A spray job method, apparatus and spray equipment

Abstract

The application discloses a spraying operation method and device and spraying equipment. The method comprises the following steps: acquiring identification information of a product to be sprayed; determining a spraying operation program corresponding to the product to be sprayed based on the identification information, wherein the spraying operation program is written based on a spraying track, the spraying track is determined according to a point cloud model of the product to be sprayed, and the point cloud model is constructed based on a three-dimensional mathematical model of the product to be sprayed; and controlling a spraying robot to execute the spraying operation program, so that the spraying robot sprays the product to be sprayed according to the spraying track included in the spraying operation program. In the foregoing manner, continuous spraying operation of different types of products to be sprayed in a mixed-line production mode is realized. When the type of the product to be sprayed changes, the spraying robot does not need to be re-taught, the spraying efficiency of the spraying robot is improved, and the product production efficiency in the mixed-line production mode is further improved.

Description

Technical Field

[0001] This invention relates to the field of automated spraying technology, and in particular to a spraying operation method, apparatus and spraying equipment. Background Technology

[0002] In the production process of various products such as automobiles, ships, and furniture, painting is a fundamental and crucial step, and the quality of painting directly affects the quality of the product.

[0003] In industrial production, painting robots are typically used to protect painting workers while improving the efficiency and quality of painting operations. The painting trajectory of the robot can be determined through manual teaching, whereby workers record key painting trajectory points using a robot teach pendant, and the robot then performs the painting operation according to these recorded trajectory points.

[0004] However, in actual industrial production, a mixed-line production model is usually adopted, where different models of products are arranged on the production line according to business orders, and the appearance and painting requirements of different models of products are also different. Using existing painting operation methods, the painting robot cannot perform painting operations during the manual teaching process. This makes the efficiency planning and resource utilization planning of the painting robot unreasonable, resulting in wasted efficiency of the painting robot and affecting the normal production operation of products under the mixed-line production model. Summary of the Invention

[0005] This invention provides a spraying operation method, apparatus, and spraying equipment to solve the problem of wasted efficiency of spraying robots caused by manual teaching in existing spraying operation methods, which affects the normal production operation of products in mixed-line production mode.

[0006] In a first aspect, embodiments of the present invention provide a spraying operation method, comprising:

[0007] Obtain the identification information of the product to be coated;

[0008] Based on the identification information of the product to be sprayed, a spraying operation program corresponding to the product to be sprayed is determined. The spraying operation program is based on a spraying trajectory, which is determined according to the point cloud model of the product to be sprayed. The point cloud model is constructed based on the three-dimensional mathematical model of the product to be sprayed.

[0009] The spraying robot is controlled to execute the spraying operation program so that the spraying robot performs the spraying operation on the product to be sprayed according to the spraying trajectory included in the spraying operation program.

[0010] In the spraying operation method provided by this invention, a point cloud model is constructed based on the three-dimensional mathematical model of the product to be sprayed, and the spraying trajectory of the product to be sprayed is determined according to the constructed point cloud model. The spraying trajectory is then programmed into a spraying operation program that can be executed by the spraying robot. During the spraying operation of the product to be sprayed, the corresponding spraying operation program is determined by obtaining the identification information of the product to be sprayed, and the spraying operation program is sent to the spraying robot. The spraying robot sprays the product to be sprayed according to the spraying trajectory included in the spraying operation program, thereby realizing continuous spraying operation of different models of products to be sprayed under mixed production mode. When the model of the product to be sprayed changes, there is no need to re-teach the spraying robot, which improves the spraying efficiency of the spraying robot and thus improves the product production efficiency under mixed production mode.

[0011] In one alternative embodiment, the spraying trajectory is determined in the following manner:

[0012] Based on the relevant performance parameters of the spray gun on the spraying robot, determine the spraying process parameters;

[0013] Based on the spraying process parameters and the point cloud slicing direction, the point cloud model is sliced ​​to obtain multiple point cloud slices, wherein the point cloud slicing direction is determined according to the point cloud model.

[0014] The spraying trajectory is determined based on the point cloud slicing algorithm and the multiple point cloud slices.

[0015] In one optional embodiment, the spraying process parameters include spraying height, spraying spacing, and spray gun movement speed.

[0016] The above method adaptively determines the spraying trajectory based on the point cloud model of the product to be sprayed and the relevant performance parameters of the spray gun on the spraying robot. Compared with the existing method of manually compiling the spraying trajectory, it shortens the compilation time of the spraying trajectory, improves the compilation efficiency of the spraying trajectory, and thus improves the convenience and efficiency of the spraying operation planning.

[0017] In one optional embodiment, determining the spraying process parameters based on the relevant performance parameters of the spray gun on the spraying robot includes:

[0018] The spraying height is determined based on the working range and spraying pressure of the spray gun, and the spraying spacing and spray gun moving speed are determined based on a preset spraying distribution model and using the golden ratio method.

[0019] The above method determines the spraying height, spraying spacing, and spraying gun moving speed based on the relevant performance parameters of the spray gun, and determines the spraying trajectory according to the above parameters. When the spraying robot performs spraying operations according to the spraying trajectory, the spraying quality and paint utilization rate are improved, and the spraying problems such as missed spraying and over-spraying that exist in the spraying operation are effectively improved.

[0020] In one optional embodiment, the step of slicing the point cloud model according to the spraying process parameters and the point cloud slicing direction to obtain multiple point cloud slices includes:

[0021] Using the spraying spacing as the slice thickness, the point cloud model is sliced ​​along the point cloud slice direction to obtain the multiple point cloud slices.

[0022] In one optional embodiment, the spraying trajectory is determined based on a point cloud slicing algorithm and according to the plurality of point cloud slices, including:

[0023] For any point cloud slice, determine multiple trajectory points corresponding to the point cloud slice;

[0024] Based on the principle of minimizing transfer time, multiple trajectory points corresponding to each point cloud slice are combined to obtain the spraying trajectory.

[0025] The above method uses point cloud slicing technology to process the point cloud model of the product to be sprayed, and determines multiple trajectory points corresponding to the multiple point cloud slices obtained by the slicing process. Based on the principle of the shortest transfer time, the multiple trajectory points are combined to obtain the spraying trajectory of the product to be sprayed.

