Calibration And Trajectory Optimization Of Robot Spraying System For Vehicle Digital Camouflage

The surface of military vehicles is generally sprayed with digital camouflage pattern to achieve the purpose of camouflage,however,the camouflage pattern is complicated,so most digital camouflage of vehicles is sprayed by the way of manual work.Manual spraying has many problems such as low efficiency,poor quality and harm to workers' health,so researching on automatic spraying is necessary.At present,there are many mature industrial robots which can be used for spraying,but there are still few researches on off-line trajectory planning and calibration of digital camouflage spraying system.In this paper,the simulation environment for digital camouflage spraying system is established,based on the relevant literature and the existing research in the laboratory.A segmental line-arc trajectory generation algorithm is proposed to solve the existing problems in the practical application of trajectory planning.Aiming at the practical application of simulation software,the calibration scheme of spraying system is proposed.The details are as follows:First,according to some simulation functions that will be used in the process of spraying planning,the required simulation environment is built.A display environment based on OpenGL is built to realize the visualization development of trajectory planning.The coordinate system of simulation environment is constructed,which provides the foundation for model movement and data transfer and calculation.The robot in simulation environment is built and driven,and the collision detection of simulation model is completed,which avoids the possible collision hazards in the spraying process to some extent.Second,aiming at the demand of digital camouflage temporary spraying system,a calibration algorithm based on combined feature points is proposed.In practical application,this algorithm only needs to obtain a few required spatial position of feature points through external measuring equipment to determine the position and posture of the object,which is simple to operate and robust,and has obvious advantages in large scene calibration application scenarios.At last,aiming at the problem that existing in the current trajectory planning in practical application of domestic robots,such as the calculation complexity,smoothness and speed,a trajectory optimization algorithm is proposed.The algorithm can identify,classify and simplify the trajectory points,and finally reduce the number of instructions that can be executed with one instruction to one,which solves the existing problems.And according to the local surface shape of the model,adjust the position and posture of the spray gun and plan the spraying parameters.In this paper,verifies the feasibility and practicability of the proposed algorithm through simulation data and digital camouflage spraying experiment of real objects,and provides a reference for the practical application of digital camouflage spraying on vehicle surface.