Automobile painting automation control method, system and related devices

Abstract

The present application provides an automobile painting automation control method, system and related device, the method comprising: determining the area shape and outer contour of the first area according to the first image; determining the second area and the third area according to the minimum coverage diameter and the outer contour; determining the first painting trajectory according to the maximum coverage diameter and the third area, and determining the second painting trajectory based on the first painting trajectory, the second area and the minimum coverage diameter; determining the first painting parameter according to the first painting trajectory, the first attribute information and the maximum coverage diameter, and determining the second painting parameter according to the second painting trajectory, the first attribute information and the minimum coverage diameter; determining the first working parameter of the robot arm according to the first painting parameter, and determining the second working parameter of the robot arm according to the second painting parameter. The embodiments of the present application can improve the painting efficiency.

Description

Technical Field

[0001] The present application relates to the field of automotive technology, and in particular to an automated control method and system for automotive painting and related devices. Background Art

[0002] Automobile painting can achieve a certain degree of anti-corrosion protection, but the current automatic control of painting has certain limitations, resulting in general painting efficiency. Therefore, the problem of how to improve the efficiency of automobile painting needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a method, system and related devices for automatic control of automobile painting, which can improve the efficiency of automobile painting.

[0004] In a first aspect, an embodiment of the present application provides an automatic control method for automobile painting, which is applied to a painting robot, wherein the painting robot includes a mechanical arm, a paint spray gun, and a visual system, and the method includes:

[0005] Determine a first area of ​​a vehicle body and a first image of the first area by the visual system, wherein the vehicle body includes a plurality of areas to be painted, and the first area is one of the plurality of areas to be painted;

[0006] determining a region shape and a peripheral contour of the first region according to the first image;

[0007] Obtaining the maximum coverage diameter and the minimum coverage diameter of the paint spray gun;

[0008] Determine a second area and a third area according to the minimum covering diameter and the outer contour, wherein the second area is determined based on the minimum covering diameter, the outer contour, and the area shape, and the third area is an area in the first area except the second area;

[0009] determining a first painting trajectory according to the maximum coverage diameter and the third area, and determining a second painting trajectory based on the first painting trajectory, the second area and the minimum coverage diameter;

[0010] Acquire first attribute information of the first area, determine a first painting parameter according to the first painting trajectory, the first attribute information and the maximum coverage diameter, and determine a second painting parameter according to the second painting trajectory, the first attribute information and the minimum coverage diameter;

[0011] Determine a first working parameter of the robotic arm according to the first painting parameter, and determine a second working parameter of the robotic arm according to the second painting parameter;

[0012] The robot arm is controlled to work with the first working parameter and the paint spray gun is controlled to spray paint along the first painting trajectory, and the robot arm is controlled to work with the second working parameter and the paint spray gun is controlled to spray paint along the second painting trajectory.

[0013] In a second aspect, an embodiment of the present application provides an automobile painting automation control system, which is applied to a painting robot, wherein the painting robot includes a mechanical arm, a paint spray gun, and a visual system, and the automobile painting automation control system includes:

[0014] a determining unit, configured to determine a first area of ​​a vehicle body and a first image of the first area through the visual system, wherein the vehicle body includes a plurality of areas to be painted, and the first area is one of the plurality of areas to be painted; and determine an area shape and an outer contour of the first area according to the first image;

[0015] An acquisition unit, used for acquiring a maximum coverage diameter and a minimum coverage diameter of the paint spray gun;

[0016] The determination unit is further used to determine a second area and a third area according to the minimum coverage diameter and the outer contour, the second area is determined based on the minimum coverage diameter, the outer contour, and the area shape, and the third area is the area of ​​the first area excluding the second area; determine a first painting trajectory according to the maximum coverage diameter and the third area, and determine a second painting trajectory based on the first painting trajectory, the second area, and the minimum coverage diameter; obtain first attribute information of the first area, determine a first painting parameter according to the first painting trajectory, the first attribute information, and the maximum coverage diameter, and determine a second painting parameter according to the second painting trajectory, the first attribute information, and the minimum coverage diameter; determine a first working parameter of the robotic arm according to the first painting parameter, and determine a second working parameter of the robotic arm according to the second painting parameter;

[0017] A control unit is used to control the robot arm to work with the first working parameters and control the paint spray gun to spray paint along the first painting trajectory, and control the robot arm to work with the second working parameters and control the paint spray gun to spray paint along the second painting trajectory.

[0018] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the first aspect of the embodiment of the present application.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in the first aspect of the embodiment of the present application.

[0020] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0021] The implementation of the embodiments of the present application has the following beneficial effects:

[0022] It can be seen that the automobile painting automation control method, system and related devices described in the embodiments of the present application are applied to a painting robot. The painting robot includes a mechanical arm, a paint gun and a visual system. The first area of ​​the automobile body and the first image of the first area are determined by the visual system. The automobile body includes multiple areas to be painted, and the first area is one of the multiple areas to be painted; the area shape and outer contour of the first area are determined according to the first image; the maximum coverage diameter and the minimum coverage diameter of the paint gun are obtained; the second area and the third area are determined according to the minimum coverage diameter and the outer contour, the second area is determined based on the minimum coverage diameter, the outer contour, and the area shape, and the third area is the area in the first area except the second area; the first painting trajectory is determined according to the maximum coverage diameter and the third area, and the second painting trajectory is determined based on the first painting trajectory, the second area and the minimum coverage diameter; the first attribute information of the first area is obtained, the first painting parameter is determined according to the first painting trajectory, the first attribute information and the maximum coverage diameter, and the second painting parameter is determined according to the second painting trajectory, the first attribute information and the minimum coverage diameter; the first working parameter of the mechanical arm is determined according to the first painting parameter, and the mechanical arm is determined according to the second painting parameter The second working parameter of the robotic arm; the robotic arm is controlled to work with the first working parameter and the paint spray gun is controlled to spray paint along the first painting trajectory, and the robotic arm is controlled to work with the second working parameter and the paint spray gun is controlled to spray paint along the second painting trajectory. On the one hand, since the outer contour of the first area belongs to the boundary part, it is easy to affect other areas of the car body during the painting process. In order to ensure the accuracy of painting, the boundary area can be isolated as much as possible for fine painting. The third area is the area of ​​the first area except the second area. If painting is done in this area, it will not affect other areas of the car body. On the other hand, since the third area will not affect other areas of the car body, efficient painting can be achieved to ensure the painting process requirements. In addition, the second painting parameters are determined according to the second painting trajectory, the first attribute information and the minimum coverage diameter. That is, since the second area belongs to the boundary part, it is easy to affect other areas of the car body during the painting process. In order to ensure the accuracy of painting, the boundary area can be isolated as much as possible for fine painting. Therefore, the accuracy of the painting process can be guaranteed without affecting other areas of the car body, thereby improving the efficiency of automobile painting and the intelligence of robot operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a flow chart of an automatic control method for automobile painting provided in an embodiment of the present application;

[0025] Figure 2 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0026] Figure 3 This is a block diagram of the functional units of an automobile painting automation control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but in a possible example also includes steps or units that are not listed, or in a possible example also includes other steps or units inherent to these processes, methods, products or devices.

