Camouflage paint spraying device and intelligent construction equipment

Abstract

The present invention relates to the technical field of coating equipment, and specifically to a camouflage coating spraying device and intelligent construction equipment. The camouflage coating spraying device includes: a spray gun, which is mounted on a base frame and is connected to the coating raw material liquid, and is used to spray the coating liquid and form a spraying range. A mobile frame is slidably mounted on the base frame and forms a shielding surface with an adjustable shielding line angle. A mobile driving member is mounted on the base frame, and the output end is connected to the mobile frame, and is used to drive the mobile frame to slide quantitatively. The spraying method of the present invention is not overlapping spraying, and does not require a special thickness coating to cover the lower color to prevent color bleeding. At the same time, the construction is convenient and will not extend the construction period, which can greatly reduce the use of coatings, thereby reducing costs. No manual operation is required, and construction damage is avoided. Three-dimensional simulation construction can be carried out in advance, and the overall construction, observation and modification are convenient for adjusting the camouflage pattern as a whole.

Description

Technical Field

[0001] The present invention relates to the technical field of coating equipment, and in particular to a camouflage coating spraying device and intelligent construction equipment. Background Art

[0002] Camouflage paint is a special-purpose paint used to imitate or change the appearance of an object so that it looks similar to or completely blends into its surroundings, thereby achieving the purpose of concealment, deception, or protection. Camouflage paints are usually composed of a variety of substances, such as pigments, resins, nanoparticles, powders, and other additives. They can be sprayed onto any object, including metal, plastic, wood, concrete, and fiber fabrics. In some cases, camouflage paints can also adjust the color or texture by adding chemicals or changing the thickness of the coating. Camouflage paints are widely used in military, security, civilian and other fields. For example, in the military field, camouflage paints are often used to camouflage aircraft, ships, vehicles, etc. in order to hide or deceive the enemy. In the civilian field, camouflage paints are also used to camouflage the exterior walls of buildings to protect important facilities from natural disasters or malicious attacks.

[0003] In existing camouflage pattern spraying, the spots that need to be sprayed are generally square or rectangular, either individually or in combination. There are also some circular, elliptical or other shapes. The existing camouflage spot spraying requires cutting out the blank shielding plate according to the shape of the spot block in advance, and then spraying a large area. Then, according to the spraying position, the blank shielding plate is pasted to the position where the spot block is needed, and then the background color is sprayed. This spraying process is complicated and requires a lot of preparation in advance. In addition, the spot block position needs to be sprayed over a large area in advance, and then it is necessary to wait for the paint to dry before spraying the next layer of paint. If the number of spray layers is large, the construction period will be seriously prolonged, resulting in a lot of time wasted. This construction process has the upper and lower layers of paint overlapping, which will cause the paint to bleed. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a camouflage paint spraying device for spraying the surface of military or civilian vehicles or other large equipment to form camouflage spots. The camouflage paint spraying device includes:

[0005] The base frame forms the installation foundation, and the base frame can be a disc-shaped structure or a steel frame structure.

[0006] The spray gun, mounted on the base frame, is connected to various coating material liquids and is used to spray the coating liquid and form a spray pattern. The spray gun can be set to spray perpendicular to the plane of the base frame, or it can be set at a certain angle according to actual needs. The specific angle value is not detailed here. The spray gun can be installed in the center of the base frame.

[0007] The movable frame is slidably mounted on the base frame and forms a shielding surface with an adjustable shielding line angle. It can slide perpendicular to the plane where the base frame is located, or it can slide radially.

[0008] The mobile driving member is installed on the base frame, and its output end is connected to the mobile frame, and is used to drive the mobile frame to slide quantitatively.

[0009] Preferably: the movable frame may include a first frame body, a second shielding piece, a first shielding piece and a rotating drive member. The first frame body may be a straight rod structure and slidably mounted on the base frame, and may be guided and slid by a guide rail or a guide rod, and the details will not be repeated here. The first shielding piece is fixedly connected to the first frame body and forms a shielding surface that blocks a straight line, which is used to limit the spraying boundary of the spray gun. The edge of the first shielding piece is a straight line, and its distribution direction may be perpendicular to the spray radius of the spray gun. The second shielding piece is rotatably connected to the first frame body, and its edge intersects with the edge of the first shielding piece to form a steering angle that limits the boundary.

[0010] The rotation drive member is mounted on the first frame and connected to the second shielding piece, and is used to quantitatively drive the second shielding piece to rotate, thereby forming a steering angle. The first shielding piece and the second shielding piece can be smooth stainless steel plate structures, which are easy to clean the paint on them.

