Automatic shot blasting method and system

Abstract

The invention provides an automatic shot blasting method and system, and relates to the technical field of shot blasting surface treatment. The method comprises the following steps: controlling an offline programming system to obtain target scene data corresponding to a target shot blasting scene; the offline programming system carries out scene construction according to the target scene data to obtain a simulated shot blasting scene, and carries out trajectory planning according to the target scene data to obtain a shot blasting trajectory; the control program management system generates a shot blasting control instruction according to the simulated shot blasting scene and the shot blasting track, and controls shot blasting equipment in the shot blasting system to perform target shot blasting operation on the to-be-blasted workpiece according to the shot blasting control instruction; and controlling the digital twin system to monitor the target shot blasting operation according to the simulated shot blasting scene, the shot blasting track and target shot blasting data generated by the target shot blasting operation. According to the shot blasting method, the problem of long shot blasting time consumption of an existing shot blasting mode is solved, and the overall shot blasting efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of shot peening surface treatment, and in particular to an automatic shot peening method and system. Background Art

[0002] Shot peening, also known as shot peening, is a surface strengthening process that uses high-speed shot (such as steel shot, glass shot, etc.) to bombard the surface of the workpiece, thereby generating residual compressive stress on the surface of the workpiece and improving the fatigue strength of the workpiece.

[0003] The existing shot peening technology usually adopts manual teaching to teach the shot peening workpiece and then preset the spraying path, so as to perform a single mechanical shot peening operation. However, for shot peening of various types of workpieces with more complex shapes, the manual teaching method will only be more time-consuming and difficult to operate.

[0004] With regard to the problem that shot peening by manual teaching in the prior art takes a long time, no effective solution has been proposed so far. Summary of the invention

[0005] The embodiments of the present application provide an automatic shot peening method and system to at least solve the problem that shot peening in the existing shot peening method takes a long time.

[0006] According to one aspect of an embodiment of the present application, an automatic shot peening method is provided, which is applied to an automatic shot peening system, and the method includes: controlling an offline programming system to obtain target scene data corresponding to a target shot peening scene; the offline programming system constructs a scene according to the target scene data to obtain a simulated shot peening scene, and performs trajectory planning according to the target scene data to obtain a shot peening trajectory; controlling a program management system to generate a shot peening control instruction according to the simulated shot peening scene and the shot peening trajectory, and controlling the shot peening equipment in the shot peening system to perform a target shot peening operation on a workpiece to be peened according to the shot peening control instruction; and controlling a digital twin system to monitor the target shot peening operation according to the target shot peening data generated by the simulated shot peening scene, the shot peening trajectory and the target shot peening operation.

[0007] According to another aspect of the embodiment of the present application, an automatic shot peening system is also provided, including: an offline programming system for acquiring target scene data corresponding to a target shot peening scene, and building a scene according to the target scene data to obtain a simulated shot peening scene, and performing trajectory planning according to the target scene data to obtain a shot peening trajectory; a program management system for generating shot peening control instructions according to the simulated shot peening scene and the shot peening trajectory; a shot peening system for controlling the shot peening equipment in the shot peening system to perform a target shot peening operation on the workpiece to be peened according to the shot peening control instructions; and a digital twin system for monitoring the target shot peening operation according to the simulated shot peening scene, the shot peening trajectory, and the target shot peening operation.

[0008] Optionally, the above-mentioned digital twin system includes: an acquisition unit, used to acquire a simulated shot peening scene and determine the simulated shot peening scene as a shot peening twin scene; an acquisition unit, used to collect target shot peening data generated during the target shot peening process in real time; a driving unit, used to drive the shot peening twin scene to perform twin motion along the shot peening trajectory according to the real-time target shot peening data to obtain twin motion data; and a processing unit, used to perform target processing on the shot peening trajectory according to the twin motion data.

[0009] Optionally, the above-mentioned processing unit includes: an acquisition subunit, used to acquire the simulated shot peening data generated in the offline programming system and the pre-set preset interval; a comparison unit, used to compare the twin motion data and the simulated shot peening data for similarity to obtain a comparison result; a matching unit, used to match the twin motion data and the preset interval to obtain a matching result; a processing subunit, used to perform target processing on the shot peening trajectory according to the comparison result and the matching result.

[0010] Optionally, the above-mentioned processing subunit includes: a first sending subunit, used to send the twin motion data and the shot peening trajectory to the offline programming system when the matching result indicates that the twin motion data and the preset interval do not match; a first storage subunit, used to store the shot peening trajectory and the simulated shot peening scene to the target storage location of the program management system when the comparison result is greater than or equal to the similarity threshold and the matching result indicates that the twin motion data and the preset interval match; a second sending subunit, used to send the twin motion data and the shot peening trajectory to the offline programming system when the comparison result is less than the similarity threshold and the matching result indicates that the twin motion data and the preset interval match.

[0011] Optionally, the above-mentioned offline programming system includes a scene building unit, a trajectory planning unit, a simulation unit and an output unit:

[0012] The scene building unit includes an acquisition module, which is used to acquire a shot peening scene model according to target scene data, wherein the shot peening scene model includes a workpiece model to be peened, a spraying room model and a shot peening equipment model; a building module, which is used to build a reference shot peening scene according to the workpiece model to be peened, the spraying room model and the shot peening equipment model; a calibration unit, which is used to perform a position calibration operation on the reference shot peening scene according to the relative position data corresponding to the shot peening system to obtain a simulated shot peening scene, wherein the relative position data is used to indicate the relative position relationship between the spraying room, the shot peening equipment and the workpiece to be peened;

[0013] The trajectory planning unit includes a conversion unit and a trajectory planning module, which is used to perform trajectory planning according to target scene data to obtain a shot peening trajectory; and a conversion module, which is used to perform conversion operations on the shot peening trajectory according to the equipment type of the shot peening equipment to obtain a shot peening trajectory program.

[0014] The simulation unit includes a compilation module for trajectory compilation of the shot peening trajectory program, a simulation module for performing simulated shot peening according to the trajectory compilation result and the simulated shot peening scene; and a display module for displaying the simulated shot peening data;

[0015] The output unit includes a first generation module, which is used to generate a target simulation file according to the simulated shot peening scene, shot peening trajectory and simulated shot peening, wherein the target simulation file is used to indicate the overall process of simulated shot peening; a second generation module, which is used to generate a trajectory file according to the shot peening trajectory program after obtaining the shot peening trajectory program, and to generate a scene file according to the simulated shot peening scene; a first sending module, which is used to send the trajectory file to the program management system; and a second sending module, which is used to send the trajectory file and the scene file to the digital twin system.

