Surface spraying method for automatically optimizing spraying direction based on digital twinning

Abstract

The invention relates to the technical field of spraying optimization, and discloses a surface spraying method based on digital twin automatic spraying direction optimization, which comprises the following steps: performing simulated spraying on to-be-sprayed articles in different shapes through a spraying analysis strategy so as to determine the spraying path and spraying density of primary spraying, and adjusting the spraying direction of the to-be-sprayed articles through a spraying adjustment strategy so as to determine the spraying direction of the to-be-sprayed articles. According to the surface spraying method for automatically optimizing the spraying direction based on the digital twinning, the spraying path is automatically planned according to the shape of the to-be-sprayed article, primary spraying is carried out, and meanwhile according to the initial spraying density, the spraying path of secondary spraying and the spraying density of a spraying gun are automatically adjusted, so that spraying materials on the surface of the to-be-sprayed article are evenly distributed. And the spraying density of the spray gun for secondary spraying is determined, and meanwhile, the surface which cannot be sprayed by the spray gun at the vertical angle is subjected to supplementary spraying, so that the action of spraying objects in various forms is realized, spraying dead angles are avoided, and spraying materials on the surface of the object to be sprayed are uniformly distributed.

Description

Technical Field

[0001] The present invention relates to the field of spraying optimization technology, and specifically to a surface spraying method for automatically optimizing the spraying direction based on digital twins. Background Art

[0002] The surface spraying method based on digital twin and automatic optimization of spraying direction is a surface coating method that uses digital twin technology and automatic optimization algorithm to guide the spraying direction, including: creating a digital twin model, defining optimization goals, automatic optimization algorithm, spraying direction optimization, and actual spraying application. Based on the digital twin model and automatic optimization algorithm, more accurate and efficient surface spraying can be achieved. This method can not only improve the coating quality, but also reduce coating waste and production costs, and has wide application potential;

[0003] First, the surface to be sprayed is scanned by sensors, 3D scanners or other applicable tools to build a digital twin model. The digital twin is a numerical simulation of a physical object, which can keep pace with the dynamic behavior of the real object. During the spraying process, there may be multiple optimization targets, such as coating uniformity, coating thickness and coating adhesion. According to the application requirements, determine the appropriate optimization target and select an automatic optimization algorithm, such as genetic algorithm, particle swarm algorithm or simulated annealing algorithm, to search for the best spraying direction in the digital twin model. The automatic optimization algorithm will gradually improve the spraying direction through an iterative process to achieve the optimization target. Apply the automatic optimization algorithm to the digital twin model and search for the best spraying direction according to the preset optimization target. The algorithm will optimize the direction based on simulation and evaluation, and automatically update the spraying direction to achieve a better surface coating effect. Apply the optimized spraying direction to the real surface of the object for the actual spraying process. Robots or other automated equipment can be used for spraying operations.

[0004] The existing surface spraying method based on digital twin automatic optimization of spraying direction cannot simulate the corresponding spraying path according to the shape of the object, automatically plan the spraying path, adjust the spraying direction and spraying density of the spray gun, the sprayed objects are single and there are prone to spraying dead corners, and its practicality has certain limitations. Summary of the invention

[0005] The present invention provides a surface spraying method for automatically optimizing the spraying direction based on digital twin, which is used to promote the solution of the problems raised in the background technology.

[0006] The present invention provides the following technical solution: a surface spraying method for automatically optimizing the spraying direction based on digital twin, comprising:

[0007] Obtain the shape of the object to be sprayed, as well as the spraying direction and spraying density of the spray gun;

[0008] According to the shape of the object to be sprayed, the spray direction and spray density of the spray gun, the spray analysis strategy is used to simulate the spraying of objects of different shapes to be sprayed, so as to determine the spray path and spray density of the initial spraying;

[0009] According to the spraying direction and spraying density of the primary spraying, the spraying path and spraying density of the secondary spraying are determined through the spraying adjustment strategy;

[0010] According to the spraying density of the spray gun of the secondary spraying, the spraying material is automatically adjusted and output to make the spraying material evenly distributed on the surface of the object to be sprayed.

