Spraying machine intelligent numerical control method, terminal equipment and storage medium

Abstract

The invention belongs to the technical field of computer processing, and particularly relates to an intelligent numerical control method for a spraying machine, terminal equipment and a storage medium. According to the method, the spraying mode with the highest pigment utilization degree is determined in a three-dimensional simulation mode, and a workpiece is sprayed in the mode; by means of the paint spraying device, complete spraying of the workpiece can be achieved with the minimum paint using amount, paint waste can be remarkably reduced, the spraying cost is greatly saved, the paint can fall on the area outside the workpiece as little as possible, and cleaning is facilitated.

Description

Technical Field

[0001] The present application belongs to the field of computer processing technology, and in particular, relates to an intelligent numerical control method for a spraying machine, a terminal device and a storage medium. Background Art

[0002] A sprayer is a machine used to spray liquids such as coatings, paints, varnishes, etc. evenly onto a surface. They are widely used in construction, car restoration, furniture manufacturing, industrial production, and other fields;

[0003] When existing sprayers are spraying workpieces, in order to ensure that the workpieces are completely sprayed, they often spray excessive amounts of paint. This spraying method will cause a large amount of paint waste, significantly increase the spraying cost, and cause a large amount of paint to fall onto areas outside the workpiece, which is not conducive to cleaning. Summary of the invention

[0004] In view of this, the embodiments of the present application provide an intelligent numerical control method for a sprayer, a terminal device and a storage medium, which can solve the above-mentioned technical problems.

[0005] A first aspect of an embodiment of the present application provides an intelligent numerical control method for a spraying machine, the intelligent numerical control method for a spraying machine comprising:

[0006] S1: Acquire sample images of the next batch of workpieces to be sprayed;

[0007] S2: Generate a three-dimensional workpiece model according to the sample image, and retrieve the corresponding nozzle model according to the nozzle model;

[0008] S3: Identify the unsprayed area on the three-dimensional workpiece model;

[0009] S4: mobilizing the nozzle model to perform simulated spraying on the unsprayed area several times, and calculating the pigment utilization corresponding to each simulated spraying, wherein each simulated spraying is to mobilize the nozzle model according to a spraying parameter to spray simulated pigment on the three-dimensional workpiece model, and the spraying parameter includes the relative position of the nozzle model with respect to the three-dimensional workpiece model, the spraying amount and the spraying pressure, and the spraying parameters of any two simulated spraying are not completely consistent;

[0010] S5: determining a simulated spraying with the highest pigment utilization rate from the plurality of simulated sprayings, displaying the simulated pigment sprayed by the simulated spraying on the three-dimensional workpiece model, and storing spraying parameters of the simulated spraying;

[0011] S6: re-identify the unsprayed area on the three-dimensional workpiece model, and execute steps S4 to S6 until there is no unsprayed area on the three-dimensional workpiece model;

[0012] S7: Arrange the stored spraying parameters in the order of storage to obtain a first sequence;

[0013] S8: When performing actual spraying on any workpiece in the batch of workpieces, the spray head is adjusted one by one according to each spraying parameter to perform actual spraying on the workpiece in the order of the first sequence.

[0014] A second aspect of the embodiment of the present application provides a terminal device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the intelligent numerical control method for a spraying machine;

[0015] A third aspect of the embodiment of the present application provides a storage medium, wherein a computer program is stored on the storage medium, and when the computer program is executed by a processor, the processor executes the steps of the spraying machine intelligent numerical control method.