[0028] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0029] 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 are within the scope of protection of this application.

[0030] The electronic devices involved in the embodiments of the present application may include but are not limited to: painting robots, servers, automobile processing control equipment, controllers of painting robots, automobile processing machine tools, etc., which are not limited here. For example, the electronic device may include a painting robot. For another example, when the electronic device does not include a painting robot, a communication connection can be established between the electronic device and the painting robot.

[0031] See also Figure 1 , Figure 1: This is a flow chart of an automatic control method for automobile painting provided in an embodiment of the present application, which is applied to a painting robot. The painting robot includes a mechanical arm, a paint spray gun and a visual system. The automatic control method for automobile painting includes:

[0032] 101. Determine a first area of ​​a vehicle body and a first image of the first area through the visual system, wherein the vehicle body includes a plurality of areas to be painted, and the first area is an area to be painted among the plurality of areas to be painted.

[0033] In an embodiment of the present application, the painting robot includes a robotic arm, a paint gun and a visual system, wherein the robotic arm is used to connect the paint gun, and the visual system can be set on the robotic arm. The visual system may include one or more visual sensors, and the visual sensor may include at least one of the following: an ultrasonic sensor, a radar sensor, a camera, an infrared sensor, etc., which are not limited here.

[0034] Of course, the main body of the painting robot can be connected to the robotic arm, and a visual sensor can also be set on the main body of the painting robot.

[0035] In a specific implementation, a first area of ​​a car body and a first image of the first area can be determined through a visual system. The car body includes multiple areas to be painted, and the first area is one of the multiple areas to be painted. Since different areas require different painting processes, corresponding painting processes can be performed for each area. Of course, different areas can also be painted by different painting robots. For example, multiple painting robots, each of which can be responsible for painting an area to be painted on a car body. In this way, not only targeted painting can be achieved, but also collaborative painting operations of multiple robots can be achieved. Each painting robot has its own regional painting advantage, which can ensure painting efficiency and painting process requirements.

[0036] 102. Determine a region shape and an outer contour of the first region according to the first image.

[0037] In a specific implementation, contour extraction may be performed on the first image to obtain the outer contour of the first region. Of course, the region shape of the first region may also be identified.

[0038] 103. Obtain a maximum coverage diameter and a minimum coverage diameter of the paint spray gun.

[0039] In specific implementations, in actual use, there are certain differences in the coverage diameter of the paint sprayed by the paint spray gun. For example, when a paint spray gun sprays paint on a point on a car body, a circular area covered by paint can be obtained, and the diameter of the circular area can be understood as the coverage diameter.

[0040] In the embodiment of the present application, the coverage diameter of the paint spray gun can be adjusted, and the coverage diameter is between the minimum coverage diameter and the maximum coverage diameter.

[0041] Specifically, the maximum coverage diameter and the minimum coverage diameter of the paint gun can be determined based on the attribute information of the paint gun. The attribute information of the paint gun reflects the characteristics of the paint gun. The attribute information of the paint gun may include at least one of the following: the nozzle size of the paint gun, the pressure of the paint gun, the model of the paint gun, the flow rate of the paint gun, the flow velocity of the paint gun, etc., which are not limited here.

[0042] 104. Determine a second region and a third region according to the minimum covering diameter and the outer contour, wherein the second region is determined based on the minimum covering diameter, the outer contour, and the region shape, and the third region is a region of the first region excluding the second region.

[0043] In a specific implementation, the second area and the third area can be determined based on the minimum coverage diameter and the outer contour, wherein the second area is determined based on the minimum coverage diameter, the outer contour, and the area shape. That is, since the outer contour of the first area belongs to the boundary part, it is easy to affect other areas of the vehicle body during the painting process. In order to ensure the accuracy of painting, the boundary area can be isolated as much as possible for fine painting. The third area is the area of ​​the first area except the second area. If painting in this area, it will not affect other areas of the vehicle body. Therefore, the third area can be painted quickly and efficiently.

[0044] The width of the second region is related to the minimum covering diameter, for example, the width of the second region is equal to the minimum covering diameter, or the difference between the width of the second region and the minimum covering diameter is within a second preset range.

[0045] 105. Determine a first painting trajectory according to the maximum coverage diameter and the third area, and determine a second painting trajectory based on the first painting trajectory, the second area and the minimum coverage diameter.

[0046] In the specific implementation, due to the maximum coverage diameter and the third area, the paint trajectory can be planned to obtain the first paint trajectory. Since the maximum coverage diameter is adopted, fast painting can be achieved, and since the third area will not affect other areas of the car body, efficient painting can be achieved to ensure the painting process requirements.

[0047] Next, the second painting trajectory can be determined based on the first painting trajectory, the second area and the minimum coverage diameter. Since the second area and the third area are relatively independent, after completing the painting operation in the third area, it is necessary to move to the second area. When moving from the third area to the second area, painting is not required, but the painting operation is carried out in the second area. In this way, the continuity of the painting operation can be guaranteed, and there will be no risk of cross-influence of painting between the second area and the third area, thereby ensuring the accuracy of the painting process.

[0048] Optionally, the above step 104, determining the second painting trajectory based on the first painting trajectory, the second area and the minimum coverage diameter, may include the following steps:

[0049] Determining the end track point of the first painting track;

[0050] Determine the shortest distance between the end trajectory point and the second area, and acquire a first position point of the second area corresponding to the shortest distance according to the minimum coverage diameter;

[0051] Determine a straight line trajectory according to the end trajectory point and the first position point, and no painting operation is performed on the straight line trajectory;

[0052] Determine a third painting trajectory according to the first position, the second area and the minimum coverage diameter;

[0053] The second painting trajectory is determined according to the straight line trajectory and the third painting trajectory.

[0054] In a specific implementation, the end trajectory point of the first paint spraying trajectory can be determined, and the shortest distance value between the end trajectory point and the second area can also be determined. A perpendicular line can be drawn to the second area based on the end trajectory point, and the distance between the perpendicular line and the second area is the shortest distance value. Then, the perpendicular point of the perpendicular line can be obtained, and the inscribed circle of the second area can be drawn based on the perpendicular point and the minimum coverage diameter, and the center of the inscribed circle is used as the first position point of the second area corresponding to the shortest distance value.

[0055] Next, a straight line trajectory can be determined based on the end trajectory point and the first position point. No painting operation is performed on the straight line trajectory. Then, the painting trajectory is planned based on the first position, the second area and the minimum coverage diameter to obtain a third painting trajectory. The second painting trajectory can be determined based on the straight line trajectory and the third painting trajectory. In this way, the continuity of the painting operation can be guaranteed, and there will be no risk of cross-painting influence between the second area and the third area, thereby ensuring the accuracy of the painting process.