[0011] As an optional solution of the surface spraying method based on digital twin automatic optimization of spraying direction described in the present invention, the spraying analysis strategy is specifically:

[0012] Obtain the shape of the object to be sprayed;

[0013] If the overall outline of the object to be sprayed is a regular shape, the first spraying simulation strategy is executed;

[0014] If the overall outline of the object to be sprayed is an irregular shape, the second spraying simulation strategy is executed;

[0015] Obtaining a target spraying path and an initial spraying density, wherein the initial spraying density is the spraying density set by the spray gun at the factory;

[0016] The object to be sprayed is sprayed according to the target spraying path and initial spraying density.

[0017] As an optional solution of the surface spraying method based on digital twin automatic optimization of spraying direction described in the present invention, the spraying analysis strategy also includes a spray gun spraying data analysis strategy, specifically:

[0018] Get the spray range of the spray gun;

[0019] Get the center point of the spraying range, which is the spraying center point;

[0020] Obtain the outline of the spraying range, where there are several data points;

[0021] Take each data point on the contour of the spraying range in turn, make a ray through the center point of the spraying range, and define the intersection of the ray and the contour of the spraying range as the target intersection point, then each data point on the contour of the spraying range corresponds to a target intersection point;

[0022] The distance between the data point and the target intersection point corresponding to the data point is defined as the target distance;

[0023] Obtain the target distance corresponding to each data point on the contour of the spraying range, and form a distance set from large to small according to the value of the target distance;

[0024] The target distance with the largest value in the distance set is extracted and defined as the spraying length.

[0025] As an optional solution of the surface spraying method based on digital twin automatic optimization of spraying direction according to the present invention, the execution of the first spraying simulation strategy is specifically:

[0026] Scan the overall shape of the object to be sprayed;

[0027] Take any plane other than the bottom surface of the object to be sprayed, and this plane is the first reference plane;

[0028] Obtaining the contour of the first reference surface;

[0029] According to the contour of the first reference plane, obtain the length of each side of the first reference plane;

[0030] Let the spray gun be perpendicular to the first reference plane, then the angle between the spray gun and the first reference plane is the first spraying angle;

[0031] Take the contour of the bottom surface of the object to be sprayed;

[0032] According to the contour of the bottom surface, obtain the length of each side of the bottom surface;

[0033] Let the spray gun be perpendicular to the bottom surface, then the angle between the spray gun and the bottom surface is the second spraying angle;

[0034] The side length of the first reference plane that has only one endpoint connected to the bottom surface is defined as the target side length;

[0035] Execution path generation steps:

[0036] S1. Taking the end point away from the bottom surface of any target side length as the starting point, the target side length is the starting side length. According to the spraying length and the spraying center point of the spray gun spraying data, the spraying center point is made to coincide with the starting side length, and the upper end point of the spraying length is made to coincide with the starting point. At the first spraying angle, the spraying is directed rightwards around the object to be sprayed to form a first unit path.

[0037] S2, converting the lower end point of the spraying length in the first unit path into the starting point, coinciding the spraying center point with the starting side length, coinciding the upper end point of the spraying length with the starting point, and going right around the object to be sprayed at the first spraying angle to form a second unit path;

[0038] S3, repeat S1-S2 until the lower end point of the spraying length coincides with the end point of the connecting bottom surface of the starting side length;

[0039] S4, integrating all first unit paths and second unit paths to generate a first spraying path;

[0040] S5, taking any side length of the bottom surface as the starting side length, taking any end point of the starting side length as the starting point, according to the spraying length and the spraying center point of the spray gun spraying data, making the spraying center point coincide with the starting side length, making the upper end point of the spraying length coincide with the starting point, and forming a third unit path at a second spraying angle in the direction of the opposite side of the starting side length;

[0041] S6, converting the lower end point of the spraying length in the third unit path into the starting point, the spraying center point coincides with the starting side length, the upper end point of the spraying length coincides with the starting point, and forming a fourth unit path at a second spraying angle in the direction opposite to the starting side length;

[0042] S7, repeat S5-S6 until the lower end point of the spraying length coincides with the other end point of the starting side length;

[0043] S8, integrating all third unit paths and fourth unit paths to generate a second spraying path;

[0044] S9, forming a target spraying path in the order of a first spraying path and a second spraying path.

