Handheld teaching disorder spraying method and system based on visual guidance

Abstract

The invention relates to a handheld teaching disordered spraying method and system based on visual guidance, the system comprises a teaching room, a production conveying line, a visual identification system, a handheld teaching device, a spraying robot and an industrial personal computer, the teaching room is used for image acquisition of new product workpieces and offline teaching of disordered spraying tracks; the production conveying line is responsible for conveying and spraying workpieces to be sprayed, the visual recognition system is used for capturing the surface features of new product workpieces, and the handheld teaching device is used for teaching disordered spraying tracks through operators. And when a workpiece to be sprayed on the production conveying line is matched with an image template corresponding to the industrial personal computer product image database, a spraying program corresponding to the product track database is obtained, and finally automatic spraying operation is carried out according to offline teaching disordered spraying track data program control of the spraying robot. The handheld teaching technology and the intelligent spraying control logic are integrated, accurate guiding and instant adjusting of handheld spraying equipment are achieved, and the intelligent spraying control system is suitable for efficient coating operation of various complex surfaces.

Description

Technical Field

[0001] The invention relates to the technical field of automatic spraying, in particular to a handheld teaching disordered spraying method and system based on visual guidance. Background Art

[0002] With the vigorous development of science and technology in my country, the application of machine vision and industrial robots will become more and more extensive. The combination of industrial robots and machine vision can make spraying more intelligent. In addition to image recognition, industrial cameras can also extract surface features of workpieces in the field of industrial control, thus providing a basis for automatic spraying and spraying path planning; Traditional spraying of complex or irregular workpieces requires debugging by professional mechanical engineers, and spraying can be performed after debugging the trajectory. This process is manual, and the noise and dust it brings are harmful to the human body. It is difficult to guarantee the spraying process and quality, and there is a large waste of spraying materials, which affects the cost control of enterprises. At the same time, the paint used in spraying operations often contains harmful substances, which can easily threaten human health and the surrounding environment. It is imperative to replace manual automatic spraying with machines. A major challenge facing traditional spraying processes is how to efficiently and evenly coat complex or irregular surfaces, and existing handheld spraying equipment mainly relies on the operator's experience and technology, and it is difficult to guarantee the quality and consistency of coating. Therefore, the market urgently needs an intelligent and easy-to-use solution to meet the needs of diversified industrial production. Summary of the invention

[0003] In view of the above problems, the present invention provides a handheld teaching method and system for disordered spraying based on vision guidance, which integrates handheld teaching technology with intelligent spraying control logic and is suitable for efficient painting operations on various complex surfaces.

[0004] The technical solution adopted by the present invention to solve the above technical problems is: a handheld teaching disordered spraying method based on visual guidance, which specifically includes the following steps: S1, data collection and storage in the teaching room: complete the data collection of new product workpiece images and disordered spraying trajectories in the teaching room and store them in the industrial computer product image database and product trajectory database respectively; S101, user operation, the operator hangs the new product workpiece on the simulated conveyor line in the teaching room to simulate the workpiece conveying process on the actual production conveyor line; S102, grating triggering and data collection in the teaching room, starting the simulated conveyor line, grating triggering industrial camera to take pictures and synchronously track to perform disordered spraying, new product workpiece image collection to generate new product model template and store it in the product image database, at the same time, manual handheld simulated spraying teaching gun is used for offline teaching to generate new product trajectory teaching template and store it in the product trajectory database; S2, task order generation, select the products to be produced on the day from the product database of the industrial computer in the teaching room, and generate task orders based on production planning and inventory status; S3, workpiece identification and spraying on the production conveyor line. The surface features of the workpiece to be sprayed on the production conveyor line are captured by an industrial camera to generate a workpiece template and match the template with the task order. If the match is successful, the workpiece template number is generated and the spraying robot performs disorderly spraying in sequence. If the match fails, the workpiece template is taped out.

[0005] Preferably, the step S102 specifically includes the following steps: S102-1, new product workpiece image acquisition, when the grating detects the new product workpiece, it triggers the industrial camera in the teaching room to take pictures and capture the surface features of the workpiece. Subsequently, the pictures taken by the industrial camera are analyzed by the image processing algorithm to extract key feature points, generate a new product model template, and automatically compile and store it in the product image database of the product database of the industrial computer in the teaching room; S102-2, synchronous tracking and trajectory teaching of the conveyor line. When the new product workpiece moves with the simulated conveyor line to the spraying area of ​​the spray robot, the operator holds a simulated spray teaching gun that matches the spray robot and performs offline teaching of disordered spraying trajectories on the surface of the new product workpiece. At the same time, during the teaching process, the trajectory information recorded by the simulated spray teaching gun is transmitted to the industrial computer in real time to generate a trajectory teaching template for the new product workpiece, and is automatically numbered and stored in the product trajectory database in the product database of the industrial computer in the teaching room.

