Automatic spraying device and method based on visual 3D reconstruction

An automatic spraying and 3D technology, applied in spraying devices and other directions, can solve problems such as inability to fit components, labor costs, and programming workload, and achieve high spray coverage, low overall cost, and high degree of automation.

Active Publication Date: 2022-08-09
济南蓝图士智能技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, manual spraying has disadvantages such as low efficiency, poor quality, inability to guarantee the uniformity of paint film thickness, and endangering the health of sprayers.
The teaching offline spraying robot has many shortcomings such as poor flexibility, high cost, low efficiency, heavy programming workload, complicated and cumbersome operation, and high requirements for the relative positioning accuracy of the workpiece. In addition, it has high professional requirements for the staff
Workpieces of different models, series, and sizes all need to customize a set of spraying process procedures. The operation is extremely cumbersome, and it cannot adapt to the mixed spraying of multiple types of steel components in an assembly line or the parallel spraying of a single type of steel component.
[0003] The degree of automation of the teaching offline spraying robot also needs to be improved. During the operation, the operator often needs to pay attention to the spraying status at all times, and make appropriate adjustments to the spraying robot or components when necessary to meet the spraying process requirements. The same set of spraying process algorithms can only It is suitable for exactly the same components, but cannot be adapted to components of the same model, different series and different sizes, and cannot achieve certain compatibility. It consumes a lot of labor costs, and the spraying efficiency and coverage are relatively low.

Method used

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  • Automatic spraying device and method based on visual 3D reconstruction
  • Automatic spraying device and method based on visual 3D reconstruction
  • Automatic spraying device and method based on visual 3D reconstruction

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0063] like Figure 1 to Figure 10 As shown, it includes an assembly line conveyor belt 1 and a camera group for conveying and detecting the components 5 to be sprayed. The assembly line conveyor belt 1 conveys multiple components side by side at a speed of 0.01m / s to 0.05m / s. The longitudinal spacing of components between groups is maintained at about 1m. The horizontal spacing of components within each group is related to the height of the components, the installation position of the camera, etc., and the blind area of ​​the camera's field of view is as small as possible. The camera group includes a first camera 8 disposed directly above the assembly line conveyor 1, a second camera 4 disposed on one side of the assembly line conveyor 1, and a third camera 9 disposed on the other side of the assembly line conveyor 1;

[0064] A position sensor 7 is provided on one side of the assembly line conveyor belt 1, and the position sensor 7 is used to collect the pose and speed data ...

Embodiment 2

[0086] An automatic spraying method based on visual 3D reconstruction, comprising the following steps:

[0087] Information input: 3D point cloud model templates of several spraying components, spraying process parameters, such as paint film thickness, spraying speed, line speed, longitudinal interval of spraying trajectory, spraying pressure, spray gun type, etc., and hyperparameters of point cloud algorithm are pre-entered in the database module , such as template matching threshold, number of iterations, search radius, number of cells, threshold of outliers, sampling number and other information are entered into the spraying process database;

[0088] Component transportation: Arrange several components 5 of the same type to be sprayed side by side on the assembly line conveyor belt 1 at a certain interval, and the assembly line conveyor belt 1 is transported at a certain rate;

[0089] Data collection: the first camera 8, the second camera 4, and the third camera 9 collect...

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Abstract

The invention relates to the technical field of intelligent spraying, in particular to an automatic spraying device and method based on visual 3D reconstruction. The automatic spraying device based on visual 3D reconstruction includes an assembly line conveyor belt and a camera group for conveying and detecting the components to be sprayed, and also includes a spraying mechanism. The spraying mechanism includes a spraying robot arm and a spraying device connected with the spraying robot arm. ; The assembly line conveyor belt, the first camera, the second camera, the third camera, the position sensor, the spraying robot arm and the spraying device are all connected to the embedded computing unit; An automatic spraying device and method based on visual 3D reconstruction, which simplifies operations, thereby improves work efficiency, saves production costs, and improves the uniformity of spraying thickness.

Description

technical field [0001] The invention relates to the technical field of intelligent spraying, in particular to an automatic spraying device and method based on visual 3D reconstruction. Background technique [0002] At present, with the upgrading of my country's industrial structure, the demand for steel structural components is increasing year by year. The traditional spraying methods for steel structural components are mainly manual spraying, teaching off-line spraying robots, etc. However, manual spraying has disadvantages such as low efficiency, poor quality, inability to ensure the uniformity of the paint film thickness, and harm to the health of the sprayers. The teaching offline spraying robot has many disadvantages, such as poor flexible operation, high cost, low efficiency, large programming workload, complicated and cumbersome operation, and high requirements for the relative positioning accuracy of the workpiece. In addition, it has high professional requirements ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B05B13/04B05B12/00
CPCB05B13/0431B05B12/00Y02P70/10
Inventor 陈超王梅香刘剑王常江张鹏飞
Owner 济南蓝图士智能技术有限公司
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