Sheet metal part spraying detection and identification method and device and readable storage medium

Abstract

The invention discloses a sheet metal part spraying detection and identification method and device and a readable storage medium, and relates to the technical field of spraying and detection. The method comprises the steps that a to-be-detected sheet metal part is obliquely placed and fixed in a target area, and a vibration assembly is placed on the upper surface of the sheet metal part under a laser transmitter; the vibration assembly is controlled to start vibration at a preset frequency, moves downwards along the upper surface of the sheet metal part by means of the gravity of the vibration assembly and is still after vibration is finished; and according to the moving distance of the vibration assembly on the upper surface of the sheet metal part, the spraying completion condition of the sheet metal part is determined. According to the invention, the problems of high labor cost, low efficiency and high camera maintenance difficulty when the spraying completion condition of the sheet metal part is detected manually or by a camera can be avoided, the sheet metal part detection efficiency is improved, and the maintenance cost is reduced.

Description

Technical Field

[0001] The present application belongs to the field of spraying and detection technology, and specifically relates to a sheet metal spraying detection and identification method and device. Background Art

[0002] Sheet metal parts refer to products processed by sheet metal technology. Sheet metal technology is a processing technology that applies force to thin sheet metal to deform it and produce a three-dimensional shape. Spraying sheet metal parts means applying corresponding coatings on the surface of sheet metal parts to provide safety protection for sheet metal parts, prevent erosion of sheet metal parts by the external environment, and make the surface of sheet metal parts more beautiful. At present, the completion of sheet metal spraying is mainly detected by manual inspection or camera recognition. However, when using nearly transparent spray materials for spraying, the completion of sheet metal spraying is detected by manual inspection or camera recognition, which has the problems of high labor costs, low efficiency, and high maintenance difficulty of devices such as cameras. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a sheet metal spraying detection and identification method, device and readable storage medium, which can solve the problem of low efficiency of relying on manual or camera detection to detect the completion status of sheet metal spraying.

[0004] In a first aspect, an embodiment of the present application proposes a sheet metal spray detection and identification method, which is applied to a spray detection system, wherein the spray detection system includes a vibration component, and the method includes:

[0005] The sheet metal to be inspected is fixed obliquely in the target area, and the vibration assembly is placed on the upper surface of the sheet metal directly below the laser emitter;

[0006] Controlling the vibration component to start vibrating at a preset frequency, and using its own gravity to move downward along the upper surface of the sheet metal until it stops vibrating and comes to rest;

[0007] The completion status of the spraying of the sheet metal part is determined according to the moving distance of the vibration component on the upper surface of the sheet metal part.

[0008] Optionally, the spraying detection system further includes a laser transmitter and a laser receiver, wherein the laser receiver is placed on the upper surface of the vibration component; and determining the spraying completion status of the sheet metal part according to the moving distance of the vibration component on the upper surface of the sheet metal part comprises:

[0009] Control the laser transmitter to rotate until the laser receiver senses the light beam emitted by the laser transmitter and then controls the laser transmitter to stop rotating, and record the rotation angle of the laser transmitter from the start of rotation to the stop of rotation; the rotation angle is positively correlated with the moving distance of the vibration component on the upper surface of the sheet metal part;

[0010] The spraying completion status of the sheet metal part is determined according to the mapping relationship between the rotation inclination angle and the friction coefficient of the sheet metal part.

[0011] Optionally, determining the spraying completion status of the sheet metal part according to the mapping relationship between the rotation inclination angle and the friction coefficient of the sheet metal part includes:

[0012] Determining a target friction coefficient of an upper surface of the sheet metal part when the sheet metal part is sprayed;

[0013] Determining a preset threshold of the rotational inclination angle corresponding to the target friction coefficient according to a mapping relationship between the rotational inclination angle and the friction coefficient of the sheet metal part;

[0014] When the rotation inclination angle is greater than a preset threshold, it is determined that the spraying of the sheet metal part is completed.

[0015] Optionally, controlling the vibration component to start vibrating at a preset frequency and using its own gravity to move downward along the upper surface of the sheet metal until the vibration ends and the component comes to rest comprises:

[0016] A motor is provided inside the vibration component, and the motor is controlled to start rotating through a scheduling signal, so that the vibration component starts to vibrate at a preset frequency, and uses its own gravity to move downward along the upper surface of the sheet metal until it stops vibrating.

[0017] Optionally, the method further comprises:

[0018] The sheet metal parts that have been sprayed are sent to the next process, and the sheet metal parts that have not been sprayed are placed in the abnormal identification area for rework.

[0019] In a second aspect, an embodiment of the present application proposes a sheet metal spray detection and identification device, comprising: a fixing module, which fixes the sheet metal to be detected obliquely in the target area, and places the vibration component on the upper surface of the sheet metal directly below the laser emitter;

[0020] A first control module is used to control the vibration component to start vibrating at a preset frequency and use its own gravity to move downward along the upper surface of the sheet metal until it stops vibrating and stops;

[0021] The first determination module is used to determine the completion status of the spraying of the sheet metal part according to the moving distance of the vibration component on the upper surface of the sheet metal part.

[0022] Optionally, the first determining module includes:

[0023] A second control module is used to control the laser transmitter to rotate until the laser receiver senses the light beam emitted by the laser transmitter and then controls the laser transmitter to stop rotating, and records the rotation angle of the laser transmitter from the start of rotation to the stop of rotation; the rotation angle is positively correlated with the moving distance of the vibration component on the upper surface of the sheet metal part;

[0024] The second determination module is used to determine the spraying completion status of the sheet metal part according to the mapping relationship between the rotation inclination angle and the friction coefficient of the sheet metal part.

[0025] Optionally, the second determining module includes:

[0026] A third determination module is used to determine a target friction coefficient of the upper surface of the sheet metal part when the sheet metal part is sprayed;

[0027] a fourth determination module, configured to determine a preset threshold of the rotational inclination angle corresponding to the target friction coefficient according to a mapping relationship between the rotational inclination angle and the friction coefficient of the sheet metal component;

[0028] The fifth determination module is used to determine that the spraying of the sheet metal part is completed when the rotation inclination angle is greater than a preset threshold.

[0029] Optionally, the first control module includes:

[0030] The third control module, the vibration component is provided with a motor inside, and the motor is controlled to start rotating through a scheduling signal, so that the vibration component starts to vibrate at a preset frequency, and uses its own gravity to move downward along the upper surface of the sheet metal until it stops vibrating; the vibration component is provided with a motor inside.

