CN108161941A - A kind of robot trajectory's optimization method and device for applying to timber spraying industry - Google Patents

Abstract

The embodiment of the present invention discloses a robot trajectory optimization method and device used in the wood spraying industry, including: 101. Acquiring the point cloud data of the wood; 102. Acquiring the parameters of the sprayed workpiece and determining the preset position of the sprayed workpiece above the wood Distance h; 103. According to the parameters of the sprayed workpiece and the preset distance h, the rate of coating accumulation of the sprayed workpiece on the wood is calculated by the preset first formula, wherein the preset first formula is: Among them, R is the spraying radius, A is a constant, and r is the distance from any point s on the plane to the projection point of the center of the sprayed workpiece along the spraying direction; 104. According to the rate of coating accumulation of the sprayed workpiece on the wood, determine two adjacent sprayings The width of the coating overlapping area of the strokes is used to obtain the gap between two adjacent spraying strokes; 105. According to the gap between two adjacent spraying strokes, an N-shaped robot motion trajectory is generated.

Description

A robot trajectory optimization method and device used in wood spraying industry

technical field

The invention relates to the technical field of robot trajectory optimization, in particular to a robot trajectory optimization method, device and robot used in the wood spraying industry.

Background technique

As an important application field in the robot spraying industry, the trajectory optimization of wood spraying robots has attracted extensive attention from researchers in the industrial control industry. As the core content of the robot spraying industry, the optimization of the trajectory of the spraying robot has always been a part of great research significance for the accuracy, stability, rationality, and versatility of its trajectory, in order to improve production efficiency, spraying quality, and improve workers' working conditions. have played a key role. As countries around the world pay more and more attention to the automation needs of spraying robots, the spraying effect of spraying robots is related to many factors such as the surface shape of the object and the parameters of the spraying process. In order to achieve the new spraying operation standard and realize the production goal of high efficiency and low cost, the analysis of the new spraying modeling and the research on the trajectory optimization algorithm and control strategy of the high-performance spraying robot have become the focus of domestic and foreign scholars.

my country's industrial robots started late, and the key technologies and parts are overly dependent on foreign imports. With the strong support of the government, my country's industrial robots started in the 1980s, demonstrated in the 1990s, and were industrialized in 2000. Now industrial robots are increasing every year. At the same time, the government has also increased the training of talents in the robot application industry, and has trained a large number of high-quality and high-tech academic leaders. my country's 863 plan also regards the application and development of robots as an important research topic, takes the harsh application environment as the background, takes engineering applications as the guide, and continuously develops and researches advanced robot application technologies. In addition, through international cooperation, we have continuously introduced foreign leading robot application technologies, and increased the use of robots in production engineering. The main methods of robot trajectory generation commonly used in wood painting robots are: manual teaching method and point-to-point programming method.

Manual teaching has high requirements for the experience of the staff, and it is necessary to determine the final trajectory, spraying angle, spraying distance, etc. through repeated trials by the staff. Although this method is simple and easy to implement, there are many shortcomings: the spraying effect depends on the worker's Experience, need a lot of manpower and material resources to carry out experiment and the worker is still in the poisonous environment of paint. Point-to-point programming means that programmers manually plan the spraying trajectory, select a number of effective points in the trajectory, input them into the robot system, and then the robot automatically generates a continuous running trajectory.

Contents of the invention

The invention provides a robot trajectory optimization method and device used in the wood spraying industry, which solves the problem that the spraying effect of the manual teaching method depends on the experience of the workers, a large amount of manpower and material resources are required for the test, and the workers are still in an environment poisoned by paint And point-to-point programming refers to the technical problem that programmers manually plan the spraying trajectory manually.

The invention provides a robot trajectory optimization method applied to the wood spraying industry, including:

S1. Obtain point cloud data of wood;

S2. Obtain the parameters of the sprayed workpiece, and determine the preset distance h of the sprayed workpiece above the wood;

S3. According to the parameters of the sprayed workpiece and the preset distance h, the rate of coating accumulation of the sprayed workpiece on the wood is calculated by the preset first formula, wherein the preset first formula is:

Among them, R is the spraying radius, A is a constant, and r is the distance from any point s on the plane to the projection point of the center of the sprayed workpiece along the spraying direction;

S4, according to the rate of coating accumulation of the sprayed workpiece on the wood, determine the width of the overlapping area of the coating of two adjacent spraying strokes, and obtain the gap between two adjacent spraying strokes;

S5. According to the gap between two adjacent spraying strokes, an N-shaped robot movement trajectory is generated.