[0026] In one optional embodiment, determining multiple trajectory points corresponding to any point cloud slice includes:

[0027] For any point cloud slice, the projection method is used to determine the contour point set of the point cloud slice, and multiple target contour points are selected in the contour point set.

[0028] For any target contour point, the target contour point is translated along the first direction by the spraying height, and the translated point is used as one of the multiple trajectory points corresponding to the point cloud slice, wherein the first direction is the normal vector direction of a specified region in the point cloud slice where the target contour point is located.

[0029] The above method determines the target contour points corresponding to each point cloud slice, and then translates these target contour points along a first direction by the spraying height to obtain corresponding trajectory points. Based on these multiple trajectory points, the spraying trajectory of the product to be sprayed is determined. The spraying trajectory determined in this way is suitable for spraying planning operations on complex curved surfaces, aligning with the trend of flexible operations in modern production.

[0030] In one alternative embodiment, the point cloud model is constructed in the following manner:

[0031] Based on the shell structure of the product to be coated, the three-dimensional mathematical model is simplified to obtain an intermediate three-dimensional mathematical model;

[0032] The intermediate three-dimensional mathematical model is processed based on the triangular meshing algorithm to obtain a meshed model;

[0033] The point cloud model is obtained by performing equal-density sampling on each triangular facet of the meshed model surface.

[0034] The above method obtains a corresponding point cloud model by uniformly sampling the three-dimensional mathematical model of the product to be sprayed. This point cloud model includes point cloud data that can reflect the surface characteristics of the product to be sprayed, thereby improving the spraying effect when the spraying robot performs spraying operations based on the spraying trajectory determined by the point cloud model.

[0035] In a second aspect, embodiments of the present invention provide a spraying operation apparatus, comprising:

[0036] The acquisition unit is used to acquire the identification information of the product to be coated.

[0037] The processing unit is used to determine a spraying operation program corresponding to the product to be sprayed based on the identification information of the product to be sprayed. The spraying operation program is based on a spraying trajectory, which is determined according to the point cloud model of the product to be sprayed. The point cloud model is constructed based on the three-dimensional mathematical model of the product to be sprayed.

[0038] The control unit is used to control the spraying robot to execute the spraying operation program, so that the spraying robot performs spraying operation on the product to be sprayed according to the spraying trajectory included in the spraying operation program.

[0039] In one optional embodiment, the device further includes a trajectory determination unit;

[0040] The trajectory determination unit is used for:

[0041] Based on the relevant performance parameters of the spray gun on the spraying robot, determine the spraying process parameters;

[0042] Based on the spraying process parameters and the point cloud slicing direction, the point cloud model is sliced ​​to obtain multiple point cloud slices, wherein the point cloud slicing direction is determined according to the point cloud model.

[0043] The spraying trajectory is determined based on the point cloud slicing algorithm and the multiple point cloud slices.

[0044] In one optional embodiment, the spraying process parameters include spraying height, spraying spacing, and spray gun movement speed.

[0045] In an optional embodiment, the trajectory determination unit is specifically used for:

[0046] The spraying height is determined based on the working range and spraying pressure of the spray gun, and the spraying spacing and spray gun moving speed are determined based on a preset spraying distribution model and using the golden ratio method.

[0047] In an optional embodiment, the trajectory determination unit is specifically used for:

[0048] Using the spraying spacing as the slice thickness, the point cloud model is sliced ​​along the point cloud slice direction to obtain the multiple point cloud slices.

[0049] In an optional embodiment, the trajectory determination unit is specifically used for:

[0050] For any point cloud slice, determine multiple trajectory points corresponding to the point cloud slice;

[0051] Based on the principle of minimizing transfer time, multiple trajectory points corresponding to each point cloud slice are combined to obtain the spraying trajectory.

[0052] In an optional embodiment, the trajectory determination unit is specifically used for:

[0053] For any point cloud slice, the projection method is used to determine the contour point set of the point cloud slice, and multiple target contour points are selected in the contour point set.

[0054] For any target contour point, the target contour point is translated along the first direction by the spraying height, and the translated point is used as one of the multiple trajectory points corresponding to the point cloud slice, wherein the first direction is the normal vector direction of a specified region in the point cloud slice where the target contour point is located.

[0055] In one alternative embodiment, the apparatus further includes a model conversion unit;

[0056] The model conversion unit is used for:

[0057] Based on the shell structure of the product to be coated, the three-dimensional mathematical model is simplified to obtain an intermediate three-dimensional mathematical model;

[0058] The intermediate three-dimensional mathematical model is processed based on the triangular meshing algorithm to obtain a meshed model;

[0059] The point cloud model is obtained by performing equal-density sampling on each triangular facet of the meshed model surface.

[0060] Thirdly, embodiments of the present invention provide a spraying device, comprising:

[0061] Memory, used to store executable instructions;

[0062] A processor is configured to read and execute executable instructions stored in the memory to implement the steps of the spraying operation method as described in any of the embodiments of the first aspect above.

[0063] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the steps of the spraying operation method as described in any of the embodiments of the first aspect above.

[0064] For the technical effects that may be achieved by the spraying apparatus disclosed in the second aspect, the spraying equipment disclosed in the third aspect, and the computer-readable storage medium disclosed in the fourth aspect, please refer to the above description of the technical effects that may be achieved by the various possible solutions in the first aspect, and will not be repeated here. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 This is a structural schematic diagram illustrating an application scenario of a spraying operation method provided in an embodiment of the present invention;

[0067] Figure 2 This is a schematic diagram of the workflow of a spraying operation method provided in an embodiment of the present invention;

[0068] Figure 3 This is a schematic diagram illustrating the workflow for constructing a point cloud model, provided by an embodiment of the present invention.

[0069] Figure 4 This is a schematic diagram of a workflow for determining a spraying trajectory provided by an embodiment of the present invention;

[0070] Figure 5 This is a schematic diagram of a structure for performing point cloud slicing processing on a point cloud model, provided by an embodiment of the present invention;

[0071] Figure 6This is a schematic diagram of a structure for determining the central slicing plane of a point cloud slice, provided by an embodiment of the present invention.

[0072] Figure 7 This is a schematic diagram of a structure for determining target contour points based on a set of contour points, provided by an embodiment of the present invention.

[0073] Figure 8 This is a schematic diagram of a structure for determining trajectory points based on target contour points, provided by an embodiment of the present invention.

