CN107063086A - A kind of local surface normal vector based on double infrared sensors determines method - Google Patents
A kind of local surface normal vector based on double infrared sensors determines method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
A kind of local surface normal vector based on double infrared sensors determines method, and method is determined the present invention relates to the local surface normal vector based on double infrared sensors.Present invention aims at solve the existing irrealizable problem of e measurement technology.Including cross measure and longitudinal direction measurement two parts；First, longitudinal measuring method realizes that step is as follows：Robot shower nozzle coordinate in earth coordinates is obtained, determines robot shower nozzle in the transverse plane perpendicular to curve surface of workpiece to be sprayed；2nd, cross measure method realizes that step is as follows：It is P (x, y, z) to obtain robot shower nozzle coordinate in earth coordinates, records the sampled point passed through in robot shower nozzle moving process, determines robot shower nozzle in the fore-and-aft plane perpendicular to curve surface of workpiece to be sprayed；Repeat cross measure and longitudinal direction is measured, transverse plane intersects with fore-and-aft plane, determines the normal vector of curve surface of workpiece to be sprayed.The present invention is used for painting applications.
Description
Technical field
Method is determined the present invention relates to the local surface normal vector based on double infrared sensors.
Background technology
In spraying technology, shower nozzle vertical with workpiece surface holding is a highly important link in whole technique, spray
The head moment keeps the thickness, spraying effect, gloss intensity that ensure that spray painting vertical with workpiece surface to be consistent, and is easy to reality
Existing lacquer spraying technique, it is ensured that the effect of workpiece after processing.Traditional metering system is that off-line measurement determines normal direction, that is, is being added
During work part, in order that machining tool is kept with curved vertical, it is necessary to arrestment, artificial teaching.Meat can only be passed through
Eye judges whether machining tool overlaps with surface normal direction.
With the popularization of the automatic technologies such as spraying technology, for the Gesture more and more higher of spraying equipment, in order to carry
The operating efficiency of high automation equipment, it is ensured that the integrality of spraying coating process, then be accomplished by a kind of method and ensure shower nozzle and curved surface
Workpiece surface is maintained on direction vertical.
The main method that CN102393176 measures surface curvature in the prior art is equal thickness interference method, and this method is surveyed
Amount efficiency is relatively low and use occasion is limited, and the technical scheme includes vertical fixed left vertical chi, right branch on left socle and left socle
Vertical fixed right power chi on frame and right support,；Taken between two power chis with crossfoot on connection, crossfoot hung by outstanding chi vernier it is outstanding
Chi, it is semicircle cone contact point to hang chi lower end.On the one hand can be only applied to overall structure is symmetrical with curved surface to above-mentioned technical proposal
Workpiece, or the workpiece of the parameters such as the symmetric position and angle of curved surface has been found, otherwise easily have the half of outstanding chi lower end
The peak of the inaccurate contact surface of cone contact point, that is, hang the not conllinear situation of the radius of chi and curved surface, so that serious shadow
Radius of curvature and the measurement accuracy of normal line vector are rung.The scope of this method application limitation is narrower, finds the symmetrical position of curved surface
Put more time-consuming with the parameter such as angle.In addition, this method can be only applied to measure curved surface normal vector in the horizontal direction, it is uncomfortable
With with large-scale workpiece.This method short time consumption is long, in actual commercial Application, is not fully applicable.
Another CN201310342502.8 inventions propose that the method and error of a kind of contact type measurement curved surface are mended
System is repaid, including ruby surveys the ceramic measuring staffs of touch and pressure sensor, by obtaining actual spot of measurement and theoretical measurement point
Error and angle determine actual normal to a surface direction.The shortcoming of such a method is to be only applicable to accessible equipment, inconvenience
In paint nozzle movement, spray painting effect, and inefficiency can be destroyed in moving process, cost is higher.As can be seen here, it is such a
Scheme is highly detrimental to apply in the Surface Method vector measurement of paint-spray robot.
Generally, many industrial spraying operations and the complete alignment pieces normal to a surface direction of shower nozzle is not needed,
That is find local surface normal it is vectorial when and need not very high precision.As long as ensureing during short distance, shower nozzle
It is capable of the first and last end curved surface normal of alignment pieces, it is possible to ensure the fluency of spraying and the integrality of technique, the present invention
Triangle is resolved with reference to robot terminal position and robot motion's vector, and using the fortune of double infrared sensors cooperation robots
Dynamic direction vector obtains local surface normal information.
