A glaze spraying method and device for ceramic production process

Abstract

The present invention relates to the technical field of production technology, and discloses a glaze spraying method and device for ceramic production technology, including: extracting coordinate position data and ceramic surface data of a ceramic image, generating a glaze spraying path trajectory according to the coordinate position data and the ceramic surface data; segmenting the glaze spraying path trajectory to obtain a glaze spraying path segmentation trajectory, and generating a glaze spraying parameter of a target ceramic; converting the glaze spraying path segmentation trajectory into glaze spraying executable data of a glaze spraying robot, and controlling the glaze spraying robot to perform glaze spraying movement according to the glaze spraying executable data and the glaze spraying parameters; extracting a ceramic glaze spraying image of the glaze spraying robot performing glaze spraying movement, and calculating the glaze spraying validity of the ceramic glaze spraying image; performing trajectory correction on the glaze spraying path segmentation trajectory according to the glaze spraying validity, and returning to the step of converting the glaze spraying path segmentation trajectory into the glaze spraying executable data of the glaze spraying robot, until the glaze spraying validity is greater than the glaze spraying validity threshold. The present invention can improve the accuracy of ceramic glaze spraying.

Description

Technical Field

[0001] The invention relates to the technical field of production technology, and in particular to a glaze spraying method and device for a ceramic production process. Background Art

[0002] In the production process of ceramics, ceramic glazing is a very important process in the production of porcelain. Glazing has extremely strict requirements on the uniformity of glaze, which directly affects the quality of porcelain products. However, in order to improve the accuracy of glazing on each ceramic surface during the glazing process, it is necessary to generate a glazing path according to the shape of the ceramic for ceramic glazing.

[0003] Existing ceramic glazing is mostly done manually, but the working environment of the glazing workers is poor, the labor intensity is high, the glazing quality fluctuates greatly, and it is easy to cause the loss of glaze slurry, etc., which makes the ceramic glazing method too complicated and the accuracy of ceramic glazing is low. Summary of the invention

[0004] The invention provides a glaze spraying method and device for a ceramic production process, the main purpose of which is to solve the problem of low accuracy in ceramic glaze spraying.

[0005] To achieve the above object, the present invention provides a glaze spraying method for a ceramic production process, comprising:

[0006] S1, obtaining a ceramic image of a target ceramic, extracting coordinate position data and ceramic surface data of the ceramic image, and generating a glaze spraying path trajectory according to the coordinate position data and the ceramic surface data;

[0007] S2, segmenting the glaze spraying path trajectory according to the preset ceramic shape requirements to obtain the glaze spraying path segmentation trajectory, and generating the glaze spraying parameters of the target ceramic according to the preset ceramic parameter attributes;

[0008] S3, converting the segmented trajectory of the glaze spraying path into preset glaze spraying executable data of the glaze spraying robot, and controlling the glaze spraying robot to perform glaze spraying movement according to the glaze spraying executable data and the glaze spraying parameters;

[0009] S4, extracting the ceramic glaze spraying image of the glaze spraying robot performing the glaze spraying movement, and calculating the glaze spraying validity of the ceramic glaze spraying image using a preset glaze spraying validity algorithm, wherein calculating the glaze spraying validity of the ceramic glaze spraying image using a preset glaze spraying validity algorithm includes:

[0010] S41, calculating the first glazing validity of the ceramic glazing image by the following glazing validity algorithm:

[0011]

[0012] Wherein, f is the first glaze spraying effectiveness, q max is the maximum glaze layer accumulation rate of the ceramic glaze spraying image, r is the distance from the target point on the ceramic glaze spraying image to the axis of the spray gun, h is the height from the spray gun to the plane of the ceramic glaze spraying image, tan is the tangent function, σ is the cone opening angle, and γ is the shape control parameter of the ceramic glaze spraying image;

[0013] S42, determining a second glazing effectiveness of the ceramic glazing image according to the glazing area of ​​the ceramic glazing image;

[0014] S43, taking the mean of the first glaze spraying validity and the second glaze spraying validity as the glaze spraying validity;

[0015] S5. Correct the glazing path segmentation trajectory according to the glazing validity, and return to the step of converting the glazing path segmentation trajectory into the preset glazing executable data of the glazing robot until the glazing validity is greater than the preset glazing validity threshold.

[0016] Optionally, the extracting the coordinate position data and ceramic surface data of the ceramic image includes:

[0017] Extracting a ceramic surface of the ceramic image according to a preset ceramic surface direction;

[0018] Constructing a ceramic surface coordinate system according to the surface direction of the ceramic surface;

[0019] generating coordinate position data of the ceramic image according to the ceramic surface coordinate system;

[0020] The numbering sequence of the ceramic surfaces is determined according to a preset ceramic surface direction sequence, and the numbering sequence is collected as the ceramic surface data.

[0021] Optionally, generating a glaze spraying path trajectory according to the coordinate position data and the ceramic surface data includes:

[0022] Classifying the ceramic surfaces according to preset ceramic surface shapes to obtain classified ceramic surfaces;

[0023] Calculating a ceramic surface path trajectory according to the classified ceramic surface and the coordinate position data;

[0024] The ceramic surface path trajectories are spliced ​​according to the numbering sequence in the ceramic surface data to obtain the glaze spraying path trajectory.

[0025] Optionally, calculating the ceramic surface path trajectory according to the classified ceramic surface and the coordinate position data includes:

[0026] When the classified ceramic surface is a rectangular surface, the first target path coordinates of the rectangular surface are calculated according to the coordinate position data using the following rectangular path step length algorithm:

[0027]

[0028] Among them, (x, y, z) is the first target path coordinate of the rectangular surface, (x 1 ,y 1 ,z 1 ) is the real-time path coordinate of the rectangular surface in the coordinate position data, β is the glazing distance of the glazing surface, and α is the point moving step length of the rectangular surface;

[0029] Connecting all the first target path coordinates to obtain a rectangular surface path trajectory;

[0030] When the classified ceramic surface is an elliptical surface, the second target path coordinates of the elliptical surface are calculated using the following elliptical path step length algorithm:

[0031]

[0032] Among them, (x 0 ,y 0 ,z 0 ) is the second target path coordinate of the elliptical surface, θ 1 is the real-time angle of the ellipsoid, θ 2 is the moving angle of the ellipse, O x is the horizontal coordinate of the center coordinate point of the ellipse, O y is the ordinate of the center coordinate point of the ellipse, a is the first parameter of the ellipse, b is the second parameter of the ellipse, β is the spraying distance of the sprayed glaze surface, z 1 is the vertical coordinate, sin is the sine function, and cos is the cosine function;

[0033] Connecting all the second target path coordinates to obtain an elliptical path trajectory;

[0034] The rectangular surface path trajectory and the elliptical surface path trajectory are spliced ​​to obtain the ceramic surface path trajectory.

