Point cloud modeling and slicing algorithm for trajectory planning of spray painting robot

Yu, Xinyi; Cheng, Zhaoying; Zhang, Yikai; Liu, Ou

doi:10.1017/s0263574721000308

Cited by 10 publications

(12 citation statements)

References 27 publications

(28 reference statements)

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“…In these studies, the film-forming model of the spray gun is established by simplifying or disregarding certain spraying process parameters. The optimization of spray film thickness uniformity is achieved by adjusting process parameters like spraying speed [2] and trajectory spacing [3]. However, even with the optimized spraying process parameters and track, there may still be areas on the workpiece where the film thickness does not meet the required standards due to model errors introduced by simplification.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Numerical Simulation of Curved Surface Coating Trajectory Based on STL Slicing Algorithm

Xu,

Cheng,

Liu

et al. 2024

Coatings

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The thickness of the coating on the surface of a workpiece is an important factor in determining the quality of spraying. However, it is challenging to estimate the distribution of film thickness accurately before the actual spraying process. This lack of estimation hinders the optimization of spraying process parameters and trajectory. To overcome this, a numerical simulation of surface spray coating thickness was conducted to provide guidance for the actual coating process. The research consists of three main parts. Firstly, the spray trajectory of the spray gun is determined using the proposed Stereo Lithography (STL) model slicing algorithm. Secondly, a two-phase flow spray model and collision adhesion model are established to construct the spray film model. The surface mesh is determined, and the spraying process parameters are set. Finally, numerical simulation is conducted to analyze the dynamic spraying trajectory and the distribution of coating thickness. The results show that the coating thickness distribution on an arc surface is thicker in the middle and thinner on the edges. The distribution is symmetric with respect to both the transverse and longitudinal directions of the arc surface. The coating thickness distribution at both ends is not as uniform as in the middle section. The concave part of the free surface has the largest coating thickness, while the coating thickness distribution on the convex part is not as uniform as on the relatively flat part. This method of simulating the coating thickness distribution on complex surfaces provides a solid foundation for further optimization of spraying process parameters and trajectory, ultimately improving the qualification rate of workpiece spraying processing.

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Section: Introductionmentioning

confidence: 99%

Dynamic Numerical Simulation of Curved Surface Coating Trajectory Based on STL Slicing Algorithm

Xu,

Cheng,

Liu

et al. 2024

Coatings

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“…Zhang et al [26] measured the workpiece surface with a 3D sensor to obtain point cloud data, and obtained the trajectory of the workpiece surface by slicing the preprocessed point cloud data. Yu et al [29] used a slicing algorithm to process the free-form surface of the painting robot, intercepted the point cloud model with multiple parallel slices to obtain the cross-section contour points, and achieved trajectory planning of the painting robot. D Gleeson et al [30] also used the trajectory planning method of switching directions in parallel to achieve spraying.…”

Section: Introductionmentioning

confidence: 99%

Automatic Aluminum Alloy Surface Grinding Trajectory Planning of Industrial Robot Based on Weld Seam Recognition and Positioning

et al. 2023

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In this paper, we propose a novel method for planning grinding trajectories on curved surfaces to improve the grinding efficiency of large aluminum alloy surfaces with welds and defect areas. Our method consists of three parts. Firstly, we introduce a deficiency positioning method based on a two-dimensional image and three-dimensional point cloud, which enables us to accurately and quickly locate the three-dimensional defective areas. Secondly, we propose a 2D weld positioning method based on the defect area and obtain the spatial position of the 3D weld by combining the relationship between 2D and 3D images. Additionally, we propose an orthogonal projection method from the point cloud to the aluminum alloy surface to calculate the weld reinforcement. Thirdly, we present a space spiral grinding trajectory planning method for complex curved surfaces based on the characteristics of the weld reinforcement, spatial position, and spatial position information of the defect area. This method shortens the grinding time of the defect area and improves efficiency. Simulation and experimental results show that our grinding trajectory planning method is more efficient than other grinding methods in removing defects from the surface of aluminum alloys. Moreover, the defect area after grinding is smoother than before.

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“…While this approach provides high precision in volume estimation, it also increases the complexity of the slicing method. Yu et al [22] applied the slicing method to obtain crosssectional contours of point cloud models and optimized the uniformity of slice thickness. Li et al [23] further refined the traditional point cloud slicing method for calculating volumes of irregular point clouds.…”

Section: Introductionmentioning

confidence: 99%

Enhanced Point Cloud Slicing Method for Volume Calculation of Large Irregular Bodies: Validation in Open-Pit Mining

Meng,

Wang,

Cheng

et al. 2023

Remote Sensing

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The calculation of volumes for irregular bodies holds significant relevance across various production processes. This spans tasks such as evaluating the growth status of crops and fruits, conducting morphological analyses of spatial objects based on volume parameters, and estimating quantities for earthwork and excavation. While methods like drainage, surface reconstruction, and triangulation suffice for smaller irregular bodies, larger ones introduce heightened complexity. Technological advancements, such as UAV photogrammetry and LiDAR, have introduced efficient point cloud data acquisition methods, bolstering precision and efficiency in calculating volumes for substantial irregular bodies. Notably, open-pit mines, characterized by their dynamic surface alterations, exemplify the challenges posed by large irregular bodies. Ensuring accurate excavation quantity calculations in such mines is pivotal, impacting operational considerations, acceptance, as well as production cost management and project oversight. Thus, this study employs UAV-acquired point cloud data from open-pit mines as a case study. In practice, calculating volumes for substantial irregular bodies often relies on the point cloud slicing method. However, this approach grapples with distinguishing multi-contour boundaries, leading to inaccuracies. To surmount this hurdle, this paper introduces an enhanced point cloud slicing method. The methodology involves segmenting point cloud data at fixed intervals, followed by the segmentation of slice contours using the Euclidean clustering method. Subsequently, the concave hull algorithm extracts the contour polygons of each slice. The final volume calculation involves multiplying the area of each polygon by the spacing and aggregating these products. To validate the efficacy of our approach, we employ model-derived volumes as benchmarks, comparing errors arising from both the traditional slicing method and our proposed technique. Experimental outcomes underscore the superiority of our point cloud volume calculation method, manifesting in an average relative error of 1.17%, outperforming the conventional point cloud slicing method in terms of accuracy.

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Point cloud modeling and slicing algorithm for trajectory planning of spray painting robot

Cited by 10 publications

References 27 publications

Dynamic Numerical Simulation of Curved Surface Coating Trajectory Based on STL Slicing Algorithm

Dynamic Numerical Simulation of Curved Surface Coating Trajectory Based on STL Slicing Algorithm

Automatic Aluminum Alloy Surface Grinding Trajectory Planning of Industrial Robot Based on Weld Seam Recognition and Positioning

Enhanced Point Cloud Slicing Method for Volume Calculation of Large Irregular Bodies: Validation in Open-Pit Mining

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