H-beam spraying equipment and method

Abstract

The present application belongs to the field of spraying technology. The present application provides an H-beam spraying device and method. The H-beam spraying device collects images on the conveyor belt through an image acquisition device, and then determines the distance to be transmitted according to the distance to be transmitted and the distance between the H-beams and the laser distance measuring device, and determines the number of H-beams to be sprayed based on the distance to be transmitted and the distance between the H-beams, and then determines the amount of paint to be prepared, so as to achieve dynamic regulation of the amount of paint in the paint temporary storage device. That is, when the H-beams to be sprayed arrive at the spraying area, there is sufficient paint for spraying, which saves the time of transporting the paint and is conducive to improving the efficiency of H-beam spraying.

Description

Technical Field

[0001] The present application belongs to the field of spraying technology, and in particular relates to an H-beam spraying device and method. Background Art

[0002] The cross-sectional shape of H-shaped steel is the same as the English letter "H", which consists of two parallel flanges and a web connecting them. This shape optimizes the distribution of its cross-sectional area. H-shaped steel is commonly used in beam and column components in industrial and civil structures. H-shaped steel can be processed by hot rolling steel process or welding process. The processed H-shaped steel can be conveyed to the spraying area by a conveyor, and the primer, intermediate paint and topcoat are sprayed by the spray gun in the spraying area. This will improve the corrosion resistance and durability of H-shaped steel.

[0003] During the spraying stage of H-beam, the spraying device may include a spray gun and a feeding device for feeding paint to the spray gun. However, the paint is fed to the spray gun through the feeding device only when the H-beam arrives at the spraying area, which wastes transmission time, thereby extending the spraying time and the overall construction period. Summary of the invention

[0004] The present application provides an H-beam spraying device and method to solve the problem of low efficiency in spraying H-beam.

[0005] In a first aspect, some embodiments of the present application provide an H-beam spraying device, including: an image acquisition device, a laser ranging device, a controller, and a spraying device; the spraying device includes a spray gun, a paint temporary storage device, and a paint replenishing device;

[0006] The spray gun is configured to: perform a preset operation of spraying the H-shaped steel when the H-shaped steel to be sprayed is transported to a preset position by a conveyor belt; the H-shaped steel is arranged on the conveyor belt at equal intervals;

[0007] The image acquisition device is configured to: acquire a target image of a target area, and send the target image to a controller; the target image includes the conveyor belt and the H-shaped steel transported on the conveyor belt;

[0008] The controller is configured to: receive the target image, and acquire a first spacing of H-beams on the conveyor belt in the target image based on the target image; wherein, in the target image, the H-beam closest to the image acquisition device is a first closest H-beam, and the spacing of the first closest H-beam close to the image acquisition device is a first near-end spacing; the spacing of the first closest H-beam away from the image acquisition device is a first far-end spacing;

[0009] If the difference between the first proximal end spacing and the first distal end spacing is greater than the target judgment threshold, marking the preceding H-shaped steel in the H-shaped steel constituting the first distal end spacing as the first target H-shaped steel;

[0010] Sending a first distance measurement instruction to the laser distance measurement device;

[0011] The laser distance measuring device is configured to: upon receiving the first distance measuring instruction, emit a distance measuring laser to the first target H-beam to obtain a first distance to be transported of the first target H-beam; the first distance to be transported is a first distance from the first target H-beam to the spraying area where the spraying device is located;

[0012] sending the first distance to be transmitted to the controller;

[0013] The controller is further configured to: calculate a first number of H-beams to be sprayed based on the first distance to be transported and the near-end spacing; the H-beams to be sprayed include the first target H-beams and the H-beams in the first distance to be transported that are not transported to the spraying area;

[0014] Based on the first amount to be sprayed, calculating a first coating reserve amount corresponding to the first amount to be sprayed;

[0015] Obtaining the remaining paint reserve of the spraying device;

[0016] If the first paint reserve amount is greater than the remaining paint reserve amount, the paint replenishing device is controlled to replenish paint to the paint temporary storage device so that the paint reserve amount in the paint temporary storage device is greater than the remaining paint reserve amount.

[0017] In some feasible embodiments, when the controller executes acquiring the spacing of H-shaped steels on the conveyor belt in the target image based on the target image, the controller is configured as follows:

[0018] Performing a perspective transformation on the target image, wherein the perspective transformation includes a trapezoidal transformation, to obtain a trapezoidal transformation image;

[0019] Based on the trapezoidal transformation image, a second spacing of the H-beams on the conveyor belt in the trapezoidal transformation image is obtained; wherein, in the trapezoidal transformation image, the H-beam closest to the image acquisition device is the second closest H-beam, and the spacing of the second closest H-beam close to the image acquisition device is the second near-end spacing; the spacing of the first closest H-beam away from the image acquisition device is the second far-end spacing;

[0020] If the difference between the second proximal end spacing and the second distal end spacing is greater than the target judgment threshold, marking the preceding H-shaped steel in the H-shaped steel constituting the second distal end spacing as the second target H-shaped steel;

[0021] Sending a second ranging instruction to the laser ranging device;

[0022] The laser distance measuring device is configured to: upon receiving the second distance measuring instruction, emit a distance measuring laser to the second target H-beam to obtain a second distance to be transported of the second target H-beam; the second distance to be transported is a second distance from the second target H-beam to the spraying area where the spraying device is located;

[0023] sending the second distance to be transmitted to the controller;

[0024] The controller is further configured to: calculate a second number of H-beams to be sprayed based on the second distance to be transported and the near-end spacing; the H-beams to be sprayed include the second target H-beams and the H-beams in the second distance to be transported that are not transported to the spraying area;

[0025] Based on the second amount to be sprayed, calculating a second coating preparation amount corresponding to the second amount to be sprayed;

[0026] Obtaining the remaining paint reserve of the spraying device;

[0027] If the second paint reserve amount is greater than the remaining paint reserve amount, the paint replenishing device is controlled to replenish paint to the paint temporary storage device so that the paint reserve amount in the paint temporary storage device is greater than the remaining paint reserve amount.