[0035] Optionally, segmenting the glaze spraying path trajectory according to a preset ceramic shape requirement to obtain the glaze spraying path segmentation trajectory includes:

[0036] Dividing the glaze spraying path trajectory into a shape surface trajectory according to the ceramic shape requirement to obtain a first glaze spraying path division trajectory;

[0037] Segmenting the rectangular surface path track in the first glaze spraying path segmentation track according to a preset ceramic surface length to obtain a first path segmentation track;

[0038] Segmenting the elliptical path trajectory in the first glaze spraying path segmentation trajectory according to a preset ceramic surface area to obtain a second path segmentation trajectory;

[0039] The first path segmentation trajectory and the second path segmentation trajectory are collected to form the glazing path segmentation trajectory.

[0040] Optionally, generating the glaze spraying parameters of the target ceramic according to the preset ceramic parameter attributes includes:

[0041] Extracting ceramic shape parameters and ceramic area parameters from the ceramic parameter attributes;

[0042] Determine the glaze spraying pressure, glaze spraying speed and glaze spraying amplitude of the target ceramic according to the ceramic shape parameter and the ceramic area parameter;

[0043] The glaze spraying pressure, the glaze spraying speed and the glaze spraying amplitude are used as glaze spraying parameters.

[0044] Optionally, the step of converting the glaze spraying path segmentation trajectory into glaze spraying executable data of a preset glaze spraying robot includes:

[0045] Acquiring the glaze spraying displacement of the glaze spraying robot;

[0046] The trajectory coordinates of the glaze spraying path segmentation trajectory are calculated according to the glaze spraying displacement, wherein the trajectory coordinate calculation formula is:

[0047]

[0048] Where S is the glaze spraying displacement, (u 1 ,v 1 ) is the coordinate of the starting point of the glaze spraying path segmentation trajectory, (u i ,v i ) is the trajectory coordinate of the i-th glazing trajectory point in the glazing path segmentation trajectory;

[0049] The trajectory coordinates are used as glazing executable data of the glazing robot.

[0050] Optionally, controlling the glaze spraying robot to perform glaze spraying movement according to the glaze spraying executable data and the glaze spraying parameters includes:

[0051] Determining a glaze spraying motion trajectory of the glaze spraying robot according to the glaze spraying executable data;

[0052] Determining a glaze spraying mode of the glaze spraying robot according to the glaze spraying parameters;

[0053] The glaze spraying robot is controlled to perform glaze spraying movement according to the glaze spraying movement trajectory and the glaze spraying method.

[0054] Optionally, the performing trajectory correction on the glaze spraying path segmentation trajectory according to the glaze spraying effectiveness includes:

[0055] When the glazing validity is less than the preset glazing validity threshold, the trajectory optimization step value of the glazing path segmentation trajectory is calculated using a preset fitness function, wherein the fitness function is:

[0056]

[0057] Wherein, g is the trajectory optimization step value, v is the glaze spraying rate, d is the adjacent trajectory spacing of the glaze spraying path segmentation trajectory, L is the trajectory length of the glaze spraying path segmentation trajectory, is the path trajectory shape control factor, Q is the penalty factor;

[0058] The glaze spraying path segmentation trajectory is corrected according to the trajectory optimization step value to obtain a corrected glaze spraying path segmentation trajectory.

[0059] In order to solve the above problems, the present invention also provides a glaze spraying device for a ceramic production process, the device comprising:

[0060] A glaze spraying path trajectory generation module is used to obtain a ceramic image of a target ceramic, extract coordinate position data and ceramic surface data of the ceramic image, and generate a glaze spraying path trajectory according to the coordinate position data and the ceramic surface data;

[0061] A glaze spraying parameter generation module, used to segment the glaze spraying path trajectory according to a preset ceramic shape requirement to obtain a glaze spraying path segmentation trajectory, and generate the glaze spraying parameters of the target ceramic according to a preset ceramic parameter attribute;

[0062] A glaze spraying motion control module, used for converting the glaze spraying path segmentation trajectory into preset glaze spraying executable data of the glaze spraying robot, and controlling the glaze spraying robot to perform glaze spraying motion according to the glaze spraying executable data and the glaze spraying parameters;

[0063] a glaze spraying validity calculation module, used for extracting a ceramic glaze spraying image of the glaze spraying robot performing glaze spraying motion, and calculating the glaze spraying validity of the ceramic glaze spraying image using a preset glaze spraying validity algorithm;

[0064] A trajectory correction module is used to perform trajectory correction on the glazing path segmentation trajectory according to the glazing validity, and return to the step of converting the glazing path segmentation trajectory into preset glazing executable data of the glazing robot until the glazing validity is greater than a preset glazing validity threshold.

[0065] The embodiment of the present invention analyzes the coordinate position data and ceramic surface data of the ceramic through the ceramic image, and then generates a glaze spraying path trajectory according to the coordinate position data and the ceramic surface data, and segments the glaze spraying path trajectory, which is conducive to more accurate glaze spraying movement; the glaze spraying path segmentation trajectory is converted into executable data, and then the glaze spraying robot is controlled to perform glaze spraying movement according to the executable data and glaze spraying parameters, which is conducive to the automatic execution of the glaze spraying activity, without the need for manual participation, and improves the glaze spraying efficiency; the glaze spraying validity is calculated for the ceramic glaze spraying image after glazing, and then the glaze spraying path segmentation trajectory can be corrected according to the glaze spraying validity, which is conducive to generating a more accurate glaze spraying path segmentation trajectory, and then achieving a uniform shape of glaze spraying. Therefore, the glaze spraying method and device for the ceramic production process proposed by the present invention can solve the problem of low accuracy when performing ceramic glaze spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A schematic flow chart of a glaze spraying method for a ceramic production process provided by an embodiment of the present invention;

[0067] Figure 2 A schematic diagram of a process for segmenting a glaze spraying path trajectory provided by an embodiment of the present invention;

[0068] Figure 3 A schematic diagram of a process flow of converting glaze spray executable data provided by an embodiment of the present invention;

[0069] Figure 4 A functional module diagram of a glaze spraying device for a ceramic production process provided by an embodiment of the present invention;

[0070] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0071] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0072] The embodiment of the present application provides a glaze spraying method for a ceramic production process. The execution subject of the glaze spraying method for the ceramic production process includes but is not limited to at least one of the electronic devices such as a server, a terminal, etc. that can be configured to execute the method provided in the embodiment of the present application. In other words, the glaze spraying method for the ceramic production process can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be an independent server, or it can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and big data and artificial intelligence platforms.