The content of the invention
Method is determined the invention provides a kind of local surface normal vector based on double infrared sensors, it is therefore intended that solved
The existing irrealizable problem of e measurement technology, to improve the efficiency and workpiece processing quality of finding local surface normal vector.
A kind of local surface normal vector based on double infrared sensors determines that method includes cross measure and longitudinal direction measurement two
Part；
First, longitudinal measuring method realizes that step is as follows：
Step is one by one：After robot shower nozzle is moved to curve surface of workpiece position to be sprayed, robot shower nozzle is obtained in the earth
Coordinate in coordinate system, and it is set as P (x, y, z)；
Step one two：The angle theta between the infrared distance sensor at robot shower nozzle edge is arranged on according to two, and
Two infrared sensors of infrared sensor measurement are with curve surface of workpiece to be sprayed apart from d1、d2, it is bent that resolving obtains workpiece to be sprayed
Two point D on face1(x1,y1,z1)、D2(x2,y2,z2)；
The robot shower nozzle edge is robot shower nozzle spray painting face edge；
Step one three：By D1(x1,y1,z1) and D2(x2,y2,z2) 2 points of midpoint as curve surface of workpiece to be sprayed in longitudinal direction
The upper intersection point O with the longitudinal tangent plane normal to curve of workpiece to be sprayed1(xo1,yo1,zo1)；
Step one four：By D1(x1,y1,z1) and D2(x2,y2,z2) 2 points with Function Fitting, obtain function and cross O1(xo1,yo1,
zo1) point longitudinal normal line vector
The step First Five-Year Plan：The direction of robot shower nozzle is adjusted to and longitudinal normal line vectorParallel direction,
And mobile robot makes robot shower nozzle alignment O in a longitudinal direction1(xo1,yo1,zo1), determine robot shower nozzle perpendicular to
In the transverse plane of curve surface of workpiece to be sprayed；
2nd, cross measure method realizes that step is as follows：
Step 2 one：After robot shower nozzle is moved to target location, obtains robot shower nozzle and sat in earth coordinates
Mark, and it is set as P (x, y, z)；
By two infrared distance sensors for being arranged on robot shower nozzle edge measure two infrared sensors with it is to be painted
The distance of curve surface of workpiece is applied, the position D of two points on now curve surface of workpiece to be sprayed is obtaineda1(xa1,ya1,za1)、Db1(xb1,
yb1,zb1)；
Step 2 two：Mobile robot shower nozzle, while the sampled point that record is passed through in robot shower nozzle moving process
Dan(xan,yan,zan)、Dbn(xbn,ybn,zbn), it is Dan(xan,yan,zan)、Dbn(xbn,ybn,zbn) point starting point), wherein sampling
Cycle is t；
The t is positive integer；
Step 2 three：By sampled point Dan(xan,yan,zan)、Dbn(xbn,ybn,zbn) midpoint as robot shower nozzle shifting
Dynamic rail mark Don(xon,yon,zon)；
Step 2 four：According to the motion track obtained every time, using function curve (such as, can with conic section or
Person's cubic curve is fitted) all motion tracks of fitting, the end tangent line rector of motion track is obtained (using analytic geometry
Mode, according to the matched curve of acquisition, obtains the tangent line rector and normal line vector put on curve), and according to end tangent line rector
Obtain laterally directed normal vector(using the method for analytic geometry, tangent line is vertical with normal line vector)；
Step 2 five：The direction of robot shower nozzle is adjusted to and laterally directed normal vectorParallel direction,
Determine robot shower nozzle in the fore-and-aft plane perpendicular to curve surface of workpiece to be sprayed；
Repeat cross measure and longitudinal direction is measured, transverse plane intersects with fore-and-aft plane, determines the method for curve surface of workpiece to be sprayed
To vector；
Beneficial effects of the present invention are：
The invention provides a kind of measuring method that local surface normal vector is found for paint-spray robot shower nozzle, by three-dimensional
The measures conversion of curved surface is two-dimensional measurement twice, according to the feedback point of two infrared sensors, with the mode solution of analytic geometry
Calculate shower nozzle terminal angle.Avoid artificial operation and bring the low of effect, turn avoid the measuring apparatus of complexity.And pass through
Double infrared sensors, only with two infrared sensors, with reference to the feedback point that is recorded of motion vector of robot, find
The normal vector of curved surface, it is possible to achieve whole process continuity, real-time, can guarantee that processing is efficiently carried out.Save infrared sensing
The convenient processing of device, the characteristic fed back in time, overcome manually-operated error with it is poorly efficient, and led in numerous other industry
Domain is equally applicable.
