Solve paint color effect prediction problem in trajectory optimization of spray painting robot using artificial neural network inspired by the Kubelka Munk model

Currently, the spray-painting robot trajectory planning technology aiming at spray painting quality mainly applies to single-color spraying. Conventional methods of optimizing the spray gun trajectory based on simulated thickness can only qualitatively reflect the color distribution, and can not simulate the color effect of spray painting at the pixel level. Therefore, it is not possible to accurately control the area covered by the color and the gradation of the edges of the area, and it is also difficult to deal with the situation where multiple colors of paint are sprayed in combination. To solve the above problems, this paper is inspired by the Kubelka-Munk model and combines the 3D machine vision method and artificial neural network to propose a spray painting color effect prediction method. The method is enabled to predict the execution effect of the spray gun trajectory with pixel-level accuracy from the dimension of the surface color of the workpiece after spray painting. On this basis, the method can be used to replace the traditional thickness simulation method to establish the objective function of the spray gun trajectory optimization problem, and thus solve the difficult problem of spray gun trajectory optimization for multi-color paint combination spraying. In this paper, the mathematical model of the spray painting color effect prediction problem is first determined through the analysis of the Kubelka-Munk paint film color rendering model, and at the same time, the spray painting color effect dataset is established with the help of the depth camera and point cloud processing algorithm. After that, the multilayer perceptron model was improved with the help of gating and residual structure and was used for the color prediction task. To verify ...