[0073] Reference Figure 1 FIG. 1 is a flow chart of a glaze spraying method for a ceramic production process provided by an embodiment of the present invention. In this embodiment, the glaze spraying method for a ceramic production process includes:

[0074] S1. Acquire a ceramic image of a target ceramic, extract coordinate position data and ceramic surface data of the ceramic image, and generate a glaze spraying path trajectory according to the coordinate position data and the ceramic surface data.

[0075] In an embodiment of the present invention, the ceramic image refers to an image corresponding to a ceramic entity acquired from multiple aspects of the ceramic entity, wherein the ceramic image of the target ceramic can be acquired from a pre-stored storage area through a computer statement with a data capture function (such as a Java statement, a Python statement, etc.).

[0076] Furthermore, the target ceramic is analyzed through multi-angle ceramic images to determine the coordinate data of each ceramic surface in the ceramic image, and then the trajectory of the ceramic glaze spraying is analyzed based on the coordinate data.

[0077] In an embodiment of the present invention, the coordinate position data refers to the vertex coordinate position data of each ceramic surface in the ceramic image, and the ceramic surface data is the shape, direction, number, etc. of each ceramic surface by dividing the ceramic image into multiple ceramic surfaces.

[0078] In the embodiment of the present invention, the step of extracting the coordinate position data and ceramic surface data of the ceramic image includes:

[0079] Extracting a ceramic surface of the ceramic image according to a preset ceramic surface direction;

[0080] Constructing a ceramic surface coordinate system according to the surface direction of the ceramic surface;

[0081] generating coordinate position data of the ceramic image according to the ceramic surface coordinate system;

[0082] The numbering sequence of the ceramic surfaces is determined according to a preset ceramic surface direction sequence, and the numbering sequence is collected as the ceramic surface data.

[0083] In detail, the ceramic surface direction includes horizontal direction and vertical direction. By dividing the ceramic image according to the horizontal direction and the vertical direction, ceramic surfaces in different directions can be obtained, and then a three-dimensional coordinate system of the ceramic surface can be constructed according to the different surface directions of the ceramic surface. The ceramic surface can directly construct a three-dimensional coordinate system in the horizontal direction with the center point of the ceramic surface as the coordinate origin; the ceramic surface can be projected onto a large plane in the vertical direction, and then a three-dimensional coordinate system of the ceramic surface in the vertical direction is constructed with the center point of the ceramic surface as the coordinate origin. The vertex position in the ceramic surface three-dimensional coordinate system is determined according to the vertex of each ceramic surface, that is, the coordinate position data of each ceramic surface in the ceramic image, wherein the shape of the ceramic surface includes rectangle, trapezoid, ellipse or circle.

[0084] Specifically, the direction sequence of the ceramic surface is first divided into horizontal planes and then vertical planes in the order from far to near of the ceramic surface to the glaze spraying robot. After all horizontal planes are divided, the vertical planes are divided. The numbering sequence of the ceramic surfaces is determined according to the direction sequence of the ceramic surfaces, and all the numbering sequences are used as the ceramic surface data. For example, if the front side of the target ceramic is divided into planes in the order of ①④②③, the numbering sequence of the ceramic surfaces is ①④②③.

[0085] Furthermore, the numbering order of the ceramic surfaces is the glazing order of the glazing robot. Therefore, before glazing, it is necessary to determine the glazing path trajectory of the glazing robot in order to more accurately improve the glazing efficiency and accuracy.

[0086] In the embodiment of the present invention, the glaze spraying path trajectory refers to the trajectory that needs to be followed during the process of glazing the target ceramic, so as to evenly spray the glaze on the target ceramic.

[0087] In an embodiment of the present invention, generating a glaze spraying path trajectory according to the coordinate position data and the ceramic surface data includes:

[0088] Classifying the ceramic surfaces according to preset ceramic surface shapes to obtain classified ceramic surfaces;

[0089] Calculating a ceramic surface path trajectory according to the classified ceramic surface and the coordinate position data;

[0090] The ceramic surface path trajectories are spliced ​​according to the numbering sequence in the ceramic surface data to obtain the glaze spraying path trajectory.

[0091] In detail, the ceramic surface shapes include rectangular shapes and elliptical shapes. All ceramic surfaces of the target ceramic are classified according to the rectangular shapes and elliptical shapes to obtain rectangular ceramic surfaces and elliptical ceramic surfaces, and then different ceramic surface glaze spraying path trajectories are determined according to different classified ceramic surfaces.

[0092] In an embodiment of the present invention, the step of calculating the path trajectory of the ceramic surface according to the classified ceramic surface and the coordinate position data includes:

[0093] When the classified ceramic surface is a rectangular surface, the first target path coordinates of the rectangular surface are calculated according to the coordinate position data using the following rectangular path step length algorithm:

[0094]

[0095] Among them, (x, y, z) is the first target path coordinate of the rectangular surface, (x 1 ,y 1 ,z 1 ) is the real-time path coordinate of the rectangular surface in the coordinate position data, β is the glazing distance of the glazing surface, and α is the point moving step length of the rectangular surface;

[0096] Connecting all the first target path coordinates to obtain a rectangular surface path trajectory;

[0097] When the classified ceramic surface is an elliptical surface, the second target path coordinates of the elliptical surface are calculated using the following elliptical path step length algorithm:

[0098]

[0099] Among them, (x 0 ,y 0 ,z 0 ) is the second target path coordinate of the elliptical surface, θ 1 is the real-time angle of the ellipsoid, θ 2 is the moving angle of the ellipse, O x is the horizontal coordinate of the center coordinate point of the ellipse, O y is the ordinate of the center coordinate point of the ellipse, a is the first parameter of the ellipse, b is the second parameter of the ellipse, β is the spraying distance of the sprayed glaze surface, z 1 is the vertical coordinate, sin is the sine function, and cos is the cosine function;

[0100] Connecting all the second target path coordinates to obtain an elliptical path trajectory;

[0101] The rectangular surface path trajectory and the elliptical surface path trajectory are spliced ​​to obtain the ceramic surface path trajectory.

