Research on the trajectory planning method of custom pattern robot based on image processing

摘要

At present, robot spraying is mainly used in single color spraying, but there is still a lack of effective automatic spraying method for complex customized patterns of multiple colors. This paper presents a robot automatic spraying method for customized digital camouflage patterns. According to the relevant technical manuals, the digital camouflage patterns are designed to meet the needs, and the image processing techniques such as corner detection are used to extract the coordinate information of each color block of the digital camouflage patterns. Considering the spray deposition model of the spray gun and combining with the robot path planning technology, the spray trajectory of the spray gun is planned in each extracted digital camouflage block. The automatic spraying of customized digital camouflage patterns can be realized by importing the trajectory information of the gun into the spraying robot.