[0011] Preferably: the camouflage paint spraying device also includes a rotating drive member, which is transmission-connected to the drive base and is used to drive the base to rotate quantitatively, so that the base and the spray gun can rotate, so that selective angle blocking spraying can be performed to form the edge line of the camouflage spot block of the required shape, thereby being suitable for camouflage spots of various shapes.

[0012] Preferably, the rotary drive element may include a drive motor and a rotary transmission assembly, wherein the output shaft of the drive motor is connected to the base frame via the rotary transmission assembly, and the base frame can rotate in a fixed amount under the drive motor. The rotary transmission assembly may include a fixed ring gear and a drive gear. The fixed ring gear is fixedly mounted on the base frame, in which case the base frame needs to be rotated, with the rotation centers of the base frame and the fixed ring gear coinciding. The drive gear is coaxially fixedly connected to the output shaft of the drive motor, and the drive gear and the fixed ring gear mesh. Driven by the drive motor, the drive gear rotates, driving the fixed ring gear to rotate, thereby rotating the base frame.

[0013] Preferably, the rotation transmission assembly may comprise a worm gear and a worm, wherein the worm is coaxially fixedly connected to the output shaft of the drive motor, and the worm gear is coaxially fixedly connected to the rotation axis of the base frame, with the worm gear and worm gear meshing. Driven by the drive motor, the worm gear rotates the worm gear, thereby driving the base frame. The coordinated drive of the worm gear and worm gear can proportionally reduce the output of the drive motor, thereby increasing the accuracy of the base frame's rotation angle, while also preventing angular errors caused by the base frame's active rotation and improving installation stability.

[0014] The present invention also provides intelligent camouflage coating application equipment, comprising a mechanical operating component and the aforementioned camouflage coating spraying device. The camouflage coating spraying device can be mounted on the operating end of the mechanical operating component, and the mechanical operating component controls the camouflage coating spraying device to spray. The mechanical operating component can be an existing operating robot, and the mechanical operating component can be mounted on the ground or on a top surface. The number of mechanical operating components can be adjusted based on actual conditions.

[0015] Preferably, the mechanical operation assembly may further include a rotating mounting seat, a feed drive device, a lifting base, and a manipulator. The rotating mounting seat may be slidably mounted on a circular track. A sliding drive device may be installed on the rotating mounting seat. Under the action of the sliding drive device, the rotating mounting seat slides quantitatively on the circular track, thereby controlling the operating position of the camouflage paint spraying device. A lifting base and a feed drive device are slidably mounted on the rotating mounting seat. The output end of the feed drive device is connected to the lifting base. Driven by the feed drive device, the lifting base can slide on the rotating mounting seat, thereby controlling the operating feed amount of the camouflage paint spraying device. The manipulator is mounted on the lifting base. The lifting base can control the lifting height of the manipulator. The manipulator can control the operating angle and position of the camouflage paint spraying device.

[0016] Preferably, the annular track can be installed on the top surface of the installation, thereby increasing the operating space required for the spraying equipment and reducing the installation space occupied by the camouflage coating intelligent application equipment. The annular track can be a circular ring structure, which is more suitable for equipment with a similar length-to-width ratio to be sprayed. When the length-to-width ratio of the equipment to be sprayed is larger, the annular track can be a rectangular structure with rounded corners. The specific design needs to be based on the work object.

[0017] Preferably: the sliding drive device may include a motor and a gear structure, the motor is installed on the rotating mounting seat, the output shaft of the motor is coaxially fixed with a gear, the corresponding edge of the annular track is provided with a tooth pattern, the gear and the tooth pattern are engaged, and the gear rotates under the drive of the motor, thereby driving the rotating mounting seat to slide. Of course, the sliding drive device can also be other structures, which are specifically existing technologies and will not be described here.

[0018] Preferably, an image acquisition device is installed on the mechanical operation component, and the image acquisition device is used to take a picture of the spraying equipment to obtain a picture of the equipment.

