Ru-Xiang Hua, Wei Zou, Guo-Dong Chen, Hong-Xuan Ma, Wei Zhang. A Model of Spray Tool and a Parameter Optimization Method for Spraying Path Planning. International Journal of Automation and Computing.
Citation: Ru-Xiang Hua, Wei Zou, Guo-Dong Chen, Hong-Xuan Ma, Wei Zhang. A Model of Spray Tool and a Parameter Optimization Method for Spraying Path Planning. International Journal of Automation and Computing.

A Model of Spray Tool and a Parameter Optimization Method for Spraying Path Planning

More Information
  • Author Bio:

    Ru-Xiang Hua received the B. Eng. degree in mechanical engineering from China University of Mining and Technology, China in 2016, the M. Eng. degree from Beijing Information Science and Technology University, China in 2019. Currently, he is a Ph. D. degree candidate in control science and engineering at Institute of Automation, Chinese Academy of Sciences, China. He is also with University of Chinese Academy of Sciences, China. His research interests include spray path planning and intelligent control. E-mail: huaruxiang@ia.ac.cn (Corresponding author) ORCID ID: 0000-0002-0043-9422

    Wei Zou received the B. Eng. degree in control science and engineering from Baotou University of Iron and Steel Technology, China in 1997, the M. Eng. degree in control science and engineering from Shandong University of Technology, China in 2000, and the Ph. D. degree in control science and engineering from Institute of Automation, Chinese Academy of Sciences (IACAS), China in 2003. Currently, he is a professor at the Research Center of Precision Sensing and Control, IACAS. His research interests include intelligent robotics, visual servoing, robot localization and navigation. E-mail: wei.zou@ia.ac.cn ORCID iD: 0000-0003-4215-5361

    Guo-Dong Chen received the B. Eng. degree in computer control engineering from China University of Mining and Technology, China in 2016, the M. Eng. degree in software engineering from Beijing Information Science and Technology University, China in 2019. Currently, he is a Ph.D. degree candidate in control science and engineering at Institute of Automation, Chinese Academy of Sciences, China. He is also with University of Chinese Academy of Sciences, China. His research interests include spray path planning and intelligent control. E-mail: dylancgd@163.com

    Hong-Xuan Ma received the B. Sc. degree in software engineering from Central South University, China in 2016. He is currently a Ph. D. degree candidate in Institute of Automation, Chinese Academy of Sciences, China. He is also with University of Chinese Academy of Sciences, China. His research interests include computer vision and robotics. E-mail: mahongxuan2016@ia.ac.cn

    Wei Zhang received the B. Eng. degree in mechatronic engineering from Inner Mongolia University of Technology, China in 2011. Currently, he is a vehicle engineer at Inner Mongolia First Machinery Group co., Ltd, China. His research interests include industrial robot and vehicle manufacturing. Email: sugaray20@126.com

  • Received Date: 2021-04-14
  • Accepted Date: 2021-07-30
  • The digital camouflage spraying of special vehicles carried out by robots can greatly improve the spraying efficiency, spraying quality, and rapid adaptability to personalized patterns. The selection of spray tool and the accuracy of the adopted mathematical spray tool model has a great impact on the effectiveness of spray path planning and spraying quality. Since traditional conical spray tool models are not suitable for spraying rectangular digital camouflage, according to the characteristics of digital camouflage, the coating thickness cumulative distribution model of strip nozzle spray tool for 2D plane spraying and 3D surface spraying is derived, and its validity is verified by simulation. Based on the accumulation velocity model of the coating thickness (AVCT) on the curved surface and aiming at spraying path planning within the same surface and different surfaces, a path parameter optimization method based on coating uniformity evaluation of adjacent path overlapping area is proposed. Combined with the vehicle surface model, parameters such as path interval, spray tool angle and spray tool motion velocity can be calculated in real-time to ensure uniform coating. Based on the known local three-dimensional model of vehicle surface and the comprehensive spraying simulation, the validity of the purposed models: the coating thickness on the adjacent path area (CTAPA), the coating thickness on the intersection of two surfaces (CTITS), the coating thickness on the intersection of a plane and a surface (CTIPS), and the optimization method of path parameters are verified. The results show that compared with the traditional spray tool, the strip nozzle can better ensure the uniformity of the coating thickness of digital camouflage spray. Finally, according to a practical spraying experiment, the results prove that the proposed models not only are effective but also meet the practical industrial requirements and are of great practical value.