[0016] Optionally, the shot peening system includes: a transmission unit, used to transmit the workpiece to be sprayed to the spraying room in the shot peening system; an acquisition unit, used to obtain the posture information of the workpiece to be sprayed in the spraying room; a posture adjustment unit, used to control the correction model to adjust the posture of the workpiece to be sprayed according to the posture information; a control unit, used to control the shot peening equipment to perform target shot peening operations on the workpiece to be sprayed according to the shot peening trajectory indicated by the shot peening control instruction after the posture adjustment.

[0017] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the above automatic shot peening method.

[0018] According to another aspect of the embodiments of the present application, an electronic device is also provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor performs the automatic shot peening method as described above.

[0019] The automatic shot peening method implemented by the automatic shot peening system improves the overall shot peening efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a schematic diagram of an optional automatic shot peening system according to an embodiment of the present invention;

[0022] Figure 2 is a flow chart of an optional automatic shot peening method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0025] The prior art generally focuses on teaching shot peening equipment to perform shot peening by manual teaching, but this method is very time-consuming, and the basis of manual teaching is based on some parts visible to the naked eye, and its accuracy needs to be improved.

[0026] In order to solve the above problems, the present application embodiment provides an automatic shot peening method. As an optional implementation, the automatic shot peening method can be applied to, but not limited to, Figure 1 The automatic shot peening system shown in the figure is composed of an offline programming system, a digital twin system, a program management system and a shot peening system. Figure 1 As shown, the offline programming system in the offline programming simulation stage is connected to the digital twin system in the digital twin display analysis stage and the program management system in the program management stage through a network, and the digital twin system is also connected to the program management system and the shot peening system through a network, and the program management system and the shot peening system are connected through a network. The above-mentioned networks may include but are not limited to: wired networks, wireless networks, wherein the wired network includes: local area networks, metropolitan area networks and wide area networks, and the wireless network includes: Bluetooth, WIFI and other networks that realize wireless communication.

[0027] It should be noted that the automatic shot peening system in the present application includes two stages: the trajectory offline programming stage and the actual operation stage, and the trajectory offline programming stage is realized by the combination of the above-mentioned offline programming system, digital twin system and program management system.

[0028] According to one aspect of an embodiment of the present invention, the above-mentioned automatic shot peening system can also perform the following steps: control the offline programming system to obtain target scene data corresponding to the target shot peening scene; the offline programming system builds the scene according to the target scene data to obtain a simulated shot peening scene, and performs trajectory planning according to the target scene data to obtain a shot peening trajectory; the control program management system generates shot peening control instructions according to the simulated shot peening scene and the shot peening trajectory, and controls the shot peening equipment in the shot peening system to perform target shot peening operations on the workpiece to be peened according to the shot peening control instructions; the digital twin system is controlled to monitor the target shot peening operation according to the target shot peening data generated by the simulated shot peening scene, the shot peening trajectory and the target shot peening operation.

[0029] In the above-mentioned embodiment of the present invention, the automatic shot peening method based on offline programming and digital twin technology in the present invention is adopted to avoid manual teaching, greatly shorten the time required for manual teaching, and improve the efficiency of automatic shot peening.

[0030] The above is only an example and is not limited in this embodiment.

[0031] As an optional implementation, please refer to Figure 2 , which shows a flow chart of an automatic shot peening method according to an embodiment of the present application, the method comprising the following steps:

[0032] S202, controlling the offline programming system to obtain target scene data corresponding to the target shot peening scene;

[0033] S204, the offline programming system builds a scene according to the target scene data to obtain a simulated shot peening scene, and performs trajectory planning according to the target scene data to obtain a shot peening trajectory;

[0034] S206, the control program management system generates a shot peening control instruction according to the simulated shot peening scene and the shot peening trajectory, and controls the shot peening equipment in the shot peening system to perform a target shot peening operation on the workpiece to be peened according to the shot peening control instruction;

[0035] S208, controlling the digital twin system to monitor the target shot peening operation according to the simulated shot peening scene, the shot peening trajectory, and the target shot peening data generated by the target shot peening operation.

[0036] It should be noted that in order to ensure the accuracy of automatic shot peening, it is necessary to first perform simulated shot peening and real-time monitoring of the actual shot peening. The present application uses an offline programming system to simulate the shot peening process and a digital twin monitoring system to monitor the actual shot peening process in real time. At the same time, a program management system is used to store various models and data, and a program management system is used to generate control instructions so that the shot peening system performs actual shot peening operations according to the control instructions.

[0037] The target shot peening scene in the above S202 can be understood as but not limited to the actual shot peening scene. The target shot peening scene includes all hardware equipment, such as a spraying room, a transportation link for transporting workpieces to be sprayed (also referred to as workpieces to be shot peened), workpieces to be sprayed, shot peening equipment such as shot peening robots, and the above target scene data includes relevant data information of the spraying room (such as the location information of the spraying room, the overall architecture of the spraying room and the architecture data of the internal architecture, etc.), relevant data information of the workpiece to be sprayed (such as the workpiece type of the workpiece to be sprayed, the location information of the workpiece to be sprayed, etc.), and relevant data information of the shot peening equipment (including multiple equipment parts, such as robotic arms, spray guns, etc.) (location information of the shot peening equipment, equipment model of the shot peening equipment, equipment type of the shot peening equipment, etc.).

[0038] The scene construction in S204 above can be understood, but is not limited to, as building a simulated shot peening scene that is the same as the actual shot peening scene based on the target scene data. The simulated shot peening scene includes the overall structure and internal structure of the simulated spraying room, the position information of the simulated spraying room, the type of simulated workpiece to be sprayed, the position information of the simulated workpiece to be sprayed, the size of the simulated workpiece to be sprayed, the type of simulated shot peening equipment, the position information of the simulated shot peening equipment, the size of the simulated shot peening equipment, etc., which are the same as the overall structure and internal structure of the spraying room, the position information of the spraying room, the type of workpiece to be sprayed, the position information of the workpiece to be sprayed, the size of the workpiece to be sprayed, the type of shot peening equipment, the position information of the shot peening equipment, the size of the shot peening equipment, etc. in the actual shot peening scene. After the simulated shot peening scene is built, trajectory planning can be performed in the simulated shot peening scene according to the target scene data to obtain the shot peening trajectory (such as Figure 1 The shot peening trajectory shown is generated).

