Intelligent robot control method and system for spraying automobile covering parts

Abstract

The present invention provides an intelligent robot control method and system for spraying automobile covering parts, wherein the control method includes: analyzing and positioning the real-time scanning model of the automobile covering parts to be sprayed through the scanning module according to the three-dimensional model of the automobile covering parts to be sprayed input in advance; controlling the spraying end movement of the intelligent robot according to the control parameters associated with the three-dimensional model; in the process of controlling the movement of the spraying end, performing image acquisition of the sprayed area through the real-time sampling module; analyzing and identifying the acquired image to determine the correction parameters; and correcting the control parameters of the spraying end according to the correction parameters. The present invention performs real-time scanning and positioning of the automobile covering parts to be sprayed, and then performs spraying control according to the control parameters associated with the three-dimensional model input in advance that participates in the positioning, and is suitable for small and medium-sized enterprises to meet the needs of sample vehicles and small batches.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robot control, and in particular to an intelligent robot control method and system for spraying automobile covering parts. Background Art

[0002] Automobile covering parts refer to the spatially shaped surface or internal parts made of metal sheets that cover the engine, chassis, and constitute the cab and body.

[0003] The manufacture of automotive panels directly affects the cost of the new model development cycle. However, due to the long production cycle and the high cost of major domestic technologies, it is difficult to meet the needs of prototype trial production and small-batch production. The biggest demand of customers is to develop robots that meet the needs of spraying operations at a low price, but it is too expensive for small and medium-sized enterprises to transform existing production lines into standard industrial assembly lines. Therefore, without changing the working environment, a highly applicable intelligent robot control method and system for spraying automotive panels is continued to be developed to meet the needs of small and medium-sized enterprises to cope with prototype samples and small batch generation. Summary of the invention

[0004] One of the purposes of the present invention is to provide an intelligent robot control method and system for spraying automobile covering parts. The method and system perform real-time scanning and positioning of the automobile covering parts to be sprayed, and then perform spraying control according to control parameters associated with a pre-input three-dimensional model involved in positioning, thereby achieving precise control of the spraying end. Spraying is performed after identification and positioning, which is suitable for small and medium-sized enterprises to meet the needs of sample vehicles and small batch production.

[0005] An embodiment of the present invention provides an intelligent robot control method and system for spraying automobile covering parts, comprising:

[0006] Analyze and locate the real-time scan model of the automobile cover to be sprayed by the scanning module according to the three-dimensional model of the automobile cover to be sprayed input in advance;

[0007] According to the control parameters associated with the three-dimensional model, the spraying end action of the intelligent robot is controlled;

[0008] In the process of controlling the movement of the spraying end, the real-time sampling module is used to collect images of the sprayed area;

[0009] Analyze and identify the collected images and determine the correction parameters;

[0010] According to the correction parameters, the control parameters at the end of the spraying are corrected.

[0011] Preferably, the control parameters include: the initial position of the spraying end, the moving path of the spraying end, the moving speed, moving direction, spraying amount and spraying discharge speed of the spraying end at each spraying point on the moving path, or one or more combinations thereof.

[0012] Preferably, the step of analyzing and positioning includes:

[0013] According to the positional relationship between each positioning mark in the three-dimensional model and the positional relationship between each positioning mark in the real-time scanning model, each positioning mark in the three-dimensional model is associated with each positioning mark in the real-time scanning model in a one-to-one correspondence;

[0014] The automobile panel to be painted is positioned according to the associated positioning marks.

[0015] Preferably, analyzing and identifying the collected images to determine the correction parameters includes:

[0016] According to the moving path of the spray end, the analysis axis is constructed;

[0017] According to the set position relationship between the spray end and the real-time sampling module, the position of the collected image on the analysis axis is located and the positioning point is determined;

[0018] Segment the image and associate the segmented image with each mapping point;

[0019] When there is a mapping point in the analysis axis where the segmented images are collected, all the segmented images associated with the mapping point are arranged in time sequence and spliced ​​to form an analysis image;

[0020] Analyze the analysis image and obtain the correction parameters.