[0019] Preferably, the intelligent camouflage coating application equipment also includes a control center connected to the sliding drive, feed drive, lifting base, manipulator, image acquisition device, and camouflage coating spraying device in the mechanical operation component. When the equipment to be sprayed is in place, the control center obtains the corresponding equipment model and controls the movement of the mechanical operation component. The control center then retrieves a pre-stored equipment spray model, constructs a three-dimensional spatial coordinate system, and scales and recomposes the equipment spray model according to the equipment's characteristic locations to obtain a three-dimensional model of the equipment and determine the coordinates of the spraying surface. The control center divides the spraying surface coordinates into spraying areas and assigns each spraying area to the corresponding camouflage coating spraying device. The control center divides the color working surface into color areas, obtains each color working surface and its corresponding coordinate range, and sorts the color working surfaces according to i, where i is the color working surface number and I is the total number of color working surfaces in the spraying area. i = 1, 2, ..., 1. The control center controls the movement of the mechanical operation component to move the camouflage coating spraying device to the spraying point coordinates and then determines the coverage range of the spraying point. Determine the spraying point coordinate position of the spray gun, obtain the color of the color working surface, and make the current spraying color of the camouflage paint spraying device consistent with the color of the color working surface. Determine whether the edge line of the color working surface is within the spraying range of the spray gun. If so, start the mobile drive component and drive the mobile frame to slide, and make the covering edge of the first shielding piece coincide with the tangent of the spraying relative point, and obtain a frontier point on the spraying edge. The frontier point is a point on the spraying edge with a preset distance spacing of h, and then calculate the tangents L1 and L2 on the spraying relative point and the frontier point spraying edge. The specific method of calculating the tangent is the existing technology. Then the control center controls the base frame to rotate through the rotating drive component and makes the edge of the first shielding piece coincide with L1. Then, the steering angle between the second shielding piece and the first shielding piece is controlled to be θ through the rotating drive component. The control center controls the movement of the spray gun and makes its spraying relative point move at a uniform speed along the edge line of the color working surface, and records the moving path of the spraying point of the spray gun. When the edge line moves after the end, it is determined that the edge line of the color working surface is not within the spraying range of the spray gun. Then the control center controls the mobile drive component to slide the mobile frame so that its shielding surface moves out of the spraying range of the spray gun. The control center controls the spraying point of the spray gun to move and spray along a preset moving line.

[0020] Preferably, the device model acquisition method includes starting an image acquisition device to photograph the spraying device to obtain a device image, combining the photographed images to obtain a combined three-dimensional model, and then acquiring the device model through device features.

[0021] Preferably: starting from the periphery of the spot block, that is, the edge line of the color working surface, obtain the relative spraying point. The relative spraying point can start from the corner and use an edge at the corner as the spraying edge. The coordinates of the spraying point are within the range of the color working surface and the distance from the edge is l. The l can be determined according to the spraying performance of the spray gun. When the spraying range of the spray gun is circular, the distance Where R is the radius of the spraying range of the spray gun.

[0022] Preferably: the preset spacing is Where ɑ is the adjustment coefficient, B is the required accuracy of the spot block, and R is the radius of the spray range of the spray gun.

[0023] Preferably: the steering angle Where k1 and k2 are the slopes of the two tangent lines respectively.

[0024] The technical effects and advantages of this invention are as follows: The spraying method of this application eliminates overlapping spraying, eliminating the need for a thick coating to cover the underlying color and prevent bleed-through. Furthermore, it facilitates construction without extending the construction period, significantly reducing paint usage and thus costs. It also simplifies the construction process, makes operation convenient, and eliminates the need for manual operation, thus avoiding construction damage. Three-dimensional simulations can be performed in advance, allowing for overall construction, observation, and modification, facilitating overall adjustment of the camouflage pattern. This allows for more rational planning of camouflage patches based on the overall design. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic top view of the three-dimensional structure of a camouflage paint spraying device proposed by the present invention.

[0026] Figure 2 This is a schematic diagram of the main structure of a camouflage paint spraying device proposed by the present invention.

[0027] Figure 3 This is a schematic diagram of the upward-looking three-dimensional structure of a camouflage paint spraying device proposed by the present invention.

[0028] Figure 4 This is a schematic diagram of the three-dimensional structure of the intelligent camouflage coating construction equipment proposed by the present invention.

[0029] Explanation of the reference numerals: base frame 1, movable frame 2, spray gun 3, first frame body 4, rotating drive member 5, first shielding plate 6, second shielding plate 7, movable drive member 8, rotating drive member 9, fixed ring gear 10, drive motor 11, drive gear 12, mounting top surface 13, annular track 14, rotating mounting seat 15, feed drive device 16, lifting base 17, manipulator 18, image acquisition device 19. DETAILED DESCRIPTION

[0030] The following describes in detail embodiments of the present disclosure, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present disclosure and are not to be construed as limiting the present disclosure. On the contrary, the embodiments of the present disclosure include all variations, modifications, and equivalents that fall within the spirit and scope of the appended claims.