[0039] The above-mentioned trajectory planning based on the target scene data to obtain the shot peening trajectory includes: generating a shot peening trajectory based on the point, line and surface features of the surface of the workpiece to be peened (the target scene data includes point, line and surface features), and the above-mentioned shot peening trajectory includes a variety of shot peening trajectories (shot peening trajectories for full coverage of parts, shot peening trajectories at key locations such as the intersection of curved surfaces). Generating a shot peening trajectory for full coverage of parts includes: selecting a target surface in the workpiece to be peened (the surface that needs to be peened); determining the target spray gun corresponding to the workpiece to be peened and the target coordinate system for generating the shot peening trajectory reference; controlling the shot peening direction perpendicular to the target surface according to the acquired spray gun control parameters; controlling the connection mode according to the acquired connection information (such as safety height, opening and closing the gun, etc.); controlling the processing area of ​​the target shot peening according to the target surface (shot peening can be achieved for a part of the specified curved surface); generating a shot peening trajectory for full coverage of parts according to the acquired processing parameters (such as interval, line spacing of the trajectory, point step length, etc.) and a preset trajectory style.

[0040] The above-mentioned shot peening trajectory can be understood, but not limited to, as a shot peening trajectory whose height and angle meet the conditions after adjustment and optimization by the offline programming system. However, it should be noted that after the shot peening control instruction is obtained in the above S206, the shot peening equipment in the shot peening system is controlled according to the shot peening control instruction to perform a trial shot peening operation (that is, actual shot peening may not be performed, but the shot peening equipment is controlled to run idly along the shot peening trajectory but not turned on). That is, before the shot peening program is executed (that is, before the actual shot peening), a trial peening will be performed for monitoring to observe whether the height fluctuation and angle change of the equipment are during the idling program. Is it within a reasonable range? If there is no problem, the shot peening process can be carried out on the real machine. If there is a deviation or some deviations are too large, it is necessary to return to the offline programming system to modify the trajectory to achieve the optimal state for the shot peening process; that is, a trial peening operation can be carried out before the actual shot peening, and the trial peening operation includes controlling the digital twin system to monitor the trial peening operation (that is, the trial peening operation is monitored in the same manner as the above-mentioned S208 process); then the final shot peening trajectory can be determined based on the monitoring results of the trial peening operation; the final shot peening trajectory is determined as the above-mentioned shot peening trajectory. That is, in this application, the digital twin will be controlled to monitor two situations, one is the monitoring of the trial peening operation, and the other is the monitoring of the actual shot peening operation (that is, the above-mentioned target shot peening operation), so as to ensure accurate shot peening of each batch of workpieces to be shot peened (multiple workpieces of the same type to be shot peened).

[0041] Generating shot peening trajectories at key locations such as the intersection of curved surfaces includes: determining the trajectory generation method (including along an edge of a surface, a ring of a surface, a ring of a surface, a curved surface feature, an edge, a point cloud punch, a punch, a cross-section line, a surface clamp edge, etc.); determining the shot peening trajectory according to the point, line, and surface features of the simulated workpiece to be peened in the simulated shot peening scene and the trajectory generation method. The above-mentioned method along an edge of a surface is: select a surface and an edge of this surface (the line and the surface need to be adjacent, that is, the selected line must be on the selected surface), and further search for other edges along this edge to generate a trajectory. The end point of the search refers to the position where the shot peening trajectory ends at this point (that is, the final end point of the shot peening trajectory).

[0042] It should be noted that in the process of scene building, reference data (spray room type and size, type and size of the workpiece to be sprayed, and type and size of the shot peening equipment) can be determined according to the target scene data, and then the spray room model, the workpiece model to be sprayed and the shot peening equipment model corresponding to the reference data are searched from the model database according to the reference data; when the spray room model, the workpiece model to be sprayed and the shot peening equipment model are found, the scene is built according to the spray room model, the workpiece model to be sprayed, the shot peening equipment model and the spray room position information, the workpiece position information and the shot peening equipment position information in the target scene data to obtain a simulated shot peening scene; when any one of the spray room model, the workpiece model to be sprayed and the shot peening equipment model is not found, the model that is not found is determined; the model creation unit in the offline programming system is controlled according to the target scene data to create the model that is not found; then the scene is built according to the found model and the created model that is not found and the spray room position information, the workpiece position information and the shot peening equipment position information in the target scene data to obtain a simulated shot peening scene.

[0043] At the same time, before the above scene is built, a preset coordinate system can be automatically generated according to the target scene data, or a user-defined coordinate system can be generated according to the data entered by the user, and the coordinate system preview function is supported to view the coordinate system creation results.

[0044] In the offline programming simulation stage undertaken by the offline programming system, it is first necessary to build the scene through the offline programming system (the above-mentioned construction of the simulated shot peening scene), that is, to build a complete working environment according to the shot peening scene. Then, the shot peening trajectory is planned according to the point cloud model of the workpiece, the simulation model of the shot peening equipment and the simulated shot peening scene. During the shot peening trajectory planning process, it is necessary to plan the optimal shot peening trajectory according to the shape, size and shot peening requirements of the workpiece. Afterwards, the motion state of the shot peening system in the virtual environment (i.e. the simulated shot peening scene, hereinafter referred to as the simulation environment) is simulated through simulated shot peening (also called motion simulation), so as to verify the rationality of the trajectory planning, and the shot peening height and angle of each trajectory point (i.e. the height (the distance between the simulated spray gun and the position to be shot peened) and the angle (such as the distance between the simulated spray gun and the position to be shot peened) of the simulated workpiece to be shot peened) can be displayed in the simulation environment. Figure 1 height and angle shown).

[0045] The operation in S206 can be understood as, but not limited to, after obtaining the shot peening trajectory, controlling the offline programming system to send the shot peening trajectory to the program management system, and after the offline programming system generates a shot peening control instruction according to the shot peening trajectory, sending the control instruction to the shot peening system (which can be understood as, but not limited to, an actual shot peening system including hardware equipment such as a workpiece to be peened and a shot peening device), and the shot peening system controls the shot peening device in the spraying room to perform a target shot peening operation on the workpiece to be peened according to the control instruction (such as Figure 1 The actual operation of the spray equipment in the spray room is shown).