1st, the measurement of curved surface normal vector is decomposed into cross measure and longitudinal direction measurement two parts by the present invention, and three-dimensional is asked
Topic is reduced to two two-dimensional problems, it is possible to achieve for the determination for the curved surface normal vector for processing workpiece, obtain the knot of Irregular Boundary Surface
Structure size and feature, eliminate shower nozzle to find the curved surface normal vector of workpiece to be processed and terminate whole operation flow, artificial teaching
The time wasted and artificial error, improve the precision and quality of technique.
2nd, after double infrared distance measuring processing, without offline inspection, online rapid adjustment shower nozzle posture just can be realized, makes spray
Head is always maintained at and curved vertical.When shower nozzle deviates curved surface, the distance that can be fed back by the infrared sensor of shower nozzle both sides is adjusted,
Requirement until meeting index, keep shower nozzle perpendicular to curved surface, save manpower and time, improve the system of work pieces process
Make efficiency, stability, repeatability and uniformity.
3rd, present invention employs double infrared ray sensor rangings, shower nozzle can be kept to be constantly in mobile status.For moving
For dynamic shower nozzle, the interference of infrared sensor is small, is not in contact with friction, is easy to movement.The advantage of the invention is that using red
Outer sensor measurement surface normal vector, it is adaptable to compare disturbed condition complex environment.It is easy to operate and calculates, versatility ratio
Preferably, therefore measurement size and scope is added.
4th, apparatus of the present invention can measure the local surface of whole workpiece, not limited by the size of workpiece to be processed, expand
Measurement and the size range of detection, can be applied in many commercial Applications.
5th, plane and its normal direction where the present invention obtains curved surface using the motion vector of two infrared sensor combination shower nozzles
Amount.Simple to operate due to infrared sensor, measuring speed is fast, and effect is reliable, therefore can realize the real-time of measurement process.
6th, relative to equal thickness interference method, device of the invention is simpler, greatlys save cost, and system equipment requirement is compared
It is low, easily realize, small volume, be easy to very much assembling.
7th, the angle between two infrared sensors can be adjusted according to the distance of shower nozzle, the speed moved according to shower nozzle is adjusted
Sampling time in whole moving process.Whole system is more flexible, is easy to control.
Brief description of the drawings
Fig. 1 for longitudinal direction measure, shower nozzle at end, institute to plane for curve surface of workpiece situation schematic diagram；D1(x1,y1,
z1)、D2(x2,y2,z2) it is respectively two infrared sensors measured point out on workpiece, P (x, y, z) is shower nozzle end points；
Fig. 2 is cross measure, when shower nozzle is in moving process, and double infrared sensors are recorded every certain sampling time
Feedback point, normal direction schematic diagram when shower nozzle is moved to end is obtained by Function Fitting；
Fig. 3 is cross measure, longitudinal direction measurement range of movement schematic diagram；
Fig. 4 is the moving process of whole shower nozzle, the whole motion track schematic diagram from initial point to target point；
Fig. 5 is the whole broad flow diagram for spraying solution process.
