Whole wagon mark automatic coating system

Abstract

The invention relates to the field of vehicle mark spraying, in particular to an automatic spraying system for a whole vehicle mark of a railway wagon. Comprising a vehicle identification device, a server, an identification tag and a spraying robot. The identification device is used for identifying vehicle information through the identification tag and uploading the vehicle information to the server; the server comprises an information identification module which is used for determining a pattern needing to be sprayed on the vehicle according to the vehicle information and sending the pattern to the spraying robot; and the spraying robot is used for identifying a vehicle reference point, determining a pattern spraying position according to the reference point, and spraying at the spraying position according to the received pattern. Pattern spraying can be automatically and continuously carried out on the railway wagon.

Description

Technical Field

[0001] The invention relates to the field of vehicle marking spraying, and in particular to an automatic whole-vehicle marking spraying system for railway freight cars. Background Art

[0002] Common railway freight cars include open wagons, covered wagons, flat wagons, tank wagons, insulated wagons, etc. Freight cars usually have patterns and numbers sprayed on the body to identify the vehicle. For example, C stands for open wagons, and common models include C62K, C70, C80, etc. P stands for covered wagons, and common models include P62, P64, P70, etc. X stands for container-specific flat wagons, and common models include X70, X6K, etc. B stands for insulated wagons, and common models include B19, B20, B21, etc. In addition, there are tank wagons, special transport vehicles, etc.

[0003] Before a new railway freight car is manufactured and shipped out of the factory, patterns and numbers will be sprayed on it to mark the vehicle. As the railway freight car is used, the clarity of the sprayed markings will gradually decrease, so the markings will be re-sprayed when the vehicle is repaired. The traditional spraying method of railway freight car markings mainly relies on manual spraying using word-leaking templates; although there are corresponding spraying robots in the existing technology, they still require manual assistance. Personnel input the pattern to be sprayed and the spraying position, and manually control the spraying robot. In particular, there is currently no effective solution to the problem of uneven spraying surfaces of maintenance vehicle markings. Therefore, the existing railway freight car robot marking spraying technology has not been industrialized. Summary of the invention

[0004] The technical problem solved by the present invention is to provide a railway freight car full-vehicle marking automatic painting system, which can automatically and continuously spray patterns on railway freight cars.

[0005] The basic solution provided by the present invention is: a railway freight car full-vehicle marking automatic painting system, including a vehicle identification device, a server, an identification tag and a spraying robot; the identification device is used to identify the vehicle information through the identification tag and upload it to the server;

[0006] The server includes an information identification module;

[0007] An information recognition module is used to determine the pattern that needs to be sprayed on the vehicle based on the vehicle information and send the pattern to the spraying robot;

[0008] The spraying robot is used to identify the reference point of the vehicle, determine the pattern spraying position according to the reference point, and spray at the spraying position according to the received pattern.

[0009] The principle and advantage of the present invention are: before the vehicle is sprayed, an identification tag is set on the vehicle, the identification tag is identified by the identification device, the vehicle information of the vehicle to be sprayed is obtained, and the vehicle information is sent to the server. After the server receives the vehicle information, it generates the pattern to be sprayed on the vehicle to be sprayed according to the vehicle information, and sends the pattern to be sprayed and the position of the pattern spraying to the spraying robot. After receiving the pattern to be sprayed, the spraying robot first identifies the reference point in the vehicle line for positioning, finds the position of the pattern spraying, and then sprays according to the received pattern.

[0010] Compared with the existing technology, the vehicle information is identified through tags, and then the pattern to be sprayed is automatically generated. After that, the spraying robot can automatically spray according to the received pattern and the required position of the pattern, without the need for human intervention, thereby improving production efficiency.