[0074] Figure 9 This is a schematic diagram of the spraying trajectory of a product to be sprayed, provided in an embodiment of the present invention;

[0075] Figure 10 This is a schematic diagram illustrating a complete workflow for a spraying operation, provided as an embodiment of the present invention.

[0076] Figure 11 This is a schematic diagram of the modular structure of a spraying device provided in an embodiment of the present invention;

[0077] Figure 12 This is a schematic diagram of the structure of a spraying device provided in an embodiment of the present invention;

[0078] Figure 13 This is a schematic diagram of a spraying operation method provided in an embodiment of the present invention. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0080] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0081] As mentioned above, in the existing technology, the spraying trajectory of the spraying robot is determined by manual teaching. That is, the staff records the key spraying trajectory points through the robot teaching device so that the spraying robot can perform spraying operations according to the recorded spraying trajectory points.

[0082] During the manual teaching process, manual correction of the spraying trajectory is also required. Specifically, the staff needs to write the initial spraying trajectory into the robot teach pendant so that the spraying robot can perform a trial run of the spraying operation in the paint booth on the production site, according to the written spraying trajectory and the product to be sprayed. The staff needs to observe on-site whether there are any large deviations in the spraying trajectory during the trial run. If there are any deviations that are visible to the naked eye, the spraying trajectory will be adjusted. If it is visually confirmed that there are no major deviations in the spraying trajectory, the corresponding operation program will be saved in the spraying robot's controller, and the correction of the spraying trajectory will be completed.

[0083] Furthermore, the painting trajectory written into the robot teach pendant is also manually programmed, and manually programmed painting trajectories have the following drawbacks:

[0084] Disadvantage 1: Manually creating spray patterns requires working at the spraying station on the production line, which necessitates a production halt. Furthermore, the spray pattern requires verifying multiple points in a coordinate system, with each new pattern containing approximately 160 points. Each point needs repeated confirmation through trial spraying, resulting in a very large workload. Therefore, manually creating a new spray pattern takes approximately 5-6 hours, leading to long creation times, low efficiency, and disruption to normal production line operation.

[0085] Disadvantage 2: During the manual creation of the spraying trajectory, the rationality of the spraying trajectory needs to be visually inspected. Therefore, it is impossible to accurately confirm the continuity and overlap of the spraying trajectory, resulting in a large error in the spraying trajectory. This can lead to problems such as the spraying trajectory not being fully covered or excessive overlap, resulting in quality problems such as missed spraying, overspraying, and paint runs during the spraying operation, and making it impossible to guarantee the spraying quality.

[0086] Based on this, embodiments of the present invention provide a spraying operation method, apparatus, and spraying equipment to realize the spraying operation of products to be sprayed in a mixed-line production mode, improve the convenience of spraying operation planning, improve the spraying efficiency and spraying quality of the spraying robot, and ensure the high efficiency of the mixed-line production mode.

[0087] For ease of understanding, the relevant technical terms used in the embodiments of this invention are explained below:

[0088] (1) Spraying trajectory: The sequence and stroke of the end effector (e.g., spray gun) on the spraying robot during the process of applying topcoat to the outer surface of the product to be sprayed.

[0089] (2) Point Cloud: A point cloud is a three-dimensional data set composed of a large number of points that reflect the appearance characteristics of the product to be painted. Each point in the point cloud contains spatial location information and possible other attributes. For example, each point in the point cloud usually contains three-dimensional coordinate information (XYZ), color information (RGB), and reflection intensity information (Intensity). In addition, the point cloud may also contain other attributes, such as normal vectors and texture coordinates.

[0090] (3) Paint thickness: The thickness of the paint film after the topcoat has cured after the topcoat is applied to the outer surface of the product to be sprayed.

[0091] The application scenarios of the spraying method provided by the present invention are described below with reference to the accompanying drawings:

[0092] Figure 1 The diagram above illustrates an application scenario of the spraying method provided in an embodiment of the present invention, such as... Figure 1 As shown, this application scenario includes a product to be painted 100, a painting robot 200, a processor 300, and a production line 400, wherein:

[0093] Processor 300 can be a host computer, server, controller, or other device with control and processing functions. Those skilled in the art will understand that processor 300 can be flexibly selected according to actual production needs.

[0094] In practice, a painting robot 200 can be set on each side of the production line 400, or a painting robot 200 can be set on one side of the production line 400; and an identification device (not shown in the figure) can be set on any side of the production line 400.

[0095] During the process of the product 100 to be sprayed being conveyed through the production line 400, the identification device identifies the identification information of the product 100 to be sprayed and sends the identified identification information to the processor 300. When the product 100 to be sprayed is conveyed to the designated spraying position, the processor 300 controls the spraying robots on both sides of the production line 400 to perform spraying operations on the product 100 to be sprayed through the spraying operation method in this embodiment of the invention, thereby realizing the spraying of the product 100 to be sprayed.

[0096] Of course, the methods provided in the embodiments of the present invention are not limited to those described above. Figure 1 The application scenarios shown can also be used in other possible application scenarios, and the embodiments of the present invention do not impose any limitations.

[0097] After introducing the application scenarios of the embodiments of the present invention, the preferred embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for illustration and explanation of the present invention and are not intended to limit the present invention. Furthermore, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0098] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0099] Figure 2 This diagram illustrates the workflow of a spraying operation method provided by an embodiment of the present invention. Figure 2 As shown, the method includes:

[0100] Step S201: Obtain the identification information of the product to be sprayed.

[0101] In one or more embodiments, the identification information of the product to be coated includes the product name and / or product model.

[0102] In practice, an information identification station can be set up on the conveying path of the product to be coated. When the product to be coated is conveyed to the information identification station, the identification device (such as a barcode scanner) deployed at the information identification station scans the electronic tag on the product to obtain the identification information in the electronic tag.

[0103] It should be noted that the equipment used to perform the spraying operation method in the embodiments of the present invention can be a host computer, server or other processing equipment, a robot controller or other control equipment, or other electronic equipment with processing and control functions. The embodiments of the present invention do not impose any restrictions on this.

[0104] Step S202: Based on the identification information of the product to be sprayed, determine the spraying operation program corresponding to the product to be sprayed. The spraying operation program is written based on the spraying trajectory, which is determined according to the point cloud model of the product to be sprayed. The point cloud model is constructed based on the three-dimensional mathematical model of the product to be sprayed.