Further, step S4 specifically includes:

With the goal of minimizing the error, the width d of the coating overlapping area of two adjacent spraying strokes satisfying q(0)≈q(R-d/2)≈q(R-d) is found by the least square method, where:

r ₁ ∈ (-R,R), r ₂ ∈(Rd,3R-d), m and n are the spray accumulation time respectively,

According to the coating overlap area width d of two adjacent spraying strokes, the gap ΔH between two adjacent spraying strokes is obtained, where ΔH=2R-d.

Further, step S5 also includes:

Calculate L ₁ ＝2R+2R-d and L ₂ ＝π(2R-d)/2, if L ₁ >L ₂ , it is determined that the sprayed workpiece is an arc-shaped inflection point trajectory with Rd/2 as the radius outside the wood, otherwise Determine that the sprayed workpiece is a rectangular inflection point track with R as the width and 2R-d as the length outside the wood.

Further, step S5 also includes:

If the spraying workpiece is an arc-shaped inflection point trajectory with Rd/2 as the radius outside the wood, then determine the distance L between the center of the arc-shaped inflection point of the spray-painted workpiece and the boundary of the wood according to the preset second formula to determine the trajectory of the robot. Set the second formula as:

The invention provides a robot trajectory optimization device used in the wood spraying industry, including:

The first acquisition unit is used to acquire point cloud data of wood;

The second acquisition unit is used to acquire the parameters of the sprayed workpiece, and determine the preset distance h of the sprayed workpiece above the wood;

The rate calculation unit is used to calculate the rate of coating accumulation of the sprayed workpiece on the wood through the preset first formula according to the parameters of the sprayed workpiece and the preset distance h, wherein the preset first formula is:

Among them, R is the spraying radius, A is a constant, and r is the distance from any point s on the plane to the projection point of the center of the sprayed workpiece along the spraying direction;

The gap determination unit is used to determine the width of the overlapping area of the coating of two adjacent spraying strokes according to the rate of coating accumulation of the sprayed workpiece on the wood, so as to obtain the gap between two adjacent spraying strokes;

The trajectory generating unit is used to generate an N-shaped robot motion trajectory according to the gap between two adjacent spraying strokes.

Further, the gap determination unit specifically includes:

The optimization subunit is used to find the width d of the coating overlap area of two adjacent spraying strokes satisfying q(0)≈q(R-d/2)≈q(R-d) by the least square method with the goal of minimizing the error, in:

r ₁ ∈ (-R,R), r ₂ ∈(Rd,3R-d), m and n are the spray accumulation time respectively,

The calculation subunit is used to obtain the gap ΔH between two adjacent spraying strokes according to the width d of the coating overlapping area of the two adjacent spraying strokes, where ΔH=2R-d.

Further, the trajectory generation unit is also used for:

Calculate L ₁ ＝2R+2R-d and L ₂ ＝π(2R-d)/2, if L ₁ >L ₂ , it is determined that the sprayed workpiece is an arc-shaped inflection point trajectory with Rd/2 as the radius outside the wood, otherwise Determine that the sprayed workpiece is a rectangular inflection point track with R as the width and 2R-d as the length outside the wood.

Further, the trajectory generation unit is also used for:

If the spraying workpiece is an arc-shaped inflection point trajectory with Rd/2 as the radius outside the wood, then determine the distance L between the center of the arc-shaped inflection point of the spray-painted workpiece and the boundary of the wood according to the preset second formula to determine the trajectory of the robot. Set the second formula as:

The invention provides a robot trajectory optimization device used in the wood spraying industry, including:

memory for storing instructions;

A processor, coupled to the memory, configured to execute and implement the method described in any one of the preceding items based on instructions stored in the memory.