[0031] Example 1

[0032] refer to Figure 1-Figure 3 In this embodiment, a camouflage paint spraying device is proposed for spraying the surface of military or civilian vehicles or other large equipment to form camouflage spots. The camouflage paint spraying device includes:

[0033] The base frame 1 forms the installation foundation. The base frame 1 can be a disc-shaped structure. Of course, the base frame 1 can also be a steel frame structure. The specific details are not repeated here. The base frame 1 is preferably a disc structure, which can increase the installation support area of ​​the base frame 1 and can also block the sprayed paint to prevent the paint micro droplets from splashing.

[0034] The spray gun 3 is mounted on the base frame 1 and is used to spray the coating liquid and form a spray range. The specific structure of the spray gun 3 can be conventional, and the specific structure is not described in detail here. The spray direction of the spray gun 3 can be set perpendicular to the plane of the base frame 1. Of course, it can also be set at a certain inclination angle according to actual needs. The specific inclination angle value is not described in detail here. The installation position of the spray gun 3 can be at the center of the base frame 1, of course, other positions are not excluded, and the specific details are not described here.

[0035] The movable frame 2 is slidably mounted on the base frame 1 and forms a shielding surface for adjusting the shielding line angle. It can slide vertically on the plane where the base frame 1 is located, or it can slide radially, depending on the operation object, and will not be described in detail here.

[0036] The mobile driving member 8 is mounted on the base frame 1, and its output end is connected to the mobile frame 2, and is used to drive the mobile frame 2 to slide. The mobile driving member 8 can be a hydraulic rod, an electric telescopic rod, a starting rod or a motor screw rod combination structure. The specific structures of various methods are prior art and will not be described in detail here. The mobile frame 2 may include a first frame body 4, a second shielding plate 7, a first shielding plate 6 and a rotating driving member 5. The first frame body 4 may be a straight rod structure and is slidably mounted on the base frame 1. It can be guided and slid by a guide rail or a guide rod. The specific details will not be described here. The first shielding plate 6 is fixedly connected to the first frame body 4 and forms a shielding surface that blocks a straight line, which is used to limit the spraying boundary of the spray gun 3. The edge of the first shielding plate 6 is a straight line, and its distribution direction can be perpendicular to the spray radius of the spray gun 3. Of course, settings in other directions are not excluded. The second shielding piece 7 is rotatably connected to the first frame 4, and its edge intersects with the edge of the first shielding piece 6 to form a steering angle with a limiting boundary. The steering angle range is 0-360 degrees, and of course it can also be 90-180 degrees. Of course, the specific needs depend on actual conditions.

[0037] The rotating drive member 5 is mounted on the first frame 4 and connected to the second shielding piece 7, and is used to quantitatively drive the second shielding piece 7 to rotate, thereby forming a steering angle. The first shielding piece 6 and the second shielding piece 7 can be smooth stainless steel plate structures, which are convenient for cleaning the paint thereon. The rotating drive member 5 can be a hydraulic rod, an electric telescopic rod, a starting rod or a motor screw rod combination structure, and the details are not described here. A limiting plate structure can be provided on the base frame 1, and the limiting plate structure covers the structure of the mobile frame 2 to prevent the mobile frame 2 from being contaminated by paint splashing. The limiting plate structure can be an arc-shaped plate structure. Of course, its coverage does not include the first shielding piece 6 and the second shielding piece 7, and the details are not described here.

[0038] The rotating drive member 9 is connected to the driving base 1 in a transmission manner and is used to drive the base 1 to rotate, thereby causing the base 1 and the spray gun 3 to rotate, so that selective angle blocking spraying can be performed to form the edge line of the camouflage spot block of the desired shape, thereby being suitable for camouflage spot blocks of various shapes. In actual work, the shape of the spot blocks to be sprayed is generally square, rectangular, or combined. There are also some circular, elliptical, or other shapes, which will not be described in detail here. The existing spraying of camouflage spot blocks requires cutting out the blank shielding plate according to the shape of the spot block in advance, and then spraying a large area. Then, the blank shielding plate is pasted to the desired spot block position according to the spraying position, and then the background color is sprayed. This spraying process is complicated and requires a lot of preparation work in advance. In addition, the spot block position needs to be sprayed over a large area in advance, and then the paint needs to be dried before the next layer of paint can be sprayed. If the number of spray layers is large, the construction period will be seriously prolonged, resulting in a lot of time waste. This construction process has the upper and lower layers of paint overlapping, which will cause paint bleeding. The spraying method of the present application is not overlapping spraying, and does not require a special thickness of coating to cover the lower color to prevent color bleeding. At the same time, the construction is convenient and does not extend the construction period, which can greatly reduce the use of paint and thus reduce costs.