[0105] Optionally, the spraying operation program can be executable code for the spraying robot.

[0106] In one or more embodiments, the identification information of the product to be sprayed and the determined spraying operation procedure corresponding to the product to be sprayed are stored in the database in the format of "identification information-spraying operation procedure".

[0107] In practice, after obtaining the identification information of the product to be sprayed, the spraying operation program corresponding to the identification information is searched among the multiple spraying operation programs stored in the database, and the found spraying operation program is used as the spraying operation program corresponding to the product to be sprayed.

[0108] In one alternative embodiment, such as Figure 3 As shown, the point cloud model can be constructed based on the three-dimensional mathematical model of the product to be coated, which can be achieved through the methods in steps S301-S303:

[0109] Step S301: Based on the shell structure of the product to be coated, the three-dimensional mathematical model is simplified to obtain an intermediate three-dimensional mathematical model.

[0110] In one or more embodiments, the three-dimensional mathematical model can be a CAD (Computer Aided Design) model.

[0111] In practice, after obtaining the three-dimensional mathematical model of the product to be coated, the internal structure of the three-dimensional mathematical model is removed, and only the outer shell structure is retained to simplify the three-dimensional mathematical model and obtain an intermediate three-dimensional mathematical model.

[0112] Step S302: Based on the triangular meshing processing algorithm, the intermediate three-dimensional mathematical model is processed to obtain a meshed model.

[0113] Step S303: Perform equal-density sampling on each triangular facet of the meshed model surface to obtain a point cloud model.

[0114] In practice, the intermediate 3D mathematical model is divided into triangular meshes according to the triangular meshing algorithm to obtain a meshed model. Then, based on the area of ​​each triangular facet on the surface of the obtained meshed model, uniform sampling with equal density is performed on the plane where each triangular facet is located to form a point cloud model with ideal density.

[0115] By performing uniform sampling at equal density on the three-dimensional mathematical model of the product to be sprayed, a corresponding point cloud model is obtained. This point cloud model includes point cloud data that can reflect the surface characteristics of the product to be sprayed, thereby improving the spraying effect when the spraying robot performs spraying operations based on the spraying trajectory determined by the point cloud model.

[0116] After constructing a point cloud model based on the three-dimensional mathematical model of the product to be sprayed, the spraying trajectory of the product to be sprayed is determined according to the constructed point cloud model.

[0117] In one alternative embodiment, such as Figure 4 As shown, the spraying trajectory can be determined based on the point cloud model, which can be achieved through steps S401-S403:

[0118] Step S401: Determine the spraying process parameters based on the relevant performance parameters of the spray gun on the spraying robot.

[0119] In one optional embodiment, the spraying process parameters include spraying height, spraying spacing, and spray gun movement speed.

[0120] Optionally, the spraying process parameters can be determined in the following ways:

[0121] Based on the working range and spray pressure of the spray gun, the spraying height is determined, and the spraying spacing and spray gun movement speed are determined based on the preset spraying distribution model and the golden ratio method.

[0122] In one or more embodiments, the paint distribution model includes an infinite distribution model or a finite distribution model. The infinite distribution model includes the Cauchy distribution model, the Gaussian distribution model, etc., and the finite distribution model includes the piecewise function model, the uniform thickness model, the variable thickness model, the β distribution model, etc.

[0123] In practical implementation, considering factors such as accuracy and flexibility, the preset paint distribution model can be an elliptic double-β distribution model, used to reflect the paint thickness at a certain point on the product to be coated. The elliptic double-β distribution model can be represented as:

[0124]

[0125] Where, q max denoted by , where α represents the maximum paint thickness within the spray cone emitted by the spray gun, α represents the major axis radius of the elliptical paint spray, β1 and β2 are two different influencing factors, both used to represent the rate of change of paint thickness, and q(x, y) represents the paint thickness at a point (x, y) on the surface of the product to be coated.

[0126] The actual paint thickness at a point on the surface of the product to be coated is the sum of the paint thicknesses at that point, calculated by integrating the paint thicknesses over time from the two adjacent spray paths or multiple spray paths that can cover that point. Therefore, a larger spray spacing results in a thinner paint thickness, while a smaller spray spacing results in a thicker paint thickness. Furthermore, an excessively small spray spacing will lead to excessively long coating times, affecting coating efficiency.

[0127] Based on the above reasons, the average paint thickness and paint uniformity determined by actual business needs are taken as optimization targets. Combined with the spraying time, the spraying distance threshold range is optimized and divided by the golden section method to obtain the spraying distance and spray gun movement speed.

[0128] The spraying spacing threshold range is an empirical threshold range.

[0129] For example, the spray gun height, determined based on the working range and spray pressure, can be h = 400 mm; the actual paint thickness obtained through spraying experiments, and the paint distribution model that conforms to reality, fitted using the least squares algorithm, can be expressed as:

[0130]

[0131] Among them, the maximum paint thickness q max =398.72um, major axis radius a = 22.6564cm, minor axis radius b = 6.2337cm, influence factor β1 = 0.3459, influence factor β2 = 1.6510.

[0132] To protect the surface of the product to be coated while maintaining its aesthetic appeal, the desired paint thickness is set at 50µm, and the paint thickness must not be less than 40µm. In addition, to meet the requirements of the coating cycle time and avoid spending too much time in the coating process, the coating speed should not be too slow. Considering the coating time, the coating spacing threshold range of [50, 300] is optimized using the golden ratio method, resulting in a coating spacing of δ = 213.1276mm and a spray gun moving speed of v1 = 931mm / s.

[0133] Based on the relevant performance parameters of the spray gun, the spraying height, spraying spacing and spray gun moving speed are determined, and the spraying trajectory is determined according to the above parameters. When the spraying robot performs spraying operations according to the spraying trajectory, the spraying quality and paint utilization rate are improved, and the spraying problems such as missed spraying and over-spraying that exist in the spraying operation are effectively improved.

[0134] Step S402: Based on the spraying process parameters and the point cloud slicing direction, the point cloud model is sliced ​​to obtain multiple point cloud slices. The point cloud slicing direction is determined according to the point cloud model.

[0135] In one or more embodiments, a product bounding box corresponding to the product to be painted is constructed based on the point cloud data included in the point cloud model; the longest side in the product bounding box is used as the point cloud slicing axis, and the direction perpendicular to the point cloud slicing axis is used as the point cloud slicing direction.