[0031] Optionally, the first control module includes:

[0032] The adjustment module is used to adjust the preset frequency of the vibration component according to the length of the sheet metal part and the mass of the vibration component.

[0033] Optionally, the device further comprises:

[0034] The placement module sends the sheet metal parts that have been sprayed to the next process, and the sheet metal parts that have not been sprayed are placed in the abnormal identification area for rework.

[0035] In an embodiment of the present application, a method for detecting and identifying spraying of sheet metal parts is provided, including: fixing the sheet metal part to be detected obliquely in the target area, and placing a vibration component on the upper surface of the sheet metal part directly below the laser emitter; controlling the vibration component to start vibrating at a preset frequency, and using its own gravity to move downward along the upper surface of the sheet metal part until it stops after the vibration ends; determining the completion of spraying of the sheet metal part according to the moving distance of the vibration component on the upper surface of the sheet metal part. In an embodiment of the present application, the sheet metal part to be detected is fixed obliquely in the target area, and the vibration component is placed on the upper surface of the sheet metal part directly below the laser emitter; controlling the vibration component to start vibrating at a preset frequency, and using its own gravity to move downward along the upper surface of the sheet metal part until it stops after the vibration ends; determining the completion of spraying of the sheet metal part according to the moving distance of the vibration component on the upper surface of the sheet metal part. Autonomous identification of whether the air-conditioning sheet metal part has been sprayed is achieved, improving factory production efficiency and reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a flow chart of the steps of a sheet metal spraying detection and identification method provided in an embodiment of the present application;

[0037] Figure 2 It is a flowchart of the steps of another sheet metal spray detection and identification method provided in an embodiment of the present application;

[0038] Figure 3 It is a logic block diagram of a sheet metal spraying detection and identification device provided in an embodiment of the present application;

[0039] Figure 4 It is a structural schematic diagram of a spray detection system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0041] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0042] Method Embodiment

[0043] The sheet metal spraying detection and identification method provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0044] Reference Figure 1 , shows a flow chart of the steps of a sheet metal spray detection and identification method provided in an embodiment of the present application, such as Figure 1 As shown, the method specifically comprises the following steps:

[0045] Step 101, fix the sheet metal to be inspected obliquely in the target area, and place the vibration assembly on the upper surface of the sheet metal directly below the laser emitter;

[0046] Sheet metal parts refer to products processed by sheet metal technology, which is a processing technology that applies force to thin metal sheets to deform them and create three-dimensional shapes. In daily life, sheet metal parts can be used to make cabinets of distribution boards, computer cases, and shells of air conditioner outdoor units.

[0047] The target area refers to the area where the spraying completion status of the upper surface of the sheet metal part is detected. The sheet metal part is placed obliquely and fixed in the target area so as to identify the spraying completion status of the upper surface of the sheet metal part.

[0048] In the embodiments of the present application, a variety of methods can be adopted to fix the sheet metal to be inspected obliquely in the target area, and the embodiments of the present application do not impose specific restrictions on this. For example, the sheet metal is fixed obliquely in the target area at a certain inclination angle by using various process equipment. For example, the target area is a specific area on the ground, and a base is placed in the target area. The bottom surface of the base is a square or a rectangle, the two opposite sides are triangles, and the other side is a square or a rectangle. The upper surface of the base is also a square or a rectangle. A rectangular groove is carved on the upper surface of the base. The bottom area of ​​the groove is smaller than the area of ​​the upper surface of the base. The shape of the bottom surface of the groove can be adjusted according to the shape of the sheet metal so that the shape of the groove matches the shape of the sheet metal, and the periphery of the groove is closed so that the sheet metal will not move when placed inside the groove. By placing the sheet metal in the groove on the upper surface of the base, the sheet metal is placed obliquely in the target area at a certain inclination angle.

[0049] The vibration component can move on the upper surface of the sheet metal by relying on its own gravity and the force generated by vibration as power. The shape of the vibration component is usually a regular shape, for example, the vibration component is a cube or a cuboid. The contact surface between the vibration component and the sheet metal is large. During the movement of the vibration component, the sheet metal generates a friction force acting on the vibration component through the contact surface with the vibration component; and the surface where the vibration component contacts the sheet metal is a relatively smooth surface, so that the friction coefficient of the vibration component itself has little effect on the friction force actually received by the vibration component. In an embodiment of the present application, a variety of methods can be used to place the vibration component. For example, the vibration component is placed on the upper surface of the sheet metal by controlling a mechanical arm to clamp the vibration component.

[0050] The inclination angle of the sheet metal part can be any angle within a specified range, for example, from 0° to 90°.

[0051] Step 102, controlling the vibration component to start vibrating at a preset frequency, and using its own gravity to move downward along the upper surface of the sheet metal until it stops vibrating and becomes stationary;

[0052] The preset frequency refers to the number of vibrations of the vibration component per unit time. In the same time, the higher the preset frequency of the vibration component, the more vibrations the vibration component will have, and the greater the distance it moves downward along the upper surface of the sheet metal. In order to ensure that the distance the vibration component moves downward along the upper surface of the sheet metal does not exceed the length of the sheet metal, it is necessary to control the preset frequency of the vibration component within a corresponding range according to the length of the sheet metal and the mass of the vibration component.

[0053] When the vibration component is initially stationary on the upper surface of the sheet metal, it is subjected to the static friction force and the component force of gravity along the upper surface of the sheet metal, and the components of the static friction force and the gravity along the upper surface of the sheet metal are equal; after the vibration component starts to vibrate, the sliding friction force applied to the vibration component is less than the component force of gravity along the upper surface of the sheet metal; after the vibration of the vibration component ends, the sliding friction force applied to the vibration component is greater than the component force of gravity along the upper surface of the sheet metal, and the vibration component continues to move downward along the upper surface of the sheet metal under the action of the sliding friction force until it stops.

[0054] Optionally, baffles are provided on both sides of the sheet metal so that the vibration component will not move out of the two sides of the sheet metal when it moves downward along the upper surface of the sheet metal using its own gravity, wherein the width of the vibration component is equal to the width of the sheet metal.

[0055] Step 103 , determining the completion status of the spraying of the sheet metal part according to the moving distance of the vibration component on the upper surface of the sheet metal part.

[0056] The moving distance of the vibration component along the upper surface of the sheet metal is the distance between the end position where the vibration component moves downward along the sheet metal until the vibration stops and the start position where the vibration component is placed on the upper surface of the sheet metal.