[0046] The digital twin system in S208 is used in the digital twin display stage. First, the digital twin system is provided with an acquisition unit, which can acquire the simulated shot peening scene and the planned shot peening trajectory constructed by the offline programming system. At the same time, the digital twin system is also provided with an import module, which allows the user to import the simulated shot peening scene and the planned shot peening trajectory (i.e., the simulated shot peening scene and the planned shot peening trajectory) that are already locally available or constructed in the offline programming system. Figure 1), that is, before the above S202, it also includes: searching for the simulated shot peening scene in the scene database, and searching for the shot peening trajectory in the program management system; when the simulated shot peening scene and the shot peening trajectory are found, the simulated shot peening scene is obtained from the scene database, and the shot peening trajectory is obtained from the program management system; when the simulated shot peening scene or the shot peening trajectory is not found, the control acquisition unit obtains the unfinished simulated shot peening scene or the shot peening trajectory from the offline programming system. Acquiring the simulated shot peening scene from the scene database and acquiring the shot peening trajectory from the program management system includes: determining the storage location of the shot peening scene file corresponding to the simulated shot peening scene from the scene database, and determining the storage location of the trajectory file corresponding to the shot peening trajectory from the program management system, wherein the shot peening scene file and the trajectory file are files output by the offline programming system through the post-output module; respectively parsing the shot peening scene file and the trajectory file to obtain the simulated shot peening scene and the trajectory file.

[0047] During the shot peening process of the shot peening system, the digital twin system will collect in real time the PLC signals (these signals can be analog signals or digital signals) transmitted in the buildable logic controller (PLC) system in the simulated shot peening equipment (such as a robot) in the simulated shot peening scene in the offline programming system, as well as the data fed back by the simulated sensors, including key parameters such as shot peening distance and angle. The actual signals fed back by the real shot peening equipment in the actual shot peening system (the above-mentioned shot peening system) and the actual data fed back by the real sensors are compared and analyzed to evaluate the effect of simulated shot peening. At the same time, the above-mentioned digital twin system can also drive the twin motion twin according to the PLC signal of the real shot peening equipment, that is, in the shot peening twin scene (such as Figure 1 The virtual twin scene shown can be a shot peening twin scene in which the obtained simulated shot peening scene is determined as a shot peening twin scene, or a shot peening twin scene in which the simulated shot peening scene searched and parsed from the scene database is determined as a shot peening twin scene) to display the actual shot peening operation process in a twin manner. This can not only help engineers understand the actual situation of shot peening more intuitively, but also optimize and adjust the operation parameters according to the twin simulation results.

[0048] The above-mentioned program management system plays a role in the program management stage. For the shot peening scenario, the process products of shot peening will have problems such as large batches and different shapes. The program management system can store the trajectory (i.e. the final shot peening trajectory) of the finished process products (i.e. the workpieces with accurate shot peening paths planned) in real time. The stored data includes the workpiece type of each workpiece, the point cloud model of each workpiece, the shot peening trajectory corresponding to each point cloud model, the position information of the point cloud model corresponding to each shot peening trajectory, and multiple control instructions, wherein each workpiece type corresponds to a point cloud model, a shot peening trajectory, a position information and a control instruction. When the same type of workpiece appears later, the previous shot peening program (i.e. the above-mentioned control instruction) can be directly called to perform the shot peening operation. At the same time, the above-mentioned program management system can send the program of the corresponding batch of products (i.e. a batch of workpieces of the same workpiece type) to the shot peening equipment (such as the robotic arm of the shot peening robot), and the robotic arm will shot peen the workpiece to be peened according to the control instruction. It should be noted that workpieces of the same type are exactly the same, that is, the above-mentioned batch of workpieces of the same type can be but is not limited to being understood as multiple exactly the same workpieces, and multiple workpieces of the same type correspond to one point cloud model, one shot peening trajectory, one position information and one control instruction.

[0049] The above-mentioned shot peening system is connected to the program management system, and according to the control instructions issued by the shot peening system, the transmission device in the shot peening system is controlled to transmit the workpiece to be shot peened to the paint spraying room, and after the workpiece to be shot peened enters the paint spraying room, the fixing device in the shot peening system is controlled to fix the workpiece to be shot peened and the transmission device is controlled to stop working. At the same time, the shot peening equipment is controlled to perform actual shot peening on the workpiece to be shot peened according to the control instructions. After the shot peening is completed, the fixing device is controlled to release the control of the workpiece to be shot peened, and after releasing the control, the transmission device is controlled to transmit the workpiece that has completed shot peening out of the paint spraying room.

[0050] The operations in S206 to S208 above can be understood, but not limited to, as follows: actual data (i.e., the above-mentioned target shot peening data) will be generated in real time during the target shot peening operation, and the digital twin system will be triggered to monitor the target shot peening operation in real time according to the target shot peening data, simulated shot peening scenes, etc. In the real-time monitoring process, the actual data generated by the shot peening system during the actual shot peening process (e.g., the height and angle of the spray gun from the position to be shot peened of the workpiece to be peened) will be collected and displayed and analyzed. Through the monitoring of the actual shot peening operation by the digital twin system, when an abnormality occurs during the actual shot peening process (e.g., there is an area that has not been shot peened on the workpiece to be shot peened, or there is a covered area of ​​the shot peening (i.e., a certain area is repeatedly shot peened), etc.), the abnormal data obtained by the analysis can be sent to the offline programming system so that the offline programming system can optimize the shot peening trajectory; when no abnormal shot peening area appears during the entire actual shot peening process, the shot peening trajectory is sent to the program management system for storage.

[0051] Through the above-mentioned implementation mode of the present application, the shot peening operations required by the shot peening system can be jointly realized through the combination of an offline programming system, a program management system and a digital twin system, thereby realizing shot peening automation. When encountering a workpiece to be shot peened of a type of workpiece for which relevant data information has been stored in the program management system, the actual shot peening can be performed quickly. At the same time, when encountering a workpiece to be shot peened of a new type of workpiece, the accurate shot peening trajectory can be quickly simulated and twinned. At the same time, the relevant data information of the workpiece to be shot peened of the new type of workpiece is stored through the program management system, so that the actual shot peening can be completed quickly when the workpiece to be shot peened of the new type of workpiece can be quickly acquired later, thereby greatly improving the overall fully automated shot peening efficiency. In addition, the real-time monitoring of the actual shot peening operation of the shot peening system by the digital twin system ensures the accuracy of the shot peening trajectory, thereby improving the accuracy of the shot peening.

[0052] As an optional implementation, controlling the digital twin system to monitor the target shot peening operation according to the simulated shot peening scene, the shot peening trajectory, and the target shot peening data generated by the target shot peening operation includes:

[0053] S1, obtaining a simulated shot peening scene, and determining the simulated shot peening scene as a shot peening twin scene;

[0054] S2, real-time acquisition of target shot peening data generated during the target shot peening process;

[0055] S3, driving the shot peening twin scene to perform twin motion according to the shot peening trajectory according to the real-time target shot peening data, and obtaining twin motion data;

[0056] S4, target processing of the shot peening trajectory is performed according to the twin motion data.

