A method and system for controlling the painting process of a hydraulic cylinder

Abstract

The present invention discloses a method and system for controlling the painting process of a hydraulic cylinder, and relates to the field of intelligent control technology. The method comprises: modeling a painting process model based on the process design information of the painting process object; performing painting path planning 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 align with the spray gun, using the painting control sequence and the rotation control sequence to coordinately operate the hydraulic cylinder and the rotating support structure to perform surface painting; interactively obtaining the number of paint layers; in the process of performing layer-by-layer painting on the surface of the painting process object, identifying the paint deviation of the painting process object, and cyclically updating the painting path trajectory based on the identification result until a finished painting process product is obtained. The method solves the technical problems of unstable painting process quality and low efficiency in the prior art, and achieves the technical effect of improving the quality and efficiency of the painting process.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a method and system for controlling a paint spraying process of a hydraulic cylinder. Background Art

[0002] With the rapid development of modern manufacturing, the requirements for product appearance quality are increasing day by day. Among them, the painting process is a key link in improving the aesthetics and protective 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 manual labor or simple automated equipment. There are problems such as inaccurate painting path planning, uneven paint distribution, and the inability to correct deviations in time during the painting process. This not only makes it difficult to stabilize the quality of painting, but may also result in waste of paint or high rework rates, thereby reducing production efficiency and increasing manufacturing costs. In addition, for painting objects with complex shapes or special process requirements, traditional processes are not adaptable enough and it is difficult to meet the requirements of high-precision and high-consistency painting. Summary of the Invention

[0003] The present application provides a method and system for controlling the 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 controlling the painting process of a hydraulic cylinder.

[0005] In a first aspect of the present application, a method for controlling a painting process of a hydraulic cylinder is provided, the method comprising:

[0006] According to the process design information of the painting process object, a painting process model is obtained by modeling; according to 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 rotating support structure controls the alignment of the painting process object with the spray gun, the painting control sequence and the rotation control sequence are used to coordinate the operation of the hydraulic cylinder and the rotating support structure to perform surface painting 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; the paint layer number specification of the painting process object is interactively obtained; in the process of performing surface painting processing on the painting process object layer by layer 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.

[0007] A second aspect of the present application provides a hydraulic cylinder painting process control system, the system comprising:

[0008] Modeling module: Modeling to obtain a painting process model based on the process design information of the painting process object; Path planning module: Performing painting path planning based on the painting process model to obtain a painting path trajectory; Trajectory analysis module: Deconstructing the painting path trajectory to obtain a painting control sequence and a rotation control sequence; Painting control module: After the rotating support structure controls the alignment of the painting process object 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 perform surface painting 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 number of paint layers specification of the painting process object; Optimization control module: In the process of performing surface painting layer by layer on the painting process object with the number of paint layers 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.

[0009] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0010] First, a painting process model is constructed based on the process design information of the painting process object. Next, a painting path is planned based on the painting process model to obtain a painting path trajectory. Furthermore, the painting path trajectory is deconstructed to obtain a painting control sequence and a rotation control sequence. After a rotating support structure controls the alignment of the painting process object with the spray gun, the painting control sequence and the rotation control sequence are used to coordinately operate a hydraulic cylinder and a rotating support structure to paint the surface of the painting process object. The rotating support structure is used to secure the painting process object, and the hydraulic cylinder is mechanically connected to the spray gun. Finally, a paint layer specification for the painting process object is interactively obtained. During the layer-by-layer painting process of the painting process object using the paint layer specification as a painting cycle constraint, paint deviations are identified for the painting process object, and the painting path trajectory is cyclically updated based on the identification results until a finished painting process product is obtained. This solves the technical problems of unstable painting process quality and low efficiency in the prior art, achieving the technical effect of improving the quality and efficiency of the painting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1A schematic flow chart of a method for controlling a painting process of a hydraulic cylinder provided in an embodiment of the present application;

[0013] Figure 2 A schematic structural diagram of a paint spraying process control system for a hydraulic cylinder provided in an embodiment of the present application.

[0014] Description of the accompanying drawings: modeling module 11, path planning module 12, trajectory analysis module 13, painting control module 14, data acquisition module 15, optimization control module 16. DETAILED DESCRIPTION

[0015] The present application solves the technical problems of unstable quality and low efficiency of the painting process in the prior art by providing a method and system for controlling the painting process of a hydraulic cylinder.

[0016] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0017] It should be noted that the terms "including" and "having" are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or are inherent to these processes, methods, products or devices.

