Automatic spraying path planning method for refractory material spraying robot

• Main Authors: WANG MUQING, SU DUXING, LI FAXIN
• Format: Patent
• Language: Chinese; English
• Published: 13.02.2024
• Subjects: APPLYING LIQUIDS OR OTHER FLUENT MATERIALS TO SURFACES, IN GENERAL; ATOMISING APPARATUS; CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; NOZZLES; PERFORMING OPERATIONS; PHYSICS; SPRAYING APPARATUS; SPRAYING OR ATOMISING IN GENERAL; TRANSPORTING

The invention discloses an automatic spraying path planning method for a refractory material spraying robot. The robot comprises a main control unit and an execution unit. The main control unit comprises a data processing module and a manual operation module; the execution unit comprises a spraying mechanical arm; the manual operation module comprises an operation handle; the data acquisition unit comprises a visual system which at least comprises a multi-view camera or/and a depth camera; the automatic spraying path planning method comprises the steps of S1, data acquisition, S2, data processing, S3, model training and S4, model deployment. On the basis of a master-slave control robot, an operator manually and remotely controls a robotic arm to conduct spraying, data such as a color image, point cloud and temperature of the inner surface of the tundish and kinematics data of the robotic arm in the spraying process are recorded, and an AI data set is formed; on the basis, a deep learning model is trained in a