[0136] In one alternative embodiment, point cloud slices can be obtained in the following way:

[0137] Using the spraying spacing as the slice thickness, the point cloud model is sliced ​​along the point cloud slice direction to obtain multiple point cloud slices.

[0138] Optionally, point cloud slicing essentially involves cutting the point cloud model using a series of parallel and equally spaced slicing planes. The distance between adjacent slicing planes is called the slice thickness.

[0139] like Figure 5As shown, L1 is the point cloud slicing axis. The point cloud model 500 of the product to be sprayed is processed by using the slicing plane (S1-Si). There is a point cloud slice between two adjacent slicing planes. For example, the part between slicing plane S1 and slicing plane S2 is the point cloud slice 501. The slice thickness of the point cloud slice 501 is δ, which is the spraying spacing.

[0140] Step S403: Based on the point cloud slicing algorithm, and according to multiple point cloud slices, determine the spraying trajectory.

[0141] In one alternative embodiment, the spray trajectory can be determined in the following way:

[0142] For any point cloud slice, determine multiple trajectory points corresponding to the point cloud slice; based on the principle of shortest transfer time, combine the multiple trajectory points corresponding to each point cloud slice to obtain the spraying trajectory.

[0143] Optionally, multiple trajectory points corresponding to a point cloud slice can be determined in the following way:

[0144] For any point cloud slice, the projection method is used to determine the contour point set of the point cloud slice, and multiple target contour points are selected in the contour point set; for any target contour point, the target contour point is translated along the first direction by the spraying height, and the translated point is used as one of the multiple trajectory points corresponding to the point cloud slice, wherein the first direction is the normal vector direction of the specified area in the point cloud slice where the target contour point is located.

[0145] In practice, for any point cloud slice, a central slicing plane is determined based on the center of the point cloud slice, and the point cloud within the point cloud slice is divided into a first point cloud band and a second point cloud band; each point in the point set of the first point cloud band is projected onto the central slicing plane, and each point in the point set of the second point cloud band is also projected onto the central slicing plane; the set of each projected point in the two point cloud bands is taken as the contour point set of the point cloud slice.

[0146] like Figure 6 As shown, a central slicing plane S01 is determined based on the center of point cloud slice 501. This central slicing plane S01 divides point cloud slice 501 into a first point cloud sub-slice 5011 and a second point cloud sub-slice 5012. The first point cloud sub-slice 5011 includes a first point cloud band, and the second point cloud sub-slice 5012 includes a second point cloud band. Each point included in the first point cloud sub-slice 5011 and the second point cloud sub-slice 5012 is projected onto the central slicing plane S01, thereby obtaining the contour point set of point cloud slice 501.

[0147] In practice, after determining the set of contour points of the point cloud slice, the centroid of the set of contour points is used as the origin of the coordinate system. The central slice plane is divided into multiple fan-shaped regions. Among the multiple contour points included in each fan-shaped region, the contour point farthest from the origin of the coordinate system is taken as the target contour point. Thus, multiple target contour points are selected from the set of contour points of the point cloud slice.

[0148] like Figure 7 As shown, the set of contour points of point cloud slice 501 projected onto the central slice plane S01 is p1~pj, and O is the origin of coordinates. The central slice plane is divided into 180 small fan-shaped regions C1~C180. Each fan-shaped region includes multiple contour points. The outermost contour point is selected as the target contour point from the multiple contour points, that is, the contour point farthest from the origin of coordinates O is selected. Thus, 180 target contour points pa1~pa180 are selected from the set of contour points of point cloud slice 501.

[0149] In one or more embodiments, for any target contour point, the normal vector direction of the surface region where the target contour point is located is taken as the first direction, and the target contour point is translated along the first direction by the distance of the spraying height to obtain the trajectory point corresponding to the target contour point, wherein the surface region where the target contour point is located is a small area.

[0150] like Figure 8 As shown, taking the target contour point pa1 as an example, the surface region where the target contour point pa1 is located on the point cloud model is SS1, which can be determined based on the fan-shaped region C1. That is, one side length of the surface region SS1 is the slice thickness δ, and the other side length of the surface region SS1 is the chord length L2 of the fan-shaped region C1. The target contour point pa1 is then positioned along the normal vector of the surface region SS1. By translating the spraying height h in the direction of the spraying, the trajectory point pb1 can be obtained.

[0151] In practice, after determining the multiple trajectory points corresponding to the point cloud slices, the trajectory points corresponding to the multiple point cloud slices located on the same surface of the point cloud model are connected in a "Z" shape to obtain the spraying trajectory corresponding to the surface. Based on the principle of the shortest transfer time, the spraying trajectories corresponding to multiple surfaces are combined to obtain the spraying trajectory corresponding to the product to be sprayed.

[0152] Optionally, the principle of minimum transfer time is used to characterize the shortest movement time of the spray gun.

[0153] Figure 9 This illustrates a spraying trajectory corresponding to a product to be coated, such as... Figure 9As shown, the product to be painted is engine 900, and the corresponding painting trajectory for engine 900 is La1. During the actual painting operation, the spray gun on the painting robot moves according to the painting trajectory La1 to achieve the painting operation on engine 900.

[0154] In practice, a painting robot is typically positioned on each side of the conveyor belt. Therefore, among the multiple surfaces of the point cloud model of the product to be painted, two surfaces are directly opposite the painting robots. When painting these two surfaces, the robot's spray guns use a direct-facing spraying method with both horizontal and vertical spraying trajectories to cover these two surfaces. For the remaining four sides of the product, the robot's spray guns use an angled spraying method to cover them. During the switching of painting surfaces, the robot's spray guns are shut off to conserve paint.

[0155] For example, for the remaining four surfaces of the product to be coated, a 37° angled spraying can be used, and in order to ensure a consistent paint thickness, the spray gun movement speed can be set to v2 = 745 mm / s.

[0156] Point cloud slicing technology is used to slice the point cloud model of the product to be coated, and multiple trajectory points corresponding to the resulting point cloud slices are determined. The line connecting the multiple trajectory points corresponding to a point cloud slice is used as the coating trajectory for that point cloud slice. By combining the coating trajectories corresponding to multiple point cloud slices, the coating trajectory of the product to be coated can be obtained. The coating trajectory determined in this way is suitable for the coating planning requirements of complex curved surfaces, which is in line with the trend of flexible production operations in modern times.

