29519results about "Spraying apparatus" patented technology

The invention discloses an intelligent robot spraying method based on a spraying system. Firstly, three-dimensional contour data of a workpiece are obtained through three-dimensional scanning equipment, a model is constructed, and key information is marked. And then according to the model, the workpiece material, the spraying requirement and the environment condition, a spraying path is planned through an intelligent algorithm, coating parameters are set, a robot executes spraying in sequence, and real-time monitoring is conducted through a high-precision position and a visual sensor in the process. After spraying is completed, the quality is detected through detection equipment, and when the requirements are not met, the computer system adjusts parameters according to deviation and directs the robot to conduct supplementary spraying or re-spraying. Whole-course data are recorded, and technological parameters and a path algorithm are optimized through statistical analysis. According to the method, high-precision, intelligent and efficient spraying is achieved, the method adapts to various workpiece and process requirements, the spraying quality and the production efficiency are improved, good adaptability and expandability are achieved, and intelligent development of industrial spraying is powerfully promoted.

The invention provides an automobile part spraying control method and system, and relates to the technical field of automobile manufacturing, and the method comprises the steps: collecting spraying environment parameters in real time, generating a comprehensive digital model containing the environment parameters and part characteristics, and carrying out the intelligent partitioning of the surface of an automobile part through a clustering partitioning algorithm, and dividing the surface into a plurality of sub-regions; on the basis of each sub-region, combining with the current environment parameters, generating an optimal spraying parameter for each sub-region by utilizing an intelligent agent trained by a reinforcement learning algorithm, and on the basis of the spatial relationship between the optimal spraying parameters and the sub-regions, optimizing a global spraying sequence by adopting an ant colony path planning algorithm, and generating an optimal spraying path; the spraying robot sprays, a real-time quality evaluation result of spraying is generated, a pre-constructed fuzzy logic controller is adopted, spraying parameters are adjusted, sprayed parts are obtained, a full-period comprehensive data set is integrated, and spraying control parameters are iteratively updated.

The invention discloses a dynamic path planning and self-adaptive control method and system for a coating robot, and relates to the technical field of coating automation. The method comprises the following steps: acquiring point cloud data through three-dimensional scanning equipment, constructing a dynamically updated workpiece curved surface model, and extracting curvature, edge and high-curvature mutation region features; a spraying path is generated based on a reinforcement learning algorithm, and path density, speed and coating supply are dynamically adjusted for a high-curvature area; distance, force feedback and environment parameters are fused, and mechanical arm and spray gun parameters are dynamically adjusted; dividing operation sub-areas and distributing tasks based on robot capability characteristics to realize multi-machine cooperation; and fault redundancy control and multispectral imaging are added to optimize the coating quality. The system comprises a sensing module, a decision-making module, an execution module, a redundancy control module and a communication module. According to the invention, the uniformity of the complex curved surface coating, the multi-machine cooperation efficiency and the system anti-interference capability are improved, and the method is suitable for spraying large workpieces such as aircraft fuselages and high-speed rail vehicle bodies.

The invention discloses an unmanned aerial vehicle-mechanical arm system cooperative control method for precise spraying. According to the method, through a depth camera and a point cloud reconstruction algorithm, three-dimensional modeling of a target surface and semantic recognition of a spraying area are achieved, and a spraying path and spraying posture data are generated. Based on spraying task requirements, a spraying film thickness experience estimation model is established, and path point-level spraying parameters are obtained. Load mass change, mechanical arm mass center change and spraying reaction force of each path point are calculated, and a coupling dynamic model is constructed in combination with the system state. And dynamic compensation control input is generated by using an adaptive sliding mode control algorithm. After spraying is completed, the actual spraying effect is collected through image and point cloud detection, color, film thickness and texture features are extracted and compared with task requirements, error feedback is generated, and control parameters are adjusted online. According to the method, the problems of dynamic change and error compensation in the spraying process are effectively solved, and the method is suitable for a high-precision spraying task in a complex environment.

