Method and system for regulating and controlling paint spraying process of hydraulic cylinder

Abstract

The invention discloses a paint spraying process regulation and control method and system for a hydraulic cylinder, and relates to the technical field of intelligent control. The method comprises the following steps: modeling according to process design information of a paint spraying process object to obtain a paint spraying process model; carrying out paint spraying path planning to obtain a paint spraying path track; a paint spraying path track is deconstructed, and a paint spraying control sequence and a rotation control sequence are obtained; after the rotary supporting structure controls the paint spraying process object to be aligned with the spray gun, the paint spraying control sequence and the rotary control sequence are adopted to cooperatively operate the hydraulic cylinder and the rotary supporting structure for surface paint spraying; the paint spraying layer number specification is obtained interactively; and in the surface layer-by-layer paint spraying treatment process of the paint spraying process object, paint spraying deviation identification is conducted on the paint spraying process object, and paint spraying path tracks are cyclically updated according to the identification result until a paint spraying process finished product is obtained. The technical problems that in the prior art, the paint spraying process is unstable in quality and low in efficiency are solved, and the technical effect of improving the quality and efficiency of the paint spraying process is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control, and particularly relates to a method and system for regulating a painting process of a hydraulic cylinder. Background Art

[0002] With the rapid development of modern manufacturing industry, the requirements for the appearance quality of products are increasing day by day. Among them, the painting process, as a key link to improve the aesthetics and protection performance of products, its quality and efficiency directly affect the market competitiveness of products. However, in the existing painting process, the painting operation is usually completed by relying on manual or simple automated equipment, and there are problems such as inaccurate painting path planning, uneven painting distribution, and inability to correct deviations in a timely manner during the painting process. This not only makes it difficult to stabilize the painting quality, but also may result in waste of paint or a high rework rate, thereby reducing production efficiency and increasing manufacturing costs. In addition, for painting objects with complex shapes or special process requirements, the adaptability of traditional processes is insufficient, and it is difficult to meet the high-precision and high-consistency painting requirements. Summary of the Invention

[0003] The present application provides a method and system for regulating a painting process of a hydraulic cylinder, which solves the technical problems of unstable painting process quality and low efficiency in the prior art.

[0004] In view of the above problems, the present application provides a method and system for regulating a painting process of a hydraulic cylinder.

[0005] In the first aspect of the present application, a method for regulating a painting process of a hydraulic cylinder is provided. The method includes: According to the process design information of the painting process object, a painting process model is established; based on the painting process model, a painting path is planned to obtain a painting path trajectory; the painting path trajectory is deconstructed to obtain a painting control sequence and a rotation control sequence; after the rotation support structure controls the alignment of the painting process object and the spray gun, the painting control sequence and the rotation control sequence are used to operate the hydraulic cylinder and the rotation support structure in a coordinated manner to perform surface painting of the painting process object, wherein the rotation support structure is used to fix the painting process object, and the hydraulic cylinder is mechanically connected to the spray gun; interactively obtain the painting layer specification of the painting process object; during the process of performing surface layer-by-layer painting treatment on the painting process object with the painting layer specification as the painting cycle constraint, identify the painting deviation of the painting process object, and perform cyclic update of the painting path trajectory according to the identification result until a painting process finished product is obtained.

[0006] In the second aspect of the present application, a system for regulating a painting process of a hydraulic cylinder is provided. The system includes: Modeling module: Based on the process design information of the spray painting process object, a spray painting process model is modeled; Path planning module: Based on the spray painting process model, spray painting path planning is performed to obtain a spray painting path trajectory; Trajectory analysis module: Deconstruct the spray painting path trajectory to obtain a spray painting control sequence and a rotation control sequence; Spray painting control module: After the rotation support structure aligns the spray painting process object with the spray gun, the spray painting control sequence and the rotation control sequence are used to operate the hydraulic cylinder and the rotation support structure in coordination to perform surface spray painting on the spray painting process object, wherein the rotation support structure is used to fix the spray painting process object, and the hydraulic cylinder is mechanically connected to the spray gun; Data acquisition module: Interactively obtain the spray painting layer specification of the spray painting process object; Optimization control module: During the process of performing surface layer-by-layer spray painting on the spray painting process object with the spray painting layer specification as the spray painting cycle constraint, spray painting deviation identification is performed on the spray painting process object, and the spray painting path trajectory is cyclically updated according to the identification result until a spray painting process finished product is obtained.

[0007] One or more technical solutions provided in this application have at least the following technical effects or advantages: First, based on the process design information of the spray painting process object, a spray painting process model is modeled. Next, based on the spray painting process model, spray painting path planning is performed to obtain a spray painting path trajectory. Further, the spray painting path trajectory is deconstructed to obtain a spray painting control sequence and a rotation control sequence. Then, after the rotation support structure aligns the spray painting process object with the spray gun, the spray painting control sequence and the rotation control sequence are used to operate the hydraulic cylinder and the rotation support structure in coordination to perform surface spray painting on the spray painting process object, wherein the rotation support structure is used to fix the spray painting process object, and the hydraulic cylinder is mechanically connected to the spray gun. Finally, the spray painting layer specification of the spray painting process object is obtained interactively; during the process of performing surface layer-by-layer spray painting on the spray painting process object with the spray painting layer specification as the spray painting cycle constraint, spray painting deviation identification is performed on the spray painting process object, and the spray painting path trajectory is cyclically updated according to the identification result until a spray painting process finished product is obtained. The technical problems of unstable spray painting process quality and low efficiency in the prior art are solved, and the technical effects of improving the spray painting process quality and efficiency are achieved. Description of the Drawings

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0009] Figure 1 Schematic diagram of the process flow of a spray painting process regulation method for a hydraulic cylinder provided by an embodiment of this application; Figure 2 Schematic structural diagram of a spray painting process control system for a hydraulic cylinder provided by an embodiment of the present application.