[0006] Preferably, the step S3 specifically includes the following steps: S301, user operation, the operator hangs the workpiece to be sprayed on the production conveyor line and prepares for the spraying operation; S302, grating triggering and synchronous tracking spraying. When the grating detects the workpiece to be sprayed, it triggers the industrial camera on the production conveyor line to take pictures, capture the surface features of the workpiece, and collect images. Subsequently, the industrial computer generates a workpiece template with the captured image and matches it with the new product model template in the task order provided by the teaching room to confirm the workpiece model and spraying requirements. After the match is successful, the spraying robot performs disorderly spraying on the workpiece to be sprayed according to the corresponding trajectory teaching template combined with real-time visual feedback. If the match fails, the workpiece template is taped out.

[0007] Preferably, the task order includes the model, quantity and spraying requirements of the workpiece to be sprayed.

[0008] The present invention also provides a handheld teaching disordered spraying system based on vision guidance, the system includes a teaching room, a production conveyor line, a visual recognition system, a handheld teaching device, a spraying robot and an industrial computer, the teaching room is used for image acquisition of new product workpieces and offline teaching of disordered spraying trajectories, the production conveyor line is responsible for the transportation and spraying of the workpieces to be sprayed, the visual recognition system is used to capture the surface features of the new product workpieces, the handheld teaching device teaches the spraying trajectory in an intuitive manner by the operator, the workpieces to be sprayed on the production conveyor line are matched to the image template corresponding to the product image database according to the image acquired by the visual recognition system, and the spraying program corresponding to the product trajectory database is obtained, and finally the automatic spraying operation is performed according to the spray robot's offline teaching disordered spraying trajectory data program control, the industrial computer serves as the control center of the entire system, and is responsible for data processing and task scheduling.

[0009] Preferably, the visual recognition system adopts an industrial camera to take pictures, and the handheld teaching device is a simulated spray teaching gun.

[0010] Compared with the prior art, the present invention has the following beneficial effects: 1. The handheld teaching method of random spraying based on visual guidance combines the flexibility of handheld teaching with the accuracy of visual guidance, and realizes efficient and accurate spraying of complex-shaped object surfaces. The operator conducts the initial random spraying teaching with a handheld spray gun, and the system captures and records the random spraying trajectory in real time, while using a high-resolution camera and advanced image processing algorithms to perform three-dimensional reconstruction of the target object. On this basis, the handheld teaching technology is integrated with the intelligent spraying control logic, realizing the precise guidance and instant adjustment of the handheld spraying equipment, which is suitable for efficient coating operations on various complex surfaces.

[0011] 2. The present invention uses a handheld teaching device, so that operators can teach the spraying trajectory intuitively and flexibly, which greatly simplifies the complexity of traditional programming and improves the teaching efficiency; 3. The present invention can achieve efficient matching. Through template matching technology, it can quickly identify the workpiece model and spraying requirements, ensuring that the spraying task can be performed accurately and efficiently on the production conveyor line; 4. All teaching data and production tasks of the present invention are stored in the industrial computer, which is convenient for data management and traceability, and also provides data support for subsequent optimization and upgrading; 5. Traditional spraying operations require a lot of manual participation, which is not only labor-intensive, but also greatly affected by human factors in the quality of spraying. The visually guided handheld teaching spraying robot was able to automatically complete the spraying task, reducing dependence on skilled workers and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1It is a flow chart of the handheld teaching disordered spraying method based on vision guidance of the present invention; Figure 2 It is a system topology diagram of the handheld teaching disordered spraying method based on vision guidance of the present invention. DETAILED DESCRIPTION