[0018] Example 1, as Figure 1 As shown, the present application provides a method for controlling a painting process of a hydraulic cylinder, wherein the method comprises:

[0019] According to the process design information of the painting process object, a painting process model is obtained by modeling.

[0020] Process design information refers to key parameters and data related to the painting object, including its shape and size (e.g., whether the part is round, square, or irregular), surface characteristics (e.g., whether the surface has bumps, depressions, or a layered structure), and painting requirements (e.g., the area to be painted, required uniformity, and the required number of layers). This process design information is combined with computer-aided design (CAD) or other modeling tools to construct a digital three-dimensional model (the painting process model). The painting process model accurately describes the surface structure of the painting object and the area to be painted, providing data support for subsequent path planning and process control.

[0021] The painting path is planned according to the painting process model to obtain a painting path trajectory.

[0022] According to the shape and process requirements of the painting process object, the surface features of the area to be sprayed in the painting process model are analyzed to extract its geometric parameters and rotation characteristics; the longitudinal axis of the painting object is used as the rotation reference axis, combined with the painting process requirements and the standard spiral path planning principle, to generate a painting path trajectory, where the painting path trajectory represents the spray coverage path of the paint, that is, the rotation trajectory of the painting object rather than the movement trajectory of the spray gun.

[0023] Furthermore, the painting path is planned according to the painting process model to obtain the painting path trajectory, including:

[0024] The longitudinal direction of the painting process object is used as the painting trajectory vector; the depth of the process object is extracted in the painting process model according to the painting trajectory vector; the path width is initialized using 1 / W of the process object depth to construct a standard spiral path; the painting process model is simulated with the standard spiral path as a constraint to locate the painting overlapping area set and the painting omission area set; according to the regional spatial characteristics of the painting overlapping area set and the paint omission area set, the path width of the standard spiral path is optimized to obtain the painting path trajectory.

[0025] Specifically, the longitudinal direction of the painting process object is set as the vector direction of the painting trajectory, which is used as the main reference axis for painting path planning to ensure that the spraying area coverage conforms to the geometric characteristics of the object; according to the painting trajectory vector, the depth information of the process object is extracted from the painting process model, and the coverage range of the spraying path is calculated. The depth information is used to determine the spraying path layout and spraying sequence; 1 / W of the process object depth (W is a preset constant or a proportional factor determined by experience) is used as the initial path width, which determines the size of the area covered by the paint; based on the initialized path width, a standard spiral path is constructed, which covers the spraying surface through a spiral trajectory to achieve initial spraying coverage; with the standard spiral path as a constraint, the spray The paint process model performs painting simulation, detects the overlapping area sets (i.e., repeated areas that are sprayed multiple times) and the omitted area sets (i.e., areas that are not sprayed) during the spraying process, and analyzes them based on the spatial characteristics of these areas (such as area, distribution location, etc.); according to the characteristics of the overlapping area sets and the omitted area sets of the painting, the path width of the standard spiral path is optimized and adjusted to find the optimal path width. For example, if there are many overlapping areas, the path width can be appropriately reduced; if there are many omitted areas, the path width can be appropriately increased; through multiple iterations and adjustments, until the optimal path width is found, the painting effect is optimized, and the painting path trajectory under the optimal path width will be able to evenly cover the entire process object, while avoiding unnecessary repeated painting and missed painting.

[0026] Furthermore, according to the regional spatial characteristics of the paint overlap area set and the paint omission area set, the path width of the standard spiral path is optimized to obtain the paint path trajectory, including:

[0027] According to the feeding direction of the standard spiral path, a first paint overlapping area is extracted from the paint overlapping area set; according to the coverage range of the first paint overlapping area, a union path is collected on the standard spiral path to obtain K local paint paths; the K initial path widths of the K local paint paths are used as the initial values of the paint paths; the K initial path widths are added to obtain a path adjustment scale; with the initial values of the paint paths as the starting point and the path adjustment scale as the constraint, an iterative simulation optimization of the paint fineness of the initial values of the paint paths is performed to obtain a first local adjustment path; and so on, a local overlap adjustment path set corresponding to the paint overlapping area set is generated, and a local omission adjustment path set corresponding to the paint omission area set is generated; the paint 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.

