Wheel set painting synchronous control device and method

Abstract

The invention belongs to the technical field of intelligent industrial equipment, and discloses a wheel set painting synchronous control device which comprises a wheel set rotating platform, a paint supply system, a mechanical arm, a visual guidance module and a control system. By integrating a pressure sensor, a servo motor and a PLC, accurate synchronous control over wheel set rotation, paint brushing control, paint supply and the position of a mechanical arm is achieved, according to surface image information and curved surface degree data provided by a visual guiding module, a brushing track is generated, the paint brushing direction and the paint supply amount are adjusted, and accurate coating of a complex curved surface is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent industrial equipment, and in particular to a synchronous control device and method for automatic painting of a wheelset. Background Art

[0002] At present, traditional wheel painting is mostly done manually, which is inefficient, uneven in coating quality, and has errors caused by human operation. With the development of automation technology, robotic arm spraying technology has gradually been applied to industrial production, but the existing technology still has great technical difficulties in the synchronous control of wheel rotation, paint supply and robotic arm movement, which affects the painting quality and production efficiency.

[0003] The invention patent with application number "CN202111323921.8" discloses a wheelset painting device and a wheelset painting method, the wheelset painting device includes a rotary drive device, a robotic arm and a paint brush; the robotic arm is used to drive the paint brush to approach or move away from the wheelset to be painted, so that the paint brush abuts against any part to be painted of the wheelset to be painted or moves away from the wheelset that has been painted, and the robotic arm is used to drive the paint brush to move axially along the wheelset to be painted; the paint box is used to store anti-rust paint, and the paint box can be installed on the moving path of the robotic arm, so that the robotic arm can drive the paint brush to dip in a sufficient amount of anti-rust paint to ensure the quality of painting.

[0004] According to the above, the wheelset painting equipment needs to use a robotic arm to drive the paint brush to dip in paint. Although automatic painting control can be achieved, due to the complex surface of the wheelset and the varied curves, it is difficult to ensure the uniformity of the paint on the wheelset surface by painting with the paint brush along the same direction and angle. In addition, the method of dipping in paint can easily lead to missed spots and uneven painting, resulting in waste of paint materials and affecting painting quality and production efficiency.

[0005] Therefore, it is particularly important to develop a painting system that can achieve precise synchronous control between wheelset rotation, paint supply and robot arm transposition. Summary of the invention

[0006] In order to solve the above problems, the present invention provides a wheelset painting device and a painting method based on vision guidance, which aims to solve the problems of uneven painting and low efficiency on complex surfaces of wheelsets during the painting process.

[0007] The technical solution adopted by the present invention is:

[0008] A wheel set painting synchronization control device comprises: a wheel set rotating platform, a paint supply system, a mechanical arm, a visual guidance module and a control system, wherein:

[0009] The wheelset rotating platform is used to fix the wheelset and control it to rotate at a predetermined speed and a set angle;

[0010] The paint supply system includes a paint brush, a paint storage tank, a pumping device, a flow sensor and a piping system, which is used to adjust the paint supply of the paint brush in real time according to the painting progress to ensure uniform distribution of the paint;

[0011] The robotic arm has a multi-degree-of-freedom joint and is used to carry a paint brush to perform painting operations, and can accurately paint according to a set painting trajectory;

[0012] The visual guidance module includes an industrial camera and an image processing unit, which are used to capture the surface image information of the wheelset. The image processing unit performs curvature analysis on the surface image and generates curvature data for use by the control system.

[0013] The control system: realizes precise synchronous control of wheel set rotation, paint brush control, paint supply and robot arm position by integrating pressure sensors, servo motors and PLC controllers, generates a painting trajectory and adjusts the paint brush direction and paint supply according to the surface image information and curvature data provided by the visual guidance module, so as to realize precise painting of complex curved surfaces.

[0014] Preferably, the wheelset rotating platform is equipped with an adjustable clamping mechanism, which can adapt to wheelsets of different sizes and types.

[0015] Preferably, the end of the bristles of the paint brush is provided with a plurality of microporous channels, and the paint is pumped from the paint storage tank through the pipeline system and the flow sensor by a pumping device, and finally seeps out evenly from the root of the bristles through the microporous channels to prevent dripping or accumulation during the painting process.

