A monitoring and control system for a toy oil spraying device

Abstract

The present application provides a monitoring and control system for a toy spraying device, which relates to the field of paint spraying control technology and is used to improve the efficiency and effect of toy spraying. The system includes: determining the spraying strategy for the target toy according to the model data of the three-dimensional toy model, the spraying strategy includes the toy spraying method and the corresponding toy coating method; sending the spraying strategy with the best spraying result to the toy spraying device and the monitoring device; generating a manipulator control instruction and a rotating platform control instruction according to the spraying strategy with the best spraying result; sending the manipulator control instruction and the rotating platform control instruction to the toy spraying device, so that the paint spraying manipulator in the toy spraying device controls the operation of the paint spraying manipulator and the cleaning manipulator according to the manipulator control instruction; the cleaning manipulator in the toy spraying device controls the rotation of the paint spraying rotating platform and the cleaning rotating platform according to the rotating platform control instruction, so as to realize the spraying work on the toy.

Description

Technical Field

[0001] The present application relates to the technical field of paint spraying control, and in particular to a monitoring and control system for a toy oil spraying device. Background Art

[0002] my country is the world's largest toy manufacturer, especially in the Pearl River Delta region, where there are many toy manufacturers. As a traditional labor-intensive industry, the automation level of toy painting is relatively low. In recent years, with the increasingly stringent supervision and management of workers' working environment and labor intensity by the state, and the substantial increase in labor costs, the industry has faced a bottleneck in development and urgently needs industrial structure adjustment and technological upgrading. The development of automation equipment is the only way out.

[0003] At present, in the plastic toy industry, the main method of coloring toys is to use masking spraying. This spraying method requires the use of mold sets, and the process is extremely cumbersome and complicated. It relies heavily on experienced technicians, and the spraying efficiency is low. The working environment is also the worst, so the number of people engaged in this work is decreasing, and the difficulty in recruiting workers is becoming increasingly serious. Due to the defects of manual operation, the manual spraying effect of high-end toys is poor, the individuality is large, and the qualified rate is not high. Summary of the invention

[0004] The embodiment of the present application provides a monitoring and control system for a toy spraying device, which is used to improve the efficiency and effect of toy painting.

[0005] The embodiment of the present invention provides a monitoring and control system for a toy oil spraying device, the system comprising: a toy oil spraying device, a monitoring device, and a control device; the monitoring device and the control device are connected to the toy oil spraying device, and are respectively used to detect and control the toy oil spraying device; the toy oil spraying device comprises a plurality of paint spraying manipulators, a cleaning manipulator, a paint spraying rotating platform, and a cleaning rotating platform, and the control device is used to execute:

[0006] Scanning a target toy to generate a three-dimensional toy model corresponding to the target toy; and obtaining model data of the three-dimensional toy model, wherein the model data includes the color types of the target toy and the position areas corresponding to each color type and the proportion of the position areas;

[0007] Determining a spraying strategy for a target toy according to the model data of the three-dimensional toy model, the spraying strategy including a toy spraying method and a corresponding toy coating method, the toy spraying method including a spraying color and a spraying area of ​​each spraying manipulator, and a spraying distance and a spraying angle corresponding to a spraying path in the spraying area;

[0008] Perform spraying simulation on the three-dimensional toy model according to each spraying strategy, obtain the spraying result corresponding to each spraying strategy; and send the spraying strategy with the best spraying result to the toy spraying device and the monitoring device;

[0009] Generate a manipulator control instruction and a rotating platform control instruction according to the spraying strategy with the best spraying result; and generate a monitoring instruction according to the manipulator control instruction and the rotating platform control instruction;

[0010] The manipulator control instruction and the rotating platform control instruction are sent to the toy spraying device, so that the paint spraying manipulator in the toy spraying device controls the operation of the paint spraying manipulator and the cleaning manipulator according to the manipulator control instruction; the cleaning manipulator in the toy spraying device controls the rotation of the paint spraying rotating platform and the cleaning rotating platform according to the rotating platform control instruction, so as to realize the spraying work on the toy;

[0011] The monitoring instruction is sent to the monitoring device, so that the monitoring device obtains image information of the corresponding position during the spraying work according to the monitoring instruction, and determines whether the toy spraying is abnormal according to the image information.

[0012] In an optional embodiment provided by the present invention, the step of determining a spraying strategy for a target toy according to the model data of the three-dimensional toy model includes:

[0013] Determine the number of paint spraying manipulators involved in the spraying work in the toy spraying device and the toy spraying mode corresponding to each paint spraying manipulator based on the color types of the target toy, the position areas corresponding to each color type, and the proportion of the position areas;

[0014] Determine the painting manipulators that participate in the spraying work and at least one toy coating and the order of each toy coating according to the spraying area of ​​the toy spraying mode of the painting manipulators that participate in the spraying work;

[0015] The toy spraying method of the painting robot involved in the spraying work and the order of coating each toy are determined as the spraying strategy for the target toy.