[0157] Furthermore, based on the point cloud model of the product to be sprayed and the relevant performance parameters of the spray gun on the spraying robot, the spraying trajectory is adaptively determined. Compared with the existing method of manually creating spraying trajectories, this shortens the time for creating spraying trajectories, improves the efficiency of creating spraying trajectories, and thus improves the convenience and efficiency of spraying operation planning.

[0158] In practice, after determining the spraying trajectory of the product to be painted, the trajectory is programmed into a spraying operation program that can be executed by the spraying robot, and stored in the database in the format of "product model-3D mathematical model-point cloud model-spraying operation program name-spraying operation program". The process of planning the spraying trajectory and programming the spraying operation program is repeated until the spraying operation programs for all models of products to be painted in the current business are stored in the database.

[0159] In one or more embodiments, the determination of the spraying trajectory and the writing of the spraying operation program are completed in the offline stage, while the implementation of the spraying operation method provided in this embodiment of the invention is carried out in the online stage.

[0160] Because the spraying trajectory is programmed offline, it does not affect normal production, eliminates waste during production waiting, and can adapt to spraying trajectory programming in mixed-line production modes, demonstrating strong flexibility. By combining offline spraying trajectory planning with online spraying operation implementation, automated spraying operations are achieved for the products to be coated, meeting the requirements of convenient and rapid operation in industrial production and improving production efficiency.

[0161] Step S203: Control the spraying robot to execute the spraying operation program so that the spraying robot performs the spraying operation on the product to be sprayed according to the spraying trajectory included in the spraying operation program.

[0162] In practice, the spraying operation program determined in step S202 is sent to the spraying robot to control the spraying robot to perform spraying operations according to the spraying trajectory in the spraying operation program until the spraying is completed.

[0163] In the spraying operation method provided by this invention, a point cloud model is constructed based on the three-dimensional mathematical model of the product to be sprayed, and the spraying trajectory of the product to be sprayed is determined according to the constructed point cloud model. The spraying trajectory is then programmed into a spraying operation program that can be executed by the spraying robot. During the spraying operation of the product to be sprayed, the corresponding spraying operation program is determined by obtaining the identification information of the product to be sprayed, and the spraying operation program is sent to the spraying robot. The spraying robot sprays the product to be sprayed according to the spraying trajectory included in the spraying operation program, thereby realizing continuous spraying operation of different models of products to be sprayed under mixed production mode. When the model of the product to be sprayed changes, there is no need to re-teach the spraying robot, which improves the spraying efficiency of the spraying robot and thus improves the product production efficiency under mixed production mode.

[0164] Figure 10 A complete flowchart of a spraying operation method provided by an embodiment of the present invention is shown, as follows: Figure 10 As shown, the method includes the following steps:

[0165] Step S1001, Offline spraying trajectory compilation stage:

[0166] The offline spraying trajectory compilation stage can be achieved through the methods in steps S1001-1-S1001-8:

[0167] Step S1001-1: Simplify the three-dimensional mathematical model of the product to be sprayed to obtain an intermediate three-dimensional mathematical model;

[0168] Step S1001-2: Based on the triangular meshing processing algorithm, the intermediate three-dimensional mathematical model is processed to obtain a meshed model;

[0169] Step S1001-3: Perform equal-density sampling on each triangular facet of the meshed model surface to obtain a point cloud model;

[0170] Step S1001-4: Determine the point cloud slicing direction based on the point cloud model;

[0171] Step S1001-5: Determine the spraying height, spraying spacing, and spraying gun moving speed based on the relevant performance parameters of the spray gun on the spraying robot.

[0172] Step S1001-6: According to the spraying process parameters and the point cloud slicing direction, the point cloud model is sliced ​​to obtain multiple point cloud slices.

[0173] Step S1001-7: Based on the point cloud slicing algorithm, and according to multiple point cloud slices, determine the spraying trajectory;

[0174] Step S1001-8: The spraying trajectory is programmed into a spraying operation program that can be executed by the spraying robot and stored.

[0175] Step S1002, Online Spraying Operation Stage:

[0176] The online spraying operation stage can be achieved through the methods described in steps S1002-1-S1002-3:

[0177] Step S1002-1: Obtain the identification information of the product to be coated;

[0178] Step S1002-2: Based on the identification information of the product to be coated, determine the coating operation procedure corresponding to the product to be coated;

[0179] Step S1002-3: Send the spraying operation program to the spraying robot and control the spraying robot to execute the spraying operation program to perform spraying operation on the product to be sprayed.

[0180] Based on the same concept, this embodiment of the invention also provides a spraying operation device. Since this device is the same as the device in the method of this embodiment of the invention, and the principle of the device in solving the problem is similar to that of the method, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0181] like Figure 11 As shown, the above-mentioned device includes the following modules:

[0182] Acquisition unit 1101 is used to acquire the identification information of the product to be coated;

[0183] The processing unit 1102 is used to determine the spraying operation program corresponding to the product to be sprayed based on the identification information of the product to be sprayed. The spraying operation program is written based on the spraying trajectory, which is determined according to the point cloud model of the product to be sprayed. The point cloud model is constructed based on the three-dimensional mathematical model of the product to be sprayed.

[0184] The control unit 1103 is used to control the spraying robot to execute the spraying operation program so that the spraying robot performs the spraying operation on the product to be sprayed according to the spraying trajectory included in the spraying operation program.

[0185] In an optional embodiment, the above-described apparatus further includes a trajectory determination unit;

[0186] The trajectory determination unit is used for:

[0187] Determine the spraying process parameters based on the relevant performance parameters of the spray gun on the spraying robot;

[0188] Based on the spraying process parameters and the point cloud slicing direction, the point cloud model is sliced ​​to obtain multiple point cloud slices. The point cloud slicing direction is determined according to the point cloud model.

[0189] The spraying trajectory is determined based on a point cloud slicing algorithm and multiple point cloud slices.

[0190] In one optional embodiment, the spraying process parameters include spraying height, spraying spacing, and spray gun movement speed.

[0191] In one alternative embodiment, the trajectory determination unit is specifically used for:

[0192] Based on the working range and spray pressure of the spray gun, the spraying height is determined, and the spraying spacing and spray gun movement speed are determined based on the preset spraying distribution model and the golden ratio method.