Embodiment
Embodiment one：Illustrate present embodiment, the one of present embodiment with reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5
Plant the local surface normal vector based on double infrared sensors and determine that method includes cross measure and longitudinal direction measurement two parts；
First, longitudinal measuring method realizes that step is as follows：
Step is one by one：After robot shower nozzle is moved to curve surface of workpiece position to be sprayed, robot shower nozzle is obtained in the earth
Coordinate in coordinate system, and it is set as P (x, y, z), (x, y, z meet the right-hand rule)；
Step one two：The angle theta between the infrared distance sensor at robot shower nozzle edge is arranged on according to two, and
Two infrared sensors of infrared sensor measurement are with curve surface of workpiece to be sprayed apart from d1、d2, it is bent that resolving obtains workpiece to be sprayed
Two point D on face1(x1,y1,z1)、D2(x2,y2,z2), (x1,y1,z1X, y, z meet the right-hand rule, x2,y2,z2Meet the right hand
Rule)；
The angle theta, d1、d2To be known；
The robot shower nozzle edge is robot shower nozzle spray painting face edge；
Step one three：By D1(x1,y1,z1) and D2(x2,y2,z2) 2 points of midpoint as curve surface of workpiece to be sprayed in longitudinal direction
The upper intersection point O with the longitudinal tangent plane normal to curve of workpiece to be sprayed1(xo1,yo1,zo1), xo1,yo1,zo1Meet the right-hand rule；
Step one four：By D1(x1,y1,z1) and D2(x2,y2,z2) 2 points with Function Fitting, obtain function and cross O1(xo1,yo1,
zo1) point longitudinal normal line vectorxa,ya,zaMeet the right-hand rule；
The step First Five-Year Plan：The direction of robot shower nozzle is adjusted to and longitudinal normal line vectorParallel direction,
And mobile robot makes robot shower nozzle alignment O in a longitudinal direction1(xo1,yo1,zo1), that is, think vectorIn work to be sprayed
The longitudinally perpendicular direction of part curved surface, determines robot shower nozzle in the transverse plane perpendicular to curve surface of workpiece to be sprayed；
Complete every time after move, all repeat step one arrives step 4, vertical to guarantee more accurately to find
To the vertical direction in direction；
2nd, cross measure method combines the motion vector and information of robot, realizes that step is as follows：
Step 2 one：After robot shower nozzle is moved to target location, obtains robot shower nozzle and sat in earth coordinates
Mark, and it is set as P (x, y, z)；
By two infrared distance sensors for being arranged on robot shower nozzle edge measure two infrared sensors with it is to be painted
The distance of curve surface of workpiece is applied, the position D of two points on now curve surface of workpiece to be sprayed is obtaineda1(xa1,ya1,za1)、Db1(xb1,
yb1,zb1), meet the right-hand rule；
Step 2 two：According to lacquer spraying technique and workpiece surface track mobile robot shower nozzle, while record is in robot spray
The sampled point D passed through in head moving processan(xan,yan,zan)、Dbn(xbn,ybn,zbn), meet the right-hand rule, (shower nozzle is being needed
During asking track, the sampled point of the part in measurement range, Da1(xa1,ya1,za1)、Db1(xb1,yb1,zb1) it is Dan(xan,
yan,zan)、Dbn(xbn,ybn,zbn) point starting point), wherein the sampling period be t；
The t is positive integer；
Fitting degree of the selection influence in sampling period for curve.Sampling period is determined by speed.
Step 2 three：By the sampled point D of both sides infrared sensoran(xan,yan,zan)、Dbn(xbn,ybn,zbn) midpoint make
For the motion track D of robot shower nozzleon(xon,yon,zon), meet the right-hand rule；
Step 2 four：According to the motion track obtained every time, using function curve (such as, can with conic section or
Person's cubic curve is fitted) all motion tracks of fitting, the end tangent line rector of motion track is obtained (using analytic geometry
Mode, according to the matched curve of acquisition, obtains the tangent line rector and normal line vector put on curve), and according to end tangent line rector
Obtain laterally directed normal vectorMeeting the right-hand rule, (using the method for analytic geometry, tangent line hangs down with normal line vector
Directly)；
Step 2 five：The direction of robot shower nozzle is adjusted to and laterally directed normal vectorParallel direction,
Determine robot shower nozzle in the fore-and-aft plane perpendicular to curve surface of workpiece to be sprayed；
Repeat cross measure and longitudinal direction is measured, transverse plane intersects with fore-and-aft plane, determines the method for curve surface of workpiece to be sprayed
To vector；
A kind of local surface normal vector based on double infrared sensors determines that the part in method is two sensorses angle
Degree is no more than 5 °；
Embodiment two：Present embodiment from unlike embodiment one：D in the step one two1(x1,
y1,z1)、D2(x2,y2,z2) specific formula is：
Other steps and parameter are identical with embodiment one.
Embodiment three：Present embodiment from unlike embodiment one or two：In the step one three
Intersection point O1(xo1,yo1,zo1) specific formula be：
Other steps and parameter are identical with embodiment one or two.
Embodiment four：Unlike one of present embodiment and embodiment one to three：The step one
The specific formula of function is in four：
In formula, m, n, p are the coefficient of the curve fitted；
Other steps and parameter are identical with one of embodiment one to three.