[0016] Preferably, the paint brush is rectangular, and a pressure sensor is connected to the rear of the paint brush, so that a constant contact force can be maintained along the surface of the wheelset during the brushing operation.

[0017] Preferably, the robotic arm is designed as an 8-DOF joint structure, each joint is equipped with a servo motor and a high-precision reducer, and the end of the robotic arm adopts a modular design, which can quickly replace brush heads of different sizes or shapes to meet various brushing needs.

[0018] Preferably, the image processing unit performs curvature analysis on the surface image, divides the entire area of ​​the wheelset surface into several blocks, and extracts a regional point cloud {P i (x i ,y i ,z i )}, use the least squares method to fit the quadratic surface of the block area:

[0019] z=ax 2 +by 2 +cxy+dx+ey+f;

[0020] After obtaining the coefficients a, b, c, d, e, and f, the curvature index of each area, that is, the average curvature, is calculated:

[0021]

[0022] Preferably, the average curvature is: For the fitted quadratic surface, calculate the normal vector of each area: The direction of the normal vector is used to adjust the tilt angle of the paint brush to ensure that the paint brush forms a fixed angle with the surface, such as a right angle.

[0023] Preferably, the control system adjusts the direction of the paint brush and the paint supply according to the curvature data provided by the visual guidance module. When the average curvature is greater than or equal to a first threshold, the paint brush is adjusted to a vertical direction; when the average curvature is less than the first threshold, the paint brush is adjusted to a horizontal direction.

[0024] Preferably, a plurality of adjacent areas with the same curvature data range are connected by straight lines or smooth curves to generate a merged area planning path for the paint brush, thereby preventing the robot arm from frequently turning the paint brush.

[0025] Preferably, a boundary overlap is set for the merged area, and the overlap width is at least 20% of the paint brush width W, so as to avoid missing paint at the boundary of the merged area.

[0026] A wheelset painting synchronization control method is applied to any of the wheelset painting synchronization control devices mentioned above, and is characterized in that the steps include:

[0027] S1: The wheelset rotating platform fixes the wheelset to be painted;

[0028] S2: using the visual guidance module to capture the surface image of the wheelset, and using the image processing unit to generate the curvature data;

[0029] S3: Generate a painting path according to the surface image information and the curvature data;

[0030] S4: The robotic arm drives the paint brush to paint and adjusts the direction of the paint brush and the amount of paint supplied in real time;

[0031] S5: The wheelset rotating platform drives the wheelset to rotate a certain angle, and steps S1, S2, S3, and S4 are repeated until all the positions of the wheelset to be painted are painted.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The present invention uses a wheelset painting synchronization control device, which accurately obtains the wheelset surface curve information through a visual guidance module, adjusts the paint brush direction and paint supply in real time, and realizes precise painting of complex surfaces, thereby making the painting path and paint supply more intelligent; the coating uniformity is significantly improved, reducing manual adjustment and rework; the wheelset surface is obtained based on the visual guidance module, which improves the degree of automation of the painting process, and is suitable for batch painting of wheelsets of various specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 : Schematic diagram of the overall structure of the wheel set painting synchronization control device based on vision guidance;

[0036] Figure 2 : Schematic diagram of the paint brush being in the vertical direction;

[0037] Figure 3 : Schematic diagram of the paint brush in horizontal position.

[0038] In the figure, 1, rack, 2, control system, 3, paint storage tank, 4, robotic arm, 5, visual guidance module, 6, paint brush, 7, wheelset rotating platform, 8, second designated position, 9, first designated position, 10, groove, 11, wheelset, DETAILED DESCRIPTION

[0039] The following will be combined with the drawings of the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without creative work are within the scope of protection of the present invention.

[0040] Example 1

[0041] The present invention provides a wheel set painting synchronization control device and method, which can effectively control the rotation of the wheel set, the paint supply and the painting operation of the robot arm, thereby improving the uniformity of painting and the work efficiency.