[0057] In the embodiment of the present application, a variety of methods can be used to obtain the moving distance of the vibration component on the upper surface of the sheet metal part. Exemplarily, the processor may include a measuring module, which measures the distance between the end position and the starting position of the vibration component after the vibration component stops moving by a measuring ruler, and sends the measured moving distance to the processor, which determines the completion of the spraying of the sheet metal part according to the moving distance of the vibration component on the upper surface of the sheet metal part.

[0058] It should be noted that the spraying completion status of the sheet metal part may include: spraying completion, unspraying, incomplete spraying, etc. In the embodiment of the present application, unspraying and incomplete spraying both belong to the unfinished spraying of the sheet metal part. After the upper surface of the sheet metal part is sprayed, the spraying material on the upper surface of the sheet metal part can reduce the friction coefficient of the upper surface of the sheet metal part. When the spraying completion status of the sheet metal part is different, the coverage area of ​​the spraying material on the upper surface of the sheet metal part is different, resulting in different friction coefficients on the upper surface of the sheet metal part. Specifically, when the spraying of the upper surface of the sheet metal part is completed, the upper surface of the sheet metal part is completely covered by the spraying material, that is, the coverage area of ​​the spraying material is equal to the area of ​​the upper surface of the sheet metal part; when the upper surface of the sheet metal part is incompletely sprayed, the coverage area of ​​the spraying material is less than the area of ​​the upper surface of the sheet metal part; when the sheet metal part is not sprayed, the coverage area of ​​the spraying material is equal to 0. Therefore, the friction coefficient of the sheet metal part after the spraying is completed is less than the friction coefficient when the upper surface of the sheet metal part is not sprayed.

[0059] The larger the friction coefficient, the greater the friction force generated, and the smaller the moving distance of the vibration component on the upper surface of the sheet metal part when the property characteristics of the vibration component itself remain unchanged. Specifically, after the upper surface of the sheet metal part is sprayed, the moving distance of the vibration component along the upper surface of the sheet metal part is greater than the moving distance of the vibration component along the upper surface of the sheet metal part when the upper surface of the sheet metal part is not sprayed. Exemplarily, after the upper surface of the sheet metal part is sprayed, the moving distance of the vibration component on the upper surface of the sheet metal part is s_1; when the upper surface of the sheet metal part is not sprayed, the moving distance of the vibration component on the upper surface of the sheet metal part is s_2, where s_1>s_2.

[0060] Specifically, according to the calculation formula of sliding friction F=mgu*cosθ (m is the mass of the vibration component, g is the gravitational acceleration constant, and θ is the inclination angle of the sheet metal), when other conditions remain unchanged and the friction coefficient of the upper surface of the sheet metal decreases, the sliding friction force that the vibration component is subjected to when it moves along the upper surface of the sheet metal decreases accordingly. When the vibration component moves downward along the upper surface of the sheet metal, the direction of the sliding friction force that the vibration component is subjected to is opposite to the direction of movement of the vibration component along the upper surface of the sheet metal. When the friction coefficient of the upper surface of the sheet metal decreases, the sliding friction force that the vibration component is subjected to decreases, while the component force of the gravity of the vibration component along the upper surface of the sheet metal remains unchanged, and the force that the vibration component is subjected to in the opposite direction of the movement of the vibration component decreases. According to the relationship between the force and the acceleration of an object when it moves, the greater the force that an object is subjected to when it moves, the greater the acceleration. When the initial speed is the same, the smaller the force opposite to the direction of movement of the vibration component is, the smaller the acceleration of the vibration component is, the longer the time required for the speed to decrease to 0 is, and the greater the distance the vibration component moves along the upper surface of the sheet metal.

[0061] For example, according to the calculation formula of sliding friction F=umgcosθ, when the mass m of the vibration component and the inclination angle θ of the sheet metal remain unchanged, the sliding friction force on the upper surface of the sheet metal is proportional to the friction coefficient u of the upper surface of the sheet metal. The friction coefficient of the upper surface of the sheet metal after spraying is u_1, the sliding friction force on the vibration component is f_1, the component force of the gravity of the vibration component along the upper surface of the sheet metal is G_1, the force on the vibration component when moving downward along the upper surface of the sheet metal is F_1=G_1-f_1, and the distance the vibration component moves downward along the upper surface of the sheet metal is s_1;

[0062] When the upper surface of the sheet metal part is not sprayed, the friction coefficient is u_2, and the corresponding sliding friction force on the vibration assembly is f_2. Then, when the vibration assembly moves downward along the upper surface of the sheet metal part, the force F_2 it receives is F_2 = G_1 - f_2, and the distance the vibration assembly moves downward along the upper surface of the sheet metal part is s_2. When u_1 < u_2, f_1 < f_2, and F_1 > F_2. After the sheet metal part is sprayed and when the sheet metal part is not completed, the mass of the vibration assembly and the initial velocity of moving downward along the upper surface of the sheet metal part are the same. The moving distance s_1 of the vibration assembly along the upper surface of the sheet metal part under the action of F_1 is greater than the moving distance s_2 of the vibration assembly along the upper surface of the sheet metal part under the action of F_2.

[0063] Therefore, after the upper surface of the sheet metal part is sprayed, the moving distance of the vibration assembly along the upper surface of the sheet metal part is greater than the moving distance of the vibration assembly along the upper surface of the sheet metal part when the upper surface of the sheet metal part is not sprayed. Similarly, when the spraying completion situation of the upper surface of the sheet metal part is different, the corresponding moving distance of the vibration assembly along the upper surface of the sheet metal part is different. According to the moving distance of the vibration assembly along the upper surface of the sheet metal part, the spraying completion situation of the upper surface of the sheet metal part can be determined.

[0064] In the embodiment of the present application, the sheet metal part to be detected is obliquely fixed in the target area, and the vibration assembly is placed on the upper surface of the sheet metal part directly below the laser emitter; the vibration assembly is controlled to start vibrating at a preset frequency and move downward along the upper surface of the sheet metal part by its own gravity until it stops after the vibration ends; according to the moving distance of the vibration assembly on the upper surface of the sheet metal part, the spraying completion situation of the sheet metal part is determined. Thus, by automatically obtaining the moving distance of the vibration assembly on the upper surface of the sheet metal part, the spraying completion situation of the sheet metal part is determined, replacing manual detection, and improving the efficiency of detecting the sheet metal part and the accuracy of the detection result.