[0016] In an optional embodiment provided by the present invention, the method of determining the number of paint spraying manipulators involved in the spraying work in the toy spraying device and the toy spraying mode corresponding to each paint spraying manipulator based on the color type of the target toy and the position area corresponding to each color type and the proportion of the position area includes:

[0017] Acquire the color types and position areas whose proportion of the position areas is greater than a preset value, and the color types and position areas whose proportion of the position areas is less than or equal to the preset value;

[0018] Determine a first toy painting method based on the color types and position areas whose proportion of the position areas is greater than a preset value, and determine a second toy painting method based on the color types and position areas whose proportion of the position areas is less than or equal to the preset value;

[0019] The spraying distance and the spraying angle corresponding to the spraying path in the spraying area in the corresponding toy spraying method are determined by the size of the position area and the boundary position in the first toy spraying method and the second toy spraying method.

[0020] In an optional embodiment provided by the present invention, the method of determining the painting manipulators participating in the spraying work and at least one toy coating and the order of each toy coating according to the spraying area of ​​the toy spraying mode of the painting manipulator participating in the spraying work includes:

[0021] Acquire that at least two position surfaces in the first toy spraying mode and the second toy spraying mode belong to different position areas;

[0022] According to the toy spraying modes corresponding to at least two position surfaces belonging to different position areas, the paint spraying manipulators simultaneously participating in the spraying work and at least one toy coating and the order of each toy coating are determined.

[0023] In an optional embodiment provided by the present invention, the method of determining the painting manipulators and at least one toy coating and the order of coating each toy simultaneously participating in the spraying work according to the toy spraying modes corresponding to the at least two position surfaces belonging to different position areas includes:

[0024] Determine the painting manipulators of the toy spraying mode corresponding to the at least two position surfaces belonging to different position areas as the painting manipulators participating in the spraying work simultaneously;

[0025] The toy coating and the coating sequence of each toy are determined according to the position areas sprayed simultaneously by the paint spraying robots simultaneously participating in the spraying work.

[0026] In an optional embodiment provided by the present invention, the toy coating and the order of coating each toy according to the position area sprayed simultaneously by the paint spraying manipulators simultaneously participating in the spraying work include:

[0027] Calculate the sum of the area of ​​the positions sprayed simultaneously;

[0028] The sum of the areas of all regions is sorted, and the toy coating and the order of each toy coating are determined according to the positions of the same spraying in the sorting results from large to small.

[0029] In an optional embodiment provided by the present invention, the generating of the manipulator control instruction and the rotating platform control instruction according to the optimal spraying strategy of the spraying result includes:

[0030] According to the toy spraying method in the spraying strategy with the best spraying result, the manipulator control instructions of the corresponding painting manipulator and the rotating platform control instructions are determined.

[0031] In an optional embodiment provided by the present invention, determining whether the toy spraying is abnormal according to the image information includes:

[0032] The image information is input into an anomaly detection model to predict an anomaly detection result of the toy spraying.

[0033] In an optional embodiment provided by the present invention, the step of inputting the image information into an anomaly detection model to predict an anomaly detection result of toy painting includes:

[0034] Input the image information into an anomaly detection model to obtain a multi-level convolution feature map, and perform an alignment operation on the multi-level convolution feature map to transform its spatial size to be consistent with the input image size;

[0035] Performing a spatial convolution filtering operation on the aligned multi-level convolution feature map, and fusing the multi-level convolution feature map to obtain a multi-scale feature fusion map;

[0036] The abnormal detection result of the toy spraying is predicted based on the multi-scale feature fusion map.

[0037] An embodiment of the present invention provides a monitoring and control method for a toy oil spraying device, the method comprising:

[0038] Scanning a target toy to generate a three-dimensional toy model corresponding to the target toy; and obtaining model data of the three-dimensional toy model, wherein the model data includes the color types of the target toy and the position areas corresponding to each color type and the proportion of the position areas;

[0039] Determining a spraying strategy for a target toy according to the model data of the three-dimensional toy model, the spraying strategy including a toy spraying method and a corresponding toy coating method, the toy spraying method including a spraying color and a spraying area of ​​each spraying manipulator, and a spraying distance and a spraying angle corresponding to a spraying path in the spraying area;

[0040] Perform spraying simulation on the three-dimensional toy model according to each spraying strategy, obtain the spraying result corresponding to each spraying strategy; and send the spraying strategy with the best spraying result to the toy spraying device and the monitoring device;

[0041] Generate a manipulator control instruction and a rotating platform control instruction according to the spraying strategy with the best spraying result; and generate a monitoring instruction according to the manipulator control instruction and the rotating platform control instruction;

[0042] The manipulator control instruction and the rotating platform control instruction are sent to the toy spraying device, so that the paint spraying manipulator in the toy spraying device controls the operation of the paint spraying manipulator and the cleaning manipulator according to the manipulator control instruction; the cleaning manipulator in the toy spraying device controls the rotation of the paint spraying rotating platform and the cleaning rotating platform according to the rotating platform control instruction, so as to realize the spraying work on the toy;

[0043] The monitoring instruction is sent to the monitoring device, so that the monitoring device obtains image information of the corresponding position during the spraying work according to the monitoring instruction, and determines whether the toy spraying is abnormal according to the image information.

