Spraying method and device, computer readable storage medium and spraying equipment

Abstract

The invention provides a spraying method and device, a computer readable storage medium and spraying equipment, the spraying equipment comprises a paint spraying device and a liquid collecting device, the paint spraying device is used for spraying paint to a to-be-sprayed object, and the liquid collecting device is used for bearing the paint dripping from the to-be-sprayed object; the method comprises the following steps: under the condition that spraying equipment performs spraying operation, acquiring a video of paint dripping in a current time period to obtain a dripping video; the dripping video is analyzed, at least one key feature parameter is obtained, and the key feature parameters are parameters representing the spraying effect; under the condition that one key characteristic parameter is not in the corresponding preset range, the coating spraying device is controlled to adjust the coating flow or spraying speed, so that all the key characteristic parameters in the next time period are in the corresponding preset range; the problem that in the prior art, spraying parameters cannot be automatically controlled to guarantee the spraying effect is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of paint spraying, and in particular to a spraying method, a device, a computer-readable storage medium, a computer program product and a spraying device. Background Art

[0002] The main material of the air conditioner's two-device pipeline is copper tube. Long-term exposure to the air, especially in an environment with high temperature and high humidity, can easily lead to oxidation and corrosion of the copper tube, affecting the performance of the air conditioner and reducing the service life of the air conditioner. With the development of technology, many manufacturers use spraying or immersion to add coatings on the surface of copper tubes to improve the corrosion resistance of copper tubes. The most commonly used method is spraying for corrosion protection.

[0003] However, during the spraying process, since there is no standard spraying process parameter comparison table for different air-conditioning models, the spraying flow and spraying speed are currently adjusted mainly by manual observation based on experience. The lack of accurate reference standards makes it difficult to accurately control the paint flow and spraying speed, which can easily cause uneven coating thickness and difficult to control film thickness.

[0004] Among them, a coating that is too thin may not provide sufficient anti-corrosion protection, and because the spraying method is from top to bottom, according to the placement of the two devices inside the spraying equipment, there will be a risk of missing the coating on the side of the copper tube of the two devices facing away from the nozzle; and a coating that is too thick may cause problems such as cracking and peeling of the coating, and lead to excessive use or waste of paint, increasing production costs.

[0005] The existing technologies for testing the uniformity of coating thickness include visual inspection, thickness gauge measurement, coating cross-section observation, ultrasonic testing, etc. All of the above methods must be based on manual measurement and continuous feedback adjustment based on the measurement results. The detection method is complex, time-consuming, and inefficient. It seriously affects the production rhythm when switching between machine models, and the accuracy of manual visual inspection cannot be guaranteed. Summary of the invention

[0006] The main purpose of the present application is to provide a spraying method, device, computer-readable storage medium, computer program product and spraying equipment, so as to at least solve the problem in the prior art that the spraying parameters cannot be automatically controlled to ensure the spraying effect.

[0007] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a spraying method is provided, the spraying equipment comprising a paint spraying device, the paint spraying device being used to spray paint on a spraying object, the method comprising: when the spraying equipment is performing a spraying operation, obtaining a video of the paint dripping in a current time period to obtain a dripping video, the time period being a period for adjusting the paint flow rate or the injection speed of the paint spraying device; analyzing the dripping video to obtain at least one key characteristic parameter, the key characteristic parameter being a parameter that characterizes the spraying effect; when one of the key characteristic parameters is not within a corresponding predetermined range, controlling the paint spraying device to adjust the paint flow rate or the injection speed so that all of the key characteristic parameters in the next time period are within the corresponding predetermined range.

[0008] Optionally, before acquiring a video of paint dripping in the current time period to obtain the dripping video, the method further includes: acquiring an image of the object to be sprayed that has completed spraying to obtain an image to be inspected; identifying an uncoated area based on the image to be inspected, the uncoated area being an area where paint is not sprayed; determining that there is a missing paint phenomenon when the area of ​​the uncoated area is greater than a predetermined threshold; and when there is a missing paint phenomenon, controlling the paint spraying device to increase the paint flow rate or the spraying speed until there is no missing paint phenomenon on one of the objects to be sprayed.

[0009] Optionally, identifying uncoated areas based on the image to be inspected includes: acquiring an image of a coated area of ​​the object to be sprayed that has been sprayed to obtain a first image, and acquiring an image of an uncoated area of ​​the object to be sprayed that has been sprayed to obtain a second image; calculating an average brightness of the first image and an average brightness of the second image, and setting an average of the average brightness of the first image and the average brightness of the second image as a brightness threshold; and performing image segmentation on the image to be inspected using the brightness threshold to obtain the uncoated area.

[0010] Optionally, the key characteristic parameters include dripping frequency, dripping paint size, dripping position range radius, paint dripping horizontal offset angle and paint stopping dripping distance, and the dripping video is analyzed to obtain at least one key characteristic parameter, including: splitting the dripping video to obtain multiple video frames; acquiring a target video frame, the target video frame is an image of an area containing the dripping paint supported by the horizontal ground; calculating the average area of ​​all the dripping paint in the target video frame to obtain the dripping paint size; using a speckle tracking algorithm to analyze multiple video frames to obtain the movement of multiple dripping paints. The method comprises the following steps: calculating a moving trajectory, and determining the moving trajectory whose end point is on the horizontal ground as the target trajectory; calculating the ratio of the number of the target trajectories to the duration of the time period to obtain the dripping frequency; calculating the maximum value of the horizontal distance between the end points of each target trajectory to obtain the dripping position range radius; obtaining the connecting line of the starting point and the end point of each target trajectory to obtain multiple connecting lines, calculating the average value of the angle between each connecting line and the vertical direction to obtain the horizontal offset angle of the paint dripping; calculating the average value of the horizontal distance between the end point and the starting point of each target trajectory to obtain the distance at which the paint stops dripping.

[0011] Optionally, when one of the key characteristic parameters is not within the corresponding predetermined range, the paint spray device is controlled to adjust the paint flow rate or the injection speed, including: when the dripping frequency is less than the minimum value of the corresponding predetermined range, the paint spray device is controlled to increase the paint flow rate or the injection speed, and when the dripping frequency is greater than the maximum value of the corresponding predetermined range, the paint spray device is controlled to reduce the paint flow rate or the injection speed; when the paint drop size is less than the minimum value of the corresponding predetermined range, the paint spray device is controlled to increase the paint flow rate or the injection speed, and when the paint drop size is greater than the maximum value of the corresponding predetermined range, the paint spray device is controlled to reduce the paint flow rate or the injection speed; when the radius of the dripping position range is less than the minimum value of the corresponding predetermined range, the paint spray device is controlled to increase the paint flow rate or the injection speed. The paint spray device increases the paint flow rate or the injection speed. When the radius of the dripping position range is greater than the corresponding maximum value of the predetermined range, the paint spray device is controlled to reduce the paint flow rate or the injection speed; when the horizontal deviation angle of the paint dripping is less than the minimum value of the corresponding predetermined range, the paint spray device is controlled to reduce the paint flow rate or the injection speed. When the horizontal deviation angle of the paint dripping is greater than the corresponding maximum value of the predetermined range, the paint spray device is controlled to increase the paint flow rate or the injection speed; when the paint stop dripping distance is less than the corresponding minimum value of the predetermined range, the paint spray device is controlled to increase the paint flow rate or the injection speed. When the paint stop dripping distance is greater than the corresponding maximum value of the predetermined range, the paint spray device is controlled to reduce the paint flow rate or the injection speed.