[0010] Explanation of reference numerals: Modeling module 11, path planning module 12, trajectory analysis module 13, spray painting control module 14, data acquisition module 15, optimization control module 16. Specific implementation manners

[0011] By providing a spray painting process control method and system for a hydraulic cylinder, the present application solves the technical problems of unstable spray painting process quality and low efficiency in the prior art.

[0012] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0013] It should be noted that the terms "include" and "have" are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or server that includes a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or modules that are not clearly listed or are inherent to these processes, methods, products, or devices.

[0014] Embodiment 1, as Figure 1 shown, the present application provides a spray painting process control method for a hydraulic cylinder, wherein the method includes: According to the process design information of the spray painting process object, a spray painting process model is obtained through modeling.

[0015] The process design information refers to the key parameters and data related to the spray painting object, including the shape and size of the spray painting object (for example, whether the part is circular, square, or irregular), surface characteristics (for example, whether there are protrusions, depressions, or layered structures on the surface), spray painting requirements (for example, the area range to be spray painted, the required uniformity, layer requirements, etc.). By using the process design information in combination with computer-aided design (CAD) or other modeling tools, a digital three-dimensional model (spray painting process model) is constructed. The spray painting process model can accurately describe the surface structure of the spray painting object and the area to be covered by the spray painting, providing data support for subsequent path planning and process control.

[0016] Based on the spray painting process model, a spray painting path is planned to obtain a spray painting path trajectory.

[0017] According to the shape and process requirements of the spray painting process object, perform surface feature analysis on the area to be sprayed in the spray painting process model, and extract its geometric parameters and rotation characteristics; use the longitudinal axis of the spray painting object as the rotation reference axis, and combine the spray painting process requirements and the standard spiral path planning principle to generate the spray painting path trajectory, where the spray painting path trajectory represents the spray coverage path of the spray painting, that is, the rotation trajectory of the spray painting object rather than the movement trajectory of the spray gun.

[0018] Furthermore, perform spray painting path planning based on the spray painting process model to obtain the spray painting path trajectory, including: Take the longitudinal direction of the spray painting process object as the spray painting trajectory vector; extract the depth of the process object from the spray painting process model according to the spray painting trajectory vector; initialize the path width with 1 / W of the depth of the process object to construct a standard spiral path; perform spray painting simulation on the spray painting process model with the standard spiral path as a constraint to locate the spray painting overlapping area set and the spray painting missing area set; optimize the path width of the standard spiral path according to the regional space characteristics of the spray painting overlapping area set and the spray painting missing area set to obtain the spray painting path trajectory.

[0019] Specifically, set the longitudinal direction of the spray painting process object as the vector direction of the spray painting trajectory, which is the main reference axis for spray painting path planning to ensure that the sprayed area coverage conforms to the geometric characteristics of the object; according to the spray painting trajectory vector, extract the depth information of the process object from the spray painting process model, calculate the coverage range of the spray painting path, and the depth information is used to determine the path layout and spraying order of the spray painting; use 1 / W (W is a preset constant or a proportional factor determined according to experience) of the depth of the process object as the initial path width, and this width determines the size of the area covered by the spray painting; based on the initialized path width, construct a standard spiral path, and the standard spiral path covers the spraying surface through a spiral trajectory to achieve the initial spray coverage; use the standard spiral path as a constraint to perform spray painting simulation on the spray painting process model, detect the spray painting overlapping area set (i.e., the repeated area of multiple sprays) and the missing area set (i.e., the area not sprayed) during the spraying process, and analyze based on the spatial characteristics (such as area, distribution position, etc.) of these areas; optimize and adjust the path width of the standard spiral path according to the characteristics of the spray painting overlapping area set and the missing area set to find the optimal path width. For example, if there are more overlapping areas, the path width can be appropriately reduced; if there are more missing areas, the path width can be appropriately increased; through multiple iterations and adjustments until the optimal path width is found, so that the spray painting effect reaches the best. The spray painting path trajectory under the optimal path width will be able to evenly cover the entire process object while avoiding unnecessary repeated spraying and missed spraying.

[0020] Furthermore, according to the regional spatial characteristics of the paint spraying overlapping area set and the paint spraying missing area set, path width optimization is performed on the standard spiral path to obtain the paint spraying path trajectory, including: Extract the first paint spraying overlapping area from the paint spraying overlapping area set according to the feeding direction of the standard spiral path; perform union path acquisition on the standard spiral path according to the coverage range of the first paint spraying overlapping area to obtain K local paint spraying paths; use the K initial path widths of the K local paint spraying paths as the initial values of the paint spraying path; sum the K initial path widths to obtain the path adjustment scale; starting from the initial value of the paint spraying path, with the path adjustment scale as the constraint, perform iterative simulation optimization of the paint spraying fineness of the initial value of the paint spraying path to obtain the first local adjustment path; and so on, generate a local overlapping adjustment path set corresponding to the paint spraying overlapping area set, and generate a local missing adjustment path set corresponding to the paint spraying missing area set; by smoothly connecting the local overlapping adjustment path set and the local missing adjustment path set to the standard spiral path, obtain the paint spraying path trajectory.