[0044] The present invention provides a monitoring and control system for a toy oil spraying device, the system comprising: a toy oil spraying device, a monitoring device, and a control device; the monitoring device and the control device are connected to the toy oil spraying device, and are respectively used to detect and control the toy oil spraying device; the toy oil spraying device comprises a plurality of paint spraying manipulators, a cleaning manipulator, a paint spraying rotating platform, and a cleaning rotating platform. Among them, the control device is used to execute: scanning a target toy to generate a three-dimensional toy model corresponding to the target toy; and obtaining model data of the three-dimensional toy model, the model data including the color type of the target toy and the position area corresponding to each color type, and the proportion of the position area; determining the spraying strategy for the target toy according to the model data of the three-dimensional toy model, the spraying strategy including the toy spraying method and the corresponding toy coating method, the toy spraying method including the spraying color and spraying area of ​​each paint spraying manipulator, and the spraying distance and spraying angle corresponding to the spraying path in the spraying area; performing spraying simulation on the three-dimensional toy model according to each spraying strategy, and obtaining the spraying result corresponding to each spraying strategy; and sending the spraying strategy with the best spraying result to the toy Spraying device, monitoring device; generate manipulator control instructions and rotating platform control instructions according to the spraying strategy with the best spraying result; and generate monitoring instructions according to the manipulator control instructions and rotating platform control instructions; send the manipulator control instructions and rotating platform control instructions to the toy spraying device, so that the paint spraying manipulator in the toy spraying device controls the operation of the paint spraying manipulator and the cleaning manipulator according to the manipulator control instructions; the cleaning manipulator in the toy spraying device controls the rotation of the paint spraying rotating platform and the cleaning rotating platform according to the rotating platform control instructions to realize the spraying of the toy; send the monitoring instructions to the monitoring device, so that the monitoring device obtains the image information of the corresponding position during the spraying work according to the monitoring instructions, and determines whether the toy spraying is abnormal according to the image information. Since the present application determines the spraying strategy for the target toy according to the model data of the three-dimensional toy model, and the spraying strategy is the best after simulation verification, the generated manipulator control instructions, rotating platform control instructions, and monitoring instructions obtained by the spraying strategy can realize the control and monitoring of the toy spraying, so that the efficiency and effect of the toy spraying can be improved through the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A flow chart for monitoring and controlling a toy fuel injection device provided in this application;

[0046] Figure 2 A flow chart for determining a spraying strategy provided for this application;

[0047] Figure 3 A schematic diagram of the structure of a monitoring and control system for a toy fuel spraying device provided in this application. DETAILED DESCRIPTION

[0048] In order to better understand the above-mentioned technical scheme, the technical scheme of the embodiments of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical scheme of the embodiments of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0049] The present embodiment provides a monitoring and control system for a toy oil spraying device, the system comprising: a toy oil spraying device, a monitoring device, and a control device; the monitoring device and the control device are connected to the toy oil spraying device, and are used to detect and control the toy oil spraying device, respectively. Among them, the toy oil spraying device comprises a plurality of paint spraying manipulators, a cleaning manipulator, a paint spraying rotating platform, and a cleaning rotating platform; the plurality of paint spraying manipulators cooperate with the paint spraying rotating platform, the paint spraying rotating platform is used to place toys that need to be painted, the cleaning manipulator cooperates with the cleaning rotating platform, and the cleaning rotating platform is used to place toy coatings that need to be cleaned. The toy spraying in this application mainly adopts a covering type local spraying process. Before playing spraying, the corresponding toy coating must first be made. The toy coating covers the part of the toy that does not need to be sprayed, and the part that needs to be sprayed is exposed to the outside. The cooperation between the toy coating and the toy during toy spraying is called mold closing.

[0050] It can be seen from the existing manual spraying process that it takes a lot of time to clean the toy film. Especially when multiple toys are molded at one time, the cleaning range is larger and the cleaning time is longer. Therefore, multiple toy films are used in automatic spraying, which are set on two platforms respectively, one platform for spraying and the other platform for cleaning. The two platforms operate independently to ensure that each time the toy film needs to be replaced, the toy film on the cleaning station has been cleaned.

[0051] like Figure 1 The control device in this embodiment is used to perform the following steps:

[0052] S101, scanning a target toy to generate a three-dimensional toy model corresponding to the target toy; and acquiring model data of the three-dimensional toy model.