[0028] Specifically, according to the feeding direction of the standard spiral path (i.e., the movement direction of the paint object on the rotating support structure), a paint overlapping area is extracted from the paint overlapping area set as the first paint overlapping area; according to the coverage range of the first paint overlapping area, a union path collection is performed on the standard spiral path to generate K local paint paths containing overlapping area information; from the collected K local paint paths, the initial path width of each path is extracted and used as the initial value of the paint path; the K initial path widths are summed up to obtain the adjustment scale of the path width as the range constraint of the optimization iteration; with the K initial path widths as the starting point, the iterative simulation optimization of the paint fineness is started. During the iterative process, the path adjustment scale is used as the constraint condition to continuously adjust the path width until the optimal paint path is found. path, that is, the first local adjustment path; repeat the above process, process the other overlapping areas in the paint overlap area set one by one, and generate a corresponding local overlap adjustment path set, which reflects the optimization result in reducing the overlapping area; at the same time, generate a corresponding local omission adjustment path set for each missing area in the paint omission area set according to the same steps, which reflects the optimization result in filling the missing area; smoothly connect the generated local overlap adjustment path set and the local omission adjustment path set with the standard spiral path to ensure the continuity of the path and the stability of the painting process; finally, integrate the optimized paths into a complete painting path trajectory, which can not only accurately cover the target surface, but also effectively reduce paint overlap and omission, and improve the uniformity and efficiency of painting.

[0029] Furthermore, 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 includes:

[0030] 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 painting overlap area is used as the simulation range constraint to verify the painting fineness of the painting process model to obtain H painting overlap areas; according to the sorting results of the H painting overlap areas, a first screening adjustment scheme and a second screening adjustment scheme are extracted from the H path adjustment schemes; with the path adjustment scale as the constraint, the first screening adjustment scheme and the second screening adjustment scheme are subjected to cross-mutation and random perturbation processing to obtain a first updated adjustment scheme set and a 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 combined into a matrix. After the adjustment scheme set is smoothly connected with the standard spiral path, the painting fineness of the painting process model is verified with the first painting overlap area as the simulation range constraint to obtain the first screening overlap area, the second screening overlap area, the first painting overlap area set and the second painting overlap area set; according to the H painting overlap areas, the first screening overlap area, the second screening overlap area, the first painting overlap area set and the second painting overlap area set, the first group of child adjustment schemes are located from the H path adjustment schemes, the first screening adjustment scheme, the second screening adjustment scheme, the first update adjustment scheme set and the second update adjustment scheme set; and so on, the adjustment schemes are cross-mutated and screened based on the painting overlap area until the first local adjustment path with a painting overlap area less than a preset overlap threshold is obtained.

[0031] Specifically, taking the initial value of the painting path as the starting point and combining the path adjustment scale, H path adjustment schemes are randomly generated within its constraint range. These schemes represent different path width adjustments and motion trajectories, which are used to preliminarily optimize the spray path; the generated H path adjustment schemes are smoothly connected with the standard spiral path to ensure the continuity and smoothness of the path, and the first painting overlap area is used as the simulation range constraint, and the painting fineness of these adjustment schemes is verified on the painting process model, and the painting overlap area of each scheme is calculated to obtain H painting overlap area data; according to the sorting results of the H painting overlap areas, the first screening adjustment scheme and the second screening adjustment scheme, that is, the two schemes with the smallest overlapping area, are extracted from the H path adjustment schemes 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 cross-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 The updated adjustment scheme set and the second updated adjustment scheme set are smoothly connected with the standard spiral path, and the painting process model is verified for painting fineness with the first painting overlap area as the simulation range constraint, 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 calculated and recorded; the H painting overlap areas, the first screening overlap area, the second screening overlap area, the first painting overlap area set and the second painting overlap area set are comprehensively analyzed, and the first group of optimized 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 group of offspring adjustment schemes has the smallest painting overlap area and meets the constraint of the path adjustment scale; based on the first group of offspring adjustment schemes, cross-mutation, random perturbation, painting simulation verification and screening operations are repeatedly performed to gradually optimize the adjustment scheme until the painting overlap area is less than the preset overlap threshold, and finally the optimized first local adjustment path is obtained.

[0032] The painting path trajectory is deconstructed to obtain a painting control sequence and a rotation control sequence.

[0033] By deconstructing the paint path trajectory, we can generate a paint control sequence for the spray gun and a rotation control sequence for the rotating support structure, ensuring the accuracy and synchronization of the spray process. The paint control sequence is used to instruct the spray gun on how to spray (such as the amount of paint sprayed, the spray speed, and the spray distance), while the rotation control sequence is used to control the movement of the rotating support structure, including the rotation angle, rotation direction, and rotation speed.