[0016] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the method provided by the present invention comprises obtaining sample images of the next batch of workpieces to be sprayed; generating a three-dimensional workpiece model based on the sample images, and calling a corresponding nozzle model based on the nozzle model; identifying an unsprayed area on the three-dimensional workpiece model; mobilizing the nozzle model to perform several simulated spraying on the unsprayed area, and calculating the pigment utilization corresponding to each simulated spraying; determining a simulated spraying with the highest pigment utilization from the several simulated sprayings, displaying the simulated pigment sprayed by the simulated spraying on the three-dimensional workpiece model, and storing the spraying parameters of the simulated spraying; re-identifying the unsprayed area on the three-dimensional workpiece model, and executing the above The steps are performed until there is no unsprayed area in the three-dimensional workpiece model; the stored spraying parameters are arranged in the order of storage to obtain a first sequence; when actually spraying any workpiece in the batch of workpieces, the nozzle is mobilized one by one according to each spraying parameter in the order of the first sequence to actually spray the workpiece; in the present application, the spraying method with the highest pigment utilization is determined by three-dimensional simulation, and the workpiece is sprayed in this way, that is, the complete spraying of the workpiece can be achieved with the least possible amount of pigment, which can significantly reduce the waste of pigment, greatly save the spraying cost, and make the pigment fall as little as possible on the area outside the workpiece, which is conducive to cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 It is a schematic diagram of the implementation process of the intelligent numerical control method for a spraying machine provided in an embodiment of the present application;

[0019] Figure 2 It is a schematic diagram of the implementation environment of the intelligent numerical control method for a spraying machine provided in an embodiment of the present application;

[0020] Figure 3 It is a schematic diagram of simulated spraying of the intelligent numerical control method for a spraying machine provided in an embodiment of the present application;

[0021] Figure 4 It is a schematic diagram of a motion curve of the intelligent numerical control method for a spraying machine provided in an embodiment of the present application;

[0022] Figure 5 It is a schematic diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0024] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0025] Figure 1 An intelligent numerical control method for a spraying machine provided in the first embodiment of the present application is shown, and the intelligent numerical control method for a spraying machine includes:

[0026] S1: Acquire sample images of the next batch of workpieces to be sprayed;

[0027] S2: Generate a three-dimensional workpiece model according to the sample image, and retrieve the corresponding nozzle model according to the nozzle model;

[0028] S3: Identify the unsprayed area on the three-dimensional workpiece model;

[0029] S4: mobilizing the nozzle model to perform simulated spraying on the unsprayed area several times, and calculating the pigment utilization corresponding to each simulated spraying, wherein each simulated spraying is to mobilize the nozzle model according to a spraying parameter to spray simulated pigment on the three-dimensional workpiece model, and the spraying parameter includes the relative position of the nozzle model with respect to the three-dimensional workpiece model, the spraying amount and the spraying pressure, and the spraying parameters of any two simulated spraying are not completely consistent;

[0030] S5: determining a simulated spraying with the highest pigment utilization rate from the plurality of simulated sprayings, displaying the simulated pigment sprayed by the simulated spraying on the three-dimensional workpiece model, and storing spraying parameters of the simulated spraying;

[0031] S6: re-identify the unsprayed area on the three-dimensional workpiece model, and execute steps S4 to S6 until there is no unsprayed area on the three-dimensional workpiece model;

[0032] S7: Arrange the stored spraying parameters in the order of storage to obtain a first sequence;

[0033] S8: When performing actual spraying on any workpiece in the batch of workpieces, the spray head is adjusted one by one according to each spraying parameter to perform actual spraying on the workpiece in the order of the first sequence.

[0034] In this embodiment, if Figure 2 As shown, the method is executed in a terminal device, which may be an independent physical server or terminal, or a server cluster composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud servers, cloud databases, cloud storage and CDN; the workpiece is sprayed by a sprayer, and the sprayer is controlled by the terminal device. The sprayer is provided with at least two robotic arms, one of which is used to install a nozzle, and the other is used to clamp the workpiece. Under the control of the terminal device, the two robotic arms can move to move the workpiece being sprayed and the nozzle; the sprayer is also provided with a camera, which can monitor the position of the nozzle and the workpiece in real time, so that the terminal device can adjust the position of the two accordingly.