[0102] In detail, when the classified ceramic surface is a rectangular shape, the rectangular surface path trajectory is interpolated by the four vertices of the rectangular surface according to the step length through the interpolation algorithm, that is, the position coordinates in the horizontal direction or the vertical direction are calculated according to the rectangular path step length algorithm, wherein the first target path coordinate is the coordinate of the next trajectory point in the current rectangular surface. If the current position coordinate of the rectangular surface in the horizontal direction is (x 1 ,y 1 ,z 1 ), then the horizontal coordinate changes according to the moving step length, the vertical coordinate does not change, and the vertical coordinate changes according to the glazing distance (width). Therefore, the first target path coordinate of the next trajectory point is (x 1 +α,y 1 ,z 1 +β), thereby connecting all the first target path coordinates one by one to obtain the rectangular surface path trajectory.

[0103] Specifically, when the classified ceramic surface is an elliptical surface, the elliptical surface path trajectory is calculated based on the step length interpolation, where the second target path is the coordinates of the next trajectory point in the current elliptical surface, and the coordinates of the next trajectory point are determined according to the current angle and movement angle of the current elliptical surface, and then all the second target path coordinates are connected one by one to obtain the elliptical surface path trajectory. The step length β in the rectangular surface and the movement angle θ in the elliptical surface 2 It is determined by the requirements of the glaze spraying process. If the glaze spraying process requires the glaze to be sprayed thicker, the step length should be smaller, otherwise the step length should be larger.

[0104] Furthermore, both the rectangular surface path trajectory and the elliptical surface path trajectory are used as ceramic surface path trajectories, and then the ceramic surface path trajectories are spliced ​​according to the numbering order of each ceramic surface in the ceramic surface data to obtain a complete glaze spraying path trajectory. For example, the numbering order of the ceramic surfaces is ①④②③, then the ceramic surface path trajectory of ceramic surface ① is spliced ​​with the ceramic surface path trajectory of ceramic surface ④, and then spliced ​​with the ceramic surface path trajectory of ceramic surface ②, and finally spliced ​​with the ceramic surface path trajectory of ceramic surface ③ to obtain a complete glaze spraying path trajectory.

[0105] Furthermore, in order to spray glaze on the target ceramic more accurately, the spray glaze path trajectory needs to be segmented to achieve ceramic spray glaze with a more precise path.

[0106] S2. Segment the glaze spraying path trajectory according to a preset ceramic shape requirement to obtain a glaze spraying path segmentation trajectory, and generate glaze spraying parameters of the target ceramic according to preset ceramic parameter attributes.

[0107] In the embodiment of the present invention, the glaze spraying path segmentation trajectory refers to dividing the glaze spraying path trajectory into a plurality of shorter glaze spraying path trajectories.

[0108] In the embodiment of the present invention, refer to Figure 2 As shown, the glaze spraying path trajectory is segmented according to the preset ceramic shape requirements to obtain the glaze spraying path segmentation trajectory, including:

[0109] S21, dividing the glaze spraying path trajectory into shape surface trajectories according to the ceramic shape requirements to obtain a first glaze spraying path division trajectory;

[0110] S22, segmenting the rectangular surface path track in the first glaze spraying path segmentation track according to a preset ceramic surface length to obtain a first path segmentation track;

[0111] S23, segmenting the elliptical path trajectory in the first glaze spraying path segmentation trajectory according to a preset ceramic surface area to obtain a second path segmentation trajectory;

[0112] S24, combining the first path segmentation trajectory and the second path segmentation trajectory into the glazing path segmentation trajectory.

[0113] In detail, the ceramic shape requirement refers to the shape of the ceramic surface, including rectangle, trapezoid, ellipse, circle, etc., and then the ceramic surface corresponding to the glaze spraying path trajectory is divided according to the ceramic shape requirement to obtain the first glaze spraying path division trajectory. For example, if the shape of ceramic surface ① is a rectangle, the shape of ceramic surface ② is a rectangle, the shape of ceramic surface ③ is an ellipse, and the shape of ceramic surface ④ is a circle, then according to the ceramic shape requirement, ceramic surface ① and ceramic surface ② are divided into a first set, ceramic surface ③ is divided into a second set, and ceramic surface ④ is divided into a third set, and then the glaze spraying path trajectories corresponding to ceramic surfaces ① and ② in the first set are used as part of the first glaze spraying path division trajectory.

[0114] Specifically, when the ceramic surface is a rectangle, the rectangular surface path trajectory in the first glaze spraying path division trajectory is divided into multiple segmented trajectories with the same length as the rectangular surface according to the length of the rectangular surface; when the ceramic surface is an ellipse or a circle, the ellipse surface path trajectory in the first glaze spraying path division trajectory is divided into multiple sub-trajectories with a radius equal to the initial radius plus the step length according to the area and step length of the ellipse or the circle. For example, if the initial radius of the ellipse surface is R and the step length is L, then the radius of the second ellipse surface divided is R+L.

[0115] Furthermore, the first path segmentation trajectory and the second path segmentation trajectory are used as glaze spraying path segmentation trajectories. When glazing is performed according to the glaze spraying path segmentation trajectories, glaze spraying parameters in the glaze spraying process are selected to achieve more uniform glaze spraying.

[0116] In the embodiment of the present invention, the glaze spraying parameters refer to the glaze spraying speed, glaze spraying amplitude, glaze spraying pressure or glaze spraying time of the glaze spraying robot during the glaze spraying process.