[0028] In some feasible embodiments, the H-shaped steel to be sprayed also includes H-shaped steel being sprayed in the spraying area; the controller calculates the first preparation amount of paint corresponding to the first quantity to be sprayed based on the first quantity to be sprayed, and is also configured to: calculate the first quantity of H-shaped steel to be sprayed based on the first transmission distance and the near-end spacing, and obtain the third quantity to be sprayed based on the first quantity to be sprayed plus 1; the third quantity to be sprayed is used to determine the third preparation amount of paint.

[0029] In some feasible embodiments, the H-shaped steel to be sprayed is arranged on a transmission surface of a transmission device; when receiving the target image, the controller is further configured to:

[0030] Based on the target image, marking the first nearest H-beam;

[0031] Based on the first closest H-beam, determining a first inclination angle of the first closest H-beam relative to a transmission surface boundary;

[0032] If the first inclination angle is greater than the inclination angle threshold, a warning message is generated; the warning message is used to prompt that the current transportation position of the first nearest H-beam is abnormal.

[0033] In some feasible embodiments, the H-shaped steel to be sprayed is arranged on a transmission surface of a transmission device; when receiving the trapezoidal transformation image, the controller is further configured to:

[0034] Based on the target image, marking the second nearest H-beam;

[0035] Based on the second closest H-shaped steel, determining a second inclination angle of the second closest H-shaped steel relative to the transmission surface boundary;

[0036] If the second inclination angle is greater than the inclination angle threshold, a warning message is generated; the warning message is used to prompt that the current transportation position of the second nearest H-beam is abnormal.

[0037] In some feasible embodiments, the paint temporary storage device is built with a liquid level sensor; the liquid level sensor is configured as follows:

[0038] Detecting the liquid level of the paint stored in the paint temporary storage device;

[0039] sending the liquid level height to the controller;

[0040] The controller is configured to:

[0041] When the liquid level height is greater than the liquid level height threshold, a pause replenishment instruction is sent to the spraying device, so that the paint replenishing device pauses replenishing the paint.

[0042] In some feasible embodiments, when the liquid level of the temporarily stored paint in the paint temporary storage device is greater than the liquid level threshold, and the weight of the temporarily stored paint is less than the first paint reserve amount, the controller is further configured to:

[0043] An interval replenishment instruction is sent to the spraying device according to the paint replenishment interval, so that the paint replenishing device replenishes the paint to the paint temporary storage device based on the paint replenishment interval.

[0044] In some feasible embodiments, when the weight of the temporarily stored paint is greater than the first paint reserve amount, the controller is further configured to send a stop replenishment instruction to the spraying device so that the paint replenishing device stops replenishing paint to the temporarily stored paint device.

[0045] In a second aspect, some embodiments of the present application provide an H-beam spraying method, comprising:

[0046] When the H-shaped steel to be sprayed is transported to a preset position by a conveyor belt, a preset operation of spraying the H-shaped steel is performed; the H-shaped steel is arranged on the conveyor belt at equal intervals;

[0047] Acquire a target image of a target area; the target image includes the conveyor belt and the H-shaped steel transported on the conveyor belt;

[0048] Based on the target image, a first spacing of H-beams on the conveyor belt in the target image is acquired; wherein, in the target image, the H-beam closest to the image acquisition device is a first closest H-beam, and the spacing of the first closest H-beam close to the image acquisition device is a first proximal spacing; the spacing of the first closest H-beam away from the image acquisition device is a first distal spacing;

[0049] If the difference between the first proximal end spacing and the first distal end spacing is greater than the target judgment threshold, marking the preceding H-shaped steel in the H-shaped steel constituting the first distal end spacing as the first target H-shaped steel;

[0050] Generate a first distance measurement instruction; the first distance measurement instruction is used to drive the laser distance measurement device to emit a distance measurement laser to the first target H-beam to obtain a first distance to be transmitted of the first target H-beam; the first distance to be transmitted is a first distance from the first target H-beam to the spraying area where the spraying device is located;

[0051] Calculate a first number of H-beams to be sprayed based on the first distance to be transported and the near-end distance; the H-beams to be sprayed include the first target H-beams and the H-beams in the first distance to be transported that are not transported to the spraying area;

[0052] Based on the first amount to be sprayed, calculating a first coating reserve amount corresponding to the first amount to be sprayed;

[0053] Obtaining the remaining paint reserve of the spraying device;

[0054] If the first paint reserve amount is greater than the remaining paint reserve amount, paint is replenished so that the paint reserve amount is greater than the remaining paint reserve amount.

[0055] It can be known from the above technical content that the present application provides an H-beam spraying device and method. The H-beam spraying device collects images on the conveyor belt through an image acquisition device, and then determines the distance to be transmitted based on the distance to be transmitted and the distance between the H-beams and the laser distance measuring device, and determines the number of H-beams to be sprayed based on the distance to be transmitted and the distance between the H-beams, and then determines the amount of paint to be prepared, so as to realize dynamic regulation of the amount of paint in the paint temporary storage device. That is, when the H-beams to be sprayed arrive at the spraying area, there is sufficient paint for spraying, which saves the time of paint transportation and is conducive to improving the efficiency of H-beam spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0057] Figure 1 A schematic diagram of H-beam transportation and spraying provided in some embodiments of this application;

[0058] Figure 2 A schematic diagram of perspective effect provided for some embodiments of the present application;

[0059] Figure 3 A schematic diagram of the tilt angle provided for some embodiments of the present application.

