An intelligent numerical control method, terminal device and storage medium for a spraying machine

Abstract

The present application belongs to the field of computer processing technology, and in particular relates to an intelligent numerical control method for a sprayer, a terminal device and a storage medium, wherein the method determines a spraying method with the highest pigment utilization through three-dimensional simulation, and sprays the workpiece in this manner, that is, it is possible to achieve complete spraying of the workpiece with a minimum amount of pigment, which can significantly reduce pigment waste, greatly save spraying costs, and allow the pigment to fall as little as possible on areas outside the workpiece, which is conducive to cleaning.

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 evenly apply liquids such as paint, varnish, etc. onto a surface. They are widely used in construction, car restoration, furniture manufacturing, industrial production and other fields.

[0003] When spraying workpieces, existing sprayers often spray excessive amounts of paint to ensure that the workpieces are completely sprayed. 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 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 based on the sample image, and retrieve the corresponding nozzle model based on the nozzle model;

[0008] S3: Identify the unsprayed area on the 3D workpiece model;

[0009] S4: mobilizing the nozzle model to perform simulated spraying on the unpainted 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. 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 multiple 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 no unsprayed area exists 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 in the order of the first sequence to perform actual spraying on the workpiece.

[0014] A second aspect of the embodiments of the present application provides a terminal device, including a memory and a processor, wherein the memory 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;

[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. When the computer program is executed by a processor, the processor executes the steps of the intelligent numerical control method for a spraying machine.

[0016] Compared with the prior art, the embodiments of the present application have the following advantages: the method provided by the present invention includes 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 the 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 the 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 above 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 rate is determined by three-dimensional simulation, and the workpiece is sprayed in this method, 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 following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

[0018] Figure 1 This 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 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 This 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 the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may 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 avoid obscuring the description of the present application with unnecessary detail.

[0024] In order to illustrate the technical solution described in this application, specific embodiments are provided below.

[0025] Figure 1 The present invention provides an intelligent numerical control method for a spraying machine according to the first embodiment of the present invention. 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 based on the sample image, and retrieve the corresponding nozzle model based on the nozzle model;

[0028] S3: Identify the unsprayed area on the 3D workpiece model;

[0029] S4: mobilizing the nozzle model to perform simulated spraying on the unpainted 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. 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 multiple 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 no unsprayed area exists 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 in the order of the first sequence to perform actual spraying on the workpiece.

[0034] In this embodiment, if Figure 2 As shown, the method is executed in a terminal device, which can 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 the 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 has 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 the terminal device so that the terminal device can obtain 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 equipped 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 was used to simulate spraying by mobilizing two models. The pigment utilization rate is the ratio of the area occupied by the sprayed simulated pigment in the unsprayed area to the sprayed amount of simulated pigment. It represents the coverage area of the workpiece surface by the unit volume of the sprayed simulated pigment. The higher the pigment utilization rate, the larger the coverage area of the workpiece surface by the unit volume of the sprayed simulated pigment.

[0037] In the present application, each round of tentative simulated spraying is performed on the unsprayed area several times (the number of times is determined by the user, such as 1000 times, 2000 times, and the more the number is set, the more inclined to ergodic spraying, and the higher the probability of obtaining the absolute minimum value of pigment utilization) (the spraying parameters of the first spraying are randomly generated or user-input values, 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-mentioned 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 to actually spray the workpiece according to the various spraying parameters in the above-mentioned simulation process, 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: determining 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 parameters;

[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 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 5ml or other values; then the spraying parameter is repeatedly adjusted (one parameter of the relative position, spraying amount or spraying pressure can be fine-tuned each time to cover more parameter conditions) and then sprayed, that is, multiple simulated spraying is performed on the three-dimensional workpiece model with different spraying parameters (after each spraying, the sprayed simulated pigment is removed so that the corresponding pigment utilization can be calculated 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 re-displayed 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 lower pigment utilization.

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

[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 based on 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 in the second relative position;

[0052] S84: Control the nozzle to spray the paint in a spraying amount corresponding to the current parameters onto the workpiece at the spraying 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 nozzle 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 includes:

[0055] Determining a first movement path, wherein the first movement path is a movement path of the nozzle when the nozzle is moved alone and is located at the second relative position;

[0056] Determining a second movement path, wherein the second movement path is a movement 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 movement path while the workpiece is controlled to move along the second movement path until the nozzle is at the second relative position.