[0065] Optionally, step 102 of controlling the vibration assembly to start vibrating at a preset frequency and move downward along the upper surface of the sheet metal part by its own gravity until it stops after the vibration ends may include:

[0066] A motor is provided inside the vibration assembly, and the motor is controlled to start rotating through a scheduling signal, so that the vibration assembly starts vibrating at a preset frequency and moves downward along the upper surface of the sheet metal part by its own gravity until it stops after the vibration ends.

[0067] It should be noted that when the vibration component is stationary on the upper surface of the sheet metal, the static friction force it is subjected to and the component force of the gravity of the vibration component along the upper surface of the sheet metal are equal. A motor is provided inside the vibration component. When the motor is controlled to start rotating by a scheduling signal, there is an upward force perpendicular to the upper surface of the sheet metal. Since the static friction force on the vibration component is positively correlated with the downward force of the vibration component perpendicular to the upper surface of the sheet metal, when the motor rotates, the upward force perpendicular to the upper surface of the sheet metal reduces the downward force of the vibration component perpendicular to the upper surface of the sheet metal, and the static friction force on the vibration component is correspondingly reduced. The component force of the gravity of the vibration component along the upper surface of the sheet metal is greater than the static friction force on the vibration component, so that the vibration component can use its own gravity to move downward along the upper surface of the sheet metal. When the motor receives the scheduling signal and stops rotating, the vibration component stops vibrating and stops moving along the upper surface of the sheet metal under the action of friction.

[0068] In the embodiment of the present application, the sheet metal to be inspected is fixed obliquely in the target area, and the vibration component is placed on the upper surface of the sheet metal directly below the laser emitter; a motor is provided inside the vibration component, and the motor is controlled to start rotating by a scheduling signal, so that the vibration component starts to vibrate at a preset frequency, and when the motor rotates, there is an upward force perpendicular to the sheet metal, so that the vibration component uses its own gravity to move downward along the upper surface of the sheet metal until it stops after the vibration ends; the completion of the spraying of the sheet metal is determined based on the moving distance of the vibration component on the upper surface of the sheet metal. Therefore, a motor is provided inside the vibration component, and the motor is controlled by a scheduling signal, so that the vibration component is fully automated to move along the upper surface of the sheet metal, and the efficiency of detecting the completion of the spraying of the sheet metal is improved.

[0069] Optionally, before step 101, the following steps may also be included:

[0070] The preset frequency of the vibration component is adjusted according to the length of the sheet metal and the mass of the vibration component.

[0071] In an embodiment of the present application, the frequency of the vibration component is adjusted according to the length of the sheet metal part, so that the movement distance of the vibration component on the upper surface of the sheet metal part after stopping vibration is less than or equal to the length of the sheet metal part.

[0072] Optionally, the spraying detection system further includes a laser transmitter and a laser receiver, and the laser receiver is placed on the upper surface of the vibration component. The step 103 of determining the spraying completion status of the sheet metal part according to the moving distance of the vibration component on the upper surface of the sheet metal part may include:

[0073] Control the laser transmitter to rotate until the laser receiver senses the light beam emitted by the laser transmitter and then controls the laser transmitter to stop rotating, and record the rotation angle of the laser transmitter from the start of rotation to the stop of rotation; the rotation angle is positively correlated with the moving distance of the vibration component on the upper surface of the sheet metal part;

[0074] The spraying completion status of the sheet metal part is determined according to the mapping relationship between the rotation inclination angle and the friction coefficient of the sheet metal part.

[0075] Among them, the laser transmitter is a device that can convert electrical energy into laser energy. It consists of multiple parts, including laser medium, pump source, optical resonant cavity and output coupler. Laser medium is a medium that converts light beam into laser by storing and emitting energy. The pump source is used to provide the energy required to activate the laser medium. Common pump sources include optical pumping, electric pumping, etc. The optical resonant cavity is used to repeatedly propagate and reflect the light in the laser medium, thereby enhancing the laser energy. The output coupler is used to extract the light beam from the optical resonant cavity. According to the different physical states of the laser medium of the laser transmitter, the laser transmitter can be divided into the following categories: solid laser, gas laser, liquid laser, etc. Solid laser refers to the physical state of the laser medium in the laser transmitter is solid, such as ruby ​​as the laser medium to form a ruby ​​laser.

[0076] Exemplarily, the laser emitter may be fixed above the target area by a fixing device and in the same vertical direction as the end of the sheet metal part away from the ground, so that the light beam emitted by the laser emitter is directed vertically downward before it moves.

[0077] The rotation inclination angle refers to the angle between the starting position of the laser transmitter and the ending position where the laser transmitter rotates the light beam until the laser receiver senses the light beam emitted by the laser transmitter and stops rotating. For example, the rotation inclination angle is any angle between [0°, 90°].

[0078] During the movement of the vibration component along the upper surface of the sheet metal, the laser transmitter continues to rotate and emit laser until the laser receiver placed on the vibration component senses the light beam emitted by the laser transmitter and controls the laser transmitter to stop rotating. Exemplarily, when the vibration component stops vibrating, the processor sends a rotation instruction to control the laser transmitter to rotate; when the laser receiver senses the light beam emitted by the laser transmitter, it generates a sensing instruction and sends the sensing instruction to the processor. After receiving the sensing instruction, the processor sends a stop instruction to control the laser transmitter to stop rotating. Alternatively, the processor may include: a monitoring module. When the laser transmitter starts to rotate, the monitoring module is responsible for monitoring whether the laser receiver senses the light beam. When the monitoring laser receiver senses the light beam, the processor controls the laser transmitter to stop rotating.

[0079] It should be noted that, refer to Figure 4 , the sheet metal is placed directly below the laser transmitter. When the moving distance of the vibration component on the upper surface of the sheet metal is greater, the relative distance between the vibration component and the laser transmitter is also greater; because the laser receiver is placed on the upper surface of the vibration component, when the moving distance of the vibration component relative to the laser transmitter is greater, the relative distance between the laser receiver and the laser transmitter is also greater. When the moving distance of the laser receiver relative to the laser transmitter is greater, the laser transmitter needs to move the light beam to make the laser receiver sense the rotation angle of the light beam. Similarly, when the moving distance of the vibration component on the upper surface of the sheet metal is smaller, the relative distance between the vibration component and the laser transmitter is also smaller; because the laser receiver is placed on the upper surface of the vibration component, when the moving distance of the vibration component relative to the laser transmitter is smaller, the relative distance between the laser receiver and the laser transmitter is also smaller, and the laser transmitter needs to rotate the light beam to make the laser receiver sense the rotation angle of the light beam. Therefore, the rotation angle is positively correlated with the moving distance of the vibration component on the upper surface of the sheet metal.

