Vehicle spraying method, device, terminal equipment and storage medium

Abstract

The present invention discloses a vehicle spray painting method, comprising: obtaining a frozen model of the vehicle, performing a multi-directional scan of the vehicle chassis based on the frozen model, and extracting a plurality of scanned images of the vehicle chassis; selecting a plurality of vehicle positioning holes based on the plurality of scanned images of the vehicle chassis; calculating the three-dimensional coordinates of the plurality of selected vehicle positioning holes; setting the coordinates of characteristic points of a camera system of a PVC spray painting robot based on the plurality of three-dimensional coordinates; calculating the spraying trajectory of each workpiece of the PVC spray painting robot based on the characteristic point coordinate data of the camera system of the PVC spray painting robot and preset initial position data of each workpiece; and controlling each workpiece of the PVC spray painting robot to spray the vehicle based on the spraying trajectory of each workpiece of the PVC spray painting robot. The present invention can obtain the spraying trajectory of the PVC spray painting robot before a prototype vehicle is produced, effectively shortening the production cycle and accelerating the mass production and market launch of vehicles.

Description

Technical Field

[0001] The present invention relates to the field of automobile research and development and production, and in particular to a vehicle spraying method, device, terminal equipment and storage medium. Background Art

[0002] In recent years, consumer demand for automobiles has increased significantly, and the appearance of automobiles has often become a focus of attention. Therefore, various automobile manufacturers have launched new models to meet market demand. In order to speed up the launch of vehicles, every link in the R&D and production process is considering how to improve efficiency so that new vehicles can be produced in the shortest possible time. In the existing technology, in the painting section of automobile production, when the PVC spraying robot passes the line, it scans and measures the prototype vehicle according to its camera system to obtain body data. Then, the camera's feature point data is calculated based on the body data. Then, the spraying trajectory of each workpiece is calculated based on the feature point data and the coordinates of each workpiece of the PVC spraying robot. Among them, due to machine permission issues, many data of the PVC spraying robot need to be repeatedly communicated with the PVC spraying robot manufacturer. The entire calculation process requires close cooperation with other departments within the company, often taking more than half a month, making the vehicle R&D and production cycle too long. Summary of the Invention

[0003] In order to overcome the shortcomings of the above-mentioned existing technologies, the present invention proposes a vehicle spraying method, device, terminal equipment and storage medium, which can obtain the spraying trajectory of each workpiece of the PVC spraying robot before the prototype vehicle appears, effectively shortening the vehicle's R&D and production cycle, and accelerating the mass production and market launch of automobiles.

[0004] An embodiment of the present invention provides a vehicle spraying method, comprising:

[0005] Obtaining a frozen model of the vehicle, performing a multi-directional scan of the vehicle chassis based on the frozen model, and extracting a plurality of scanned images of the vehicle chassis;

[0006] Select several vehicle positioning holes based on several scanned images of the vehicle chassis;

[0007] Calculating the three-dimensional coordinates of several selected vehicle positioning holes;

[0008] Setting the feature point coordinates of the PVC spraying robot camera system according to the three-dimensional coordinates;

[0009] The spraying trajectory of each workpiece of the PVC spraying robot is calculated based on the characteristic point coordinate data of the PVC spraying robot camera system and the preset initial position data of each workpiece;

[0010] According to the spraying trajectory of each workpiece of the PVC spraying robot, each workpiece of the PVC spraying robot is controlled to perform spraying operations on the vehicle.

[0011] Furthermore, based on several scanned images of the vehicle chassis, several vehicle positioning holes are selected, including:

[0012] The scanned images are processed using an image processing algorithm to identify the circular holes in each scanned image;

[0013] Calculate the grayscale value of the circular holes in each scanned image, and use the circular holes with grayscale values ​​lower than the preset threshold as vehicle positioning holes.

[0014] Furthermore, the feature point coordinates of the PVC spraying robot camera system are set according to the three-dimensional coordinates, including:

[0015] Get the direction vector of each camera in the PVC spraying robot camera system;

[0016] The coordinates of the feature point are calculated based on the three-dimensional coordinates of the vehicle positioning hole, the position coordinates of the PVC spraying robot camera system, and the direction vector;

[0017] Furthermore, the spraying trajectory of each workpiece of the PVC spraying robot is obtained by calculating the coordinate data of the feature points set by the camera system of the PVC spraying robot and the preset position data of each workpiece, including

[0018] Get the position coordinates of each workpiece of the PVC spraying robot;

[0019] According to the position coordinates of each workpiece and the coordinates of the feature points of the PVC spraying robot camera system, the position vector relationship between each workpiece and the positioning hole of the vehicle chassis is calculated;

[0020] The position vector relationship is vector-compensated according to the preset position vector data of the vehicle body panels to be sprayed, and the spraying trajectory of each workpiece of the PVC spraying robot is calculated.