[0057] It should be noted that the above-mentioned shot peening twin scene is the above-mentioned simulated shot peening scene, which can be obtained according to the offline programming system, or can be found and parsed from the scene database; the above-mentioned target shot peening process can be understood as, but not limited to, the actual shot peening process performed by the shot peening system according to the control instructions, and the above-mentioned target shot peening data is the actual shot peening data generated by the actual shot peening process; the operation in the above S3 (such as Figure 1 The shot peening motion twin based on the feedback signal is shown in Figure 1 The actual signal shown is the data generated by the actual shot peening operation performed in the shot peening system collected by the digital twin system; Figure 1 The motion of the shot peening system shown in the figure can be understood as, but not limited to, the process of obtaining the shot peening trajectory. The motion of the shot peening system shown in the figure can be understood as, but not limited to, the process of obtaining the shot peening trajectory. The shot peening equipment in the shot peening twin scene is driven according to the target shot peening data to perform twin motion (also called twin shot peening) on ​​the simulated workpiece to be peened according to the above shot peening trajectory. At the same time, during the twin motion process, the shot peening height and angle (such as Figure 1 The shot peening distance and angle sensors shown are used to collect the actual shot peening height and angle in the shot peening system (i.e. Figure 1 The actual data shown in the figure) is the distance between the spray gun and the surface of the workpiece to be sprayed and the tilt angle of the spray gun generated in the actual shot peening operation in the twin shot peening system). The above twin motion data are the shot peening height and angle in the target shot peening data; then the shot peening trajectory can be processed according to the twin motion data. It should be noted that the target processing can be sending the shot peening trajectory to the program management system for storage, or sending the shot peening data to the offline programming system so that the offline programming system can optimize and adjust the shot peening trajectory.

[0058] Through the above-mentioned implementation methods of the present application, the present application has two simulation functions: planning simulation (i.e., shot peening motion twin in the motion simulation digital twin system in the offline programming system) and program code simulation (trajectory compilation), which can fully meet the needs of users in process planning and optimization. During the simulation process, potential problems can be discovered and prompted in real time to help users correct and optimize process planning in a timely manner to ensure the accuracy and efficiency of operations. At the same time, the present application also supports program code simulation functions. Users can use the processing program code as input to determine whether there is a problem with the program. Through these two methods, the present application will display the trajectory motion process throughout the entire process, and realize the process simulation of all process actions. Users can intuitively check the interference in the entire process to ensure that the motion trajectories of the robot and the equipment will not conflict with each other, thereby improving the safety and reliability of the operation.

[0059] The target shot peening operation can be accurately monitored in real time through the digital twin system, facilitating the subsequent determination and storage of the exact shot peening trajectory.

[0060] As an optional implementation, target processing of the shot peening trajectory according to the twin motion data includes:

[0061] S1, obtaining the simulated shot peening data generated in the offline programming system and the preset interval set in advance;

[0062] S2, compare the twin motion data and the simulated shot peening data for similarity to obtain a comparison result;

[0063] S3, matching the twin motion data with the preset interval to obtain a matching result;

[0064] S4, target processing is performed on the shot peening trajectory according to the comparison result and the matching result.

[0065] It should be noted that the simulated shot peening data in the above S1 is the data generated by the offline programming system during the simulated shot peening process (including the simulated height and angle, that is, the distance between the simulated shot peening equipment and the simulated workpiece to be shot peened and the inclination angle of the simulated shot peening equipment); the above preset interval is a pre-set interval, including a height interval and an angle interval;

[0066] The similarity comparison in S2 above (such as Figure 1 The actual and simulated shot peening distance and angle analysis shown in the figure includes difference comparison and Euclidean similarity comparison. The difference similarity comparison includes: determining the absolute value of height difference (including obtaining the twin height in the twin motion data and the simulated height in the simulated shot peening data; determining the absolute value of the difference between the twin height and the simulated height to obtain the absolute value of height difference) and the absolute value of angle difference (including obtaining the twin angle in the twin motion data and the simulated angle in the simulated shot peening data; determining the absolute value of the difference between the twin angle and the simulated angle to obtain the absolute value of angle difference); determining the first Euclidean similarity between the twin height and the simulated height; determining the second Euclidean similarity between the twin angle and the simulated angle; determining the height comparison result based on the absolute value of height difference, the first Euclidean similarity and the preset height weight; determining the angle comparison result based on the absolute value of angle tea, the second Euclidean similarity and the preset angle weight, wherein the comparison result includes the height comparison result and the angle comparison result. It should be noted that the preset height weight and the preset angle weight may be the same or different (for example, the preset height weight corresponding to the absolute value of the height difference is 0.3, and the preset height weight corresponding to the first Euclidean similarity is 0.7; but the preset angle weight corresponding to the absolute value of the angle difference may not be 0.3, but may be 0.35, and the preset angle weight corresponding to the second Euclidean similarity may not be 0.5, but 0.65), the total weight sum of the preset height weights is 1, and the total weight sum of the preset angle weights is 1.

[0067] The preset interval in the above S3 includes a height interval and an angle interval. Data matching can be but is not limited to being understood as determining whether the twin motion data is within the preset interval, that is, whether the twin height is within the height interval and whether the twin angle is within the angle interval.

[0068] The above S4 includes: when the matching result indicates that the twin motion data does not match the preset interval (the twin height is not in the height interval or the twin angle is not in the angle interval, both of which are twin motion data and do not match the preset interval), the twin motion data and the shot peening trajectory are sent to the offline programming system, so that the offline programming system optimizes the shot peening trajectory according to the twin motion data (there is no need to consider the comparison result at this time); when the comparison result is greater than or equal to the similarity, and the matching result indicates that the twin motion data matches the preset interval, the shot peening trajectory and the simulated shot peening scene are stored in the target storage location of the program management system (such as Figure 1The digital twin system shown sends the workpiece model and the executable trajectory to the program management system; that is, the digital twin system sends the shot peening trajectory and the simulated shot peening scene to the target storage location of the program management system so that the program management system can store it); when the comparison result is less than the similarity threshold and the matching result indicates that the twin motion data matches the preset interval, the twin motion data and the shot peening trajectory are sent to the offline programming system (this operation is because when the application controls the offline programming system to perform simulated motion, it will greatly make the simulated shot peening data more accurate, that is, during the simulation motion, while ensuring that the simulated height and simulated angle in the simulated shot peening data are more accurate than the center data of the preset interval, the shot peening data at this time will be sent to the program management system for generating shot peening control instructions).

[0069] It should be noted that the above similarity threshold includes a height similarity threshold and an angle similarity threshold. The similarity comparison in the above S2 can be understood, but not limited to, as comparing the height comparison result with the height similarity threshold; and comparing the angle comparison result with the angle similarity threshold.