[0117] In the embodiment of the present invention, the step of generating the glaze spraying parameters of the target ceramic according to the preset ceramic parameter attributes includes:

[0118] Extracting ceramic shape parameters and ceramic area parameters from the ceramic parameter attributes;

[0119] Determine the glaze spraying pressure, glaze spraying speed and glaze spraying amplitude of the target ceramic according to the ceramic shape parameter and the ceramic area parameter;

[0120] The glaze spraying pressure, the glaze spraying speed and the glaze spraying amplitude are used as glaze spraying parameters.

[0121] In detail, the ceramic parameter attributes include the ceramic shape of the target ceramic and the ceramic area parameters of each ceramic surface, wherein the ceramic area parameters of the ceramic surface can be determined by measuring the area of ​​each ceramic surface, or the ceramic parameter attributes can be obtained through the specification of the target ceramic. The glaze spraying pressure, glaze spraying speed and glaze spraying amplitude can be customized according to the size of the ceramic area parameters. Therefore, the glaze spraying parameters will be customized according to the shape parameters and area size of the ceramic at the beginning of glaze spraying.

[0122] Furthermore, in order to enable the glaze spraying robot to automatically spray glaze on the target ceramic according to the glaze spraying path segmentation trajectory and custom-set glaze spraying parameters, it is necessary to convert the glaze spraying path segmentation trajectory into data that can be recognized by the glaze spraying robot to achieve automatic glazing of the target ceramic.

[0123] S3, converting the segmented trajectory of the glaze spraying path into preset glaze spraying executable data of the glaze spraying robot, and controlling the glaze spraying robot to perform glaze spraying movement according to the glaze spraying executable data and the glaze spraying parameters.

[0124] In the embodiment of the present invention, the glaze spraying executable data refers to the glaze spraying data that can be recognized by the glaze spraying robot, and the glaze spraying movement is controlled according to the glaze spraying executable data.

[0125] In the embodiment of the present invention, refer to Figure 3 As shown, the step of converting the glaze spraying path segmentation trajectory into glaze spraying executable data of a preset glaze spraying robot includes:

[0126] S31, obtaining the glaze spraying displacement of the glaze spraying robot;

[0127] S32, calculating the trajectory coordinates of the glaze spraying path segmentation trajectory according to the glaze spraying displacement, wherein the trajectory coordinate calculation formula is:

[0128]

[0129] Where S is the glaze spraying displacement, (u 1 ,v1 ) is the coordinate of the starting point of the glaze spraying path segmentation trajectory, (u i ,v i ) is the trajectory coordinate of the i-th glazing trajectory point in the glazing path segmentation trajectory;

[0130] S33, using the trajectory coordinates as glazing executable data of the glazing robot.

[0131] In detail, the glaze spraying displacement refers to the range in which the glaze spraying robot can spray glaze on the target ceramic through the spray gun, including length and width. The glaze spraying can be simulated by pre-customized glaze spraying parameters to measure the simulated glaze spraying sample to obtain the glaze spraying displacement of the glaze spraying robot.

[0132] Specifically, the trajectory coordinates of each trajectory point in the glaze spraying path segmentation trajectory are calculated according to the glaze spraying displacement, wherein the trajectory coordinate calculation formula calculates the trajectory coordinates of the next glaze spraying trajectory point according to the trajectory starting point coordinates of each glaze spraying path segmentation trajectory with the glaze spraying displacement as the interval. For example, the trajectory starting point coordinates of the glaze spraying path segmentation trajectory are (1, 5), and the glaze spraying displacement is 5, then the trajectory coordinates of the next glaze spraying trajectory point are calculated according to the trajectory coordinate calculation formula, and the trajectory coordinates of the next glaze spraying trajectory point are used as the next trajectory starting point coordinates, and then all the trajectory coordinates are calculated until the trajectory point coordinates in all the glaze spraying path segmentation trajectories are calculated, and the trajectory coordinates are used as the glaze spraying executable data of the glaze spraying robot.

[0133] Exemplarily, when the trajectory starting point coordinates of the glaze spraying path segmentation trajectory are A and the glaze spraying displacement is B, the trajectory coordinates C of the next glaze spraying trajectory point are calculated, then the trajectory coordinates C are used as the trajectory starting point coordinates, and the trajectory coordinates D of the next glaze spraying trajectory point are calculated according to the glaze spraying displacement B, until the coordinates of the trajectory points in the glaze spraying path segmentation trajectory are calculated.

[0134] Furthermore, the glaze spraying movement of the target ceramic can be realized according to the glaze spraying executable data and glaze spraying parameters of the glaze spraying robot.

[0135] In one of the practical application scenarios of the present invention, when the glaze spraying robot performs glaze spraying, the target ceramic will be placed on a safe production line for rotation, and the glaze spraying robot will perform comprehensive glaze spraying activities on the target ceramic according to the glaze spraying parameters and the glaze spraying trajectory.

[0136] In the embodiment of the present invention, the step of controlling the glaze spraying robot to perform glaze spraying movement according to the glaze spraying executable data and the glaze spraying parameters includes:

[0137] Determining a glaze spraying motion trajectory of the glaze spraying robot according to the glaze spraying executable data;

[0138] Determining a glaze spraying mode of the glaze spraying robot according to the glaze spraying parameters;

[0139] The glaze spraying robot is controlled to perform glaze spraying movement according to the glaze spraying movement trajectory and the glaze spraying method.

[0140] In detail, the glaze spraying executable data represents the glaze spraying movement trajectory of the glaze spraying robot, that is, the glaze spraying robot sprays glaze according to the movement trajectory in the glaze spraying executable data. In addition, when spraying glaze, it is necessary to set the glaze spraying mode of the glaze spraying robot, that is, determine the glaze spraying speed, glaze spraying area, glaze spraying amplitude, etc. of the glaze spraying robot according to the glaze spraying parameters, and then the glaze spraying robot sprays glaze on the target ceramic according to the glaze spraying mode along the glaze spraying movement trajectory. During the glaze spraying process, the target ceramic will rotate on the production line according to the glaze spraying time so that all ceramic surfaces of the target ceramic will be sprayed with glaze.

[0141] Furthermore, after the glazing of the target ceramic is completed, the glazing target ceramic needs to be calibrated to complete the glazing of the target ceramic more accurately and completely.

[0142] S4. Extracting a ceramic glaze spraying image of the glaze spraying robot performing the glaze spraying movement, and calculating the glaze spraying validity of the ceramic glaze spraying image using a preset glaze spraying validity algorithm.