[0080] In the embodiment of the present application, the completion of the spraying of the sheet metal can be determined by obtaining the rotation inclination angle of the laser emitter and according to the mapping relationship between the rotation inclination angle and the friction coefficient of the sheet metal. Specifically, the friction coefficient of the upper surface of the sheet metal can be determined in a variety of ways through experiments, and the embodiment of the present application does not impose specific restrictions on this. Exemplarily, the experimental device includes: a sheet metal, a sliding object, and a spring dynamometer. The sheet metal is tilted and fixed at an angle of θ, and a sliding object is placed on the upper surface of the sheet metal. The mass of the sliding object is m. The spring dynamometer is used to measure and record the force F exerted on the upper surface of the sheet metal when the sliding object moves downward along the upper surface of the sheet metal. F=mgsinθ-umgcosθ. According to F, the mass of the sliding object, and the inclination angle θ of the sheet metal, the current friction coefficient of the upper surface of the sheet metal can be obtained.

[0081] Alternatively, the experimental device includes a sheet metal, a sliding object, and a spring dynamometer. The sheet metal is placed horizontally, and the sliding object is placed on the upper surface of the sheet metal. A horizontal force F is continuously applied to the sliding object to make the sliding object move at a uniform speed. When the sliding object moves at a uniform speed, the horizontal force is balanced, that is, the sliding friction force is equal to F. The friction coefficient of the upper surface of the sheet metal can be obtained according to the calculation formula of the sliding friction force.

[0082] Through multiple experiments, the friction coefficient of the upper surface of the sheet metal and the rotation angle of the laser emitter under different conditions of sheet metal spraying are obtained, and the mapping relationship between the rotation angle and the friction coefficient of the sheet metal is obtained. Exemplarily, when the sheet metal is not sprayed, the friction coefficient u_1 of the upper surface of the current sheet metal is obtained, and then the sheet metal is fixed at an angle, and the vibration component is placed on the upper surface of the sheet metal directly below the laser emitter; the vibration component is controlled to start vibrating at a preset frequency, and use its own gravity to move downward along the upper surface of the sheet metal until it stops after the vibration ends; the laser emitter is controlled to move until the laser receiver senses the light beam emitted by the laser emitter and then controls the laser emitter to stop moving, and records the rotation angle α_1 of the laser emitter from the start to the stop; when the sheet metal is not sprayed completely, the friction coefficient u_2 of the upper surface of the current sheet metal and the rotation angle α_2 of the laser emitter are obtained; for different spraying conditions of the sheet metal, the friction coefficient and rotation angle of the corresponding conditions are obtained respectively; when the spraying of the sheet metal is completed, the friction coefficient u_n of the upper surface of the current sheet metal and the rotation angle α_n of the laser emitter are obtained.

[0083] After obtaining the mapping relationship between the rotational inclination angle and the friction coefficient of the sheet metal part, the completion status of the spraying of the sheet metal part can be determined according to the mapping relationship by acquiring the rotational inclination angle of the laser transmitter.

[0084] In an embodiment of the present application, a spray detection system includes a laser transmitter and a laser receiver. The laser receiver is placed on the upper surface of a vibration component. After the vibration component stops vibrating and becomes stationary, the laser transmitter is controlled to rotate until the laser receiver senses a light beam emitted by the laser transmitter and then controls the laser transmitter to stop rotating. The rotation angle of the laser transmitter from the start of rotation to the stop of rotation is recorded. The completion status of the spraying of the sheet metal is determined based on a mapping relationship between the rotation angle of the laser transmitter and the friction coefficient of the sheet metal, thereby replacing manual inspection of whether the sheet metal has been sprayed, and improving the efficiency of identifying the completion status of the spraying of the sheet metal.

[0085] Optionally, after step 103, the following steps may also be included:

[0086] The sheet metal parts that have been sprayed are sent to the next process, and the sheet metal parts that have not been sprayed are placed in the abnormal identification area for rework.

[0087] In the embodiment of the present application, the sheet metal parts that have not been finished spraying are placed in the abnormal identification area for rework, and the sheet metal parts that have not been finished spraying are further sprayed, thereby improving the success rate of spraying the sheet metal parts.

[0088] Reference Figure 2, showing the step flow chart of another sheet metal part spraying detection and recognition method provided by the embodiments of the present application, as Figure 2 shown, the method specifically includes the following steps:

[0089] Step 201, obliquely fix the sheet metal part to be detected in the target area, and place the vibration component on the upper surface of the sheet metal part directly below the laser emitter;

[0090] This step can refer to the detailed description of step 101 and will not be elaborated here.

[0091] Step 202, adjust the preset frequency of the vibration component according to the length of the sheet metal part and the mass of the vibration component.

[0092] It should be noted that the preset frequency of the vibration component affects the distance that the vibration component moves downward along the upper surface of the sheet metal part in the same time. For example, when the preset frequency of the vibration component is h_1 respectively, within the time t, the distance that the vibration component moves downward along the upper surface of the sheet metal part is s_1; when the preset frequency of the vibration component is h_2 respectively, within the time t, the distance that the vibration component moves downward along the upper surface of the sheet metal part is s_2; when h_1 < h_2, within the same time t, s_1 < s_2.

[0093] The vibration component needs to move within the length range of the sheet metal part, obtain the moving distance of the vibration component on the upper surface of the sheet metal part, and determine the spraying completion situation of the sheet metal part according to the moving distance. Therefore, it is necessary to adjust the frequency of the vibration component according to the length of the sheet metal part so that the moving distance of the vibration component on the upper surface of the sheet metal part after stopping vibrating is less than or equal to the length of the sheet metal part.

[0094] Exemplarily, when the length of the sheet metal part is L_1, control the preset frequency of the vibration component within the interval of [h_1, h_2] so that the moving distance of the vibration component along the upper surface of the sheet metal part is less than or equal to the length of the sheet metal part in both the case of incomplete spraying and complete spraying.

[0095] Step 203, control the vibration component to start vibrating at the preset frequency and move downward along the upper surface of the sheet metal part by its own gravity until it stops vibrating and is stationary;

[0096] This step can refer to the detailed description of step 101 and will not be elaborated here.