[0012] Optionally, when one of the key characteristic parameters is not within the corresponding predetermined range, before controlling the paint spray device to adjust the paint flow rate or the injection speed, the method also includes: obtaining the spraying effects and corresponding key characteristic parameters of multiple objects to be sprayed under different spraying parameters, the objects to be sprayed corresponding to the spraying parameters one by one, the spraying parameters being the paint flow rate or the injection speed, and the spraying effect including coating uniformity and thickness; the key characteristic parameter corresponding to the spraying effect in which the coating uniformity is uniform and the thickness is moderate is determined as the target key characteristic parameter; the maximum value and minimum value of the same target key characteristic parameter are determined as the maximum value and minimum value of the corresponding predetermined range.

[0013] According to another aspect of the present application, a spraying device is provided, the spraying equipment comprising a paint spraying device, the paint spraying device being used to spray paint on a spraying object, the device comprising: a first acquisition unit, used to acquire a video of the paint dripping in a current time period when the spraying equipment is performing a spraying operation, and obtain a dripping video, wherein the time period is a period for adjusting the paint flow rate or the injection speed of the paint spraying device; an analysis unit, used to analyze the dripping video, and obtain at least one key characteristic parameter, wherein the key characteristic parameter is a parameter that characterizes the spraying effect; a first control unit, used to control the paint spraying device to adjust the paint flow rate or the injection speed when one of the key characteristic parameters is not within the corresponding predetermined range, so that all of the key characteristic parameters in the next time period are within the corresponding predetermined range.

[0014] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described.

[0015] According to another aspect of the present application, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, any one of the methods described above is implemented.

[0016] According to another aspect of the present application, a spraying device is provided, comprising: a paint spraying device, one or more processors, a memory, and one or more programs, wherein the paint spraying device is used to spray paint on a spraying object, the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the described methods.

[0017] By applying the technical solution of the present application, in the above-mentioned spraying method, a video of paint dripping in a time period is shot, and then a plurality of key characteristic parameters are obtained by analyzing the dripping video. The key characteristic parameters can all reflect the effect of the spraying. For example, if the dripping frequency is too high, it indicates that the coating thickness is too thick, and if the radius of the dripping position range is too small, it indicates that the spraying is uneven. If multiple key characteristic parameters are all within the corresponding range, it indicates that the spraying effect is good, that is, the spraying is uniform and the thickness is moderate. Otherwise, the spraying effect is not good, and it is necessary to adjust the paint flow rate or the injection speed so that all the key characteristic parameters of the next time period are within the corresponding predetermined range to ensure the spraying effect. There is no need to manually judge the spraying effect to adjust the spraying parameters (paint flow rate or injection speed), which solves the problem in the prior art that the spraying parameters cannot be automatically controlled to ensure the spraying effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A hardware structure block diagram of a mobile terminal for executing a spraying method provided in an embodiment of the present application is shown;

[0019] Figure 2 A schematic diagram showing a spraying operation performed by a spraying device provided in an embodiment of the present application is shown;

[0020] Figure 3 A schematic diagram of a spraying method according to an embodiment of the present application is shown;

[0021] Figure 4 A schematic diagram of a paint dripping motion trajectory provided according to an embodiment of the present application is shown;

[0022] Figure 5 A schematic diagram of an image captured by a third camera according to an embodiment of the present application is shown;

[0023] Figure 6 A structural block diagram of a spraying device provided according to an embodiment of the present application is shown.

[0024] The above drawings include the following reference numerals:

[0025] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device; 1. Spraying equipment; 11. Paint spraying device; 12. Air blowing device; 13. Conveyor belt; 14. Liquid collecting device; 2. First camera; 3. Second camera; 4. Third camera; 5. Object to be sprayed; 51. Sprayed object; 6. Spraying area; 7. Dripping paint. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] As introduced in the background technology, the prior art cannot automatically control the spraying parameters to ensure the spraying effect. To solve this technical problem, the embodiments of the present application provide a spraying method, device, computer-readable storage medium, computer program product and spraying equipment.

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0031] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of a spraying method according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0032] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the spraying method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, realizing the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned network specific example may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0033] In this embodiment, a spraying method running on a mobile terminal, a computer terminal or a similar computing device is provided. Figure 2 As shown, the spraying equipment 1 includes a paint spraying device 11 and a liquid collecting device 14. The paint spraying device 11 is used to spray paint on the object to be sprayed 5, and the liquid collecting device 14 is used to receive the paint dripping from the object to be sprayed 5. Of course, a horizontal ground can also be used instead of the liquid collecting device. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0034] Figure 3 is a flow chart of a spraying method according to an embodiment of the present application. Figure 3 As shown, the method comprises the following steps:

[0035] Step S201, when the spraying equipment is performing a spraying operation, obtaining a video of the paint dripping in a current time period to obtain a dripping video, wherein the time period is a period for adjusting the paint flow rate or the spraying speed of the paint spraying device;

[0036] Step S202, analyzing the dripping video to obtain at least one key characteristic parameter, where the key characteristic parameter is a parameter that characterizes the spraying effect;

[0037] Step S203, when one of the above key characteristic parameters is not within the corresponding predetermined range, control the above paint spraying device to adjust the above paint flow rate or the above spraying speed so that all the above key characteristic parameters in the next above time period are within the corresponding above predetermined range.

[0038] In the above-mentioned spraying method, a video of paint dripping in a time period is shot, and then a plurality of key characteristic parameters are obtained by analyzing the dripping video. The key characteristic parameters can all reflect the effect of the spraying. For example, if the dripping frequency is too high, it indicates that the coating thickness is too thick, and if the radius of the dripping position range is too small, it indicates that the spraying is uneven. If a plurality of key characteristic parameters are all within the corresponding range, it indicates that the spraying effect is good, that is, the spraying is uniform and the thickness is moderate. Otherwise, the spraying effect is not good, and it is necessary to adjust the paint flow rate or the injection speed so that all the key characteristic parameters of the next time period are within the corresponding predetermined range to ensure the spraying effect. There is no need to manually judge the spraying effect to adjust the spraying parameters (paint flow rate or injection speed), which solves the problem that the spraying parameters cannot be automatically controlled to ensure the spraying effect in the prior art.

[0039] It should be noted that if Figure 2 As shown, the object to be sprayed 5 can be two devices (evaporator and condenser) of the air conditioner, and the spraying area 6 of the object to be sprayed 5 is a copper tube. The blowing device 12 can be installed in the spraying equipment 1. Therefore, when the paint drips, there is an initial velocity in the horizontal direction, which causes the paint not to drip directly below the nozzle of the paint spraying device 11, but to produce a horizontal offset with the different blowing directions. The offset angle is related to the size of the paint dripping and the spraying speed. Affected by the spraying flow rate and the spraying speed, the excess paint on the copper tube will also change, which will cause the position where the paint stops dripping to be inconsistent. The first camera 2 is a high-resolution camera, which is installed at the tail section of the conveyor belt 13 after the paint spraying is completed and the paint stops dripping, and is used to detect whether the copper tube is leaking. The second camera 3 is installed in the middle section of the conveyor belt 13, which is used to detect the position where the paint stops dripping. The third camera 4 is installed below the nozzle of the front section of the conveyor belt 13 to detect the movement trajectory of the paint dripping.