[0034] Furthermore, deconstructing the painting path trajectory to obtain a painting control sequence and a rotation control sequence includes:

[0035] A painting simulation space is pre-constructed, and the painting process model is loaded into the painting simulation space; after pre-defining the spray gun simulation node in the painting simulation space, the painting process model is controlled and simulated using the painting trajectory vector and the feed direction of the standard spiral path, and the painting process model is simulated using the painting path trajectory to obtain the rotation control sequence; according to the painting trajectory vector and the feed direction of the standard spiral path, the painting path trajectory is subdivided into multiple local painting areas; in the process of simulating the painting process model using the painting path trajectory, the relative position of the spray gun simulation node and the painting path trajectory is collected to obtain multiple local relative positions; after data alignment of the multiple local painting areas and the multiple local relative positions, multiple local painting parameters are calculated based on the multiple local painting areas and the multiple local relative positions; according to the connection relationship of the multiple local relative positions in the painting path trajectory, the multiple local painting parameters are spliced to obtain the painting control sequence.

[0036] Specifically, a painting simulation space is constructed to simulate the motion and process characteristics of the painting process; the painting process model is loaded into the simulation space so that the spray path can be tested and optimized in a virtual environment; the spray gun simulation node is predefined in the painting simulation space as the starting and control point of the painting operation, and the painting process model is controlled and simulated by combining the painting trajectory vector (i.e. the direction and speed of the painting path) and the feed direction of the standard spiral path (i.e. the rotation and forward direction of the spiral path); during the simulation, the painting operation is performed along the painting path trajectory, and a rotation control sequence for controlling the rotation of the painting process object is recorded and generated, 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 painting process. According to the paint trajectory vector and the feed direction of the standard spiral path, the paint path trajectory is subdivided into multiple local painting areas, each of which corresponds to a local spraying action cycle, facilitating parameter optimization and control refinement. During the paint path trajectory simulation, the relative position of the spray gun simulation node and the paint path trajectory is recorded in real time to generate multiple local relative position data. These data contain the dynamic relative position relationship between the spray gun and the painting process object, such as the angle, distance and position coordinates of the spray gun. The multiple local painting areas and the corresponding local relative positions are aligned to ensure that the parameters of each area are consistent with the paint path trajectory. According to the characteristics and relative position relationship of the local painting areas, the painting parameters of each local area are calculated, including the start and stop status of the spray gun, spray speed, spray angle, spray width, etc. According to the connection relationship of multiple local relative positions in the paint path trajectory, all local painting parameters are spliced to generate a complete painting control sequence. The painting control sequence will guide how the spray gun moves and paints during the actual painting process.

[0037] The painting control sequence includes all the operating parameters of the spray gun (such as spraying speed, start and 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.).

[0038] After the rotating support structure controls the alignment of the painting process object with the spray gun, the painting control sequence and the rotation control sequence are used to coordinate the operation of the hydraulic cylinder and the rotating support structure to spray paint 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.

[0039] A rotating support structure secures the painting process object. A rotational control sequence drives the support structure to align the target area with the spray gun. The support structure adjusts the target's angle, direction, and position in real time based on the planned spray path, ensuring the surface remains within the spray gun's optimal spray range.

[0040] Once the rotating support structure is in place, the hydraulic cylinder activates and operates according to the spray control sequence. The hydraulic cylinder is mechanically connected to the spray gun and is responsible for moving the gun along the spray path, adjusting the spray angle, spray distance, and spray speed. The spray control sequence precisely controls the gun's start and stop times, spray force, and coating thickness to ensure uniformity and quality.

[0041] During the painting process, the rotating support structure and the hydraulic cylinder operate synchronously under the dual instructions of the painting 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 painting path, and the hydraulic cylinder drives the spray gun to complete precise spraying actions. The two work together to ensure complete coverage of the painting path and avoid omissions or repeated spraying.

[0042] Interactively obtain the paint layer number specification of the painting process object.

[0043] The paint layer specification of the painting process object is obtained by interacting with the user. The paint layer specification refers to the number of coatings that need to be sprayed on the surface of the painting object.

[0044] In the process of performing surface painting processing 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.