[0070] By adopting the above-mentioned implementation mode of the present application, the accuracy of the shot peening trajectory stored in the program management system is guaranteed through the combination of the offline programming system, the digital twin system and the program management system.

[0071] As an optional implementation, the offline programming system builds a scene according to the target scene data to obtain a simulated shot peening scene, including:

[0072] S1, obtaining a shot peening scene model according to the target scene data, wherein the shot peening scene model includes a workpiece model to be sprayed, a spray room model and a shot peening equipment model;

[0073] S2, build a reference shot peening scene based on the workpiece model to be sprayed, the spray room model and the shot peening equipment model;

[0074] S3, performing a position calibration operation on the reference shot peening scene according to the relative position data corresponding to the shot peening system to obtain a simulated shot peening scene, wherein the relative position data is used to indicate the relative position relationship between the spray room, the shot peening equipment and the workpiece to be sprayed.

[0075] It should be noted that the method of obtaining the shot peening scene model in S1 above includes model import (for example Figure 1The above-mentioned model import means that the corresponding model is stored in the model database, and the model in the model database is imported by controlling the import module set in the scene building unit of the offline programming system; the import module is used to import the workpiece model to be shot peened, the spray room model and the shot peening equipment model (the model database stores various types of workpiece models to be shot peened and spray room models, as well as shot peening equipment models of different models and types) into the offline programming system for subsequent processing and use (the imported model is a model corresponding to the target shot peening scene) (such as Figure 1 As shown, after the workpiece model is imported, a virtual environment is constructed, that is, a simulated shot peening scene is constructed). The above-mentioned offline programming system supports the import of a variety of different 3D model intermediate formats, including *.obj, *.brep, *.bms, *.igs, *.jt, *.off, *.pq3d, *.ply, *.stp, *.stl and other 3D formats, and supports the import of files in various formats into the offline programming system. In addition, a shot peening equipment library is also provided in the offline programming system of the present application, and the shot peening equipment library stores simulated shot peening equipment of different brands and models (for example, models corresponding to shot peening robots of various models and brands), and the required brands and models of shot peening equipment can be directly inserted when in use. The scene building module is used to build a simulated shot peening scene based on multiple imported models.

[0076] The above-mentioned model creation is to control the offline programming system to create the missing model in real time when there is no corresponding model in the model database and the shot peening equipment library.

[0077] After obtaining the simulated shot peening scene, the present application will also control the calibration module in the offline programming system to calibrate the reference position information corresponding to the shot peening workpiece model, the spray room model and the shot peening equipment model with the position information corresponding to the shot peening workpiece, the spray room and the shot peening equipment (that is, according to the position information corresponding to the shot peening workpiece model, the spray room model and the shot peening equipment, the position relationship between the shot peening workpiece model, the spray room model and the shot peening equipment model is calibrated) (such as Figure 1 At the same time, when a simulated shot peening scene already exists in the scene database, the present application can also directly control the import module in the offline programming system to import the existing simulated shot peening scene; when building a simulated shot peening scene, the above-mentioned scene building module can set a 1:1 three-dimensional model with the actual shot peening scene to ensure a high degree of restoration and realism of the simulation scene. In addition, the offline programming system also supports users to automatically import existing three-dimensional models of workpieces, products, other equipment and environmental facilities, which greatly broadens the application scope of the simulation environment. Users can build more complex and realistic simulated shot peening scenes according to the actual needs of the subset.

[0078] The above-mentioned position calibration operations include manual calibration, automatic calibration (including three-point calibration, multi-point calibration, point axis calibration, three-surface calibration and point cloud calibration, etc.) and coordinate system calibration. Automatic calibration does not require the definition of other equipment, and the three-dimensional digital model in the scene can be calibrated. For some equipment such as positioners, automatic calibration can be used to calibrate them first, and then define the calibrated model as a simulated shot peening device in the simulated shot peening scene to facilitate consistency with the actual shot peening equipment.

[0079] The above three-point calibration first needs to determine the calibration target type and the corresponding coordinate system (the coordinate system referenced by the workpiece position, including the base coordinate system and the flange coordinate system. The base coordinate system is fixed in the robot base and is used to illustrate the position of the robot in the world coordinate system; the flange coordinate system is fixed on the flange of the robot (i.e., the shot peening equipment) and is the far point of the tool); the position of the simulated shot peening equipment is corrected by calibrating the coordinates of the three points. The specific operations include: obtaining the coordinate information of the three points (not collinear) on the model from the simulated shot peening equipment (the three points of the simulated shot peening equipment must correspond one-to-one to the positions of the three points in the actual shot peening equipment, for example, all are in the upper left corner, all are in the upper right corner, etc.); determining the coordinate information of the three points in the actual shot peening equipment; after determining the reference point, trigger the calibration space, and the simulated shot peening equipment will be transformed to a position consistent with the real environment.

[0080] The above multi-point calibration can be understood as, but not limited to: using the calibrated robot tool, collect data on 3-5 circular hole edges on the calibrated part (the robot tool TCP point, through manual operation of the teach pendant, contacts some points evenly distributed on the end surface of the circular hole to be measured, and at least three data points must be collected for each circular hole); then the "multi-point calibration" function is used to calibrate the polyhedron. In this way, the relative spatial position relationship between the processed parts and the robot body in the design environment and the real environment is kept consistent.

[0081] The scene building unit is also provided with an adjustment module for adjusting the position and posture of each model (including the simulation model of the shot peening equipment, the point cloud model of the workpiece, etc.) in the simulated shot peening scene, so as to ensure the relative position relationship between each model and each actual shot peening equipment, the workpiece to be shot peened and the simulated shot peening scene in the actual environment (for example, Figure 2 The simulation accuracy is improved and the user's workflow is greatly simplified.

[0082] Through the above-mentioned implementation mode of the present application, a simulated shot peening scene that accurately corresponds to the actual shot peening scene can be quickly built, thereby improving the efficiency of building the simulated shot peening scene during the automatic shot peening process.

[0083] As an optional implementation, after obtaining the simulated shot peening scene and shot peening trajectory, the method further includes:

[0084] S1, converting the shot peening trajectory according to the equipment type of the shot peening equipment to obtain a shot peening trajectory program;

[0085] S2, compiling the shot peening trajectory program, and performing simulated shot peening according to the trajectory compilation result and the simulated shot peening scene;

[0086] S3, generating a target simulation file according to the simulated shot peening scene, the shot peening trajectory and the simulated shot peening, wherein the target simulation file is used to indicate the overall process of the simulated shot peening.