[0021] Preferably, the steps of constructing the analysis axis are as follows:

[0022] Map the moving path of the spraying end onto the three-dimensional model to obtain the mapping path;

[0023] The analysis axis is constructed by sequentially connecting the mapping points corresponding to each spraying point on the mapping path.

[0024] Preferably, analyzing the analysis image to obtain the correction parameters includes:

[0025] Obtaining control parameters of the spraying end when analyzing the mapping points corresponding to the image and extracting the effect graph corresponding to the control parameters from the pre-configured effect graph;

[0026] Performing feature extraction on the analysis image and the effect image respectively to obtain a plurality of first feature values ​​and a plurality of second feature values;

[0027] constructing an analysis data set using a plurality of first eigenvalues, a control parameter, and a plurality of second eigenvalues;

[0028] According to the analysis data set, the corresponding deviation analysis results are retrieved from the pre-configured analysis library;

[0029] According to the deviation analysis result, the correction parameters are retrieved from the correction parameter library corresponding to the spraying point where the pre-configured spraying end is located.

[0030] Preferably, the determination of whether each mapping point in the analysis axis has completed the collection of the segmented image is as follows:

[0031] Determine the sliding point corresponding to the end of spraying;

[0032] Determine the mapping area corresponding to the sliding point on the analysis axis according to the current control parameters and the pre-configured spray area size determination table;

[0033] As the sliding point slides on the analysis axis, it is determined that the mapping point completes the collection of the segmented image when the mapping point is just removed from the mapping area.

[0034] The present invention also provides an intelligent robot control system for spraying automobile covering parts, comprising: a positioning module, a control module and an analysis and correction module; wherein the positioning module analyzes and positions the real-time scanning model of the automobile covering part to be sprayed by the scanning module according to the three-dimensional model of the automobile covering part to be sprayed input in advance; the control module controls the spraying end movement of the intelligent robot according to the control parameters associated with the three-dimensional model; the analysis and correction module, in the process of controlling the movement of the spraying end, collects images of the sprayed area through the real-time sampling module, analyzes and identifies the collected images, determines the correction parameters, and corrects the control parameters of the spraying end according to the correction parameters.

[0035] Preferably, the control parameters include: the initial position of the spraying end, the moving path of the spraying end, the moving speed, moving direction, spraying amount and spraying discharge speed of the spraying end at each spraying point on the moving path, or one or more combinations thereof.

[0036] Preferably, the positioning module performs the following operations:

[0037] According to the positional relationship between each positioning mark in the three-dimensional model and the positional relationship between each positioning mark in the real-time scanning model, each positioning mark in the three-dimensional model is associated with each positioning mark in the real-time scanning model in a one-to-one correspondence;

[0038] The automobile panel to be painted is positioned according to the associated positioning marks.

[0039] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0040] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0042] Figure 1 Schematic diagram of an intelligent robot control method for spraying automobile covering parts in an embodiment of the present invention;

[0043] Figure 2 is a schematic diagram of a real-time sampling module in an embodiment of the present invention;

[0044] Figure 3 The figure is a schematic diagram of an intelligent robot control system for spraying automobile covering parts in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0046] The embodiment of the present invention provides an intelligent robot control method for spraying automobile covering parts, such as Figure 1 As shown, including:

[0047] Step 1: Analyze and locate the real-time scan model of the automobile cover to be sprayed by the scanning module according to the three-dimensional model of the automobile cover to be sprayed input in advance;