[0053] The target toy is a toy sample of the target toy that needs to be painted, and the model data includes the color type of each coordinate point in the three-dimensional toy model of the target toy, and the position area corresponding to each color type determined according to the color type, and the proportion of the position area. The proportion of the position area is the ratio of the position area to the overall area of ​​the three-dimensional toy model.

[0054] In this embodiment, a three-dimensional toy model of the target toy is obtained so that a spraying strategy is generated according to the three-dimensional toy model in subsequent steps, so as to achieve rapid spraying of the target toy based on the spraying strategy.

[0055] S102, determining a spraying strategy for a target toy according to the model data of the three-dimensional toy model, wherein the spraying strategy includes a toy spraying method and a corresponding toy coating method.

[0056] Among them, the toy spraying method includes the operation methods of various paint spraying robots, cleaning robots, paint spraying rotating platforms, cleaning rotating platforms, the use order of various toy coatings and the cleaning order, etc. This embodiment does not make specific limitations on this.

[0057] Specific as Figure 2 As shown, step S102 determines the spraying strategy for the target toy according to the model data of the three-dimensional toy model, including:

[0058] S1021, based on the color types of the target toy, the position areas corresponding to the color types, and the proportions of the position areas, determine the number of paint spraying robots involved in the spraying work in the toy spraying device, and the toy spraying method corresponding to each paint spraying robot.

[0059] Specifically, the method of determining the number of paint spraying manipulators involved in the spraying work in the toy spraying device and the toy spraying mode corresponding to each paint spraying manipulator based on the color types of the target toy, the position areas corresponding to each color type, and the proportion of the position areas includes:

[0060] S10211, obtaining the color types and position areas whose proportion of the position areas is greater than a preset value, and the color types and position areas whose proportion of the position areas is less than or equal to the preset value.

[0061] The preset value can be set according to actual needs, such as 50%, 60%, etc. For example, the target toy includes 3 colors: skin color, black, red and blue, wherein the areas where the skin color and blue are located are the limbs, facial features, clothes and pants corresponding to the target toy doll, the areas where the black color is located are the eyes and hair corresponding to the target toy doll, and the red color corresponds to the backpack of the target toy doll. The proportions of the areas where the skin color and blue are located are greater than the preset values, and the proportions of the areas where the black and red are located are less than the preset values.

[0062] S10212, determining a first toy spraying method based on the color types and position areas whose proportion of the position area is greater than a preset value, and determining a second toy spraying method based on the color types and position areas whose proportion of the position area is less than or equal to the preset value.

[0063] For the above example, the area where the skin color and blue are located is the first toy spraying method, and the area where the black and red are located is the second toy spraying method.

[0064] S10213, determining a spraying distance and a spraying angle corresponding to a spraying path in a spraying area in a corresponding toy spraying method through the size of the position area in the first toy spraying method and the second toy spraying method and the boundary position.

[0065] Specifically, in this embodiment, the smaller the position area, the closer the spray distance can be set, and conversely, the larger the position area, the farther the spray distance can be set. The spray angle can be adjusted for the boundary position of the position area. For example, for the upper boundary of the red area, the spray angle can be adjusted to spray toward the red area to avoid the sprayed paint contaminating other color areas.

[0066] It should be noted that the spray path in this embodiment includes multiple spray points, each spray point is set with a corresponding spray distance and spray angle, and the spray path can be sprayed from left to right or from top to bottom based on the position area, or sprayed gradually inward from the boundary of the position area. This embodiment does not make specific limitations on this.

[0067] S1022, determining the painting robots that are simultaneously involved in the spraying work and at least one toy coating and the order of each toy coating according to the spraying area of ​​the toy spraying method of the painting robots that are involved in the spraying work.

[0068] It should be noted that the present embodiment may include multiple toy coatings, and the area covered by each toy coating may be determined according to the toy spraying method of the spraying robot.

[0069] Specifically, the method of determining the painting manipulators that simultaneously participate in the spraying work and at least one toy coating and the order of each toy coating according to the spraying area of ​​the toy spraying mode of the painting manipulators that participate in the spraying work includes:

[0070] S10221, obtaining that at least two position surfaces in the first toy spraying method and the second toy spraying method belong to different position areas.

[0071] In this embodiment, six position surfaces can be set for the target toy, namely, the front view surface, the rear view surface, the top view surface, the top view surface, the left view surface and the right view surface. In this embodiment, at least two position surfaces belonging to different position areas are selected from the first toy spraying method and the second toy spraying method, so as to simultaneously spectrogram the sample colors belonging to different position areas, thereby improving the toy spraying efficiency.

[0072] S10222, according to the toy spraying modes corresponding to at least two position surfaces belonging to different position areas, determine the painting robots that simultaneously participate in the spraying work and at least one toy coating and the order of coating each toy.

