机电工程技术2025，Vol.54Issue(3)：69-73,5.DOI:10.3969/j.issn.1009-9492.2025.03.013
汽车表面喷涂轨迹自动生成算法研究
Research on Algorithm for Automatic Generating Automotive Surface Spray Trajectory
摘要
Abstract
Aiming at the problems of no ready-made car surface contour data for spray painting robots in home car after-sales spray maintenance,a solution based on Kinect depth camera to obtain three-dimensional point clouds on the surface of car doors for spray trajectory planning is designed to address the above issues.Firstly,point cloud data of the car door is collected by the depth camera,then point cloud are preprocessed.In order to facilitate subsequent point cloud slicing processing,feature direction recognition and coordinate transformation of the point cloud data is achieved by calculating its covariance matrix.Secondly,the preprocessed point cloud data to calculate the contour points are sliced,and a series of spray path points by sorting the contour points are also determined.Next,the normal vectors at each spray path point is calculated,the normal vectors by a certain distance is also be offset,and the spray gun spray pose at each path point is then obtained.By solving the pose,the robot spraying trajectory can be generated.Finally,an experimental platform for generating automotive surface spray trajectory is built,and algorithm validation experiments are also conducted.The experimental results demonstrate that the proposed spray trajectory planning method is both effective and reliable.A smooth and complete spray path is generated,and the problem of generating spray gun trajectory in the robotic arm spray control system is solved.关键词
喷涂机器人/深度相机/汽车表面喷涂/喷涂轨迹规划/轨迹生成Key words
spraying robot/depth camera/automotive surface spraying/spray trajectory planning/path generation分类
计算机与自动化引用本文复制引用
伍培霖,刘溯奇,许桂强,黄泽清,樊毅,马华镕,黄志玮..汽车表面喷涂轨迹自动生成算法研究[J].机电工程技术,2025,54(3):69-73,5.基金项目
2022年广西自治区级大学生创新创业训练计划项目(S202210595111) （S202210595111）
广西自然科学基金项目(2021JJA160252) （2021JJA160252）