[0013] The following will be combined Figure 1-2 The present invention is described in detail. The exemplary embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0014] A handheld teaching disordered spraying method based on vision guidance specifically comprises the following steps: S1, data collection and storage in the teaching room: complete the data collection of new product workpiece images and disordered spraying trajectories in the teaching room and store them in the industrial computer product image database and product trajectory database respectively; S101, user operation, the operator hangs the new product workpiece on the simulated conveyor line in the teaching room to simulate the workpiece conveying process on the actual production conveyor line. This step ensures that the data collected subsequently can truly reflect the production environment; S102, grating triggering and data acquisition in the teaching room, starting the simulated conveyor line, grating triggering industrial camera to take pictures and synchronously track to perform disordered spraying, new product workpiece image acquisition to generate new product model template and store it in the product image database, while manually holding the simulated spraying teaching gun for offline teaching to generate new product trajectory teaching template and store it in the product trajectory database; the system supports disordered spraying, can adapt to workpieces with complex shapes and diverse spraying requirements, and improve the flexibility and adaptability of spraying; Specifically, the specific implementation steps of step S102 are as follows: S102-1, new product workpiece image acquisition. When the grating detects the new product workpiece, it triggers the industrial camera in the teaching room to take pictures and capture the surface features of the workpiece. Subsequently, the pictures taken by the industrial camera are analyzed by the image processing algorithm to extract key feature points, generate new product model templates, and automatically compile and store them in the product image database in the product database of the industrial computer in the teaching room, providing a basis for subsequent template matching; S102-2, synchronous tracking and trajectory teaching of the conveyor line. When the new product workpiece moves with the simulated conveyor line to the spraying area of ​​the spray robot, the operator holds a simulated spray teaching gun that matches the spray robot and performs offline teaching of disordered spraying trajectories on the surface of the new product workpiece. At the same time, during the teaching process, the trajectory information recorded by the simulated spray teaching gun is transmitted to the industrial computer in real time to generate a trajectory teaching template for the new product workpiece, and is automatically numbered and stored in the product trajectory database in the product database of the industrial computer in the teaching room. This process ensures the flexibility and accuracy of the spraying trajectory.

[0015] S2, task order generation, select the products to be produced on the day from the product database of the industrial computer in the teaching room, and generate task orders based on production planning and inventory conditions. The task orders contain information such as the model, quantity, and spraying requirements of the workpiece to be sprayed, ensuring that the production line can produce according to demand and improve production efficiency; S3, workpiece identification and spraying on the production conveyor line. The surface features of the workpiece to be sprayed on the production conveyor line are captured by an industrial camera to generate a workpiece template and match the template with the task order. If the match is successful, the workpiece template number is generated and the spraying robot performs disorderly spraying in sequence. If the match fails, the workpiece template is taped out.

[0016] Specifically, step S3 includes the following steps: S301, user operation, the operator hangs the workpiece to be sprayed on the production conveyor line and prepares for the spraying operation; S302, grating triggering and synchronous tracking spraying. When the grating detects the workpiece to be sprayed, it triggers the industrial camera on the production conveyor line to take pictures, capture the surface features of the workpiece, and collect images. Subsequently, the industrial computer generates a workpiece template from the captured image and matches it with the new product model template in the task order provided by the teaching room to confirm the workpiece model and spraying requirements. After the match is successful, the spraying robot sprays the workpiece to be sprayed in a disorderly manner according to the corresponding trajectory teaching template and real-time visual feedback. If the match fails, the workpiece template is taped out. Efficient matching is performed through template matching technology, and the workpiece model and spraying requirements are quickly identified to ensure that the spraying task can be performed accurately and efficiently on the production conveyor line.

[0017] The present invention also provides a handheld teaching disordered spraying system based on visual guidance, which includes a teaching room, a production conveyor line, a visual recognition system, a handheld teaching device, a spraying robot and an industrial computer. The teaching room is used for image acquisition of new product workpieces and offline teaching of disordered spraying trajectories. The production conveyor line is responsible for the transportation and spraying of the workpieces to be sprayed. The visual recognition system is used to capture the surface features of the new product workpieces. In the present invention, the visual recognition system uses an industrial camera to take pictures and uses advanced visual recognition technology to achieve accurate capture of the surface features of the workpiece, providing a basis for the precise positioning of the spraying trajectory. The handheld teaching device teaches the spraying trajectory in an intuitive way through the operator, and specifically uses a simulated spraying teaching gun for offline teaching, which greatly simplifies the complexity of traditional programming and improves efficiency. The workpiece to be sprayed on the production conveyor line is matched to the image template corresponding to the product image database according to the image collected by the visual recognition system, and the spraying program corresponding to the product trajectory database is obtained. Finally, the automatic spraying operation is performed according to the spray robot offline teaching disordered spraying trajectory data program control. The industrial computer is the control center of the entire system and is responsible for data processing and task scheduling. All teaching data and production tasks are stored in the industrial computer, which facilitates data management and traceability, and also provides data support for subsequent optimization and upgrades.

[0018] The present invention proposes a handheld teaching method for random spraying based on visual guidance, which combines the flexibility of handheld teaching with the accuracy of visual guidance, and realizes efficient and accurate spraying on the surface of objects with complex shapes. The operator conducts the initial random spraying teaching with a handheld spray gun, and the system captures and records the random spraying trajectory in real time, while using a high-resolution camera (i.e., an industrial camera) and advanced image processing algorithms to perform three-dimensional reconstruction of the target object. On this basis, the handheld teaching technology is integrated with the intelligent spraying control logic, realizing the precise guidance and instant adjustment of the handheld spraying equipment, which is suitable for efficient coating operations on various complex surfaces.