[0035] In this embodiment, each workpiece in each batch of workpieces is of the same shape; before executing this method, the user can use a camera (or other types of image acquisition devices) to capture images of samples of the batch of workpieces, and then input the captured sample images into a terminal device so that the terminal device acquires the sample images; the terminal device is pre-installed with 3D modeling software, such as Autodesk Maya, Blender and other software. After obtaining the sample images, the terminal device performs image analysis on the sample images to obtain the appearance parameters of the samples. The 3D modeling software can generate a dense point cloud based on these appearance parameters, and then apply the surface texture of the sample to obtain a 3D workpiece model.

[0036] In this embodiment, this method is used for workpieces with full-surface spraying, and can also be used for workpieces with partial-surface spraying, which is not limited here; when used for workpieces with full-surface spraying, the unsprayed area identified for the first time is the full-surface area of ​​the workpiece; the terminal device is built with ANSYS Fluent software, which provides models for different types of nozzles, such as straight-hole nozzles, pressure swirl nozzles, air-assisted nozzles, flat fan nozzles, and bubbling nozzles. After setting the spraying parameters, for each nozzle model, the size, speed, position, spraying distance, droplet trajectory, etc. of the sprayed droplets can be calculated based on the nozzle parameters, thereby completing the simulation of the spraying. These models take into account factors such as the flow state of the simulated pigment inside the nozzle and the spray angle, and can provide more accurate spray simulation results; in this embodiment, the generated three-dimensional workpiece model is imported into ANSYS Fluent software, in which two models are mobilized to simulate spraying; pigment utilization is the ratio of the area occupied by the sprayed simulated pigment in the unsprayed area to the sprayed amount of the simulated pigment, which represents the size of the surface area of ​​the workpiece covered by the unit volume of the sprayed simulated pigment. The higher the pigment utilization, the larger the surface area of ​​the workpiece covered by the unit volume of the sprayed simulated pigment;

[0037] In the present application, each round of tentative simulated spraying is performed several times (the number of times is determined by the user, such as 1000 times, 2000 times, and the more the number of times is set, the more inclined to ergodic spraying, and the higher the probability of obtaining the absolute minimum value of pigment utilization) on the unsprayed area (the spraying parameters of the first spraying are randomly generated or input by the user, and the subsequent parameters are gradually fine-tuned on the basis of the first time to cover more possible spraying parameters), and the simulated spraying with the highest pigment utilization is selected as the target simulated spraying of this round, and only the simulated pigment sprayed by the target simulated spraying is displayed on the three-dimensional workpiece model; after multiple rounds of the above screening method, the total amount of spraying when the three-dimensional workpiece model is completely covered by the simulated pigment can be minimized as much as possible; and then the nozzle is mobilized according to the various spraying parameters in the above simulation process to actually spray the workpiece, so that the workpiece can be completely sprayed with as little spray pigment as possible, which greatly reduces the spraying amount, reduces the spraying cost, and can make the pigment fall as little as possible on areas outside the workpiece, which is conducive to cleaning.

[0038] As a preferred embodiment, Figure 3 As shown, the spraying amount corresponding to each simulated spraying is greater than the preset spraying amount; the nozzle model is mobilized to simulate spraying the unsprayed area several times, and the pigment utilization corresponding to each simulated spraying is calculated, including:

[0039] S41: Generate a spraying parameter;

[0040] S42: performing simulated spraying according to the spraying parameters;

[0041] S43: Determine the area occupied by the sprayed simulated pigment in the unsprayed area;

[0042] S44: calculating the utilization of the simulated sprayed pigment according to the area occupied by the simulated pigment in the unsprayed area and the spraying amount in the spraying parameter;

[0043] S45: remove the simulated paint on the unsprayed area, adjust the spraying parameters, re-perform simulated spraying according to the adjusted spraying parameters, execute steps S43 to S45, and repeat this step a set number of times to obtain a paint utilization amount that is consistent with the set number of times.