[0011] Furthermore, the spraying robot includes a control system, a positioning sensor, an action mechanism and a spraying mechanism, and the control system includes a pattern positioning module and a spraying control module;

[0012] The pattern positioning module is used to obtain the vehicle endpoint position and the distance between the pattern spraying position and the vehicle endpoint through the positioning sensor, and control the action module to drive the spraying robot to move to the robot fixed point position corresponding to the pattern spraying position;

[0013] The spraying control module is used to control the spraying mechanism to perform pattern spraying at the pattern spraying position according to the received pattern.

[0014] During spraying, the end point of the vehicle is located by positioning the positioning sensor, and the end point of the vehicle is used as a reference point to find the position where the pattern needs to be sprayed. By calculating the distance between the pattern spraying position and the vehicle end point, the robot can be controlled to move, and then the spraying robot can be controlled to position near the pattern spraying position, and then the spraying mechanism can be controlled to spray the pattern on the vehicle body.

[0015] Furthermore, the spraying robot is provided with a distance sensor, which is used to detect the distance between the spray head and the surface of the vehicle body at the pattern spraying position, and the control system also includes a depression recognition module;

[0016] A dent recognition module, which identifies whether there is a dent on the surface of the vehicle body according to the distance detected by the distance sensor;

[0017] The spray control module is used to adjust the distance between the spray head and the vehicle body surface when a depression is detected on the vehicle body surface.

[0018] Since the vehicle being sprayed is not necessarily a new car, the old car pattern will be cleaned and re-sprayed after it is worn out. During the use of old cars, there may be some dents on the vehicle surface. When there are dents at the pattern spraying position, if the original spraying method is used, the pattern will be deformed. Therefore, the distance sensor is used to identify the position of the nozzle and the vehicle surface, and the distance between the nozzle and the vehicle surface is controlled according to the position of the spray and the vehicle surface. When there are dents on the vehicle surface, adaptive adjustments are made to ensure a clear pattern.

[0019] Furthermore, it also includes a weight detection device, which is used to detect the weight of the vehicle body;

[0020] The server also includes a weight acquisition module;

[0021] A weight acquisition module is used to obtain the measured vehicle weight and send the vehicle weight to the spraying robot;

[0022] The spraying control module is also used to control the spraying mechanism to spray the weight mark on the vehicle body according to the weight of the vehicle body.

[0023] The vehicle weight is detected and after identification, the weight is sent to the server, which then sends the weight to the vehicle spraying robot, which then sprays the vehicle weight information on the vehicle body.

[0024] Furthermore, it also includes a vehicle track and a robot track. The vehicle to be sprayed moves on the vehicle track, the identification device is arranged on the vehicle track, and the identification tag is arranged on the bottom of the vehicle to be sprayed; the robot track is located on one side of the vehicle track and is parallel to the vehicle track, and the spraying robot moves on the spraying track.

[0025] The vehicle enters the spraying plant through the vehicle track, the identification device is set on the vehicle track, and the identification tag is set at the bottom of the vehicle. When the vehicle enters, the identification device can scan the identification tag to obtain vehicle information. The spraying robot moves on the vehicle track.

[0026] Furthermore, the spraying robot is also provided with an image acquisition module, and the server further includes an image recognition module;

[0027] An image acquisition module is used to acquire a pattern image after spraying is completed;

[0028] The image recognition module is used to recognize the pattern image, determine whether the pattern image meets the requirements, and send the judgment result to the specified client. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic diagram of an embodiment of the present invention. DETAILED DESCRIPTION

[0030] The following is further described in detail through specific implementation methods:

[0031] The embodiment is basically as shown in the attached Figure 1 As shown:

[0032] A railway freight car full-vehicle marking automatic painting system, comprising a vehicle identification device, a server, an identification tag and a spraying robot; the identification device is used to identify vehicle information through the identification tag and upload it to the server;

[0033] The server includes an information identification module

[0034] An information recognition module is used to determine the pattern that needs to be sprayed on the vehicle based on the vehicle information and send the pattern to the spraying robot;

[0035] The spraying robot is used to identify the reference point of the vehicle, determine the pattern spraying position according to the reference point, and spray at the spraying position according to the received pattern.