     

  • loading
  • [1]
    P. Muñoz, M. D. R-Moreno, B. Castaño. 3Dana: A path planning algorithm for surface robotics. Engineering Applications of Artificial Intelligence, vol. 60, pp. 175–192, 2017. DOI: 10.1016/j.engappai.2017.02.010.
    [2]
    M. Dakulović, S. Horvatić, I. Petrović. Complete coverage D* algorithm for path planning of a floor-cleaning mobile robot. IFAC Proceedings Volumes, vol. 44, no. 1, pp. 5950–5955, 2011. DOI: 10.3182/20110828-6-IT-1002.03400.
    [3]
    T. Oksanen, A. Visala. Coverage path planning algorithms for agricultural field machines. Journal of Field Robotics, vol. 26, no. 8, pp. 651–668, 2009. DOI: 10.1002/rob.20300.
    [4]
    L. Yao, Y. Jiang, Z. Y. Zhao, S. S. Yang, Q. Quan. A pesticide spraying mission assignment performed by multi-quadcopters and its simulation platform establishment. In Proceedings of IEEE Chinese Guidance, Navigation and Control Conference, IEEE, Nanjing, China, pp. 1980−1985, 2016. DOI: 10.1109/CGNCC.2016.7829093.
    [5]
    J. Conesa-Muñoz, J. M. Bengochea-Guevara, D. Andujar, A. Ribeiro. Efficient distribution of a fleet of heterogeneous vehicles in agriculture: A practical approach to multi-path planning. In Proceedings of IEEE International Conference on Autonomous Robot Systems and Competitions, IEEE, Vila Real, Portugal, pp. 56−61, 2015. DOI: 10.1109/ICARSC.2015.39.
    [6]
    I. W. Muliawan, M. A. Ma′sum, N. Alfiany, W. Jatmiko. UAV path planning for autonomous spraying task at salak plantation based on the severity of plant disease. In Proceedings of IEEE International Conference on Cybernetics and Computational Intelligence, IEEE, Banda Aceh, Indonesia, pp. 109−113, 2019. DOI: 10.1109/CYBERNETICSCOM.2019.8875683.
    [7]
    R. C. Luo, Y. W. Perng, P. K. Tseng. 3D printing process for multi-heterogeneous objects fabrication. In Proceedings of IEEE/SICE International Symposium on System Integration, IEEE, Taipei, China, pp. 95−101, 2017. DOI: 10.1109/SII.2017.8279195.
    [8]
    W. Chen, Y. Tang. Trajectory optimization of painting robot and experimental for free-form surfaces. In Proceedings of Chinese Automation Congress, IEEE, Wuhan, China, pp. 453−456, 2015. DOI: 10.1109/CAC.2015.7382543.
    [9]
    Y. Zeng, J. Gong, H. F. Ning. The tool trajectory optimization of spray painting robot for spherical surface. In Proceedings of International Conference on Electric Information and Control Engineering, IEEE, Wuhan, China, pp. 5570−5573, 2011. DOI: 10.1109/ICEICE.2011.5777485.
    [10]
    C. Wei, Z. Dean. Tool trajectory optimization of robotic spray painting. In Proceedings of the 2nd International Conference on Intelligent Computation Technology and Automation, IEEE, Changsha, China, pp. 419−422, 2009. DOI: 10.1109/ICICTA.2009.567.
    [11]
    F. Z. Li, D. A. Zhao, G. H. Xie. Trajectory optimization of spray painting robot based on adapted genetic algorithm. In Proceedings of International Conference on Measuring Technology and Mechatronics Automation, IEEE, Zhangjiajie, China, pp. 907−910, 2009. DOI: 10.1109/ICMTMA.2009.413.
    [12]