Embodiment five：Unlike one of present embodiment and embodiment one to four：The step one
The angle theta value that two are arranged between the infrared distance sensor at shower nozzle edge in two is 0 °≤θ≤5 °.
θ needs are very small, and θ angle is adjusted according to the distance of shower nozzle and workpiece, and θ angle should be ensured that less than 5 °.
Other steps and parameter are identical with one of embodiment one to four.
Embodiment six：Unlike one of present embodiment and embodiment one to five：The step one
Two infrared distance sensors for being arranged on shower nozzle edge are symmetrical arranged relative to shower nozzle in two；
Two infrared sensor is in same plane with shower nozzle；Each infrared sensor is with angle formed by shower nozzle
In longitudinal solution process, because θ angles are sufficiently small.It is considered that triangle Δ PD1D2For isosceles triangle, and recognize
For D1(x1,y1,z1)、D2(x2,y2,z2) center line be exactly triangle base vertical line.Base center line is so found, shower nozzle is aligned
Midpoint O1(xo1,yo1,zo1), it just have found the longitudinally perpendicular direction of curved surfaceSuch as Fig. 1, every time after completion move, all
Repeat step one arrives step 4, to guarantee the vertical direction for more accurately finding longitudinal direction.
Other steps and parameter are identical with one of embodiment one to five.
Embodiment seven：Unlike one of present embodiment and embodiment one to six：It is described each
In measurement, repeat cross measure and longitudinal direction is measured, transverse plane intersects with fore-and-aft plane, it is determined that the method for curve surface of workpiece to be sprayed
To vector；Detailed process is：
Robot shower nozzle is directed at the midpoint of sampled point, by the D of cross measure and longitudinal direction measurementon(xon,yon,zon) and O1
(xo1,yo1,zo1) alignment, make the same point of cross measure and longitudinal direction measurement on local surface, make transverse plane flat with longitudinal direction
Intersect in face, it is determined that the normal vector of curve surface of workpiece to be sprayed.
Other steps and parameter are identical with one of embodiment one to six.
Beneficial effects of the present invention are verified using following examples：
Embodiment one：
A kind of local surface normal vector based on double infrared sensors of the present embodiment determines that method is specifically according to following step
Suddenly prepare：
Fig. 1 shows longitudinal measurement, shower nozzle in end, to the situation that plane is curve surface of workpiece, two infrared biographies
Sensor measured point out on workpiece is respectively D1(x1,y1,z1)、D2(x2,y2,z2), constituted with shower nozzle end points P (x, y, z)
ΔPD1D2.Triangle point midway and vertical line and the intersection point on base are resolved according to two feedback points.
Fig. 2 is cross measure, and shower nozzle records double infrared sensors during movement every certain sampling time
Feedback point, normal direction when shower nozzle is moved to end is obtained by Function Fitting.
Fig. 3 is cross measure, longitudinal direction measurement range of movement schematic diagram；
Fig. 4 describes the moving process of whole shower nozzle, the whole motion track from initial point to target point.And real-time basis
The data that double infrared sensors are fed back, the matched curve of function, timely on-line tuning shower nozzle terminal angle keeps shower nozzle and work
Part curved surface is all the time in vertical direction.
Fig. 5 is the broad flow diagram of whole spraying solution process, and whole flow process is divided into two major parts, and a part is horizontal
To measurement, a part is longitudinal measurement.Feedback point midpoint is pointed in final shower nozzle end, and the direction for making shower nozzle is local surface method
Vector.
As a whole, the following several parts of the major part of local surface normal direction method for determination of amount：
Step one：Shower nozzle terminal position is obtained, and receives external command, shower nozzle is along specified motion vector, to target
Move in direction.
Step 2：By cross measure mode, according to the sampling time, the double infrared sensors of record pass through the feedback of distance
Point.
Step 3：The actual motion track of shower nozzle is calculated, and function is calculated using the running orbit of Function Fitting shower nozzle
The normal vector of end, and adjust the direction of shower nozzle.Ensure shower nozzle vertical with curve surface work pieces holding in horizontal line plane.
Step 4：After shower nozzle reaches target point, longitudinal direction side face mode is used.Obtain the infrared sensor of shower nozzle both sides
Feedback point.