[0044] For any simulated spraying, the pigment utilization of the simulated spraying is calculated by the following formula:

[0045] R v =S c / V c

[0046] Among them, R v is the pigment utilization, R c V is the area occupied by the sprayed simulated pigment in the unsprayed area. c is the spraying amount corresponding to the simulated spraying.

[0047] In this embodiment, the spraying parameter generated initially can be a parameter with a smaller spraying amount. In order to ensure the spraying efficiency, each spraying needs to ensure that at least a certain amount of pigment is sprayed out. Therefore, the spraying amount of the spraying parameter needs to be higher than a set value, such as 5 ml or other values; then the spraying parameter is repeatedly adjusted (one of the relative position, spraying amount or spraying pressure can be fine-tuned each time to cover more parameter conditions) and then spraying is performed, that is, a three-dimensional workpiece model with different spraying parameters is traversed for multiple simulated spraying (after each spraying, the sprayed simulated pigment is removed to facilitate the calculation of the corresponding pigment utilization after the next re-spraying), and then the simulated spraying with the highest pigment utilization is selected, the spraying parameters of the simulated spraying are recorded, and the simulated pigment sprayed by the simulated spraying is redisplayed on the three-dimensional workpiece model to determine the unsprayed area for the next round of simulated spraying; the number of spraying times can be 1000 times, 2000 times or other times. The more times are set, the higher the probability of obtaining a simulated spraying with a lower pigment utilization.

[0048] As a preferred embodiment, the relative position of the nozzle model relative to the three-dimensional workpiece model is taken as the first relative position; according to the order of the first sequence, the nozzle is adjusted one by one according to each spraying parameter to actually spray the workpiece:

[0049] S81: taking the first spraying parameter in the first sequence as the current parameter;

[0050] S82: determining a second relative position of the nozzle relative to the workpiece according to the first relative position of the current parameter, wherein the second relative position is an actual relative position of the nozzle and the workpiece;

[0051] S83: while moving the nozzle, the workpiece is moved so that the nozzle is at the second relative position;

[0052] S84: Control the nozzle to spray a coating amount of pigment corresponding to the current parameters onto the workpiece at the coating pressure of the current parameters.

[0053] S85: taking the next spraying parameter of the first sequence as the current parameter, and executing steps S82 to S85 until the actual spraying of the workpiece by controlling the spray head with each spraying parameter in the first sequence is completed.

[0054] The step of moving the workpiece while moving the nozzle so that the nozzle is in the second relative position comprises:

[0055] Determine a first moving path, wherein the first moving path is a moving path of the nozzle when the nozzle is moved alone and is in the second relative position;

[0056] Determine a second moving path, wherein the second moving path is a moving path of the workpiece when the workpiece is moved alone and the nozzle is in the second relative position;

[0057] The nozzle is controlled to move along the first moving path while the workpiece is controlled to move along the second moving path until the nozzle is at the second relative position.

[0058] In this embodiment, a camera is installed on the mechanical arm on which the nozzle is installed, which can collect real-time position images of the nozzle and the workpiece. The relative position of the two can be determined through image analysis by the terminal device, and the two mechanical arms are mobilized to move so that the two reach the target relative position; for example, the first relative position of the nozzle model and the three-dimensional workpiece model is that two feature points of the nozzle model are on the extension line of the connecting line of the two corner points of the three-dimensional workpiece model, and the distances between the two feature points and the nearest corner point are 20 cm and 25 cm respectively. After the terminal device determines the above information, the two corner points of the workpiece are found by the camera, and the connecting line is made and extended by 20 cm and 25 cm to determine the positions of the two feature points of the workpiece, and the workpiece is moved to make the two feature points coincide with the determined position, and then spraying is performed with the spraying amount and spraying pressure of the corresponding spraying parameters; furthermore, the nozzle is controlled to move along the first moving path while the workpiece is controlled to move along the second moving path, that is, the nozzle and the workpiece are mobilized to move toward each other. Compared with mobilizing the workpiece / nozzle alone, the rate at which the nozzle reaches the second relative position is higher, thereby improving the spraying efficiency.

