Visual positioning method, device and equipment for automatic spraying robot and medium

Abstract

The invention discloses an automatic spraying robot visual positioning method, device and equipment and a medium, and relates to the field of automatic spraying of large equipment.The automatic spraying robot visual positioning method comprises the steps that a spraying path, aiming at a to-be-sprayed object, of an automatic spraying robot is planned through off-line programming software, so that an initial spraying path is obtained; monitoring the to-be-sprayed object by using a preset visual positioning system to obtain actual position information of the to-be-sprayed object; the actual position information is calculated through a preset algorithm to obtain the position offset of the to-be-sprayed object relative to a preset object template; and if the position offset is larger than a preset threshold value, an initial spraying path of the automatic spraying robot is corrected based on the position offset to obtain a corrected spraying path, so that the automatic spraying robot conducts automatic spraying operation on the to-be-sprayed object based on the corrected spraying path. In this way, the precision and the consistency of the spraying path are improved, and meanwhile the adaptability and the flexibility of the spraying system are enhanced.

Description

Technical Field

[0001] The present invention relates to the field of automatic spraying of large equipment, and in particular to a visual positioning method, device, equipment and medium for an automatic spraying robot. Background Art

[0002] In the manufacturing process of large drones, their surfaces need to be painted to achieve radar stealth, fuselage protection, brand recognition, and decorative effects. Therefore, the quality of drone surface spraying has a significant impact on its safety performance, appearance, and market competitiveness.

[0003] Traditional manual spraying operations have problems such as low spraying efficiency, uneven paint layer thickness, and serious waste of paint. In addition, since the spraying process will produce a large amount of toxic gases such as aldehydes and benzene, long-term work in this environment will harm the physical and mental health of operators. With the development of advanced manufacturing technologies such as robots, spraying robots evolved from industrial robots are gradually replacing manual spraying, making spraying develop in the direction of intelligence and flexibility, which not only improves the working environment, but also improves the spraying quality and production efficiency. In the intelligent spraying system based on spraying robots, the trajectory accuracy of the spraying robot is crucial to the spraying quality, spraying efficiency, paint utilization, etc. At present, the trajectory planning of spraying robots mainly adopts manual teaching and offline programming methods. Although the manual teaching method is simple to operate and intuitive and easy to understand, it has the disadvantages of low spraying efficiency, poor trajectory accuracy, and dependence on the skills and experience of the operator. It is more suitable for the spraying of simple parts. The offline programming method pre-plans the spraying path in the offline programming software through the precise three-dimensional model of the workpiece and the spraying process parameters, and has high trajectory planning accuracy and spraying efficiency. However, since the offline programming method not only requires the workpiece model to be accurate, but also requires that the workpiece posture in the simulation environment is completely consistent with the actual posture, it has poor adaptability to environmental changes and workpiece position deviations. Any slight deviation between the model and the actual workpiece may lead to a decline in spraying quality.

[0004] Therefore, how to improve the accuracy and consistency of the spray path and enhance the adaptability and flexibility of the spray system is an urgent problem to be solved. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a visual positioning method, device, equipment and medium for an automatic spraying robot, which can improve the accuracy and consistency of the spraying path and enhance the adaptability and flexibility of the spraying system. The specific scheme is as follows:

[0006] In a first aspect, the present application provides a visual positioning method for an automatic spraying robot, comprising:

[0007] The spraying path of the automatic spraying robot for the object to be sprayed is planned by means of offline programming software to obtain an initial spraying path;

[0008] Using a preset visual positioning system to monitor the object to be sprayed to obtain actual position information of the object to be sprayed;

[0009] The actual position information is calculated using a preset algorithm to obtain a position offset of the object to be sprayed relative to a preset object template; the preset object template is an object template determined based on the object to be sprayed;

[0010] If the position offset is greater than a preset threshold, the initial spraying path of the automatic spraying robot is corrected based on the position offset to obtain a corrected spraying path, so that the automatic spraying robot can automatically spray the object to be sprayed based on the corrected spraying path.