Step 5：2 points of emphasis is calculated, and with two feedback points of Function Fitting, obtains the normal direction of function.
Step 6：Laterally longitudinal normal direction with obtaining twice is kept by shower nozzle alignment feedback point midpoint, and by shower nozzle
It is consistent, just obtains the normal direction in local surface.
In summary, the invention provides a kind of measurement side that local surface normal vector is found for paint-spray robot shower nozzle
Method, is two-dimensional measurement twice by the measures conversion of three-dimension curved surface, according to the feedback point of two infrared sensors, uses analytic geometry
Mode resolve shower nozzle terminal angle.Avoid artificial operation and bring the low of effect, turn avoid the measuring apparatus of complexity.
And by double infrared sensors, only with two infrared sensors, with reference to robot motion vector recorded it is anti-
Feed point, finds the normal vector of curved surface, it is possible to achieve whole process continuity, real-time, can guarantee that processing is efficiently carried out.Save
The convenient processing of infrared sensor, the characteristic fed back in time, overcome manually-operated error with it is poorly efficient, and it is numerous other
Industrial circle it is equally applicable.
The present invention can also have other various embodiments, in the case of without departing substantially from spirit of the invention and its essence, this area
Technical staff works as can make various corresponding changes and deformation according to the present invention, but these corresponding changes and deformation should all belong to
The protection domain of appended claims of the invention.
Claims (7)
1. a kind of local surface normal vector based on double infrared sensors determines method, it is characterised in that：One kind is based on double infrared
The local surface normal vector of sensor determines that method includes cross measure and longitudinal direction measurement two parts；
First, longitudinal measuring method realizes that step is as follows：
Step is one by one：After robot shower nozzle is moved to curve surface of workpiece position to be sprayed, robot shower nozzle is obtained in geodetic coordinates
Coordinate in system, and it is set as P (x, y, z)；
Step one two：The angle theta between the infrared distance sensor at robot shower nozzle edge is arranged on according to two, and it is infrared
Two infrared sensors of sensor measurement are with curve surface of workpiece to be sprayed apart from d1、d2, resolve and obtain on curve surface of workpiece to be sprayed
Two point D1(x1,y1,z1)、D2(x2,y2,z2)；
The robot shower nozzle edge is robot shower nozzle spray painting face edge；
Step one three：By D1(x1,y1,z1) and D2(x2,y2,z2) 2 points midpoint as curve surface of workpiece to be sprayed in the vertical with
The intersection point O of the longitudinal tangent plane normal to curve of workpiece to be sprayed1(xo1,yo1,zo1)；
Step one four：By D1(x1,y1,z1) and D2(x2,y2,z2) 2 points with Function Fitting, obtain function and cross O1(xo1,yo1,zo1)
Longitudinal normal line vector of point
The step First Five-Year Plan：The direction of robot shower nozzle is adjusted to and longitudinal normal line vectorParallel direction, and
Mobile robot makes robot shower nozzle to O on longitudinal direction1(xo1,yo1,zo1), determine robot shower nozzle perpendicular to be sprayed
In the transverse plane of curve surface of workpiece；
2nd, cross measure method realizes that step is as follows：
Step 2 one：After robot shower nozzle is moved to target location, robot shower nozzle coordinate in earth coordinates is obtained, and
It is set as P (x, y, z)；
Two infrared sensors and work to be sprayed are measured by two infrared distance sensors for being arranged on robot shower nozzle edge
The distance of part curved surface, obtains the position D of two points on now curve surface of workpiece to be sprayeda1(xa1,ya1,za1)、Db1(xb1,yb1,
zb1)；
Step 2 two：Mobile robot shower nozzle, while the sampled point D that record is passed through in robot shower nozzle moving processan
(xan,yan,zan)、Dbn(xbn,ybn,zbn), the wherein sampling period is t；
The t is positive integer；
Step 2 three：By sampled point Dan(xan,yan,zan)、Dbn(xbn,ybn,zbn) midpoint as robot shower nozzle moving rail
Mark Don(xon,yon,zon)；
Step 2 four：According to the motion track obtained every time, all motion tracks are fitted using function curve, moving rail is obtained
The end tangent line rector of mark, and laterally directed normal vector is obtained according to end tangent line rector
Step 2 five：The direction of robot shower nozzle is adjusted to and laterally directed normal vectorParallel direction, it is determined that
Robot shower nozzle is in the fore-and-aft plane perpendicular to curve surface of workpiece to be sprayed；
Repeat cross measure and longitudinal direction measured, transverse plane intersects with fore-and-aft plane, determine the normal direction of curve surface of workpiece to be sprayed to
Amount.