[0056] 106. Obtain first attribute information of the first area, determine a first painting parameter according to the first painting trajectory, the first attribute information and the maximum coverage diameter, and determine a second painting parameter according to the second painting trajectory, the first attribute information and the minimum coverage diameter.

[0057] In a specific implementation, the first attribute information of the first area may include at least one of the following: position information, material information, surface curvature, surface smoothness, surface cleanliness, etc., which are not limited here. The material information may include at least one of the following: material type, material density, material model, etc., which are not limited here.

[0058] The first painting parameter may include at least one of the following: a first coverage diameter, a paint color, a paint position, a paint speed, a paint flow rate, a moving trajectory of the paint gun, a moving speed of the paint gun, etc., which are not limited here. The first coverage diameter is less than or equal to the maximum coverage diameter, and the first difference between the maximum coverage diameter and the first coverage diameter is within a first preset range. The first preset range is pre-set, or the system defaults that when the first difference between the maximum coverage diameter and the first coverage diameter is within the first preset range, it can be understood that the paint gun performs a painting operation with the maximum coverage diameter.

[0059] The second painting parameter may include at least one of the following: a second coverage diameter, a paint color, a paint position, a paint speed, a paint flow rate, a moving trajectory of the paint gun, a moving speed of the paint gun, etc., which are not limited here. The second coverage diameter is greater than or equal to the minimum coverage diameter, and the second difference between the second coverage diameter and the minimum coverage diameter is within a second preset range. The second preset range is preset, or the system defaults that when the second difference between the second coverage diameter and the minimum coverage diameter is within the second preset range, it can be understood that the paint gun performs a painting operation with the minimum coverage diameter.

[0060] In the implementation of the present application, the first attribute information of the first area can be obtained, and different positions may correspond to different first attribute information. In the specific implementation, the first painting parameter can be determined according to the first painting trajectory, the first attribute information and the maximum coverage diameter. Then, the maximum coverage diameter can be used in the third area to achieve fast painting. Since the third area will not affect other areas of the vehicle body, efficient painting can be achieved to ensure the painting process requirements. In addition, the second painting parameter is determined according to the second painting trajectory, the first attribute information and the minimum coverage diameter. That is, since the second area belongs to the boundary part, it is easy to affect other areas of the vehicle body during the painting process. In order to ensure the accuracy of painting, the boundary area can be isolated as much as possible for fine painting. Thus, the accuracy of the painting process can be guaranteed without affecting other areas of the vehicle body.

[0061] Optionally, the above step 106, determining the first painting parameter according to the first painting trajectory, the first attribute information and the maximum coverage diameter, may include the following steps:

[0062] Dividing the first painting trajectory into multiple segments according to the maximum coverage diameter to obtain multiple first segmented painting trajectories; the trajectory length of each first segmented painting trajectory is the first length;

[0063] Determine the first length to determine a first shooting parameter;

[0064] The target first segmented painting trajectory is photographed according to the first shooting parameter to obtain a second image; the target first segmented painting trajectory is any first segmented painting trajectory among the multiple first segmented painting trajectories;

[0065] Performing feature extraction on the second image to obtain a first feature;

[0066] determining a first optimization parameter corresponding to the first feature;

[0067] Determine a first reference painting parameter corresponding to first attribute information of the first segmented painting trajectory of the target;

[0068] The first reference painting parameter is optimized according to the first optimization parameter to obtain the first painting parameter corresponding to the target first segmented painting trajectory.

[0069] In a specific implementation, a mapping relationship between a preset coverage diameter and a segment length can be stored in advance, and then, based on the mapping relationship, the first segment length corresponding to the maximum coverage diameter can be determined. For example, the ratio between the trajectory length of the first spray painting trajectory and the first segment length can be determined, and the ratio is rounded up to obtain an integer value, and then the ratio between the first spray painting trajectory and the integer value is determined to obtain the first length. Since the first attribute information of different positions is different, the requirements for spray painting are different.

[0070] Next, in order to ensure accurate painting operation, the first painting trajectory can be divided into multiple sections based on the first length to obtain multiple first segmented painting trajectories, and the trajectory length of each first segmented painting trajectory is the first length.

[0071] In a specific implementation, the first shooting parameter may include at least one of the following: focal length, sensitivity, exposure time, resolution, etc., which are not limited here. A mapping relationship between a preset length and a shooting parameter may be pre-stored, and then the first length may be determined based on the mapping relationship to determine the first shooting parameter, so that an actual area image of the area to be painted corresponding to the maximum coverage diameter may be obtained.

[0072] Next, taking the target first segmented painting trajectory as an example, the target first segmented painting trajectory is any first segmented painting trajectory among multiple first segmented painting trajectories, then the target first segmented painting trajectory can be photographed according to the first shooting parameter to obtain a second image, and the second image can also be feature extracted to obtain a first feature, and the first feature can include at least one of the following: feature points, feature textures, feature vectors, feature values, etc., which are not limited here. The first feature depth reflects the actual area surface characteristics of the area to be painted corresponding to the maximum coverage diameter.

[0073] Furthermore, the mapping relationship between the preset features and the optimization parameters can be pre-stored, that is, the first optimization parameter corresponding to the first feature can be determined based on the mapping relationship, and the optimization effect corresponding to the surface characteristics of the actual area can be achieved. The value range of the first optimization parameter can be pre-set or system default, for example, the value range of the first optimization parameter is -0.12~0.12. The first attribute information of the target first segmented paint trajectory reflects the regional characteristics of the segmented area. Furthermore, the mapping relationship between the preset first attribute information and the reference paint parameters can be pre-stored, that is, the first reference paint parameters corresponding to the first attribute information of the target first segmented paint trajectory can be determined based on the mapping relationship, and then the first reference paint parameters can be optimized according to the first optimization parameters to obtain the first paint parameters corresponding to the target first segmented paint trajectory, that is, the first paint parameters corresponding to the target first segmented paint trajectory = (1 + first optimization parameter) * first reference paint parameters. In this way, not only can the corresponding first reference paint parameters be determined based on the first attribute information at different positions in different areas, but the image recognition principle can also be deeply combined to deeply identify the surface characteristics of the corresponding area, thereby deeply optimizing the first reference paint parameters to obtain the final first paint parameters, which can ensure the painting effect and process requirements and achieve efficient and precise painting operations.

[0074] Optionally, the above step of extracting features from the second image to obtain the first feature may include the following steps:

[0075] determining a low-frequency component part and a high-frequency component part of the second image;

[0076] determining a first energy value of the low-frequency component portion and a second energy value of the second image;

[0077] determining a first energy ratio between the first energy value and the second energy value, and determining a first image feature extraction algorithm corresponding to the first energy ratio;

[0078] Acquire a first control parameter of the first image feature extraction algorithm corresponding to the first attribute information;

[0079] Feature extraction is performed on the high-frequency component part according to the first control parameter and the first image feature extraction algorithm to obtain the first feature.