[0021] Specifically, according to the feeding direction of the standard spiral path (i.e., the movement direction of the paint spraying object on the rotating support structure), extract a paint spraying overlapping area from the paint spraying overlapping area set as the first paint spraying overlapping area; according to the coverage range of the first paint spraying overlapping area, perform union path acquisition on the standard spiral path to generate K local paint spraying paths containing overlapping area information; from the K local paint spraying paths collected, extract the initial path width of each path and use it as the initial value of the paint spraying path; perform summation calculation on the K initial path widths to obtain the adjustment scale of the path width as the range constraint for optimization iteration; starting from the K initial path widths as the starting point, start iterative simulation optimization of the paint spraying fineness. During the iteration process, with the path adjustment scale as the constraint condition, continuously adjust the path width until the optimal paint spraying path, that is, the first local adjustment path, is found; repeat the above process to process other overlapping areas in the paint spraying overlapping area set one by one to generate the corresponding local overlapping adjustment path set, and the local overlapping adjustment path set reflects the optimization results in reducing the overlapping area; at the same time, generate the corresponding local missing adjustment path set for each missing area in the paint spraying missing area set according to the same steps, and the local missing adjustment path set reflects the optimization results in filling the missing area; smoothly connect the generated local overlapping adjustment path set and the local missing adjustment path set to the standard spiral path to ensure the continuity of the path and the stability of the paint spraying process; finally, integrate the optimized paths into a complete paint spraying path trajectory, which can not only accurately cover the target surface, but also effectively reduce paint spraying overlap and omission, improving the uniformity and efficiency of paint spraying.

[0022] Furthermore, starting from the initial value of the spray path and constrained by the path adjustment scale, iterative simulation optimization of the spray fineness of the initial value of the spray path is carried out to obtain the first local adjustment path, including: Starting from the initial value of the spray path and constrained by the path adjustment scale, randomly generate H path adjustment schemes; after smoothly connecting the H path adjustment schemes with the standard spiral path, with the first spray overlap area as the simulation range constraint, verify the spray fineness of the spray process model to obtain H spray overlap areas; according to the sorting results of the H spray overlap areas, extract the first screening adjustment scheme and the second screening adjustment scheme from the H path adjustment schemes; constrained by the path adjustment scale, perform crossover mutation and random perturbation processing on the first screening adjustment scheme and the second screening adjustment scheme to obtain the first updated adjustment scheme set and the second updated adjustment scheme set; after smoothly connecting the first screening adjustment scheme, the second screening adjustment scheme, the first updated adjustment scheme set and the second updated adjustment scheme set with the standard spiral path, with the first spray overlap area as the simulation range constraint, verify the spray fineness of the spray process model to obtain the first screening overlap area, the second screening overlap area, the first spray overlap area set and the second spray overlap area set; according to the H spray overlap areas, the first screening overlap area, the second screening overlap area, the first spray overlap area set and the second spray overlap area set, locate the first group of offspring adjustment schemes from the H path adjustment schemes, the first screening adjustment scheme, the second screening adjustment scheme, the first updated adjustment scheme set and the second updated adjustment scheme set; and so on, based on the spray overlap area, perform crossover mutation and screening of the adjustment schemes until the first local adjustment path with a spray overlap area smaller than the preset overlap threshold is obtained.

[0023] Specifically, starting from the initial value of the painting path and combining with the path adjustment scale, H path adjustment schemes are randomly generated within its constraint range. These schemes represent different path width adjustments and movement trajectories and are used to preliminarily optimize the spraying path. The generated H path adjustment schemes are smoothly connected to the standard spiral path to ensure the continuity and smoothness of the path. With the first paint overlap area as the simulation range constraint, the paint fineness of these adjustment schemes is verified on the painting process model, the paint overlap area of each scheme is calculated, and H paint overlap area data are obtained. According to the sorting results of the H paint overlap areas, the first screening adjustment scheme and the second screening adjustment scheme are extracted from the H path adjustment schemes, that is, the two schemes with the smallest overlap area, for further optimization. With the path adjustment scale as the constraint, the first screening adjustment scheme and the second screening adjustment scheme are subjected to crossover mutation and random perturbation processing to generate the first updated adjustment scheme set and the second updated adjustment scheme set. The first screening adjustment scheme, the second screening adjustment scheme, the first updated adjustment scheme set, and the second updated adjustment scheme set are smoothly connected to the standard spiral path, and with the first paint overlap area as the simulation range constraint, the paint fineness of the painting process model is verified, and the first screening overlap area, the second screening overlap area, the first paint overlap area set, and the second paint overlap area set are calculated and recorded. By comprehensively analyzing the H paint overlap areas, the first screening overlap area, the second screening overlap area, the first paint overlap area set, and the second paint overlap area set, the optimized first set of offspring adjustment schemes are located from the H path adjustment schemes, the first screening adjustment scheme, the second screening adjustment scheme, the first updated adjustment scheme set, and the second updated adjustment scheme set. The first set of offspring adjustment schemes have the smallest paint overlap area and at the same time meet the constraints of the path adjustment scale. Based on the first set of offspring adjustment schemes, the operations of crossover mutation, random perturbation, paint simulation verification, and screening are repeatedly executed to gradually optimize the adjustment scheme until the paint overlap area is less than the preset overlap threshold, and finally the optimized first local adjustment path is obtained.

[0024] Decompose the painting path trajectory to obtain a painting control sequence and a rotation control sequence.

[0025] By decomposing the painting path trajectory, a painting control sequence for the spray gun action and a rotation control sequence for the rotation support structure can be generated respectively, ensuring the accuracy and synchronization of the spraying process. The painting control sequence is used to guide how the spray gun performs spraying (such as paint volume, spraying speed, spraying distance, etc.), and the rotation control sequence is used to control the actions of the rotation support structure, including rotation angle, rotation direction, rotation speed, etc.

[0026] Furthermore, decomposing the painting path trajectory to obtain a painting control sequence and a rotation control sequence includes: Pre-build a spray painting simulation space and load the spray painting process model into the spray painting simulation space; after pre-defining the spray gun simulation nodes in the spray painting simulation space, use the spray painting trajectory vector and the feeding direction of the standard spiral path to perform control simulation on the spray painting process model, and use the spray painting path trajectory to perform spray painting simulation on the spray painting process model to obtain the rotation control sequence; according to the spray painting trajectory vector and the feeding direction of the standard spiral path, subdivide the spray painting path trajectory into multiple local spray painting areas; during the process of performing spray painting simulation on the spray painting process model using the spray painting path trajectory, collect the relative positions of the spray gun simulation nodes and the spray painting path trajectory to obtain multiple local relative positions; after aligning the data of the multiple local spray painting areas and the multiple local relative positions, calculate multiple local spray painting parameters based on the multiple local spray painting areas and the multiple local relative positions; according to the connection relationship of the multiple local relative positions on the spray painting path trajectory, splice the multiple local spray painting parameters to obtain the spray painting control sequence.