[0073] Among them, the toy spraying method corresponding to at least two position surfaces belonging to different position areas determines the paint spraying manipulators that simultaneously participate in the spraying work and at least one toy coating and the order of each toy coating, including: determining the paint spraying manipulator of the toy spraying method corresponding to the at least two position surfaces belonging to different position areas as the paint spraying manipulator that simultaneously participates in the spraying work; determining the toy coating and the order of each toy coating according to the position areas simultaneously sprayed by the paint spraying manipulators that simultaneously participate in the spraying work.

[0074] For example, if the red and green colors of the target toy belong to the front view and rear view respectively, the spraying method of the red and green toys is determined as the method that needs to be sprayed at the same time, and then the spraying manipulators corresponding to the two colors are determined as the spraying manipulators that need to participate in the spraying work at the same time. As for the spraying of red and green, the toy coating used is to cover the color areas other than red on the front view surface and the color areas other than green on the rear view surface.

[0075] More specifically, the method of determining the toy coating and the order of coating each toy according to the position areas sprayed simultaneously by the paint spraying robots that simultaneously participate in the spraying work includes: calculating the sum of the area of ​​the position areas sprayed simultaneously; sorting the sum of all area areas, and determining the toy coating and the order of coating each toy according to each position area sprayed simultaneously in the sorting results from large to small.

[0076] For example, if the total area of ​​the two colors of the front and rear surfaces is 20, the total area of ​​the top and bottom surfaces is 5, and the left and right surfaces are 15, then the front and rear surfaces are sprayed first, then the left and right surfaces, and finally the top and top surfaces are sprayed, and the corresponding toy coating is used each time.

[0077] S1023, determining the toy spraying method of the paint spraying robot involved in the spraying work and the order of coating each toy as the spraying strategy for the target toy.

[0078] The toy spraying method includes the spraying color and spraying area of ​​each paint spraying robot, and the spraying distance and spraying angle corresponding to the spraying path in the spraying area.

[0079] S103, performing spray simulation on the three-dimensional toy model according to each spray strategy, obtaining the spray result corresponding to each spray strategy; and sending the spray strategy with the best spray result to the toy spray device and the monitoring device.

[0080] S104, generating a manipulator control instruction and a rotating platform control instruction according to the spraying strategy with the best spraying result; and generating a monitoring instruction according to the manipulator control instruction and the rotating platform control instruction.

[0081] In an optional embodiment provided in the present application, the generating of manipulator control instructions and rotating platform control instructions according to the spraying strategy with the best spraying result includes: determining the manipulator control instructions and rotating platform control instructions of the corresponding paint spraying manipulator according to the toy spraying method in the spraying strategy with the best spraying result.

[0082] S105, sending the manipulator control instruction and the rotating platform control instruction to the toy spraying device, so that the paint spraying manipulator in the toy spraying device controls the operation of the paint spraying manipulator and the cleaning manipulator according to the manipulator control instruction; the cleaning manipulator in the toy spraying device controls the rotation of the paint spraying rotating platform and the cleaning rotating platform according to the rotating platform control instruction, so as to realize the spraying work on the toy.

[0083] S106, sending the monitoring instruction to the monitoring device, so that the monitoring device obtains image information of the corresponding position during the spraying work according to the monitoring instruction, and determines whether there is any abnormality in the toy spraying according to the image information.

[0084] Specifically, the method of determining whether an abnormality occurs in the toy painting according to the image information in this embodiment includes: inputting the image information into an abnormality detection model to predict an abnormality detection result of the toy painting.

[0085] More specifically, the method of inputting the image information into an anomaly detection model to predict an anomaly detection result of toy painting includes: inputting the image information into the anomaly detection model to obtain a multi-level convolutional feature map, and aligning the multi-level convolutional feature map to transform its spatial size to be consistent with the input image size; performing a spatial convolution filtering operation on the multi-level convolutional feature map that has undergone the alignment operation, and fusing the multi-level convolutional feature map that has undergone the spatial convolution filtering operation to obtain a multi-scale feature fusion map; and predicting an anomaly detection result of toy painting according to the multi-scale feature fusion map.

[0086] It should be noted that the anomaly detection model in this embodiment is trained based on sample images and corresponding anomaly labels, that is, the sample data is input into the anomaly detection model to determine the multi-scale feature fusion map corresponding to the sample data in the above manner, and then the predicted label is obtained based on the multi-scale feature fusion map corresponding to the sample data, and then the loss value is calculated based on the predicted label and the sample label. When the loss value is less than a certain value, the training of the anomaly detection model is stopped. Among them, the loss value can be calculated by the following loss function in this embodiment:

[0087]

[0088] Among them, n is the number of sample data, m is the number of pixels in the sample data, xij is the predicted abnormal value of the jth pixel in the ith sample data, and yij is the actual label value of the jth pixel in the ith sample data.

