scholarly journals Trajectory Planning for Spray Painting Robot Based on Point Cloud Slicing Technique

Electronics ◽  
2020 ◽  
Vol 9 (6) ◽  
pp. 908 ◽  
Author(s):  
Wei Chen ◽  
Xu Li ◽  
Huilin Ge ◽  
Lei Wang ◽  
Yuhang Zhang
Keyword(s):  
Trajectory Planning ◽  
Point Cloud ◽  
Laser Scanning ◽  
Cloud Model ◽  
Normal Vector ◽  
Point Cloud Data ◽  
Spray Painting ◽  
Cloud Data ◽  
Painting Robot ◽  
Point Cloud Model

In this paper, aiming at the problem of poor quality and low spraying efficiency of irregular for complex freeform surfaces, a new spray painting robot trajectory planning method based on point cloud slicing technology is proposed. Firstly, the point cloud data of the workpiece to be sprayed is obtained by laser scanning. The point cloud data is processed to obtain the point cloud model of the sprayed workpiece. Then the section polysemy line is obtained after slice acquisition and section data processing of the point cloud model. The section polysemy line is sampled on average, and the normal vector of all sampling points is estimated. Finally, interpolation algorithm is used to connect the data points to obtain the space trajectory of spraying robot. In addition, the droplet trajectory model for electrostatic spray painting is established. The experimental results show that the method fully meets the requirements of coating thickness and improves the spraying efficiency and uniformity of coating.

Point cloud modeling and slicing algorithm for trajectory planning of spray painting robot

Robotica ◽  
2021 ◽  
pp. 1-22
Author(s):  
Xinyi Yu ◽  
Zhaoying Cheng ◽  
Yikai Zhang ◽  
Linlin Ou
Keyword(s):  
Trajectory Planning ◽  
Coating Thickness ◽  
Point Cloud ◽  
Cloud Model ◽  
Free Form ◽  
Spray Painting ◽  
Painting Robot ◽  
Point Cloud Model ◽  
Free Form Surface ◽  
Cloud Modeling

Abstract To improve the uniformity of coating thickness and spraying efficiency, new point cloud modeling and slicing algorithm are proposed to deal with free-form surfaces for the spray painting robot in this paper. In the process of point cloud modeling, the edge preservation algorithm is firstly presented to avoid damaging the edge characteristic of the point cloud model. For the spraying gun, the coating deposition model on the free-form surface is determined on the basis of the elliptic double $\beta $ distribution model. Then, the grid projection algorithm is proposed to obtain grid points between adjacent slices on the free-form surface. Based on this, the analytical solution for calculating the coating thickness at each grid point is obtained. The cross-section contour points are obtained by intercepting the point cloud model with several parallel slices, which is important for the trajectory planning of the spray painting robot. Finally, the uniformity of coating thickness is optimized in terms of the moving speed of the spraying gun and the slice thickness. The simulation and numerical experiment results show that the uniformity of coating thickness and spraying efficiency are improved using the proposed point cloud modeling and slicing algorithm.

scholarly journals Research on the Involvement of Computer Graphics Algorithms in Systems for the Creation of Public Sculpture

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Acheng Zhou ◽  
Chao Gao
Keyword(s):  
Computer Graphics ◽  
Computer Image ◽  
Point Cloud ◽  
Laser Scanning ◽  
Cloud Model ◽  
High Definition ◽  
Cloud Data ◽  
Point Cloud Model ◽  
The Creation ◽  
Public Sculpture

Currently, there is less research on how to improve the efficiency of the application of computer graphics technology in the creation of public sculpture. Therefore, this paper will focus on how computer graphics algorithms can enable systems for the creation of public sculpture with the intervention of computer graphics technology to create more accurate and completed works of public sculpture. It will explore and analyze how computer image algorithms can help creators apply computer image technology to finish complete and accurate public sculptures, and individual studies, computer imagery, and model analysis are also used. In systems for the creation of public sculpture, the point cloud data of the model is obtained through 3D laser scanning technology; then the algorithm of the point cloud model is integrated and the Statistical Outlier Removal algorithm of the point cloud model intervention is processed. By this way, the point cloud model of the work is optimized, and then a more completed and accurate public sculpture work can be produced by 3D sculpting or 3D printing. The research shows that, in the creation of public sculptures with the intervention of computer graphics technology, the computer graphics algorithm acquires the basis of the high-definition public sculpture data model. The computer graphics algorithm improves the accuracy and completeness of the creator using computer graphics technology; it is also the key to transform the accurate enlargement and transformation of the sculptural model into the actual sculptural work.