[0060] Illustration: 1-image acquisition device; 2-laser distance measuring device; 3-spray gun; 4-H-beam. DETAILED DESCRIPTION

[0061] The following embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following embodiments do not represent all implementations consistent with the present application. They are only examples of systems and methods consistent with some aspects of the present application as detailed in the claims.

[0062] H-shaped steel can be widely used in industrial structures and civil structures. Based on its excellent mechanical properties and cost-effectiveness, it can meet various complex construction needs. Before H-shaped steel is put into use, it needs to be sprayed to spray primer, intermediate paint and topcoat on the surface of H-shaped steel, thereby improving the durability and corrosion resistance of H-shaped steel.

[0063] like Figure 1 As shown, during the spraying process, the H-beam can be placed on a transmission surface of a transmission device, such as a crawler. The H-beam is transported to the spraying area by a conveyor belt, and the H-beam is sprayed by a spray gun arranged in the spraying area. It can be understood that the H-beam is arranged equidistantly on the transmission surface of the transmission device.

[0064] In some embodiments, the crawler is in continuous motion, so the time for the spray gun to spray the H-beam can be preset, and then the spacing between the H-beams can be set in accordance with the spray gun spraying time and the transport speed of the crawler.

[0065] In other embodiments, the movement of the crawler is intermittent, and the crawler movement can be controlled after the H-beam spraying is completed. In this way, the H-beams on the transmission surface of the transmission device can be sprayed one by one.

[0066] However, during the spraying process, the paint is often transported to the spray gun along the paint transport channel through a paint transport device for spraying. In this way, the paint is transported and sprayed only after the H-shaped steel arrives at the spraying area. The paint transmission process consumes a certain amount of time, which in turn increases the overall working hours of spraying and affects the spraying efficiency.

[0067] In order to solve the above problems, the present application provides an H-beam 4 spraying device, comprising: an image acquisition device 1, a laser distance measuring device 2, a controller, and a spraying device; the spraying device comprises a spray gun 3, a paint temporary storage device, and a paint replenishing device;

[0068] The spray gun 3 is configured to: when the H-shaped steel 4 to be sprayed is transported to a preset position by a conveyor belt, perform a preset operation of spraying the H-shaped steel 4; the H-shaped steel 4 is arranged on the conveyor belt at equal intervals;

[0069] The image acquisition device 1 is configured to: acquire a target image of a target area, and send the target image to a controller; the target image includes the conveyor belt and the H-shaped steel 4 transported on the conveyor belt;

[0070] The controller is configured to: receive the target image, and acquire a first spacing of the H-beams 4 on the conveyor belt in the target image based on the target image; wherein, in the target image, the H-beam 4 closest to the image acquisition device 1 is the first closest H-beam 4, and the spacing of the first closest H-beam 4 close to the image acquisition device 1 is the first proximal spacing; the spacing of the first closest H-beam 4 away from the image acquisition device 1 is the first distal spacing;

[0071] If the difference between the first proximal end interval and the first distal end interval is greater than the target judgment threshold, the preceding H-beam 4 among the H-beams 4 constituting the first distal end interval is marked as the first target H-beam 4;

[0072] Sending a first distance measurement instruction to the laser distance measuring device 2;

[0073] The laser distance measuring device 2 is configured to: upon receiving the first distance measuring instruction, emit a distance measuring laser to the first target H-beam 4 to obtain a first distance to be transported of the first target H-beam 4; the first distance to be transported is a first distance from the first target H-beam 4 to the spraying area where the spraying device is located;

[0074] sending the first distance to be transmitted to the controller;

[0075] The controller is further configured to: calculate a first number of H-beams 4 to be sprayed based on the first distance to be transported and the near-end spacing; the H-beams 4 to be sprayed include the first target H-beams 4 and the H-beams 4 in the first distance to be transported that are not transported to the spraying area;

[0076] Based on the first amount to be sprayed, calculating a first coating reserve amount corresponding to the first amount to be sprayed;

[0077] Obtaining the remaining paint reserve of the spraying device;

[0078] If the first paint reserve amount is greater than the remaining paint reserve amount, the paint replenishing device is controlled to replenish paint to the paint temporary storage device so that the paint reserve amount in the paint temporary storage device is greater than the remaining paint reserve amount.

[0079] In some embodiments, the spraying device includes a paint temporary storage device, a spray gun 3, and a paint replenishing device. The paint temporary storage device is arranged at one end close to the spray gun 3, and can store part of the paint, so as to quickly provide the paint to the spray gun 3 when the H-beam 4 is transported to the spraying area, thereby saving the time of transporting the paint.

[0080] In other embodiments, the paint temporary storage device can only store part of the paint, resulting in the need to temporarily replenish the paint during the spraying process due to the paint stored in the paint temporary storage device being exhausted, thereby extending the spraying time. Therefore, it is necessary to dynamically adjust the paint reserve according to the spraying demand to improve the spraying efficiency.

[0081] In some embodiments, the required amount of preliminary coating can be determined based on the number of H-beams 4 to be sprayed, thereby achieving dynamic replenishment of the coating. It should be noted that due to the different sizes of the H-beams 4, the length of the H-beams 4 in some spraying scenes is large, and the transport surface of the transport device is also long, which makes it difficult to obtain the number of H-beams 4 to be sprayed, and thus it is not easy to determine the amount of preliminary coating. When each H-beam 4 to be sprayed is about to reach the spraying area, adding more coating to the temporary storage period will increase the number of operations of the control system and occupy too many resources. And increasing the number of paint transportation times, since there will be a certain loss in each paint transportation process, increasing the number of paint transportation times will increase paint loss.