[0089] The embodiment of the present application provides a monitoring and control system for a toy spraying device, which scans a target toy to generate a three-dimensional toy model corresponding to the target toy; and obtains model data of the three-dimensional toy model, the model data including the color types of the target toy and the position areas corresponding to each color type, and the proportion of the position areas; determines the spraying strategy for the target toy according to the model data of the three-dimensional toy model, the spraying strategy including the toy spraying method and the corresponding toy coating method, the toy spraying method including the spraying color and spraying area of ​​each paint spraying robot, and the spraying distance and spraying angle corresponding to the spraying path in the spraying area; performs spraying simulation on the three-dimensional toy model according to each spraying strategy, obtains the spraying result corresponding to each spraying strategy; and selects the spray with the best spraying result as the target toy spraying strategy. The coating strategy is sent to the toy spraying device and the monitoring device; the manipulator control instructions and the rotating platform control instructions are generated according to the spraying strategy with the best spraying result; and the monitoring instructions are generated according to the manipulator control instructions and the rotating platform control instructions; the manipulator control instructions and the rotating platform control instructions are sent to the toy spraying device, so that the paint spraying manipulator in the toy spraying device controls the operation of the paint spraying manipulator and the cleaning manipulator according to the manipulator control instructions; the cleaning manipulator in the toy spraying device controls the rotation of the paint spraying rotating platform and the cleaning rotating platform according to the rotating platform control instructions to realize the spraying of the toy; the monitoring instructions are sent to the monitoring device, so that the monitoring device obtains the image information of the corresponding position in the spraying work according to the monitoring instructions, and determines whether the toy spraying is abnormal according to the image information. Since the present application determines the spraying strategy for the target toy according to the model data of the three-dimensional toy model, and the spraying strategy is the best after simulation verification, the generated manipulator control instructions, the rotating platform control instructions, and the monitoring instructions obtained by the spraying strategy can realize the control and monitoring of the toy spraying, so that the efficiency and effect of the toy spraying can be improved through the present application.

[0090] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0091] In one embodiment, a monitoring and control system for a toy oil spraying device is provided, the system comprising: a toy oil spraying device, a monitoring device, and a control device; the monitoring device and the control device are connected to the toy oil spraying device, and are used to detect and control the toy oil spraying device respectively; the toy oil spraying device comprises a plurality of paint spraying manipulators, a cleaning manipulator, a paint spraying rotating platform, and a cleaning rotating platform, and the control device corresponds one to one with the method in the above embodiment. Figure 3 As shown, the functional modules of the control device are described in detail as follows:

[0092] A generating module 31 is used to scan a target toy and generate a three-dimensional toy model corresponding to the target toy;

[0093] An acquisition module 32 is used to acquire model data of the three-dimensional toy model, wherein the model data includes the color types of the target toy and the position areas corresponding to each color type and the proportion of the position areas;

[0094] A determination module 33 is used to determine a spraying strategy for a target toy according to the model data of the three-dimensional toy model, wherein the spraying strategy includes a toy spraying method and a corresponding toy coating method, wherein the toy spraying method includes a spraying color and a spraying area of ​​each spraying manipulator, and a spraying distance and a spraying angle corresponding to a spraying path in the spraying area;

[0095] The acquisition module 32 is further used to perform spraying simulation on the three-dimensional toy model according to each spraying strategy, and obtain the spraying result corresponding to each spraying strategy;

[0096] A sending module 34, used for sending the spraying strategy with the best spraying result to the toy spraying device and the monitoring device;

[0097] The generating module 31 is further used to generate a manipulator control instruction and a rotating platform control instruction according to the spraying strategy with the best spraying result; and to generate a monitoring instruction according to the manipulator control instruction and the rotating platform control instruction;

[0098] The sending module 34 is also used to send the manipulator control instruction and the rotating platform control instruction to the toy spraying device, so that the paint spraying manipulator in the toy spraying device controls the operation of the paint spraying manipulator and the cleaning manipulator according to the manipulator control instruction; the cleaning manipulator in the toy spraying device controls the rotation of the paint spraying rotating platform and the cleaning rotating platform according to the rotating platform control instruction, so as to realize the spraying work on the toy;

[0099] The sending module 34 is further used to send the monitoring instruction to the monitoring device, so that the monitoring device obtains the image information of the corresponding position during the spraying work according to the monitoring instruction;

[0100] The determination module 33 is further used to determine whether there is any abnormality in the toy painting based on the image information.

[0101] In an optional embodiment provided by the present invention, the determination module 33 is specifically configured to:

[0102] Determine the number of paint spraying manipulators involved in the spraying work in the toy spraying device and the toy spraying mode corresponding to each paint spraying manipulator based on the color types of the target toy, the position areas corresponding to each color type, and the proportion of the position areas;

[0103] Determine the painting manipulators that participate in the spraying work and at least one toy coating and the order of each toy coating according to the spraying area of ​​the toy spraying mode of the painting manipulators that participate in the spraying work;

[0104] The toy spraying method of the painting robot involved in the spraying work and the order of coating each toy are determined as the spraying strategy for the target toy.