The present invention provides a robot used in the wood spraying industry, which uses the trajectory optimization method described in any one of the above to carry out operation planning, and is characterized in that it includes: a spraying workpiece and a plurality of joints connected with the spraying workpiece.

As can be seen from the above technical solutions, the present invention has the following advantages:

The present invention provides a robot trajectory optimization method used in the wood spraying industry, comprising: S1, acquiring point cloud data of wood; S2, acquiring parameters of sprayed workpieces, and determining the preset distance h of sprayed workpieces above the wood; S3 , according to the parameters of the sprayed workpiece and the preset distance h, the rate of coating accumulation of the sprayed workpiece on the wood is calculated by the preset first formula, wherein the preset first formula is: Among them, R is the spraying radius, A is a constant, and r is the distance from any point s on the plane to the projection point of the center of the sprayed workpiece along the spraying direction; S4. According to the rate of coating accumulation of the sprayed workpiece on the wood, determine two adjacent sprayings The width of the coating overlapping area of the strokes is used to obtain the gap between two adjacent spraying strokes; S5. According to the gap between two adjacent spraying strokes, an N-shaped robot motion trajectory is generated.

In the present invention, the rate at which the coating of the sprayed workpiece is accumulated on the wood is determined by calculation, and then the robot motion trajectory based on the N-shaped shape is automatically generated, which can provide reasonable trajectory planning guidance, improve the quality of spraying and reduce the processing time, and solve the problem of manual teaching. The spraying effect of the method depends on the experience of the workers, it requires a lot of manpower and material resources to carry out experiments and the workers are still in the poisonous environment of the paint, and the point-to-point programming refers to the technical problem of manual planning of the spraying trajectory by the programmer.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings on the premise of not paying creative efforts.

Fig. 1 is a schematic flow chart of an embodiment of a robot trajectory optimization method applied to the wood spraying industry provided by the present invention;

Fig. 2 is the plane model figure of coating when spray gun operation;

Fig. 3 is the left view of the cone spraying formed when the spray gun works;

Fig. 4 is a top view of the overlapping portion of the N-type track coating;

Figure 5 is a left side view of the overlapping portion of the N-type track coating;

Fig. 6 is a square door panel walking N-type track diagram;

Fig. 7 is a track right-angle inflection point figure;

Figure 8 is a schematic diagram of r coordinates;

Fig. 9 is the relationship diagram between the rate and r of point A paint thickness accumulation;

Fig. 10 is the relationship diagram between the rate and r of point B paint thickness accumulation;

Fig. 11 is the road map of arc inflection point track;

Fig. 12 is a path diagram of a rectangular inflection point track;

Fig. 13 is an arc inflection point optimized trajectory diagram;

Fig. 14 is a structural schematic diagram of an embodiment of a robot trajectory optimization device used in the wood spraying industry provided by the present invention;

Fig. 15 is a structural schematic diagram of another embodiment of a robot trajectory optimization device used in the wood spraying industry provided by the present invention.

Detailed ways

The embodiment of the present invention provides a robot trajectory optimization method and device used in the wood spraying industry, which solves the problem that the spraying effect of the manual teaching method depends on the experience of the workers, a large amount of manpower and material resources are required for the test, and the workers are still poisoned by the paint. In-environment and point-to-point programming refers to the technical problem of manual planning of spraying trajectory by programmers.

In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Referring to Fig. 1, the present invention provides an embodiment of a robot trajectory optimization method applied to the wood spraying industry, including:

101. Obtain point cloud data of wood;

102. Obtain the parameters of the sprayed workpiece, and determine the preset distance h of the sprayed workpiece above the wood;

103. According to the parameters of the sprayed workpiece and the preset distance h, calculate the rate of coating accumulation of the sprayed workpiece on the wood through the preset first formula, wherein the preset first formula is:

Among them, R is the spraying radius, A is a constant, and r is the distance from any point s on the plane to the projection point of the center of the sprayed workpiece along the spraying direction;

104. According to the rate of coating accumulation of the sprayed workpiece on the wood, determine the width of the overlapping area of the coating of two adjacent spraying strokes, and obtain the gap between two adjacent spraying strokes;