[0082] In order to solve the above problems, some embodiments of the present application determine the number of H-shaped steels 4 to be sprayed by an image acquisition device 1 and a laser distance measuring device 2, and then determine the required amount of preliminary coating. Figure 2As shown, during the transportation and spraying process of the H-beam 4, the image acquisition device 1 captures the image of the transport surface including the transport device and the H-beam 4 on the transport surface, and in order to obtain a better shooting effect, the image acquisition device 1 uses a bird's-eye view angle to capture the spacing between the H-beams 4, so as to identify the number of H-beams 4. However, the image will present a perspective effect, so based on the order of the image from near to far, L1-L5 appear to be gradually reduced.

[0083] It should be noted that if Figure 2 As shown, the first proximal distance refers to the distance closest to the image acquisition device 1 among the distances completely acquired by the image acquisition device 1, that is, L1. The H-beam 4 corresponding to the first distance is the first closest H-beam 4.

[0084] It is understandable that there is a distance between every two H-beams 4. However, in the process of the image acquisition device 1 acquiring image data, due to the perspective relationship of the image, the distance between each H-beam 4 in the image gradually decreases from the visual effect starting from the image acquisition device 1, and when the distance is measured based on the image, the distance between each H-beam 4 will also gradually decrease.

[0085] In some embodiments of the present application, the distance between the first nearest H-beam 4 and the subsequent H-beam 4 can be the first distal distance (L2-L5), and the distance between the subsequent H-beam 4 and its subsequent H-beam 4 can also be the first distal distance. In this way, based on the perspective relationship, when the difference between the first proximal distance and the first distal distance is greater than the target judgment threshold, the subsequent H-beam 4 corresponding to the first distal distance can be determined as the first target H-beam 4 (the subsequent H-beam 4 corresponding to L5 in the figure). Then the distance from the first target H-beam 4 to the spraying area is the first distance to be transmitted.

[0086] In other embodiments, the first target H-shaped steel 4 may also be determined by comparing the first distal end distance with a preset distal end distance threshold.

[0087] It can be understood that after determining the first target H-beam 4, the first distance to be transmitted can be determined. The process of determining the first target H-beam 4 can be determined by the controller based on the image captured by the image acquisition device 1. In addition, after determining the first target H-beam 4, the controller can send a distance measurement instruction to the laser distance measurement device 2, so that the laser distance measurement device 2 emits a laser distance measurement signal to the first target H-beam 4, so as to measure the distance between the laser distance measurement device 2 and the first target H-beam 4.

[0088] It should be noted that, since the laser distance measuring device 2 has a certain installation height, and in order to facilitate the measurement of the first distance to be transmitted, the laser distance measuring device 2 is arranged perpendicular to the spraying area. Therefore, after obtaining the distance between the laser distance measuring device 2 and the first target H-beam 4, it is also necessary to obtain the horizontal distance between the laser distance measuring device 2 and the first target H-beam 4 according to the emission angle, that is, the first distance to be transmitted.

[0089] In this way, based on the ratio of the first distance to be transmitted to the first proximal end spacing, the number of H-shaped steels 4 that still need to be sprayed can be predicted, and then the amount of prepared paint can be calculated. In this way, the controller can determine the relationship between the remaining amount of paint in the paint temporary storage device and the amount of prepared paint, and control the paint device to replenish paint according to the judgment result. That is, when the amount of prepared paint is greater than the remaining amount of paint, a paint replenishment instruction is sent to the spraying device to enable the paint replenishment device to transfer paint to the paint temporary storage device.

[0090] In some embodiments of the present application, key information such as the first proximal distance, the first distal distance, the first target H-beam 4, and the first nearest H-beam 4 can be determined based on the image data collected by the image acquisition device 1, and then the number of H-beams 4 that need to be sprayed can be predicted in combination with the laser distance measuring device 2. In this way, the amount of remaining paint in the paint temporary storage device can be dynamically adjusted, and then during the spraying process, when any H-beam 4 reaches the spraying area, it can be sprayed immediately, greatly improving the spraying efficiency. Especially in the scenario where the length value of the transport surface of the transport device is large, and the length value of the H-beam 4 being transported is large, its perspective effect has a greater impact on the acquisition of the image acquisition device 1, and then the prediction method provided in some embodiments of the present application can be used to improve the prediction accuracy of the number of H-beams 4 to be sprayed, and then better control the amount of paint in the paint temporary storage device.

[0091] In some embodiments, due to the large length of the transport surface in some scenes and the large length of the H-beam 4 being transported, the perspective phenomenon in the image captured by the image acquisition device 1 is very obvious. In order to alleviate the influence of the perspective phenomenon on the prediction accuracy of the number of H-beams 4 to be sprayed, a trapezoidal transformation method can be used to improve the image quality, thereby improving the prediction accuracy of the number of H-beams 4 to be sprayed.