[0021] Furthermore, according to the spraying trajectory of each workpiece of the PVC spraying robot, each workpiece of the PVC spraying robot is controlled to perform a spraying operation on the vehicle, including:

[0022] When the vehicle crosses the line, the camera system that controls the PVC spraying robot scans and matches the positioning holes of the vehicle chassis according to the coordinates of the feature points. When the matching deviation rate with the positioning holes of the vehicle chassis is lower than the set deviation rate threshold, the vehicle is sprayed according to the corresponding spraying trajectory of each workpiece of the PVC spraying robot.

[0023] Furthermore, before controlling each workpiece of the PVC spraying robot to spray the vehicle according to the spraying trajectory of each workpiece of the PVC spraying robot, the method further includes:

[0024] The spraying index is set for each workpiece of the PVC spraying robot, and the spraying index includes flow rate and workpiece pressure.

[0025] An embodiment of the present invention further provides a vehicle spraying device, comprising:

[0026] An image extraction module is used to perform multi-directional scanning of the vehicle chassis according to the frozen model and extract a number of scanned images of the vehicle chassis;

[0027] A positioning hole selection module is used to select a number of vehicle positioning holes based on a number of scanned images of the vehicle chassis;

[0028] A positioning hole calculation module is used to calculate the three-dimensional coordinates of several selected vehicle positioning holes;

[0029] A feature point setting module, used to set the feature point coordinates of the PVC spraying robot camera system according to the three-dimensional coordinates;

[0030] A spraying trajectory calculation module is used to calculate the spraying trajectory of each workpiece of the PVC spraying robot based on the feature point coordinate data of the PVC spraying robot camera system and the preset initial position data of each workpiece;

[0031] The spraying operation module is used to control the workpieces of the PVC spraying robot to perform spraying operations on the vehicle according to the spraying trajectories of the workpieces of the PVC spraying robot.

[0032] An embodiment of the present invention further provides a terminal device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the vehicle painting method according to any one of claims 1 to 6 when executing the computer program.

[0033] An embodiment of the present invention further provides a storage medium, which includes a stored computer program; wherein, when the computer program is run, it controls the device where the computer-readable storage medium is located to execute any one of the vehicle spraying methods of the present invention.

[0034] The following beneficial effects are achieved by implementing the embodiments of the present invention:

[0035] In the present invention, a plurality of positioning holes are selected on the chassis of the automobile, and the coordinates of the characteristic points of the camera system of the PVC spraying robot are calculated according to the coordinates of the positioning holes, thereby obtaining the spraying trajectory of each workpiece coordinate of the PVC spraying robot. That is, the spraying trajectory of the PVC spraying robot can be obtained before the prototype car appears. Once the prototype car is produced, the prototype car can be directly identified according to the positioning holes, and the PVC spraying robot can be controlled to spray along the spraying trajectory obtained before the prototype car is produced, thereby effectively shortening the production cycle and accelerating the mass production and market launch of automobiles. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 The present invention is a flow chart of a vehicle spraying method.

[0037] Figure 2 The figure is a structural diagram of a vehicle spraying device. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0039] Please refer to Figure 1 , as an embodiment of the present invention, provides a vehicle spraying method, comprising:

[0040] Step S1: obtaining a frozen model of the vehicle, performing a multi-directional scan of the vehicle chassis according to the frozen model, and extracting a plurality of scanned images of the vehicle chassis;

[0041] In a preferred embodiment, the R&D team will initially determine a frozen model of the vehicle. The model includes the structure of each part of the vehicle body. The model can be scanned using a terminal. In this solution, only the vehicle chassis is scanned from multiple angles to extract multiple scanned images containing the vehicle chassis features.

[0042] Step S2: selecting a number of vehicle positioning holes based on a number of scanned images of the vehicle chassis;

[0043] Preferably, a number of vehicle positioning holes are selected based on a number of scanned images of the vehicle chassis, including:

[0044] The scanned images are processed using an image processing algorithm to identify the circular holes in each scanned image;

[0045] Calculate the grayscale value of the circular holes in each scanned image, and use the circular holes with grayscale values ​​lower than the preset threshold as vehicle positioning holes.