[0040] In order to avoid missing paint, in an optional implementation, before obtaining the paint dripping video of the current time period, the method further includes:

[0041] Step S301, acquiring an image of the object to be sprayed that has been sprayed to obtain an image to be inspected;

[0042] Step S302, identifying an uncoated area according to the image to be inspected, wherein the uncoated area is an area where no paint is sprayed;

[0043] Step S303, when the area of ​​the uncoated region is greater than a predetermined threshold, determining that there is a coating omission phenomenon;

[0044] Step S304, in the case where the above-mentioned coating omission phenomenon exists, controlling the above-mentioned coating spraying device to increase the above-mentioned coating flow rate or the above-mentioned spraying speed until the above-mentioned coating omission phenomenon does not exist on the above-mentioned object to be sprayed.

[0045] In the above implementation mode, if Figure 2 As shown, when the object to be sprayed 5 (the two air conditioners) is finished spraying, it moves forward to the tail section on the conveyor belt and becomes the sprayed object 51, the paint has stopped dripping, and the coating on the surface of the copper tube has formed a film. A high-resolution first camera 2 is used to shoot the surface of the copper tube, obtain a clear coating image, pre-process the image, improve the image quality, filter the image, remove noise and interference, and set a suitable threshold or parameter according to the brightness (color, texture, shape, etc.) characteristics of the coating through image segmentation technology (such as threshold segmentation, edge detection, regional growth, etc.) to separate the coating and the uncoated area. When the area of ​​the uncoated area exceeds a certain threshold, it is considered that there is a phenomenon of missing coating. When a copper tube with missing coating is detected, it means that the coating flow rate is too small or the injection speed is too slow, resulting in uneven distribution of the coating on the copper tube, causing missing coating. At this time, one or more methods of increasing the coating flow rate or increasing the injection pressure to increase the injection speed should be used to ensure that there is no missing coating on the copper tube.

[0046] In order to realize the identification of the uncoated area, in an optional implementation, the above step S302 includes:

[0047] Step S3021, acquiring an image of the coated area of ​​the object to be sprayed that has been sprayed to obtain a first image, and acquiring an image of the uncoated area of ​​the object to be sprayed that has been sprayed to obtain a second image;

[0048] Step S3022, calculating the average brightness of the first image and the average brightness of the second image, and setting the average of the average brightness of the first image and the average brightness of the second image as a brightness threshold;

[0049] Step S3023: segment the image to be inspected using the brightness threshold to obtain the uncoated area.

[0050] In the above embodiment, taking the use of brightness features for image segmentation as an example, images of the coated area of ​​the above-mentioned object to be sprayed and images of the uncoated area of ​​the above-mentioned object to be sprayed are respectively obtained to obtain a first image and a second image, and the average of the average brightness of the above-mentioned first image and the average brightness of the above-mentioned second image is set as the brightness threshold, which can ensure that the uncoated area and the coated area are accurately segmented using the above-mentioned brightness threshold.

[0051] In order to extract the key characteristic parameters, in an optional implementation, the key characteristic parameters include dripping frequency, dripping paint size, dripping position range radius, paint dripping horizontal offset angle and paint stop dripping distance, and the above step S202 includes:

[0052] Step S2021, splitting the dripping video to obtain multiple video frames;

[0053] Step S2022, obtaining a target video frame, wherein the target video frame is an image of an area containing the dripping paint received by the horizontal ground;

[0054] Step S2023, calculating the average value of the areas of all the paint drops in the target video frame to obtain the paint drop size;

[0055] Step S2024, using a speckle tracking algorithm to analyze the plurality of video frames to obtain a plurality of motion trajectories of the dripping paint, and determining the motion trajectory with an end point located on the horizontal ground as a target trajectory;

[0056] Step S2025, calculating the ratio of the number of the target tracks to the duration of the time period to obtain the dripping frequency;

[0057] Step S2026, calculating the maximum value of the distance between the end points of each of the target trajectories in the horizontal direction to obtain the radius of the drop position range;

[0058] Step S2027, obtaining a connection line between the starting point and the end point of each of the target trajectories, obtaining a plurality of connection lines, calculating an average value of the angles between each of the connection lines and the vertical direction, and obtaining the horizontal deviation angle of the paint drop;

[0059] Step S2028, calculating the average value of the distance between the end point and the starting point of each of the target trajectories in the horizontal direction, and obtaining the distance at which the paint stops dripping.

[0060] In the above implementation mode, if Figure 2As shown, the dripping paint 7 received by the liquid collecting device 14 can be used to monitor the state of the paint dripping from the copper tubes of the two devices to the liquid collecting device in real time without leaking the paint. The liquid collecting device can be a liquid collecting tank, and the dripping state analysis is performed to extract the key characteristic parameters of the dripping, and the range of the dripping frequency, size and dripping position, the horizontal offset angle of the paint dripping, and the position where the paint stops dripping are obtained. A third camera is installed below the paint spraying device to shoot the paint dripping trajectory. A high-speed camera is installed in the forward direction of the conveyor belt to shoot the position where the paint stops dripping. The process of the paint dripping from the copper tube to the liquid collecting tank is captured using a third camera under appropriate lighting conditions. The third camera can record video at a high frame rate (e.g., hundreds or thousands of frames per second) to ensure that every stage of the paint dripping is captured. The captured video is preprocessed, including steps such as denoising, contrast enhancement, graying, and binarization, so as to better analyze the paint dripping. Background subtraction can also be performed to remove the static background and highlight the paint dripping. The video is decomposed into individual frames, and the characteristics of the paint dripping are analyzed frame by frame. Use image segmentation techniques (such as threshold segmentation or edge detection) to identify spots (i.e., dripping paint) in the image, extract the features of each spot, such as size, shape, centroid position, etc., match the spots in consecutive frames, and determine their correspondence in different frames based on the positions and other features of the spots. Generate the motion trajectory of each drop of paint by matching the position changes of the spots in consecutive frames. Figure 4 As shown in Figure 1, trajectory 1 and trajectory 2 represent the motion trajectories of any two drops of paint dripping at any time. During the spraying process, the image obtained by the third camera at a certain moment is as follows: Figure 5 As shown, the average area size of all the dripping paint in area 2 is calculated as the size of the dripping paint at that moment; Figure 4 As shown, according to the motion trajectory of each drop of paint, the number of paint drops n that appear in area 1 within the time period is counted, that is, there are n drops of paint dripping in the time period, thereby determining the paint dripping frequency; according to the motion trajectory of each drop of paint, the position boundary of the paint dripping within the time period is determined, and the radius of the dripping position range is determined; according to the motion trajectory of any drop of paint, the starting point a and the end point b of the paint dripping are determined, and the angle β between the connecting line of the starting point and the end point and the vertical direction is the horizontal offset angle of the drop of paint. The horizontal offset angle of each drop of paint that appears in area 1 within the time period is counted, and the average value is calculated as the horizontal offset angle of the paint drop within the time period. During the spraying process, the motion trajectory of the paint drop in the area is generated according to the picture taken by the second camera, and the distance from the position of each drop of paint dripping to the nozzle at any time is counted, and the average value L is calculated as the position where the paint stops dripping at that moment.