[0039] The rotating drive member 9 may include a driving motor 11 and a rotating transmission assembly. The output shaft of the driving motor 11 is connected to the base frame 1 through the rotating transmission assembly. Under the drive of the driving motor 11, the base frame 1 can rotate quantitatively. The rotating transmission assembly may include a fixed ring gear 10 and a driving gear 12. The fixed ring gear 10 is fixedly set on the base frame 1. At this time, the base frame 1 needs to be rotated. The rotation center of the base frame 1 coincides with the rotation center of the fixed ring gear 10. The driving gear 12 is coaxially fixedly connected to the output shaft of the driving motor 11, and the driving gear 12 and the fixed ring gear 10 are meshed. Under the drive of the driving motor 11, the driving gear 12 rotates and drives the fixed ring gear 10 to rotate, thereby rotating the base frame 1. The quantitative control of the rotation of the base frame 1 is an existing technology and will not be described in detail here. The rotating transmission assembly can also be a worm gear and a worm. The worm is coaxially fixedly connected to the output shaft of the driving motor 11, and the worm wheel is coaxially fixedly connected to the rotation axis of the base frame 1, and the worm wheel and the worm are meshed. Driven by the drive motor 11, the worm drives the worm wheel, which in turn drives the base frame 1. The worm wheel and worm drive can proportionally reduce the output of the drive motor 11, thereby increasing the accuracy of the rotation angle of the base frame 1 and preventing angular errors caused by the active rotation of the base frame 1, thereby increasing the stability of the installation.

[0040] In the actual working process, the spray gun 3 sprays paint to form camouflage spots, which avoids manual work, thereby reducing manual workload and avoiding human harm caused by the paint. When it is necessary to spray the edge of the spot block, if this edge is a straight edge, the second shielding plate 7 is driven to rotate by the rotating driving member 5, so that the second shielding plate 7 and the first shielding plate 6 shield the edge to form a straight edge, and the base frame 1 is driven to rotate by the rotating driving member 9, so that the straight edge formed by the first shielding plate 6 and the second shielding plate 7 coincides with the camouflage spot block to be sprayed. The overlap here can be considered as the straight edge formed by the first shielding plate 6 and the second shielding plate 7 being projected onto the straight edge to be sprayed. The straight edge formed by the first shielding plate 6 and the second shielding plate 7 can be at a certain distance from the surface of the equipment, generally 5-50mm, and the details are not repeated here. The spray gun 3 is started to spray. The shielding surface formed by the first shielding piece 6 and the second shielding piece 7 shields the paint sprayed out of the spray gun 3, preventing the paint from falling outside the camouflage spot block, thereby increasing the clarity of the camouflage spot block edge and avoiding edge blur. When the spot block edge is not a straight line, the angle of the edge where the spraying position is located can be determined, the tangent of the two-way edge of the spraying position can be calculated, and the angle θ of the two tangents can be obtained. The rotating drive member 5 is controlled to drive the second shielding piece 7 and the first shielding piece 6 to a steering angle of θ, and the rotating drive member 9 is controlled to drive the base 1 to rotate and make the edges of the first shielding piece 6 and the second shielding piece 7 coincide with the two tangents, and then the spraying position is sprayed. Spraying by the camouflage paint spraying device of the present application can achieve automatic spraying, avoid manual operation, reduce workload, and improve work efficiency. At the same time, the spot block edge can be made clear, and spraying at various angles can be completed to form the required camouflage spot block edge line, thereby spraying camouflage spots of various shapes. After spraying, the paint on the shielding surfaces of the first shielding sheet 6 and the second shielding sheet 7 needs to be cleaned in time to avoid uneven edges of the first shielding sheet 6 and the second shielding sheet 7.

[0041] Example 2

[0042] refer to Figure 4 The present invention also provides intelligent camouflage coating application equipment, comprising a mechanical operating component and the aforementioned camouflage coating spraying device. The camouflage coating spraying device can be mounted on the operating end of the mechanical operating component, and the mechanical operating component controls the camouflage coating spraying device to spray. The mechanical operating component can be an existing operating robot and can be mounted on the ground or on the mounting top surface 13. The number of mechanical operating components can be adjusted based on actual conditions.