[0048] The steps of analysis and positioning include: according to the positional relationship between each positioning mark in the three-dimensional model and the positional relationship between each positioning mark in the real-time scanning model, each positioning mark in the three-dimensional model is associated with each positioning mark in the real-time scanning model one by one; and the positioning of the automobile cover to be sprayed is realized according to the associated positioning marks. The three-dimensional model input in advance may not be unique. During the analysis and identification, the three-dimensional model and the real-time scanning model are analyzed and positioned in turn; the analysis and positioning is actually the type and position determination of the automobile cover; in the step of analysis and positioning, the association is performed according to the positional relationship, firstly the distance of each positioning mark relative to other positioning marks is calculated, and then the distances are arranged from large to small to form an associated data set; the similarity between the associated data set corresponding to each positioning mark in the three-dimensional model and the associated data set of each positioning mark in the real-time scanning model is calculated, and when the similarity is greater than a preset threshold (any value between 0.95 and 1), the two are associated; when all the positioning marks of the three-dimensional model and the scanning model are associated one by one, the type of the real-time scanning model can be determined by the type of the three-dimensional model; then the position of the real-time scanning model is determined according to the coordinates of the associated positioning mark points in their respective coordinate systems;

[0049] Step 2: Control the spraying end motion of the intelligent robot according to the control parameters associated with the three-dimensional model;

[0050] Each pre-input three-dimensional model has been analyzed and corresponding associated control parameters have been constructed; the associated control parameters are used to realize the motion control of the spraying end of the intelligent robot during the spraying process, so as to complete the spraying of the automobile cover to be sprayed; the specific use also requires that the coordinate-related parameters in the associated control parameters be converted according to the coordinates of the associated positioning mark points in their respective coordinate systems, and then entered into the coordinates of the real-time scanning model for use.

[0051] Step 3: While controlling the movement of the spraying end, the real-time sampling module is used to collect images of the sprayed area;

[0052] The real-time sampling module includes: an image acquisition device (camera) arranged on one side of the spraying end (the nozzle and the connecting tube above the nozzle). After the nozzle sprays, the camera takes an image to complete the image acquisition of the sprayed area.

[0053] Step 4: Analyze and identify the acquired images and determine the correction parameters;

[0054] The specific steps for determining the correction parameters are as follows: construct an analysis axis according to the moving path of the spray end; locate the position of the collected image on the analysis axis and determine the positioning point according to the set position relationship between the spray end and the real-time sampling module; segment the image and associate the segmented image with each mapping point; when there is a mapping point in the analysis axis where the segmented image is collected, all the segmented images mapped to the association are arranged in chronological order and spliced ​​to form an analysis image; analyze the analysis image to obtain the correction parameters.

[0055] Among them, the steps of constructing the analysis axis are as follows: map the moving path of the spraying end onto the three-dimensional model to obtain the mapping path; sequentially connect the mapping points corresponding to each spraying point on the mapping path to construct the analysis axis. After the analysis axis is constructed, a sliding point is set on the analysis axis, and the position of the sliding point on the analysis axis corresponds to the position of the spraying end corresponding to the moving path. Continuous spraying can be regarded as spraying at multiple spraying points on a line; the rule for segmenting the image is to segment the image with the midpoint on the moving path between two adjacent mapping points and the segmentation line perpendicular to the moving path, and associate the segmented image with the mapping points in the segmented image area;

[0056] Analyzing the analysis image and obtaining the correction parameters includes: obtaining the control parameters of the spray end at the mapping point corresponding to the analysis image and extracting the effect diagram corresponding to the control parameters from the pre-configured effect diagram; performing feature extraction on the analysis image and the effect diagram respectively to obtain multiple first eigenvalues ​​and multiple second eigenvalues; using the multiple first eigenvalues, the control parameters and the multiple second eigenvalues ​​to construct an analysis data set; based on the analysis data set, retrieving the corresponding deviation analysis results from a pre-configured analysis library; based on the deviation analysis results, retrieving the correction parameters from the correction parameter retrieval library corresponding to the spray point where the spray end is located in the pre-configured manner. Among them, the first eigenvalue or the second eigenvalue includes: a eigenvalue indicating the size of the spraying area in the area corresponding to each segmented image, a eigenvalue indicating whether there is a boundary of the spraying area in the area corresponding to each segmented image, and a eigenvalue indicating the position of the midpoint and two end points of the boundary of the spraying area in the area corresponding to each segmented image, etc.; the first eigenvalue, the control parameter and the second eigenvalue are arranged in order to form an analysis data set; the deviation analysis result and the analysis data set in the analysis library are associated one-to-one; the correction parameter retrieval library is also pre-configured, and the correction parameters in the library are associated one-to-one with the deviation analysis results, and the correction parameters include: spraying amount, spraying discharge speed, moving speed and moving direction, etc.;