[0061] In order to ensure a good spraying effect, in an optional implementation, the above step S203 includes:

[0062] Step S2031, when the dripping frequency is less than the minimum value of the corresponding predetermined range, the paint spraying device is controlled to increase the paint flow rate or the injection speed; when the dripping frequency is greater than the maximum value of the corresponding predetermined range, the paint spraying device is controlled to reduce the paint flow rate or the injection speed;

[0063] Step S2032, when the size of the paint drop is smaller than the minimum value of the corresponding predetermined range, the paint spraying device is controlled to increase the paint flow rate or the injection speed; when the size of the paint drop is larger than the maximum value of the corresponding predetermined range, the paint spraying device is controlled to reduce the paint flow rate or the injection speed;

[0064] Step S2033, when the radius of the dripping position range is smaller than the corresponding minimum value of the predetermined range, the paint spraying device is controlled to increase the paint flow rate or the injection speed; when the radius of the dripping position range is larger than the corresponding maximum value of the predetermined range, the paint spraying device is controlled to reduce the paint flow rate or the injection speed;

[0065] Step S2034, when the horizontal deviation angle of the paint drop is smaller than the minimum value of the corresponding predetermined range, the paint spraying device is controlled to reduce the paint flow rate or the injection speed; when the horizontal deviation angle of the paint drop is larger than the maximum value of the corresponding predetermined range, the paint spraying device is controlled to increase the paint flow rate or the injection speed;

[0066] Step S2035, when the distance at which the paint stops dripping is less than the minimum value of the corresponding predetermined range, control the paint spray device to increase the paint flow rate or the injection speed; when the distance at which the paint stops dripping is greater than the maximum value of the corresponding predetermined range, control the paint spray device to reduce the paint flow rate or the injection speed.

[0067] In the above implementation, according to the real-time data of the dripping frequency, when the dripping frequency is too high, it means that the paint flow is too large or the injection speed is too fast, causing the paint to accumulate on the copper tube and drip quickly. The paint flow rate can be appropriately reduced or the injection speed can be reduced; when the dripping frequency is too low, it means that the paint flow rate is too small or the injection speed is too slow, affecting the spraying efficiency, and the paint flow rate should be appropriately increased or the injection speed should be increased. Keep the dripping frequency within a reasonable range. According to the real-time data of the dripping paint size, when the dripping paint size is too large, it means that the paint flow rate is too large or the injection speed is too fast, causing the paint to accumulate on the copper tube to form larger droplets, and the paint flow rate can be appropriately reduced or the injection speed can be reduced; when the dripping paint size is too small, it means that the paint flow rate is too small or the injection speed is too slow, affecting the uniformity of the coating, and the paint flow rate should be appropriately increased or the injection speed should be increased. Keep the dripping paint size within an appropriate range. According to the real-time data of the drop position range radius, when the drop position range radius is too small, that is, the drop position is too concentrated, it means that the paint is unevenly distributed on the copper tube, or the paint does not flow smoothly on the copper tube and accumulates. The paint flow rate or injection pressure or injection speed can be appropriately increased; when the drop position range radius is too large, that is, the drop position is too dispersed, it means that the paint flow rate is too large or the injection speed is too fast, causing the paint to splash everywhere. The angle or height of the spraying device can be adjusted, and the paint flow rate and injection speed can be optimized to make the paint evenly distributed on the copper tube and reduce unnecessary dripping. According to the real-time data of the horizontal offset angle of the paint drop, when the offset angle is too large, it means that the paint flow rate is too small or the injection speed is too slow, resulting in too small droplets, lighter weight, and a longer distance in the horizontal direction. The paint flow rate or injection speed can be appropriately reduced; when the offset angle is too small, it means that the paint flow rate is too large or the injection speed is too fast, resulting in too large droplets, heavier weight, and a shorter distance in the horizontal direction. The paint flow rate or injection speed should be appropriately increased. Keep the horizontal offset angle of the paint drop within an appropriate range. According to the real-time monitoring of the distance at which the paint stops dripping, when the position where the dripping stops is farther away from the nozzle, it means that the paint flow is too large or the injection speed is too fast, resulting in excess paint dripping on the copper tube. The paint flow rate can be appropriately reduced or the injection speed can be lowered. When the position where the dripping stops is closer to the nozzle, it means that there is less paint on the copper tube and no paint drips too early. It may be that the paint flow rate is too small or the injection speed is too slow. The paint flow rate can be appropriately increased or the injection speed can be increased.

[0068] In addition, the analysis results are fed back to the spray equipment so that the spray equipment can be adjusted. According to the analysis results, the paint flow rate and injection speed, of course, the nozzle position, injection pressure, etc. can also be optimized to achieve the best coating effect. Establish a feedback loop to continuously monitor, analyze and adjust the spraying process to ensure that the quality of paint injection is always maintained at the best state. In this way, it can be ensured that the paint flow rate and injection speed are always maintained within the appropriate range, thereby ensuring the coating quality of the copper tube.

[0069] In order to determine the predetermined range, in an optional implementation, when one of the key characteristic parameters is not within the corresponding predetermined range, before controlling the coating spray device to adjust the coating flow rate or the spray speed, the method further includes:

[0070] Step S401, obtaining the spraying effects of the plurality of objects to be sprayed under different spraying parameters and the corresponding key characteristic parameters, wherein the objects to be sprayed correspond to the spraying parameters one by one, the spraying parameters are the coating flow rate or the spraying speed, and the spraying effects include coating uniformity and thickness;

[0071] Step S402, the key characteristic parameters corresponding to the spraying effect in which the coating uniformity is uniform and the thickness is moderate are determined as target key characteristic parameters;

[0072] Step S403: Determine the maximum value and the minimum value of the same target key characteristic parameter as the corresponding maximum value and minimum value of the predetermined range.

[0073] In the above embodiment, in the actual spraying process, two devices with different copper tube specifications (such as thickness, length, etc.) are selected, and the spraying effects under different spraying methods are tested for each specification of the two devices, such as coating uniformity, whether the coating thickness is appropriate, etc., and the state of the paint dripping from the copper tubes of the two devices to the liquid collection device is recorded at this time, including: dripping frequency, dripping paint size, dripping position range radius, paint dripping horizontal offset angle and paint stop dripping distance. According to the coating uniformity and coating thickness within the spraying effect, a spraying effect comparison table based on paint dripping parameters is formulated, and data with uniform coating and moderate thickness are selected to form a benchmark value data set. As shown in Table 1, the predetermined range of dripping frequency is 36-55, the predetermined range of dripping paint size is 0.13-0.16, the predetermined range of dripping position range radius is 9.3-10.8, the predetermined range of paint dripping horizontal offset angle is 17-24, and the paint stops dripping distance is 38-45.