[0027] Specifically, construct a spray painting simulation space to simulate the motion and process characteristics during spray painting; load the spray painting process model into this simulation space to test and optimize the spraying path in a virtual environment; pre-define spray gun simulation nodes in the spray painting simulation space as the starting and control points of the spray painting operation, and combine the spray painting trajectory vector (i.e., the direction and speed of the spray painting path) and the feeding direction of the standard spiral path (i.e., the rotation and advancing direction of the spiral path) to perform control simulation on the spray painting process model; during the simulation process, perform the spray painting operation along the spray painting path trajectory, record and generate a rotation control sequence for controlling the rotation of the spray painting process object, including parameters such as rotation angle, direction, and speed. The rotation control sequence will guide how the spray gun rotates to cover the target area during the actual spray painting process. According to the spray painting trajectory vector and the feeding direction of the standard spiral path, subdivide the spray painting path trajectory into multiple local spray painting areas, and each local area corresponds to a local spraying action cycle, which is convenient for parameter optimization and control refinement; during the simulation of the spray painting path trajectory, record the relative positions of the spray gun simulation nodes and the spray painting path trajectory in real time to generate multiple local relative position data, which contain the dynamic relative position relationship between the spray gun and the spray painting process object, such as the angle, distance, and position coordinates of the spray gun; align the data of the multiple local spray painting areas and the corresponding local relative positions to ensure the consistency of the parameters of each area with the spray painting path trajectory; according to the characteristics of the local spray painting areas and the relative position relationship, calculate the spray painting parameters of each local area, including the start and stop states of the spray gun, spraying speed, spraying angle, spraying width, etc.; according to the connection relationship of the multiple local relative positions on the spray painting path trajectory, splice all the local spray painting parameters to generate a complete spray painting control sequence, and the spray painting control sequence will guide how the spray gun moves and sprays during the actual spray painting process.

[0028] The paint spraying control sequence includes all operating parameters of the paint gun (such as spraying speed, start / stop time, spraying angle, etc.), and the rotation control sequence records the action details of the rotating support structure (such as rotation angle, direction, speed, etc.).

[0029] After the rotating support structure aligns the paint spraying process object with the paint gun, the paint spraying control sequence and the rotation control sequence are used to operate the hydraulic cylinder and the rotating support structure in coordination to spray the surface of the paint spraying process object, wherein the rotating support structure is used to fix the paint spraying process object, and the hydraulic cylinder is mechanically connected to the paint gun.

[0030] The rotating support structure is used to fix the paint spraying process object, and the support structure is driven by the rotation control sequence instruction to align the area to be sprayed of the process object with the paint gun. The rotating support structure adjusts the angle, direction and position of the process object in real time according to the planning of the spraying path to ensure that the surface to be sprayed is always within the optimal spraying range of the paint gun.

[0031] After the rotating support structure is adjusted in place, the hydraulic cylinder starts and operates according to the paint spraying control sequence; the hydraulic cylinder is mechanically connected to the paint gun and is responsible for pushing the paint gun to move along the paint spraying path, and at the same time adjusts the spraying angle, spraying distance and spraying speed. The paint spraying control sequence precisely controls the start / stop time, spraying force and coating thickness of the paint gun to ensure the uniformity and quality of spraying.

[0032] During the paint spraying process, the rotating support structure and the hydraulic cylinder operate synchronously under the dual instructions of the paint spraying control sequence and the rotation control sequence; the rotating support structure adjusts the position and angle of the process object in real time according to the paint spraying path, and the hydraulic cylinder drives the paint gun to complete precise spraying actions. The two work together to ensure the complete coverage of the paint spraying path and avoid missing or repeated spraying.

[0033] Interactively obtain the paint layer specification of the paint spraying process object.

[0034] The paint layer specification of the paint spraying process object is obtained by interacting with the user. The paint layer specification refers to the number of coating layers that need to be sprayed on the surface of the paint spraying object.

[0035] During the process of layer-by-layer spraying the surface of the paint spraying process object with the paint layer specification as the paint spraying cycle constraint, paint spraying deviation identification is performed on the paint spraying process object, and the paint spraying path trajectory is cyclically updated according to the identification result until a paint spraying process finished product is obtained.

[0036] In the spray painting operation, the spray painting process object is sprayed layer by layer according to the pre-set spray painting layer specification, and the coating thickness, spray path and parameters of each layer strictly comply with the established specifications. During the layer-by-layer spray painting process, deviation identification is carried out on the surface of the spray painting object, including detecting situations such as missed coating, overspray and coating uniformity deviation, and recording the specific location, type and severity of the deviation; according to the deviation data analysis results, the spray painting path trajectory is dynamically updated, the path coverage is adjusted for the missed coating area, the spray gun speed or paint injection volume is optimized for the overspray area, and the path overlap ratio is adjusted for the uniformity deviation; the optimization of the spray painting path is iteratively processed on a per-layer basis to correct the deviation layer by layer to ensure that the coating thickness and uniformity of each layer meet the set requirements; when all spray painting deviations are within the preset threshold range and the specified number of spray painting layers is completed, the spray painting cycle terminates, and the coating quality is confirmed through the final inspection to obtain a process finished product that meets the spray painting layer specification.

