Automatic spraying system and automatic spraying method based on point cloud and image matching

Abstract

The invention provides an automatic spraying system based on point cloud and image matching. The automatic spraying system comprises a three-dimensional scanning module, an automatic trajectory planning module, a visual matching module and a spraying module. The three-dimensional scanning module is used for scanning a spraying object and acquiring a point cloud model according to scanned three-dimensional point cloud data; the automatic trajectory planning module is used for planning spraying trajectories in a point cloud space; the visual matching module is used for acquiring a transformational relation between a point cloud coordinate system and a spraying robot coordinate system; the spraying module is used for automatically spraying the spraying object. The automatic spraying system has the advantages that an algorithm is planned automatically according to a robot spraying path of the point cloud coordinate system, the point cloud coordinate system is correlated with the robot coordinate system according to the cloud point and image matching algorithm, and accordingly, automatic spraying of the spraying object is realized; on the basis of guaranteeing spraying efficiency, the spraying quality is improved greatly, calculation quantity for trajectory planning is reduced, and trajectory planning quality is improved.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to an automatic spraying system and method based on point cloud and image matching. Background technique [0002] With the continuous popularization of industrial robots in industrial production, the classification of robots is becoming more and more refined. Because the working environment of spraying operations is very harsh, the paint is very harmful to the human body. Therefore, in order to protect the health of workers, improve the spray paint To improve the quality of labor productivity, painting automation should be realized, and the spraying robot came into being. The spraying robot is also called the spray painting robot (spray painting robot), which is an industrial robot that can automatically spray paint or spray other coatings. It was developed by the Norwegian Trallfa company in 1969. invention. The painting robot is mainly composed of the robot body, computer and cor...

AI Technical Summary

Problems solved by technology

These simulation software shorten the debugging cycle to a large extent, but operators still need to conduct a large number of offline debugging for each different process. It is time-consuming and laborious to build complex models of process procedures, and the customization technology for different production processes needs to be improved.

In 2015, ABB released its dual-arm robot YuMi. The damping of each joint of this robot can be adjusted to be slightly larger than the gravitational moment of each joint. The debugger can hold the end of the robot to perform "hand-in-hand" teaching without breaking away from the teaching pendant. , which greatly improves the teaching efficiency, similar to Rethink's dual-arm robot, but the working space and load of such a robot are limited, and the applicable process is limited

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