[0080] Among them, the second image can be decomposed into multiple scales to obtain a low-frequency component part and a high-frequency component part of the second image. The multi-scale decomposition can include at least one of the following: wavelet transform, contourlet transform, non-subsampled contourlet transform, Laplace pyramid transform, etc., which are not limited here.

[0081] Among them, the low-frequency component reflects the main body of the image, and the high-frequency component reflects the detailed characteristics of the image.

[0082] Next, the first energy value of the low-frequency component and the second energy value of the second image can be determined, and then the first energy ratio between the first energy value and the second energy value can be determined. The first energy ratio = the first energy value / the second energy value. The first energy ratio reflects the image quality to a certain extent, and specifically reflects the degree of influence of the image subject on the image details. Then, the mapping relationship between the preset energy ratio and the image feature extraction algorithm can be pre-stored, and then, the first image feature extraction algorithm with the first energy ratio can be determined based on the mapping relationship. In this way, the corresponding image feature extraction algorithm can be selected based on the degree of influence of the image subject on the image details, thereby ensuring the image feature extraction effect. The image feature extraction algorithm can include any algorithm for realizing the image feature extraction function, and the control parameters of the image feature extraction algorithm can be understood as being used to realize the following functions: the extracted feature type, feature extraction degree, feature extraction range, feature extraction speed, etc., which are not limited here.

[0083] In a specific implementation, the mapping relationship between the attribute information of the first area and the first image feature extraction algorithm can also be pre-stored, and then, the first control parameter of the first image feature extraction algorithm corresponding to the first attribute information can be obtained based on the mapping relationship. In this way, the control parameter corresponding to the characteristics of the actual position can be obtained, and then the feature extraction of the high-frequency component part is performed according to the first control parameter and the first image feature extraction algorithm to obtain the first feature. In this way, the surface characteristics of the corresponding area can be deeply identified, which helps to deeply optimize the first reference painting parameters and obtain the final first painting parameters, which can ensure the painting effect and process requirements and realize efficient and precise painting operations.

[0084] Optionally, the above step 106, determining the second painting parameter according to the second painting trajectory, the first attribute information and the minimum coverage diameter, may include the following steps:

[0085] Dividing the second painting trajectory into multiple segments according to the minimum coverage diameter to obtain multiple second segmented painting trajectories; the trajectory length of each second segmented painting trajectory is the second length;

[0086] Determine a first average curvature of a target second segmented painting trajectory; the target second segmented painting trajectory is any second segmented painting trajectory among the multiple second segmented painting trajectories;

[0087] determining a second optimization parameter corresponding to the first average curvature;

[0088] Determine a second reference painting parameter corresponding to the first attribute information of the second segmented painting trajectory of the target;

[0089] The second reference painting parameters are optimized according to the second optimization parameters to obtain second painting parameters corresponding to the target second segmented painting trajectory.

[0090] In a specific implementation, a mapping relationship between a preset coverage diameter and a segment length can be stored in advance, and then, based on the mapping relationship, the second segment length corresponding to the minimum coverage diameter can be determined. For example, the ratio between the trajectory length of the second spray painting trajectory and the second segment length can be determined, and the ratio is rounded up to obtain an integer value, and then the ratio between the second spray painting trajectory and the integer value is determined to obtain the second length. Since the first attribute information of different positions is different, the requirements for spray painting are different.

[0091] Next, in order to ensure accurate painting operation, the second painting trajectory can be divided into multiple sections based on the second length to obtain multiple second segmented painting trajectories, and the trajectory length of each second segmented painting trajectory is the second length.

[0092] In the specific implementation, taking the target second segmented paint trajectory as an example, the target second segmented paint trajectory is any second segmented paint trajectory among multiple second segmented paint trajectories, and the first average curvature of the target second segmented paint trajectory can also be determined. Specifically, the target second segmented paint trajectory can be sampled to obtain multiple trajectory points, and the curvature of each trajectory point in the target second segmented paint trajectory can be determined to obtain multiple curvatures, and the average of the multiple curvatures can be determined to obtain the first average curvature.

[0093] Next, the mapping relationship between the preset average curvature and the optimization parameter can be pre-stored, and then the second optimization parameter corresponding to the first average curvature can be determined based on the mapping relationship. Since the outer contour of the second area belongs to the boundary part, it is easy to affect other areas of the vehicle body during the painting process. In order to ensure the accuracy of the painting, the corresponding painting is adjusted based on the curvature so that the painting effect meets the process requirements and does not affect other areas of the vehicle body. The value range of the second optimization parameter can be preset or the system defaults. For example, the value range of the second optimization parameter is -0.1~0.1. The first attribute information of the target second segmented painting trajectory reflects the regional characteristics of the segment area, and thus, the mapping relationship between the preset first attribute information and the reference painting parameters can be pre-stored, that is, the second reference painting parameters corresponding to the first attribute information of the target second segmented painting trajectory can be determined based on the mapping relationship, and then the second reference painting parameters can be optimized according to the second optimization parameters to obtain the second painting parameters corresponding to the target second segmented painting trajectory, that is, the second painting parameters corresponding to the target second segmented painting trajectory = (1 + second optimization parameter) * second reference painting parameters. In this way, not only can the corresponding second reference painting parameters be determined based on the first attribute information at different positions in different regions, but the image recognition principle can also be deeply combined to deeply identify the curvature of the corresponding area, thereby deeply optimizing the second reference painting parameters to obtain the final second painting parameters, which can ensure that the painting effect will not affect other areas of the vehicle body, ensure the process requirements, and achieve efficient and precise painting operations.

[0094] Optionally, the above step of determining the second reference painting parameter corresponding to the first attribute information of the second segmented painting trajectory of the target may include the following steps:

[0095] Acquire actual painting parameters of a previous second segmented painting trajectory of the target second segmented painting trajectory;

[0096] Acquire the first attribute information of the second segmented painting trajectory of the previous section;

[0097] Determine a first relative deviation between the first attribute information of the target second segmented painting trajectory and the first attribute information of the previous second segmented painting trajectory;

[0098] determining a first adjustment parameter corresponding to the first relative deviation;

[0099] The actual painting parameter is adjusted according to the first adjustment parameter to obtain the second reference painting parameter.