[0045] As an optional solution of the surface spraying method based on digital twin automatic optimization of spraying direction according to the present invention, the execution of the second spraying simulation strategy specifically includes:

[0046] Scan the overall shape of the object to be sprayed;

[0047] The surface of the spray gun that can form a 90° angle with the surface of the object to be sprayed is defined as the first reference plane, and the angle between the spray gun and the first reference plane is the first spraying angle;

[0048] The surface where the spray gun cannot form a 90° angle with the surface of the object to be sprayed is defined as the second reference plane, and the angle between the spray gun and the first reference plane is the second spraying angle;

[0049] Obtain an inflection point in the profile of any first reference surface and define it as a first inflection point;

[0050] Taking the first inflection point as the starting point, and the side length of the contour of the first reference plane corresponding to the starting point that is not connected to the second reference plane as the starting side length, according to the spraying length and the spraying center point of the spray gun spraying data, make the spraying center point coincide with the starting side length, make the upper end point of the spraying length coincide with the starting point, move to the side of the junction of the first reference plane and the second reference plane at the first spraying angle, circle the object to be sprayed, and form a target spraying path.

[0051] As an optional solution of the surface spraying method based on digital twin automatic optimization of spraying direction according to the present invention, the spraying adjustment strategy includes a first adjustment strategy, specifically:

[0052] Obtain the shape of the object to be sprayed;

[0053] If the overall outline of the object to be sprayed is a regular shape, the initial spray density within the spray range is obtained;

[0054] Execute spray density calculation strategy;

[0055] Get to adjust the spray density;

[0056] The object to be sprayed is sprayed according to the target spraying path and the spraying density is adjusted.

[0057] As an optional solution of the surface spraying method based on digital twin automatic optimization of spraying direction according to the present invention, the spraying adjustment strategy includes a second adjustment strategy, specifically:

[0058] Obtain the shape of the object to be sprayed;

[0059] If the overall outline of the object to be sprayed is an irregular shape, the initial spray density within the spray range is obtained;

[0060] Execute spray density calculation strategy;

[0061] Get to adjust the spray density;

[0062] Spraying the first reference surface of the object to be sprayed according to the target spraying path and adjusting the spraying density;

[0063] Implement a supplemental spraying strategy.

[0064] As an optional solution of the surface spraying method based on digital twin automatic optimization of spraying direction according to the present invention, the execution of the supplementary spraying strategy is specifically as follows:

[0065] Acquire a first reference surface and a second reference surface of the object to be sprayed;

[0066] Obtaining the connection point between the first reference plane and the second reference plane, and defining the connection point as a first connection point and a second connection point respectively;

[0067] Connect the first connection point and the second connection point to form an auxiliary line;

[0068] Get the second inflection point;

[0069] Get the spray center point of the spray gun spray data;

[0070] Make the spray center point and the second inflection point in the same straight line, and the straight line is perpendicular to the auxiliary line. The angle between the straight line and the ground is the supplementary spray angle.

[0071] Obtain expected spraying density and initial spraying density;

[0072] The spray gun sprays the second reference surface at an initial spray density and a supplementary spray angle;

[0073] Collect the spraying density at various locations on the second reference surface;

[0074] Execute spray density calculation strategy;

[0075] Get to adjust the spray density;

[0076] The spray gun sprays the second reference surface by supplementing the spraying angle and adjusting the spraying density, so that the second reference surface reaches the expected spraying density.

[0077] As an optional solution of the surface spraying method based on digital twin automatic optimization of spraying direction according to the present invention, the execution of the spraying density calculation strategy is specifically:

[0078] Obtain the initial spraying density at each location within the spraying range;

[0079] Get the expected spray density;

[0080] Calculate the adjusted spraying density at each location within the spraying range. Adjusted spraying density = (expected spraying density × 2) - initial spraying density.

[0081] The present invention has the following beneficial effects:

[0082] 1. The surface spraying method based on digital twin automatic optimization of spraying direction determines the spraying path of the object to be sprayed by obtaining the shape of the object to be sprayed. If the overall outline of the object to be sprayed is a regular shape, the spraying path is automatically planned according to the shape of the object to be sprayed, and the initial spraying is performed directly according to the spraying path. At the same time, according to the initial spraying density, the spray gun spraying density of the secondary spraying is determined, and the spraying material is automatically adjusted and output to make the spraying material on the surface of the object to be sprayed evenly distributed.