[0092] The process includes:

[0093] Performing a perspective transformation on the target image, wherein the perspective transformation includes a trapezoidal transformation, to obtain a trapezoidal transformation image;

[0094] Based on the trapezoidal transformation image, a second spacing of the H-beams 4 on the conveyor belt in the trapezoidal transformation image is obtained; wherein, in the trapezoidal transformation image, the H-beam 4 closest to the image acquisition device 1 is the second closest H-beam 4, and the spacing of the second closest H-beam 4 close to the image acquisition device 1 is the second near-end spacing; the spacing of the first closest H-beam 4 away from the image acquisition device 1 is the second far-end spacing;

[0095] If the difference between the second proximal end interval and the second distal end interval is greater than the target judgment threshold, marking the preceding H-beam 4 among the H-beams 4 constituting the second distal end interval as the second target H-beam 4;

[0096] Sending a second distance measurement instruction to the laser distance measuring device 2;

[0097] The laser distance measuring device 2 is configured to: upon receiving the second distance measuring instruction, emit a distance measuring laser to the second target H-beam 4 to obtain a second distance to be transported of the second target H-beam 4; the second distance to be transported is a second distance from the second target H-beam 4 to the spraying area where the spraying device is located;

[0098] sending the second distance to be transmitted to the controller;

[0099] The controller is further configured to: calculate a second number of H-beams 4 to be sprayed based on the second distance to be transported and the near-end spacing; the H-beams 4 to be sprayed include the second target H-beams 4 and the H-beams 4 in the second distance to be transported that are not transported to the spraying area;

[0100] Based on the second amount to be sprayed, calculating a second coating preparation amount corresponding to the second amount to be sprayed;

[0101] Obtaining the remaining paint reserve of the spraying device;

[0102] If the second paint reserve amount is greater than the remaining paint reserve amount, the paint replenishing device is controlled to replenish paint to the paint temporary storage device so that the paint reserve amount in the paint temporary storage device is greater than the remaining paint reserve amount.

[0103] It is understandable that the step of trapezoidal transformation is added after the image acquisition device 1 acquires the target image. The controller can perform perspective transformation, i.e., trapezoidal transformation, on the target image to obtain a trapezoidal transformation image. In the graphic transformation image, the spacing between the H-beams 4 will change compared to the ordinary image. Therefore, in the embodiment using trapezoidal transformation, the controller determines the second closest H-beam 4, the second proximal spacing, the second distal spacing, and the second target H-beam 4 based on the trapezoidal transformation image. Among them, "second" is used to distinguish the various elements in the two types of embodiments, but it is not a limitation on the number of steel sections and the number of each element.

[0104] The process in which the controller determines the number of H-beams 4 to be sprayed and the second coating preparation amount according to the second nearest H-beam 4, the second proximal spacing, the second distal spacing and the second target H-beam 4 is the same as the process in the embodiment in which the trapezoidal transformation is not performed, and will not be repeated here.

[0105] It should be noted that by adding an embodiment of the image processing step of trapezoidal transformation, the prediction accuracy of the number of H-beams 4 to be sprayed can be further improved in the scenario where the length of the H-beam 4 is large and the length value of the transport surface is large, thereby improving the accuracy of dynamic control of the amount of paint in the paint temporary storage device, which is beneficial to improving the spraying efficiency.

[0106] In some embodiments, the H-beam 4 being sprayed also needs to consume paint, and in order to avoid insufficient paint during the spraying process, the paint in the paint temporary storage device should also have a surplus. Therefore, when calculating the number of H-beams 4 to be sprayed, after calculating the first number to be sprayed, 1 can be added to the first number to be sprayed to obtain the third number to be sprayed, and the amount of prepared paint is calculated based on the third number to be sprayed to ensure that the paint is sufficient during the paint temporary storage period.

[0107] That is, in some embodiments, the H-beam 4 to be sprayed also includes the H-beam 4 being sprayed in the spraying area; after receiving the first transmission distance, the controller is also configured to: calculate the first number of H-beams 4 to be sprayed based on the first transmission distance and the near-end distance, and obtain the third number of H-beams 4 to be sprayed based on the first number of H-beams 4 to be sprayed plus 1; the third number of H-beams 4 to be sprayed is used to determine the third coating preparation amount.

[0108] It is understandable that when calculating the first number to be sprayed, it is necessary to sum the first proximal distance and the length of the H-beam 4, and calculate the first number to be sprayed by calculating the ratio of the first distance to be transmitted and the sum. In addition, when the first number to be sprayed is not an integer, the calculation result of the paint reserve amount can be rounded up to make it larger, so that the paint stored in the paint temporary storage device is sufficient.

[0109] In some embodiments, the time interval for replenishing the paint to the paint temporary storage device is the time required for the spraying device to spray the first number of H-shaped steels 4 to be sprayed. This can relieve the calculation pressure of the control device and reduce equipment loss by reducing the number of times the paint is replenished.

[0110] In other embodiments, the time interval for replenishing the paint to the paint temporary storage device is the time required by the spraying part of the spraying device, so that the paint in the paint temporary storage device can be better adjusted dynamically. In addition, this process requires first collecting images through the image acquisition device 1, and re-determining the number of H-shaped steels 4 to be sprayed, thereby improving the accuracy of the prediction of the number of H-shaped steels 4 to be sprayed to a certain extent, thereby improving the accuracy of the paint adjustment.

[0111] like Figure 3 As shown, the H-beam 4 to be sprayed is arranged on the transmission surface of the transmission device; when receiving the target image, the controller is further configured to:

[0112] Based on the target image, marking the first nearest H-beam 4;

[0113] Based on the first closest H-shaped steel 4, determining a first inclination angle of the first closest H-shaped steel 4 relative to a transmission surface boundary;

[0114] If the first inclination angle is greater than the inclination angle threshold, a warning message is generated; the warning message is used to prompt that the current transportation position of the first nearest H-shaped steel 4 is abnormal.

[0115] In some embodiments, the H-beam 4 is placed on the transmission surface and is transmitted to the preset spraying position by the transmission surface. The controller can mark the H-beam 4 to be sprayed in the image based on the target image.