[0046] In a preferred embodiment, after obtaining a scanned image containing a vehicle chassis, multiple positioning holes of the vehicle chassis are selected, wherein the selection principle of the positioning holes is: round holes, no shadows inside the holes, and the number of positioning holes is determined according to the number of cameras in the camera system of the PVC spraying robot, and usually 3 positioning holes are allocated to each camera.

[0047] Step S3: Calculating the three-dimensional coordinates of the selected vehicle positioning holes;

[0048] Step S4: setting the feature point coordinates of the PVC spraying robot camera system according to the three-dimensional coordinates;

[0049] Preferably, setting the feature point coordinates of the PVC spraying robot camera system according to the three-dimensional coordinates includes:

[0050] Get the direction vector of each camera in the PVC spraying robot camera system;

[0051] The coordinates of the feature point are calculated based on the three-dimensional coordinates of the vehicle positioning hole, the position coordinates of the PVC spraying robot camera system, and the direction vector;

[0052] In a preferred embodiment, the PVC robot camera system includes a VMT system camera template. When facing a new car model, the camera system management mode is entered, a new VMT system camera template is created, and it is named the name of the new car model. Then, the PIM code and format of the new car model are modified. After modifying the basic data of the VMT template, the feature points of the PVC robot camera system are set, including setting the camera origin coordinates, direction vector, deleting the relaxation compensation value of the original camera, and then according to the camera origin coordinates (i.e., position coordinates) of the PVC spraying robot camera system and the direction vector of each camera, the feature point coordinates corresponding to each camera are calculated and set in the camera system. In the same coordinate system, it is usually the same as the positioning hole coordinates.

[0053] Step S5: Calculating the spraying trajectory of each workpiece of the PVC spraying robot according to the feature point coordinate data of the PVC spraying robot camera system and the preset initial position data of each workpiece;

[0054] Preferably, the spraying trajectory of each workpiece of the PVC spraying robot is obtained by calculating the coordinate data of the feature points set by the PVC spraying robot camera system and the preset position data of each workpiece, including

[0055] Get the position coordinates of each workpiece of the PVC spraying robot;

[0056] According to the position coordinates of each workpiece and the coordinates of the feature points of the PVC spraying robot camera system, the position vector relationship between each workpiece and the positioning hole of the vehicle chassis is calculated;

[0057] The position vector relationship is vector-compensated according to the preset position vector data of the vehicle body panels to be sprayed, and the spraying trajectory of each workpiece of the PVC spraying robot is calculated.

[0058] In a preferred embodiment, the PVC spraying robot is controlled by a program. A new PVC spraying robot project is created, and basic vehicle model data such as name and format are modified. Then, the position coordinates of each workpiece of the robot are obtained. Since the workpiece construction is identified by a camera, the relationship between the camera feature points corresponding to the workpiece and the positioning hole coordinates is calculated. Further using the relationship between the workpiece and the feature points, the vector relationship between the workpiece position and the positioning hole can be obtained. Since the spraying is mainly aimed at the vehicle body chassis, the vector relationship between the vehicle body chassis and the vehicle chassis positioning hole is compensated to obtain the vector relationship of each workpiece to the vehicle body chassis to be sprayed plate. Combined with multi-point calculation, the spraying trajectory of each workpiece of the PVC spraying robot is obtained.

[0059] Step S6: According to the spraying trajectory of each workpiece of the PVC spraying robot, control each workpiece of the PVC spraying robot to perform a spraying operation on the vehicle.

[0060] Preferably, according to the spraying trajectory of each workpiece of the PVC spraying robot, controlling each workpiece of the PVC spraying robot to perform a spraying operation on the vehicle includes:

[0061] When the vehicle crosses the line, the camera system that controls the PVC spraying robot scans and matches the positioning holes of the vehicle chassis according to the coordinates of the feature points. When the matching deviation rate with the positioning holes of the vehicle chassis is lower than the set deviation rate threshold, the vehicle is sprayed according to the corresponding spraying trajectory of each workpiece of the PVC spraying robot.

[0062] Preferably, before controlling each workpiece of the PVC spraying robot to spray the vehicle according to the spraying trajectory of each workpiece of the PVC spraying robot, the method further includes:

[0063] The spraying index is set for each workpiece of the PVC spraying robot, and the spraying index includes flow rate and workpiece pressure.