[0100] In a specific implementation, the actual painting parameters of the previous second segmented painting trajectory of the target second segmented painting trajectory can also be obtained, as well as the first attribute information of the previous second segmented painting trajectory, and then the first relative deviation between the first attribute information of the target second segmented painting trajectory and the first attribute information of the previous second segmented painting trajectory can be determined. The first relative deviation = (the first attribute information of the target second segmented painting trajectory - the first attribute information of the previous second segmented painting trajectory) / (the first attribute information of the target second segmented painting trajectory + the first attribute information of the previous second segmented painting trajectory). The first relative deviation reflects the regional difference between two adjacent segmented trajectories, and the preset relative deviation and The mapping relationship between the adjustment parameters can be determined based on the mapping relationship to determine the first adjustment parameter corresponding to the first relative deviation. The value range of the first adjustment parameter can be preset or the system defaults. For example, the value range of the first adjustment parameter is -0.05~0.05. The actual painting parameters are adjusted according to the first adjustment parameters to obtain the second reference painting parameters, and the second painting parameters = the second reference painting parameters * (1+the first adjustment parameters). In this way, the painting parameters can be dynamically adjusted in depth based on the regional differences between two adjacent segmented trajectories to make the painting parameters transition smoothly, which not only ensures the continuity of the painting, but also makes the final painting effect uniform, thereby improving the efficiency of automobile painting and the intelligence of robot operations.

[0101] 107. Determine a first working parameter of the robotic arm according to the first painting parameter, and determine a second working parameter of the robotic arm according to the second painting parameter.

[0102] Among them, the first working parameter of the robotic arm may include at least one of the following: motion trajectory, motion direction, motion angle, motion amplitude, motion strength, motion position, etc., which are not limited here.

[0103] In a specific implementation, since the robot arm performs precise control on the paint spray gun, it is ensured that the paint spray gun works according to the predetermined paint spray parameters. Specifically, the mapping relationship between the preset paint spray parameters and the working parameters of the robot arm can be pre-stored, and then the first working parameter of the robot arm corresponding to the first paint spray parameter can be determined based on the mapping relationship, and the second working parameter of the robot arm corresponding to the second paint spray parameter can be determined based on the mapping relationship. In this way, the painting effect and process requirements can be guaranteed, and efficient and precise painting operations can be achieved.

[0104] 108. Control the robotic arm to operate with the first operating parameters and control the paint spray gun to perform a paint spraying operation along the first paint spraying trajectory, and control the robotic arm to operate with the second operating parameters and control the paint spray gun to perform a paint spraying operation along the second paint spraying trajectory.

[0105] In a specific implementation, the robotic arm can be controlled to work with a first working parameter and the paint gun can be controlled to perform painting operations along a first painting trajectory, and the robotic arm can be controlled to work with a second working parameter and the paint gun can be controlled to perform painting operations along a second painting trajectory. In this way, since the third area will not affect other areas of the vehicle body, efficient painting can be achieved and the painting process requirements can be guaranteed. In addition, the second painting parameter is determined according to the second painting trajectory, the first attribute information and the minimum coverage diameter. That is, since the second area belongs to the boundary part, it is easy to affect other areas of the vehicle body during the painting process. In order to ensure the accuracy of painting, the boundary area can be isolated as much as possible for fine painting. Thus, the accuracy of the painting process can be guaranteed without affecting other areas of the vehicle body, thereby improving the efficiency of automobile painting and the intelligence of robot operations.

[0106] It can be seen that the automobile painting automation control method described in the embodiment of the present application is applied to a painting robot, which includes a mechanical arm, a paint gun and a visual system. The first area of ​​the automobile body and the first image of the first area are determined by the visual system. The automobile body includes multiple areas to be painted, and the first area is one of the multiple areas to be painted; the area shape and outer contour of the first area are determined according to the first image; the maximum coverage diameter and the minimum coverage diameter of the paint gun are obtained; the second area and the third area are determined according to the minimum coverage diameter and the outer contour, the second area is determined based on the minimum coverage diameter, the outer contour, and the area shape, and the third area is the area other than the second area in the first area; the first painting trajectory is determined according to the maximum coverage diameter and the third area, and the second painting trajectory is determined based on the first painting trajectory, the second area and the minimum coverage diameter; the first attribute information of the first area is obtained, the first painting parameter is determined according to the first painting trajectory, the first attribute information and the maximum coverage diameter, and the second painting parameter is determined according to the second painting trajectory, the first attribute information and the minimum coverage diameter; the first working parameter of the mechanical arm is determined according to the first painting parameter, and the second working parameter of the mechanical arm is determined according to the second painting parameter Working parameters; controlling the robotic arm to work with the first working parameters and controlling the paint spray gun to perform a painting operation along the first painting trajectory, and controlling the robotic arm to work with the second working parameters and controlling the paint spray gun to perform a painting operation along the second painting trajectory. On the one hand, since the outer contour of the first area belongs to the boundary part, it is easy to affect other areas of the vehicle body during the painting process. In order to ensure the accuracy of the painting, the boundary area can be isolated as much as possible for fine painting. The third area is the area of ​​the first area except the second area. Since painting in this area will not affect other areas of the vehicle body, the third area can be quickly and efficiently painted. On the other hand, since the third area will not affect other areas of the vehicle body, efficient painting can be achieved to ensure the painting process requirements. In addition, the second painting parameter is determined according to the second painting trajectory, the first attribute information and the minimum coverage diameter. That is, since the second area belongs to the boundary part, it is easy to affect other areas of the vehicle body during the painting process. In order to ensure the accuracy of the painting, the boundary area can be isolated as much as possible for fine painting. Thus, the accuracy of the painting process can be ensured without affecting other areas of the vehicle body, thereby improving the efficiency of automobile painting and the intelligence of robot operation.

[0107] In accordance with the above embodiment, please refer to Figure 2 , Figure 2: is a structural diagram of an electronic device provided in an embodiment of the present application, the electronic device includes a processor, a memory, a communication interface and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor. In an embodiment of the present application, the electronic device is applied to a painting robot, the painting robot includes a mechanical arm, a paint spray gun and a visual system, and the program includes instructions for executing the following steps:

[0108] Determine a first area of ​​a vehicle body and a first image of the first area by the visual system, wherein the vehicle body includes a plurality of areas to be painted, and the first area is one of the plurality of areas to be painted;

[0109] determining a region shape and a peripheral contour of the first region according to the first image;

[0110] Obtaining the maximum coverage diameter and the minimum coverage diameter of the paint spray gun;

[0111] Determine a second area and a third area according to the minimum covering diameter and the outer contour, wherein the second area is determined based on the minimum covering diameter, the outer contour, and the area shape, and the third area is an area in the first area except the second area;

[0112] determining a first painting trajectory according to the maximum coverage diameter and the third area, and determining a second painting trajectory based on the first painting trajectory, the second area and the minimum coverage diameter;

[0113] Acquire first attribute information of the first area, determine a first painting parameter according to the first painting trajectory, the first attribute information and the maximum coverage diameter, and determine a second painting parameter according to the second painting trajectory, the first attribute information and the minimum coverage diameter;

[0114] Determine a first working parameter of the robotic arm according to the first painting parameter, and determine a second working parameter of the robotic arm according to the second painting parameter;

[0115] The robot arm is controlled to work with the first working parameter and the paint spray gun is controlled to spray paint along the first painting trajectory, and the robot arm is controlled to work with the second working parameter and the paint spray gun is controlled to spray paint along the second painting trajectory.