[0042] The technical solution adopted by the present invention is:

[0043] like Figure 1As shown, the wheelset painting synchronization control device includes: a wheelset rotating platform 7, a paint supply system, a robot arm 4, a visual guidance module 5, and a control system 2, wherein:

[0044] The wheelset rotating platform 7 is used to fix the wheelset 11 and control it to rotate at a predetermined speed and a set angle;

[0045] The paint supply system includes a paint brush 6, a paint storage tank 3, a pumping device, a flow sensor and a piping system, which is used to adjust the paint supply of the paint brush in real time according to the painting progress to ensure uniform distribution of the paint;

[0046] The robotic arm 4 has a multi-degree-of-freedom joint and is used to carry a paint brush 6 to perform painting operations, and can accurately paint according to a set painting trajectory;

[0047] The visual guidance module 5 includes an industrial camera and an image processing unit, which are used to capture the surface image information of the wheelset. The image processing unit performs curvature analysis on the surface image and generates curvature data for use by the control system.

[0048] The control system 2: realizes precise synchronous control of wheel rotation, paint brush control, paint supply and robot arm position by integrating pressure sensors, servo motors and PLC controllers, generates a painting trajectory and adjusts the paint brush direction and paint supply according to the surface image information and curvature data provided by the visual guidance module, so as to realize precise painting of complex curved surfaces.

[0049] Preferably, the wheelset rotating platform is equipped with an adjustable clamping mechanism, which can adapt to wheelsets of different sizes and types.

[0050] Specifically, the wheelset rotating platform is equipped with a double-sided adjustable clamping mechanism to stabilize and fix the wheelset to prevent shaking during rotation. The clamping mechanism is electrically or hydraulically controlled to automatically adjust the clamping force according to the size of the wheelset to avoid damage caused by over-tightening. The platform is embedded with a high-strength shaft and precision bearing seat to ensure the stability and low friction performance of the wheelset during rotation.

[0051] The wheelset rotating platform is driven by a servo motor and cooperates with a reducer to achieve precise rotation control of the platform, ensuring that the wheelset rotates stably at a predetermined speed. The integrated inverter supports stepless speed regulation to meet different painting requirements (such as low-speed inspection and high-speed painting).

[0052] The wheelset rotating platform integrates a dynamic balancing sensor to detect in real time whether there is eccentricity or imbalance during the wheelset rotation process, and compensates by adjusting the clamping position or weighting device. If the wheelset has an axial deviation, the servo motor controls the adaptive adjustment of the rotating platform to keep the rotation center of the wheelset aligned with the working center of the robot arm.

[0053] The wheelset rotating platform is equipped with a high-precision angle sensor to record the rotation angle of the wheelset in real time, so that the control system can synchronously generate the painting trajectory. The encoder outputs the real-time position data of the wheelset, which cooperates with the visual guidance module to ensure that each surface is evenly covered with paint without omission or overlap.

[0054] The wheelset rotating platform is equipped with an overload detection module. If the rotating platform is subjected to abnormal force (such as insufficient clamping force or excessive wheelset mass), the operation will be stopped immediately and an alarm will be issued.

[0055] The wheelset rotating platform is connected to the control system via a communication interface (such as Modbus or EtherCAT). After controlling the wheelset to rotate a certain angle, the visual guidance module obtains image information to generate a painting path, and the robot arm performs the painting operation. After the painting is completed, the wheelset rotating platform rotates the wheelset by a certain angle again, and the visual guidance module obtains image information again to generate a painting path, and the robot arm performs the painting operation again until the painting is completed.

[0056] The paint supply system includes a paint brush 6, a paint storage tank 3, a pumping device, a flow sensor and a piping system, which is used to adjust the paint supply of the paint brush in real time according to the painting progress to ensure uniform distribution of the paint;

[0057] Preferably, the end of the bristles of the paint brush is provided with a plurality of microporous channels, and the paint is pumped from the paint storage tank through the pipeline system and the flow sensor by a pumping device, and finally seeps out evenly from the root of the bristles through the microporous channels to prevent dripping or accumulation during the painting process.