[0037] Furthermore, deviation identification is carried out on the spray painting process object, and cyclic update of the spray painting path trajectory is performed according to the identification result, including: Using the spray painting control sequence and the rotation control sequence, the hydraulic cylinder and the rotary support structure are operated in coordination to perform surface spray painting on the spray painting process object to obtain a primary layer spray painting object; deviation identification is carried out on the primary layer spray painting object to obtain K spray painting deviation features of K spray painting deviation nodes; the spray painting path trajectory is directionally updated according to the K spray painting deviation nodes and the K spray painting deviation features to obtain an optimized path trajectory; after deconstructing the optimized path trajectory to obtain a spray painting optimization sequence and a rotation optimization sequence, the spray painting optimization sequence and the rotation optimization sequence are used to operate the hydraulic cylinder and the rotary support structure in coordination to perform surface spray painting on the spray painting process object to obtain a secondary layer spray painting object; and so on, with the spray painting layer specification as a constraint, the optimized path trajectory is finitely optimized according to the spray painting deviation of the secondary layer spray painting object until the spray painting process finished product is obtained.

[0038] Specifically, a spray painting control sequence and a rotation control sequence are adopted to operate the hydraulic cylinder and the rotary support structure in coordination to perform the primary layer spraying on the spray painting process object, and a primary layer spray painting object is obtained; after the primary layer spray painting is completed, sensors, image recognition technology, etc. are used to identify the spray painting deviation of the primary layer spray painting object, including finding potential problems such as uneven spray painting, color deviation, missed spray or overspray, and recording the positions and characteristics of these deviation nodes; through deviation identification, K spray painting deviation nodes and their corresponding K spray painting deviation characteristics are obtained. The spray painting deviation node refers to the position where problems occur during the spray painting process (such as areas with missed coating, overspray or poor uniformity), and the spray painting deviation characteristic refers to the detailed characteristics of each deviation node, such as the area of missed coating, the coating thickness of overspray, and the specific shape and range of the deviation area, etc.; according to the K spray painting deviation nodes and the K spray painting deviation characteristics, the spray painting path trajectory is updated directionally to generate an optimized path trajectory; by deconstructing the optimized path trajectory, a spray painting optimization sequence and a rotation optimization sequence are obtained, and these optimization sequences are used to operate the hydraulic cylinder and the rotary support structure in coordination to spray paint the surface of the spray painting process object, thereby obtaining a secondary layer spray painting object. And so on, the deviation of the spray painting object is identified after each spray painting, and the path trajectory is optimized a finite number of times according to the deviation. Constrained by the spray painting layer specification, layer-by-layer spraying and iterative optimization are performed until all spray painting layers are completed, and finally a finished product meeting the spray painting process requirements is obtained.

[0039] Furthermore, when identifying the spray painting deviation of the primary layer spray painting object to obtain the K spray painting deviation characteristics of the K spray painting deviation nodes, it includes: Local data is called according to the model information of the spray painting process object to obtain multiple sample spray painting deviation images. Among them, the multiple sample spray painting deviation images have multiple spray painting layer identifications; after performing coordinate normalization processing on the multiple sample spray painting deviation images, deviation feature identifications are performed on the multiple sample spray painting deviation images to obtain multiple sample spray painting deviation feature sets. Each sample deviation feature in the sample deviation feature set includes a sample deviation type, a sample deviation size, a sample deviation coordinate, and a sample deviation direction; with the spray painting layer specification as the classification condition, according to the multiple spray painting layer identifications, the multiple sample spray painting deviation images and the multiple sample spray painting deviation feature sets are divided into M groups of sample spray painting deviation images and M groups of sample spray painting deviation feature sets; the M groups of sample spray painting deviation images and the M groups of sample spray painting deviation feature sets are used as training data to construct and obtain M deviation identification branches; according to the M spray painting levels of the spray painting layer specification, the M deviation identification branches are cascaded to obtain a spray painting deviation identification model; after image acquisition of the primary layer spray painting object, the primary layer deviation identification branch of the spray painting deviation identification model is activated to perform spray painting deviation identification, and the K spray painting deviation characteristics of the K spray painting deviation nodes are obtained.

[0040] Specifically, according to the model information of the painting process object, a number of relevant sample painting deviation images are called from the local database, and these images have clear painting layer identification; the sample painting deviation images are subjected to coordinate normalization processing to standardize image data of different sizes, and deviation feature identification is performed on them to extract and form a sample deviation feature set, where each feature includes the sample deviation type (such as missed painting, overspray), sample deviation size, sample deviation coordinates, and sample deviation direction; according to the classification of painting layer specifications, a number of sample painting deviation images and a number of sample painting deviation feature sets are divided into M groups of sample painting deviation images and M groups of sample painting deviation feature sets according to the painting layer identification; using each group of data sets as training data, M deviation recognition branches are respectively constructed, and M deviation recognition branches are cascaded according to the painting layer specifications to form a painting deviation recognition model; after the image acquisition of the initial layer painting object is completed, the acquired image is input into the painting deviation recognition model to activate the corresponding initial layer deviation recognition branch in the model, and the deviation of the initial layer painting object is recognized to obtain K painting deviation nodes and their corresponding K painting deviation features, providing data support for subsequent path optimization.

[0041] In summary, the embodiments of the present application at least have the following technical effects: First, according to the process design information of the painting process object, a painting process model is obtained through modeling. Then, based on the painting process model, a painting path is planned to obtain a painting path trajectory. Further, the painting path trajectory is deconstructed to obtain a painting control sequence and a rotation control sequence. Then, after the rotation support structure controls the alignment of the painting process object and the paint gun, the painting control sequence and the rotation control sequence are used to synergistically operate the hydraulic cylinder and the rotation support structure to perform surface painting on the painting process object, where the rotation support structure is used to fix the painting process object, and the hydraulic cylinder is mechanically connected to the paint gun. Finally, the painting layer specification of the painting process object is obtained through interaction; during the process of performing surface layer-by-layer painting on the painting process object with the painting layer specification as the painting cycle constraint, the painting deviation of the painting process object is recognized, and the painting path trajectory is cyclically updated according to the recognition result until the painting process finished product is obtained. This solves the technical problems of unstable painting process quality and low efficiency in the prior art, and achieves the technical effects of improving the quality and efficiency of the painting process.

