为提升铁路货车标识机器人喷涂质量,准确执行标识喷涂指令,设计铁路货车标识智能机器人喷涂路径自动生成系统.通过无线通信模块下达铁路货车标识喷涂指令,系统控制自动导引运载子系统搭载机器人移动至待喷涂工位,同时采用点云技术自动生成喷涂路径,子系统依据生成路径.获取标识漏模库中的标识漏模,结合辅助子系统完成标识喷涂,将喷涂结果图片回传至电气智能控制子系统,实行信息化管理.测试结果显示:该系统能够在不同环境搭载喷涂机器人达到目标位置,且准确避开障碍物.在误差均低于1mm的情况下,完成指定位置喷涂操作,喷涂重叠率结果100%,喷涂后的标识视觉效果清晰,没有发生模糊部位.
In order to improve the spraying quality of railway wagon robot and accurately execute the marking spraying instructions,an auto-matic spraying path generation system of railway wagon marking intelligent robot is designed.The wireless communication mod-ule issues the painting instruction of railway wagon identification,and the system controls the automatic guidance and transporta-tion subsystem to move the carrying robot to the station to be sprayed.At the same time,the point cloud technology is used to au-tomatically generate the spraying path,and the subsystem generates the spraying path according to the generated path.It obtains the identification leakage mold in the identification leakage mold library,completes the identification spraying in combination with the auxiliary subsystem,and returns the spraying result picture to the electrical intelligent control subsystem for information management.The test results show that the system can carry the spraying robot to reach the target position in different environ-ments and accurately avoid obstacles.When the error is less than 1mm,the spraying operation at the designated position is com-pleted,and the spraying overlap rate is 100%.The visual effect of the sprayed logo is clear without fuzzy parts.