Path Planning Method for Complex Surface Spraying

In the automated spraying operation, the objects to be sprayed are mainly flat surfaces, and there are fewer complex surfaces to be sprayed. In this paper, a curvature slicing method is proposed to slice the point cloud model of complex surfaces, then use the oriented bounding box algorithm to obtain the spraying path for each sub-slice, and finally use the ant colony algorithm to combine the trajectories of each sub-slice for optimization to determine the optimal spraying path. In this paper, the feasibility of the method is verified by taking the web plate of the balance beam as an example, which is a good solution to the problem of slicing and spraying path planning for complex surfaces.