Trajectory Generation of Spray Painting Robot Using Point Cloud Slicing

2010 ◽  
Vol 44-47 ◽  
pp. 1290-1294 ◽  
Author(s):  
Ming Zhu Li ◽  
Zhang Ping Lu ◽  
Chun Fa Sha ◽  
Li Qing Huang
Keyword(s):  
Point Cloud ◽  
Planning Process ◽  
Cloud Model ◽  
Trajectory Generation ◽  
Spray Painting ◽  
Cloud Data ◽  
Sampling Points ◽  
Painting Robot ◽  
Normal Vectors ◽  
Spray Gun

In the trajectory planning process of spray painting robot, an approach to automatic trajectory generation of spray gun using point cloud slicing is presented. Firstly, the point cloud data is obtained by scanning the surface of the workpiece. After the uniform slicing of point cloud model, the spraying position is determined by the average sampling of cross-section contours. Then the normal vectors of the sampling points are estimated. Finally the trajectory of spray gun is generated by offsetting the sampling points along their normal vectors. Experimental results show that the method has good feasibility and effectiveness. The spraying trajectory, direction and distance of spray gun can be controlled accurately, thus the spraying quality and efficiency are improved.

scholarly journals THREE-DIMENSIONAL RECORDING OF BASTION MIDDLEBURG MONUMENT USING TERRESTRIAL LASER SCANNER

2016 ◽  
Vol XLI-B5 ◽  
pp. 323-326
Author(s):  
Z. Majid ◽  
C. L. Lau ◽  
A. R. Yusoff
Keyword(s):  
Point Cloud ◽  
Laser Scanning ◽  
Cloud Model ◽  
Three Dimensional ◽  
Third Party ◽  
Scanning System ◽  
Point Cloud Data ◽  
Data Set ◽  
Cloud Data ◽  
Spherical Target

This paper describes the use of terrestrial laser scanning for the full three-dimensional (3D) recording of historical monument, known as the Bastion Middleburg. The monument is located in Melaka, Malaysia, and was built by the Dutch in 1660. This monument serves as a major hub for the community when conducting commercial activities in estuaries Malacca and the Dutch build this monument as a control tower or fortress. The monument is located on the banks of the Malacca River was built between Stadhuys or better known as the Red House and Mill Quayside. The breakthrough fort on 25 November 2006 was a result of the National Heritage Department through in-depth research on the old map. The recording process begins with the placement of measuring targets at strategic locations around the monument. Spherical target was used in the point cloud data registration. The scanning process is carried out using a laser scanning system known as a terrestrial scanner Leica C10. This monument was scanned at seven scanning stations located surrounding the monument with medium scanning resolution mode. Images of the monument have also been captured using a digital camera that is setup in the scanner. For the purposes of proper registration process, the entire spherical target was scanned separately using a high scanning resolution mode. The point cloud data was pre-processed using Leica Cyclone software. The pre-processing process starting with the registration of seven scan data set through overlapping spherical targets. The post-process involved in the generation of coloured point cloud model of the monument using third-party software. The orthophoto of the monument was also produced. This research shows that the method of laser scanning provides an excellent solution for recording historical monuments with true scale of and texture.

scholarly journals THREE-DIMENSIONAL RECORDING OF BASTION MIDDLEBURG MONUMENT USING TERRESTRIAL LASER SCANNER

2016 ◽  
Vol XLI-B5 ◽  
pp. 323-326
Author(s):  
Z. Majid ◽  
C. L. Lau ◽  
A. R. Yusoff
Keyword(s):  
Point Cloud ◽  
Laser Scanning ◽  
Cloud Model ◽  
Three Dimensional ◽  
Third Party ◽  
Scanning System ◽  
Point Cloud Data ◽  
Data Set ◽  
Cloud Data ◽  
Spherical Target

This paper describes the use of terrestrial laser scanning for the full three-dimensional (3D) recording of historical monument, known as the Bastion Middleburg. The monument is located in Melaka, Malaysia, and was built by the Dutch in 1660. This monument serves as a major hub for the community when conducting commercial activities in estuaries Malacca and the Dutch build this monument as a control tower or fortress. The monument is located on the banks of the Malacca River was built between Stadhuys or better known as the Red House and Mill Quayside. The breakthrough fort on 25 November 2006 was a result of the National Heritage Department through in-depth research on the old map. The recording process begins with the placement of measuring targets at strategic locations around the monument. Spherical target was used in the point cloud data registration. The scanning process is carried out using a laser scanning system known as a terrestrial scanner Leica C10. This monument was scanned at seven scanning stations located surrounding the monument with medium scanning resolution mode. Images of the monument have also been captured using a digital camera that is setup in the scanner. For the purposes of proper registration process, the entire spherical target was scanned separately using a high scanning resolution mode. The point cloud data was pre-processed using Leica Cyclone software. The pre-processing process starting with the registration of seven scan data set through overlapping spherical targets. The post-process involved in the generation of coloured point cloud model of the monument using third-party software. The orthophoto of the monument was also produced. This research shows that the method of laser scanning provides an excellent solution for recording historical monuments with true scale of and texture.