[0143] In an embodiment of the present invention, the ceramic glaze spraying image refers to the glazed ceramic after the target ceramic is glazed, and then the ceramic image corresponding to the glazed ceramic is extracted, wherein the ceramic glaze spraying image can be collected through a camera through multiple dimensions, so that the ceramic glaze spraying image after the glaze spraying movement of the glaze spraying robot can be extracted through a computer statement with a data capture function (such as a Java statement, a Python statement, etc.).

[0144] Furthermore, the glazing effect of the ceramic glazing image is analyzed, so that the ceramic glazing process is corrected according to the glazing effect to achieve more accurate and uniform ceramic glazing.

[0145] In the embodiment of the present invention, the glazing validity indicates the glazing effect of the ceramic glazing image. The greater the glazing validity, the better the glazing effect of the ceramic glazing image. On the contrary, the smaller the glazing validity, the worse the glazing effect of the ceramic glazing image.

[0146] In the embodiment of the present invention, the calculation of the glazing validity of the ceramic glazing image by using a preset glazing validity algorithm includes:

[0147] The first glazing validity of the ceramic glazing image is calculated by the following glazing validity algorithm:

[0148]

[0149] Wherein, f is the first glaze spraying effectiveness, q max is the maximum glaze layer accumulation rate of the ceramic glaze spraying image, r is the distance from the target point on the ceramic glaze spraying image to the axis of the spray gun, h is the height from the spray gun to the plane of the ceramic glaze spraying image, tan is the tangent function, σ is the cone opening angle, and γ is the shape control parameter of the ceramic glaze spraying image;

[0150] Determining a second glazing effectiveness of the ceramic glazing image according to a glazing area of ​​the ceramic glazing image;

[0151] The mean validity of the first glazing validity and the second glazing validity is taken as the glazing validity.

[0152] In detail, the first glazing validity is evaluated by the glazing thickness, and thus the first glazing validity of the ceramic glazing image is calculated according to the glazing validity algorithm, wherein the glazing validity algorithm forms a cone with the spray gun and the ceramic glazing image, thereby determining the distance from any point on the ceramic glazing image to the axis of the spray gun, and taking the cone apex as the spray gun mouth, the height from the spray gun to the ceramic glazing image is determined by the vertical height. In addition, the shape control parameter γ of the ceramic glazing image determines the shape of the ceramic surface, such as when γ=1, it indicates that the ceramic glazing image is circular or elliptical, and when γ=2, it indicates that the ceramic glazing image is rectangular or trapezoidal.

[0153] Specifically, the glazing area is determined by the glazing pixels occupying the ceramic glazing image. For example, if there are 60 pixel blocks on the ceramic surface and 55 glazing pixels on the ceramic surface, the second glazing validity of the ceramic glazing image is 55 / 60. Therefore, the mean validity of the first glazing validity and the second glazing validity is taken as the glazing validity, which can more accurately represent the glazing effect of the ceramic glazing image.

[0154] Furthermore, the glaze spraying effect of the target ceramic is determined according to the glaze spraying effectiveness, and then the glaze spraying path segmentation trajectory during the glaze spraying process is segmented to achieve glaze spraying more accurately.

[0155] S5. Correct the glazing path segmentation trajectory according to the glazing validity, and return to the step of converting the glazing path segmentation trajectory into the preset glazing executable data of the glazing robot until the glazing validity is greater than the preset glazing validity threshold.

[0156] In an embodiment of the present invention, when the glaze spraying effectiveness is less than a preset glaze spraying effectiveness threshold, it indicates that the glaze spraying effect on the target ceramic is not good, and it is first necessary to correct the glaze spraying path segmentation trajectory to obtain a glaze spraying path segmentation trajectory with better glaze spraying effect.

[0157] In the embodiment of the present invention, the step of performing trajectory correction on the glaze spraying path segmentation trajectory according to the glaze spraying effectiveness includes:

[0158] When the glazing validity is less than the preset glazing validity threshold, the trajectory optimization step value of the glazing path segmentation trajectory is calculated using a preset fitness function, wherein the fitness function is:

[0159]

[0160] Wherein, g is the trajectory optimization step value, v is the glaze spraying rate, d is the adjacent trajectory spacing of the glaze spraying path segmentation trajectory, L is the trajectory length of the glaze spraying path segmentation trajectory, is the path trajectory shape control factor, Q is the penalty factor;

[0161] The glaze spraying path segmentation trajectory is corrected according to the trajectory optimization step value to obtain a corrected glaze spraying path segmentation trajectory.

[0162] In detail, when the glazing validity is less than the preset glazing validity threshold, it means that the glazing path segmentation trajectory needs to be optimized and corrected, so as to calculate the trajectory optimization step value of the glazing path segmentation trajectory using the fitness function, wherein the path trajectory shape control factor in the fitness function is Indicates when When , the path trajectory is a straight line. When , the path trajectory is a curve; the penalty factor Q refers to the step size optimization set when the glaze spraying path segmentation trajectory is not sufficient for optimized segmentation, and the penalty factor Q is generally set to 1. Then, the glaze spraying path segmentation trajectory is corrected according to the trajectory step value to obtain a corrected glaze spraying path segmentation trajectory with better glaze spraying effect.

[0163] Furthermore, after the glazing path segmentation trajectory is corrected, the corrected glazing path segmentation trajectory is converted back into glazing executable data, or the glazing parameters are customized, and the glazing robot is controlled to perform glazing movement according to the glazing executable data and the glazing parameters, and the glazing validity of the ceramic glazing image after the glazing movement is calculated, until the glazing validity is greater than the preset glazing validity threshold, indicating that the glazing of the target ceramic is completed.

[0164] The embodiment of the present invention analyzes the coordinate position data and ceramic surface data of the ceramic through the ceramic image, and then generates a glaze spraying path trajectory according to the coordinate position data and the ceramic surface data, and segments the glaze spraying path trajectory, which is conducive to more accurate glaze spraying movement; the glaze spraying path segmentation trajectory is converted into executable data, and then the glaze spraying robot is controlled to perform glaze spraying movement according to the executable data and glaze spraying parameters, which is conducive to the automatic execution of the glaze spraying activity, without the need for manual participation, and improves the glaze spraying efficiency; the glaze spraying validity is calculated for the ceramic glaze spraying image after glazing, and then the glaze spraying path segmentation trajectory can be corrected according to the glaze spraying validity, which is conducive to generating a more accurate glaze spraying path segmentation trajectory, and then achieving a uniform shape of glaze spraying. Therefore, the glaze spraying method and device for the ceramic production process proposed by the present invention can solve the problem of low accuracy when performing ceramic glaze spraying.