The invention provides a mining intelligent watering dust fall method and system, electronic equipment and a storage medium, and relates to the field of watering dust fall. The method comprises the following steps: acquiring multi-source heterogeneous environment sensing data; preprocessing the multi-source heterogeneous environment sensing data to obtain preprocessed multi-source heterogeneous environment sensing data, and constructing a mining area holographic environment model based on the preprocessed multi-source heterogeneous environment sensing data; based on the holographic environment model of the mining area, extrapolating and estimating the dynamic change trend of the wind dust concentration by using a space-time sequence prediction algorithm to obtain a wind dust concentration distribution prediction result of each area of the mining area in a future time period; according to the technical scheme, dust suppression is taken as an optimization target, water mist parameters and a nozzle arrangement scheme are taken as decision variables, a mining area holographic environment model and a wind dust concentration distribution prediction result are taken as constraint conditions, an optimal spraying strategy meeting dust falling requirements is solved through a heuristic search algorithm, and the dust falling effect is improved and the water consumption is reduced through the technical scheme.

The invention relates to the technical field of spraying process control, and discloses a spraying process self-adaptive adjustment method based on temperature measurement. The method comprises the steps that target coating parameters and base material physical property data are obtained, and initial spraying control parameters are generated through a first intelligent calculation model in combination with historical process data and real-time environment monitoring data; when spraying is executed, heat distribution data of a spraying area are collected in real time through a temperature sensing device, and according to the difference between the heat distribution data and a preset target temperature interval, technological parameters are dynamically corrected through a first self-adaptive regulation and control algorithm; meanwhile, a machine vision system is used for capturing actual coating morphological characteristics, and after the actual coating morphological characteristics are compared with target parameters, excitation parameters are adjusted in a partitioned mode through a second self-adaptive regulation and control algorithm so as to optimize uniformity; and collecting whole-process data, comprehensively evaluating the whole-process data through the second intelligent calculation model to generate a process optimization instruction, and updating the first intelligent calculation model and the first self-adaptive regulation and control algorithm parameters according to the process optimization instruction.

The invention relates to the technical field of coating processes, in particular to an automobile coating process parameter self-adaptive regulation and control method and device, and the method comprises the steps: collecting a process environment real-time variable set, a spraying equipment state real-time variable set and a coating self-characteristic real-time variable set in a coating workshop; calculating deviation degrees between the process environment real-time variable set, the spraying equipment state real-time variable set and the coating self-characteristic real-time variable set and a pre-input process environment standard variable set, a spraying equipment state standard variable set and a coating self-characteristic standard variable set; obtaining a real-time deviation multi-modal vector of the coating process; inputting the coating process real-time deviation multi-modal vector into a pre-constructed coating process deviation analysis model to obtain a coating process deviation evaluation quantized value; by accurately controlling coating process parameters, energy consumption is reduced, and material waste is reduced.

The invention provides a curve track type paint spraying method and system based on machine vision. The method comprises the following steps: acquiring workpiece data of a workpiece to be sprayed, wherein the workpiece data comprises a multi-view image from an industrial camera and workpiece depth data from a depth camera; according to the multi-view image and the workpiece depth data, a workpiece three-dimensional model of the to-be-sprayed workpiece is constructed; according to the workpiece three-dimensional model, a multi-agent game model is constructed, and the spraying track of the to-be-sprayed workpiece is determined based on the multi-agent game model; according to the spraying track, a recursive Gaussian process state space model is constructed, track optimization is conducted on the spraying track based on the model, and a control instruction sequence is obtained; and finally, trajectory tracking and control are carried out on spraying operation. According to the method, accurate spraying of the complex curved surface can be achieved, and the spraying quality and efficiency are improved.

The invention relates to the technical field of intelligent spraying control, in particular to a vamp spraying control method and system for an intelligent shoemaking production line, and the method comprises the following steps: collecting spraying speed, spraying quantity, pressure and coating quality information, analyzing the influence of parameters on coating uniformity, coverage range and drying speed according to the current spraying effect, and generating a parameter influence data set. According to the method, the influence of each parameter on the coating quality is calculated, the priorities of the parameters in the control process are sequentially determined, and then historical records and current monitoring data are compared, so that abnormal fluctuation can be identified, potential abnormal conditions and positions of future key objects can be predicted according to the data, and fault modes can be identified. And the predictability and the reaction speed of the system are improved. And in combination with an image processing technology, the coating thickness of the vamp spraying area is further analyzed through image comparison, so that the thin coating area, the thick coating area and the spraying missing area can be more accurately detected, and the spraying process is more stable and efficient.

