wall thickness of irregular curved pipes, as a further improvement, in b3) of the step B), the spray gun is planned to complete the first group of spraying paths first, and then complete the second group of spraying paths. The spraying operation is performed in the order of scanning paths, and the operation process is repeated many times.

Compared with the prior art, the present invention has the following beneficial effects:

1. The trajectory planning method of the air spray coating irregular curved pipe inner wall thickness of the present invention adopts the horizontal intermittent trajectory spraying method when planning the spraying path, which can be used intermittently and does not need the spray gun of the spraying robot to spray. Continuous rotation in a single direction does not require a complicated mechanical structure, so that the planning of the spraying operation trajectory can help simplify the structural design of the spraying robot.

2. In the air spraying method for planning the coating trajectory of the irregularly curved inner wall thickness of the present invention, by optimizing the relative relationship between the lap width and the dislocation distance, the dislocation spraying method is used to better ensure the coating in the planning of the spraying path. longitudinal uniformity.

3. In the air spraying irregular curved pipe inner wall thickness coating trajectory planning method of the present invention, the relative relationship between the spraying moving rate of the spray gun and the spray gun coating transfer rate of different curvature surfaces is further considered. The planning of the moving rate further improves the lateral uniformity of the coating on different shape areas.

4. The spraying trajectory planning method of the air spraying irregular curved pipe inner wall thickness coating trajectory planning method of the present invention can not only greatly improve the uniformity of the thick coating, but also overcome the spiral trajectory continuous spraying method The spray gun is required to rotate continuously in a single direction all the time when spraying, which leads to the structural design difficulties of the spraying robot, which is conducive to simplifying the structural design of the spraying robot.

Description of drawings

Fig. 1 is a schematic diagram of the state of the first group of spraying paths planned on the inner wall of an irregular curved pipe in the method of air spraying the inner wall thickness of the irregular curved pipe according to the present invention.

Fig. 2 is a schematic diagram of the state after planning and obtaining the first group of spraying paths and the second group of spraying paths on the inner wall of the irregular curved pipe in the method of air spraying the coating track planning method of the irregular curved pipe inner wall thickness according to the present invention.

Fig. 3 is a schematic diagram of the relative relationship between the lap width S _d , the dislocation distance S _c and the spray width W of the spray gun.

Fig. 4 is a schematic diagram of a state of dividing the spraying area according to different line curvatures on a spraying path.

detailed description

The present invention will be further described in detail below in conjunction with examples, but the embodiments of the present invention are not limited thereto.

The air spray coating trajectory planning method for irregularly curved pipe inner wall thickness is used to plan and determine the spraying operation trajectory of the spray gun of the spraying robot on the inner wall of the irregularly curved pipe, and in order to facilitate the simplification of the structure design of the spraying robot, Taking into account the improvement of the uniformity of the sprayed thick coating, the following planning ideas are adopted: First, the misalignment spraying method with optimized lap width and misalignment distance is used to plan and determine the spraying path, and the horizontal intermittent trajectory spraying method does not require the spray gun of the spraying robot When spraying, it always rotates continuously in a single direction, so there is no need for complicated mechanical structures, which is conducive to simplifying the structural design of the spraying robot, and the dislocation spraying method can help improve the longitudinal uniformity of the coating. The uniformity of the coating is mainly determined by the positional relationship between the spraying paths; secondly, using different paint transfer rate ratios to determine the spraying movement rate for different curvature surfaces, so as to improve the spraying effect on different curved surfaces and planes. Horizontal uniformity of the layer, lateral uniformity refers to the uniformity of the coating along the direction of spray gun movement, which is mainly determined by the spray moving rate of the spray gun and the curvature of the shape surface; finally, using the results of spray path planning and spray moving rate planning , to determine the spraying trajectory of the spray gun on the inner wall of the irregular curved pipe.