[0105] In an optional embodiment provided by the present invention, the determination module 33 is specifically configured to:

[0106] Acquire the color types and position areas whose proportion of the position areas is greater than a preset value, and the color types and position areas whose proportion of the position areas is less than or equal to the preset value;

[0107] Determine a first toy painting method based on the color types and position areas whose proportion of the position areas is greater than a preset value, and determine a second toy painting method based on the color types and position areas whose proportion of the position areas is less than or equal to the preset value;

[0108] The spraying distance and the spraying angle corresponding to the spraying path in the spraying area in the corresponding toy spraying method are determined by the size of the position area and the boundary position in the first toy spraying method and the second toy spraying method.

[0109] In an optional embodiment provided by the present invention, the determination module 33 is specifically configured to:

[0110] Acquire that at least two position surfaces in the first toy spraying mode and the second toy spraying mode belong to different position areas;

[0111] According to the toy spraying modes corresponding to at least two position surfaces belonging to different position areas, the paint spraying manipulators simultaneously participating in the spraying work and at least one toy coating and the order of each toy coating are determined.

[0112] In an optional embodiment provided by the present invention, the determination module 33 is specifically configured to:

[0113] Determine the painting manipulators of the toy spraying mode corresponding to the at least two position surfaces belonging to different position areas as the painting manipulators participating in the spraying work simultaneously;

[0114] The toy coating and the coating sequence of each toy are determined according to the position areas sprayed simultaneously by the paint spraying robots simultaneously participating in the spraying work.

[0115] In an optional embodiment provided by the present invention, the determination module 33 is specifically configured to:

[0116] Calculate the sum of the area of ​​the positions sprayed simultaneously;

[0117] The sum of the areas of all regions is sorted, and the toy coating and the order of each toy coating are determined according to the positions of the same spraying in the sorting results from large to small.

[0118] In an optional embodiment provided by the present invention, the generating module 31 is specifically used for:

[0119] According to the toy spraying method in the spraying strategy with the best spraying result, the manipulator control instructions of the corresponding painting manipulator and the rotating platform control instructions are determined.

[0120] In an optional embodiment provided by the present invention, the determination module 33 is specifically configured to:

[0121] The image information is input into an anomaly detection model to predict an anomaly detection result of the toy spraying.

[0122] In an optional embodiment provided by the present invention, the determination module 33 is specifically configured to:

[0123] Input the image information into an anomaly detection model to obtain a multi-level convolution feature map, and perform an alignment operation on the multi-level convolution feature map to transform its spatial size to be consistent with the input image size;

[0124] Performing a spatial convolution filtering operation on the aligned multi-level convolution feature map, and fusing the multi-level convolution feature map to obtain a multi-scale feature fusion map;

[0125] The abnormal detection result of the toy spraying is predicted based on the multi-scale feature fusion map.

[0126] For the specific definition of the control device, please refer to the definition of the method above, which will not be repeated here. Each module in the above control device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0127] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0128] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A monitoring and control system for a toy fuel injection device, characterized in that: The system comprises: a toy oil spraying device, a monitoring device, and a control device; the monitoring device and the control device are connected to the toy oil spraying device, and are used to detect and control the toy oil spraying device respectively; the toy oil spraying device comprises a plurality of paint spraying manipulators, a cleaning manipulator, a paint spraying rotating platform, and a cleaning rotating platform, and the control device is used to execute: Scanning a target toy to generate a three-dimensional toy model corresponding to the target toy; and obtaining model data of the three-dimensional toy model, wherein the model data includes the color types of the target toy and the position areas corresponding to each color type and the proportion of the position areas; Determining a spraying strategy for a target toy according to the model data of the three-dimensional toy model, the spraying strategy including a toy spraying method and a corresponding toy coating method, the toy spraying method including a spraying color and a spraying area of ​​each spraying manipulator, and a spraying distance and a spraying angle corresponding to a spraying path in the spraying area; Perform spraying simulation on the three-dimensional toy model according to each spraying strategy, obtain the spraying result corresponding to each spraying strategy; and send the spraying strategy with the best spraying result to the toy spraying device and the monitoring device; Generate a manipulator control instruction and a rotating platform control instruction according to the spraying strategy with the best spraying result; and generate a monitoring instruction according to the manipulator control instruction and the rotating platform control instruction; The manipulator control instruction and the rotating platform control instruction are sent to the toy spraying device, so that the toy spraying device controls the operation of the painting manipulator and the cleaning manipulator according to the manipulator control instruction; the toy spraying device controls the rotation of the painting rotating platform and the cleaning rotating platform according to the rotating platform control instruction to realize the spraying work on the toy; Sending the monitoring instruction to the monitoring device, so that the monitoring device obtains image information of the corresponding position during the spraying work according to the monitoring instruction, and determines whether the toy spraying is abnormal according to the image information; The step of determining a spraying strategy for a target toy based on the model data of the three-dimensional toy model includes: The number of paint spraying manipulators involved in the spraying work in the toy spraying device and the toy spraying method corresponding to each paint spraying manipulator are determined based on the color types of the target toy, the position areas corresponding to each color type, and the proportion of the position areas, including: Acquire the color types and position areas whose proportion of the position areas is greater than a preset value, and the color types and position areas whose proportion of the position areas is less than or equal to the preset value; Determine a first toy painting method based on the color types and position areas whose proportion of the position areas is greater than a preset value, and determine a second toy painting method based on the color types and position areas whose proportion of the position areas is less than or equal to the preset value; Determine the spraying distance and spraying angle corresponding to the spraying path in the spraying area in the corresponding toy spraying method according to the size and boundary position of the position area in the first toy spraying method and the second toy spraying method; Determining the painting manipulators that are simultaneously involved in the spraying work and at least one toy coating and the order of each toy coating according to the spraying area of ​​the toy spraying mode of the painting manipulators that are involved in the spraying work, including: Acquire at least two position areas belonging to different position planes in the first toy spraying mode and the second toy spraying mode; According to toy spraying modes corresponding to at least two position areas belonging to different position surfaces, determining a spraying manipulator that simultaneously participates in the spraying work and at least one toy coating and the order of each toy coating, including: Determine the at least two paint spraying manipulators of the toy spraying mode corresponding to the position areas of different position planes as paint spraying manipulators participating in the spraying work simultaneously; Determine the toy coating and the order of coating each toy according to the position areas sprayed simultaneously by the paint spraying manipulators that simultaneously participate in the spraying work; The toy spraying method of the painting robot involved in the spraying work and the order of coating each toy are determined as the spraying strategy for the target toy.