The invention discloses a method for monitoring the corrosion capacity of a circulating salt spray test chamber, and relates to the technical field of aluminum alloys. The method comprises the following steps of test preparation, device configuration and environment debugging, test process management, monitoring and recording, corrosion degree evaluation and report arrangement and summarization. The test box comprises a box body, a positioning mechanism is mounted in the box body, a spraying mechanism is mounted at the top end of the inner wall of the box body, the positioning mechanism is located below the spraying mechanism, a lifting mechanism is mounted on the peripheral wall of the box body, and a collecting mechanism is mounted at the bottom end of the inner wall of the box body; by arranging the positioning mechanism, aluminum alloy materials of different specifications can be positioned, meanwhile, aluminum alloy can be turned over and rotated, then the aluminum alloy can be sprayed more uniformly and comprehensively through the spraying mechanism, so that it is ensured that salt mist uniformly and comprehensively covers the surface of a sample, and the quality of the sample is improved. And the accuracy of test data can be improved.

The invention discloses a hilly slope irrigation control system based on artificial intelligence, and the system comprises a wind speed and wind direction detection module which is used for obtaining wind speed and wind direction data; the sprinkler head adjusting module is used for adjusting the angle and the spraying distance of a sprinkler head based on the wind speed and wind direction data; the soil humidity detection module is used for being connected with a soil humidity sensor and determining irrigation requirements according to data of the soil humidity sensor; the artificial intelligence control module is used for optimizing the irrigation time and the irrigation amount through an artificial intelligence algorithm; the sprinkling irrigation system control module is used for controlling the sprinkling irrigation system to irrigate according to the optimization result; the hilly slope irrigation control system based on artificial intelligence reduces the phenomenon of non-uniform growth of crops, facilitates healthy and uniform growth of the crops, and ensures that the crops can obtain a proper amount of water supply, so that normal growth and development of the crops are promoted, the yield and quality of the crops are improved, and the agricultural production benefits are further improved.

The invention relates to a multi-dimensional monitoring and energy-saving analysis control method for a coating system. Operation data of all functional units of the coating system are collected through a multi-dimensional monitoring sensor. Based on the collected data, a three-dimensional visual model is constructed, the position of a monitoring sensor is marked, an energy flow diagram is drawn, and visual display of energy flow is achieved. According to the method, an energy-saving efficiency evaluation index system is established, energy consumption indexes of all functional units are generated, and energy consumption comparative analysis is carried out by combining historical energy consumption data and utilizing a big data analysis model so as to identify energy consumption differences and formulate an energy-saving optimization scheme. The optimization scheme comprises the steps of selecting an optimal waste gas treatment path, adjusting the ratio of fresh air to circulating air, and dynamically adjusting spraying pressure, flow speed control parameters, spraying temperature and equipment starting and stopping time. After the optimization scheme is issued, the operation parameters are adjusted in real time, the system effect is continuously monitored, energy consumption statistics and trend prediction data are generated, follow-up optimization control is guided, and efficient and energy-saving operation of the coating system is achieved.

The invention discloses a paint spraying path optimization method for an automatic paint spraying robot, and relates to the technical field of automation, and the method comprises the steps: obtaining a three-dimensional geometric model of a ship body through laser scanning equipment, carrying out the curvature analysis, and generating the partition data of the curvature information of each ship body region; according to the partition data, performing preliminary path planning to obtain a preliminary paint spraying path; based on the preliminary paint spraying path, a paint spraying task is executed, and coating thickness data of the paint spraying area is detected in real time; according to the detected coating thickness data, the preliminary paint spraying path is corrected in real time, and a new paint spraying path is generated; the paint spraying coverage rate of the paint spraying areas is detected in real time, the coverage uniformity of the paint spraying areas is judged, and the paint spraying areas with uneven coverage are marked; according to the coverage rate detection data, the paint spraying path is adjusted again, a corrected final paint spraying path is generated, and the paint spraying task is executed on the next ship body through the final paint spraying path; the paint spraying path is adjusted in real time, so that the paint spraying process is more flexible and efficient, and the stability of paint spraying quality is improved.