[0116] Optionally, in determining the first painting parameter according to the first painting trajectory, the first attribute information and the maximum coverage diameter, the program includes instructions for performing the following steps:

[0117] Dividing the first painting trajectory into multiple segments according to the maximum coverage diameter to obtain multiple first segmented painting trajectories; the trajectory length of each first segmented painting trajectory is the first length;

[0118] Determine the first length to determine a first shooting parameter;

[0119] The target first segmented painting trajectory is photographed according to the first shooting parameter to obtain a second image; the target first segmented painting trajectory is any first segmented painting trajectory among the multiple first segmented painting trajectories;

[0120] Performing feature extraction on the second image to obtain a first feature;

[0121] determining a first optimization parameter corresponding to the first feature;

[0122] Determine a first reference painting parameter corresponding to first attribute information of the first segmented painting trajectory of the target;

[0123] The first reference painting parameter is optimized according to the first optimization parameter to obtain the first painting parameter corresponding to the target first segmented painting trajectory.

[0124] Optionally, in the aspect of extracting features from the second image to obtain the first features, the program includes instructions for executing the following steps:

[0125] determining a low-frequency component part and a high-frequency component part of the second image;

[0126] determining a first energy value of the low-frequency component portion and a second energy value of the second image;

[0127] determining a first energy ratio between the first energy value and the second energy value, and determining a first image feature extraction algorithm corresponding to the first energy ratio;

[0128] Acquire a first control parameter of the first image feature extraction algorithm corresponding to the first attribute information;

[0129] Feature extraction is performed on the high-frequency component part according to the first control parameter and the first image feature extraction algorithm to obtain the first feature.

[0130] Optionally, in determining the second painting trajectory based on the first painting trajectory, the second area and the minimum coverage diameter, the program includes instructions for performing the following steps:

[0131] Determining the end track point of the first painting track;

[0132] Determine the shortest distance between the end trajectory point and the second area, and acquire a first position point of the second area corresponding to the shortest distance according to the minimum coverage diameter;

[0133] Determine a straight line trajectory according to the end trajectory point and the first position point, and no painting operation is performed on the straight line trajectory;

[0134] Determine a third painting trajectory according to the first position, the second area and the minimum coverage diameter;

[0135] The second painting trajectory is determined according to the straight line trajectory and the third painting trajectory.

[0136] Optionally, in determining the second painting parameter according to the second painting trajectory, the first attribute information and the minimum coverage diameter, the program includes instructions for performing the following steps:

[0137] Dividing the second painting trajectory into multiple segments according to the minimum coverage diameter to obtain multiple second segmented painting trajectories; the trajectory length of each second segmented painting trajectory is the second length;

[0138] Determine a first average curvature of a target second segmented painting trajectory; the target second segmented painting trajectory is any second segmented painting trajectory among the multiple second segmented painting trajectories;

[0139] determining a second optimization parameter corresponding to the first average curvature;

[0140] Determine a second reference painting parameter corresponding to the first attribute information of the second segmented painting trajectory of the target;

[0141] The second reference painting parameters are optimized according to the second optimization parameters to obtain second painting parameters corresponding to the target second segmented painting trajectory.

[0142] It can be seen that the electronic device described in the embodiment of the present application is applied to a painting robot, which includes a mechanical arm, a paint gun and a visual system. The first area of ​​the automobile body and the first image of the first area are determined by the visual system. The automobile body includes multiple areas to be painted, and the first area is one of the multiple areas to be painted; the area shape and the outer contour of the first area are determined according to the first image; the maximum coverage diameter and the minimum coverage diameter of the paint gun are obtained; the second area and the third area are determined according to the minimum coverage diameter and the outer contour, the second area is determined based on the minimum coverage diameter, the outer contour, and the area shape, and the third area is the area other than the second area in the first area; the first painting trajectory is determined according to the maximum coverage diameter and the third area, and the second painting trajectory is determined based on the first painting trajectory, the second area and the minimum coverage diameter; the first attribute information of the first area is obtained, the first painting parameter is determined according to the first painting trajectory, the first attribute information and the maximum coverage diameter, and the second painting parameter is determined according to the second painting trajectory, the first attribute information and the minimum coverage diameter; the first working parameter of the mechanical arm is determined according to the first painting parameter, and the second working parameter of the mechanical arm is determined according to the second painting parameter number; control the robotic arm to work with the first working parameter and control the paint gun to perform a painting operation along the first painting trajectory, and control the robotic arm to work with the second working parameter and control the paint gun to perform a painting operation along the second painting trajectory. On the one hand, since the outer contour of the first area belongs to the boundary part, it is easy to affect other areas of the car body during the painting process. In order to ensure the accuracy of painting, the boundary area can be isolated as much as possible for fine painting. The third area is the area other than the second area in the first area. Since painting in this area will not affect other areas of the car body, the third area can be quickly and efficiently painted. On the other hand, since the third area will not affect other areas of the car body, efficient painting can be achieved to ensure the requirements of the painting process. In addition, the second painting parameter is determined according to the second painting trajectory, the first attribute information and the minimum coverage diameter. That is, since the second area belongs to the boundary part, it is easy to affect other areas of the car body during the painting process. In order to ensure the accuracy of painting, the boundary area can be isolated as much as possible for fine painting. Thus, the accuracy of the painting process can be ensured without affecting other areas of the car body, thereby improving the efficiency of automobile painting and the intelligence of robot operation.

[0143] Figure 3 This is a functional unit composition block diagram of an automobile painting automation control system 300 involved in an embodiment of the present application. The automobile painting automation control system 300 is applied to a painting robot. The painting robot includes a mechanical arm, a paint spray gun and a visual system. The automobile painting automation control system 300 includes:

[0144] A determination unit 301 is configured to determine a first area of ​​a vehicle body and a first image of the first area through the visual system, wherein the vehicle body includes a plurality of areas to be painted, and the first area is one of the plurality of areas to be painted; and determine an area shape and an outer contour of the first area according to the first image;

[0145] An acquisition unit 302 is used to acquire a maximum coverage diameter and a minimum coverage diameter of the paint spray gun;

[0146] The determination unit 301 is further used to determine a second area and a third area according to the minimum coverage diameter and the outer contour, the second area is determined based on the minimum coverage diameter, the outer contour, and the area shape, and the third area is the area of ​​the first area other than the second area; determine a first painting trajectory according to the maximum coverage diameter and the third area, and determine a second painting trajectory based on the first painting trajectory, the second area, and the minimum coverage diameter; obtain first attribute information of the first area, determine a first painting parameter according to the first painting trajectory, the first attribute information, and the maximum coverage diameter, and determine a second painting parameter according to the second painting trajectory, the first attribute information, and the minimum coverage diameter; determine a first working parameter of the robotic arm according to the first painting parameter, and determine a second working parameter of the robotic arm according to the second painting parameter;

[0147] The control unit 303 is used to control the robotic arm to work with the first working parameters and control the paint spray gun to spray paint along the first painting trajectory, and control the robotic arm to work with the second working parameters and control the paint spray gun to spray paint along the second painting trajectory.