[0058] Specifically, paintbrushes are generally made of flexible bristle materials (such as polymer fibers) that can adapt to surfaces of different curvatures to achieve uniform painting. Microporous channels are provided at the end of the bristles to ensure that the paint seeps out evenly from the root of the bristles to prevent dripping or accumulation during the painting process. The paint brush is rectangular (length L, width W, where L>W) and is fixed to the end of the robotic arm through a detachable clamping device. Brush heads of different sizes or shapes can also be replaced as needed. A pressure sensor is connected to the rear of the paint brush to maintain a constant contact force along the wheelset surface during the painting operation.

[0059] The storage tank is designed with a capacity of 5 to 10L to meet the needs of continuous work, and adopts a vacuum sealing structure to prevent paint volatilization and pollution. It supports the storage of a variety of paints (such as water-based paints and solvent-based paints), and is equipped with an anti-corrosion coating and a stirring device inside to ensure uniform paint composition.

[0060] The pumping device uses a precision metering pump (such as a gear pump or peristaltic pump) to ensure high-precision control of the paint flow. Equipped with a variable frequency speed regulation function, the pumping speed can be adjusted in real time according to the flow demand to avoid oversupply or under-painting.

[0061] The flow sensor uses a built-in ultrasonic or electromagnetic flow sensor to monitor the flow of paint in real time. Through the feedback signal of the flow sensor, the output flow of the pumping device is corrected to ensure uniform distribution during the painting process.

[0062] The pipeline system uses Teflon or polytetrafluoroethylene (PTFE) soft pipelines, which can adapt to the range of motion of the robot arm, are resistant to high pressure and corrosion, and ensure long-term use without leakage. A microfilter is set in the main channel of paint delivery to filter impurities in the paint and prevent clogging of the microporous channels of the brush bristles.

[0063] The robotic arm 4 has a multi-degree-of-freedom joint and is used to carry a paint brush 6 to perform painting operations, and can accurately paint according to a set painting trajectory;

[0064] Specifically, the robot arm 4 is designed as an 8-DOF joint structure, and each joint is equipped with a servo motor and a high-precision reducer to ensure the stability and accuracy of movement. The joints use harmonic reducers or RV reducers, which have high torque, high rigidity and high repeatability, meeting the operational requirements of complex painting trajectories.

[0065] The end of the robotic arm adopts a modular design, which allows for quick replacement of brush heads of different sizes or shapes to suit various painting needs.

[0066] The main body of the robotic arm is made of aluminum alloy or carbon fiber material, which is both light and high-strength, reducing inertia and improving movement efficiency.

[0067] A hollow channel is reserved inside the robotic arm to accommodate paint delivery pipelines and cables to avoid interference caused by dragging of external cables.

[0068] The robot arm generates the optimal painting trajectory based on the wheelset surface information provided by the vision guidance module and the surface curvature data.

[0069] The visual guidance module 5 includes an industrial camera and an image processing unit, which are used to capture the surface image information of the wheelset. The image processing unit performs curvature analysis on the surface image and generates curvature data for use by the control system.

[0070] Specifically, the visual guidance module 5 includes an industrial camera and an image processing unit. The industrial camera obtains a high-definition two-dimensional image of the wheelset surface at a first designated position 9 and a second designated position 8 on both sides of the wheelset. The image processing unit uses Gaussian filtering or median filtering to remove noise in the image, and uses the Canny algorithm or the Sobel operator to extract surface contour features.

[0071] Specifically, the image processing unit performs curvature analysis on the surface image and generates the curvature data in the following specific steps:

[0072] The two-dimensional image is converted into a surface depth map, which represents the distribution of surface height, through structured light or stereo vision methods;

[0073] Divide the entire area of ​​the wheelset surface into several blocks. The size of each block (L, W) is consistent with the size of the paint brush. You can also use a reduced scale size (for example, 0.5L, 0.5W) to improve the calculation accuracy.

[0074] For each area, extract the height information of the center point and its neighboring points, and extract the regional point cloud {P i (x i ,y i ,z i )};

[0075] Use the least squares method to fit the quadratic surface of the local area: z = ax 2 +by 2 +cxy+dx+ey+f;

[0076] Get the curvature index of each area:

[0077] Mean curvature:

[0078] For the fitted quadratic surface, calculate the normal vector of each area:

[0079]

[0080] The direction of the normal vector is used to adjust the tilt angle of the paint brush to ensure that the paint brush forms a fixed angle with the surface, such as a right angle.