[0011] Optionally, before planning the spraying path of the automatic spraying robot for the object to be sprayed by the offline programming software to obtain the initial spraying path, the method further includes:

[0012] Acquire a three-dimensional computer-aided design model of the object to be sprayed, and determine the placement position of the object to be sprayed based on the three-dimensional computer-aided design model and paint shop information;

[0013] Point marks are set on the floor of the paint shop based on the placement position to determine a preset object template corresponding to the object to be sprayed, and the position coordinates of the preset object template are obtained.

[0014] Optionally, the monitoring of the object to be sprayed by using a preset visual positioning system to obtain actual position information of the object to be sprayed includes:

[0015] Roughly positioning the object to be sprayed by using the point marking to obtain rough position information of the object to be sprayed;

[0016] Using a preset visual positioning system to obtain surface feature points of the object to be sprayed in real time;

[0017] The rough position information is accurately positioned using the surface feature points and based on the three-dimensional computer-aided design model to obtain the actual position information of the object to be sprayed.

[0018] Optionally, the calculating the actual position information by using a preset algorithm to obtain a position offset of the object to be sprayed relative to a preset object template includes:

[0019] The three-dimensional geometric features of the actual position information are matched using a rigid body transformation algorithm to obtain a matching result, and the position offset of the object to be sprayed relative to the position coordinates of the preset object template is calculated based on the matching result.

[0020] Optionally, the correcting the initial spraying path of the automatic spraying robot based on the position offset to obtain a corrected spraying path includes:

[0021] The position offset is checked by the control system of the automatic spraying robot to obtain a check result, and based on the check result, the initial spraying path of the automatic spraying robot is corrected to obtain a corrected spraying path.

[0022] Optionally, the automatic spraying robot visual positioning method further includes:

[0023] Using a preset visual positioning system to monitor the actual position information of the object to be sprayed in real time to obtain real-time position information, and adjusting the corrected spray path in real time based on the real-time position information;

[0024] The automatic spraying robot is rotationally corrected using quaternion representation, and the spraying parameters of the automatic spraying robot are adjusted based on real-time changes in the surface of the object to be sprayed.

[0025] Optionally, the automatic spraying robot visual positioning method further includes:

[0026] The preset visual positioning system is placed in an explosion-proof box, and the upper and lower covers of the explosion-proof box are sealed with O-rings to ensure stable operation of the preset visual positioning system.

[0027] In a second aspect, the present application provides a visual positioning device for an automatic spraying robot, comprising:

[0028] A spraying path acquisition module is used to plan the spraying path of the automatic spraying robot for the object to be sprayed through offline programming software to obtain an initial spraying path;

[0029] A position information acquisition module, used to monitor the object to be sprayed using a preset visual positioning system to obtain actual position information of the object to be sprayed;

[0030] A position offset acquisition module, used to calculate the actual position information using a preset algorithm to obtain a position offset of the object to be sprayed relative to a preset object template; the preset object template is an object template determined based on the object to be sprayed;

[0031] A spraying path correction module is used to correct the initial spraying path of the automatic spraying robot based on the position offset to obtain a corrected spraying path if the position offset is greater than a preset threshold, so that the automatic spraying robot can automatically spray the object to be sprayed based on the corrected spraying path.

[0032] In a third aspect, the present application provides an electronic device, including:

[0033] Memory, used to store computer programs;

[0034] A processor is used to execute the computer program to implement the aforementioned automatic spraying robot visual positioning method.

[0035] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned automatic spray robot visual positioning method is implemented.