[0083] 2. The surface spraying method based on digital twin automatic optimization of spraying direction obtains the shape of the object to be sprayed and determines the spraying path of the object to be sprayed. If the overall outline of the object to be sprayed is an irregular shape, the spraying path of the surface of the object to be sprayed that can be sprayed by the spray gun at a vertical angle is automatically planned according to the shape of the object to be sprayed, and the initial spraying is performed according to the spraying path. At the same time, the spraying density of the spray gun for the secondary spraying is determined according to the initial spraying density, and the spraying material is automatically adjusted and output. Then, a small amount of multiple supplementary spraying is performed on the surface of the object to be sprayed that cannot be sprayed by the spray gun at a vertical angle, thereby realizing the action of spraying objects of various shapes, avoiding spraying dead corners, and making the spraying material on the surface of the object to be sprayed evenly distributed.

[0084] 3. The surface spraying method based on digital twin automatically optimizes the spraying direction. By obtaining the initial spraying density, the spraying path and spray gun spraying density of the secondary spraying are calculated and determined, and the spraying material is automatically adjusted and output to ensure that the spraying material is evenly distributed on the surface of the object to be sprayed. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] Figure 1 This is a block diagram of the surface spraying method for automatically optimizing the spraying direction based on digital twins of the present invention;

[0086] Figure 2 This is a schematic diagram of the spraying range of the present invention;

[0087] Figure 3 It is a schematic diagram of the first spraying simulation strategy of the present invention;

[0088] Figure 4 It is a schematic diagram of the second spraying simulation strategy of the present invention. DETAILED DESCRIPTION

[0089] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0090] Embodiment 1, a surface spraying method based on digital twin automatic optimization of spraying direction, see Figure 1 ,include:

[0091] Obtain the shape of the object to be sprayed, as well as the spraying direction and spraying density of the spray gun;

[0092] According to the shape of the object to be sprayed, the spray direction and spray density of the spray gun, the spray analysis strategy is used to simulate the spraying of objects of different shapes to be sprayed, so as to determine the spray path and spray density of the initial spraying;

[0093] According to the spraying direction and spraying density of the primary spraying, the spraying path and spraying density of the secondary spraying are determined through the spraying adjustment strategy;

[0094] According to the spraying density of the spray gun of the secondary spraying, the spraying material is automatically adjusted and output to make the spraying material evenly distributed on the surface of the object to be sprayed.

[0095] Through the above method, the spraying path is automatically planned according to the shape of the object to be sprayed, and the initial spraying is carried out. At the same time, the spraying density of the spray gun for the secondary spraying is determined according to the initial spraying density. At the same time, the surface that the spray gun cannot spray at a vertical angle is supplemented by spraying, thereby realizing the action of spraying objects of various shapes, avoiding the occurrence of spraying dead corners, and making the spray material on the surface of the object to be sprayed evenly distributed.

[0096] Embodiment 2: This embodiment is an improvement made on the basis of embodiment 1. Figure 2-4 ,This scheme takes into consideration that the shapes of the objects to be sprayed are different, and the required spraying paths and spraying methods are also different.

[0097] In this embodiment, the spray analysis strategy is specifically as follows:

[0098] Obtain the shape of the object to be sprayed;

[0099] If the overall outline of the object to be sprayed is a regular shape, such as a cone, a cuboid, or other regular polygons formed by various regular polygons, the first spraying simulation strategy is executed;

[0100] If the overall outline of the object to be sprayed is an irregular shape, that is, a shape other than a regular shape, the second spraying simulation strategy is executed;

[0101] Obtaining a target spraying path and an initial spraying density, wherein the initial spraying density is the spraying density set by the spray gun at the factory;

[0102] The object to be sprayed is sprayed according to the target spraying path and initial spraying density.

[0103] This embodiment also provides that the spray analysis strategy also includes a spray gun spray data analysis strategy, specifically:

[0104] Get the spraying range of the spray gun. The spraying range is the range that the spray gun can spray at the default spraying distance with the factory-set parameters. Figure 2 As shown;

[0105] Get the center point of the spraying range, which is the spraying center point. Figure 2 As shown;

[0106] Get the outline of the spraying range. The outline of the spraying range has several data points, such as Figure 2 As shown;

[0107] Take each data point on the contour of the spraying range in turn, make a ray through the center point of the spraying range, and define the intersection of the ray and the contour of the spraying range as the target intersection point. Then each data point on the contour of the spraying range corresponds to a target intersection point, such as Figure 2 As shown;

[0108] The distance between the data point and the target intersection point corresponding to the data point is defined as the target distance, such as Figure 2 As shown;

[0109] Obtain the target distance corresponding to each data point on the contour of the spraying range, and form a distance set from large to small according to the value of the target distance;

[0110] The target distance with the largest value in the distance set is extracted and defined as the spraying length, such as Figure 2 shown.