[0057] Whether each mapping point in the analysis axis has completed the collection of the segmented image is determined as follows: determine the sliding point corresponding to the spraying end; determine the mapping area corresponding to the sliding point on the analysis axis based on the current control parameters and the pre-configured spraying area size determination table; as the sliding point slides on the analysis axis, determine that the mapping point has completed the collection of the segmented image when the mapping point is just removed from the mapping area.

[0058] Step 5: According to the correction parameters, correct the control parameters at the end of the spraying.

[0059] The real-time sampling module collects and analyzes images during the spraying process, and corrections are made based on this, thereby achieving control adjustments during the spraying process and further improving the accuracy and effectiveness of spraying control.

[0060] The control parameters include: the initial position of the spray tip, the moving path of the spray tip, the moving speed of the spray tip at each spray point on the moving path, the moving direction, the spraying amount, and the spraying discharge speed. The spraying discharge speed is the speed of the sprayed liquid.

[0061] In one embodiment, Figure 2As shown, the outer periphery of the connecting tube 11 of the spraying end is sleeved with an electrically controlled rotating ring 121, and a telescopic mechanism 122 is connected to one side of the electrically controlled rotating ring 121, and a real-time sampling module 12 is arranged at the end of the telescopic mechanism 122. By configuring the electrically controlled rotating ring 121 and the telescopic mechanism 122, the position of the spraying end and the real-time sampling module 12 can be adjusted to adapt to the real-time sampling correction work of the spraying end when it moves in various directions; and after the spraying end moves along the moving trajectory during the spraying process, the sampling module 12 can also move repeatedly on the moving trajectory, and the distance between the positioning point and the sliding point on the analysis axis can be adjusted by the telescopic mechanism 122. The specific adjustment method includes: according to the shortest vertical distance between the spraying end and the workpiece to be sprayed and the control parameters of the spraying end, the pre-configured spraying area size is queried. A small determination table (in which the radius of the spraying area corresponds to the shortest vertical distance and the control parameters at the end of the spraying) is used to construct a mapping area with the sliding point of the analysis axis as the center; the intersection of the mapping area and the analysis axis located behind the sliding point is used as the positioning point; the positional relationship between the current positioning point and the sliding point is determined (it can be represented by a direction vector pointing from the sliding point to the positioning point); the direction vector representing the positional relationship is used to query the pre-configured position adjustment table to determine the adjustment parameters of the electric control rotating ring and the telescopic mechanism and adjust them accordingly; wherein the adjustment parameters in the position adjustment table are associated with the direction vector in a one-to-one correspondence. wherein the positioning point corresponds to the center point of the captured image, so that it can be ensured that the regional images on one side of the image center point during the acquisition are all mapping points where the segmented image has been collected, and the other side is the mapping point where the segmented image has not been collected; it can effectively facilitate image segmentation association and improve the accuracy of image analysis.

[0062] The present invention also provides an intelligent robot control system for spraying automobile covering parts, such as Figure 3 As shown, it includes: a positioning module 1, a control module 2 and an analysis and correction module 3; wherein the positioning module 1 analyzes and locates the real-time scanning model of the automobile covering part to be sprayed through the scanning module according to the three-dimensional model of the automobile covering part to be sprayed input in advance; the control module 2 controls the spraying end movement of the intelligent robot according to the control parameters associated with the three-dimensional model; the analysis and correction module 3, in the process of controlling the movement of the spraying end, collects images of the sprayed area through the real-time sampling module, analyzes and identifies the collected images, determines the correction parameters, and corrects the control parameters of the spraying end according to the correction parameters.

[0063] Among them, the control parameters include: the initial position of the spraying end, the moving path of the spraying end, the moving speed, moving direction, spraying amount and spraying discharge speed of the spraying end at each spraying point on the moving path, or one or more combinations thereof.