105. According to the gap between two adjacent spraying strokes, an N-shaped robot movement trajectory is generated.

In the embodiment of the present invention, the rate of coating accumulation of the sprayed workpiece on the wood is determined by calculation, and then automatically generates an N-shaped robot motion trajectory, which can provide reasonable trajectory planning guidance, improve the quality of spraying and reduce processing time, and solve the problem of manual labor. The spraying effect of the teaching method depends on the experience of the workers, it needs a lot of manpower and material resources to carry out the experiment and the workers are still in the poisonous environment of the paint, and the point-to-point programming refers to the technical problem of manual planning of the spraying trajectory by the programmer.

The above is a description of an embodiment of a robot trajectory optimization method used in the wood spraying industry provided by the present invention, and another embodiment of a robot trajectory optimization method used in the wood spraying industry provided by the present invention will be carried out below illustrate.

The present invention provides another embodiment of a robot trajectory optimization method applied to the wood spraying industry, including:

201. Obtain point cloud data of wood;

It should be noted that there are two main ways to obtain point cloud data when using point cloud slicing technology to shape wood:

1. Obtain point clouds through measuring instruments. Such instruments mainly include contact (three-coordinate measurement marking machine, three-coordinate measuring machine, manipulator and robotic arm) and non-contact (camera, digital camera, laser scanner) two. method;

2. Convert the CAD model of wood into point cloud data through software, so that the obtained point cloud data has less noise points, and the method of obtaining point cloud data can be selected according to the actual situation.

202. Obtain the parameters of the sprayed workpiece, and determine the preset distance h of the sprayed workpiece above the wood;

It should be noted that after obtaining the point cloud data of the wood, it is also necessary to obtain the parameters of the sprayed workpiece, and determine the preset distance h of the sprayed workpiece above the wood. Generally speaking, the sprayed workpiece is a spray gun, and the sprayed workpiece is perpendicular to above the wood.

203. According to the parameters of the sprayed workpiece and the preset distance h, calculate the rate of coating accumulation of the sprayed workpiece on the wood through the preset first formula, wherein the preset first formula is:

Among them, R is the spraying radius, A is a constant, and r is the distance from any point s on the plane to the projection point of the center of the sprayed workpiece along the spraying direction;

It should be noted that in the real spray gun operation, the mist area formed by the spray gun is a cone, so we can consider this area as a cone. The plane model of the paint is shown in Figure 2, where β is The opening angle of the cone, R is the radius of the circle formed by the cone on the plane, assuming any point Q on the plane, r is the distance from the point to the center point of the circle, α is the distance from Q point to the nozzle of the spray gun and the central axis of the nozzle of the spray gun The included angle, the rate of coating accumulation on the plane can be expressed by the binary mathematical expression v: v=f(r,h). Since in the normal spraying process, the distance from the nozzle of the spray gun to the plane is constant, so h is constant, then the only variable in the mathematical expression v is r, so v can be expressed as: v=f(r). Therefore, the relationship between v and r can be regarded as a quadratic curve, as shown in Figure 3. After analysis, it can be obtained that when |r|>R, v=0, and when |r|≤R, v is a quadratic function with r as a variable, so the maximum opening angle β can be ignored during trajectory optimization, which simplifies the optimization process, namely:

204. With the minimum error as the goal, the width d of the coating overlapping area of two adjacent spraying strokes satisfying q(0)≈q(R-d/2)≈q(R-d) is found by the least square method, where:

r ₁ ∈ (-R,R), r ₂ ∈(Rd,3R-d), m and n are the spray accumulation time respectively,

It should be noted that the trajectory of the spraying robot includes two factors: path and speed. In the spraying process, assuming that the direction of the spraying gun of the spraying robot is always perpendicular to the surface of the workpiece during spraying, the path of the spraying gun can be obtained after determining the width of the coating overlapping area of the two spraying strokes. Therefore, determining the trajectory of a spraying robot only needs to determine the speed of the spray gun and the width of the coating overlap area of the two spraying strokes.

