Trajectory Planning for Digital Camouflage Spray Painting Robot Based on Projection Method

摘要

At present, the digital camouflage painting is still mainly by manual spraying, the process is complicated and inefficient. In view for this situation, on the basis of the previous research on the texture mapping technology based on the octree theory, a spray trajectory planning method based on the projection method is proposed. This method takes the texture mapping result as the input. Firstly, the Mosaic boundary on the 3D model is projected to the plane; then the 'scanning' raster trajectory planning is carried out on the projection plane; finally, the trajectory of spraying planning is corrected. This method transforms the 3D trajectory planning problem into the 2D trajectory planning problem, which not only greatly simplifies the difficulty of the algorithm planning, but also can adapt to different shape surfaces. The experiment verifies the feasibility of the algorithm. The research results can provide reference for the practice of digital camouflage spraying.