[0059] As a preferred embodiment, after step S8, the method further includes:

[0060] S9: Identify the missed spraying points on the workpiece through a camera, and determine the first position of each missed spraying point on the workpiece;

[0061] S10: for each first position, determining a position corresponding to the first position on the three-dimensional workpiece model as a marking point;

[0062] S11: Determine the supplementary spraying parameters that can enable the simulated pigment sprayed by the nozzle model to cover the most marked points;

[0063] S12: Control the nozzle to perform additional spraying on the workpiece with additional spraying parameters;

[0064] S13: Repeat steps S9 to S12 until there are no missed spraying points on the workpiece.

[0065] Supplementary spraying is to perform point spraying with a set spraying amount. The supplementary spraying parameters include the relative position of the spraying model with respect to the three-dimensional workpiece model and the spraying pressure. The supplementary spraying parameters that can make the simulated pigment sprayed by the nozzle model cover the most identification points include:

[0066] Take a spraying pressure as the base pressure;

[0067] Generate a motion curve of a droplet of simulated pigment sprayed by the nozzle model under a base pressure;

[0068] Adjust the base pressure to change the motion curve of each droplet, and adjust the relative position of the nozzle model with respect to the three-dimensional workpiece model so that the motion curve of most droplets passes through the marked point, and integrate the corresponding adjusted base pressure and relative position into supplementary spraying parameters;

[0069] like Figure 4 As shown, the motion curve of the droplet of the simulated pigment sprayed by the nozzle model under the basic pressure includes:

[0070] Determine the position and orientation of each nozzle of the nozzle model;

[0071] For each nozzle, the position of the nozzle is taken as the starting position, the direction of the nozzle is taken as the movement direction, and kinetic energy corresponding to the basic pressure is applied to the droplet of simulated pigment at the starting position to make the droplet move in the movement direction, which corresponds to the movement curve of the droplet ejected from the nozzle.

[0072] In this embodiment, in actual spraying, mechanical deviation may cause spraying deviation, resulting in some missed spraying points on the workpiece after all spraying parameters are executed. This embodiment can find these missed points and mark them on the three-dimensional workpiece model, and perform supplementary simulation again to determine the supplementary spraying parameters and perform corresponding supplementary spraying, thereby ensuring the integrity of the spraying; furthermore, the spraying amount is set to the minimum spraying amount for each spraying, such as 1ml, and the supplementary spraying is point spraying (that is, spraying with the minimum spraying amount each time), and each supplementary spraying makes the motion curve of the most droplets pass through the marked points, that is, the most missing points can be covered with the minimum (the minimum within the optional range) spraying amount, and the amount of pigment used for supplementary spraying can also be greatly reduced, thereby reducing the overall pigment usage.

[0073] A terminal device provided in the second embodiment of the present application includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the intelligent numerical control method for a spraying machine, specifically including:

[0074] S1: Acquire sample images of the next batch of workpieces to be sprayed;

[0075] S2: Generate a three-dimensional workpiece model according to the sample image, and retrieve the corresponding nozzle model according to the nozzle model;

[0076] S3: Identify the unsprayed area on the three-dimensional workpiece model;

[0077] S4: mobilizing the nozzle model to perform simulated spraying on the unsprayed area several times, and calculating the pigment utilization corresponding to each simulated spraying, wherein each simulated spraying is to mobilize the nozzle model according to a spraying parameter to spray simulated pigment on the three-dimensional workpiece model, and the spraying parameter includes the relative position of the nozzle model with respect to the three-dimensional workpiece model, the spraying amount and the spraying pressure, and the spraying parameters of any two simulated spraying are not completely consistent;