[0019] The technical solutions provided by the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the embodiments of the present invention. The description of the above embodiments is only applicable to help understand the principles of the embodiments of the present invention. At the same time, for those skilled in the art, according to the embodiments of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A handheld teaching method for disordered spraying based on visual guidance, characterized in that: The specific steps include: S1, data collection and storage in the teaching room: complete the data collection of new product workpiece images and disordered spraying trajectories in the teaching room and store them in the industrial computer product image database and product trajectory database respectively; S101, user operation, the operator hangs the new product workpiece on the simulated conveyor line in the teaching room to simulate the workpiece conveying process on the actual production conveyor line; S102, grating triggering and data collection in the teaching room, starting the simulated conveyor line, grating triggering industrial camera to take pictures and synchronously track to perform disordered spraying, new product workpiece image collection to generate new product model template and store it in the product image database, at the same time, manual handheld simulated spraying teaching gun is used for offline teaching to generate new product trajectory teaching template and store it in the product trajectory database; S2, task order generation, select the products to be produced on the day from the product database of the industrial computer in the teaching room, and generate task orders based on production planning and inventory status; S3, workpiece identification and spraying on the production conveyor line. The surface features of the workpiece to be sprayed on the production conveyor line are captured by an industrial camera to generate a workpiece template and match the template with the task order. If the match is successful, the workpiece template number is generated and the spraying robot performs disorderly spraying in sequence. If the match fails, the workpiece template is taped out.

2. The handheld teaching method for random spraying based on visual guidance according to claim 1 is characterized in that: The step S102 specifically includes the following steps: S102-1, new product workpiece image acquisition, when the grating detects the new product workpiece, it triggers the industrial camera in the teaching room to take pictures and capture the surface features of the workpiece. Subsequently, the pictures taken by the industrial camera are analyzed by the image processing algorithm to extract key feature points, generate a new product model template, and automatically compile and store it in the product image database of the product database of the industrial computer in the teaching room; S102-2, synchronous tracking and trajectory teaching of the conveyor line. When the new product workpiece moves with the simulated conveyor line to the spraying area of ​​the spray robot, the operator holds a simulated spray teaching gun that matches the spray robot and performs offline teaching of disordered spraying trajectories on the surface of the new product workpiece. At the same time, during the teaching process, the trajectory information recorded by the simulated spray teaching gun is transmitted to the industrial computer in real time to generate a trajectory teaching template for the new product workpiece, and is automatically numbered and stored in the product trajectory database in the product database of the industrial computer in the teaching room.

3. The handheld teaching method for random spraying based on vision guidance according to claim 1 is characterized in that: The step S3 specifically The following steps are included: S301, user operation, the operator hangs the workpiece to be sprayed on the production conveyor line and prepares for the spraying operation; S302, grating triggering and synchronous tracking spraying. When the grating detects the workpiece to be sprayed, it triggers the industrial camera on the production conveyor line to take pictures, capture the surface features of the workpiece, and collect images. Subsequently, the industrial computer generates a workpiece template with the captured image and matches it with the new product model template in the task order provided by the teaching room to confirm the workpiece model and spraying requirements. After the match is successful, the spraying robot performs disorderly spraying on the workpiece to be sprayed according to the corresponding trajectory teaching template combined with real-time visual feedback. If the match fails, the workpiece template is taped out.

4. The handheld teaching method for random spraying based on visual guidance according to claim 1 is characterized in that: The task order includes the model, quantity and spraying requirements of the workpiece to be sprayed.

5. A handheld teaching disordered spraying system based on visual guidance, characterized in that: The system includes a teaching room, a production conveyor line, a visual recognition system, a handheld teaching device, a spraying robot and an industrial computer. The teaching room is used for image acquisition of new product workpieces and offline teaching of disordered spraying trajectories. The production conveyor line is responsible for the transportation and spraying of the workpieces to be sprayed. The visual recognition system is used to capture the surface features of new product workpieces. The handheld teaching device teaches the spraying trajectory in an intuitive manner through the operator. The workpieces to be sprayed on the production conveyor line are matched to the image templates corresponding to the product image database according to the images acquired by the visual recognition system, and the spraying program corresponding to the product trajectory database is obtained. Finally, automatic spraying operations are performed according to the program control of the disordered spraying trajectory data taught by the spray robot offline. The industrial computer serves as the control center of the entire system and is responsible for data processing and task scheduling.

6. The handheld teaching random spraying system based on vision guidance according to claim 5 is characterized in that: The visual recognition system adopts an industrial camera to take pictures, and the handheld teaching device is a simulated spray teaching gun.

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