2. The system according to claim 1, characterized in that The method of determining the toy coating and the order of coating each toy according to the position areas sprayed simultaneously by the paint spraying manipulators simultaneously participating in the spraying work comprises: Calculate the sum of the area of ​​the positions sprayed simultaneously; The sum of the areas of all regions is sorted, and the toy coating and the order of each toy coating are determined according to the locations of the same spraying in the sorting results from large to small.

3. The system according to claim 2, characterized in that The method of generating a manipulator control instruction and a rotating platform control instruction according to the optimal spraying strategy of the spraying result includes: According to the toy spraying method in the spraying strategy with the best spraying result, the manipulator control instructions of the corresponding painting manipulator and the rotating platform control instructions are determined.

4. The system according to any one of claims 1 to 3, characterized in that: The determining whether the toy spraying is abnormal according to the image information includes: The image information is input into an anomaly detection model to predict an anomaly detection result of the toy spraying.

5. The system according to claim 4, characterized in that The step of inputting the image information into an abnormality detection model to predict an abnormality detection result of the toy spraying includes: Input the image information into an anomaly detection model to obtain a multi-level convolution feature map, and perform an alignment operation on the multi-level convolution feature map to transform its spatial size to be consistent with the input image size; Performing a spatial convolution filtering operation on the aligned multi-level convolution feature map, and fusing the multi-level convolution feature map to obtain a multi-scale feature fusion map; The abnormal detection result of the toy spraying is predicted based on the multi-scale feature fusion map.

6. A monitoring and control method for a toy oil spraying device, the method being implemented based on the monitoring and control system according to claim 1, characterized in that: The method comprises: Scanning a target toy to generate a three-dimensional toy model corresponding to the target toy; and obtaining model data of the three-dimensional toy model, wherein the model data includes the color types of the target toy and the position areas corresponding to each color type and the proportion of the position areas; Determining a spraying strategy for a target toy according to the model data of the three-dimensional toy model, the spraying strategy including a toy spraying method and a corresponding toy coating method, the toy spraying method including a spraying color and a spraying area of ​​each spraying manipulator, and a spraying distance and a spraying angle corresponding to a spraying path in the spraying area; Perform spraying simulation on the three-dimensional toy model according to each spraying strategy, obtain the spraying result corresponding to each spraying strategy; and send the spraying strategy with the best spraying result to the toy spraying device and the monitoring device; Generate a manipulator control instruction and a rotating platform control instruction according to the spraying strategy with the best spraying result; and generate a monitoring instruction according to the manipulator control instruction and the rotating platform control instruction; The manipulator control instruction and the rotating platform control instruction are sent to the toy spraying device, so that the toy spraying device controls the operation of the painting manipulator and the cleaning manipulator according to the manipulator control instruction; the toy spraying device controls the rotation of the painting rotating platform and the cleaning rotating platform according to the rotating platform control instruction to realize the spraying work on the toy; The monitoring instruction is sent to the monitoring device, so that the monitoring device obtains image information of the corresponding position during the spraying work according to the monitoring instruction, and determines whether the toy spraying is abnormal according to the image information.

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