[0111] This embodiment also provides that the execution of the first spraying simulation strategy is specifically:

[0112] Scan the overall shape of the object to be sprayed;

[0113] Take any non-bottom plane of the object to be sprayed, and this plane is the first reference plane. Figure 3 As shown;

[0114] Obtaining the contour of the first reference surface;

[0115] According to the contour of the first reference plane, obtain the length of each side of the first reference plane;

[0116] Let the spray gun be perpendicular to the first reference plane, then the angle between the spray gun and the first reference plane is the first spraying angle;

[0117] Take the contour of the bottom surface of the object to be sprayed;

[0118] According to the contour of the bottom surface, obtain the length of each side of the bottom surface;

[0119] Let the spray gun be perpendicular to the bottom surface, then the angle between the spray gun and the bottom surface is the second spraying angle;

[0120] The side length of the first reference plane that has only one endpoint connected to the bottom surface is defined as the target side length;

[0121] Execution path generation steps:

[0122] S1. Taking the endpoint of any target side length away from the bottom surface as the starting point, the target side length is the starting side length. According to the spraying length and the spraying center point of the spray gun spraying data, the spraying center point is made to coincide with the starting side length, and the upper end point of the spraying length is made to coincide with the starting point. At the first spraying angle, the object to be sprayed is circled to the right to form a first unit path. Since the overall contour of the object to be sprayed is a regular shape, that is, except for the bottom surface, all surfaces connected to the bottom surface are of the same size and shape, that is, all surfaces connected to the bottom surface are the first reference surface, such as Figure 3 As shown;

[0123] S2, convert the lower end point of the spraying length in the first unit path to the starting point, the spraying center point coincides with the starting side length, the upper end point of the spraying length coincides with the starting point, and the spraying angle is used to go around the object to be sprayed to the right to form a second unit path, such as Figure 3 As shown;

[0124] S3, repeat S1-S2 until the lower end point of the spraying length coincides with the end point of the connecting bottom surface of the starting side length;

[0125] S4, integrating all first unit paths and second unit paths to generate a first spraying path;

[0126] S5, taking any side length of the bottom surface as the starting side length, taking any end point of the starting side length as the starting point, according to the spraying length and the spraying center point of the spray gun spraying data, making the spraying center point coincide with the starting side length, making the upper end point of the spraying length coincide with the starting point, and forming a third unit path at a second spraying angle in the direction of the opposite side of the starting side length;

[0127] S6, converting the lower end point of the spraying length in the third unit path into the starting point, the spraying center point coincides with the starting side length, the upper end point of the spraying length coincides with the starting point, and forming a fourth unit path at a second spraying angle in the direction opposite to the starting side length;

[0128] S7, repeat S5-S6 until the lower end point of the spraying length coincides with the other end point of the starting side length;

[0129] S8, integrating all third unit paths and fourth unit paths to generate a second spraying path;

[0130] S9, forming a target spraying path in the order of a first spraying path and a second spraying path.

[0131] This embodiment also provides that the execution of the second spraying simulation strategy specifically includes:

[0132] Scan the overall shape of the object to be sprayed;

[0133] The surface on which the spray gun can form a 90° angle with the surface of the object to be sprayed is defined as the first reference plane, and the angle between the spray gun and the first reference plane is the first spraying angle. Figure 4 As shown;

[0134] The surface where the spray gun cannot form a 90° angle with the surface of the object to be sprayed is defined as the second reference surface, and the angle between the spray gun and the first reference surface is the second spraying angle. Figure 4 As shown;

[0135] Get the inflection point in the contour of any first reference surface and define it as the first inflection point, such as Figure 4 As shown;

[0136] Taking the first inflection point as the starting point, taking the side length of the contour of the first reference plane corresponding to the starting point and not connected to the second reference plane as the starting side length, according to the spraying length and the spraying center point of the spray gun spraying data, making the spraying center point coincide with the starting side length, making the upper end point of the spraying length coincide with the starting point, moving to the side of the junction of the first reference plane and the second reference plane at the first spraying angle, and going around the object to be sprayed to form a target spraying path, wherein, since the overall contour of the object to be sprayed is an irregular shape, that is, there are dead angle surfaces that the spray gun cannot spray vertically, that is, the surfaces of the object to be sprayed that the spray gun can spray vertically are all the first reference planes, and the dead angle surfaces that the spray gun cannot spray vertically are all the second reference planes, such as Figure 4 shown.