[0116] It can be understood that the process of the controller marking the H-beam 4 to be sprayed can include marking the side of the H-beam 4, so as to judge whether there is any deviation in the setting position of the H-beam 4 on the transmission surface based on the inclination angle formed by the side of the H-beam 4 and the transmission track, so as to improve the safety during the spraying process.

[0117] The inclination angle threshold is a value pre-stored in the controller, such as 5°. In this way, the controller can first obtain the inclination angle between the side of the H-beam 4 and the transport track, and then compare it with the inclination angle threshold of 5°. When the inclination angle is greater than 5°, a warning message can be generated to prompt the staff to debug the transport device so that the angle of the H-beam 4 entering the transport surface of the transport device meets the safety requirements.

[0118] It is understandable that, in the process of determining the inclination angle, the inclination angle formed by the side of the H-beam 4 and the transmission track can also be obtained based on the trapezoidal transformation image. The H-beam 4 to be sprayed is arranged on the transmission surface of the transmission device; when receiving the trapezoidal transformation image, the controller is further configured to:

[0119] Based on the target image, marking the second nearest H-beam 4;

[0120] Based on the second closest H-shaped steel 4, determining a second inclination angle of the second closest H-shaped steel 4 relative to the transmission surface boundary;

[0121] If the second inclination angle is greater than the inclination angle threshold, a warning message is generated; the warning message is used to prompt that the current transportation position of the second nearest H-shaped steel 4 is abnormal.

[0122] It is understandable that the second closest H-beam 4 and the first closest H-beam 4 are used to distinguish the H-beam 4 to be sprayed in the trapezoidal transformation image and the target image, rather than limiting the H-beam 4 to be sprayed. By adding a trapezoidal transformation, the calculation error of the tilt angle can be reduced in the shooting scene with obvious perspective phenomenon, which is conducive to improving the safety during spraying and transportation, and preventing the H-beam 4 from derailing during transportation. And prevent the problem of poor spraying effect caused by the inappropriate setting position of the H-beam 4 when it arrives at the spraying area.

[0123] In some embodiments, a liquid level sensor is provided in the paint temporary storage device, which can provide real-time feedback of the liquid level in the paint temporary storage device to the controller to indicate the remaining amount of paint. The liquid level sensor is configured as follows:

[0124] Detecting the liquid level of the paint stored in the paint temporary storage device;

[0125] sending the liquid level height to the controller;

[0126] The controller is configured to:

[0127] When the liquid level height is greater than the liquid level height threshold, a pause replenishment instruction is sent to the spraying device, so that the paint replenishing device pauses replenishing the paint.

[0128] In some embodiments, the liquid level sensor may be an ultrasonic sensor, an infrared sensor, or other sensor that can be used to measure the liquid level. The specific type of the liquid level sensor is not limited here, that is, after the liquid level sensor measures the liquid level in the paint temporary storage device, it can be fed back to the controller, and the controller determines whether it is necessary to suspend the replenishment of the paint according to the liquid level.

[0129] It should be noted that the capacity of the paint temporary storage device can usually be greater than the paint reserve amount. However, in some scenarios, the paint reserve amount may be greater than the capacity of the paint temporary storage device, so an intermittent replenishment strategy is required during the paint replenishment stage. That is, after the controller calculates the paint reserve amount, if the capacity of the paint temporary storage device is insufficient, it can intermittently control the paint replenishment device to replenish the paint to the paint temporary storage device.

[0130] That is, in some embodiments, when the liquid level of the paint in the paint temporary storage device is greater than the liquid level threshold, and the paint is still less than the first paint reserve amount, the controller is further configured to:

[0131] An interval replenishment instruction is sent to the spraying device according to the paint replenishment interval, so that the paint replenishing device replenishes the paint to the paint temporary storage device based on the paint replenishment interval.

[0132] It is understandable that the sending interval of the interval replenishment instruction can be set in conjunction with the time for spraying the H-beam 4. In this way, after spraying at least one H-beam 4, the paint replenishing device can replenish the paint temporary storage device with appropriate paint.

[0133] It should be noted that, when the paint replenishing device is replenishing the paint temporary storage device, there is still paint in the paint temporary storage device to support spraying. Therefore, during the process of paint replenishment, the spray gun 3 can spray the H-beam 4 without waiting for the paint, thereby ensuring the efficiency of spraying.

[0134] In some other embodiments, when the paint in the paint temporary storage device is greater than the first paint reserve amount, the controller is further configured to:

[0135] A stop replenishment instruction is sent to the spraying device so that the paint replenishing device stops replenishing paint to the paint temporary storage device.

[0136] It is understandable that the controller can determine the amount of paint in the paint temporary storage device according to the liquid level height fed back by the liquid level sensor. The controller can then determine whether it is necessary to add paint to the paint temporary storage device in combination with the first paint reserve amount. When the amount of paint in the paint temporary storage device is insufficient, the paint is added. When the amount of paint in the paint temporary storage device is sufficient, the paint is stopped from being added.