[0081] The generated curvature data of the surface is obtained through the visual guidance module, so as to optimize the painting direction and angle of the paint brush, thereby making the painting effect better and more uniform, reducing missed painting and repeated painting, and being able to efficiently adapt to wheelsets of different sizes and shapes, thereby improving painting efficiency.

[0082] The control system 2: realizes precise synchronous control of wheel rotation, paint brush control, paint supply and robot arm position by integrating pressure sensors, servo motors and PLC controllers, generates a painting trajectory and adjusts the paint brush direction and paint supply according to the surface image information and curvature data provided by the visual guidance module, so as to realize precise painting of complex curved surfaces.

[0083] The control system is the core part of the entire device. Through precise hardware integration and advanced control algorithms, it coordinates the linkage between modules to achieve accurate coating of complex surfaces.

[0084] Specifically, the control system adopts a high-performance PLC (such as Siemens S series or Omron NJ series), has multi-axis synchronous control and real-time communication capabilities, supports multiple communication protocols (EtherCAT, CANopen, Modbus), and is seamlessly connected to vision guidance modules, pressure sensors and other equipment; PLC coordinates wheelset rotation, robotic arm movement, paint supply and paint brush angle adjustment to ensure multi-task synchronization.

[0085] Specifically, the control system connects the bottom of the paint brush and multiple high-sensitivity pressure sensors at the end of the robotic arm to monitor the brushing pressure in real time and provide feedback on the contact force between the paint brush and the wheelset surface to avoid insufficient coverage due to too light painting or surface damage due to too heavy painting.

[0086] The control system is connected to the servo motors equipped with the robot arm joints, the wheelset rotating platform, and the paint brush angle adjustment mechanism to achieve precise control of position, speed, and acceleration and adapt to complex brushing trajectories.

[0087] Preferably, the control system adjusts the direction of the paint brush and the amount of paint supplied according to the curvature data provided by the visual guidance module, and when the curvature is greater than or equal to a first threshold, the paint brush is adjusted to be vertical, see attached Figure 2 ; When the curvature is less than the first threshold, adjust the paint brush to the horizontal direction, see the attached Figure 3 .

[0088] Specifically, when the curvature data H provided by the visual guidance module represents the curvature of the local surface, its size determines the selection of the brushing direction.

[0089] H ≥ first threshold (significant bending area):

[0090] The paint brush is adjusted to a vertical position with the long axis parallel to the painting direction, so that the bristles can fit closely to the curved surface and the painting uniformity can be improved.

[0091] H<second threshold (flat regular area):

[0092] The paint brush is adjusted horizontally with the long axis perpendicular to the painting direction, making it easier to paint a larger area each time and improving painting efficiency.

[0093] Global path planning, which connects multiple adjacent areas with the same curvature data range, that is, multiple adjacent significant curved areas or multiple flat regular areas, with straight lines or smooth curves to generate a merged area planning path for the paint brush, so as to avoid the robot arm frequently turning the paint brush;

[0094] Furthermore, a boundary overlap is set for the merged area, and the overlap width is at least 20% of the paint brush width W, so as to avoid missing paint at the boundary of the merged area.

[0095] Specifically, according to the planned path area and the painting speed of the robot arm, the paint supply is adjusted in real time. The specific formula is as follows:

[0096] Q=A·v·k

[0097] Among them, Q is the paint flow rate, A is the painting contact area corresponding to the planned path area, v is the robot arm speed, and k is the painting thickness coefficient.

[0098] A wheelset painting synchronization control method is applied to any of the wheelset painting synchronization control devices mentioned above, and is characterized by comprising:

[0099] S1: The wheelset rotating platform fixes the wheelset to be painted;

[0100] S2: using the visual guidance module to capture the surface image of the wheelset, and using the image processing unit to generate the curvature data;

[0101] S3: Generate a painting path according to the surface image information and the curvature data;

[0102] S4: The robotic arm drives the paint brush to paint and adjusts the direction of the paint brush and the amount of paint supplied in real time;

[0103] S5: The wheelset rotating platform drives the wheelset to rotate a certain angle, and steps S1, S2, S3, and S4 are repeated until all the positions of the wheelset to be painted are painted.