[0036] As can be seen from the above, the present application first plans the spraying path of the automatic spray robot for the object to be sprayed through offline programming software to obtain an initial spraying path; uses a preset visual positioning system to monitor the object to be sprayed to obtain the actual position information of the object to be sprayed; uses a preset algorithm to calculate the actual position information to obtain the position offset of the object to be sprayed relative to a preset object template; the preset object template is an object template determined based on the object to be sprayed; if the position offset is greater than a preset threshold, the initial spraying path of the automatic spray robot is corrected based on the position offset to obtain a corrected spraying path, so that the automatic spray robot can automatically spray the object to be sprayed based on the corrected spraying path. In this way, the spraying path of the automatic spraying robot is planned by offline programming software, which ensures that the automatic spraying robot can cover the entire spraying area, and the accurate spraying path is calculated in advance to make the spraying process smoother and more efficient; the actual position of the object to be sprayed is monitored in real time by the visual positioning system, and the spraying path of the automatic spraying robot is corrected in real time, which ensures the accuracy of the automatic spraying robot in the spraying process of the object to be sprayed. That is, the present application adopts a visual positioning system to record the actual position of the object to be sprayed, and adjusts the spraying path of the automatic spraying robot in real time to optimize the spraying path, which not only improves the accuracy and consistency of the spraying path, but also greatly enhances the adaptability and flexibility of the spraying system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0038] Figure 1 This is a flow chart of a visual positioning method for an automatic spraying robot disclosed in this application;

[0039] Figure 2 A physical picture of the visual positioning system and its explosion-proof device disclosed in this application;

[0040] Figure 3 The design drawing of the camera bracket and the camera explosion-proof box disclosed in this application; wherein, Figure 3 (a) is a camera stand, Figure 3 (b) The camera explosion-proof box cover, Figure 3 (c) is the base of the explosion-proof box of the camera;

[0041] Figure 4 This is a schematic diagram of the trajectory planning of the UAV spraying operation disclosed in this application; wherein, Figure 4 (a) is a schematic diagram of the automatic spraying robot spraying. Figure 4 (b) is a schematic diagram of the UAV segmentation;

[0042] Figure 5 This is a structural schematic diagram of a visual positioning device for an automatic spraying robot disclosed in this application;

[0043] Figure 6 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Traditional manual spraying operations have problems such as low spraying efficiency, uneven paint layer thickness, and serious waste of paint. With the development of advanced manufacturing technologies such as robots, spraying robots evolved from industrial robots are gradually replacing manual spraying, making spraying develop in the direction of intelligence and flexibility, which not only improves the working environment, but also improves the spraying quality and production efficiency. At present, the trajectory planning of spraying robots mainly adopts manual teaching and offline programming methods. The manual teaching method has the disadvantages of low spraying efficiency, poor trajectory accuracy, and dependence on the skills and experience of the operator. The offline programming method has high trajectory planning accuracy and spraying efficiency, but because the offline programming method not only requires the workpiece model to be accurate, but also requires the workpiece posture in the simulation environment to be completely consistent with the actual posture, resulting in poor adaptability to environmental changes and workpiece position deviations. Any slight deviation between the model and the actual workpiece may lead to a decrease in spraying quality. Therefore, this application will specifically introduce a visual positioning method for an automatic spraying robot that can solve the above problems.

[0046] See also Figure 1 As shown, the embodiment of the present invention discloses a visual positioning method for an automatic spraying robot, which may include:

[0047] Step S11 : planning a spraying path of the automatic spraying robot for the object to be sprayed by using off-line programming software to obtain an initial spraying path.

[0048] In the present embodiment, the spraying path planning is performed on the spraying object such as a drone by an offline programming software to ensure that the automatic spraying robot can cover the entire spraying area. It should be pointed out that the offline programming method can be free from the limitation of the movement of the automatic spraying robot itself, and the accurate spraying path can be calculated in advance, so that the spraying process is smoother and more efficient. In this process, the spraying path and spraying process parameters such as spraying angle, speed and pressure can be adjusted and optimized in the software. The present embodiment simulates the path to ensure that the planned path can avoid obstacles in the spraying area, and the accessibility of the spraying equipment can be guaranteed, avoiding collisions or omissions during the actual spraying process. Among them, the offline programming software can provide real-time feedback and discover potential problems in advance during the simulation process.