[0148] Optionally, in determining the first painting parameter according to the first painting trajectory, the first attribute information and the maximum coverage diameter, the determining unit 301 is specifically used to:

[0149] Dividing the first painting trajectory into multiple segments according to the maximum coverage diameter to obtain multiple first segmented painting trajectories; the trajectory length of each first segmented painting trajectory is the first length;

[0150] Determine the first length to determine a first shooting parameter;

[0151] The target first segmented painting trajectory is photographed according to the first shooting parameter to obtain a second image; the target first segmented painting trajectory is any first segmented painting trajectory among the multiple first segmented painting trajectories;

[0152] Performing feature extraction on the second image to obtain a first feature;

[0153] determining a first optimization parameter corresponding to the first feature;

[0154] Determine a first reference painting parameter corresponding to first attribute information of the first segmented painting trajectory of the target;

[0155] The first reference painting parameter is optimized according to the first optimization parameter to obtain the first painting parameter corresponding to the target first segmented painting trajectory.

[0156] Optionally, in the aspect of extracting features from the second image to obtain the first features, the determining unit 301 is specifically configured to:

[0157] determining a low-frequency component part and a high-frequency component part of the second image;

[0158] determining a first energy value of the low-frequency component portion and a second energy value of the second image;

[0159] determining a first energy ratio between the first energy value and the second energy value, and determining a first image feature extraction algorithm corresponding to the first energy ratio;

[0160] Acquire a first control parameter of the first image feature extraction algorithm corresponding to the first attribute information;

[0161] Feature extraction is performed on the high-frequency component part according to the first control parameter and the first image feature extraction algorithm to obtain the first feature.

[0162] Optionally, in determining the second painting trajectory based on the first painting trajectory, the second area and the minimum coverage diameter, the determining unit 301 is specifically used to:

[0163] Determining the end track point of the first painting track;

[0164] Determine the shortest distance between the end trajectory point and the second area, and acquire a first position point of the second area corresponding to the shortest distance according to the minimum coverage diameter;

[0165] Determine a straight line trajectory according to the end trajectory point and the first position point, and no painting operation is performed on the straight line trajectory;

[0166] Determine a third painting trajectory according to the first position, the second area and the minimum coverage diameter;

[0167] The second painting trajectory is determined according to the straight line trajectory and the third painting trajectory.

[0168] Optionally, in determining the second painting parameter according to the second painting trajectory, the first attribute information and the minimum coverage diameter, the determining unit 301 is specifically used to:

[0169] Dividing the second painting trajectory into multiple segments according to the minimum coverage diameter to obtain multiple second segmented painting trajectories; the trajectory length of each second segmented painting trajectory is the second length;

[0170] Determine a first average curvature of a target second segmented painting trajectory; the target second segmented painting trajectory is any second segmented painting trajectory among the multiple second segmented painting trajectories;

[0171] determining a second optimization parameter corresponding to the first average curvature;

[0172] Determine a second reference painting parameter corresponding to the first attribute information of the second segmented painting trajectory of the target;

[0173] The second reference painting parameters are optimized according to the second optimization parameters to obtain second painting parameters corresponding to the target second segmented painting trajectory.

[0174] It can be seen that the automobile painting automation control system described in the embodiment of the present application is applied to a painting robot. The painting robot includes a robotic arm, a paint gun and a visual system. The first area of ​​the automobile body and the first image of the first area are determined by the visual system. The automobile body includes multiple areas to be painted, and the first area is one of the multiple areas to be painted; the area shape and outer contour of the first area are determined according to the first image; the maximum coverage diameter and the minimum coverage diameter of the paint gun are obtained; the second area and the third area are determined according to the minimum coverage diameter and the outer contour, the second area is determined based on the minimum coverage diameter, the outer contour, and the area shape, and the third area is the area in the first area except the second area; the first painting trajectory is determined according to the maximum coverage diameter and the third area, and the second painting trajectory is determined based on the first painting trajectory, the second area and the minimum coverage diameter; the first attribute information of the first area is obtained, the first painting parameter is determined according to the first painting trajectory, the first attribute information and the maximum coverage diameter, and the second painting parameter is determined according to the second painting trajectory, the first attribute information and the minimum coverage diameter; the first working parameter of the robotic arm is determined according to the first painting parameter, and the second working parameter of the robotic arm is determined according to the second painting parameter Working parameters; controlling the robotic arm to work with the first working parameters and controlling the paint spray gun to perform a painting operation along the first painting trajectory, and controlling the robotic arm to work with the second working parameters and controlling the paint spray gun to perform a painting operation along the second painting trajectory. On the one hand, since the outer contour of the first area belongs to the boundary part, it is easy to affect other areas of the vehicle body during the painting process. In order to ensure the accuracy of the painting, the boundary area can be isolated as much as possible for fine painting. The third area is the area of ​​the first area except the second area. Since painting in this area will not affect other areas of the vehicle body, the third area can be quickly and efficiently painted. On the other hand, since the third area will not affect other areas of the vehicle body, efficient painting can be achieved to ensure the painting process requirements. In addition, the second painting parameter is determined according to the second painting trajectory, the first attribute information and the minimum coverage diameter. That is, since the second area belongs to the boundary part, it is easy to affect other areas of the vehicle body during the painting process. In order to ensure the accuracy of the painting, the boundary area can be isolated as much as possible for fine painting. Thus, the accuracy of the painting process can be ensured without affecting other areas of the vehicle body, thereby improving the efficiency of automobile painting and the intelligence of robot operation.

[0175] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes an electronic device.

[0176] The embodiment of the present application also provides a computer program product, the computer program product includes a non-transitory computer-readable storage medium storing a computer program, the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes an electronic device.

[0177] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0178] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0179] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0180] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0181] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0182] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0183] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable memory, which may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0184] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An automatic control method for automobile painting, characterized in that: Applied to a painting robot, the painting robot includes a mechanical arm, a paint spray gun and a visual system, and the method includes: Determine a first area of ​​a vehicle body and a first image of the first area by the visual system, wherein the vehicle body includes a plurality of areas to be painted, and the first area is one of the plurality of areas to be painted; determining a region shape and a peripheral contour of the first region according to the first image; Obtaining the maximum coverage diameter and the minimum coverage diameter of the paint spray gun; Determine a second area and a third area according to the minimum covering diameter and the outer contour, wherein the second area is determined based on the minimum covering diameter, the outer contour, and the area shape, and the third area is an area in the first area except the second area; determining a first painting trajectory according to the maximum coverage diameter and the third area, and determining a second painting trajectory based on the first painting trajectory, the second area and the minimum coverage diameter; Acquire first attribute information of the first area, determine a first painting parameter according to the first painting trajectory, the first attribute information and the maximum coverage diameter, and determine a second painting parameter according to the second painting trajectory, the first attribute information and the minimum coverage diameter; Determine a first working parameter of the robotic arm according to the first painting parameter, and determine a second working parameter of the robotic arm according to the second painting parameter; The robot arm is controlled to work with the first working parameter and the paint spray gun is controlled to spray paint along the first painting trajectory, and the robot arm is controlled to work with the second working parameter and the paint spray gun is controlled to spray paint along the second painting trajectory.

