METHOD FOR CONTROLLING A ROBOT FOR INTELLIGENT SPRAYING OF MULTIPLE MODELS OF VEHICLES

摘要

FIELD: spraying.;SUBSTANCE: invention relates to a method for robotic intelligent spray coating of multiple models of vehicles, including control of a robot, wherein assemblies of multiple models of vehicles are identified and particles are sprayed on the surface of the assemblies. The method includes the following stages and actions: S1. - determining the presence of workpieces in the target processing area; S2. - after verifying the presence of a workpiece, obtaining a first three-dimensional contour of the target workpiece; S3. - comparing the first three-dimensional contour with the existing set of three-dimensional models from the library of preconfigured models of assemblies, and determining the presence of the first three-dimensional model corresponding to the target workpiece in the library of preconfigured models of assemblies; S4. - after verifying the presence of the first three-dimensional model corresponding to the target workpiece, selecting a first set of spray coating parameters corresponding to the first three-dimensional model from the first colour spray coating database; S5. - in accordance with the relative distance between the characteristic points of the first three-dimensional model and the spatial coordinates of several characteristic points in the target processing area, obtaining the corresponding parameters of the spatial coordinates for each position of the first three-dimensional model; S6. - in accordance with the parameters of the spatial coordinates corresponding to each position of the first three-dimensional model and the limit range of spraying of the sprayer of the spraying robot, creating the information about the first working trajectory of movement capable of fully covering the target workpiece; S7. - in accordance with the information about the first working trajectory and the first set of spray coating parameters, controlling the sprayer of the spraying robot so as to move the sprayer along the first working trajectory with a predetermined speed of movement, wherein particles of the corresponding colour are used for spraying into various positions of the target workpiece.;EFFECT: increased efficiency of the method for creation of a three-dimensional model and efficiency of coating a large number of assemblies of various vehicles using a robot sprayer in a short period of time.;9 cl, 5 dwg