[0036] Before the vehicle is sprayed, an identification tag is set on the vehicle, and the identification tag is identified by the identification device to obtain the vehicle information of the vehicle to be sprayed, and the vehicle information is sent to the server. After receiving the vehicle information, the server generates the pattern to be sprayed on the vehicle to be sprayed according to the vehicle information, and sends the pattern to be sprayed and the position of the pattern spraying to the spraying robot. After receiving the pattern to be sprayed, the spraying robot first identifies the reference point on the vehicle for positioning, finds the position of the pattern spraying, and then sprays according to the received pattern.

[0037] Specifically, P stands for boxcars, and common models include P62, P64, P70, etc. C stands for open wagons, and common models include C62K, C70, C80, etc. X stands for container-specific flat cars, and common models include X70, X6K, etc. B stands for insulated wagons, and common models include B19, B20, B21, etc. G stands for tank cars, and common models include G17, G60, G70, etc. JSQ stands for automobile-specific transport vehicles, and common models include JSQ3, JSQ5, and JSQ6. According to the identified vehicle information, the corresponding model identification pattern is sprayed on the vehicle.

[0038] The vehicle information is identified through the label, and the pattern that needs to be sprayed is automatically generated. After that, the spraying robot can automatically spray according to the received pattern and the required position of the pattern, without the need for human intervention, thereby improving production efficiency.

[0039] The spraying robot includes a control system, a positioning sensor, an action mechanism and a spraying mechanism. The control system includes a pattern positioning module and a spraying control module.

[0040] The pattern positioning module is used to obtain the vehicle endpoint position and the distance between the pattern spraying position and the vehicle endpoint through the positioning sensor, and control the action module to drive the spraying robot to move to the robot fixed point position corresponding to the pattern spraying position;

[0041] The spraying control module is used to control the spraying mechanism to perform pattern spraying at the pattern spraying position according to the received pattern.

[0042] During spraying, the end point of the vehicle is located by positioning the positioning sensor, and the end point of the vehicle is used as a reference point to find the position where the pattern needs to be sprayed. By calculating the distance between the pattern spraying position and the vehicle end point, the robot can be controlled to move, and then the spraying robot can be controlled to position near the pattern spraying position, and then the spraying mechanism can be controlled to spray the pattern on the vehicle body.

[0043] The spraying robot is provided with a distance sensor, which is used to detect the distance between the spray head and the surface of the vehicle body at the pattern spraying position, and the control system also includes a depression recognition module;

[0044] A dent recognition module, which identifies whether there is a dent on the surface of the vehicle body according to the distance detected by the distance sensor;

[0045] The spray control module is used to adjust the distance between the spray head and the vehicle body surface when a depression is detected on the vehicle body surface.

[0046] Since the vehicle being sprayed is not necessarily a new car, the old car pattern will be cleaned and re-sprayed after it is worn out. During the use of old cars, there may be some dents on the vehicle surface. When there are dents at the pattern spraying position, if the original spraying method is used, the pattern will be deformed. Therefore, the distance sensor is used to identify the position of the nozzle and the vehicle surface, and the distance between the nozzle and the vehicle surface is controlled according to the position of the spray and the vehicle surface. When there are dents on the vehicle surface, adaptive adjustments are made to ensure a clear pattern.

[0047] It also includes a weight detection device, which is used to detect the weight of the vehicle body;

[0048] The server also includes a weight acquisition module;

[0049] A weight acquisition module is used to obtain the measured vehicle weight and send the vehicle weight to the spraying robot;

[0050] The spraying control module is also used to control the spraying mechanism to spray the weight mark on the vehicle body according to the weight of the vehicle body.

[0051] Detect the weight of the vehicle. A gravity sensor is set under the track to detect the weight of the vehicle. After the weight of the vehicle is identified, the weight is sent to the server, and the server sends the weight to the spraying robot. The spraying robot sprays the weight information of the vehicle on the vehicle body.