    D. Gleeson, S. Jakobsson, R. Salman, N. Sandgren, F. Edelvik, J. S. Carlson, B. Lennartson. Robot spray painting trajectory optimization. In Proceedings of the 16th International Conference on Automation Science and Engineering, IEEE, Hong Kong, China, pp. 1135−1140, 2020. DOI: 10.1109/CASE48305.2020.9216983.
    [13]
    J. Y. Ma, B. G. Sun. The Exploration of the trajectory planning of plant protection robot for small planting crops in western mountainous areas. In Proceedings of IEEE International Conference of Intelligent Robotic and Control Engineering, IEEE, Lanzhou, China, pp. 42−45, 2018. DOI: 10.1109/IRCE.2018.8492961.
    [14]
    M. Panda, B. Das, B. Subudhi, B. B. Pati. A comprehensive review of path planning algorithms for autonomous underwater vehicles. International Journal of Automation and Computing, vol. 17, no. 3, pp. 321–352, 2020. DOI: 10.1007/s11633-019-1204-9.
    [15]
    W. Chen, H. Liu, Y. Tang, J. J. Liu. Research on spacial trajectory optimization for spray painting robot oriented to 3D entities. In Proceedings of Chinese Control and Decision Conference, IEEE, Shenyang, China, pp. 1231−1236, 2018. DOI: 10.1109/CCDC.2018.8407317.
    [16]
    I. Ardiyanto, J. Miura. Time-space viewpoint planning for guard robot with chance constraint. International Journal of Automation and Computing, vol. 16, no. 4, pp. 475–490, 2019. DOI: 10.1007/s11633-018-1146-7.
    [17]
    Z. H. Cai, H. J. Lian, M. Su, F. Zhang, H. Liang, C. N. Zeng. A robot trajectory sample algorithm for optimizing thermal spraying torch velocity on the complex surface. In Proceedings of Chinese Automation Congress, IEEE, Wuhan, China, pp. 354−359, 2015. DOI: 10.1109/CAC.2015.7382524.
    [18]
    P. Zhang, J. Gong, L. N. Wei. Arc spray gun new models of considering the flow in the process of spraying for spray-painting robot. In Proceedings of the 7th International Conference on Intelligent Human-Machine Systems and Cybernetics, IEEE, Hangzhou, China, pp. 165−168, 2015. DOI: 10.1109/IHMSC.2015.41.
    [19]
    C. Schuetz, J. Baur, J. Pfaff, T. Buschmann, H. Ulbrich. Evaluation of a direct optimization method for trajectory planning of a 9-DOF redundant fruit-picking manipulator. In Proceedings of IEEE International Conference on Robotics and Automation, IEEE, Seattle, USA, pp. 2660−2666, 2015. DOI: 10.1109/ICRA.2015.7139558.
    [20]
    G. Zhang, W. Q. Lian, S. N. Li, H. Cui, M. Q. Jing, Z. W. Chen. A self-adaptive denoising algorithm based on genetic algorithm for photon-counting lidar data. IEEE Geoscience and Remote Sensing Letters, to be published. DOI: 10.1109/LGRS.2021.3067609.
    [21]
    Z. X. Wang, D. Xu, L. Li, Y. C. Zhang. Trajectory planning and tracking control for LED placement spray wax robot. In Proceedings of the 33rd Chinese Control Conference, IEEE, Nanjing, China, pp. 8058−8063, 2014. DOI: 10.1109/ChiCC.2014.6896348.
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(22)  / Tables(7)

    Article Metrics

    Article views (82) PDF downloads(7) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return