[0137] Embodiment 3: This embodiment is an improvement made on the basis of Embodiment 2. In this embodiment, the spraying adjustment strategy includes a first adjustment strategy, specifically:

[0138] Obtain the shape of the object to be sprayed;

[0139] If the overall outline of the object to be sprayed is a regular shape, such as a cone, a cuboid, or other regular polygons formed by various regular polygons, then the initial spray density within the spray range is obtained;

[0140] Execute spray density calculation strategy;

[0141] Get to adjust the spray density;

[0142] The object to be sprayed is sprayed according to the target spraying path and the spraying density is adjusted.

[0143] This embodiment also provides that the spraying adjustment strategy includes a second adjustment strategy, specifically:

[0144] Obtain the shape of the object to be sprayed;

[0145] If the overall outline of the object to be sprayed is an irregular shape, that is, a shape other than a regular shape, then the initial spray density within the spray range is obtained;

[0146] Execute spray density calculation strategy;

[0147] Get to adjust the spray density;

[0148] Spraying the first reference surface of the object to be sprayed according to the target spraying path and adjusting the spraying density;

[0149] Implement a supplemental spraying strategy.

[0150] The execution of the supplementary spraying strategy is specifically as follows:

[0151] Acquire a first reference surface and a second reference surface of the object to be sprayed;

[0152] Obtaining the connection point between the first reference plane and the second reference plane, and defining the connection point as a first connection point and a second connection point respectively;

[0153] Connect the first connection point and the second connection point to form an auxiliary line;

[0154] Get the second inflection point, such as Figure 4 As shown;

[0155] Get the spray center point of the spray gun spray data;

[0156] Make the spray center point and the second inflection point in the same straight line, and the straight line is perpendicular to the auxiliary line. The angle between the straight line and the ground is the supplementary spray angle.

[0157] Obtain expected spraying density and initial spraying density;

[0158] The spray gun sprays the second reference surface at an initial spray density and a supplementary spray angle;

[0159] Collect the spraying density at various locations on the second reference surface;

[0160] Execute spray density calculation strategy;

[0161] Get to adjust the spray density;

[0162] The spray gun sprays the second reference surface by supplementing the spraying angle and adjusting the spraying density, so that the second reference surface reaches the expected spraying density.

[0163] The execution of the spray density calculation strategy is specifically as follows:

[0164] Obtain the initial spraying density at each location within the spraying range;

[0165] Get the expected spray density;

[0166] Calculate the adjusted spraying density at each location within the spraying range. Adjusted spraying density = (expected spraying density × 2) - initial spraying density.

[0167] In this embodiment, the spraying path is automatically planned according to the shape of the object to be sprayed, and the initial spraying is performed. At the same time, the spraying density of the spray gun for the secondary spraying is determined according to the initial spraying density. At the same time, the surface that the spray gun cannot spray at a vertical angle is supplemented by spraying, thereby realizing the action of spraying objects of various shapes, avoiding the occurrence of spraying dead corners, and ensuring that the spray material on the surface of the object to be sprayed is evenly distributed.

[0168] The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as laptop computers, PADs (tablet computers), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and the like, as well as fixed terminals.

[0169] Electronic devices may include processing devices (e.g., central processing units, graphics processing units, etc.), which may perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) or programs loaded from a storage device into a random access memory (RAM). In RAM, various programs and data required for the operation of the electronic device are also stored. The processing device, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0170] Typically, the following devices may be connected to the I / O interface: input devices including, for example, a touch screen, a touch pad, an image sensor, a microphone, etc.; output devices including, for example, a liquid crystal display (LCD), a speaker, etc.; storage devices including, for example, a magnetic tape, a hard disk, etc.; and communication devices. The communication devices may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data.

[0171] An embodiment of the present disclosure also provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable the computer to execute the surface spraying method based on digital twin automatic optimization of spraying direction in the aforementioned method embodiment.