[0078] S5: determining a simulated spraying with the highest pigment utilization rate from the plurality of simulated sprayings, displaying the simulated pigment sprayed by the simulated spraying on the three-dimensional workpiece model, and storing spraying parameters of the simulated spraying;

[0079] S6: re-identify the unsprayed area on the three-dimensional workpiece model, and execute steps S4 to S6 until there is no unsprayed area on the three-dimensional workpiece model;

[0080] S7: Arrange the stored spraying parameters in the order of storage to obtain a first sequence;

[0081] S8: When performing actual spraying on any workpiece in the batch of workpieces, the spray head is adjusted one by one according to each spraying parameter to perform actual spraying on the workpiece in the order of the first sequence.

[0082] A storage medium is provided in the third embodiment of the present application. A computer program is stored on the storage medium. When the computer program is executed by a processor, the processor executes the steps of the intelligent numerical control method for a spraying machine, specifically including:

[0083] S1: Acquire sample images of the next batch of workpieces to be sprayed;

[0084] S2: Generate a three-dimensional workpiece model according to the sample image, and retrieve the corresponding nozzle model according to the nozzle model;

[0085] S3: Identify the unsprayed area on the three-dimensional workpiece model;

[0086] S4: mobilizing the nozzle model to perform simulated spraying on the unsprayed area several times, and calculating the pigment utilization corresponding to each simulated spraying, wherein each simulated spraying is to mobilize the nozzle model according to a spraying parameter to spray simulated pigment on the three-dimensional workpiece model, and the spraying parameter includes the relative position of the nozzle model with respect to the three-dimensional workpiece model, the spraying amount and the spraying pressure, and the spraying parameters of any two simulated spraying are not completely consistent;

[0087] S5: determining a simulated spraying with the highest pigment utilization rate from the plurality of simulated sprayings, displaying the simulated pigment sprayed by the simulated spraying on the three-dimensional workpiece model, and storing spraying parameters of the simulated spraying;

[0088] S6: re-identify the unsprayed area on the three-dimensional workpiece model, and execute steps S4 to S6 until there is no unsprayed area on the three-dimensional workpiece model;

[0089] S7: Arrange the stored spraying parameters in the order of storage to obtain a first sequence;

[0090] S8: When performing actual spraying on any workpiece in the batch of workpieces, the spray head is adjusted one by one according to each spraying parameter to perform actual spraying on the workpiece in the order of the first sequence.

[0091] The process of each module in the image saturation adjustment device provided in the embodiment of the present application realizing its own function can be specifically referred to the aforementioned Figure 1 The description of the illustrated embodiment will not be repeated here.

[0092] It should be understood that the size of the serial numbers of the steps in the above embodiments does not 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 embodiments of the present application.

[0093] It should be understood that when used in the present application specification, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0094] It should also be understood that the term “and / or” used in the specification of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0095] As used in the present specification, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if [the described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [the described condition or event] is detected" or "in response to detecting [the described condition or event]" depending on the context.

[0096] In addition, in the description of the present specification, the terms "first", "second", "third", etc. are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance. It should also be understood that although the terms "first", "second", etc. are used to describe various elements in some embodiments of the present application in the text, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first table can be named as the second table, and similarly, the second table can be named as the first table, without departing from the scope of the various described embodiments. The first table and the second table are both tables, but they are not the same table.

[0097] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0098] The intelligent numerical control method for a sprayer provided in the embodiment of the present application can be applied to terminal devices such as mobile phones, tablet computers, wearable devices, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, laptop computers, ultra-mobile personal computers (UMPC), netbooks, personal digital assistants (PDA), etc. The embodiment of the present application does not impose any restrictions on the specific type of the terminal device.