[0049] In this embodiment, the process of planning the spraying path of the automatic spraying robot for the object to be sprayed by the offline programming software to obtain the initial spraying path also includes: obtaining a three-dimensional computer-aided design model of the object to be sprayed, and determining the placement position of the object to be sprayed based on the three-dimensional computer-aided design model and the paint shop information; setting point marks on the floor of the paint shop based on the placement position to determine the preset object template corresponding to the object to be sprayed, and obtaining the position coordinates of the preset object template. In other words, the three-dimensional CAD (Computer-Aided Design) model of the object to be sprayed is obtained, and the placement position of the object to be sprayed is determined in combination with the shape, size and installation position of the paint shop, and point marks are set on the floor of the paint shop to obtain the position coordinates of the object template corresponding to the object to be sprayed.

[0050] Step S12: using a preset visual positioning system to monitor the object to be sprayed to obtain actual position information of the object to be sprayed.

[0051] In this embodiment, the object to be sprayed is roughly positioned by the point marking to obtain the rough position information of the object to be sprayed; the surface feature points of the object to be sprayed are acquired in real time by using a preset visual positioning system; the rough position information is precisely positioned by using the surface feature points and based on the three-dimensional computer-aided design model to obtain the actual position information of the object to be sprayed. That is to say, in order to accurately obtain the position information of the object to be sprayed, the rough position of the object to be sprayed must first be determined by the point marking to provide a reference framework for further precise positioning. The actual position of the object to be sprayed is then recorded by the visual positioning system, wherein the visual positioning system includes but is not limited to a high-precision camera and a laser radar. In this embodiment, a high-precision camera is taken as an example. The high-precision camera captures the feature points on the surface of the object to be sprayed in real time and precisely positions it in combination with the three-dimensional CAD model. It should be pointed out that the high-precision camera is installed in a camera explosion-proof box, and the high-precision camera and the camera explosion-proof box are fixed above the automatic spray robot through an independently designed camera bracket, such as Figure 2 This is a physical picture of the high-precision camera, the camera explosion-proof box and the camera bracket.

[0052] Step S13, using a preset algorithm to calculate the actual position information to obtain a position offset of the object to be sprayed relative to a preset object template; the preset object template is an object template determined based on the object to be sprayed.

[0053] In this embodiment, the three-dimensional geometric features of the actual position information are matched using a rigid body transformation algorithm to obtain a matching result, and the position offset of the object to be sprayed relative to the position coordinates of the preset object template is calculated based on the matching result. In other words, the rigid body transformation algorithm can output the position offset of the object to be sprayed relative to the position coordinates of the preset object template in a short time based on the precise matching of the three-dimensional geometric features of the object to be sprayed, and determine whether the position offset is greater than a preset threshold.

[0054] Step S14: If the position offset is greater than a preset threshold, the initial spraying path of the automatic spraying robot is corrected based on the position offset to obtain a corrected spraying path, so that the automatic spraying robot can automatically spray the object to be sprayed based on the corrected spraying path.

[0055] In this embodiment, the position offset is checked by the control system of the automatic spraying robot to obtain a test result, and the initial spraying path of the automatic spraying robot is corrected based on the test result to obtain a corrected spraying path. That is to say, if the visual positioning system detects that the position offset is greater than a preset threshold, the initial spraying path of the automatic spraying robot is corrected based on the position offset. This process is adjusted by the control system of the automatic spraying robot, such as a PLC (Programmable Logic Controller) and a robot controller, to ensure that the motion path of the automatic spraying robot remains accurate at all times.