[0137] Some embodiments of the present application also provide an H-beam spraying method, comprising:

[0138] When the H-shaped steel to be sprayed is transported to a preset position by a conveyor belt, a preset operation of spraying the H-shaped steel is performed; the H-shaped steel is arranged on the conveyor belt at equal intervals;

[0139] Acquire a target image of a target area; the target image includes the conveyor belt and the H-shaped steel transported on the conveyor belt;

[0140] Based on the target image, a first spacing of H-beams on the conveyor belt in the target image is acquired; wherein, in the target image, the H-beam closest to the image acquisition device is a first closest H-beam, and the spacing of the first closest H-beam close to the image acquisition device is a first proximal spacing; the spacing of the first closest H-beam away from the image acquisition device is a first distal spacing;

[0141] If the difference between the first proximal end spacing and the first distal end spacing is greater than the target judgment threshold, marking the preceding H-shaped steel in the H-shaped steel constituting the first distal end spacing as the first target H-shaped steel;

[0142] Generate a first distance measurement instruction; the first distance measurement instruction is used to drive the laser distance measurement device to emit a distance measurement laser to the first target H-beam to obtain a first distance to be transmitted of the first target H-beam; the first distance to be transmitted is a first distance from the first target H-beam to the spraying area where the spraying device is located;

[0143] Calculate a first number of H-beams to be sprayed based on the first distance to be transported and the near-end distance; the H-beams to be sprayed include the first target H-beams and the H-beams in the first distance to be transported that are not transported to the spraying area;

[0144] Based on the first amount to be sprayed, calculating a first coating reserve amount corresponding to the first amount to be sprayed;

[0145] Obtaining the remaining paint reserve of the spraying device;

[0146] If the first paint reserve amount is greater than the remaining paint reserve amount, paint is replenished so that the paint reserve amount is greater than the remaining paint reserve amount.

[0147] It can be known from the above technical content that in some embodiments of the present application, during the transportation and spraying of H-beams, by collecting partial images of the transportation area, local predictions can be made for the H-beams to be sprayed, and then the amount of paint in the paint temporary storage device can be dynamically adjusted according to the results of the local prediction. In this way, there is no need to use a paint temporary storage device with too large a volume during the spraying process, and the spray gun can be kept in a sprayable state. When the H-beam to be sprayed arrives at the spraying area, the H-beam to be sprayed can be sprayed, eliminating the time waiting for the paint transmission, so that the paint transmission time overlaps with the spraying time and the transportation time of the H-beam to be sprayed, thereby improving the spraying efficiency.

[0148] In addition, in scenarios where the length of the H-beam to be sprayed is long and the length of the transport track is long, the captured image is transformed into a trapezoidal shape to alleviate the effect of the perspective phenomenon on the image, thereby improving the prediction accuracy of the H-beam to be sprayed, which is conducive to improving the accuracy of the dynamic adjustment of the coating, thereby improving the spraying efficiency. In addition, by judging the inclination angle between the H-beam and the transport track, the staff can be notified in time when there is an abnormality in the transportation, thereby improving production safety.

[0149] Similar parts between the embodiments provided in this application can be referenced to each other. The specific implementation methods provided above are only a few examples under the general concept of this application and do not constitute a limitation on the protection scope of this application. For those skilled in the art, any other implementation methods expanded based on the scheme of this application without creative work belong to the protection scope of this application.

Claims

1. An H-beam spraying equipment, characterized in that: include: Image acquisition device, laser distance measuring device, controller, spraying device; The spraying device includes a spray gun, a paint temporary storage device and a paint replenishing device; The spray gun is configured to: perform a preset operation of spraying the H-shaped steel when the H-shaped steel to be sprayed is transported to a preset position by a conveyor belt; the H-shaped steel is arranged on the conveyor belt at equal intervals; The image acquisition device is configured to: acquire a target image of a target area, and send the target image to a controller; the target image includes the conveyor belt and the H-shaped steel transported on the conveyor belt; The controller is configured to: receive the target image, and acquire a first spacing of H-beams on the conveyor belt in the target image based on the target image; the first spacing includes a spacing formed between adjacent H-beams in the target image; wherein, in the target image, the H-beam closest to the image acquisition device is a first closest H-beam, and the spacing corresponding to the first closest H-beam close to the image acquisition device is a first proximal spacing; the spacing corresponding to the first closest H-beam far from the image acquisition device is a first distal spacing; If the difference between the first proximal end spacing and the first distal end spacing is greater than the target judgment threshold, marking the preceding H-shaped steel in the H-shaped steel constituting the first distal end spacing as the first target H-shaped steel; Sending a first distance measurement instruction to the laser distance measurement device; The laser distance measuring device is configured to: upon receiving the first distance measuring instruction, emit a distance measuring laser to the first target H-beam to obtain a first distance to be transported of the first target H-beam; the first distance to be transported is a first distance from the first target H-beam to the spraying area where the spraying device is located; sending the first distance to be transmitted to the controller; The controller is further configured to: calculate a first number of H-beams to be sprayed based on the first distance to be transported and the first proximal distance; the H-beams to be sprayed include the first target H-beams and the H-beams in the first distance to be transported that are not transported to the spraying area; Based on the first amount to be sprayed, calculating a first coating reserve amount corresponding to the first amount to be sprayed; Obtaining the remaining paint reserve of the spraying device; If the first paint reserve amount is greater than the remaining paint reserve amount, the paint replenishing device is controlled to replenish paint to the paint temporary storage device so that the paint reserve amount in the paint temporary storage device is greater than the remaining paint reserve amount.