[0165] like Figure 4 , which is a functional module diagram of a glaze spraying device for a ceramic production process provided by an embodiment of the present invention.

[0166] The glaze spraying device 100 of the ceramic production process of the present invention can be installed in an electronic device. According to the functions to be implemented, the glaze spraying device 100 of the ceramic production process can include a glaze spraying path trajectory generation module 101, a glaze spraying parameter generation module 102, a glaze spraying motion control module 103, a glaze spraying validity calculation module 104 and a trajectory correction module 105. The module of the present invention can also be called a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0167] In this embodiment, the functions of each module / unit are as follows:

[0168] The glaze spraying path trajectory generating module 101 is used to obtain a ceramic image of a target ceramic, extract coordinate position data and ceramic surface data of the ceramic image, and generate a glaze spraying path trajectory according to the coordinate position data and the ceramic surface data;

[0169] The glaze spraying parameter generating module 102 is used to segment the glaze spraying path trajectory according to the preset ceramic shape requirements to obtain the glaze spraying path segmentation trajectory, and generate the glaze spraying parameters of the target ceramic according to the preset ceramic parameter attributes;

[0170] The glaze spraying motion control module 103 is used to convert the glaze spraying path segmentation trajectory into preset glaze spraying executable data of the glaze spraying robot, and control the glaze spraying robot to perform glaze spraying motion according to the glaze spraying executable data and the glaze spraying parameters;

[0171] The glazing validity calculation module 104 is used to extract the ceramic glazing image of the glazing robot performing the glazing motion, and calculate the glazing validity of the ceramic glazing image using a preset glazing validity algorithm;

[0172] The trajectory correction module 105 is used to perform trajectory correction on the glazing path segmentation trajectory according to the glazing validity, and return to the step of converting the glazing path segmentation trajectory into glazing executable data of a preset glazing robot until the glazing validity is greater than a preset glazing validity threshold.

[0173] In detail, each module described in the glaze spraying device 100 of the ceramic production process described in the embodiment of the present invention is used in the same manner as described above. Figures 1 to 3 The glaze spraying method of the ceramic production process described in the invention is the same technical means and can produce the same technical effect, so it will not be repeated here.

[0174] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0175] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0176] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0177] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A glaze spraying method for ceramic production technology, characterized in that: The method comprises: S1, obtaining a ceramic image of a target ceramic, extracting coordinate position data and ceramic surface data of the ceramic image, classifying the ceramic surface according to a preset ceramic surface shape to obtain a classified ceramic surface; calculating a ceramic surface path trajectory according to the classified ceramic surface and the coordinate position data; splicing the ceramic surface path trajectory according to the numbering sequence in the ceramic surface data to obtain a glaze spraying path trajectory; S2, segmenting the glaze spraying path trajectory according to the preset ceramic shape requirements to obtain the glaze spraying path segmentation trajectory, and generating the glaze spraying parameters of the target ceramic according to the preset ceramic parameter attributes; S3, converting the segmented trajectory of the glaze spraying path into preset glaze spraying executable data of the glaze spraying robot, and controlling the glaze spraying robot to perform glaze spraying movement according to the glaze spraying executable data and the glaze spraying parameters; S4, extracting the ceramic glaze spraying image of the glaze spraying robot performing the glaze spraying movement, and calculating the glaze spraying validity of the ceramic glaze spraying image using a preset glaze spraying validity algorithm, wherein calculating the glaze spraying validity of the ceramic glaze spraying image using a preset glaze spraying validity algorithm includes: S41, calculating the first glazing validity of the ceramic glazing image by the following glazing validity algorithm: Wherein, f is the first glaze spraying effectiveness, q max is the maximum glaze layer accumulation rate of the ceramic glaze spraying image, r is the distance from the target point on the ceramic glaze spraying image to the axis of the spray gun, h is the height from the spray gun to the plane of the ceramic glaze spraying image, tan is the tangent function, σ is the cone opening angle, and γ is the shape control parameter of the ceramic glaze spraying image; S42, determining a second glazing effectiveness of the ceramic glazing image according to the glazing area of ​​the ceramic glazing image; S43, taking the mean of the first glaze spraying validity and the second glaze spraying validity as the glaze spraying validity; S5. When the glazing validity is less than a preset glazing validity threshold, a preset fitness function is used to calculate the trajectory optimization step value of the glazing path segmentation trajectory, wherein the fitness function is: Among them, g is the trajectory optimization step value, v is the glaze spraying rate, d is the adjacent track spacing of the glaze spraying path segmentation track, L is the track length of the glaze spraying path segmentation track, is the path trajectory shape control factor, Q is the penalty factor; The glazing path segmentation trajectory is corrected according to the trajectory optimization step value to obtain a corrected glazing path segmentation trajectory, and the step of converting the glazing path segmentation trajectory into a preset glazing executable data of the glazing robot is returned to until the glazing validity is greater than the preset glazing validity threshold.

2. The glaze spraying method of ceramic production process according to claim 1, characterized in that: The extracting of the coordinate position data and the ceramic surface data of the ceramic image comprises: Extracting a ceramic surface of the ceramic image according to a preset ceramic surface direction; Constructing a ceramic surface coordinate system according to the surface direction of the ceramic surface; generating coordinate position data of the ceramic image according to the ceramic surface coordinate system; The numbering sequence of the ceramic surfaces is determined according to a preset ceramic surface direction sequence, and the numbering sequence is collected as the ceramic surface data.