The invention discloses a spraying robot trajectory planning method based on depth camera scanning. The method comprises the steps that wall surface boundary polygon data, an initial spraying stroke set and a spraying dosage model parameter set are obtained; calculating a predicted coating thickness field, and performing difference calculation on the predicted coating thickness field and a preset target thickness to generate a thickness error field; performing connected domain clustering on the thickness error field to generate topological thickness error regions, and determining region type labels for the topological thickness error regions one by one; calling a matched editing operator from a discrete stroke editing operator library, performing geometric constraint verification, and generating a candidate editing scheme; and evaluating the candidate editing schemes based on a preset comprehensive scoring function, updating the initial spraying stroke set by using the scheme with the optimal score, obtaining an optimized spraying stroke set, and converting the optimized spraying stroke set into a robot control instruction. According to the method, the problem that global coverage and local thickness uniformity cannot be considered in traditional geometric planning is solved, and high-quality full-automatic spraying is achieved.

The invention provides an intelligent spraying composite robot system based on a large language model and a method thereof, and relates to the field of intelligent robots and automatic spraying, the intelligent spraying composite robot system comprises a chassis, a mechanical arm, a spraying gun, a camera, an instruction receiver and a controller; a mechanical arm and an instruction receiver are carried on the chassis; spray guns and cameras are mounted on the mechanical arms; the instruction receiver receives a natural language voice instruction, analyzes semantics through a large language model, and generates an action instruction; the controller comprises a motion control module, a three-dimensional point cloud data acquisition module, a feature point extraction module, a track planning module and a spraying operation module; the method improves the man-machine interaction, reduces the use threshold of the robot, is easy to operate, gives play to the spraying advantages of the composite robot, does not need to program in mainstream offline simulation software, can generate a spraying path with adjustable and controllable parameters only by collecting the point cloud template of the workpiece and selecting the feature points, and can be widely applied to furniture, furniture and the like. And spraying operation in the fields of automobiles, aerospace and the like.

The invention discloses an enamel product and an intelligent spraying system thereof, and belongs to the technical field of enamel product spraying, and the enamel product comprises a high-precision visual guidance module, an environment intelligent control module and an auxiliary function module, the intelligent environment control module is used for monitoring and dynamically regulating and controlling parameters such as temperature and humidity and dust concentration of a spraying environment in real time, ensuring stable coating quality and reducing energy consumption, and the auxiliary function module is used for realizing accurate spraying track planning and quality control through process connection, safety guarantee and data collaboration. And high efficiency and reliability of the spraying process are guaranteed. On the basis that spraying of the enamel product is achieved, the quality of the whole process is improved, and comprehensive benefits can be optimized.

The invention relates to an all-dimensional automatic spraying production line, which is characterized in that a spray head assembly can perform multi-degree-of-freedom movement in different planes through rotation driving of a cross beam around a central fixed shaft and combination of a vertical and horizontal state switching function of a swinging cross rod; through the swing hinging design of the spray head assembly and the transmission assembly of the sliding rod, the angle of the spray head can be dynamically adjusted in the spraying process, a composite motion trail is formed, dead-corner-free covering on the surface of the workpiece is achieved, and the spraying uniformity is remarkably improved; due to the linkage design of the sliding rod and the transmission assembly, when the cross beam rotates, the reciprocating driving assembly can synchronously drive the sliding rod to slide along the swing cross rod, and the spray head assembly is forced to swing back and forth through the transmission assembly; due to the dynamic adjusting mechanism, the nozzle can simulate manual spraying, and the spraying effect is further improved; in addition, due to the design of mechanical linkage, response delay caused by traditional motor or pneumatic independent control can be reduced, and it is ensured that actions of all the nozzles are highly synchronous.