2. The method according to claim 1, characterized in that The determining the first painting parameter according to the first painting trajectory, the first attribute information and the maximum coverage diameter includes: Dividing the first painting trajectory into multiple segments according to the maximum coverage diameter to obtain multiple first segmented painting trajectories; the trajectory length of each first segmented painting trajectory is the first length; Determining a first shooting parameter according to the first length specifically includes: determining the first shooting parameter corresponding to the first length based on a mapping relationship between a preset length and a shooting parameter; The target first segmented painting trajectory is photographed according to the first shooting parameter to obtain a second image; the target first segmented painting trajectory is any first segmented painting trajectory among the multiple first segmented painting trajectories; Performing feature extraction on the second image to obtain a first feature; determining a first optimization parameter corresponding to the first feature; Determine a first reference painting parameter corresponding to first attribute information of the first segmented painting trajectory of the target; The first reference painting parameter is optimized according to the first optimization parameter to obtain the first painting parameter corresponding to the target first segmented painting trajectory.

3. The method according to claim 2, characterized in that The step of extracting features from the second image to obtain the first feature includes: determining a low-frequency component part and a high-frequency component part of the second image; determining a first energy value of the low-frequency component portion and a second energy value of the second image; determining a first energy ratio between the first energy value and the second energy value, and determining a first image feature extraction algorithm corresponding to the first energy ratio; Acquire a first control parameter of the first image feature extraction algorithm corresponding to the first attribute information; Feature extraction is performed on the high-frequency component part according to the first control parameter and the first image feature extraction algorithm to obtain the first feature.

4. The method according to claim 2 or 3, characterized in that: The determining a second painting trajectory based on the first painting trajectory, the second area and the minimum coverage diameter comprises: Determining the end track point of the first painting track; Determine the shortest distance between the end trajectory point and the second area, and acquire a first position point of the second area corresponding to the shortest distance according to the minimum coverage diameter; Determine a straight line trajectory according to the end trajectory point and the first position point, and no painting operation is performed on the straight line trajectory; Determine a third painting trajectory according to the first position, the second area and the minimum coverage diameter; The second painting trajectory is determined according to the straight line trajectory and the third painting trajectory.

5. The method according to claim 4, characterized in that The determining the second painting parameter according to the second painting trajectory, the first attribute information and the minimum coverage diameter includes: Dividing the second painting trajectory into multiple segments according to the minimum coverage diameter to obtain multiple second segmented painting trajectories; the trajectory length of each second segmented painting trajectory is the second length; Determine a first average curvature of a target second segmented painting trajectory; the target second segmented painting trajectory is any second segmented painting trajectory among the multiple second segmented painting trajectories; determining a second optimization parameter corresponding to the first average curvature; Determine a second reference painting parameter corresponding to the first attribute information of the second segmented painting trajectory of the target; The second reference painting parameters are optimized according to the second optimization parameters to obtain second painting parameters corresponding to the target second segmented painting trajectory.

6. An automatic control system for automobile painting, characterized in that: Applied to a painting robot, the painting robot includes a mechanical arm, a paint spray gun and a visual system, and the automobile painting automation control system includes: a determining unit, configured to determine a first area of ​​a vehicle body and a first image of the first area through the visual system, wherein the vehicle body includes a plurality of areas to be painted, and the first area is one of the plurality of areas to be painted; and determine an area shape and an outer contour of the first area according to the first image; An acquisition unit, used for acquiring a maximum coverage diameter and a minimum coverage diameter of the paint spray gun; The determination unit is further used to determine a second area and a third area according to the minimum coverage diameter and the outer contour, the second area is determined based on the minimum coverage diameter, the outer contour, and the area shape, and the third area is the area of ​​the first area excluding the second area; determine a first painting trajectory according to the maximum coverage diameter and the third area, and determine a second painting trajectory based on the first painting trajectory, the second area, and the minimum coverage diameter; obtain first attribute information of the first area, determine a first painting parameter according to the first painting trajectory, the first attribute information, and the maximum coverage diameter, and determine a second painting parameter according to the second painting trajectory, the first attribute information, and the minimum coverage diameter; determine a first working parameter of the robotic arm according to the first painting parameter, and determine a second working parameter of the robotic arm according to the second painting parameter; A control unit is used to control the robot arm to work with the first working parameters and control the paint spray gun to spray paint along the first painting trajectory, and control the robot arm to work with the second working parameters and control the paint spray gun to spray paint along the second painting trajectory.

7. The automobile painting automation control system according to claim 6 is characterized in that: In determining the first painting parameter according to the first painting trajectory, the first attribute information and the maximum coverage diameter, the determining unit is specifically used to: Dividing the first painting trajectory into multiple segments according to the maximum coverage diameter to obtain multiple first segmented painting trajectories; the trajectory length of each first segmented painting trajectory is the first length; Determining a first shooting parameter according to the first length specifically includes: determining the first shooting parameter corresponding to the first length based on a mapping relationship between a preset length and a shooting parameter; The target first segmented painting trajectory is photographed according to the first shooting parameter to obtain a second image; the target first segmented painting trajectory is any first segmented painting trajectory among the multiple first segmented painting trajectories; Performing feature extraction on the second image to obtain a first feature; determining a first optimization parameter corresponding to the first feature; Determine a first reference painting parameter corresponding to first attribute information of the first segmented painting trajectory of the target; The first reference painting parameter is optimized according to the first optimization parameter to obtain the first painting parameter corresponding to the target first segmented painting trajectory.

8. The automobile painting automation control system according to claim 7 is characterized in that: In the aspect of extracting features from the second image to obtain the first feature, the determining unit is specifically used for: determining a low-frequency component part and a high-frequency component part of the second image; determining a first energy value of the low-frequency component portion and a second energy value of the second image; determining a first energy ratio between the first energy value and the second energy value, and determining a first image feature extraction algorithm corresponding to the first energy ratio; Acquire a first control parameter of the first image feature extraction algorithm corresponding to the first attribute information; Feature extraction is performed on the high-frequency component part according to the first control parameter and the first image feature extraction algorithm to obtain the first feature.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store one or more programs and is configured to be executed by the processor, wherein the program comprises instructions for executing the steps in the method according to any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that: A computer program for electronic data exchange is stored, wherein the computer program enables a computer to execute the method according to any one of claims 1 to 5.

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