[0193] In one alternative embodiment, the trajectory determination unit is specifically used for:

[0194] Using the spraying spacing as the slice thickness, the point cloud model is sliced ​​along the point cloud slice direction to obtain multiple point cloud slices.

[0195] In one alternative embodiment, the trajectory determination unit is specifically used for:

[0196] For any point cloud slice, determine multiple trajectory points corresponding to the point cloud slice;

[0197] Based on the principle of minimizing transfer time, multiple trajectory points corresponding to each point cloud slice are combined to obtain the spraying trajectory.

[0198] In one alternative embodiment, the trajectory determination unit is specifically used for:

[0199] For any point cloud slice, the projection method is used to determine the contour point set of the point cloud slice, and multiple target contour points are selected from the contour point set.

[0200] For any target contour point, the target contour point is translated by the spraying height along the first direction, and the translated point is used as one of the multiple trajectory points corresponding to the point cloud slice. The first direction is the normal vector direction of the specified area in the point cloud slice where the target contour point is located.

[0201] In an optional embodiment, the above-described apparatus further includes a model conversion unit;

[0202] The model transformation unit is used for:

[0203] Based on the shell structure of the product to be coated, the three-dimensional mathematical model is simplified to obtain an intermediate three-dimensional mathematical model.

[0204] Based on the triangular meshing processing algorithm, the intermediate three-dimensional mathematical model is processed to obtain a meshed model;

[0205] The point cloud model is obtained by performing equal-density sampling on each triangular facet of the meshed model surface.

[0206] Based on the same concept, this embodiment of the invention also provides a spraying device. Since this spraying device is the same as the spraying device in the method of this embodiment of the invention, and the principle of solving the problem by this spraying device is similar to that of this method, the implementation of this spraying device can refer to the implementation of the method, and repeated parts will not be described again.

[0207] The following reference Figure 12 To describe the spraying apparatus 120 according to this embodiment of the present invention. Figure 12 The spraying equipment 120 shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0208] like Figure 12 As shown, the spraying equipment 120 can be represented in the form of a general-purpose computing device, such as a terminal device. The components of the spraying equipment 120 may include, but are not limited to: at least one processor 121, at least one memory 122, and a bus 123 connecting different system components (including memory 122 and processor 121), wherein the processor 121 is a processor of a smart device.

[0209] Processor 121 performs the following steps by executing executable instructions:

[0210] Obtain the identification information of the product to be coated;

[0211] Based on the identification information of the product to be sprayed, the spraying operation procedure corresponding to the product to be sprayed is determined. The spraying operation procedure is written based on the spraying trajectory, which is determined based on the point cloud model of the product to be sprayed. The point cloud model is constructed based on the three-dimensional mathematical model of the product to be sprayed.

[0212] Control the painting robot to execute the painting operation program so that the painting robot performs the painting operation on the product to be painted according to the painting trajectory included in the painting operation program.

[0213] In an alternative embodiment, processor 121 is specifically used for:

[0214] Determine the spraying process parameters based on the relevant performance parameters of the spray gun on the spraying robot;

[0215] Based on the spraying process parameters and the point cloud slicing direction, the point cloud model is sliced ​​to obtain multiple point cloud slices. The point cloud slicing direction is determined according to the point cloud model.

[0216] The spraying trajectory is determined based on a point cloud slicing algorithm and multiple point cloud slices.

[0217] In one optional embodiment, the spraying process parameters include spraying height, spraying spacing, and spray gun movement speed.

[0218] In an alternative embodiment, processor 121 is specifically used for:

[0219] Based on the working range and spray pressure of the spray gun, the spraying height is determined, and the spraying spacing and spray gun movement speed are determined based on the preset spraying distribution model and the golden ratio method.

[0220] In an alternative embodiment, processor 121 is specifically used for:

[0221] Using the spraying spacing as the slice thickness, the point cloud model is sliced ​​along the point cloud slice direction to obtain multiple point cloud slices.

[0222] In an alternative embodiment, processor 121 is specifically used for:

[0223] For any point cloud slice, determine multiple trajectory points corresponding to the point cloud slice;

[0224] Based on the principle of minimizing transfer time, multiple trajectory points corresponding to each point cloud slice are combined to obtain the spraying trajectory.

[0225] In an alternative embodiment, processor 121 is specifically used for:

[0226] For any point cloud slice, the projection method is used to determine the contour point set of the point cloud slice, and multiple target contour points are selected from the contour point set.

[0227] For any target contour point, the target contour point is translated by the spraying height along the first direction, and the translated point is used as one of the multiple trajectory points corresponding to the point cloud slice. The first direction is the normal vector direction of the specified area in the point cloud slice where the target contour point is located.

[0228] In an alternative embodiment, processor 121 is specifically used for:

[0229] Based on the shell structure of the product to be coated, the three-dimensional mathematical model is simplified to obtain an intermediate three-dimensional mathematical model.

[0230] Based on the triangular meshing processing algorithm, the intermediate three-dimensional mathematical model is processed to obtain a meshed model;

[0231] The point cloud model is obtained by performing equal-density sampling on each triangular facet of the meshed model surface.

[0232] Bus 123 represents one or more of several types of bus structures, including memory bus or memory controller, peripheral bus, processor, or local bus using any of the multiple bus structures.

[0233] The memory 122 may include a readable medium in the form of volatile memory, such as random access memory (RAM) 1221 and / or cache memory 1222, and may further include read-only memory (ROM) 1223.

[0234] The memory 122 may also include a program / utility 1225 having a set (at least one) of program modules 1224, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0235] The painting equipment 120 can also communicate with one or more external devices 124 (e.g., keyboard, pointing device, etc.), one or more devices that enable a user to interact with the painting equipment 120, and / or any device that enables the painting equipment 120 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 125. Furthermore, the painting equipment 120 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 126. As shown, network adapter 126 communicates with other modules of the painting equipment 120 via bus 123. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the painting equipment 120, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0236] In some possible implementations, various aspects of the present invention can also be implemented as a program product comprising program code. When the program product is run on a terminal device, the program code causes the terminal device to execute the steps of each module in the spraying operation apparatus according to various exemplary embodiments of the present disclosure as described in the "Exemplary Methods" section of this specification. For example, obtaining identification information of the product to be sprayed; determining a spraying operation program corresponding to the product to be sprayed based on the identification information of the product to be sprayed, wherein the spraying operation program is written based on a spraying trajectory, the spraying trajectory is determined based on a point cloud model of the product to be sprayed, and the point cloud model is constructed based on a three-dimensional mathematical model of the product to be sprayed; and controlling a spraying robot to execute the spraying operation program so that the spraying robot performs spraying operation on the product to be sprayed according to the spraying trajectory included in the spraying operation program.