[0099] For example, the terminal device can be a station (STAION, ST) in a WLAN, a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA) device, a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a vehicle networking terminal, a computer, a laptop computer, a handheld communication device, a handheld computing device, a satellite wireless device, a wireless modem card, a TV set top box (STB), a customer premises equipment (CPE) and / or other devices for communicating on a wireless system and a next-generation communication system, such as a mobile terminal in a 5G network or a mobile terminal in a future evolved Public Land Mobile Network (PLMN) network, etc.

[0100] Figure 5 Schematic diagram of the structure of a terminal device provided by an embodiment of the present application. Figure 5 As shown, the terminal device of this embodiment includes: at least one processor and a memory, wherein the memory stores a computer program that can be run on the processor. When the processor executes the computer program, the steps in the above-mentioned embodiments of the intelligent numerical control method for a spraying machine are implemented, such as Figure 1 Steps S1 to S8 are shown.

[0101] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that Figure 5It is only an example of a terminal device and does not constitute a limitation of the terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include an input sending device, a network access device, a bus, etc.

[0102] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0103] In some embodiments, the memory may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. The memory may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the terminal device. Further, the memory may also include both an internal storage unit of the terminal device and an external storage device. The memory is used to store an operating system, an application program, a boot loader (BootLoader), data and other programs, such as the program code of the computer program, etc. The memory may also be used to temporarily store data that has been sent or is to be sent.

[0104] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0105] An embodiment of the present application also provides a terminal device, which includes at least one memory, at least one processor, and a computer program stored in the at least one memory and executable on the at least one processor, wherein when the processor executes the computer program, the terminal device implements the steps in any of the above-mentioned method embodiments.

[0106] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0107] An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal device, the mobile terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0108] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0109] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0110] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0111] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0112] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person 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 application, and should all be included in the protection scope of the present application.

Claims

1. An intelligent numerical control method for a spraying machine, characterized in that: The spraying machine intelligent numerical control method comprises: S1: Acquire sample images of the next batch of workpieces to be sprayed; S2: Generate a three-dimensional workpiece model according to the sample image, and retrieve the corresponding nozzle model according to the nozzle model; S3: Identify the unsprayed area on the three-dimensional workpiece model; S4: mobilizing the nozzle model to perform simulated spraying on the unsprayed area several times, and calculating the pigment utilization corresponding to each simulated spraying, wherein each simulated spraying is to mobilize the nozzle model to spray simulated pigment on the three-dimensional workpiece model according to a spraying parameter, and the spraying parameter includes the relative position of the nozzle model with respect to the three-dimensional workpiece model, the spraying amount and the spraying pressure, and the spraying parameters of any two simulated spraying are not completely consistent; S5: determining a simulated spraying with the highest pigment utilization rate from the plurality of simulated sprayings, displaying the simulated pigment sprayed by the simulated spraying on the three-dimensional workpiece model, and storing spraying parameters of the simulated spraying; S6: re-identify the unsprayed area on the three-dimensional workpiece model, and execute steps S4 to S6 until there is no unsprayed area on the three-dimensional workpiece model; S7: Arrange the stored spraying parameters in the order of storage to obtain a first sequence; S8: When performing actual spraying on any workpiece in the batch of workpieces, the spray head is adjusted one by one according to each spraying parameter to perform actual spraying on the workpiece in the order of the first sequence.

2. The method according to claim 1, characterized in that The spraying amount corresponding to each simulated spraying is greater than the preset spraying amount; the nozzle model is mobilized to simulate spraying the unsprayed area several times, and the pigment utilization corresponding to each simulated spraying is calculated, including: S41: Generate a spraying parameter; S42: performing simulated spraying according to the spraying parameters; S43: Determine the area occupied by the sprayed simulated pigment in the unsprayed area; S44: calculating the utilization of the simulated sprayed pigment according to the area occupied by the simulated pigment in the unsprayed area and the spraying amount in the spraying parameter; S45: remove the simulated paint on the unsprayed area, adjust the spraying parameters, re-perform simulated spraying according to the adjusted spraying parameters, execute steps S43 to S45, and repeat this step a set number of times to obtain a paint utilization amount that is consistent with the set number of times.