[0043] The mechanical operation assembly may also include a rotating mounting seat 15, a feed drive device 16, a lifting base 17 and a manipulator 18. The rotating mounting seat 15 may be slidably mounted on the annular track 14. A sliding drive device may be installed on the rotating mounting seat 15. Under the action of the sliding drive device, the rotating mounting seat 15 slides quantitatively on the annular track 14, thereby controlling the operating position of the camouflage paint spraying device. Specifically, the annular track 14 may be mounted on the mounting top surface 13, so that the operating space required for the spraying equipment can be increased and the installation space occupied by the camouflage paint intelligent construction equipment can be reduced. The annular track 14 may be a circular ring structure, which is more suitable for equipment to be sprayed with a length-to-width ratio close to 1. When the length-to-width ratio of the equipment to be sprayed is large, the annular track 14 may be provided with a rectangular structure with rounded corners. The specific design needs to be made according to the operation object. The sliding drive device may include a motor and a gear structure. The motor is mounted on the rotating mount 15. A gear is coaxially fixed to the motor's output shaft. The corresponding edge of the annular track 14 is provided with teeth. The gear and the teeth mesh, and the gear rotates under the drive of the motor, thereby driving the rotating mount 15 to slide. Of course, the sliding drive device can also have other structures, which are specifically related to the existing technology and will not be described in detail here. A lifting base 17 is slidably mounted on the rotating mount 15 and a feed drive device 16 is fixedly mounted. The output end of the feed drive device 16 is connected to the lifting base 17. Under the drive of the feed drive device 16, the lifting base 17 can slide on the rotating mount 15, thereby controlling the operating feed amount of the camouflage paint spraying device. A manipulator 18 is mounted on the lifting base 17. The lifting base 17 can control the lifting height of the manipulator 18, and the manipulator 18 can control the operating angle and position of the camouflage paint spraying device. The specific quantitative control structure and method of the sliding drive device, the feed drive device 16, the lifting base 17 and the manipulator 18 are existing technologies and will not be described in detail here.

[0044] The image acquisition device 19 can be installed on the lifting base 17 to shoot the spraying equipment to obtain equipment pictures. Of course, the image acquisition device 19 can also be a scanning device, etc., which will not be described in detail here.