As shown in Figure 4 and Figure 5, Figure 4 is a top view of the overlapping area on two adjacent paths, Figure 5 is a side sectional view of the coating, x is the distance from a point s within the spraying radius to the first path, and d is expressed as two The coating overlapping area width of a spraying stroke, o point is the center projection point of the nozzle, let z=q(x), then the coating thickness q(x) is:

In the formula, q ₁ (x) and q ₂ (x) respectively represent the coating thickness at point s when spraying on two adjacent paths. Since the height of the nozzle of the spray gun from the plane of the workpiece is constant, the radius R of spraying is also constant That is, R is a constant, and at the same time the speed is constant, then v is also a constant, and the following expression is obtained:

According to the analysis of the mathematical model of Fig. 4 and Fig. 5, r ₁ is the function expression of the x range in (-R, R) in Fig. 6, and r ₂ is the function expression of the x range in (Rd, 3R-d) in Fig. 5 Function expressions can be deduced:

Considering the actual needs of production, since the purpose of spraying is to make the thickness of the spraying should be relatively uniform, the conditions can be obtained:

q(0)≈q(R-d/2)≈q(R-d);

Substituting the values 0, R-d/2, and R-d for q(x) respectively, we can get:

Deriving the above formula, we can obtain two expressions about the variable ΔH and the variable d. In order to satisfy the above inequality, we can perform least squares on the value of d. To satisfy all the inequalities, the solution of the equation is unsolvable , but based on the minimum error of the formula, the value of d is obtained in the sense of least squares.

205. Obtain the gap ΔH between two adjacent spraying strokes according to the coating overlapping area width d of two adjacent spraying strokes, where ΔH=2R-d;

It should be noted that, after obtaining the value of the width d of the coating overlapping area of two adjacent spraying strokes, the value of the gap ΔH between two adjacent spraying strokes can be determined according to ΔH=2R-d.

206. According to the gap between two adjacent spraying strokes, an N-shaped robot motion trajectory is generated;

It should be noted that square door panels are the most basic in the wood spraying industry. The main feature of this type of workpiece is that the overall outline is quadrilateral, which is basically composed of straight lines. Because this type of structure is relatively simple, the processing technology and spraying path are relatively simple, and the generated trajectory is the most time-saving and the spraying effect is the best when the ΔH is optimized.

According to the type and structure of the door panel, its processing path is suitable for N-shaped spraying path. Compared with Z-shaped spraying path, N-shaped area spraying can better ensure the quality of individual areas, and has all the advantages of Z-shaped spraying track , Make the uniformity of the coating as consistent as possible in terms of spraying trajectory. This path has high spraying efficiency, uniform spraying and good effect. As shown in Figure 6, Figure 6 describes the spraying method and path of the frame door panel, starting from the starting point, spraying along the edge direction of the workpiece, and then increasing to the vertical direction to continue to complete the depiction of the N-shaped track, after completing a After drawing the N-type, the system can adjust the trajectory of the spraying and the paint of the spray gun to ensure the effective progress of the next N-type spraying and reserve time for self-inspection.

207. Calculate L ₁ ＝2R+2R-d and L ₂ ＝π(2R-d)/2, if L ₁ >L ₂ , then determine that the sprayed workpiece is an arc-shaped inflection point trajectory with Rd/2 as the radius outside the wood , otherwise it is determined that the sprayed workpiece is a rectangular inflection point track with R as the width and 2R-d as the length outside the wood;

It should be noted that steps 201 to 206 are applicable to the case where the inflection point of the trajectory of the sprayed workpiece is outside the spraying panel, assuming that the inflection point of spraying is on the wood, there will be a situation of paint accumulation at the inflection point, as shown in Figure 7, assuming A, The two points B are just located on the central axis of the inflection point, and assuming that the functions of the coating thickness they can form are g ₁ (r) and g ₂ (r) respectively, r is the two points A and B respectively, and the coordinates in Figure 8 are used , respectively reach the distance of the circle, O in the figure is the center of the inflection point, and o is the origin of the coordinates in Figure 8. Since the spraying path is in a vertical form, it was in a horizontal form before, so here the function of r changes the horizontal axis to also become a vertical form as shown in Figure 8 .