2. a kind of local surface normal vector based on double infrared sensors determines method according to claim 1, its feature exists
In：D in the step one two1(x1,y1,z1)、D2(x2,y2,z2) specific formula is：
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<mi>z</mi>
<mo>-</mo>
<msub>
<mi>d</mi>
<mn>2</mn>
</msub>
<mo>*</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mfrac>
<mi>&theta;</mi>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>,</mo>
</mrow>
3. a kind of local surface normal vector based on double infrared sensors determines method according to claim 2, its feature exists
In：Intersection point O in the step one three1(xo1,yo1,zo1) specific formula be：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>x</mi>
<mrow>
<mi>o</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>x</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>x</mi>
<mn>2</mn>
</msub>
</mrow>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>y</mi>
<mrow>
<mi>o</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>y</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>y</mi>
<mn>2</mn>
</msub>
</mrow>
<mn>2</mn>
</mfrac>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>*</mo>
<mi>y</mi>
<mo>+</mo>
<msub>
<mi>d</mi>
<mn>1</mn>
</msub>
<mo>*</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mfrac>
<mi>&theta;</mi>
<mn>2</mn>
</mfrac>
<mo>-</mo>
<msub>
<mi>d</mi>
<mn>2</mn>
</msub>
<mo>*</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mfrac>
<mi>&theta;</mi>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>z</mi>
<mrow>
<mi>o</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>z</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>z</mi>
<mn>2</mn>
</msub>
</mrow>
<mn>2</mn>
</mfrac>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>*</mo>
<mi>z</mi>
<mo>-</mo>
<msub>
<mi>d</mi>
<mn>1</mn>
</msub>
<mo>*</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mfrac>
<mi>&theta;</mi>
<mn>2</mn>
</mfrac>
<mo>-</mo>
<msub>
<mi>d</mi>
<mn>1</mn>
</msub>
<mo>*</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mfrac>
<mi>&theta;</mi>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>.</mo>
</mrow>
4. a kind of local surface normal vector based on double infrared sensors determines method according to claim 3, its feature exists
In：The specific formula of function is in the step one four：
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mfrac>
<mrow>
<mi>x</mi>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>1</mn>
</msub>
</mrow>
<mi>m</mi>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<mi>y</mi>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>1</mn>
</msub>
</mrow>
<mi>n</mi>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<mi>z</mi>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>1</mn>
</msub>
</mrow>
<mi>p</mi>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mfrac>
<mrow>
<mi>x</mi>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>2</mn>
</msub>
</mrow>
<mi>m</mi>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<mi>y</mi>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>2</mn>
</msub>
</mrow>
<mi>n</mi>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<mi>z</mi>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>2</mn>
</msub>
</mrow>
<mi>p</mi>
</mfrac>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
In formula, m, n, p are the coefficient of the curve fitted.
5. a kind of local surface normal vector based on double infrared sensors determines method according to claim 4, its feature exists
In：The angle theta value that two are arranged between the infrared distance sensor at shower nozzle edge in the step one two be 0 °≤θ≤
5°。
6. a kind of local surface normal vector based on double infrared sensors determines method according to claim 5, its feature exists
In：Two infrared distance sensors for being arranged on shower nozzle edge are symmetrical arranged relative to shower nozzle in the step one two；
Two infrared sensor is in same plane with shower nozzle；Each infrared sensor is with angle formed by shower nozzle
7. a kind of local surface normal vector based on double infrared sensors determines method according to claim 6, its feature exists
In：Described repetition cross measure is measured with longitudinal direction in each measurement, and transverse plane intersects with fore-and-aft plane, it is determined that to be painted
Apply the normal vector of curve surface of workpiece；Detailed process is：
Robot shower nozzle is directed at the midpoint of sampled point, by the D of cross measure and longitudinal direction measurementon(xon,yon,zon) and O1(xo1,yo1,
zo1) alignment, transverse plane is intersected with fore-and-aft plane, it is determined that the normal vector of curve surface of workpiece to be sprayed.
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| CN107063086B (en) | 2019-03-12 |
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