The invention provides a ship surface spraying device. The ship surface spraying device comprises a lifting driving source, a lifting transmission mechanism, a movable walking chassis assembly, a plurality of equipment rooms, a tower, a control tower capable of being installed on the tower in an up-down moving mode, a telescopic arm capable of stretching out and drawing back horizontally and spraying equipment. The walking chassis assembly comprises a walking chassis and a pair of driving wheels installed on the walking chassis in the walking direction perpendicular to the walking chassis, each driving wheel comprises a walking driving source installed on the walking chassis and a rotatable driving wheel body, and the walking driving sources are in transmission connection with the driving wheel bodies. The walking driving sources of the two driving wheels are mutually independent; the multiple equipment rooms, the lifting driving source and the tower are all fixedly installed on the top of the walking chassis, the lifting driving source is in transmission connection with the control tower through the lifting transmission mechanism, the inner end of the telescopic arm is installed on the control tower, and the spraying equipment is installed at the outer end of the telescopic arm. According to the spraying equipment, automatic spraying operation on the outer surface of the ship is achieved, and the spraying efficiency is high.

The invention relates to the technical field of cold storage spraying, and discloses a cold storage spraying polyurethane real-time monitoring system based on temperature and humidity feedback, and the system comprises an environment collection module, a state analysis module, a parameter regulation and control module, a dynamic fusion module, a mode matching module and a feedback execution module. The environment acquisition module acquires temperature and humidity data and sets a monitoring interval; the state analysis module divides coating detection nodes and generates feature vectors; the parameter regulation and control module is used for separating influence factors, establishing control rules and acquiring process parameters; the dynamic fusion module identifies the equipment state, performs dynamic compensation and calculates the parameter difference degree; the mode matching module deduces an optimal curing threshold value and generates a deviation sequence; and the feedback execution module analyzes the deviation sequence and generates an adjustment instruction. The system realizes real-time monitoring and accurate regulation and control of the process of spraying polyurethane on the refrigeration house, improves the quality stability of the coating and the construction efficiency, is suitable for refrigeration house construction and maintenance scenes, and has the advantages of high environmental adaptability, accurate parameter regulation and control and the like.

The invention provides a spraying control method and device, electronic equipment and a storage medium, and is applied to the technical field of die casting spraying, a dynamic mapping relation between characterization parameters and spraying parameters is established through real-time and accurate monitoring of the characterization parameters of a die casting, self-adaptive adjustment is carried out according to the actual spraying effect of the surface of the die casting, and the spraying quality of the surface of the die casting is improved. The method has the advantages that the consistency and the reliability of the coating quality are guaranteed, an effective feedback mechanism and a self-learning ability are achieved, and a control strategy can be continuously optimized according to the deviation of the actual spraying effect so as to cope with the long-term evolution of the surface characteristics of the die casting.

The invention discloses a carbon fiber composite material surface modification spraying system and a control method thereof. The system comprises a multi-axis robot, a plasma spray gun, a contact angle measuring probe, a 3D line laser scanner, a hyperspectral imager, an environment sensor and a controller. According to the method, the plasma power and the robot speed are adjusted in real time through contact angle measurement and plasma treatment feedback control, so that the CFRP surface can accurately reach a target value, and the coating adhesive force is improved; 3D line laser scanning and hyperspectral imaging are combined, and the posture, the distance, the wet film thickness and the component uniformity of the spray gun are monitored in real time; based on a prediction model fusing a physical model and a neural network, a self-adaptive fuzzy PID control algorithm is adopted, and the coating flow and the track posture of a spray gun are accurately regulated and controlled in real time. The problems of weak coating binding force, uneven thickness, orange peel, sagging and serious coating waste in traditional spraying are effectively solved, and self-adaptive, high-quality and green spraying of workpieces with complex curved surfaces is achieved.