Assuming that the spray gun does not stop at the inflection point during the spraying process, R in the above figure is the radius of the cone formed by the spray gun, and r is the distance from the point on the inner diagonal of the circle to the edge of the circle, and two sprays of A and B can be obtained The accumulated curves are shown in Figure 9 and Figure 10 respectively, that is, all points at the inflection point can be divided into two intervals before the inflection and after the inflection due to the change of the spraying trajectory, the part where r>0 is before the inflection, and the part where r<0 After turning, so the trajectory of the spray gun is deformed by combining two v=f(r), and the following formula is obtained:

From the above formula, it can be concluded that the coating accumulation of the shadow is least at the outer edge of the inflection point, and the coating accumulation at the inner edge close to point A reaches the maximum. This is the least desirable effect in spraying, and the simplest treatment method is When spraying, the trajectory inflection point is processed outside the model, that is, part of the spray paint is sprayed out of the board surface. This method will waste a lot of paint in practical applications and increase unnecessary spraying time.

As shown in Figure 11, Figure 11 is a concrete representation of the arc-shaped inflection point. It can be clearly seen that the form of the previous right-angle inflection point has been changed, and a gentle arc is used to describe the inflection point trajectory. If the spacing is used as the diameter, the radius Rd/2 of the arc is the previously obtained ΔH/2, and the area where the paint accumulation overlaps is less than that of the previous spraying, and the trajectory of the arc inflection point outside the board can be obtained: L ₂ = π(2R -d)/2;

As shown in Figure 12, Figure 12 is a concrete representation of a rectangular inflection point. The distance between the inflection point and the edge of the panel is also the shortest R, and the track distance of the rectangular inflection point outside the panel can be obtained: L ₁ =2R+2R-d;

The inflection points of the above two inflection points are located outside the sprayed panel, so there is no need to consider the problem of spraying. Since the value of R is fixed, the inflection point lengths L ₁ and L ₂ of the two trajectories will also be different according to the value of d. It is possible to compare and choose which inflection point method of the trajectory can save the distance. When L ₁ > L When ₂ , the trajectory of the arc-shaped inflection point is shorter, otherwise the rectangular trajectory is selected.

208. If the sprayed workpiece is an arc-shaped inflection point trajectory with a radius of Rd/2 outside the wood, then determine the distance L between the center of the arc-shaped inflection point of the sprayed workpiece and the boundary of the wood according to the preset second formula to determine the trajectory of the robot. The preset second formula is:

It should be noted that the arc inflection point is relative to the rectangle inflection point, the acquisition of the center of the arc and the arc radius are related to the previously calculated ΔH, so it is more complicated than the rectangle inflection point, so the robot can be further optimized motion track.

As shown in Figure 13, Figure 13 is a description of a certain moment in the trajectory of the two arc-shaped inflection points. At this time, the cone formed by the two trajectories can just form a coating intersection at the junction of the panels. The distance between this point and the center of the two inflection points is us Represented by L, the arc inflection point radius was also deduced before as Rd/2, from which we can get the optimal distance L of the area that can be sprayed at the inflection point, The optimized trajectory of the robot has the following advantages: 1. There is no gap in the coating; 2. The utilization rate of the coating is the largest.

In the embodiment of the present invention, the rate of coating accumulation of the sprayed workpiece on the wood is determined by calculation, and then automatically generates an N-shaped robot motion trajectory, which can provide reasonable trajectory planning guidance, improve the quality of spraying and reduce processing time, and solve the problem of manual labor. The spraying effect of the teaching method depends on the experience of the workers, a large amount of manpower and material resources are required to carry out the test and the workers are still in the poisonous environment of the paint, and the point-to-point programming refers to the technical problem that the programmer manually plans the spraying trajectory manually. Further, the present invention The inflection point processing method of the trajectory is optimized, so that there is no gap in the coating and the utilization rate of the coating is maximized.