[0087] It should be noted that different types of shot peening equipment can understand different program codes. The operation in S1 above can be understood, but not limited to, as converting the shot peening trajectory into a program code that can be understood by the equipment type (such as Figure 1 The trajectory shown is transformed as a whole).

[0088] The operation in S2 above is as follows Figure 1 The trajectory compilation shown; the above-mentioned simulated shot peening includes motion simulation and effect simulation, that is, it includes both the simulation of shot peening motion and the simulation effect obtained through motion simulation, that is, during the motion simulation process, whether the shot peening area is fully covered, whether there are too many repeated areas, and whether the quality of the shot peening meets the requirements will be detected in real time to ensure the simulation effect of simulated shot peening. The above-mentioned trajectory compilation is used to analyze the status of the trajectory point, and the trajectory point status includes normal (normal shot peening), unreachable (shot peening equipment cannot move to the position to be shot peened), axis overrun (exceeding the reachable length of the mechanical arm in the shot peening equipment), singular point (point with problems or no need for shot peening), unknown. After generating the shot peening trajectory, except for the moving trajectory, grabbing trajectory and releasing trajectory, other trajectories are marked as unknown states. The trajectory point can be changed from an unknown state to another state through trajectory compilation. At the same time, this application will display the compilation status in the output panel. When each trajectory is normal, "Compilation Completed" will be displayed directly on the panel; if there is a problem, the corresponding problem will be prompted in the panel, that is, a certain trajectory point is unreachable, the axis is overrun, etc. At this time, double-click the prompt information, and the robot posture will change to the state when the event is executed.

[0089] The target simulation file in the above S3 can be an animation file, or a link and a QR code. When the target simulation file is an animation file, the user can double-click to open the file to view the overall simulation process of the simulated shot peening; when the target simulation file is a QR code, it is necessary to use the preset first program to scan the QR code to view it; when the target simulation file is a link, the user needs to copy the link and then use the preset second program to open the copied link to view it. The operation in the above S3 can be, but is not limited to, understood as generating the overall simulation process of the simulated shot peening into a file (such as Figure 1 The output file of the animation output part shown in the figure, that is, the above-mentioned target simulation file), and through Figure 1 The animation output part in the offline programming system shown in the figure outputs the generated animation file and saves it to the corresponding location. At the same time, this application can also upload the animation process of trajectory simulation (i.e., the target simulation file) to the cloud, and automatically generate a QR code. You can then directly use the client (such as a mobile phone) to scan the code and zoom, pan and view the animation.

[0090] Through the above-mentioned implementation mode of the present application, when problems arise later, the problems occurring during the simulation movement can be determined by viewing the target simulation file, without having to repeat the simulation movement when all models and data are completely consistent, thereby avoiding repeated operations of the simulation movement and improving the overall efficiency of automatic shot peening.

[0091] As an optional implementation, after obtaining the shot peening trajectory program, the method further includes:

[0092] S1, generating a trajectory file according to the shot peening trajectory program, and generating a scene file according to the simulated shot peening scene;

[0093] S2, sending the trajectory file to the program management system;

[0094] S3, sends the trajectory file and scene file to the digital twin system.

[0095] It should be noted that when the control offline programming system sends the shot peening trajectory to the program management system to generate the shot peening control instruction, the program management system does not directly store the shot peening trajectory to the target storage location because it is not certain whether the shot peening trajectory is accurate enough at this time. The shot peening trajectory is only stored in the target storage location when the digital twin system sends the shot peening trajectory to the program management system to ensure the accuracy of the stored shot peening trajectory. This allows the accurate shot peening trajectory to be directly obtained from the target storage location later.

[0096] The operations in S1 to S3 above can be understood as, but not limited to, after generating the trajectory file and the scene file, sending the trajectory file to the program management system so that the program management system stores the trajectory file in the reference storage location of the program management system; sending the trajectory file and the scene file to the digital twin system so that the digital twin system parses the trajectory file and the scene file to obtain the shot peening trajectory and the shot peening twin scene, and after collecting the actual shot peening data generated by the shot peening system, driving the shot peening twin scene to perform twin shot peening and twin display according to the shot peening trajectory. The operations in S2 to S3 above are as follows: Figure 1 The file output by the post-output section is shown.

[0097] Through the above-mentioned implementation mode of the present application, the simulated shot peening scene built by the offline programming system and the planned shot peening trajectory can be sent to the corresponding system for corresponding operations, which not only avoids the tedious process of querying and acquiring the corresponding system, simplifies the overall shot peening system, but also can be queried and acquired during subsequent use, thereby not affecting the realization of overall automatic shot peening.

[0098] As an optional implementation, controlling the shot peening equipment in the shot peening system to perform a target shot peening operation on the workpiece to be peened according to the shot peening control instruction includes:

[0099] S1, transmitting the workpiece to be sprayed to the spraying room in the shot peening system, and obtaining the position information of the workpiece to be sprayed in the spraying room;

[0100] S2, controlling the correction model to adjust the posture of the workpiece to be sprayed according to the posture information;

[0101] S3, after the posture is adjusted, the shot peening equipment is controlled to perform a target shot peening operation on the workpiece to be peened according to the shot peening trajectory indicated by the shot peening control instruction.

[0102] It should be noted that the posture information in the above S1 is the posture information of the workpiece to be sprayed after it is transmitted to the spray room in the shot peening system and fixed; the correction model in the above S2 is used to adjust the posture of the workpiece to be sprayed, and the specific process of the correction model adjusting the posture includes: inputting the posture information into the correction model, and the correction model determines the simulated posture information of the simulated workpiece to be sprayed corresponding to the shot peening trajectory according to the control instruction; the correction model determines the posture information difference based on the simulation posture information and the posture information; adjusts the posture information according to the posture information difference to obtain the target posture information; and adjusts the posture of the workpiece to be sprayed according to the target posture information.

[0103] Through the above-mentioned implementation of the present application, it can be ensured that the shot peening equipment in the shot peening system accurately shot peens the workpiece to be peened according to the shot peening trajectory.

[0104] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0105] According to another aspect of an embodiment of the present invention, an electronic device for implementing the above-mentioned automatic shot peening method is also provided, and the electronic device may be a terminal device or a server. This embodiment is illustrated by taking the electronic device as a terminal device as an example. The electronic device includes: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor performs the steps in any one of the above-mentioned method embodiments.

[0106] Optionally, in this embodiment, the electronic device may be located in at least one network device among a plurality of network devices of a computer network.

[0107] Optionally, in this embodiment, the processor may be configured to execute the automatic shot peening method via a computer program.