[0172] It should be noted that more specific examples of computer-readable storage media may include portable computer disks, hard disks, erasable programmable read-only memories (EPROMs or flash memories), optical storage devices, magnetic storage devices, or any suitable combination thereof. In the present disclosure, computer-readable storage media may be any tangible medium that contains or stores a program, which may be used by or in conjunction with an instruction execution system, apparatus, or device, and the computer-readable medium may be contained in the electronic device; or it may exist independently without being assembled into the electronic device.

[0173] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device can implement the solution provided by the method embodiment.

[0174] Computer program code for performing operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, and may be executed entirely on a user's computer, partially on a user's computer, as a stand-alone software package, partially on a user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0175] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device.

[0176] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A surface spraying method for automatically optimizing the spraying direction based on digital twin (embodiment), characterized in that: include: Obtain the shape of the object to be sprayed, as well as the spraying direction and spraying density of the spray gun; According to the shape of the object to be sprayed, the spray direction and spray density of the spray gun, the spray analysis strategy is used to simulate the spraying of objects of different shapes to be sprayed, so as to determine the spray path and spray density of the initial spraying; According to the spraying direction and spraying density of the primary spraying, the spraying path and spraying density of the secondary spraying are determined through the spraying adjustment strategy; According to the spraying density of the spray gun of the secondary spraying, the spraying material is automatically adjusted and output to make the spraying material evenly distributed on the surface of the object to be sprayed.

2. The surface spraying method based on digital twin automatic optimization of spraying direction according to claim 1 is characterized in that: The spray analysis strategy is specifically: Obtain the shape of the object to be sprayed; If the overall outline of the object to be sprayed is a regular shape, the first spraying simulation strategy is executed; If the overall outline of the object to be sprayed is an irregular shape, the second spraying simulation strategy is executed; Obtaining a target spraying path and an initial spraying density, wherein the initial spraying density is the spraying density set by the spray gun at the factory; The object to be sprayed is sprayed according to the target spraying path and initial spraying density.

3. The surface spraying method based on digital twin automatic optimization of spraying direction according to claim 2 is characterized in that: The spray analysis strategy also includes a spray gun spray data analysis strategy, specifically: Get the spray range of the spray gun; Get the center point of the spraying range, which is the spraying center point; Obtain the outline of the spraying range, where there are several data points; Take each data point on the contour of the spraying range in turn, make a ray through the center point of the spraying range, and define the intersection of the ray and the contour of the spraying range as the target intersection point, then each data point on the contour of the spraying range corresponds to a target intersection point; The distance between the data point and the target intersection point corresponding to the data point is defined as the target distance; Obtain the target distance corresponding to each data point on the contour of the spraying range, and form a distance set from large to small according to the value of the target distance; The target distance with the largest value in the distance set is extracted and defined as the spraying length.

4. The surface spraying method based on digital twin automatic optimization of spraying direction according to claim 3 is characterized in that: The execution of the first spraying simulation strategy is specifically as follows: Scan the overall shape of the object to be sprayed; Take any plane other than the bottom surface of the object to be sprayed, and this plane is the first reference plane; Obtaining the contour of the first reference surface; According to the contour of the first reference plane, obtain the length of each side of the first reference plane; Let the spray gun be perpendicular to the first reference plane, then the angle between the spray gun and the first reference plane is the first spraying angle; Take the contour of the bottom surface of the object to be sprayed; According to the contour of the bottom surface, obtain the length of each side of the bottom surface; Let the spray gun be perpendicular to the bottom surface, then the angle between the spray gun and the bottom surface is the second spraying angle; The side length of the first reference plane that has only one endpoint connected to the bottom surface is defined as the target side length; Execution path generation steps: S1. Taking the end point away from the bottom surface of any target side length as the starting point, the target side length is the starting side length. According to the spraying length and the spraying center point of the spray gun spraying data, the spraying center point is made to coincide with the starting side length, and the upper end point of the spraying length is made to coincide with the starting point. At the first spraying angle, the spraying is directed rightwards around the object to be sprayed to form a first unit path. S2, converting the lower end point of the spraying length in the first unit path into the starting point, coinciding the spraying center point with the starting side length, coinciding the upper end point of the spraying length with the starting point, and going right around the object to be sprayed at the first spraying angle to form a second unit path; S3, repeat S1-S2 until the lower end point of the spraying length coincides with the end point of the connecting bottom surface of the starting side length; S4, integrating all first unit paths and second unit paths to generate a first spraying path; S5, taking any side length of the bottom surface as the starting side length, taking any end point of the starting side length as the starting point, according to the spraying length and the spraying center point of the spray gun spraying data, making the spraying center point coincide with the starting side length, making the upper end point of the spraying length coincide with the starting point, and forming a third unit path at a second spraying angle in the direction of the opposite side of the starting side length; S6, converting the lower end point of the spraying length in the third unit path into the starting point, the spraying center point coincides with the starting side length, the upper end point of the spraying length coincides with the starting point, and forming a fourth unit path at a second spraying angle in the direction opposite to the starting side length; S7, repeat S5-S6 until the lower end point of the spraying length coincides with the other end point of the starting side length; S8, integrating all third unit paths and fourth unit paths to generate a second spraying path; S9, forming a target spraying path in the order of a first spraying path and a second spraying path.