[0064] In a preferred embodiment, after obtaining the spraying trajectory of each workpiece of the PVC spraying robot, programming is performed to form a control program, and other indicator factors are added to the program, such as the flow rate of the plate and the pressure control degree of each workpiece (i.e., the workpiece pressure). Finally, a complete spraying program is obtained and imported into the PVC spraying robot. After the prototype vehicle is manufactured, when passing the production line according to the production process, the PVC spraying robot scans the vehicle chassis according to the feature points of the camera system. When the matching degree of the corresponding positioning holes reaches the preset threshold, the vehicle model recognition is completed, and then the PVC spraying robot is controlled to spray the prototype vehicle according to the spraying program corresponding to the vehicle model.

[0065] Based on the method embodiment of the present invention, a corresponding device embodiment is provided:

[0066] Please refer to Figure 2Another embodiment of the present invention provides a vehicle spraying device, comprising:

[0067] An image extraction module is used to perform multi-directional scanning of the vehicle chassis according to the frozen model and extract a number of scanned images of the vehicle chassis;

[0068] A positioning hole selection module is used to select a number of vehicle positioning holes based on a number of scanned images of the vehicle chassis;

[0069] A positioning hole calculation module is used to calculate the three-dimensional coordinates of several selected vehicle positioning holes;

[0070] A feature point setting module, used to set the feature point coordinates of the PVC spraying robot camera system according to the three-dimensional coordinates;

[0071] A spraying trajectory calculation module is used to calculate the spraying trajectory of each workpiece of the PVC spraying robot based on the feature point coordinate data of the PVC spraying robot camera system and the preset initial position data of each workpiece;

[0072] The spraying operation module is used to control the workpieces of the PVC spraying robot to perform spraying operations on the vehicle according to the spraying trajectories of the workpieces of the PVC spraying robot.

[0073] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, in the drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art can understand and implement the present invention without inventive effort.

[0074] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0075] Based on the method embodiment of the present invention, a corresponding terminal device embodiment is provided:

[0076] An embodiment of the present invention provides a terminal device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, a vehicle spraying method described in any method embodiment of the present invention is implemented.

[0077] The terminal device may be a computing terminal device such as a desktop computer, a notebook computer, a palmtop computer, a cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0078] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. The processor is the control center of the terminal device and connects various parts of the entire terminal device using various interfaces and lines.

[0079] The memory can be used to store the computer program. The processor implements the various functions of the terminal device by running or executing the computer program stored in the memory and accessing the data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store an operating system, at least one application required for a function, etc.; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0080] Based on the various embodiments described above, the present invention provides corresponding storage medium embodiments.

[0081] Another embodiment of the present invention provides a storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute a vehicle spraying method described in any method embodiment of the present invention.

[0082] The storage medium is a computer-readable storage medium, and the computer program is stored in the computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. It should be noted that the content of the computer-readable medium can be appropriately increased or decreased based on the requirements of legislation and patent practice within a jurisdiction. For example, in some jurisdictions, based on legislation and patent practice, computer-readable media does not include electric carrier signals and telecommunication signals.

[0083] The following beneficial effects are achieved by implementing the embodiments of the present invention:

[0084] In the present invention, a plurality of positioning holes are selected on the chassis of the automobile, and the coordinates of the characteristic points of the camera system of the PVC spraying robot are calculated according to the coordinates of the positioning holes. Then, in combination with the structural data of the PVC spraying robot itself, the spraying trajectory of each workpiece coordinate is obtained through a large number of calculations, that is, the spraying trajectory of the PVC spraying robot can be obtained before the prototype car appears. Furthermore, by setting spraying indicators such as flow rate and workpiece pressure, once the prototype car is produced, the prototype car can be directly identified according to the positioning holes, and the PVC spraying robot can be controlled to spray the spraying trajectory obtained before the prototype car is produced, thereby effectively shortening the production cycle and accelerating the mass production and market launch of automobiles.