3. The method according to claim 2, characterized in that For any simulated spraying, the pigment utilization of the simulated spraying is calculated by the following formula: R v =S c / V c Among them, R v is the pigment utilization, R c V is the area occupied by the sprayed simulated pigment in the unsprayed area. c is the spraying amount corresponding to the simulated spraying.

4. The method according to claim 1, characterized in that: The relative position of the nozzle model relative to the three-dimensional workpiece model is taken as the first relative position; according to the order of the first sequence, the nozzle is adjusted one by one according to each spraying parameter to actually spray the workpiece: S81: taking the first spraying parameter in the first sequence as the current parameter; S82: determining a second relative position of the nozzle relative to the workpiece according to the first relative position of the current parameter, wherein the second relative position is an actual relative position of the nozzle and the workpiece; S83: while moving the nozzle, the workpiece is moved so that the nozzle is at the second relative position; S84: Control the nozzle to spray a coating amount of pigment corresponding to the current parameters onto the workpiece at a coating pressure of the current parameters; S85: taking the next spraying parameter of the first sequence as the current parameter, and executing steps S82 to S85 until the actual spraying of the workpiece by controlling the spray head with each spraying parameter in the first sequence is completed.

5. The method according to claim 4, characterized in that The step of moving the workpiece while moving the nozzle so that the nozzle is in the second relative position comprises: Determine a first moving path, wherein the first moving path is a moving path of the nozzle when the nozzle is moved alone and is in the second relative position; Determine a second moving path, wherein the second moving path is a moving path of the workpiece when the workpiece is moved alone and the nozzle is in the second relative position; The nozzle is controlled to move along the first moving path while the workpiece is controlled to move along the second moving path until the nozzle is at the second relative position.

6. The method according to claim 1, characterized in that After step S8, the method further includes: S9: Identify the missed spraying points on the workpiece through a camera, and determine the first position of each missed spraying point on the workpiece; S10: for each first position, determining a position corresponding to the first position on the three-dimensional workpiece model as a marking point; S11: Determine the supplementary spraying parameters that can enable the simulated pigment sprayed by the nozzle model to cover the most marked points; S12: Control the nozzle to perform additional spraying on the workpiece with additional spraying parameters; S13: Repeat steps S9 to S12 until there are no missed spraying points on the workpiece.

7. The method according to claim 6, characterized in that Supplementary spraying is to perform point spraying with a set spraying amount. The supplementary spraying parameters include the relative position of the spraying model with respect to the three-dimensional workpiece model and the spraying pressure. The supplementary spraying parameters that can make the simulated pigment sprayed by the nozzle model cover the most identification points include: Take a spraying pressure as the base pressure; Generate a motion curve of a droplet of simulated pigment sprayed by the nozzle model under a base pressure; The base pressure is adjusted to change the motion curve of each droplet, and the relative position of the nozzle model with respect to the three-dimensional workpiece model is adjusted so that the motion curves of most droplets pass through the marking point, and the corresponding adjusted base pressure and relative position are integrated into supplementary spraying parameters.

8. The method according to claim 7, characterized in that The motion curve of the droplets of simulated pigment sprayed by the nozzle model under the basic pressure includes: Determine the position and orientation of each nozzle of the nozzle model; For each nozzle, the position of the nozzle is taken as the starting position, the direction of the nozzle is taken as the movement direction, and kinetic energy corresponding to the basic pressure is applied to the droplet of simulated pigment at the starting position to make the droplet move in the movement direction, which corresponds to the movement curve of the droplet ejected from the nozzle.

9. A terminal device, characterized in that: It comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the intelligent numerical control method for a spraying machine according to any one of claims 1 to 8.

10. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the intelligent numerical control method for a spraying machine according to any one of claims 1 to 8.

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