[0074] Table 1

[0075]

[0076] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0077] The present application also provides a spraying device. It should be noted that the spraying device of the present application can be used to execute the spraying method provided in the present application. Figure 2 As shown, the spraying equipment 1 includes a paint spraying device 11 and a liquid collecting device 14. The paint spraying device 11 is used to spray paint on the object to be sprayed 5, and the liquid collecting device 14 is used to receive the paint dripping from the object to be sprayed 5. Of course, a horizontal ground can also be used instead of the liquid collecting device. The device is used to implement the above-mentioned embodiments and preferred embodiments, and the descriptions have been made and will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0078] The following is an introduction to the spraying device provided in the embodiments of the present application.

[0079] Figure 6 is a structural block diagram of a spraying device according to an embodiment of the present application. Figure 6 As shown, the device comprises:

[0080] The first acquisition unit 10 is used to acquire the video of the paint dripping in the current time period when the spraying equipment is performing a spraying operation, and obtain the dripping video, wherein the time period is a period for adjusting the paint flow rate or the spraying speed of the paint spraying device;

[0081] An analysis unit 20, configured to analyze the dripping video to obtain at least one key characteristic parameter, wherein the key characteristic parameter is a parameter characterizing the spraying effect;

[0082] The first control unit 30 is used to control the paint spraying device to adjust the paint flow rate or the spraying speed when one of the key characteristic parameters is not within the corresponding predetermined range, so that all the key characteristic parameters in the next time period are within the corresponding predetermined range.

[0083] In the above-mentioned spraying device, by shooting a video of paint dripping in a time period, a plurality of key characteristic parameters are obtained by analyzing the dripping video. The key characteristic parameters can all reflect the effect of spraying. For example, if the dripping frequency is too high, it indicates that the coating thickness is too thick, and if the radius of the dripping position range is too small, it indicates that the spraying is uneven. If a plurality of key characteristic parameters are all within the corresponding range, it indicates that the spraying effect is good, that is, the spraying is uniform and the thickness is moderate. Otherwise, the spraying effect is not good, and it is necessary to adjust the paint flow rate or the injection speed so that all the key characteristic parameters of the next time period are within the corresponding predetermined range to ensure the spraying effect. There is no need to manually judge the spraying effect to adjust the spraying parameters (paint flow rate or injection speed), which solves the problem that the spraying parameters cannot be automatically controlled to ensure the spraying effect in the prior art.

[0084] It should be noted that if Figure 2 As shown, the object to be sprayed 5 can be two devices (evaporator and condenser) of the air conditioner, and the spraying area 6 of the object to be sprayed 5 is a copper tube. The blowing device 12 can be installed in the spraying equipment 1. Therefore, when the paint drips, there is an initial velocity in the horizontal direction, which causes the paint not to drip directly below the nozzle of the paint spraying device 11, but to produce a horizontal offset with the different blowing directions. The offset angle is related to the size of the paint dripping and the spraying speed. Affected by the spraying flow rate and the spraying speed, the excess paint on the copper tube will also change, which will cause the position where the paint stops dripping to be inconsistent. The first camera 2 is a high-resolution camera, which is installed at the tail section of the conveyor belt 13 after the paint spraying is completed and the paint stops dripping, and is used to detect whether the copper tube is leaking. The second camera 3 is installed in the middle section of the conveyor belt 13, which is used to detect the position where the paint stops dripping. The third camera 4 is installed below the nozzle of the front section of the conveyor belt 13 to detect the movement trajectory of the paint dripping.

[0085] In order to avoid missing coating, in an optional embodiment, the above device further includes:

[0086] The second acquisition unit is used to acquire an image of the above-mentioned object to be sprayed after spraying, and obtain an image to be inspected before acquiring a video of the paint dripping in the current time period to obtain the dripping video;

[0087] An identification unit, used for identifying an uncoated area according to the image to be inspected, wherein the uncoated area is an area where no paint is sprayed;

[0088] A first determination unit is used to determine that there is a coating leakage phenomenon when the area of ​​the uncoated region is greater than a predetermined threshold;

[0089] The first control unit is used for controlling the paint spraying device to increase the paint flow rate or the spraying speed when the above-mentioned paint missing phenomenon exists, until the above-mentioned paint missing phenomenon does not exist on one of the above-mentioned objects to be sprayed.

[0090] In the above implementation mode, if Figure 2 As shown, when the object to be sprayed 5 (the two air conditioners) is finished spraying, it moves forward to the tail section on the conveyor belt and becomes the sprayed object 51, the paint has stopped dripping, and the coating on the surface of the copper tube has formed a film. A high-resolution first camera 2 is used to shoot the surface of the copper tube, obtain a clear coating image, pre-process the image, improve the image quality, filter the image, remove noise and interference, and set a suitable threshold or parameter according to the brightness (color, texture, shape, etc.) characteristics of the coating through image segmentation technology (such as threshold segmentation, edge detection, regional growth, etc.) to separate the coating and the uncoated area. When the area of ​​the uncoated area exceeds a certain threshold, it is considered that there is a phenomenon of missing coating. When a copper tube with missing coating is detected, it means that the coating flow rate is too small or the injection speed is too slow, resulting in uneven distribution of the coating on the copper tube, causing missing coating. At this time, one or more methods of increasing the coating flow rate or increasing the injection pressure to increase the injection speed should be used to ensure that there is no missing coating on the copper tube.

[0091] In order to realize the recognition of the uncoated area, in an optional implementation, the recognition unit includes:

[0092] An acquisition module, used for acquiring an image of a coated area of ​​the object to be sprayed that has been sprayed to obtain a first image, and acquiring an image of an uncoated area of ​​the object to be sprayed that has been sprayed to obtain a second image;

[0093] A first calculation module, used for calculating an average brightness of the first image and an average brightness of the second image, and setting an average of the average brightness of the first image and the average brightness of the second image as a brightness threshold;

[0094] The segmentation module is used to perform image segmentation on the image to be inspected by using the brightness threshold to obtain the uncoated area.

[0095] In the above embodiment, taking the use of brightness features for image segmentation as an example, images of the coated area of ​​the above-mentioned object to be sprayed and images of the uncoated area of ​​the above-mentioned object to be sprayed are respectively obtained to obtain a first image and a second image, and the average of the average brightness of the above-mentioned first image and the average brightness of the above-mentioned second image is set as the brightness threshold, which can ensure that the uncoated area and the coated area are accurately segmented using the above-mentioned brightness threshold.

[0096] In order to extract key characteristic parameters, in an optional implementation, the key characteristic parameters include dripping frequency, dripping paint size, dripping position range radius, paint dripping horizontal offset angle and paint stopping dripping distance, and the analysis unit includes:

[0097] A splitting module, used for splitting the dripping video to obtain multiple video frames;

[0098] An acquisition module, used for acquiring a target video frame, wherein the target video frame is an image of an area containing the dripping paint received by the horizontal ground;

[0099] A second calculation module is used to calculate the average area of ​​all the paint drops in the target video frame to obtain the paint drop size;

[0100] An analysis module, configured to analyze the plurality of video frames using a speckle tracking algorithm to obtain a plurality of motion trajectories of the dripping paint, and determine the motion trajectory whose end point is located on the horizontal ground as a target trajectory;

[0101] A third calculation module is used to calculate the ratio of the number of the target trajectories to the duration of the time period to obtain the dripping frequency;

[0102] A fourth calculation module, used to calculate the maximum value of the distance between the end points of each of the target trajectories in the horizontal direction to obtain the radius of the drop position range;

[0103] A fifth calculation module is used to obtain the connection line between the starting point and the end point of each of the above target trajectories, obtain multiple connection lines, calculate the average value of the angles between each of the above connection lines and the vertical direction, and obtain the horizontal deviation angle of the paint drop;

[0104] The sixth calculation module is used to calculate the average value of the distance between the end point and the starting point of each of the above target trajectories in the horizontal direction to obtain the above paint stopping dripping distance.