Based on the above ideas, the air spraying method for planning the inner wall thickness coating track of the irregular curved pipe of the present invention specifically includes the following steps:

A) Building a space model: use a computer to carry out three-dimensional space modeling on the inner wall of the irregular curved pipe to be sprayed, and obtain a three-dimensional space model of the inner wall of the irregular curved pipe. The establishment of a three-dimensional space model of the inner wall of the irregular curved pipe is used as the data basis for the trajectory planning of the spraying operation. In the prior art, there are many well-applied three-dimensional space modeling means and related computer software, all of which can be applied to the solution of the present invention to realize the modeling of the three-dimensional space model of the inner wall of the irregular curved pipe.

B) Planning the spraying path: set the overlap width S _d and the misalignment distance S _c of the spraying path planning, and plan and determine the spraying path of the spray gun as described in b1) to b3) below:

b1) Set a cross-section perpendicular to the extension line of the central axis at every interval (WS _d ) along the extension line of the central axis of the three-dimensional space model of the inner wall of the irregular curved pipe, and use this series of cross-sections as the first group of cross-sections , W represents the spray width of the spray gun to spray on the plane, and a series of section lines obtained by intersecting the first group of cross sections with the inner wall of the irregular curved pipe respectively are used as the first group of spraying paths.

In the present invention, the central axis extension line of the three-dimensional space model of the inner wall of the irregular curved pipe refers to the line formed by connecting the geometric center points of the different cross-sections of the three-dimensional space model of the inner wall of the irregular curved pipe in the extension direction of the curved pipe. connection. Fig. 1 shows a schematic diagram of the state of the first group of spraying paths planned on the inner wall of the irregular curved pipe by the method of step b1); wherein, m ₁ , m ₂ , and m ₃ represent the first group of spraying paths Among the three spraying paths, each spraying path is obtained by intersecting a cross section perpendicular to the extension line of the central axis and the inner wall of the irregular curved pipe; n ₁ represents the distance between the spraying paths m ₁ and m ₂ , n ₂ represents the distance between the spraying paths m ₂ and m ₃ , and n ₁ =n ₂ =(WS _d ).

_b2 ) A series of cross-sections obtained by moving the first group of cross-sections backwards or forwards along the central axis of the three-dimensional space model of the irregularly curved pipe wall, as the second group of cross-sections, A series of cross-sectional lines obtained by intersecting the second group of cross-sections with the inner wall of the irregular curved pipe are used as the second group of spraying paths.

Figure 2 shows a schematic diagram of the state after the first group of spraying paths and the second group of spraying paths are planned on the inner wall of the irregular curved pipe; where m ₁ , m ₂ , and m ₃ represent the first group The three spraying paths in the spraying path, a ₁ , a ₂ , and a ₃ represent the three spraying paths corresponding to m ₁ , m ₂ , and m ₃ in the second group of spraying paths; n ₁ represents The distance between the spraying path m ₁ and m ₂ , n ₂ represents the distance between the spraying path m ₂ and m ₃ , and b ₁ represents the distance between the spraying path a ₁ and a ₂ , b ₂ represents the distance between the spraying path a ₂ and a ₃ , and there is n ₁ =n ₂ =b ₁ =b ₂ =(WS _d ), but the distances between a ₁ and m ₁ , a ₂ and m ₂ , and a ₂ and m ₃ are all S _c .

b3) Planning the spraying gun to execute the spraying operation multiple times in the order of completing the first group of spraying paths first, and then completing the second group of spraying paths; wherein, the spraying direction planning method for performing any group of spraying paths on the spray gun is, When the spray gun sprays two adjacent spray paths in the same group of spray paths, the direction of the spraying movement is opposite, and after one spray path is finished, the gun is turned off, and the gun is moved to the same group of spray paths. After the position of the next spraying path, the shooting operation is performed to carry out the spraying operation until the spraying operation on each spraying path in the group of spraying paths is completed.