[0056] In this embodiment, the actual position information of the object to be sprayed is monitored in real time by a preset visual positioning system to obtain the real-time position information, and the corrected spray path is adjusted in real time based on the real-time position information; the automatic spray robot is rotated and corrected by a quaternion representation, and the spraying parameters of the automatic spray robot are adjusted based on the real-time changes of the surface of the object to be sprayed. That is to say, through the real-time monitoring of the actual position information of the object to be sprayed by the visual positioning system, the spraying path can be automatically adjusted according to the real-time position information of the object to be sprayed, so that the spraying process continues to be accurate. In the process of trajectory correction, this embodiment uses the quaternion representation to perform rotation correction on the automatic spray robot, which avoids the universal joint deadlock problem existing in the traditional Euler angle method. It should be noted that, through the calculation of quaternions, the posture of the automatic spray robot can be adjusted more accurately to ensure the accuracy during the spraying process. In addition, the visual positioning system can also adjust the spraying parameters such as spraying angle, nozzle distance, etc. according to the real-time changes of the surface of the object to be sprayed. If there are protrusions or depressions on the surface of the object to be sprayed, the visual positioning system can detect them in time and make dynamic corrections to keep the spraying effect uniform and consistent.

[0057] In this embodiment, the preset visual positioning system is placed in an explosion-proof box, and the upper and lower covers of the explosion-proof box are sealed with O-rings to ensure the stable operation of the preset visual positioning system. Specifically, considering the particularity of the automatic spraying operation environment, such as the presence of high temperature, sparks and harmful gases, a camera explosion-proof box is designed in this embodiment. This device ensures the safe operation of the visual system in extreme environments and prevents visual equipment from being damaged by environmental factors. It should be noted that the camera explosion-proof box is made of 304 stainless steel and 1060 aluminum alloy materials, and has excellent impact and shock resistance. The camera explosion-proof box is equipped with explosion-proof lenses, i.e. tempered glass, which can effectively block sparks and heat and ensure unobstructed camera light transmission. The preset visual positioning system is placed in the camera explosion-proof box, and then the upper and lower covers of the camera explosion-proof box are sealed with O-rings to prevent high-temperature gases or harmful gases from leaking into the box. The camera explosion-proof box is equipped with a cable extension box and a standard cable interface to provide a stable and safe connection between the high-precision camera and the control system. The cable interface adopts a sealed design to prevent harmful gases or liquids from entering the equipment to ensure the safety of the system. It should be pointed out that the design of the camera explosion-proof box takes into account convenient disassembly and replacement. Maintenance personnel can quickly replace damaged parts, reducing downtime and maintenance costs.

[0058] Specifically, the design drawings of the camera bracket and camera explosion-proof box are as follows: Figure 3As shown, the explosion-proof box for camera consists of a camera mounting frame (304 stainless steel), a camera box base (1060 aluminum alloy), a top cover, a cable extension box (6061 aluminum alloy), a cable interface (Q235), an O-ring (nitrile rubber), a hexagon socket head screw (20 pieces), a standard spring washer (14 pieces), a flat washer (Grade A, 4 pieces), etc. The camera mounting frame is used to fix the camera and install it on the camera box base, and the camera box base is used to hold the camera and the mounting frame. The top cover consists of a top cover bottom plate (1060 aluminum alloy), an explosion-proof lens (tempered glass), a glass pressure plate (1060 aluminum alloy), a sealing gasket (rubber), an O-ring (nitrile rubber), a standard spring washer (10 pieces), a hexagon head bolt (10 pieces), and a flat washer (Grade A, 10 pieces), which is used to close the top of the base. The top cover bottom plate is the top cover base, which is installed on the camera box base. The explosion-proof lens is used for the camera light to penetrate. The glass pressure plate is used to fix the lens to the upper cover bottom plate. The sealing gasket is used to ensure the seal between the lens and the pressure plate. The O-ring is used to ensure the seal between the pressure plate and the bottom plate. The O-ring is used to seal between the upper cover bottom plate and the camera box base and between the cable extension box and the camera box base. The cable extension box is used to hold the connector and excess cables, and the cable interface is the entry point for the camera cable.

