Surface Segmentation based Intelligent Trajectory Planning and Control Modeling for Spray Painting

摘要

A critical technology of automatic trajectory planning and control system for spray painting is segmenting complicated surfaces into multiple simple patches. This paper develops a new surface segmentation approach based on triangulated CAD model of part and deposition model of spray painting. First, the foremost segmentation generates the patches that are connected and can be covered by paths uniformly, which is based on determining the maximum deviation angle of vertexes in spray stroke. Next, considering different figure of one patch, the region expanding curve (REC) and the orientation of sub-paths, we present the segmentation based on obstacle avoidance (SBOOA) to settle the further segmentation of one patch containing obstacles. The simulation results demonstrate the effectiveness of proposed approach. It shows that this paper provides the approach support for the surface segmentation handling complicated shape or topological structures, and intelligent trajectory planning and control system for spray painting.