[0097] Optionally, the spraying detection system further includes a laser emitter and a laser receiver, and the laser receiver is placed on the upper surface of the vibration component;

[0098] Step 204, controlling the laser transmitter to rotate until the laser receiver senses the light beam emitted by the laser transmitter and then controls the laser transmitter to stop rotating, and recording the rotation angle of the laser transmitter from the start of rotation to the stop of rotation; the rotation angle is positively correlated with the moving distance of the vibration component on the upper surface of the sheet metal part;

[0099] The rotation inclination angle refers to the angle between the starting position of the laser transmitter and the ending position where the laser transmitter rotates the light beam until the laser receiver senses the light beam emitted by the laser transmitter and stops rotating. For example, the rotation inclination angle is any angle between [0°, 90°].

[0100] Optionally, controlling the laser transmitter to rotate and instructing the laser receiver to control the laser transmitter to stop rotating after sensing the light beam emitted by the laser transmitter may include:

[0101] When the vibration component stops vibrating and stops, the laser transmitter is controlled to rotate. When the laser receiver senses the light beam emitted by the laser transmitter, a sensing instruction is generated, and the sensing instruction for sensing the light beam is sent to the processor. After receiving the instruction, the processor controls the laser transmitter to stop rotating. Alternatively, the processor may include: a monitoring module. When the laser transmitter starts to rotate, the monitoring module is responsible for monitoring whether the laser receiver senses the light beam. When the monitoring laser receiver senses the light beam, the processor controls the laser transmitter to stop rotating.

[0102] It should be noted that, refer to Figure 4 , the sheet metal is placed directly below the laser transmitter. When the moving distance of the vibration component on the upper surface of the sheet metal is greater, the relative distance between the vibration component and the laser transmitter is also greater; because the laser receiver is placed on the upper surface of the vibration component, when the moving distance of the vibration component relative to the laser transmitter is greater, the relative distance between the laser receiver and the laser transmitter is also greater. When the moving distance of the laser receiver relative to the laser transmitter is greater, the laser transmitter needs to move the light beam to make the laser receiver sense the rotation angle of the light beam. Similarly, when the moving distance of the vibration component on the upper surface of the sheet metal is smaller, the relative distance between the vibration component and the laser transmitter is also smaller; because the laser receiver is placed on the upper surface of the vibration component, when the moving distance of the vibration component relative to the laser transmitter is smaller, the relative distance between the laser receiver and the laser transmitter is also smaller, and the laser transmitter needs to rotate the light beam to make the laser receiver sense the rotation angle of the light beam. Therefore, the rotation angle is positively correlated with the moving distance of the vibration component on the upper surface of the sheet metal.

[0103] Exemplarily, the sheet metal parts that have not been sprayed and the sheet metal parts that have been sprayed are respectively fixed at an angle in the target area; when the sheet metal parts have not been sprayed, after the vibration component stops moving on the upper surface of the sheet metal parts, the laser transmitter is controlled to rotate until the laser receiver senses the light beam emitted by the laser transmitter. After the laser receiver senses the light beam emitted by the laser transmitter, it generates a sensing instruction and sends the sensing instruction of the light beam to the processor. After receiving the instruction, the processor controls the laser transmitter to stop rotating and records the rotation inclination angle α_1 of the laser transmitter from the start of rotation to the stop of rotation; when the sheet metal parts have been sprayed, the rotation inclination angle α_2 of the laser transmitter from the start of rotation to the stop of rotation is recorded; wherein α_1<α_2.

[0104] Step 205 , determining the spraying completion status of the sheet metal part according to the mapping relationship between the rotation inclination angle and the friction coefficient of the sheet metal part.

[0105] It should be noted that when the spraying completion status of the upper surface of the sheet metal is different, the friction coefficient of the upper surface of the sheet metal is different, and the moving distance of the vibration component along the upper surface of the sheet metal is different; there is a mapping relationship between the friction coefficient corresponding to the spraying completion status of the upper surface of the sheet metal and the moving distance of the vibration component on the upper surface of the sheet metal; and the rotation inclination angle of the laser transmitter is positively correlated with the moving distance of the vibration component on the upper surface of the sheet metal. Therefore, there is a corresponding mapping relationship between the rotation inclination angle and the friction coefficient of the sheet metal.

[0106] In an embodiment of the present application, multiple experiments are conducted to obtain the friction coefficient of the upper surface of the sheet metal and the rotational inclination angle of the laser emitter under different conditions of sheet metal spraying, and obtain a mapping relationship between the rotational inclination angle and the friction coefficient of the sheet metal. Exemplarily, when the sheet metal part is not sprayed, the friction coefficient u_1 of the upper surface of the current sheet metal part is obtained by measuring the friction coefficient of the upper surface of the sheet metal part proposed in step 2051, and then the sheet metal part is fixed at an angle, and the vibration component is placed on the upper surface of the sheet metal part directly below the laser emitter; the vibration component is controlled to start vibrating at a preset frequency, and use its own gravity to move downward along the upper surface of the sheet metal part until it stops after the vibration ends; the laser emitter is controlled to move until the laser receiver senses the light beam emitted by the laser emitter and then controls the laser emitter to stop moving, and records the rotation angle α_1 of the laser emitter from the start to the stop; when the sheet metal part is not completely sprayed, the friction coefficient u_2 of the upper surface of the current sheet metal part and the rotation angle α_2 of the laser emitter are obtained; for different spraying conditions of the sheet metal part, the friction coefficient and rotation angle of the corresponding conditions are respectively obtained; when the spraying of the sheet metal part is completed, the friction coefficient u_n of the upper surface of the current sheet metal part and the rotation angle α_n of the laser emitter are obtained. Through multiple experiments, the mapping relationship between the friction coefficient and the rotation angle of the upper surface of the sheet metal can be obtained.

[0107] Optionally, the step 205 of determining the spraying completion status of the sheet metal part according to the mapping relationship between the rotation inclination angle and the friction coefficient of the sheet metal part may include the following steps:

[0108] Step 2051, determining a target friction coefficient of the upper surface of the sheet metal part when the sheet metal part is sprayed;

[0109] In the embodiments of the present application, the target friction coefficient of the upper surface of the sheet metal can be determined by experiments in a variety of ways, and the embodiments of the present application do not impose specific restrictions on this. Exemplarily, the experimental device includes: a sheet metal, a sliding object, and a spring dynamometer. The sheet metal is tilted and fixed at an angle of θ, and a sliding object is placed on the upper surface of the sheet metal. The mass of the sliding object is m. The spring dynamometer measures and records the force F exerted on the upper surface of the sheet metal when the sliding object moves downward along the upper surface of the sheet metal. F=mgsinθ-umgcosθ. According to F, the mass of the sliding object, and the inclination angle θ of the sheet metal, the current friction coefficient of the upper surface of the sheet metal can be obtained. In this way, the target friction coefficient of the upper surface of the sheet metal is determined when the sheet metal is sprayed.