[0052] It also includes a vehicle track and a robot track. The vehicle to be sprayed moves on the vehicle track, the identification device is arranged on the vehicle track, and the identification tag is arranged on the bottom of the vehicle to be sprayed; the robot track is located on one side of the vehicle track and is parallel to the vehicle track, and the spraying robot moves on the spraying track.

[0053] The spraying robot is also provided with an image acquisition module, specifically a binocular camera, which captures the pattern after spraying. The server also includes an image recognition module;

[0054] An image acquisition module is used to acquire a pattern image after spraying is completed;

[0055] The image recognition module is used to recognize the pattern image, determine whether the pattern image meets the requirements, and send the judgment result to the specified client.

[0056] The vehicle enters the spraying plant through the vehicle track, the identification device is set on the vehicle track, and the identification tag is set at the bottom of the vehicle. When the vehicle enters, the identification device can scan the identification tag to obtain vehicle information. The spraying robot moves on the vehicle track.

[0057] The above disclosure is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field are aware of all the common technical knowledge in the technical field to which the invention belongs before the application date or the priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for the ordinary technicians in the relevant field to implement this application. It should be pointed out that for the technicians in this field, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A railway freight car automatic marking system, characterized by: Including vehicle identification device, server, identification tag and spraying robot; The identification device is used to identify the vehicle information through the identification tag and upload it to the server; The server includes an information identification module; An information recognition module is used to determine the pattern that needs to be sprayed on the vehicle based on the vehicle information and send the pattern to the spraying robot; The spraying robot is used to identify the reference point of the vehicle, determine the pattern spraying position according to the reference point, and spray at the spraying position according to the received pattern.

2. The railway freight car automatic marking system according to claim 1 is characterized by: The spraying robot includes a control system, a positioning sensor, an action mechanism and a spraying mechanism. The control system includes a pattern positioning module and a spraying control module. The pattern positioning module is used to obtain the vehicle endpoint position and the distance between the pattern spraying position and the vehicle endpoint through the positioning sensor, and control the action module to drive the spraying robot to move to the robot fixed point position corresponding to the pattern spraying position; The spraying control module is used to control the spraying mechanism to perform pattern spraying at the pattern spraying position according to the received pattern.

3. The railway freight car automatic marking system according to claim 2 is characterized by: The spraying robot is provided with a distance sensor, which is used to detect the distance between the spray head and the surface of the vehicle body at the pattern spraying position, and the control system also includes a depression recognition module; A dent recognition module, which identifies whether there is a dent on the surface of the vehicle body according to the distance detected by the distance sensor; The spray control module is used to adjust the distance between the spray head and the vehicle body surface when a depression is detected on the vehicle body surface.

4. The railway freight car automatic marking system according to claim 3 is characterized by: It also includes a weight detection device, which is used to detect the weight of the vehicle body; The server also includes a weight acquisition module; A weight acquisition module is used to obtain the measured vehicle weight and send the vehicle weight to the spraying robot; The spraying control module is also used to control the spraying mechanism to spray the weight mark on the vehicle body according to the weight of the vehicle body.

5. The railway freight car automatic marking system according to claim 1 is characterized by: It also includes a vehicle track and a robot track. The vehicle to be sprayed moves on the vehicle track, the identification device is arranged on the vehicle track, and the identification tag is arranged on the bottom of the vehicle to be sprayed; the robot track is located on one side of the vehicle track and is parallel to the vehicle track, and the spraying robot moves on the spraying track.

6. The railway freight car automatic marking system according to claim 5 is characterized by: The spraying robot is also provided with an image acquisition module, and the server also includes an image recognition module; An image acquisition module is used to acquire a pattern image after spraying is completed; The image recognition module is used to recognize the pattern image, determine whether the pattern image meets the requirements, and send the judgment result to the specified client.

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