[0059] As can be seen from the above, this embodiment first plans the spraying path of the automatic spray robot for the object to be sprayed through offline programming software to obtain an initial spraying path; uses a preset visual positioning system to monitor the object to be sprayed to obtain the actual position information of the object to be sprayed; uses a preset algorithm to calculate the actual position information to obtain the position offset of the object to be sprayed relative to a preset object template; the preset object template is an object template determined based on the object to be sprayed; if the position offset is greater than a preset threshold, the initial spraying path of the automatic spray robot is corrected based on the position offset to obtain a corrected spraying path, so that the automatic spray robot can automatically spray the object to be sprayed based on the corrected spraying path. In this way, the spraying path planning of the automatic spraying robot is carried out through the offline programming software, which ensures that the automatic spraying robot can cover the entire spraying area, and the accurate spraying path is calculated in advance to make the spraying process smoother and more efficient; the actual position of the object to be sprayed is monitored in real time through the visual positioning system, and the spraying path of the automatic spraying robot is corrected in real time, which ensures the accuracy of the automatic spraying robot spraying the object to be sprayed. That is, this embodiment uses the visual positioning system to record the actual position of the object to be sprayed, and adjusts the spraying path of the automatic spraying robot in real time to optimize the spraying path, which not only improves the accuracy and consistency of the spraying path, but also greatly enhances the adaptability and flexibility of the spraying system.

[0060] The technical solution of the present application is more suitable for application in the field of automatic spraying of large equipment. The technical solution in the present application is explained below using a large unmanned aerial vehicle as an example.

[0061] For the spraying path of the automatic spraying robot, the center line of the drone to be sprayed is used as the baseline, and a symmetrical spraying method is adopted to ensure uniform spraying on both sides. Figure 4 As shown in (a), the R21 robot first sprays the drone to be sprayed, and after a preset time, such as 3 minutes, the R11 robot sprays the drone to be sprayed. After the automatic spraying robot completes the spraying, it moves around the tail of the drone to be sprayed and returns to the automatic spraying robot parking area. Since the surface curve of the drone to be sprayed is complex and has a large area, it is necessary to consider the overlap of the wet film during the paint spraying process, and the spraying path is divided and executed according to different modules. Figure 4 As shown in (b), the digital sequence indicates the spraying order. The ordering principle between modules is from wet film to dry film, and spraying is performed back and forth at the bifurcation interface. For example, the automatic spraying robot on the left starts spraying from the starting position of the wing. When it bifurcates toward the nose and tail, it will first spray module 8 toward the nose, then return to the tail to spray module 9, and then toward the nose. Module 10, and so on, forming a cyclical spraying process. The selection and combination of actual spraying modules can be flexibly adjusted according to specific circumstances to ensure that it is completed within 10 minutes at the wet film overlap position, thereby improving spraying efficiency while ensuring quality.

[0062] Accordingly, see Figure 5 As shown, the embodiment of the present application also provides a visual positioning device for an automatic spraying robot, which may include:

[0063] The spraying path acquisition module 11 is used to plan the spraying path of the automatic spraying robot for the object to be sprayed through the offline programming software to obtain an initial spraying path;

[0064] A position information acquisition module 12 is used to monitor the object to be sprayed using a preset visual positioning system to obtain actual position information of the object to be sprayed;

[0065] A position offset acquisition module 13 is used to calculate the actual position information using a preset algorithm to obtain a position offset of the object to be sprayed relative to a preset object template; the preset object template is an object template determined based on the object to be sprayed;

[0066] The spraying path correction module 14 is used to correct the initial spraying path of the automatic spraying robot based on the position offset to obtain a corrected spraying path if the position offset is greater than a preset threshold, so that the automatic spraying robot can automatically spray the object to be sprayed based on the corrected spraying path.

