基于离散点的曲面喷涂路径规划研究

Research on Path Planning of Curved Surface Spraying Based on Discrete Points

摘要: 机械臂在自由曲面上的喷涂，难点在于弧度对喷涂质量的影响。现阶段，曲面喷涂仍依赖人工示教法来贴合喷枪在表面的运动，需要的人工操作较多，无法实现完全自动化。针对这一现状，提出一种针对小弧度曲面的基于离散点的喷涂路径规划研究，并结合计算机技术得以实现。将曲面沿平均法向量向地面投影，得到投影面后进行网格化离散，利用k-means聚类算法对离散点进行随机分类，获得大小近似的子片喷涂区域；利用寻路优先级在每个区域内进行回字形路径规划，生成子片喷涂路径；利用改进的蚁群算法解决子片之间的过渡路径组合规划问题，得到子片喷涂顺序；实验结果表明，该方法能够生成所有子片内部及子片之间的喷涂路径，在效率和精度上具有一定优势，并且实现完全自动化。

Abstract: The difficulty of spraying robot arm on free surface is the influence of radian on spraying quality. At this stage, curved surface spraying still relies on manual teaching method to fit the movement of the spray gun on the surface, which requires more manual operations and cannot be fully automated. In view of this situation, a research on spray path planning based on discrete points for small radian surfaces is proposed and realized with computer technology. The surface is projected to the ground along the average normal vector, and then the projection surface is grid discretized. The k-means clustering algorithm is used to randomly classify the discrete points to obtain the sub patch spray-ing area of similar size. Using the priority of path finding, the zigzag path planning is carried out in each region to generate the sub chip spraying path. The improved ant colony algorithm is used to solve the combination planning problem of transition paths between sub patches, and the spraying sequence of sub patches is obtained. The experimental results show that this method can generate the spraying paths within and between all sub slices, and has certain advantages in efficiency and accuracy, and can achieve complete automation.