[0110] Alternatively, the experimental device includes a sheet metal, a sliding object, and a spring dynamometer. The sheet metal is placed horizontally, and the sliding object is placed on the upper surface of the sheet metal. A horizontal force F is continuously applied to the sliding object to make the sliding object move at a constant speed. When the sliding object moves at a constant speed, the horizontal force is balanced, that is, the sliding friction force is equal to F. The friction coefficient of the upper surface of the sheet metal can be obtained according to the calculation formula of the sliding friction force. Through the same calculation method, the target friction coefficient of the upper surface of the sheet metal can be determined when the sheet metal is sprayed.

[0111] Step 2052, determining a preset threshold of the rotational inclination angle corresponding to the target friction coefficient according to a mapping relationship between the rotational inclination angle and the friction coefficient of the sheet metal part;

[0112] According to the mapping relationship between the rotation inclination angle and the friction coefficient of the sheet metal part obtained above, when determining the target friction coefficient when the sheet metal part is sprayed, a preset threshold value corresponding to the target friction coefficient can be determined.

[0113] Step 2053: When the rotation inclination angle is greater than a preset threshold, it is determined that the spraying of the sheet metal part is completed.

[0114] In the embodiment of the present application, the friction coefficient of the sheet metal after spraying is completed is different from the friction coefficient of the sheet metal before spraying. Specifically, the friction coefficient of the upper surface of the sheet metal after spraying is completed is less than the friction coefficient of the upper surface of the sheet metal before spraying. According to the calculation formula of sliding friction F = mgu * cosθ (m is the mass of the vibration component, g is the gravity acceleration constant, and θ is the inclination angle of the sheet metal), when other conditions remain unchanged, when the friction coefficient of the upper surface of the sheet metal decreases, the sliding friction force received by the vibration component when it moves along the upper surface of the sheet metal decreases accordingly. When the vibration component moves downward along the upper surface of the sheet metal, the direction of the sliding friction force received by the vibration component is opposite to the direction of movement of the vibration component along the upper surface of the sheet metal. When the friction coefficient of the upper surface of the sheet metal decreases, the sliding friction force received by the vibration component decreases, and the component force of the gravity of the vibration component along the upper surface of the sheet metal remains unchanged, and the force received by the vibration component in the opposite direction of the movement direction of the vibration component decreases, and the moving distance of the vibration component moving downward along the upper surface of the sheet metal is greater.

[0115] When the vibration component moves farther on the upper surface of the sheet metal, the relative distance between the vibration component and the laser transmitter is also greater; because the laser receiver is placed on the upper surface of the vibration component, when the vibration component moves farther relative to the laser transmitter, the relative distance between the laser receiver and the laser transmitter is also greater. When the laser receiver moves farther relative to the laser transmitter, the laser transmitter needs to rotate the beam to a greater angle so that the laser receiver can sense the beam.

[0116] Therefore, when the friction coefficient of the upper surface of the sheet metal is smaller, the greater the moving distance of the vibration component along the upper surface of the sheet metal is, and the greater the rotation inclination angle of the laser emitter is. According to the mapping relationship between the rotation inclination angle and the friction coefficient of the sheet metal, it is possible to determine the preset threshold value corresponding to the target friction coefficient when determining the target friction coefficient when the sheet metal is sprayed. When the rotation inclination angle is greater than the threshold, it can be indicated that the friction coefficient of the upper surface of the sheet metal is less than the target friction coefficient, that is, the spraying of the upper surface of the sheet metal is completed. When the rotation inclination angle is less than the threshold, it can be indicated that the friction coefficient of the upper surface of the sheet metal is greater than the target friction coefficient, that is, the spraying of the upper surface of the sheet metal is not completed.

[0117] Optionally, a sheet metal part spraying detection and identification method provided in an embodiment of the present application may further include the following steps:

[0118] Step 206, the sheet metal parts that have been sprayed are sent to the next process, and the sheet metal parts that have not been sprayed are placed in the abnormal identification area for rework.

[0119] Among them, placing the sheet metal parts that have not been finished spraying in the abnormal identification area for rework processing is to perform additional spraying on the upper surface of the sheet metal parts that have not been finished spraying to ensure that the spraying of the sheet metal parts is completed.

[0120] Device Embodiment

[0121] like Figure 3 As shown, Figure 3 The following is a logic block diagram of a sheet metal spraying detection and identification device provided in an embodiment of the present application. The device may include:

[0122] A first control module is used to control the vibration component to start vibrating at a preset frequency and use its own gravity to move downward along the upper surface of the sheet metal until it stops vibrating and stops;

[0123] The first determination module is used to determine the completion status of the spraying of the sheet metal part according to the moving distance of the vibration component on the upper surface of the sheet metal part.

[0124] Optionally, the first determining module includes:

[0125] A second control module is used to control the laser transmitter to rotate until the laser receiver senses the light beam emitted by the laser transmitter and then controls the laser transmitter to stop rotating, and records the rotation angle of the laser transmitter from the start of rotation to the stop of rotation; the rotation angle is positively correlated with the moving distance of the vibration component on the upper surface of the sheet metal part;

[0126] The second determination module is used to determine the spraying completion status of the sheet metal part according to the mapping relationship between the rotation inclination angle and the friction coefficient of the sheet metal part.

[0127] Optionally, the second determining module includes:

[0128] A third determination module is used to determine a target friction coefficient of the upper surface of the sheet metal part when the sheet metal part is sprayed;

[0129] a fourth determination module, configured to determine a preset threshold of the rotational inclination angle corresponding to the target friction coefficient according to a mapping relationship between the rotational inclination angle and the friction coefficient of the sheet metal component;

[0130] The fifth determination module is used to determine that the spraying of the sheet metal part is completed when the rotation inclination angle is greater than a preset threshold.