Therefore, the spraying operation method in which the spray gun executes any set of spraying paths is the horizontal intermittent trajectory spraying method, and the spray gun performs the spraying operation in the order of completing the first set of spraying paths first, and then completing the second set of spraying paths The operation process constitutes the dislocation spraying method. In this process, the set overlap width S _d and dislocation distance S _c are the main parameters of the dislocation spraying method, and the relative relationship between the overlap width S _d and dislocation distance S _c and the spray width W of the spray gun As shown in Figure 3, the x direction of the horizontal axis in Figure 3 is the direction of the extension of the sprayed surface, and the direction of the vertical axis _h is the direction of the coating thickness. The overlapping area width of the spray patterns on two adjacent spraying paths in the group spraying path, and the misalignment distance _Sc refers to the distance between one spraying path and the second spraying path of the first group of spraying paths in the process of the misalignment spraying method. The width of the misaligned area (non-overlapping area) of the spray patterns sprayed on one of the two sets of spraying paths. It can also be seen that the longitudinal uniformity of the sprayed coating is affected by the overlap width S _d and the dislocation distance _{Sc, while the overlap width S d and} the dislocation distance _Sc are closely related to the spray width W of the spray gun.

In order to obtain better longitudinal uniformity of the coating, the lap width S _d and the dislocation distance S _c of the spraying path planning in step B) are preferably set as follows:

S _d = d · W, S _c = c · W;

Among them, d is the proportional coefficient of the overlap width, c is the proportional coefficient of the dislocation distance, and the two values are selected according to any of the following value ranges:

①, d∈[0.1800,0.1925], c∈[0.495(1-d),0.505(1-d)];

②, d∈[0.2950,0.3075], c∈[0.22(1-d),0.27(1-d)];

③, d∈[0.2950,0.3075], c∈[0.730(1-d),0.780(1-d)];

④, d∈[0.4100,0.4375], c∈[0.475(1-d),0.525(1-d)].

The proportional coefficient d of the overlap width and the proportional coefficient c of the dislocation distance are the W ratios of the width S _d of the overlap and the dislocation distance S _c to the width of the spray width respectively. The range of values can be used to adjust the overlap width S _d and the dislocation distance _Sc in the dislocation spraying method to appropriate values, so that the planned spraying path can better ensure the longitudinal uniformity of the coating.

In addition, in b3) of step B), in order to make the sprayed thick coating reach the set larger coating thickness value, the spray gun should be planned to complete the first group of spraying paths first, and then complete the second group The sequence of spraying paths is to execute the spraying operation process repeatedly for multiple times. Since the coating formed by spraying each time can ensure better uniformity, the thick coating formed by repeated spraying for many times can still have excellent uniformity.

C) Planned spraying movement rate: set the spraying movement rate V _P of the spray pattern center of the spray gun on the spraying path of the plane area, and plan and determine the spraying rate in the first group of spraying according to the following methods c1)~c3). Sweep movement rate on the sweep path and the second set of sweep paths:

c1) Calculate the curvature of the lines on each part of the first group of spraying paths and the second group of spraying paths, and divide the part of each spraying path with continuous lines and the same curvature into one spraying path Each spraying path is divided into several different spraying areas according to the curvature of the lines.

Fig. 4 shows a schematic diagram of the state of dividing the spraying area according to different line curvatures on a spraying path, wherein, according to the different curvatures of the horizontal straight line, circular arc line, and vertical straight line, the spraying area is sequentially divided to form Scanning area A, spraying area B, and spraying area C; at the same time, it can be seen that the trajectory of the spray gun for the three different spraying areas is also significantly different, and in areas with different curvatures, the spray gun There are also differences in the paint transfer rate, so it is necessary to plan different spraying movement rates for different spraying areas.

c2) For any y-th spraying area on any one of the first group of spraying paths and the second group of spraying paths, plan the sweeping movement rate V _y of the y-th spraying area = β _y V _P ; Wherein, β _y represents the paint transfer rate ratio of the yth spray area, which is the spray gun paint transfer rate η _y when spraying the yth spray area and the spray gun paint transfer when spraying the plane area The ratio of the rate η _P , that is Thus, the sweeping moving speeds of the respective sweeping regions on the respective sweeping paths in the first group of spraying paths and the second group of spraying paths are respectively determined.