[0108] Alternatively, those skilled in the art can understand that the electronic device can also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD, and other terminal devices. This application does not limit the structure of the above-mentioned electronic device. For example, the electronic device may also include more or fewer components (such as a network interface, etc.) than those shown in the electronic device described above, or have a different configuration from the electronic device described above.

[0109] Among them, the memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the automatic shot peening method and system in the embodiment of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, realizing the above-mentioned automatic shot peening method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. Among them, the memory can be specifically used, but not limited to, to store various data involved in the above-mentioned automatic shot peening method.

[0110] Optionally, the transmission device is used to receive or send data via a network. Specific examples of the network may include wired networks and wireless networks. In one example, the transmission device includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices and routers via a network cable so as to communicate with the Internet or a local area network. In one example, the transmission device is a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet wirelessly. In addition, the electronic device also includes: a display, and a connection bus, which is used to connect the various module components in the electronic device.

[0111] According to one aspect of the present application, a computer-readable storage medium is provided, and a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned automatic shot peening method.

[0112] Those skilled in the art will appreciate that the implementation of all or part of the processes in the above method embodiments can be accomplished by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include processes such as those in the above method embodiments.

[0113] 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 principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic shot peening method, applied to an automatic shot peening system, characterized in that: include: Controlling the offline programming system to obtain target scene data corresponding to the target shot peening scene; The offline programming system builds a scene according to the target scene data to obtain a simulated shot peening scene, and performs trajectory planning according to the target scene data to obtain a shot peening trajectory; The control program management system generates a shot peening control instruction according to the simulated shot peening scene and the shot peening trajectory, and controls the shot peening equipment in the shot peening system to perform a target shot peening operation on the workpiece to be peened according to the shot peening control instruction; The digital twin system is controlled to monitor the target shot peening operation according to the simulated shot peening scene, the shot peening trajectory and the target shot peening data generated by the target shot peening operation.

2. The method according to claim 1, characterized in that Controlling the digital twin system to monitor the target shot peening operation according to the simulated shot peening scene, the shot peening trajectory, and the target shot peening data generated by the target shot peening operation includes: Acquire the simulated shot peening scene, and determine the simulated shot peening scene as a shot peening twin scene; Real-time acquisition of target shot peening data generated during the target shot peening process; According to the real-time target shot peening data, the shot peening twin scene is driven to perform twin motion along the shot peening trajectory to obtain twin motion data; The shot peening trajectory is targeted according to the twin motion data.

3. The method according to claim 2, characterized in that Target processing is performed on the shot peening trajectory according to the twin motion data, including: Acquire the simulated shot peening data and the preset intervals generated in the offline programming system; Comparing the twin motion data with the simulated shot peening data for similarity to obtain a comparison result; Performing data matching between the twin motion data and the preset interval to obtain a matching result; The shot peening trajectory is subjected to target processing according to the comparison result and the matching result.

4. The method according to claim 3, characterized in that The shot peening trajectory is subjected to target processing according to the comparison result and the matching result, including: When the matching result indicates that the twin motion data and the preset interval do not match, sending the twin motion data and the shot peening trajectory to the offline programming system; When the comparison result is greater than or equal to the similarity threshold and the matching result indicates that the twin motion data matches the preset interval, storing the shot peening trajectory and the simulated shot peening scene in a target storage location of the program management system; When the comparison result is less than the similarity threshold and the matching result indicates that the twin motion data matches the preset interval, the twin motion data and the shot peening trajectory are sent to the offline programming system.

5. The method according to claim 1, characterized in that The offline programming system builds a scene according to the target scene data to obtain a simulated shot peening scene, including: Acquire a shot peening scene model according to the target scene data, wherein the shot peening scene model includes a workpiece model to be sprayed, a spray room model, and a shot peening equipment model; Building a reference shot peening scene according to the workpiece model to be sprayed, the spray room model and the shot peening equipment model; The reference shot peening scene is calibrated according to the relative position data corresponding to the shot peening system to obtain the simulated shot peening scene, wherein the relative position data is used to indicate the relative position relationship between the spray room, the shot peening equipment and the workpiece to be sprayed.

6. The method according to claim 1, characterized in that After obtaining the simulated shot peening scene and the shot peening trajectory, the method further includes: Performing a conversion operation on the shot peening trajectory according to the equipment type of the shot peening equipment to obtain a shot peening trajectory program; Compiling the shot peening trajectory program, and performing simulated shot peening according to the trajectory compilation result and the simulated shot peening scene; A target simulation file is generated according to the simulated shot peening scene, the shot peening trajectory and the simulated shot peening, wherein the target simulation file is used to indicate the overall process of the simulated shot peening.

7. The method according to claim 6, characterized in that After obtaining the shot peening trajectory program, it also includes: Generate a trajectory file according to the shot peening trajectory program, and generate a scene file according to the simulated shot peening scene; Sending the trajectory file to the program management system; The trajectory file and the scene file are sent to the digital twin system.

8. The method according to claim 1, characterized in that Controlling the shot peening equipment in the shot peening system to perform a target shot peening operation on the workpiece to be peened according to the shot peening control instruction includes: Transmitting the workpiece to be sprayed to a spraying room in the shot peening system, and obtaining position information of the workpiece to be sprayed in the spraying room; Controlling the correction model to adjust the posture of the workpiece to be sprayed according to the posture information; After the posture adjustment, the shot peening equipment is controlled to perform the target shot peening operation on the workpiece to be peened according to the shot peening trajectory indicated by the shot peening control instruction.

9. An automatic shot peening system, characterized in that: include: An offline programming system is used to obtain target scene data corresponding to a target shot peening scene, and to build a scene according to the target scene data to obtain a simulated shot peening scene, and to plan a trajectory according to the target scene data to obtain a shot peening trajectory; A program management system, used for generating shot peening control instructions according to the simulated shot peening scene and the shot peening trajectory; A shot peening system, used for controlling the shot peening equipment in the shot peening system to perform a target shot peening operation on the workpiece to be peened according to the shot peening control instruction; The digital twin system is used to monitor the target shot peening operation based on the simulated shot peening scene, the shot peening trajectory and the target shot peening data generated by the target shot peening operation.

10. The system according to claim 9, characterized in that The digital twin system includes: an acquisition unit, configured to acquire the simulated shot peening scene, and determine the simulated shot peening scene as a shot peening twin scene; An acquisition unit, used for real-time acquisition of target shot peening data generated during the target shot peening process; A driving unit, used for driving the shot peening twin scene to perform twin motion according to the shot peening trajectory according to the real-time target shot peening data, so as to obtain twin motion data; A processing unit is used to perform target processing on the shot peening trajectory according to the twin motion data.

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