A dual shower head apparatus, includes an adjustment rod and a shower head assembly. The adjustment rod includes a supporting rod and adjustment components. At least one end of the supporting rod threadedly matched with the adjusting assembly is provided with the adjustment component. The adjusting assembly is capable of axially moving relative to the supporting rod to adjust the length of the adjustment rod; and the supporting rod is configured as a hollow structure. The shower head assembly includes a first shower head, a second shower head, a first connection pipe, a second connection pipe and a control valve. The control valve is provided with three connection ends that respectively connect to the first shower head, the first connection pipe and an external water source. The first connection pipe and the second connection pipe are connected through the hollow structure of the supporting rod.

The embodiment of the invention relates to the technical field of computers, and particularly discloses a ceramic spraying intelligent regulation and control method and system based on parameter self-adaption, and the method achieves the global optimization control of a ceramic spraying assembly line process through integrating the real-time collection and dynamic regulation and control mechanism of multi-dimensional equipment parameters. According to the embodiment of the invention, the limitation of independent control of traditional single equipment is broken through, an intelligent spraying control system with an environment self-adaptive characteristic is constructed through parameter collaborative optimization of the equipment group and bidirectional data interaction of the MES system, and comprehensive control processing with multi-parameter collaborative optimization and system-level intelligent decision-making capability is realized.

The invention discloses an edge spraying compensation control method based on intelligent visual feedback. The method comprises the following steps: performing space scanning on a to-be-sprayed workpiece to obtain spraying image data, and establishing a space corresponding relation between a spray gun motion coordinate and a workpiece surface coordinate; registering the real-time spraying image by using the corresponding relation, identifying a geometric boundary line, brightness gradient change and a coating adhesion area of the edge of the workpiece, and generating edge feature data; according to the difference between the edge feature data and the target spraying image, the spraying coverage deviation and the boundary overlapping error are calculated, the coating thickness change trend, the optical density change rate and the boundary direction offset are extracted, and the spraying gun posture adjustment amount, the spraying distance correction amount, the spraying pressure correction amount and the path speed correction amount are generated; the angle, the spraying distance, the pressure and the movement speed of the spray gun are dynamically adjusted according to the parameters; according to the method, real-time visual feedback and self-adaptive compensation control in the spraying process are achieved, and the uniformity and consistency of the coating on the edge of the workpiece are effectively improved.

The invention discloses a tobacco field soil acidification early warning treatment system based on Internet of Things, and relates to the technical field of intelligent agriculture Internet of Things, and the system comprises an Internet of Things sensor network which is deployed in a tobacco field area and is used for collecting soil pH value, temperature, humidity and calcium and magnesium ion concentration data in real time. According to the tobacco field soil acidification early warning treatment system based on the Internet of Things, the tobacco growth stage sensitivity coefficient, the regional acidification historical trend and real-time monitoring data are dynamically fused, a self-adaptive early warning threshold value is generated through a nonlinear product algorithm, and the problem of early warning lag or false alarm caused by a fixed threshold value is solved; according to the method, a dual verification mechanism of trend deviation test and virtual governance simulation is combined, abnormal fluctuation interference is screened out through a rigid rule, strategy feasibility is pre-judged, it is ensured that a governance scheme has both accuracy and robustness, and the problems that governance resources are mismatched and the effect is substandard are solved.

The invention relates to the technical field of glass fireproof layer coating, in particular to a spraying device for single-layer fireproof glass production. Comprising a support; the fixed sliding frame is fixedly connected to the support, and the fixed sliding frame is connected with an electric sliding frame in a sliding mode; the supporting frame is connected to the electric sliding frame in a sliding mode; the plurality of spray heads are arranged on the support frame; the first servo motor is fixedly connected to the support, an output shaft of the first servo motor is fixedly connected with a fixing frame, the fixing frame is rotationally connected with the support, a plurality of fixing assemblies are arranged on the fixing frame, and a locking assembly is arranged on the fixing frame. According to the invention, the glass is circularly subjected to thin spraying, and the tangent line of the glass spraying position is always in a horizontal state, so that even if the coating is vertically attached to the outside of the glass, the flowing probability of the coating attached to the outside of the glass is reduced, the uniformity of glass spraying is improved, and the spraying quality of the glass is further improved.