[0085] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A vehicle spraying method, characterized in that: include: Obtaining a frozen model of the vehicle, performing a multi-directional scan of the vehicle chassis based on the frozen model, and extracting a plurality of scanned images of the vehicle chassis; wherein the frozen model includes the structure of each part of the vehicle, and the frozen model can be scanned using a terminal; Select several vehicle positioning holes based on several scanned images of the vehicle chassis; Calculating the three-dimensional coordinates of several selected vehicle positioning holes; Setting the feature point coordinates of the PVC spraying robot camera system according to the three-dimensional coordinates; The spraying trajectory of each workpiece of the PVC spraying robot is calculated based on the characteristic point coordinate data of the PVC spraying robot camera system and the preset initial position data of each workpiece, including: obtaining the position coordinates of each workpiece of the PVC spraying robot; calculating the position vector relationship between each workpiece and the vehicle chassis positioning hole based on the position coordinates of each workpiece and the characteristic point coordinates of the PVC spraying robot camera system; performing vector compensation on the position vector relationship based on the preset position vector data of the vehicle body panel to be sprayed, and calculating the spraying trajectory of each workpiece of the PVC spraying robot; According to the spraying trajectory of each workpiece of the PVC spraying robot, each workpiece of the PVC spraying robot is controlled to perform spraying operations on the vehicle.

2. A vehicle spraying method according to claim 1, characterized in that: Based on several scanned images of the vehicle chassis, several vehicle positioning holes are selected, including: The scanned images are processed using an image processing algorithm to identify the circular holes in each scanned image; Calculate the grayscale value of the circular holes in each scanned image, and use the circular holes with grayscale values ​​lower than the preset threshold as vehicle positioning holes.

3. A vehicle spraying method according to claim 1, characterized in that: Setting the feature point coordinates of the PVC spraying robot camera system according to the three-dimensional coordinates includes: Get the direction vector of each camera in the PVC spraying robot camera system; The coordinates of the feature points are calculated based on the three-dimensional coordinates of the vehicle positioning hole, the position coordinates of the PVC spraying robot camera system, and the direction vector.

4. A vehicle spraying method according to claim 1, characterized in that: According to the spraying trajectory of each workpiece of the PVC spraying robot, control each workpiece of the PVC spraying robot to spray the vehicle, including: When the vehicle crosses the line, the camera system that controls the PVC spraying robot scans and matches the positioning holes of the vehicle chassis according to the coordinates of the feature points. When the matching deviation rate with the positioning holes of the vehicle chassis is lower than the set deviation rate threshold, the vehicle is sprayed according to the corresponding spraying trajectory of each workpiece of the PVC spraying robot.

5. A vehicle spraying method according to claim 1, characterized in that: Before controlling the workpieces of the PVC spraying robot to spray the vehicle according to the spraying trajectory of the workpieces of the PVC spraying robot, the method further includes: The spraying index is set for each workpiece of the PVC spraying robot, and the spraying index includes flow rate and workpiece pressure.

6. A vehicle spraying device, characterized in that: include: An image extraction module is used to perform a multi-directional scan of the vehicle chassis based on a frozen model to extract a plurality of scanned images of the vehicle chassis; wherein the frozen model includes the structure of each part of the vehicle, and the frozen model can be scanned using a terminal; A positioning hole selection module is used to select a number of vehicle positioning holes based on a number of scanned images of the vehicle chassis; A positioning hole calculation module is used to calculate the three-dimensional coordinates of several selected vehicle positioning holes; A feature point setting module, used to set the feature point coordinates of the PVC spraying robot camera system according to the three-dimensional coordinates; A spray trajectory calculation module is used to calculate the spray trajectory of each workpiece of the PVC spray robot based on the characteristic point coordinate data of the PVC spray robot camera system and the preset initial position data of each workpiece, including: obtaining the position coordinates of each workpiece of the PVC spray robot; calculating the position vector relationship between each workpiece and the vehicle chassis positioning hole based on the position coordinates of each workpiece and the characteristic point coordinates of the PVC spray robot camera system; performing vector compensation on the position vector relationship based on the preset position vector data of the vehicle body panel to be sprayed, and calculating the spray trajectory of each workpiece of the PVC spray robot; The spraying operation module is used to control the workpieces of the PVC spraying robot to perform spraying operations on the vehicle according to the spraying trajectories of the workpieces of the PVC spraying robot.

7. A terminal device, characterized in that: The vehicle spraying method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the vehicle spraying method according to any one of claims 1 to 5 when executing the computer program.

8. A storage medium, characterized in that: The storage medium includes a stored computer program; wherein, when the computer program is run, it controls the device where the storage medium is located to execute the vehicle spraying method according to any one of claims 1 to 5.

Images