[0105] In the above implementation mode, if Figure 2As shown, the dripping paint 7 received by the liquid collecting device 14 can also be used. Under the premise of no leakage, the state of the paint dripping from the copper tube of the two devices to the liquid collecting device is monitored in real time. The liquid collecting device can be a liquid collecting tank, and the dripping state analysis is performed to extract the key characteristic parameters of the dripping, and the range of the dripping frequency, size and dripping position, the horizontal offset angle of the paint dripping, and the position where the paint stops dripping are obtained. A third camera is installed below the paint spraying device to shoot the paint dripping trajectory. A high-speed camera is installed in the forward direction of the two devices of the conveyor belt to shoot the position where the paint stops dripping. The third camera is used to capture the process of the paint dripping from the copper tube to the liquid collecting tank under appropriate lighting conditions. The third camera can record video at a high frame rate (for example, hundreds or thousands of frames per second) to ensure that every stage of the paint dripping is captured. The captured video is preprocessed, including steps such as denoising, contrast enhancement, graying, and binarization, so as to better analyze the paint dripping. Background subtraction can also be performed to remove the static background and highlight the paint dripping. The video is decomposed into individual frames, and the characteristics of the paint dripping are analyzed frame by frame. Use image segmentation techniques (such as threshold segmentation or edge detection) to identify spots (i.e., dripping paint) in the image, extract the features of each spot, such as size, shape, centroid position, etc., match the spots in consecutive frames, and determine their correspondence in different frames based on the positions and other features of the spots. Generate the motion trajectory of each drop of paint by matching the position changes of the spots in consecutive frames. Figure 4 As shown in Figure 1, trajectory 1 and trajectory 2 represent the motion trajectories of any two drops of paint dripping at any time. During the spraying process, the image obtained by the third camera at a certain moment is as follows: Figure 5 As shown, the average area size of all the dripping paint in area 2 is calculated as the size of the dripping paint at that moment; Figure 4 As shown, according to the motion trajectory of each drop of paint, the number of paint drops n that appear in area 1 within the time period is counted, that is, there are n drops of paint dripping in the time period, thereby determining the paint dripping frequency; according to the motion trajectory of each drop of paint, the position boundary of the paint dripping within the time period is determined, and the radius of the dripping position range is determined; according to the motion trajectory of any drop of paint, the starting point a and the end point b of the paint dripping are determined, and the angle β between the connecting line of the starting point and the end point and the vertical direction is the horizontal offset angle of the drop of paint. The horizontal offset angle of each drop of paint that appears in area 1 within the time period is counted, and the average value is calculated as the horizontal offset angle of the paint drop within the time period. During the spraying process, the motion trajectory of the paint drop in the area is generated according to the picture taken by the second camera, and the distance from the position of each drop of paint dripping to the nozzle at any time is counted, and the average value L is calculated as the position where the paint stops dripping at that moment.

[0106] In order to ensure a good spraying effect, in an optional implementation, the first control unit includes:

[0107] A first control module, configured to control the paint spray device to increase the paint flow rate or the injection speed when the dripping frequency is less than the corresponding minimum value of the predetermined range, and to control the paint spray device to reduce the paint flow rate or the injection speed when the dripping frequency is greater than the corresponding maximum value of the predetermined range;

[0108] A second control module is used to control the paint spray device to increase the paint flow rate or the injection speed when the paint drop size is smaller than the corresponding minimum value of the predetermined range, and to control the paint spray device to reduce the paint flow rate or the injection speed when the paint drop size is larger than the corresponding maximum value of the predetermined range;

[0109] A third control module is used to control the paint spray device to increase the paint flow rate or the injection speed when the radius of the dripping position range is smaller than the corresponding minimum value of the predetermined range, and to control the paint spray device to reduce the paint flow rate or the injection speed when the radius of the dripping position range is larger than the corresponding maximum value of the predetermined range;

[0110] A fourth control module, for controlling the paint spray device to reduce the paint flow rate or the injection speed when the paint drop horizontal deviation angle is smaller than the corresponding minimum value of the predetermined range, and for controlling the paint spray device to increase the paint flow rate or the injection speed when the paint drop horizontal deviation angle is larger than the corresponding maximum value of the predetermined range;

[0111] The fifth control module is used to control the paint spray device to increase the paint flow rate or the injection speed when the distance at which the paint stops dripping is less than the minimum value of the corresponding predetermined range, and to control the paint spray device to reduce the paint flow rate or the injection speed when the distance at which the paint stops dripping is greater than the maximum value of the corresponding predetermined range.

[0112] In the above implementation, according to the real-time data of the dripping frequency, when the dripping frequency is too high, it means that the paint flow is too large or the injection speed is too fast, causing the paint to accumulate on the copper tube and drip quickly. The paint flow rate can be appropriately reduced or the injection speed can be reduced; when the dripping frequency is too low, it means that the paint flow rate is too small or the injection speed is too slow, affecting the spraying efficiency, and the paint flow rate should be appropriately increased or the injection speed should be increased. Keep the dripping frequency within a reasonable range. According to the real-time data of the dripping paint size, when the dripping paint size is too large, it means that the paint flow rate is too large or the injection speed is too fast, causing the paint to accumulate on the copper tube to form larger droplets, and the paint flow rate can be appropriately reduced or the injection speed can be reduced; when the dripping paint size is too small, it means that the paint flow rate is too small or the injection speed is too slow, affecting the uniformity of the coating, and the paint flow rate should be appropriately increased or the injection speed should be increased. Keep the dripping paint size within an appropriate range. According to the real-time data of the drop position range radius, when the drop position range radius is too small, that is, the drop position is too concentrated, it means that the paint is unevenly distributed on the copper tube, or the paint does not flow smoothly on the copper tube and accumulates. The paint flow rate or injection pressure or injection speed can be appropriately increased; when the drop position range radius is too large, that is, the drop position is too dispersed, it means that the paint flow rate is too large or the injection speed is too fast, causing the paint to splash everywhere. The angle or height of the spraying device can be adjusted, and the paint flow rate and injection speed can be optimized to make the paint evenly distributed on the copper tube and reduce unnecessary dripping. According to the real-time data of the horizontal offset angle of the paint drop, when the offset angle is too large, it means that the paint flow rate is too small or the injection speed is too slow, resulting in too small droplets, lighter weight, and a longer distance in the horizontal direction. The paint flow rate or injection speed can be appropriately reduced; when the offset angle is too small, it means that the paint flow rate is too large or the injection speed is too fast, resulting in too large droplets, heavier weight, and a shorter distance in the horizontal direction. The paint flow rate or injection speed should be appropriately increased. Keep the horizontal offset angle of the paint drop within an appropriate range. According to the real-time monitoring of the distance at which the paint stops dripping, when the position where the dripping stops is farther away from the nozzle, it means that the paint flow is too large or the injection speed is too fast, resulting in excess paint dripping on the copper tube. The paint flow rate can be appropriately reduced or the injection speed can be lowered. When the position where the dripping stops is closer to the nozzle, it means that there is less paint on the copper tube and no paint drips too early. It may be that the paint flow rate is too small or the injection speed is too slow. The paint flow rate can be appropriately increased or the injection speed can be increased.