[0104] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A wheel set painting synchronization control device, comprising: Wheel set rotation platform, paint supply system, robotic arm, visual guidance module and control system, among which, The wheelset rotating platform is used to fix the wheelset and control it to rotate at a predetermined speed and a set angle; The paint supply system includes a paint brush, a paint storage tank, a pumping device, a flow sensor and a piping system, and is used to adjust the paint supply of the paint brush in real time according to the painting progress; The robotic arm has a multi-degree-of-freedom joint and is used to carry a paint brush to perform painting operations, and can accurately paint according to a set painting trajectory; The visual guidance module includes an industrial camera and an image processing unit, which are used to capture the surface image information of the wheelset. The image processing unit performs curvature analysis on the surface image and generates curvature data for use by the control system. The control system: realizes precise synchronous control of wheel set rotation, paint brush control, paint supply and robot arm position by integrating pressure sensors, servo motors and PLC controllers, generates a painting trajectory and adjusts the paint brush direction and paint supply according to the surface image information and curvature data provided by the visual guidance module.

2. A wheelset painting synchronization control device according to claim 1, characterized in that: The wheelset rotating platform is equipped with an adjustable clamping mechanism.

3. A wheelset painting synchronization control device according to claim 1, characterized in that: The end of the bristles of the paint brush is provided with a plurality of microporous channels, and the paint is pumped by a pumping device from a paint storage tank through a pipeline system and a flow sensor, and finally evenly seeps out from the root of the bristles through the microporous channels.

4. A wheelset painting synchronization control device according to claim 1, characterized in that: The paint brush is rectangular, with a length of L and a width of W, wherein L>W, and a pressure sensor is connected to the rear of the paint brush.

5. The wheel set painting synchronization control device according to claim 1, characterized in that: The image processing unit performs curvature analysis on the surface image, divides the entire area of ​​the wheelset surface into several blocks, and extracts a regional point cloud {P i (x i ,y i ,z i )}, the quadratic surface formula for fitting the block area using the least squares method is: z=ax 2 +by 2 +cxy+dx+ey+f; After obtaining the coefficients a, b, c, d, e, and f, the curvature index of each area, that is, the average curvature, is calculated:

6. A wheelset painting synchronization control device according to claim 5, characterized in that: For the fitted quadratic surface, calculate the normal vector of each area: The direction of the normal vector is used to adjust the tilt angle of the paint brush.

7. The wheel set painting synchronization control device according to claim 5, characterized in that: The control system adjusts the direction of the paint brush according to the curvature data provided by the visual guidance module. When the average curvature is greater than or equal to a first threshold, the paint brush is adjusted to a vertical direction; when the average curvature is less than the first threshold, the paint brush is adjusted to a horizontal direction.

8. A wheelset painting synchronization control device according to claim 7, characterized in that: The merged area planning path of the paint brush is generated by connecting multiple adjacent areas with the same curvature data range with straight lines or smooth curves.

9. A wheelset painting synchronization control device according to claim 8, characterized in that: A boundary overlap is set for the merged area, and the overlap width is at least 20% of the width W of the paint brush.

10. A method for synchronous control of wheelset painting, applied to any one of the wheelset painting synchronous control devices according to claims 1-9, characterized in that the steps include: S1: The wheelset rotating platform fixes the wheelset to be painted; S2: using the visual guidance module to capture the surface image of the wheelset, and using the image processing unit to generate the curvature data; S3: Generate a painting path according to the surface image information and the curvature data; S4: The robotic arm drives the paint brush to paint and adjusts the direction of the paint brush and the amount of paint supplied in real time; S5: The wheelset rotating platform drives the wheelset to rotate a certain angle, and steps S1, S2, S3, and S4 are repeated until all the positions of the wheelset to be painted are painted.

Images