5. The surface spraying method based on digital twin automatic optimization of spraying direction according to claim 3 is characterized in that: The execution of the second spraying simulation strategy specifically includes: Scan the overall shape of the object to be sprayed; The surface of the spray gun that can form a 90° angle with the surface of the object to be sprayed is defined as the first reference plane, and the angle between the spray gun and the first reference plane is the first spraying angle; The surface where the spray gun cannot form a 90° angle with the surface of the object to be sprayed is defined as the second reference plane, and the angle between the spray gun and the first reference plane is the second spraying angle; Obtain an inflection point in the profile of any first reference surface and define it as a first inflection point; Taking the first inflection point as the starting point, and the side length of the contour of the first reference plane corresponding to the starting point that is not connected to the second reference plane as the starting side length, according to the spraying length and the spraying center point of the spray gun spraying data, make the spraying center point coincide with the starting side length, make the upper end point of the spraying length coincide with the starting point, move to the side of the junction of the first reference plane and the second reference plane at the first spraying angle, circle the object to be sprayed, and form a target spraying path.

6. The surface spraying method based on digital twin automatic optimization of spraying direction according to claim 1 is characterized in that: The spraying adjustment strategy includes a first adjustment strategy, specifically: Obtain the shape of the object to be sprayed; If the overall outline of the object to be sprayed is a regular shape, the initial spray density within the spray range is obtained; Execute spray density calculation strategy; Get to adjust the spray density; The object to be sprayed is sprayed according to the target spraying path and the spraying density is adjusted.

7. The surface spraying method based on digital twin automatic optimization of spraying direction according to claim 1 is characterized in that: The spraying adjustment strategy includes a second adjustment strategy, specifically: Obtain the shape of the object to be sprayed; If the overall outline of the object to be sprayed is an irregular shape, the initial spray density within the spray range is obtained; Execute spray density calculation strategy; Get to adjust the spray density; Spraying the first reference surface of the object to be sprayed according to the target spraying path and adjusting the spraying density; Implement a supplemental spraying strategy.

8. The surface spraying method based on digital twin automatic optimization of spraying direction according to claim 7 is characterized in that: The execution of the supplementary spraying strategy is specifically as follows: Acquire a first reference surface and a second reference surface of the object to be sprayed; Obtaining the connection point between the first reference plane and the second reference plane, and defining the connection point as a first connection point and a second connection point respectively; Connect the first connection point and the second connection point to form an auxiliary line; Get the second inflection point; Get the spray center point of the spray gun spray data; Make the spray center point and the second inflection point in the same straight line, and the straight line is perpendicular to the auxiliary line. The angle between the straight line and the ground is the supplementary spray angle. Obtain expected spraying density and initial spraying density; The spray gun sprays the second reference surface at an initial spray density and a supplementary spray angle; Collect the spraying density at various locations on the second reference surface; Execute spray density calculation strategy; Get to adjust the spray density; The spray gun sprays the second reference surface by supplementing the spraying angle and adjusting the spraying density, so that the second reference surface reaches the expected spraying density.

9. The surface spraying method based on digital twin automatic optimization of spraying direction according to claim 8 is characterized in that: The execution of the spraying density calculation strategy is specifically as follows: Obtain the initial spraying density at each location within the spraying range; Get the expected spray density; Calculate the adjusted spraying density at each location within the spraying range. Adjusted spraying density = (expected spraying density × 2) - initial spraying density.

Images