[0042] Embodiment 2, based on the same inventive concept as a method for regulating a painting process of a hydraulic cylinder in the foregoing embodiment, as Figure 2 shown, the present application provides a system for regulating a painting process of a hydraulic cylinder, where the system includes: Modeling module 11: Based on the process design information of the spray painting process object, a spray painting process model is modeled; Path planning module 12: According to the spray painting process model, a spray painting path is planned to obtain a spray painting path trajectory; Trajectory analysis module 13: Decompose the spray painting path trajectory to obtain a spray painting control sequence and a rotation control sequence; Spray painting control module 14: After the rotation support structure controls the alignment of the spray painting process object and the spray gun, the spray painting control sequence and the rotation control sequence are used to cooperate with the hydraulic cylinder and the rotation support structure to spray the surface of the spray painting process object. Wherein, the rotation support structure is used to fix the spray painting process object, and the hydraulic cylinder is mechanically connected to the spray gun; Data acquisition module 15: Interactively obtain the spray painting layer specification of the spray painting process object; Optimization control module 16: During the process of spraying the surface of the spray painting process object layer by layer with the spray painting layer specification as the spray painting cycle constraint, identify the spray painting deviation of the spray painting process object, and update the spray painting path trajectory cyclically according to the identification result until a spray painting process finished product is obtained.

[0043] Further, the path planning module 12 is used to execute the following method: Take the longitudinal direction of the spray painting process object as the spray painting trajectory vector; Extract the depth of the process object from the spray painting process model according to the spray painting trajectory vector; Initialize the path width with 1 / W of the depth of the process object to construct a standard spiral path; Perform spray painting simulation on the spray painting process model with the standard spiral path as the constraint to locate the spray painting overlap area set and the spray painting omission area set; According to the regional spatial characteristics of the spray painting overlap area set and the spray painting omission area set, optimize the path width of the standard spiral path to obtain the spray painting path trajectory.

[0044] Further, the path planning module 12 is used to execute the following method: Extract the first spray painting overlap area from the spray painting overlap area set according to the feeding direction of the standard spiral path; Collect union paths on the standard spiral path according to the coverage range of the first spray painting overlap area to obtain K local spray painting paths; Take the K initial path widths of the K local spray painting paths as the spray painting path initial values; Sum the K initial path widths to obtain a path adjustment scale; Starting from the spray painting path initial value and with the path adjustment scale as the constraint, perform iterative simulation optimization of the spray painting fineness of the spray painting path initial value to obtain the first local adjustment path; And so on, generate a local overlap adjustment path set corresponding to the spray painting overlap area set, and generate a local omission adjustment path set corresponding to the spray painting omission area set; By smoothly connecting the local overlap adjustment path set and the local omission adjustment path set to the standard spiral path, the spray painting path trajectory is obtained.

[0045] Further, the optimization control module 16 is configured to execute the following method: Adopt the spray painting control sequence and the rotation control sequence, and cooperate to operate the hydraulic cylinder and the rotary support structure to perform surface spray painting on the spray painting process object to obtain a primary spray painting object; identify the spray painting deviation of the primary spray painting object to obtain K spray painting deviation features of K spray painting deviation nodes; perform directional update on the spray painting path trajectory according to the K spray painting deviation nodes and the K spray painting deviation features to obtain an optimized path trajectory; after deconstructing the optimized path trajectory to obtain a spray painting optimization sequence and a rotation optimization sequence, adopt the spray painting optimization sequence and the rotation optimization sequence to cooperate to operate the hydraulic cylinder and the rotary support structure to perform surface spray painting on the spray painting process object to obtain a secondary spray painting object; and so on, with the spray painting layer specification as a constraint, perform a finite number of optimizations on the optimized path trajectory according to the spray painting deviation of the secondary spray painting object until the spray painting process finished product is obtained.

[0046] Further, the path planning module 12 is configured to execute the following method: Taking the initial value of the spray painting path as the starting point and the path adjustment scale as a constraint, randomly generate H path adjustment schemes; after smoothly connecting the H path adjustment schemes with the standard spiral path, take the first spray painting overlapping area as a simulation range constraint to verify the spray painting fineness of the spray painting process model to obtain H spray painting overlapping areas; according to the sorting result of the H spray painting overlapping areas, extract the first screening adjustment scheme and the second screening adjustment scheme from the H path adjustment schemes; taking the path adjustment scale as a constraint, perform crossover mutation and random perturbation processing on the first screening adjustment scheme and the second screening adjustment scheme to obtain a first updated adjustment scheme set and a second updated adjustment scheme set; after smoothly connecting the first screening adjustment scheme, the second screening adjustment scheme, the first updated adjustment scheme set and the second updated adjustment scheme set with the standard spiral path, take the first spray painting overlapping area as a simulation range constraint to verify the spray painting fineness of the spray painting process model to obtain a first screening overlapping area, a second screening overlapping area, a first spray painting overlapping area set and a second spray painting overlapping area set; according to the H spray painting overlapping areas, the first screening overlapping area, the second screening overlapping area, the first spray painting overlapping area set and the second spray painting overlapping area set, locate the first set of offspring adjustment schemes from the H path adjustment schemes, the first screening adjustment scheme, the second screening adjustment scheme, the first updated adjustment scheme set and the second updated adjustment scheme set; and so on, perform crossover mutation and screening of the adjustment schemes based on the spray painting overlapping area until the first local adjustment path with a spray painting overlapping area smaller than the preset overlapping threshold is obtained.

