Zone divide of three-dimensional model for spraying application on industrial robot

Basing on three-dimensional model, we propose a zone divide method which is suitable for spraying application on industrial robot. The method can divide a model into several meaningful zones by means of smart clustering, the divided zones are split or combined according to the rules designed to improve work efficiency. What is more, in consideration of the specific characteristic of spraying work on industry robot, edge detection imposed on zone is adopted to reduce collision between robot and object when it comes to later real spraying.