[0067] In this way, the spraying path of the automatic spraying robot is planned by offline programming software, which ensures that the automatic spraying robot can cover the entire spraying area, and the accurate spraying path is calculated in advance to make the spraying process smoother and more efficient; the actual position of the object to be sprayed is monitored in real time by the visual positioning system, and the spraying path of the automatic spraying robot is corrected in real time, which ensures the accuracy of the automatic spraying robot in the spraying process of the object to be sprayed. That is, the present application adopts a visual positioning system to record the actual position of the object to be sprayed, and adjusts the spraying path of the automatic spraying robot in real time to optimize the spraying path, which not only improves the accuracy and consistency of the spraying path, but also greatly enhances the adaptability and flexibility of the spraying system.

[0068] In some specific implementations, the spraying path acquisition module 11 may further include:

[0069] A placement position determination unit, used to obtain a three-dimensional computer-aided design model of the object to be sprayed, and determine the placement position of the object to be sprayed based on the three-dimensional computer-aided design model and paint shop information;

[0070] The object template acquisition unit is used to set a point mark on the floor of the paint shop based on the placement position to determine a preset object template corresponding to the object to be sprayed, and to acquire the position coordinates of the preset object template.

[0071] In some specific implementations, the location information acquisition module 12 may include:

[0072] A rough position information obtaining unit, used for roughly locating the object to be sprayed by using the point mark to obtain the rough position information of the object to be sprayed;

[0073] A surface feature point acquisition unit, used to acquire the surface feature points of the object to be sprayed in real time using a preset visual positioning system;

[0074] The actual position information acquisition unit is used to accurately locate the rough position information based on the three-dimensional computer-aided design model using the surface feature points to obtain the actual position information of the object to be sprayed.

[0075] In some specific implementations, the position offset acquisition module 13 may include:

[0076] The position offset determination unit is used to match the three-dimensional geometric features of the actual position information using a rigid body transformation algorithm to obtain a matching result, and calculate the position offset of the position coordinates of the object to be sprayed relative to the preset object template based on the matching result.

[0077] In some specific embodiments, the spray path correction module 14 may include:

[0078] The corrected spraying path determining unit is used to check the position offset through the control system of the automatic spraying robot to obtain a check result, and based on the check result, correct the initial spraying path of the automatic spraying robot to obtain a corrected spraying path.

[0079] In some specific embodiments, the automatic spraying robot visual positioning device may further include:

[0080] A spraying path adjustment unit, used to monitor the actual position information of the object to be sprayed in real time by using a preset visual positioning system to obtain real-time position information, and to adjust the corrected spraying path in real time based on the real-time position information;

[0081] The spraying parameter adjustment unit is used to perform rotation correction on the automatic spraying robot using quaternion representation, and adjust the spraying parameters of the automatic spraying robot based on real-time changes of the surface of the object to be sprayed.

[0082] In some specific embodiments, the automatic spraying robot visual positioning device may further include:

[0083] The explosion-proof box sealing unit is used to place the preset visual positioning system in the explosion-proof box, and use O-rings to seal the upper and lower covers of the explosion-proof box to ensure the stable operation of the preset visual positioning system.

[0084] Furthermore, the present application also discloses an electronic device. Figure 6 It is a structural diagram of an electronic device 20 shown according to an exemplary embodiment, and the content in the figure cannot be regarded as any limitation on the scope of use of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input and output interface 25 and a communication bus 26. Among them, the memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the automatic spray robot visual positioning method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment can specifically be an electronic computer.

[0085] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0086] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0087] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, which can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the automatic spraying robot visual positioning method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks.

[0088] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned automatic spraying robot visual positioning method is implemented. The specific steps of the method can refer to the corresponding contents disclosed in the aforementioned embodiments, and will not be repeated here.