[0058] In this embodiment, a camera is installed on the robotic arm on which the nozzle is installed, which can capture real-time position images of the nozzle and the workpiece. After image analysis by the terminal device, the relative position of the two can be determined, and the two robotic 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, it finds the two corner points of the workpiece through the camera, draws a connecting line and extends it by 20 cm and 25 cm to determine the positions of the two feature points of the workpiece, and moves the workpiece until the two feature points coincide with the determined positions. 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 separately, 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 from the nozzle model to cover the most marked points;

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

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

[0065] Supplementary spraying is 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 from the nozzle model cover the most marked 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 the supplementary spraying parameters;

[0069] like Figure 4 As shown in FIG. 1 , 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, that is, the motion 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 point, that is, the most missed points can be covered with the minimum (the minimum within the optional range) spraying amount, and the amount of pigment used in the supplementary spraying can also be greatly reduced, thereby reducing the overall pigment usage.

[0073] A terminal device provided in a second embodiment of the present application includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor performs 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 based on the sample image, and retrieve the corresponding nozzle model based on the nozzle model;

[0076] S3: Identify the unsprayed area on the 3D workpiece model;

[0077] S4: mobilizing the nozzle model to perform simulated spraying on the unpainted 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. 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 multiple 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 no unsprayed area exists 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 in the order of the first sequence to perform actual spraying on the workpiece.

[0082] A storage medium is provided in a third embodiment of the present application. The storage medium stores a computer program. 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 based on the sample image, and retrieve the corresponding nozzle model based on the nozzle model;

[0085] S3: Identify the unsprayed area on the 3D workpiece model;

[0086] S4: mobilizing the nozzle model to perform simulated spraying on the unpainted 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. 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 multiple 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 no unsprayed area exists 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 in the order of the first sequence to perform actual spraying on the workpiece.

[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 this 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 their collections.

[0094] It should also be understood that the term “and / or” used in the present specification 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 this specification, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [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 should not 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. For example, the first table can be named the second table, and similarly, the second table can be named 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" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0098] The intelligent numerical control method for a sprayer provided in the embodiments 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 (UMPCs), netbooks, and personal digital assistants (PDAs). The embodiments of the present application do not impose any restrictions on the specific types of terminal devices.

[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), customer premise 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.

[0100] Figure 5 This is a 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 spraying machines 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 and 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), 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.

[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 equipped on the terminal device, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Furthermore, the memory may 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, data, and other programs, such as the program code of the computer program. The memory may also be used to temporarily store data that has been sent or is to be sent.

[0104] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or 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. When the processor executes the computer program, the terminal device implements the steps of 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 various 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 process 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. Wherein, 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, etc. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, magnetic 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 focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0110] Those skilled 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 beyond the scope of this application.

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

[0112] The above-described embodiments 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, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. An intelligent numerical control method for a spraying machine, characterized in that: The intelligent numerical control method for a spraying machine comprises: S1: Acquire sample images of the next batch of workpieces to be sprayed; S2: Generate a three-dimensional workpiece model based on the sample image, and retrieve the corresponding nozzle model based on the nozzle model; S3: Identify the unsprayed area on the 3D workpiece model; S4: mobilizing the nozzle model to perform simulated spraying on the unpainted 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. 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 multiple 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 no unsprayed area exists 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 in the order of the first sequence to perform actual spraying on the workpiece.

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 paint 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 parameters; 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 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: in, is the pigment utilization, is the area occupied by the sprayed simulated pigment in the unsprayed area, is the spraying amount corresponding to the simulated spraying.

4. The method according to claim 1, wherein 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 based on 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 in the second relative position; S84: Control the nozzle to spray the pigment in a spraying amount corresponding to the current parameters onto the workpiece at the spraying 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 nozzle 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 includes: Determining a first movement path, wherein the first movement path is a movement path of the nozzle when the nozzle is moved alone and is located at the second relative position; Determining a second movement path, wherein the second movement path is a movement 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 movement path while the workpiece is controlled to move along the second movement 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 from the nozzle model to cover the most marked points; S12: Control the nozzle to perform additional spraying on the workpiece with the 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 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 from the nozzle model cover the most marked 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; Adjust the base pressure to change the motion curve of each droplet, and at the same time 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 the 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 base 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, that is, the motion curve of the droplet ejected from the nozzle.

9. A terminal device, characterized in that: The method 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.

Images