3. The glaze spraying method of ceramic production process according to claim 1, characterized in that: The step of calculating the path trajectory of the ceramic surface according to the classified ceramic surface and the coordinate position data includes: When the classified ceramic surface is a rectangular surface, the first target path coordinates of the rectangular surface are calculated according to the coordinate position data using the following rectangular path step length algorithm: Wherein, (x, y, z) is the first target path coordinate of the rectangular surface, (x1, y1, z1) is the real-time path coordinate of the rectangular surface in the coordinate position data, β is the glazing distance of the glazed surface, and α is the point moving step length of the rectangular surface; Connecting all the first target path coordinates to obtain a rectangular surface path trajectory; When the classified ceramic surface is an elliptical surface, the second target path coordinates of the elliptical surface are calculated using the following elliptical path step length algorithm: Wherein, (x0, y0, z0) is the second target path coordinate of the elliptical surface, θ1 is the real-time angle of the elliptical surface, θ2 is the moving angle of the elliptical surface, x is the horizontal coordinate of the center coordinate point of the ellipse, O y is the ordinate of the center coordinate point of the ellipse, a is the first parameter of the ellipse, b is the second parameter of the ellipse, β is the spraying distance of the sprayed glaze surface, z1 is the vertical coordinate, sin is the sine function, and cos is the cosine function; Connecting all the second target path coordinates to obtain an elliptical path trajectory; The rectangular surface path trajectory and the elliptical surface path trajectory are spliced ​​to obtain the ceramic surface path trajectory.

4. The glaze spraying method of ceramic production process according to claim 1, characterized in that: The step of segmenting the glaze spraying path trajectory according to the preset ceramic shape requirement to obtain the glaze spraying path segmentation trajectory includes: Dividing the glaze spraying path trajectory into a shape surface trajectory according to the ceramic shape requirement to obtain a first glaze spraying path division trajectory; Segmenting the rectangular surface path track in the first glaze spraying path segmentation track according to a preset ceramic surface length to obtain a first path segmentation track; Segmenting the elliptical path trajectory in the first glaze spraying path segmentation trajectory according to a preset ceramic surface area to obtain a second path segmentation trajectory; The first path segmentation trajectory and the second path segmentation trajectory are collected to form the glazing path segmentation trajectory.

5. The glaze spraying method of ceramic production process according to claim 1, characterized in that: The step of generating the glaze spraying parameters of the target ceramic according to the preset ceramic parameter attributes includes: Extracting ceramic shape parameters and ceramic area parameters from the ceramic parameter attributes; Determine the glaze spraying pressure, glaze spraying speed and glaze spraying amplitude of the target ceramic according to the ceramic shape parameter and the ceramic area parameter; The glaze spraying pressure, the glaze spraying speed and the glaze spraying amplitude are used as glaze spraying parameters.

6. The glaze spraying method of ceramic production process according to claim 1, characterized in that: The step of converting the glazing path segmentation trajectory into glazing executable data of a preset glazing robot comprises: Acquiring the glaze spraying displacement of the glaze spraying robot; The trajectory coordinates of the glaze spraying path segmentation trajectory are calculated according to the glaze spraying displacement, wherein the trajectory coordinate calculation formula is: Where S is the glaze spraying displacement, (u1, v1) is the coordinate of the starting point of the glaze spraying path segmentation trajectory, (u i ,v i ) is the trajectory coordinate of the i-th glazing trajectory point in the glazing path segmentation trajectory; The trajectory coordinates are used as glazing executable data of the glazing robot.

7. The glaze spraying method of ceramic production process according to claim 1, characterized in that: The controlling the glaze spraying robot to perform glaze spraying movement according to the glaze spraying executable data and the glaze spraying parameters includes: Determining a glaze spraying motion trajectory of the glaze spraying robot according to the glaze spraying executable data; Determining a glaze spraying mode of the glaze spraying robot according to the glaze spraying parameters; The glaze spraying robot is controlled to perform glaze spraying movement according to the glaze spraying movement trajectory and the glaze spraying method.

8. A glaze spraying device for a ceramic production process, characterized in that: The device comprises: A glaze spraying path trajectory generation module is used to obtain a ceramic image of a target ceramic, extract coordinate position data and ceramic surface data of the ceramic image, classify the ceramic surface according to a preset ceramic surface shape, and obtain a classified ceramic surface; calculate the ceramic surface path trajectory according to the classified ceramic surface and the coordinate position data; splice the ceramic surface path trajectory according to the numbering sequence in the ceramic surface data to obtain the glaze spraying path trajectory; A glaze spraying parameter generation module, used to segment the glaze spraying path trajectory according to a preset ceramic shape requirement to obtain a glaze spraying path segmentation trajectory, and generate the glaze spraying parameters of the target ceramic according to a preset ceramic parameter attribute; A glaze spraying motion control module, used for converting the glaze spraying path segmentation trajectory into preset glaze spraying executable data of the glaze spraying robot, and controlling the glaze spraying robot to perform glaze spraying motion according to the glaze spraying executable data and the glaze spraying parameters; The glazing validity calculation module is used to extract the ceramic glazing image of the glazing robot performing the glazing motion, and calculate the glazing validity of the ceramic glazing image using a preset glazing validity algorithm, wherein the glazing validity of the ceramic glazing image is calculated using the preset glazing validity algorithm, including: calculating the first glazing validity of the ceramic glazing image by the following glazing validity algorithm: Wherein, f is the first glaze spraying effectiveness, q max is the maximum glaze layer accumulation rate of the ceramic glaze spraying image, r is the distance from the target point on the ceramic glaze spraying image to the axis of the spray gun, h is the height from the spray gun to the plane of the ceramic glaze spraying image, tan is the tangent function, σ is the cone opening angle, and γ is the shape control parameter of the ceramic glaze spraying image; Determining a second glazing validity of the ceramic glazing image according to the glazing area of ​​the ceramic glazing image; taking the validity mean of the first glazing validity and the second glazing validity as the glazing validity; The trajectory correction module is used to calculate the trajectory optimization step value of the glazing path segmentation trajectory using a preset fitness function when the glazing effectiveness is less than a preset glazing effectiveness threshold, wherein the fitness function is: Among them, g is the trajectory optimization step value, v is the glaze spraying rate, d is the adjacent track spacing of the glaze spraying path segmentation track, L is the track length of the glaze spraying path segmentation track, is the path trajectory shape control factor, Q is the penalty factor; The glazing path segmentation trajectory is corrected according to the trajectory optimization step value to obtain a corrected glazing path segmentation trajectory, and the step of converting the glazing path segmentation trajectory into a preset glazing executable data of the glazing robot is returned to until the glazing validity is greater than the preset glazing validity threshold.

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