[0237] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0238] like Figure 13As shown, a program product 130 for a spraying operation method according to an embodiment of the present invention is described. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0239] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take many forms, including—but not limited to—electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0240] The program code contained on the readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wired, optical fiber, RF, or any suitable combination thereof.

[0241] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0242] It should be noted that although several modules or sub-modules of the system have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more modules described above can be embodied in one module. Conversely, the features and functions of one module described above can be further divided and embodied by multiple modules.

[0243] Furthermore, although the operation of the modules of the system of the present invention is described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain operations may be omitted, multiple operations may be combined into one operation, and / or one operation may be broken down into multiple operations.

[0244] The present application has been described above with reference to block diagrams and / or flowcharts illustrating methods, apparatus (systems), and / or computer program products according to embodiments of the present application. It should be understood that a block of a block diagram and / or flowchart, as well as combinations of blocks of block diagrams and / or flowcharts, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, and / or other programmable data processing means to produce a machine, such that the instructions, executable via the computer processor and / or other programmable data processing means, create methods for implementing the functions / actions specified in the blocks of the block diagrams and / or flowcharts.

[0245] Accordingly, this application can also be implemented using hardware and / or software (including firmware, resident software, microcode, etc.). Furthermore, this application can take the form of a computer program product on a computer-usable or computer-readable storage medium, having computer-usable or computer-readable program code implemented in the medium for use by or in conjunction with an instruction execution system. In the context of this application, a computer-usable or computer-readable medium can be any medium that can contain, store, communicate, transmit, or deliver a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0246] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A spraying operation method, characterized in that, include: During the online spraying operation, the identification information of the product to be sprayed is obtained, wherein the identification information of the product to be sprayed includes the product name and / or product model. Based on the identification information of the product to be sprayed, the spraying operation program corresponding to the product to be sprayed is determined from multiple spraying operation programs stored in the database. The database is built in the offline stage and stores the identification information corresponding to all models of products to be sprayed included in the current business, as well as the spraying operation program corresponding to each identification information. The spraying operation program is written based on the spraying trajectory, which is determined according to the point cloud model of the product to be sprayed. The point cloud model is constructed based on the three-dimensional mathematical model of the product to be sprayed. The spraying robot is controlled to execute the spraying operation program so that the spraying robot performs the spraying operation on the product to be sprayed according to the spraying trajectory included in the spraying operation program.

2. The method as described in claim 1, characterized in that, The spraying trajectory is determined in the following way: Based on the relevant performance parameters of the spray gun on the spraying robot, determine the spraying process parameters; Based on the spraying process parameters and the point cloud slicing direction, the point cloud model is sliced ​​to obtain multiple point cloud slices, wherein the point cloud slicing direction is determined according to the point cloud model. The spraying trajectory is determined based on the point cloud slicing algorithm and the multiple point cloud slices.

3. The method as described in claim 2, characterized in that, The spraying process parameters include spraying height, spraying spacing, and spray gun movement speed.

4. The method as described in claim 3, characterized in that, The step of determining the spraying process parameters based on the relevant performance parameters of the spray gun on the spraying robot includes: The spraying height is determined based on the working range and spraying pressure of the spray gun, and the spraying spacing and spray gun moving speed are determined based on a preset spraying distribution model and using the golden ratio method.

5. The method as described in claim 3, characterized in that, The point cloud model is sliced ​​according to the spraying process parameters and the point cloud slicing direction to obtain multiple point cloud slices, including: Using the spraying spacing as the slice thickness, the point cloud model is sliced ​​along the point cloud slice direction to obtain the multiple point cloud slices.

6. The method as described in claim 5, characterized in that, Based on a point cloud slicing algorithm, and according to the multiple point cloud slices, the spraying trajectory is determined, including: For any point cloud slice, determine multiple trajectory points corresponding to the point cloud slice; Based on the principle of minimizing transfer time, multiple trajectory points corresponding to each point cloud slice are combined to obtain the spraying trajectory.

7. The method as described in claim 6, characterized in that, For any point cloud slice, determining multiple trajectory points corresponding to the point cloud slice includes: For any point cloud slice, the projection method is used to determine the contour point set of the point cloud slice, and multiple target contour points are selected in the contour point set. For any target contour point, the target contour point is translated along the first direction by the spraying height, and the translated point is used as one of the multiple trajectory points corresponding to the point cloud slice, wherein the first direction is the normal vector direction of a specified region in the point cloud slice where the target contour point is located.

8. The method according to any one of claims 1 to 7, characterized in that, The point cloud model is constructed in the following way: Based on the shell structure of the product to be coated, the three-dimensional mathematical model is simplified to obtain an intermediate three-dimensional mathematical model; The intermediate three-dimensional mathematical model is processed based on the triangular meshing algorithm to obtain a meshed model; The point cloud model is obtained by performing equal-density sampling on each triangular facet of the meshed model surface.

9. A spraying operation device, characterized in that, The spraying operation method applicable to any one of claims 1-8, wherein the spraying operation apparatus comprises: The acquisition unit is used to acquire the identification information of the product to be sprayed during the online spraying operation stage, wherein the identification information of the product to be sprayed includes the product name and / or product model. The processing unit is configured to determine, based on the identification information of the product to be coated, a coating operation program corresponding to the product to be coated from multiple coating operation programs stored in the database. The database is constructed in the offline stage and stores identification information corresponding to all models of products to be coated included in the current business, as well as coating operation programs corresponding to each identification information. The coating operation program is written based on the coating trajectory, which is determined based on the point cloud model of the product to be coated. The point cloud model is constructed based on the three-dimensional mathematical model of the product to be coated. The control unit is used to control the spraying robot to execute the spraying operation program, so that the spraying robot performs spraying operation on the product to be sprayed according to the spraying trajectory included in the spraying operation program.

10. A spraying device, characterized in that, include: Memory, used to store executable instructions; A processor is configured to read and execute executable instructions stored in the memory to implement the steps of the spraying operation method as described in any one of claims 1-8.

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