[0047] Further, the trajectory analysis module 13 is configured to execute the following method: Pre-build a spray painting simulation space and load the spray painting process model into the spray painting simulation space; after pre-defining a spray gun simulation node in the spray painting simulation space, use the spray painting trajectory vector and the feed direction of the standard spiral path to perform a control simulation on the spray painting process model, and use the spray painting path trajectory to perform a spray painting simulation on the spray painting process model to obtain the rotation control sequence; according to the spray painting trajectory vector and the feed direction of the standard spiral path, subdivide the spray painting path trajectory into multiple local spray painting areas; during the process of performing a spray painting simulation on the spray painting process model using the spray painting path trajectory, collect the relative positions of the spray gun simulation node and the spray painting path trajectory to obtain multiple local relative positions; after aligning the data of the multiple local spray painting areas and the multiple local relative positions, calculate multiple local spray painting parameters based on the multiple local spray painting areas and the multiple local relative positions; according to the connection relationship of the multiple local relative positions on the spray painting path trajectory, splice the multiple local spray painting parameters to obtain the spray painting control sequence.

[0048] Further, the optimization control module 16 is used to execute the following method: Call local data according to the model information of the spray painting process object to obtain multiple sample spray painting deviation images, where the multiple sample spray painting deviation images have multiple spray painting layer identifiers; after performing coordinate normalization processing on the multiple sample spray painting deviation images, perform deviation feature identification on the multiple sample spray painting deviation images to obtain multiple sample spray painting deviation feature sets, where each sample deviation feature in the sample deviation feature set includes a sample deviation type, a sample deviation size, a sample deviation coordinate, and a sample deviation direction; using the spray painting layer specification as a classification condition, divide the multiple sample spray painting deviation images and the multiple sample spray painting deviation feature sets into M groups of sample spray painting deviation images and M groups of sample spray painting deviation feature sets according to the multiple spray painting layer identifiers; use the M groups of sample spray painting deviation images and M groups of sample spray painting deviation feature sets as training data to construct M deviation recognition branches; cascade the M deviation recognition branches according to the M spray painting levels of the spray painting layer specification to obtain a spray painting deviation recognition model; after collecting an image of the initial layer spray painting object, activate the initial layer deviation recognition branch of the spray painting deviation recognition model to perform spray painting deviation recognition to obtain the K spray painting deviation features of the K spray painting deviation nodes.

[0049] It should be noted that the above sequence of embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above describes specific embodiments of this specification. The processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0050] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

[0051] This specification and the drawings are merely exemplary descriptions of the present application and are considered to have covered any and all modifications, variations, combinations, or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalent technologies, the present application is intended to include these changes and modifications.

Claims

1. A method for controlling the painting process of a hydraulic cylinder, characterized in that: The method comprises: According to the process design information of the painting process object, a painting process model is obtained by modeling; Planning a painting path according to the painting process model to obtain a painting path trajectory; Deconstructing the painting path trajectory to obtain a painting control sequence and a rotation control sequence; After the rotating support structure controls the painting process object to be aligned with the spray gun, the painting control sequence and the rotation control sequence are used to coordinately operate the hydraulic cylinder and the rotating support structure to spray paint on the surface of the painting process object, wherein the rotating support structure is used to fix the painting process object, and the hydraulic cylinder is mechanically connected to the spray gun; Interactively obtain the paint layer number specification of the paint process object; In the process of performing surface painting layer by layer on the painting process object with the paint layer number specification as the painting cycle constraint, the painting deviation of the painting process object is identified, and the painting path trajectory is cyclically updated according to the identification result until a finished painting process product is obtained.

2. A method for controlling the painting process of a hydraulic cylinder according to claim 1, characterized in that: The painting path is planned according to the painting process model to obtain a painting path trajectory, and the method includes: Using the longitudinal direction of the painting process object as a painting trajectory vector; Extracting and obtaining the depth of the process object in the painting process model according to the painting trajectory vector; Initializing the path width by 1 / W of the depth of the process object to construct a standard spiral path; Performing a painting simulation on the painting process model with the standard spiral path as a constraint, and locating a painting overlap region set and a painting omission region set; According to the regional spatial characteristics of the paint overlapping area set and the paint missing area set, the path width of the standard spiral path is optimized to obtain the paint path trajectory.

3. A method for controlling the painting process of a hydraulic cylinder as claimed in claim 2, characterized in that: According to the regional spatial characteristics of the paint overlapping area set and the paint missing area set, the path width of the standard spiral path is optimized to obtain the paint path trajectory, and the method includes: extracting a first painting overlap region from the painting overlap region set according to the feeding direction of the standard spiral path; According to the coverage of the first painting overlap area, a union path is collected on the standard spiral path to obtain K local painting paths; Taking the K initial path widths of the K local painting paths as the initial values ​​of the painting paths; Adding the K initial path widths to obtain a path adjustment scale; Taking the initial value of the painting path as a starting point and the path adjustment scale as a constraint, performing iterative simulation optimization of the painting fineness of the initial value of the painting path to obtain a first local adjustment path; By analogy, a local overlap adjustment path set corresponding to the spray paint overlap area set is generated, and a local omission adjustment path set corresponding to the spray paint omission area set is generated; The painting path trajectory is obtained by smoothly connecting the local overlap adjustment path set and the local omission adjustment path set to the standard spiral path.

4. A method for controlling the painting process of a hydraulic cylinder according to claim 1, characterized in that: Performing paint deviation identification on the paint process object, and cyclically updating the paint path trajectory according to the identification result, the method includes: The painting control sequence and the rotation control sequence are used to coordinately operate the hydraulic cylinder and the rotation support structure to spray paint on the surface of the painting process object to obtain a primary layer of the painting object; Performing paint deviation identification on the primary paint object to obtain K paint deviation features of K paint deviation nodes; Directively updating the painting path trajectory according to the K painting deviation nodes and the K painting deviation features to obtain an optimized path trajectory; After deconstructing the optimized path trajectory to obtain a painting optimization sequence and a rotation optimization sequence, the painting optimization sequence and the rotation optimization sequence are used to coordinately operate the hydraulic cylinder and the rotating support structure to spray paint on the surface of the painting process object to obtain a two-layer painting object; By analogy, with the paint layer number specification as a constraint, the optimization path trajectory is optimized a limited number of times according to the paint deviation of the two-layer paint object until the finished product of the paint process is obtained.