[0089] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0090] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0091] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0092] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0093] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A visual positioning method for an automatic spraying robot, characterized in that: include: The spraying path of the automatic spraying robot for the object to be sprayed is planned by means of offline programming software to obtain an initial spraying path; Using a preset visual positioning system to monitor the object to be sprayed to obtain actual position information of the object to be sprayed; Calculating the actual position information using a preset algorithm to obtain a position offset of the object to be sprayed relative to a preset object template; The preset object template is an object template determined based on the object to be sprayed; If the position offset is greater than a preset threshold, the initial spraying path of the automatic spraying robot is corrected based on the position offset to obtain a corrected spraying path, so that the automatic spraying robot can automatically spray the object to be sprayed based on the corrected spraying path.

2. The automatic spraying robot visual positioning method according to claim 1, characterized in that: Before planning the spraying path of the automatic spraying robot for the object to be sprayed by the offline programming software to obtain the initial spraying path, the method further includes: Acquire a three-dimensional computer-aided design model of the object to be sprayed, and determine the placement position of the object to be sprayed based on the three-dimensional computer-aided design model and paint shop information; Point marks are set on the floor of the paint shop based on the placement position to determine a preset object template corresponding to the object to be sprayed, and the position coordinates of the preset object template are obtained.

3. The automatic spraying robot visual positioning method according to claim 2, characterized in that: The method of monitoring the object to be sprayed by using a preset visual positioning system to obtain actual position information of the object to be sprayed includes: Roughly positioning the object to be sprayed by using the point marking to obtain rough position information of the object to be sprayed; Using a preset visual positioning system to obtain surface feature points of the object to be sprayed in real time; The rough position information is accurately positioned using the surface feature points and based on the three-dimensional computer-aided design model to obtain the actual position information of the object to be sprayed.

4. The automatic spraying robot visual positioning method according to claim 1, characterized in that: The method of calculating the actual position information by using a preset algorithm to obtain a position offset of the object to be sprayed relative to a preset object template includes: The three-dimensional geometric features of the actual position information are matched using a rigid body transformation algorithm to obtain a matching result, and the position offset of the object to be sprayed relative to the position coordinates of the preset object template is calculated based on the matching result.

5. The automatic spraying robot visual positioning method according to claim 1, characterized in that: The method of correcting the initial spraying path of the automatic spraying robot based on the position offset to obtain a corrected spraying path includes: The position offset is checked by the control system of the automatic spraying robot to obtain a check result, and based on the check result, the initial spraying path of the automatic spraying robot is corrected to obtain a corrected spraying path.

6. The automatic spraying robot visual positioning method according to claim 5, characterized in that: Also includes: Using a preset visual positioning system to monitor the actual position information of the object to be sprayed in real time to obtain real-time position information, and adjusting the corrected spray path in real time based on the real-time position information; The automatic spraying robot is rotationally corrected using quaternion representation, and the spraying parameters of the automatic spraying robot are adjusted based on real-time changes in the surface of the object to be sprayed.

7. The automatic spraying robot visual positioning method according to any one of claims 1 to 6, characterized in that: Also includes: The preset visual positioning system is placed in an explosion-proof box, and the upper and lower covers of the explosion-proof box are sealed with O-rings to ensure stable operation of the preset visual positioning system.

8. A visual positioning device for an automatic spraying robot, characterized in that: include: A spraying path acquisition module is used to plan the spraying path of the automatic spraying robot for the object to be sprayed through offline programming software to obtain an initial spraying path; A position information acquisition module, used to monitor the object to be sprayed using a preset visual positioning system to obtain actual position information of the object to be sprayed; A position offset acquisition module, used to calculate the actual position information using a preset algorithm to obtain a position offset of the object to be sprayed relative to a preset object template; The preset object template is an object template determined based on the object to be sprayed; A spraying path correction module is used to correct the initial spraying path of the automatic spraying robot based on the position offset to obtain a corrected spraying path if the position offset is greater than a preset threshold, so that the automatic spraying robot can automatically spray the object to be sprayed based on the corrected spraying path.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the automatic spraying robot visual positioning method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store computer programs; wherein, when the computer program is executed by a processor, the automatic spray robot visual positioning method as described in any one of claims 1 to 7 is implemented.

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