Please refer to Fig. 14, the present invention provides an embodiment of a robot trajectory optimization device used in the wood spraying industry, including:

The first acquisition unit 1401 is configured to acquire point cloud data of wood;

The second acquisition unit 1402 is configured to acquire parameters of the sprayed workpiece, and determine a preset distance h of the sprayed workpiece above the wood;

The rate calculation unit 1403 is used to calculate the rate of coating accumulation of the sprayed workpiece on the wood through the preset first formula according to the parameters of the sprayed workpiece and the preset distance h, wherein the preset first formula is:

Among them, R is the spraying radius, A is a constant, and r is the distance from any point s on the plane to the projection point of the center of the sprayed workpiece along the spraying direction;

The gap determining unit 1404 is used to determine the width of the overlapping area of the coating of two adjacent spraying strokes according to the rate of coating accumulation of the sprayed workpiece on the wood, so as to obtain the gap between two adjacent spraying strokes;

The gap determination unit 1404 specifically includes:

The optimization subunit 14041 is used to aim at the minimum error and find the coating overlapping area width d of two adjacent spraying strokes satisfying q(0)≈q(R-d/2)≈q(R-d) through the least square method ,in:

r ₁ ∈ (-R,R), r ₂ ∈(Rd,3R-d), m and n are the spray accumulation time respectively,

The calculation subunit 14042 is used to obtain the gap ΔH between two adjacent spraying strokes according to the coating overlapping area width d of two adjacent spraying strokes, where ΔH=2R-d;

Trajectory generating unit 1405, used to generate an N-shaped robot motion trajectory based on the gap between two adjacent spraying strokes;

It is also used to calculate L ₁ =2R+2R-d and L ₂ =π(2R-d)/2, if L ₁ >L ₂ , it is determined that the sprayed workpiece is an arc-shaped inflection point with Rd/2 as the radius outside the wood Otherwise, it is determined that the sprayed workpiece is a rectangular inflection point trajectory with R as the width and 2R-d as the length outside the wood.

It is also used to determine the distance L between the center of the arc-shaped inflection point of the sprayed workpiece and the boundary of the wood according to the preset second formula if the sprayed workpiece is an arc-shaped inflection point track with a radius of Rd/2 outside the wood to determine the trajectory of the robot , where the second preset formula is:

Please refer to Fig. 15, the present invention provides another embodiment of a robot trajectory optimization device used in the wood spraying industry, including:

memory 1501, for storing instructions;

The processor 1502 is coupled to the memory 1501, and the processor 1502 is configured to execute and implement the method involved in any embodiment as shown in FIG. 1 or FIG. 2 based on instructions stored in the memory 1501.

As shown in FIG. 15 , the protection device for product traceability information also includes a communication interface 1503 for information exchange with other devices. At the same time, the device also includes a bus 1504 , and the processor 1502 , the communication interface 1503 and the memory 1501 communicate with each other through the bus 1504 .

The memory 1501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 1501 may also be a memory array. The storage 1501 may also be divided into blocks, and the blocks can be combined into virtual volumes according to certain rules.

In addition, the processor 1502 may be a central processing unit CPU, or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

The present invention also provides a robot used in the wood spraying industry, using the trajectory optimization method as shown in Figure 1 or Figure 2 for operation planning, including: spraying workpieces and multiple joints connected to the spraying workpieces.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, and other media that can store program codes.

As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still understand the foregoing The technical solutions recorded in each embodiment are modified, or some of the technical features are replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. a kind of robot trajectory's optimization method for applying to timber spraying industry, which is characterized in that including：

S1, the point cloud data for obtaining timber；

S2, the parameter for obtaining spraying workpiece, and determine preset distance h of the spraying workpiece above timber；

S3, according to the spraying parameter of workpiece and preset distance h, pass through preset first formula and calculate spraying workpiece coating on timber The rate of accumulation, wherein preset first formula is：

Wherein, R is spraying radius, and A is constant, and r sprays workpiece centre subpoint for any point s in plane to along injection direction Distance；

S4, the rate according to the coating accumulation on timber of spraying workpiece determine the coating overlapping region of two neighboring spraying stroke Width obtains the gap of two neighboring spraying stroke；

S5, the gap according to two neighboring spraying stroke, generate the robot motion track based on N fonts.