5. The method for controlling the painting process of a hydraulic cylinder according to claim 3, characterized in that: Taking the initial value of the painting path as a starting point and the path adjustment scale as a constraint, performing iterative simulation optimization of the painting fineness of the initial value of the painting path to obtain a first local adjustment path, the method includes: Taking the initial value of the painting path as the starting point and the path adjustment scale as the constraint, H path adjustment schemes are randomly generated; After smoothly connecting the H path adjustment schemes with the standard spiral path, the first spray painting overlap area is used as a simulation range constraint to verify the spray painting precision of the spray painting process model to obtain H spray painting overlap areas; Extracting a first screening adjustment scheme and a second screening adjustment scheme from the H path adjustment schemes according to the sorting results of the H painting overlap areas; Taking the path adjustment scale as a constraint, performing cross-mutation and random perturbation processing on the first screening adjustment scheme and the second screening adjustment scheme to obtain a first update adjustment scheme set and a second update adjustment scheme set; After smoothly connecting the first screening adjustment scheme, the second screening adjustment scheme, the first update adjustment scheme set and the second update adjustment scheme set with the standard spiral path, the first painting overlap area is used as a simulation range constraint to verify the painting fineness of the painting process model, and the first screening overlap area, the second screening overlap area, the first painting overlap area set and the second painting overlap area set are obtained; Locating a first group of child adjustment solutions from the H path adjustment solutions, the first screening adjustment solution, the second screening adjustment solution, the first update adjustment solution set, and the second update adjustment solution set according to the H painting overlap areas, the first screening overlap areas, the second screening overlap areas, the first painting overlap area set, and the second painting overlap area set; By analogy, cross-variation and screening of adjustment schemes are performed based on the paint overlap area until the first local adjustment path is obtained in which the paint overlap area is smaller than a preset overlap threshold.

6. A method for controlling the painting process of a hydraulic cylinder as claimed in claim 2, characterized in that: Deconstructing the painting path trajectory to obtain a painting control sequence and a rotation control sequence, the method comprising: Pre-constructing a painting simulation space, and loading the painting process model into the painting simulation space; After the spray gun simulation node is predefined in the spray painting simulation space, the spray painting process model is controlled and simulated using the spray painting trajectory vector and the feeding direction of the standard spiral path, and the spray painting process model is sprayed with paint using the spray painting path trajectory to obtain the rotation control sequence; Subdividing the painting path trajectory into a plurality of local painting areas according to the painting trajectory vector and the feeding direction of the standard spiral path; In the process of performing a painting simulation on the painting process model using the painting path trajectory, the relative positions of the spray gun simulation nodes and the painting path trajectory are collected to obtain a plurality of local relative positions; After data alignment is performed on the multiple local painting areas and the multiple local relative positions, multiple local painting parameters are calculated according to the multiple local painting areas and the multiple local relative positions; According to the connection relationship between the multiple local relative positions in the painting path trajectory, the multiple local painting parameters are spliced ​​to obtain the painting control sequence.

7. A method for controlling the painting process of a hydraulic cylinder as claimed in claim 4, characterized in that: Performing paint deviation identification on the primary paint object to obtain K paint deviation features of K paint deviation nodes, the method comprising: Performing local data call according to the model information of the painting process object to obtain a plurality of sample painting deviation images, wherein the plurality of sample painting deviation images have a plurality of paint layer number identifiers; After coordinate normalization processing is performed on the multiple sample paint deviation images, deviation feature identification is performed on the multiple sample paint deviation images to obtain multiple sample paint deviation feature sets, wherein each sample deviation feature in the sample deviation feature set includes a sample deviation type, a sample deviation size, a sample deviation coordinate, and a sample deviation direction; Taking the paint layer number specification as a classification condition, dividing the multiple sample paint deviation images and the multiple sample paint deviation feature sets into M groups of sample paint deviation images and M groups of sample paint deviation feature sets according to the multiple paint layer number identifiers; The M groups of sample paint deviation images and the M groups of sample paint deviation feature sets are used as training data to construct M deviation recognition branches; The M deviation identification branches are cascaded according to the M paint levels of the paint layer number specification to obtain a paint deviation identification model; After the image of the primary paint object is captured, the primary deviation recognition branch of the paint deviation recognition model is activated to perform paint deviation recognition, and K paint deviation features of the K paint deviation nodes are obtained.

8. A painting process control system for a hydraulic cylinder, characterized in that: A method for controlling a painting process of a hydraulic cylinder according to any one of claims 1 to 7, the system comprising: Modeling module: according to the process design information of the painting process object, modeling is performed to obtain the painting process model; Path planning module: performing painting path planning according to the painting process model to obtain the painting path trajectory; Trajectory analysis module: deconstructs the painting path trajectory to obtain a painting control sequence and a rotation control sequence; A painting control module: after the rotating support structure controls the painting process object to be aligned with the spray gun, the painting control sequence and the rotation control sequence are used to coordinately operate the hydraulic cylinder and the rotating support structure to spray paint on the surface of the painting process object, wherein the rotating support structure is used to fix the painting process object, and the hydraulic cylinder is mechanically connected to the spray gun; Data acquisition module: interactively obtains the paint layer number specification of the paint process object; Optimization control module: In the process of performing surface painting layer by layer on the painting process object with the paint layer number specification as the painting cycle constraint, the painting deviation of the painting process object is identified, and the painting path trajectory is cyclically updated according to the identification result until a finished painting process product is obtained.

Images