[0045] The control center is connected to the sliding drive device, the feed drive device 16, the lifting base 17, the manipulator 18, the image acquisition device 19 and the camouflage paint spraying device in the mechanical operation component. The control center can be a remote control center. Specifically, the camouflage paint intelligent construction equipment can be installed in one room, and the control center can be installed in the next room. The partition wall between the two rooms can be glass, so that the operator can visually observe the status of the equipment to be sprayed in time. When it is necessary to spray the equipment to be sprayed, the equipment to be sprayed can be placed between the various mechanical operation components. When the equipment to be sprayed is in place, the control center controls the movement of the mechanical operation component and starts the image acquisition device 19 to take a picture of the equipment to be sprayed to obtain a picture of the equipment, and the taken pictures are combined to obtain a combined three-dimensional model. The combined three-dimensional model is obtained by combining pictures. It is an existing technology and will not be described in detail here. The equipment features are extracted from the combined three-dimensional model. The equipment features can be the length, width, height, equipment logo or equipment shape of the equipment, etc. The specific details will not be described here. The device model is then obtained using the device features. Specifically, a device model-feature information table can be created in advance based on the device features of various devices. The corresponding device model can then be retrieved by searching the table using the device features. Of course, the device model can also be manually entered, but the details are not detailed here. The control center then retrieves a pre-stored device spray model. This model can be pre-created based on the spraying requirements of each device to be sprayed. It includes a 3D model of the device to be sprayed and the camouflage pattern on its surface. This allows for a pre-built 3D simulation, allowing for overall construction, observation, and modification, facilitating overall adjustment of the camouflage pattern. This allows for more rational planning of camouflage patches. A 3D coordinate system is constructed, and the device spray model is scaled and recombined according to the device feature locations. The scaling and recombining methods are conventional and will not be detailed here. The device spray model is then embedded into the 3D coordinate system to obtain the 3D model of the device and determine the coordinates of the spray surface. The control center then divides the spray surface coordinates into spray areas and assigns each spray area to the corresponding camouflage coating spray device. The general division of the spraying area can be determined by the number of camouflage paint spraying devices. Generally, there can be four camouflage paint spraying devices, and the color work surfaces of the equipment to be sprayed can also be four, so that they can be allocated one by one. Of course, allocation can also be based on the workload, but the details are not detailed here. The control center divides the color work surface into color areas, obtains each color work surface and its corresponding coordinate range, and sorts the color work surfaces i, where i is the color work surface number and I is the total number of color work surfaces in the spraying area. i = 1, 2, ..., I.The color working surface can be divided according to the color of different spots. There are as many color working surfaces as there are color blocks. For color spots of the same color and not connected, they are defined as different color working surfaces. Color classification is a prior art and will not be described in detail here. The sorting method can be based on the order of connection, so as to minimize the moving distance. The control center controls the movement of the mechanical working components to move the camouflage paint spraying device to the spraying point coordinate position, and then determines the coverage range of the spraying point. In the actual working process, we use the intersection of the vector of the point where the spray gun 3 is facing and the color working surface as the spraying point coordinate position. The spraying range of the spray gun 3 is not a point, but a circle. The greater the distance from the spray port of the spray gun 3, the larger the radius of this circle. In general, we can determine the spraying radius of the spray gun 3 based on the spraying performance of the spray gun 3. The spraying radius of the spray gun 3 is generally 50mm-200mm, which depends on the actual situation of the spray gun 3 and will not be described in detail here. Determine the coordinates of the spray point of the spray gun 3, obtain the color of the color working surface, and ensure that the current spray color of the camouflage paint spraying device is consistent with the color of the color working surface. Generally, the spraying relative point is obtained starting from the periphery of the spot block, i.e., the edge line of the color working surface. The spraying relative point can start at a corner, with a corner edge as the spraying edge. The spray point coordinates are within the color working surface and are a distance l from this edge. l can be determined based on the spraying performance of the spray gun 3. When the spraying range of the spray gun 3 is circular, the distance is . Where R is the radius of the spraying range of the spray gun 3. Determine whether the edge line of the color working surface is within the spraying range of the spray gun 3. If so, start the mobile drive 8 and drive the mobile frame 2 to slide, and make the covering edge of the first shielding piece 6 coincide with the tangent of the relative spraying point. The driving amount can be set in advance based on experience, and the details will not be repeated here. Get a frontier point on the spraying edge. The frontier point is a point on the spraying edge with a preset distance spacing h. The preset spacing h can be determined according to actual conditions. Generally, it can be obtained based on spraying experience. The specific preset spacing Among them, ɑ is the adjustment coefficient, which can be set according to actual needs. Its value is generally 0.5-5, which is an artificially set value, and the specific details are not repeated here. B is the required accuracy of the spot block, which can be set manually according to needs. Its value can be set in a level between 1-10, and the specific details are not repeated here. Then calculate and obtain the tangents L1 and L2 on the spraying edge of the relative spraying point and the front point. The calculation method of the tangent is specifically the existing technology. Then the control center controls the rotation of the base frame 1 by rotating the driving member 9 and makes the edge of the first shielding plate 6 coincide with L1. Then, the steering angle between the second shielding plate 7 and the first shielding plate 6 is controlled to be θ by rotating the driving member 5. The steering angle Wherein k1 and k2 are the slopes of the two tangent lines respectively. Of course, the setting of other numerical values ​​is not excluded, and they are not described in detail here. The control center controls the movement of the spray gun 3, and makes its spraying relative point move at a uniform speed along the edge line of the color working surface, and records the moving path of the spraying point of the spray gun 3. When the edge line moves after the end, that is, it is judged that the edge line of the color working surface is not within the spraying range of the spray gun 3, then the control center controls the mobile drive member 8 to slide the mobile frame 2 so that its shielding surface moves out of the spraying range of the spray gun 3. The driving amount can be set in advance based on experience, and they are not described in detail here. The control center controls the spraying point of the spray gun 3 to move along a preset moving line. The preset moving line can be within the camouflage spot block and the spacing between the outer moving paths is 2l. Of course, the setting of other numerical values ​​is not excluded, and they are not described in detail here. The end of the spraying operation, color change and other operation controls are specifically prior art and are not described in detail here. This method can achieve automatic intelligent control, avoiding manual operation, and the edges of the spray path have a certain overlap. Since the spray range of the spray gun 3 is circular, this can increase the uniformity of the spraying, avoid the bleeding caused by overlapping spraying of paint, and improve the quality of the sprayed spots. At the same time, it avoids the waste of paint. Because there is no need for overlapping spraying, there is no need to wait for the sprayed paint to dry before spraying again, which can greatly shorten the construction period.