2. the robot trajectory's optimization method according to claim 1 for applying to timber spraying industry, which is characterized in that step Rapid S4 is specifically included：

With the minimum target of error, the two neighboring spray of q (0) ≈ q (R-d/2) ≈ q (R-d) is met by least square method searching The coating overlapping region width d of stroke is applied, wherein：

r₁∈ (- R, R),r₂∈ (R-d, 3R-d), m, n are respectively to spray product The tired time,

According to the coating overlapping region width d of two neighboring spraying stroke, the clearance delta H of two neighboring spraying stroke is obtained, Middle Δ H=2R-d.

3. the robot trajectory's optimization method according to claim 2 for applying to timber spraying industry, which is characterized in that step Rapid S5 is further included：

Calculate L₁=2R+2R-d and L₂=π (2R-d)/2, if L₁＞ L₂, it is determined that spraying workpiece outside timber be using R-d/2 as The arc inflection point track of radius, it is using R as width outside timber otherwise to determine spraying workpiece, and 2R-d is long rectangle inflection point track.

4. the robot trajectory's optimization method according to claim 3 for applying to timber spraying industry, which is characterized in that step Rapid S5 is further included：

If it is using R-d/2 as the arc inflection point track of radius outside timber to spray workpiece, determine to spray according to preset second formula The distance L on the center of circle of the arc inflection point of workpiece and the boundary of timber is applied to determine robot motion track, wherein preset second is public Formula is：

5. a kind of robot trajectory for applying to timber spraying industry optimizes device, which is characterized in that including：

First acquisition unit, for obtaining the point cloud data of timber；

Second acquisition unit for obtaining the parameter of spraying workpiece, and determines preset distance h of the spraying workpiece above timber；

Rate calculation unit, for according to the spraying parameter of workpiece and preset distance h, spraying work to be calculated by preset first formula The part rate that coating accumulates on timber, wherein preset first formula is：

Wherein, R is spraying radius, and A is constant, and r sprays workpiece centre subpoint for any point s in plane to along injection direction Distance；

Gap determination unit, for according to the spraying workpiece rate that coating accumulates on timber, determining two neighboring spraying stroke Coating overlapping region width, obtain it is two neighboring spraying stroke gap；

Track Pick-up unit for the gap according to two neighboring spraying stroke, generates robot motion's rail based on N fonts Mark.

6. the robot trajectory according to claim 5 for applying to timber spraying industry optimizes device, which is characterized in that Gap determination unit specifically includes：

Optimizing subelement, for the minimum target of error, meeting q (0) ≈ q (R-d/2) ≈ q by least square method searching (R-d) the coating overlapping region width d of two neighboring spraying stroke, wherein：

r₁∈ (- R, R),r₂∈ (R-d, 3R-d), m, n are respectively to spray product The tired time,

Computation subunit for the coating overlapping region width d according to two neighboring spraying stroke, obtains two neighboring spraying row The clearance delta H of journey, wherein Δ H=2R-d.

7. the robot trajectory according to claim 6 for applying to timber spraying industry optimizes device, which is characterized in that rail Mark generation unit is additionally operable to：

Calculate L₁=2R+2R-d and L₂=π (2R-d)/2, if L₁＞ L₂, it is determined that spraying workpiece outside timber be using R-d/2 as The arc inflection point track of radius, it is using R as width outside timber otherwise to determine spraying workpiece, and 2R-d is long rectangle inflection point track.

8. the robot trajectory according to claim 7 for applying to timber spraying industry optimizes device, which is characterized in that rail Mark generation unit is additionally operable to：

If it is using R-d/2 as the arc inflection point track of radius outside timber to spray workpiece, determine to spray according to preset second formula The distance L on the center of circle of the arc inflection point of workpiece and the boundary of timber is applied to determine robot motion track, wherein preset second is public Formula is：

9. a kind of robot trajectory for applying to timber spraying industry optimizes device, which is characterized in that including：

Memory, for storing instruction；

Processor, is coupled to the memory, and the processor is configured as performing reality based on the instruction that the memory stores Now method according to any one of claims 1 to 4.

10. a kind of robot for applying to timber spraying industry, excellent using track according to any one of claims 1 to 4 Change method carries out work planning, which is characterized in that including：Spraying workpiece and the multiple joints being connect with spraying workpiece.