Spray gun paint transfer rate refers to the ratio of the amount of paint adhered to the target wall during spraying to the amount of paint sprayed out by the spray gun, which can be determined by spraying tests or computational fluid dynamics numerical simulation calculations. On planes and surfaces with different curvatures, the transfer rate of spray gun paint is different; therefore, when the amount of paint sprayed by the spray gun remains stable, due to the difference in transfer rate of spray gun paint, it is important to plan the spraying plane of the spray gun There are also different requirements for the spraying movement rate when spraying areas with different curvature shapes, so that the spray gun has a higher spraying movement rate in areas with a higher spray gun paint transfer rate, and in areas with a lower spray gun paint transfer rate There is a lower speed of spraying and sweeping to keep the coating thickness on different areas tending to be consistent, and to further improve the uniformity of coating on different shape areas.

D) Determining the trajectory of the spray gun: According to the planning results of the above-mentioned spraying path and spraying movement rate, and according to the relationship between the spray gun and the workpiece of the irregular curved pipe, determine the spraying of the spray gun on the inner wall of the irregular curved pipe through coordinate transformation calculation job track.

As can be seen from the above process, the method of the present invention is used to plan and determine the spraying trajectory of the spray gun of the spraying robot on the inner wall of the irregular curved pipe, not only by optimizing the overlap width and dislocation distance, but also by means of the dislocation spraying method in the planning of the spraying path. The longitudinal uniformity of the coating is well ensured, and the intermittent construction operation can be carried out by means of the horizontal intermittent trajectory spraying method. The spray gun of the spraying robot does not need to be continuously rotated in a single direction when spraying, so there is no need for a complicated mechanical structure, making the spraying operation trajectory The planning can help to simplify the structural design of the spraying robot; at the same time, the relative relationship between the spraying movement rate and the spray gun paint transfer rate of different curvature surfaces is further considered, and the planning of the spraying movement rate is further improved. The lateral uniformity of the coating on different shape areas is improved; therefore, the method of the present invention is used to plan the spraying trajectory for the spraying control of the spraying robot, which can not only greatly improve the uniformity of the thick coating, but also overcome the spiral The trajectory continuous spraying method requires that the spray gun always rotates continuously in a single direction during spraying, which leads to difficulties in the structural design of the spraying robot, which is conducive to simplifying the structural design of the spraying robot. Moreover, the air spraying method for planning the inner wall thickness coating trajectory of irregularly curved pipes of the present invention is a research achievement of a project funded by the National Natural Science Foundation of China (51475469), and has good technical promotion and application prospects.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or modified. Equivalent replacements without departing from the spirit and scope of the technical solutions of the present invention shall be covered by the scope of the claims of the present invention.

Claims (3)

1. a kind of irregular curved tube inwall thick coating method for planning track of aerial spraying, it is characterised in that determine spray for planning Spraying operation track of the spray gun to irregular curved tube inwall of robot is applied, thick coating refers to what thickness was measured in units of millimeter Coating；It comprises the following steps：

A spatial model) is set up：Three dimensions modeling is carried out to irregular curved tube inwall to be sprayed using computer, obtains non- Regular curved tube inwall three-dimensional space model；

B path is swept in) planning spray：The lap width S of path planning is swept in setting spray_dWith dislocation distance S_c, and plan as follows true Path is swept in the spray for determining spray gun：