An Efficient and Accurate Method of Relief Segmentation

2011 ◽  
Vol 464 ◽  
pp. 596-599
Author(s):  
Bo Xiang ◽  
Lu Ling An ◽  
Jin Hu Sun ◽  
Lai Shui Zhou
Keyword(s):  
Point Cloud ◽  
Cloud Model ◽  
Accurate Method ◽  
Initial Contour ◽  
Point Cloud Data ◽  
Segmentation Method ◽  
Grid Data ◽  
Cloud Data ◽  
Point Cloud Model ◽  
Map Grids

Authors create a relief segmentation method on point cloud model, and solve such problems as how to store the point cloud data, how to obtain the final contour, how to define Snakes energy term and how to acquire region from its contour. Firstly, the point cloud data is resampled by applying Z-MAP grid data structure. Then initial contour is drawn by interaction, and the total energy of the contour is computed to optimize the contour to the energy-minimizing position by iterations. Finally, the contour is scattered as points, and the points are mapped to Z-MAP grids for projection points. According to these projection points, the region is obtained.

scholarly journals An Efficient Filtering Approach for Removing Outdoor Point Cloud Data of Manhattan-World Buildings

2021 ◽  
Vol 13 (19) ◽  
pp. 3796
Author(s):  
Lei Fan ◽  
Yuanzhi Cai
Keyword(s):  
Point Cloud ◽  
Indoor Environment ◽  
Laser Scanning ◽  
Point Cloud Data ◽  
Hole Filling ◽  
Cloud Data ◽  
Indoor Space ◽  
Wide Range ◽  
Data Points ◽  
Filtering Approach

Laser scanning is a popular means of acquiring the indoor scene data of buildings for a wide range of applications concerning indoor environment. During data acquisition, unwanted data points beyond the indoor space of interest can also be recorded due to the presence of openings, such as windows and doors on walls. For better visualization and further modeling, it is beneficial to filter out those data, which is often achieved manually in practice. To automate this process, an efficient image-based filtering approach was explored in this research. In this approach, a binary mask image was created and updated through mathematical morphology operations, hole filling and connectively analysis. The final mask obtained was used to remove the data points located outside the indoor space of interest. The application of the approach to several point cloud datasets considered confirms its ability to effectively keep the data points in the indoor space of interest with an average precision of 99.50%. The application cases also demonstrate the computational efficiency (0.53 s, at most) of the approach proposed.

scholarly journals VISUALIZATION OF THE CONSTRUCTION OF ANCIENT ROMAN BUILDINGS IN OSTIA USING POINT CLOUD DATA

2017 ◽  
Vol XLII-2/W3 ◽  
pp. 345-352
Author(s):  
Y. Hori ◽  
T. Ogawa
Keyword(s):  
Point Cloud ◽  
Laser Scanning ◽  
Feature Matching ◽  
Three Dimensional ◽  
Point Clouds ◽  
Final Report ◽  
Point Cloud Data ◽  
Cloud Data ◽  
Coverage Accuracy ◽  
New Research

The implementation of laser scanning in the field of archaeology provides us with an entirely new dimension in research and surveying. It allows us to digitally recreate individual objects, or entire cities, using millions of three-dimensional points grouped together in what is referred to as "point clouds". In addition, the visualization of the point cloud data, which can be used in the final report by archaeologists and architects, should usually be produced as a JPG or TIFF file. Not only the visualization of point cloud data, but also re-examination of older data and new survey of the construction of Roman building applying remote-sensing technology for precise and detailed measurements afford new information that may lead to revising drawings of ancient buildings which had been adduced as evidence without any consideration of a degree of accuracy, and finally can provide new research of ancient buildings. We used laser scanners at fields because of its speed, comprehensive coverage, accuracy and flexibility of data manipulation. Therefore, we “skipped” many of post-processing and focused on the images created from the meta-data simply aligned using a tool which extended automatic feature-matching algorithm and a popular renderer that can provide graphic results.

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