[0113] In addition, the analysis results are fed back to the spray equipment so that the spray equipment can be adjusted. According to the analysis results, the paint flow rate and injection speed, of course, the nozzle position, injection pressure, etc. can also be optimized to achieve the best coating effect. Establish a feedback loop to continuously monitor, analyze and adjust the spraying process to ensure that the quality of paint injection is always maintained at the best state. In this way, it can be ensured that the paint flow rate and injection speed are always maintained within the appropriate range, thereby ensuring the coating quality of the copper tube.

[0114] In order to determine the predetermined range, in an optional implementation manner, the above device further includes:

[0115] A third acquisition unit is used for acquiring the spraying effects of the plurality of objects to be sprayed under different spraying parameters and the corresponding key characteristic parameters before controlling the paint spraying device to adjust the paint flow rate or the spraying speed when one of the key characteristic parameters is not within the corresponding predetermined range, wherein the objects to be sprayed correspond to the spraying parameters one by one, the spraying parameters are the paint flow rate or the spraying speed, and the spraying effects include coating uniformity and thickness;

[0116] A second determining unit is used to determine the key characteristic parameters corresponding to the spraying effect in which the coating uniformity is uniform and the thickness is moderate as target key characteristic parameters;

[0117] The third determining unit is used to determine the maximum value and the minimum value of the same target key feature parameter as the corresponding maximum value and the minimum value of the predetermined range.

[0118] In the above embodiment, in the actual spraying process, two devices with different copper tube specifications (such as thickness, length, etc.) are selected, and the spraying effects under different spraying methods are tested for each specification of the two devices, such as coating uniformity, whether the coating thickness is appropriate, etc., and the state of the paint dripping from the copper tubes of the two devices to the liquid collection device is recorded at this time, including: dripping frequency, dripping paint size, dripping position range radius, paint dripping horizontal offset angle and paint stop dripping distance. According to the coating uniformity and coating thickness within the spraying effect, a spraying effect comparison table based on paint dripping parameters is formulated, and data with uniform coating and moderate thickness are selected to form a benchmark value data set. As shown in Table 1, the predetermined range of dripping frequency is 36-55, the predetermined range of dripping paint size is 0.13-0.16, the predetermined range of dripping position range radius is 9.3-10.8, the predetermined range of paint dripping horizontal offset angle is 17-24, and the paint stops dripping distance is 38-45.

[0119] The spraying device includes a processor and a memory, and the first acquisition unit, the analysis unit, the first control unit, etc. are all stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0120] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem that the spraying parameters cannot be automatically controlled to ensure the spraying effect in the prior art can be solved by adjusting the kernel parameters.

[0121] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0122] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the spraying method.

[0123] Specifically, the spraying method includes:

[0124] Step S201, when the spraying equipment is performing a spraying operation, obtaining a video of the paint dripping in a current time period to obtain a dripping video, wherein the time period is a period for adjusting the paint flow rate or the spraying speed of the paint spraying device;

[0125] Step S202, analyzing the dripping video to obtain at least one key characteristic parameter, where the key characteristic parameter is a parameter that characterizes the spraying effect;

[0126] Step S203, when one of the above key characteristic parameters is not within the corresponding predetermined range, control the above paint spraying device to adjust the above paint flow rate or the above spraying speed so that all the above key characteristic parameters in the next above time period are within the corresponding above predetermined range.

[0127] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the spraying method is executed when the program is run.

[0128] Specifically, the spraying method includes:

[0129] Step S201, when the spraying equipment is performing a spraying operation, obtaining a video of the paint dripping in a current time period to obtain a dripping video, wherein the time period is a period for adjusting the paint flow rate or the spraying speed of the paint spraying device;

[0130] Step S202, analyzing the dripping video to obtain at least one key characteristic parameter, where the key characteristic parameter is a parameter that characterizes the spraying effect;

[0131] Step S203, when one of the above key characteristic parameters is not within the corresponding predetermined range, control the above paint spraying device to adjust the above paint flow rate or the above spraying speed so that all the above key characteristic parameters in the next above time period are within the corresponding above predetermined range.

[0132] An embodiment of the present invention provides a spraying device, which includes a paint spraying device, a processor, a memory, and a program stored in the memory and executable on the processor. The paint spraying device is used to spray paint on a spraying object. When the processor executes the program, at least the following steps are implemented:

[0133] Step S201, when the spraying equipment is performing a spraying operation, obtaining a video of the paint dripping in a current time period to obtain a dripping video, wherein the time period is a period for adjusting the paint flow rate or the spraying speed of the paint spraying device;

[0134] Step S202, analyzing the dripping video to obtain at least one key characteristic parameter, where the key characteristic parameter is a parameter that characterizes the spraying effect;

[0135] Step S203, when one of the above key characteristic parameters is not within the corresponding predetermined range, control the above paint spraying device to adjust the above paint flow rate or the above spraying speed so that all the above key characteristic parameters in the next above time period are within the corresponding above predetermined range.

[0136] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0137] Step S201, when the spraying equipment is performing a spraying operation, obtaining a video of the paint dripping in a current time period to obtain a dripping video, wherein the time period is a period for adjusting the paint flow rate or the spraying speed of the paint spraying device;

[0138] Step S202, analyzing the dripping video to obtain at least one key characteristic parameter, where the key characteristic parameter is a parameter that characterizes the spraying effect;

[0139] Step S203, when one of the above key characteristic parameters is not within the corresponding predetermined range, control the above paint spraying device to adjust the above paint flow rate or the above spraying speed so that all the above key characteristic parameters in the next above time period are within the corresponding above predetermined range.

[0140] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0141] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0142] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0143] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0144] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0145] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0146] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0147] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0148] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0149] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0150] 1) In the spraying method of the present application, a video of paint dripping in a time period is shot, and then a plurality of key characteristic parameters are obtained by analyzing the dripping video. The key characteristic parameters can all reflect the effect of the spraying. For example, if the dripping frequency is too high, it indicates that the coating thickness is too thick, and if the radius of the dripping position range is too small, it indicates that the spraying is uneven. If the plurality of key characteristic parameters are all within the corresponding range, it indicates that the spraying effect is good, that is, the spraying is uniform and the thickness is moderate. Otherwise, the spraying effect is not good, and the paint flow rate or the injection speed needs to be adjusted so that all the key characteristic parameters of the next time period are within the corresponding predetermined range to ensure the spraying effect. There is no need to manually judge the spraying effect to adjust the spraying parameters (paint flow rate or injection speed), which solves the problem in the prior art that the spraying parameters cannot be automatically controlled to ensure the spraying effect.