[0064] The positioning module 1 performs the following operations:

[0065] According to the positional relationship between each positioning mark in the three-dimensional model and the positional relationship between each positioning mark in the real-time scanning model, each positioning mark in the three-dimensional model is associated with each positioning mark in the real-time scanning model in a one-to-one correspondence;

[0066] The automobile cover to be painted is positioned according to the associated positioning marks.

[0067] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An intelligent robot control method for spraying automobile covering parts, characterized in that: include: Analyze and locate the real-time scan model of the automobile cover to be sprayed by the scanning module according to the three-dimensional model of the automobile cover to be sprayed input in advance; According to the control parameters associated with the three-dimensional model, the spraying end action of the intelligent robot is controlled; In the process of controlling the movement of the spraying end, the real-time sampling module is used to collect images of the sprayed area; Analyze and identify the collected images and determine the correction parameters; According to the correction parameters, the control parameters at the end of spraying are corrected; Among them, an electric-controlled rotating ring is sleeved on the outer periphery of the connecting tube of the spraying end, a telescopic mechanism is connected to one side of the electric-controlled rotating ring, and a real-time sampling module is arranged at the end of the telescopic mechanism; by configuring the electric-controlled rotating ring and the telescopic mechanism, the position of the spraying end and the real-time sampling module can be adjusted to adapt to the real-time sampling correction work of the spraying end when it moves in various directions; and after the spraying end moves according to the moving trajectory during the spraying process, the real-time sampling module can also move repeatedly on the moving trajectory, and the distance between the positioning point and the sliding point on the analysis axis can be adjusted by the telescopic mechanism. The specific adjustment method includes: according to the shortest vertical distance between the spraying end and the workpiece to be sprayed and the control parameters of the spraying end, query the pre-configured spraying area size determination table, and construct a mapping area with the sliding point of the analysis axis as the center; take the intersection of the mapping area and the analysis axis located behind the sliding point as the positioning point; determine the positional relationship between the current positioning point and the sliding point; query the pre-configured position adjustment table with the direction vector representing the positional relationship, determine the adjustment parameters of the electric-controlled rotating ring and the telescopic mechanism and adjust them accordingly; wherein, the adjustment parameters in the position adjustment table are associated with the direction vector in a one-to-one correspondence; the positioning point corresponds to the center point of the captured image.

2. The intelligent robot control method for spraying automobile covering parts according to claim 1, characterized in that: The control parameters include: the initial position of the spraying end, the moving path of the spraying end, the moving speed, moving direction, spraying amount and spraying discharge speed of the spraying end at each spraying point on the moving path, or one or more combinations thereof.

3. The intelligent robot control method for spraying automobile covering parts according to claim 1, characterized in that: The steps of analysis and positioning include: According to the positional relationship between each positioning mark in the three-dimensional model and the positional relationship between each positioning mark in the real-time scanning model, each positioning mark in the three-dimensional model is associated with each positioning mark in the real-time scanning model in a one-to-one correspondence; The automobile cover to be painted is positioned according to the associated positioning marks.

4. The intelligent robot control method for spraying automobile covering parts according to claim 1, characterized in that: Analyze and identify the collected images and determine the correction parameters, including: According to the moving path of the spray end, the analysis axis is constructed; According to the set position relationship between the spray end and the real-time sampling module, the position of the collected image on the analysis axis is located and the positioning point is determined; Segment the image and associate the segmented image with each mapping point; When there is a mapping point in the analysis axis where the segmented images are collected, all the segmented images associated with the mapping point are arranged in time sequence and spliced ​​to form an analysis image; Analyze the analysis image and obtain the correction parameters.

5. The intelligent robot control method for spraying automobile covering parts according to claim 4, characterized in that: The steps to construct an analysis axis are as follows: Map the moving path of the spraying end onto the three-dimensional model to obtain the mapping path; The analysis axis is constructed by sequentially connecting the mapping points corresponding to each spraying point on the mapping path.