[0131] Optionally, the first control module includes:

[0132] The third control module, the vibration component is provided with a motor inside, and the motor is controlled to start rotating through a scheduling signal, so that the vibration component starts to vibrate at a preset frequency, and uses its own gravity to move downward along the upper surface of the sheet metal until it stops vibrating; the vibration component is provided with a motor inside.

[0133] Optionally, the first control module includes:

[0134] The adjustment module is used to adjust the preset frequency of the vibration component according to the length of the sheet metal part and the mass of the vibration component.

[0135] Optionally, the device further comprises:

[0136] The placement module sends the sheet metal parts that have been sprayed to the next process, and the sheet metal parts that have not been sprayed are placed in the abnormal identification area for rework.

[0137] In summary, the embodiment of the present application provides a sheet metal spray detection and identification device, including: a fixing module, which fixes the sheet metal to be detected obliquely in the target area, and places the vibration component on the upper surface of the sheet metal directly below the laser emitter; a first control module, which is used to control the vibration component to start vibrating at a preset frequency, and use its own gravity to move downward along the upper surface of the sheet metal until it stops after the vibration ends; a first determination module, which is used to determine the completion of the spraying of the sheet metal according to the moving distance of the vibration component on the upper surface of the sheet metal. Therefore, the completion of the spraying of the sheet metal is determined according to the moving distance of the vibration component on the upper surface of the sheet metal, which realizes the autonomous identification of whether the air-conditioning sheet metal has been sprayed, improves factory production efficiency, and reduces maintenance costs.

[0138] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned sheet metal spray detection and identification method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0139] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0140] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0141] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A sheet metal spray detection and identification method, characterized in that: Applied to a spray detection system, the spray detection system includes a vibration component, and the method includes: Fixing the sheet metal to be inspected obliquely in the target area, and placing the vibration assembly on the upper surface of the sheet metal; Controlling the vibration component to start vibrating at a preset frequency and using its own gravity to move downward along the upper surface of the sheet metal until it stops vibrating and comes to rest; The completion status of the spraying of the sheet metal part is determined according to the movement distance of the vibration component on the upper surface of the sheet metal part.

2. The method according to claim 1, characterized in that The spraying detection system further includes a laser transmitter and a laser receiver, wherein the laser receiver is placed on the upper surface of the vibration component; and determining the spraying completion status of the sheet metal part according to the movement distance of the vibration component on the upper surface of the sheet metal part includes: controlling the laser emitter to rotate until the laser receiver senses the light beam emitted by the laser emitter and then controlling the laser emitter to stop rotating, and recording the rotation angle of the laser emitter from the start of rotation to the stop of rotation; the rotation angle is positively correlated with the rotation distance of the vibration component on the upper surface of the sheet metal part; The completion status of the spraying of the sheet metal part is determined according to the mapping relationship between the rotation inclination angle and the friction coefficient of the sheet metal part.

3. The method according to claim 2, characterized in that The determining of the spraying completion status of the sheet metal part according to the mapping relationship between the rotation inclination angle and the friction coefficient of the sheet metal part includes: determining a target friction coefficient of an upper surface of the sheet metal part after the sheet metal part has been sprayed; determining a preset threshold of the rotational inclination angle corresponding to the target friction coefficient according to a mapping relationship between the rotational inclination angle and the friction coefficient of the sheet metal part; When the rotation inclination angle is greater than a preset threshold, it is determined that the spraying of the sheet metal part is completed.

4. The method according to claim 1, wherein The step of controlling the vibration component to start vibrating at a preset frequency and using its own gravity to move downward along the upper surface of the sheet metal component until the vibration ends and the component comes to rest comprises: A motor is provided inside the vibration component, and the motor is controlled to start rotating by a scheduling signal, so that the vibration component starts vibrating at a preset frequency and uses its own gravity to move downward along the upper surface of the sheet metal until it stops vibrating.

5. The method according to claim 1, characterized in that The method further comprises: The preset frequency of the vibration component is adjusted according to the length of the sheet metal part and the mass of the vibration component.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: The sheet metal parts that have been sprayed are sent to the next process, and the sheet metal parts that have not been sprayed are placed in the abnormal identification area for rework.

7. A sheet metal spray detection and identification device, characterized in that: The device comprises: A fixing module is used to fix the sheet metal to be inspected obliquely in the target area, and the vibration component is placed on the upper surface of the sheet metal directly below the laser emitter; a first control module, configured to control the vibration assembly to start vibrating at a preset frequency and to move downward along the upper surface of the sheet metal part by using its own gravity until the vibration ends and the assembly comes to rest; The first determining module is configured to determine a completion status of spraying of the sheet metal part according to a moving distance of the vibration component on the upper surface of the sheet metal part.

8. The device according to claim 7, characterized in that The first determining module includes: a second control module, configured to control the laser emitter to rotate until the laser receiver senses the light beam emitted by the laser emitter and then controls the laser emitter to stop rotating, and to record the rotation angle of the laser emitter from the start of rotation to the stop of rotation; the rotation angle is positively correlated with the movement distance of the vibration component on the upper surface of the sheet metal part; The second determining module is used to determine the spraying completion status of the sheet metal part according to the mapping relationship between the rotation inclination angle and the friction coefficient of the sheet metal part.

9. The device according to claim 8, characterized in that The second determining module includes: A third determination module is used to determine a target friction coefficient of the upper surface of the sheet metal part when the sheet metal part is sprayed; a fourth determining module, configured to determine a preset threshold of the rotational inclination angle corresponding to the target friction coefficient based on a mapping relationship between the rotational inclination angle and the friction coefficient of the sheet metal part; The fifth determination module is used to determine that the spraying of the sheet metal part is completed when the rotation inclination angle is greater than a preset threshold.

10. The device according to claim 7, characterized in that The first control module includes: The third control module is provided with a motor inside the vibration component, and the motor is controlled to start rotating through a scheduling signal so that the vibration component starts to vibrate at a preset frequency and uses its own gravity to move downward along the upper surface of the sheet metal until it stops vibrating; the vibration component is provided with a motor inside.

11. The device according to claim 7, characterized in that The first control module includes: The adjustment module is used to adjust the preset frequency of the vibration component according to the length of the sheet metal part and the mass of the vibration component.

12. The device according to any one of claims 7 to 11, further comprising: The placement module sends the sheet metal parts that have been sprayed to the next process, and the sheet metal parts that have not been sprayed are placed in the abnormal identification area for rework.

13. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the sheet metal part spray detection and identification method according to any one of claims 1 to 6 is implemented.

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