[0151] 2) In the spraying device of the present application, by shooting a video of paint dripping in a time period, a plurality of key characteristic parameters are obtained by analyzing the dripping video. The key characteristic parameters can all reflect the effect of the spraying. For example, if the dripping frequency is too high, it indicates that the coating thickness is too thick, and if the radius of the dripping position range is too small, it indicates that the spraying is uneven. If a plurality of key characteristic parameters are all within the corresponding range, it indicates that the spraying effect is good, that is, the spraying is uniform and the thickness is moderate. Otherwise, the spraying effect is not good, and it is necessary to adjust the paint flow rate or the injection speed so that all the key characteristic parameters of the next time period are within the corresponding predetermined range to ensure the spraying effect. There is no need to manually judge the spraying effect to adjust the spraying parameters (paint flow rate or injection speed), which solves the problem in the prior art that the spraying parameters cannot be automatically controlled to ensure the spraying effect.

[0152] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A spraying method, characterized in that: The spraying equipment includes a paint spraying device, and the paint spraying device is used to spray paint on the spraying object. The method includes: When the spraying equipment is performing a spraying operation, a video of the paint dripping in a current time period is obtained to obtain a dripping video, wherein the time period is a period for adjusting the paint flow rate or the spraying speed of the paint spraying device; Analyze the dripping video to obtain at least one key characteristic parameter, where the key characteristic parameter is a parameter that characterizes the spraying effect; When one of the key characteristic parameters is not within the corresponding predetermined range, the paint spraying device is controlled to adjust the paint flow rate or the spraying speed so that all the key characteristic parameters in the next time period are within the corresponding predetermined range.

2. The method according to claim 1, characterized in that Before acquiring the paint dripping video of the current time period and obtaining the dripping video, the method further includes: Acquire an image of the object to be sprayed that has been sprayed to obtain an image to be inspected; Identify an uncoated area according to the image to be inspected, wherein the uncoated area is an area where paint is not sprayed; When the area of ​​the uncoated region is greater than a predetermined threshold, determining that there is a coating leakage phenomenon; In the case where the coating leakage phenomenon exists, the coating spraying device is controlled to increase the coating flow rate or the spraying speed until the coating leakage phenomenon does not exist on one of the objects to be sprayed.

3. The method according to claim 2, characterized in that Identifying the uncoated area according to the image to be inspected includes: Acquire an image of a coated area of ​​the object to be sprayed that has been sprayed to obtain a first image, and acquire an image of an uncoated area of ​​the object to be sprayed that has been sprayed to obtain a second image; Calculating an average brightness of the first image and an average brightness of the second image, and setting an average of the average brightness of the first image and the average brightness of the second image as a brightness threshold; The brightness threshold is used to perform image segmentation on the image to be inspected to obtain the uncoated area.

4. The method according to claim 1, characterized in that: The key characteristic parameters include dripping frequency, dripping paint size, dripping position range radius, paint dripping horizontal offset angle and paint stopping dripping distance. The dripping video is analyzed to obtain at least one key characteristic parameter, including: Splitting the dripping video to obtain multiple video frames; Acquire a target video frame, wherein the target video frame is an image of an area containing the dripping paint received by the horizontal ground; Calculate the average of the areas of all the paint drops in the target video frame to obtain the paint drop size; Analyzing the plurality of video frames using a speckle tracking algorithm to obtain a plurality of motion trajectories of the dripping paint, and determining the motion trajectory whose end point is located on the horizontal ground as a target trajectory; Calculate the ratio of the number of the target trajectories to the duration of the time period to obtain the dripping frequency; calculate the maximum value of the horizontal distance between the end points of each of the target trajectories to obtain the dripping position range radius; Obtaining a connecting line between the starting point and the end point of each target track to obtain a plurality of connecting lines, calculating an average value of the angles between each connecting line and the vertical direction, and obtaining the horizontal deviation angle of the paint drop; The average value of the distance between the end point and the starting point of each target trajectory in the horizontal direction is calculated to obtain the distance at which the paint stops dripping.

5. The method according to claim 4, characterized in that When one of the key characteristic parameters is not within the corresponding predetermined range, controlling the paint spraying device to adjust the paint flow rate or spraying speed includes: When the dripping frequency is less than the minimum value of the corresponding predetermined range, the paint spraying device is controlled to increase the paint flow rate or the injection speed; when the dripping frequency is greater than the maximum value of the corresponding predetermined range, the paint spraying device is controlled to reduce the paint flow rate or the injection speed; When the size of the paint drop is smaller than the minimum value of the corresponding predetermined range, the paint spray device is controlled to increase the paint flow rate or the injection speed; when the size of the paint drop is larger than the maximum value of the corresponding predetermined range, the paint spray device is controlled to reduce the paint flow rate or the injection speed; When the radius of the dripping position range is smaller than the minimum value of the corresponding predetermined range, the paint spraying device is controlled to increase the paint flow rate or the injection speed; when the radius of the dripping position range is larger than the maximum value of the corresponding predetermined range, the paint spraying device is controlled to reduce the paint flow rate or the injection speed; When the horizontal deviation angle of the paint drop is smaller than the minimum value of the corresponding predetermined range, the paint spray device is controlled to reduce the paint flow rate or the injection speed; when the horizontal deviation angle of the paint drop is larger than the maximum value of the corresponding predetermined range, the paint spray device is controlled to increase the paint flow rate or the injection speed; When the distance at which the paint stops dripping is less than the minimum value of the corresponding predetermined range, the paint spray device is controlled to increase the paint flow rate or the injection speed. When the distance at which the paint stops dripping is greater than the maximum value of the corresponding predetermined range, the paint spray device is controlled to reduce the paint flow rate or the injection speed.

6. The method according to any one of claims 1 to 5, characterized in that When one of the key characteristic parameters is not within the corresponding predetermined range, before controlling the paint spraying device to adjust the paint flow rate or the spraying speed, the method further includes: Acquire the spraying effects and the corresponding key characteristic parameters of the plurality of objects to be sprayed under different spraying parameters, wherein the objects to be sprayed correspond to the spraying parameters one by one, the spraying parameters are the coating flow rate or the spraying speed, and the spraying effects include coating uniformity and thickness; The key characteristic parameter corresponding to the spraying effect in which the coating uniformity is uniform and the thickness is moderate is determined as the target key characteristic parameter; The maximum value and the minimum value of the same target key feature parameter are determined as the corresponding maximum value and minimum value of the predetermined range.

7. A spraying device, characterized in that: The spraying equipment includes a paint spraying device, which is used to spray paint on the spraying object, and the device includes: A first acquisition unit is used to acquire a video of the paint dripping in a current time period to obtain a dripping video when the spraying equipment is performing a spraying operation, wherein the time period is a period for adjusting the paint flow rate or the spraying speed of the paint spraying device; An analysis unit, configured to analyze the dripping video to obtain at least one key characteristic parameter, wherein the key characteristic parameter is a parameter characterizing a spraying effect; The first control unit is used to control the paint spraying device to adjust the paint flow rate or the spraying speed when one of the key characteristic parameters is not within the corresponding predetermined range, so that all the key characteristic parameters of the next time period are within the corresponding predetermined range.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 6.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A spraying device, characterized in that: include: A paint spraying device, one or more processors, a memory, and one or more programs, wherein the paint spraying device is used to spray paint on a spraying object, the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of claims 1 to 6.

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