2. The H-beam spraying equipment according to claim 1, characterized in that: When the controller executes acquiring a first spacing of H-shaped steels on a conveyor belt in the target image based on the target image, the controller is configured as follows: Performing a perspective transformation on the target image, wherein the perspective transformation includes a trapezoidal transformation, to obtain a trapezoidal transformation image; Based on the trapezoidal transformation image, a second spacing of the H-beams on the conveyor belt in the trapezoidal transformation image is obtained; the second spacing includes the spacing formed between adjacent H-beams in the trapezoidal transformation image; wherein, in the trapezoidal transformation image, the H-beam closest to the image acquisition device is the second closest H-beam, and the spacing corresponding to the second closest H-beam close to the image acquisition device is the second near-end spacing; the spacing corresponding to the first closest H-beam far from the image acquisition device is the second far-end spacing; If the difference between the second proximal end spacing and the second distal end spacing is greater than the target judgment threshold, marking the preceding H-shaped steel in the H-shaped steel constituting the second distal end spacing as the second target H-shaped steel; Sending a second ranging instruction to the laser ranging device; The laser distance measuring device is configured to: upon receiving the second distance measuring instruction, emit a distance measuring laser to the second target H-beam to obtain a second distance to be transported of the second target H-beam; the second distance to be transported is a second distance from the second target H-beam to the spraying area where the spraying device is located; sending the second distance to be transmitted to the controller; The controller is further configured to: calculate a second number of H-beams to be sprayed based on the second distance to be transported and the near-end spacing; the H-beams to be sprayed include the second target H-beams and the H-beams in the second distance to be transported that are not transported to the spraying area; Based on the second amount to be sprayed, calculating a second coating preparation amount corresponding to the second amount to be sprayed; Obtaining the remaining paint reserve of the spraying device; If the second paint reserve amount is greater than the remaining paint reserve amount, the paint replenishing device is controlled to replenish paint to the paint temporary storage device so that the paint reserve amount in the paint temporary storage device is greater than the remaining paint reserve amount.

3. The H-beam spraying equipment according to claim 1, characterized in that: The H-shaped steel to be sprayed also includes the H-shaped steel being sprayed in the spraying area; the controller calculates the first coating preparation amount corresponding to the first coating quantity based on the first coating quantity, and is further configured as follows: The first number of H-shaped steels to be sprayed is calculated based on the first transmission distance and the near-end spacing, and the third number of H-shaped steels to be sprayed is obtained by adding 1 to the first number of H-shaped steels to be sprayed; the third number of H-shaped steels to be sprayed is used to determine the third coating preparation amount.

4. The H-beam spraying equipment according to claim 1, characterized in that: The H-shaped steel to be sprayed is arranged on a transmission surface of a transmission device; when receiving the target image, the controller is further configured to: Based on the target image, marking the first nearest H-beam; Based on the first closest H-beam, determining a first inclination angle of the first closest H-beam relative to a transmission surface boundary; If the first inclination angle is greater than the inclination angle threshold, a warning message is generated; the warning message is used to prompt that the current transportation position of the first nearest H-beam is abnormal.

5. The H-beam spraying equipment according to claim 2, characterized in that: The H-shaped steel to be sprayed is arranged on the transmission surface of the transmission device; after the controller performs perspective transformation on the target image and obtains a trapezoidal transformation image, it is further configured as follows: Based on the target image, marking the second nearest H-beam; Based on the second closest H-shaped steel, determining a second inclination angle of the second closest H-shaped steel relative to the transmission surface boundary; If the second inclination angle is greater than the inclination angle threshold, a warning message is generated; the warning message is used to prompt that the current transportation position of the second nearest H-beam is abnormal.

6. The H-beam spraying equipment according to claim 1, characterized in that: The paint temporary storage device has a built-in liquid level sensor; the liquid level sensor is configured as follows: Detecting the liquid level of the paint stored in the paint temporary storage device; sending the liquid level height to the controller; The controller is configured to: When the liquid level height is greater than the liquid level height threshold, a pause replenishment instruction is sent to the spraying device, so that the paint replenishing device pauses replenishing the paint.

7. The H-beam spraying equipment according to claim 6, characterized in that: When the liquid level of the temporarily stored paint in the paint temporary storage device is greater than the liquid level threshold, and the weight of the temporarily stored paint is less than the first paint reserve amount, the controller is further configured to: An interval replenishment instruction is sent to the spraying device according to the paint replenishment interval, so that the paint replenishing device replenishes the paint to the paint temporary storage device based on the paint replenishment interval.

8. The H-beam spraying equipment according to claim 7, characterized in that: When the weight of the temporarily stored paint is greater than the first paint reserve amount, the controller is further configured to: A stop replenishment instruction is sent to the spraying device so that the paint replenishing device stops replenishing paint to the paint temporary storage device.

9. A method for spraying H-beam, characterized in that: include: When the H-shaped steel to be sprayed is transported to a preset position by a conveyor belt, a preset operation of spraying the H-shaped steel is performed; the H-shaped steel is arranged on the conveyor belt at equal intervals; Acquire a target image of a target area; the target image includes the conveyor belt and the H-shaped steel transported on the conveyor belt; Based on the target image, a first spacing of H-beams on the conveyor belt in the target image is acquired; the first spacing includes the spacing formed between adjacent H-beams in the target image; wherein, in the target image, the H-beam closest to the image acquisition device is the first closest H-beam, and the spacing corresponding to the first closest H-beam close to the image acquisition device is the first proximal spacing; the spacing corresponding to the first closest H-beam far from the image acquisition device is the first distal spacing; If the difference between the first proximal end spacing and the first distal end spacing is greater than the target judgment threshold, marking the preceding H-shaped steel in the H-shaped steel constituting the first distal end spacing as the first target H-shaped steel; Generate a first distance measurement instruction; the first distance measurement instruction is used to drive the laser distance measurement device to emit a distance measurement laser to the first target H-beam to obtain a first distance to be transmitted of the first target H-beam; the first distance to be transmitted is a first distance from the first target H-beam to the spraying area where the spraying device is located; Calculate a first number of H-beams to be sprayed based on the first distance to be transported and the first proximal distance; the H-beams to be sprayed include the first target H-beams and the H-beams in the first distance to be transported that are not transported to the spraying area; Based on the first amount to be sprayed, calculating a first coating reserve amount corresponding to the first amount to be sprayed; Obtaining the remaining paint reserve of the spraying device; If the first paint reserve amount is greater than the remaining paint reserve amount, paint is replenished so that the paint reserve amount is greater than the remaining paint reserve amount.

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