[0046] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0047] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. An intelligent camouflage coating construction device, characterized in that: The camouflage coating intelligent construction equipment includes a mechanical operation component; and a camouflage paint spraying device, the camouflage paint spraying device being mounted on the operating end of the mechanical operating assembly; the camouflage paint spraying device comprising: scaffolding; A spray gun, mounted on a base frame and connected to the coating liquid, is used to spray the coating liquid and form a spray range; The mobile frame is slidably mounted on the base frame to form a shielding surface with an adjustable shielding line angle; A mobile driving member is installed on the base frame, with an output end connected to the mobile frame, and is used to drive the mobile frame to slide quantitatively; The intelligent construction equipment of camouflage paint also includes a control center, which is connected to the mechanical operation component and the camouflage paint spraying device; the control center obtains the equipment model of the equipment to be sprayed in place, controls the movement of the mechanical operation component, and then extracts the pre-stored equipment spraying model through the control center to construct a three-dimensional space coordinate system, and scales and replaces the equipment spraying model according to the equipment feature position to obtain the equipment three-dimensional model and determine the spraying surface coordinates; the control center divides the spraying surface coordinates to obtain the spraying area surface, and assigns the spraying area surface to the corresponding camouflage paint spraying device; the control center divides the color area of ​​the color working surface, obtains each color working surface and its corresponding coordinate range, and sorts the color working surface i, i is the number of the color working surface, I is the total number of color working surfaces in the spraying area surface, i=1, 2,..., I; the control center controls the movement of the mechanical operation component to move the camouflage paint spraying device to the spraying point coordinate position, and then determines the coverage range of the spraying point ; determine the coordinate position of the spraying point of the spray gun, obtain the color of the color working surface, and make the current spraying color of the camouflage paint spraying device consistent with the color of the color working surface; judge whether the edge line of the color working surface is within the spraying range of the spray gun; if so, start the mobile drive component, drive the mobile frame to slide, and make the covering edge of the mobile frame coincide with the tangent of the spraying relative point, obtain a frontier point on the spraying edge, and then calculate the tangent lines L1 and L2 on the spraying relative point and the frontier point spraying edge, the control center controls the base frame to rotate and make one side of the mobile frame coincide with L1, and then make its blocking line angle θ, the control center controls the spray gun to move, and make its spraying relative point move at a uniform speed along the edge line of the color working surface, and record the moving path of the spraying point of the spray gun; if not, the control center controls the mobile drive component to slide the mobile frame so that its blocking surface moves out of the spraying range of the spray gun; the control center controls the spray point of the spray gun to move and spray along a preset moving route.

2. The intelligent camouflage coating construction equipment according to claim 1, characterized in that: The mobile frame includes a first frame body, a second shielding piece, a first shielding piece and a rotating driving member; The first frame is slidably mounted on the base frame, and the first shielding piece is fixedly connected to the first frame to form a shielding surface that blocks the straight line; the second shielding piece is rotatably connected to the first frame, and its edge intersects with the edge of the first shielding piece to form a steering angle that limits the boundary; The rotation driving member is installed on the first frame and connected to the second shielding piece, and is used for quantitatively driving the second shielding piece to rotate.

3. The intelligent camouflage coating construction equipment according to claim 1, characterized in that: The camouflage paint spraying device includes a rotating drive component, which is transmission-connected to a driving base frame and is used to drive the base frame to rotate quantitatively, so that the base frame and the spray gun rotate, and perform selective angle blocking spraying to form the edge line of the camouflage spot block in the required shape.

4. The intelligent camouflage coating construction equipment according to claim 3, characterized in that: The rotary drive member includes a drive motor and a rotation transmission assembly, and the output shaft of the drive motor is connected to the base frame through the rotation transmission assembly.

5. The intelligent camouflage coating construction equipment according to claim 4, characterized in that: The rotation transmission assembly includes a worm wheel and a worm. The worm is coaxially fixedly connected to the output shaft of the driving motor. The worm wheel is coaxially fixedly connected to the rotation axis of the base frame. The worm wheel and the worm are meshed.

6. The intelligent camouflage coating construction equipment according to claim 1, characterized in that: The mechanical operation assembly includes a rotary mounting seat, a feed drive device, a lifting base and a manipulator. The rotary mounting seat is slidably mounted on a circular track. The rotary mounting seat is equipped with a sliding drive device for driving the rotary mounting seat to slide quantitatively on the circular track. A lifting base is slidingly provided on the rotating mounting seat and a feed drive device is fixedly installed. The output end of the feed drive device is connected to the lifting base. Driven by the feed drive device, the lifting base slides on the rotating mounting seat to control the operating feed amount of the camouflage paint spraying device; the manipulator is installed on the lifting base, and the lifting base can control the lifting height of the manipulator.

7. The intelligent camouflage coating construction equipment according to claim 6, characterized in that: The annular track is installed on the installation top surface.

8. The intelligent camouflage coating construction equipment according to claim 1, characterized in that: The device model acquisition method comprises the following steps: starting an image acquisition device to photograph the spraying device to obtain a device picture, combining the photographed pictures to obtain a combined three-dimensional model, extracting device features from the combined three-dimensional model, and then obtaining the device model through the device features.

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