B1) along the axis extension line of irregular curved tube inwall three-dimensional space model at interval of (W-S_d) distance set one it is vertical In the cross section of the axis extension line, using this series of cross section as first group of cross section, W represents that spray gun is carried out to plane The spraying swath width of spraying, first group of cross section is intersected with irregular curved tube inwall respectively a series of obtained section lines and made Path is swept for first group of spray；

B2) along irregular curved tube inwall three-dimensional space model axis extension line, first group of cross section is posteriorly or anteriorly moved Move apart from S_cPosition at a series of obtained cross sections, as second group of cross section, second group of cross section is distinguished Intersect a series of obtained section lines as second group of spray with irregular curved tube inwall and sweep path；

B3) planning spray gun according to first complete first group of spray sweep path, complete again second group of spray sweep path order perform spraying make Industry；Wherein, it is that spray gun is swept in path to same group of spray to sweep direction planing method to the spray that path is swept in spray gun any group of spray of execution Adjacent two spray the spray swept when path is sprayed and sweep the direction of motion on the contrary, and having been swept in spray after path is swept in a spray and performing pass rifle Operation, moves to same group of spray and sweeps next in path spray and sweep and perform shooting operation after path position again and carry out spraying operation, The spraying operation swept on path is sprayed until completing group spray and sweeping each bar in path；

C rate travel is swept in) planning spray：The spray on path is swept in the spray of plane domain and sweeps movement in the spray pattern center of setting spray gun Speed V_P, and planning determines to sweep path in first group of spray as follows and second group of spray sweeps the spray on path and sweep rate travel：

C1) path is swept in calculating first group of spray and the lines song that each several part on path is swept in each spray in path is swept in second group of spray Rate, every spray is swept on path lines are continuous and curvature identical part is divided into a spray and sweeps region, and then bent according to lines Rate it is different every spray swept into path be divided into several different sprays sweep region；

C2) for first group of spray sweep path and second group of spray sweeps any bar spray in path and sweep any y-th of Pen Sao areas on path Domain, plans that the spray for sweeping region is sprayed to described y-th sweeps rate travel V_y=β_y·V_P；Wherein, β_yRepresent y-th of Pen Sao areas The coating rate of transform ratio in domain, spray gun coating rate of transform η during region is swept for y-th of spray of spraying_ySpray during with spraying plane domain Rifle coating rate of transform η_PThe ratio between, i.e.,Thus, determine to sweep path in first group of spray respectively and second group of spray sweeps each in path Bar spray sweeps the spray that region is swept in each spray on path and sweeps rate travel；

D spray gun operation track) is determined：Path is swept in spray according to above-mentioned determination and rate travel program results is swept in spray, and according to spray The position orientation relation of rifle and irregular curved tube workpiece, is calculated by coordinate transform and determines that spraying of the spray gun to irregular curved tube inwall is made Industry track.

2. the irregular curved tube inwall thick coating method for planning track of aerial spraying according to claim 1, it is characterised in that The step B) in, the lap width S of path planning is swept in spray_dWith dislocation distance S_cSet as follows：

S_d=dW, S_c=cW；

Wherein, d is lap width proportionality coefficient, and c is dislocation distance proportionality coefficient, and the two is according to following any one group of value Scope carries out value：

1., d ∈ [0.1800,0.1925], c ∈ [0.495 (1-d), 0.505 (1-d)]；

2., d ∈ [0.2950,0.3075], c ∈ [0.22 (1-d), 0.27 (1-d)]；

3., d ∈ [0.2950,0.3075], c ∈ [0.730 (1-d), 0.780 (1-d)]；

4., d ∈ [0.4100,0.4375], c ∈ [0.475 (1-d), 0.525 (1-d)].

3. the irregular curved tube inwall thick coating method for planning track of aerial spraying according to claim 1, it is characterised in that The step B) b3) in, planning spray gun sweeps path, completes the order that path is swept in second group of spray again according to first completing first group of spray Spraying operation is performed, and the operation process is repeated repeatedly.