6. The intelligent robot control method for spraying automobile covering parts according to claim 4, characterized in that: Analyze the analysis image and obtain the correction parameters including: Obtaining control parameters of the spraying end when analyzing the mapping points corresponding to the image and extracting the effect graph corresponding to the control parameters from the pre-configured effect graph; Performing feature extraction on the analysis image and the effect image respectively to obtain a plurality of first feature values ​​and a plurality of second feature values; constructing an analysis data set using a plurality of first eigenvalues, a control parameter, and a plurality of second eigenvalues; According to the analysis data set, the corresponding deviation analysis results are retrieved from the pre-configured analysis library; According to the deviation analysis result, the correction parameters are retrieved from the correction parameter library corresponding to the spraying point where the pre-configured spraying end is located.

7. The intelligent robot control method for spraying automobile covering parts according to claim 4, characterized in that: The judgment of whether each mapping point in the analysis axis has completed the collection of the segmented image is as follows: Determine the sliding point corresponding to the end of spraying; Determine the mapping area corresponding to the sliding point on the analysis axis according to the current control parameters and the pre-configured spray area size determination table; As the sliding point slides on the analysis axis, it is determined that the mapping point completes the collection of the segmented image when the mapping point is just removed from the mapping area.

8. An intelligent robot control system for spraying automobile panels, characterized in that: include: A positioning module, a control module and an analysis and correction module; wherein the positioning module analyzes and locates the real-time scanning model of the automobile cover to be sprayed by the scanning module according to the three-dimensional model of the automobile cover to be sprayed input in advance; the control module controls the spraying end movement of the intelligent robot according to the control parameters associated with the three-dimensional model; the analysis and correction module, in the process of controlling the movement of the spraying end, collects images of the sprayed area through the real-time sampling module, analyzes and identifies the collected images, determines the correction parameters, and corrects the control parameters of the spraying end according to the correction parameters; Among them, an electric-controlled rotating ring is sleeved on the outer periphery of the connecting tube of the spraying end, a telescopic mechanism is connected to one side of the electric-controlled rotating ring, and a real-time sampling module is arranged at the end of the telescopic mechanism; by configuring the electric-controlled rotating ring and the telescopic mechanism, the position of the spraying end and the real-time sampling module can be adjusted to adapt to the real-time sampling correction work of the spraying end when it moves in various directions; and after the spraying end moves according to the moving trajectory during the spraying process, the real-time sampling module can also move repeatedly on the moving trajectory, and the distance between the positioning point and the sliding point on the analysis axis can be adjusted by the telescopic mechanism. The specific adjustment method includes: according to the shortest vertical distance between the spraying end and the workpiece to be sprayed and the control parameters of the spraying end, query the pre-configured spraying area size determination table, and construct a mapping area with the sliding point of the analysis axis as the center; take the intersection of the mapping area and the analysis axis located behind the sliding point as the positioning point; determine the positional relationship between the current positioning point and the sliding point; query the pre-configured position adjustment table with the direction vector representing the positional relationship, determine the adjustment parameters of the electric-controlled rotating ring and the telescopic mechanism and adjust them accordingly; wherein, the adjustment parameters in the position adjustment table are associated with the direction vector in a one-to-one correspondence; the positioning point corresponds to the center point of the captured image.

9. The intelligent robot control system for spraying automobile covering parts according to claim 8, characterized in that: The control parameters include: the initial position of the spraying end, the moving path of the spraying end, the moving speed, moving direction, spraying amount and spraying discharge speed of the spraying end at each spraying point on the moving path, or one or more combinations thereof.

10. The intelligent robot control system for spraying automobile covering parts according to claim 8, characterized in that: The positioning module performs the following operations: According to the positional relationship between each positioning mark in the three-dimensional model and the positional relationship between each positioning mark in the real-time scanning model, each positioning mark in the three-dimensional model is associated with each positioning mark in the real-time scanning model in a one-to-one correspondence; The automobile cover to be painted is positioned according to the associated positioning marks.

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