The invention discloses a chemical tail gas purification and absorption device and method, and relates to the technical field of tail gas purification and absorbing.The chemical tail gas purification and absorption device comprises a treatment tank, a gas inlet is fixedly formed in the outer wall of the treatment tank, a gas outlet is fixedly formed in the top of the treatment tank, spraying tanks are arranged on the two sides of the treatment tank, and spraying pipes are fixedly mounted at the tops of the spraying tanks; a water pumping device is mounted between the spraying tank and the treatment tank in a communicating manner; the spraying device is arranged on the surface of the spraying pipe, the spraying device comprises a supporting frame, a driving fan, a fixing rod, a circular plate, a circular block, a spraying box, a fixing plate, an L-shaped plate, a semicircular plate and a scraping plate, purified gas is exhausted by driving the fan to rotate, and sprayed liquid is splashed out when impacting the L-shaped plate through dislocation of a spraying head and a circular hole, so that the spraying effect of the spraying device is improved. The sputtered liquid is wider, the spraying effect is improved by enabling the liquid to be sprayed more widely, and the absorption efficiency is improved.

The invention discloses a three-dimensional space self-adaptive unmanned aerial vehicle accurate spraying method and system and an unmanned aerial vehicle. The method relates to the technical field of unmanned aerial vehicle spraying, and comprises the following steps: scanning a spraying area on the bottom surface of a viaduct through an unmanned aerial vehicle to obtain unmanned aerial vehicle spraying quality data, and analyzing, optimizing and adjusting the unmanned aerial vehicle spraying quality data. The method comprises the following steps: scanning a spraying area on the bottom surface of a viaduct through an unmanned aerial vehicle to obtain three-dimensional point cloud data, adaptively generating a flight path and a spraying track of the unmanned aerial vehicle based on the data, flying according to a planned path and spraying, collecting spraying quality data through a sensor, analyzing the spraying quality data, and determining the spraying quality of the viaduct. The dynamic liquid level monitoring error quantized value and the unmanned aerial vehicle precise spraying method stability quantized value are obtained and analyzed with threshold values in a database, the unmanned aerial vehicle precise spraying method is optimized and adjusted, the stability of the unmanned aerial vehicle precise spraying method is improved, and the problem that in the prior art, an unmanned aerial vehicle precise spraying method is insufficient in stability is solved.

The invention relates to the technical field of automatic spraying, and particularly discloses a spraying system based on multi-modal vision and artificial intelligence self-correction, comprising a multi-modal vision acquisition module for acquiring color image information, depth information and infrared feature information; the control module is used for generating a spraying sensing model according to the information of the multi-modal visual acquisition module; the control module carries out spraying area identification, track planning and spraying parameter decision making based on the spraying sensing model; the spraying execution module is used for spraying; and the feedback self-correction module iterates the spraying parameter decision in the control module based on a reinforcement learning algorithm according to the difference between the actual coating state information and the expected state. The control method based on multi-modal vision and artificial intelligence self-correction is applied to a spraying system based on multi-modal vision and artificial intelligence self-correction. The scheme is used for solving the problems that the spraying quality of complex workpieces is not high due to the single sensing dimension of an existing spraying system, and the production flexibility is poor due to the rigid control mode.

The invention relates to the technical field of automobile spraying, in particular to an industrial mechanical arm spraying track automatic generation method applied to automobile spraying, which comprises the following steps: firstly, adopting a Kinect depth camera to scan and generate automobile surface contour point cloud data in real time, then preprocessing the related point cloud data, extracting key feature points in an automobile surface contour, and finally, generating a spraying track of an industrial mechanical arm; and calculating contour points where the slices intersect with the automobile surface point cloud data based on a point cloud slicing method, generating a spraying path after the contour points are sequenced, finally calculating normal vectors of track points on the spraying path, determining the pose of the tail end of a spraying gun in the space, and circularly transmitting the pose obtained in real time to a control center. And the mechanical arm is controlled to move according to the generated spraying track. The method does not need to depend on an automobile surface model file during spraying, the automobile surface spraying track is autonomously planned and generated through the industrial mechanical arm in the automobile surface spraying process, dynamic adjustment can be conducted according to the actual situation of the automobile surface, and the accuracy of the whole spraying process is ensured.