[0045] During the painting operation, the painting process object is sprayed layer by layer according to the pre-set paint layer specifications. The coating thickness, spray path and parameters of each layer strictly comply with the established specifications. During the layer-by-layer painting process, the surface of the painting object is identified for deviations, including detection of missing paint, overspray and coating uniformity deviation, and the specific location, type and severity of the deviation are recorded; based on the deviation data analysis results, the painting path trajectory is dynamically updated, the path coverage is adjusted for missing paint areas, the spray gun speed or paint spray volume is optimized for overspray areas, and the path overlap ratio is adjusted for uniformity deviations; the optimization of the painting path is iteratively processed on a layer-by-layer basis, and the deviations are corrected layer by layer to ensure that the coating thickness and uniformity of each layer meet the set requirements; when all paint deviations are within the preset threshold range and the specified number of paint layers are completed, the painting cycle is terminated, and the coating quality is confirmed through final inspection to obtain a process product that meets the paint layer specifications.

[0046] Furthermore, the paint deviation of the paint process object is identified, and the paint path trajectory is cyclically updated according to the identification result, including:

[0047] The painting control sequence and the rotation control sequence are used to coordinately operate the hydraulic cylinder and the rotating support structure to paint the surface of the painting process object to obtain a primary-layer painting object; painting deviations are identified on the primary-layer painting object to obtain K painting deviation features of K painting deviation nodes; the painting path trajectory is directionally updated 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 paint the surface of the painting process object to obtain a second-layer painting object; and so on, with the paint layer number specification as a constraint, a finite number of optimizations of the optimized path trajectory are performed according to the paint deviation of the second-layer painting object until the finished product of the painting process is obtained.

[0048] Specifically, a painting control sequence and a rotation control sequence are used to coordinately operate the hydraulic cylinder and the rotating support structure to perform a primary spraying on the painting process object to obtain a primary painting object; after completing the primary painting, sensors, image recognition technology, etc. are used to identify the paint deviation of the primary painting object, including looking for potential problems such as uneven painting, color deviation, missed spraying or re-spraying, and recording the positions and features of these deviation nodes; through deviation identification, K painting deviation nodes and their corresponding K painting deviation features are obtained. A painting deviation node refers to a problem that occurs during the painting process. The paint deviation feature refers to the detailed characteristics of each deviation node, such as the area of the missing paint, the thickness of the oversprayed coating, and the specific shape and range of the deviation area. The paint path trajectory is updated in a targeted manner based on the K paint deviation nodes and K paint deviation features to generate an optimized path trajectory. By deconstructing the optimized path trajectory, the paint optimization sequence and rotation optimization sequence are obtained. These optimization sequences are used to coordinate the operation of the hydraulic cylinder and the rotating support structure to paint the surface of the paint process object, thereby obtaining a two-layer paint object. Similarly, after each painting, the deviation of the paint object is identified, and the path trajectory is optimized a finite number of times based on the deviation. With the specification of the number of paint layers as a constraint, each layer is sprayed and optimized iteratively until all paint layers are completed, ultimately obtaining a finished product that meets the requirements of the painting process.

[0049] Furthermore, the paint deviation is identified on the primary paint object to obtain K paint deviation features of K paint deviation nodes, including:

[0050] According to the model information of the painting process object, local data is called to obtain a plurality of sample paint deviation images, wherein the plurality of sample paint deviation images have a plurality of paint layer identifications; after coordinate normalization processing is performed on the plurality of sample paint deviation images, deviation feature identification is performed on the plurality of sample paint deviation images to obtain a plurality of 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; the paint layer specification is used as a classification condition, and the plurality of sample paint deviation images are classified according to the plurality of paint layer identifications. The sample paint deviation images and the multiple sample paint deviation feature sets are divided into M groups of sample paint deviation images and M groups of sample paint deviation feature sets; 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 recognition branches are cascaded according to the M paint levels of the paint layer specification to obtain a paint deviation recognition model; after image acquisition of the primary paint object, the primary layer deviation recognition branch of the paint deviation recognition model is activated to perform paint deviation recognition to obtain K paint deviation features of the K paint deviation nodes.

[0051] Specifically, based on the model information of the painting process object, multiple relevant sample paint deviation images with clear paint layer identification are called from the local database; the sample paint deviation images are coordinate normalized to standardize the image data of different sizes, and the deviation features are identified to extract and form a sample deviation feature set, where each feature includes the sample deviation type (such as missing paint, overspray), sample deviation size, sample deviation coordinates and sample deviation direction; based on the paint layer specification classification, the multiple sample paint deviation images and the multiple sample paint deviation feature sets are divided into M groups of sample paint deviation images and M groups of sample paint deviation feature sets according to the paint layer identification; using each set of data as training data, M deviation recognition branches are constructed respectively, and the M deviation recognition branches are cascaded according to the paint layer specification to form a paint deviation recognition model; after completing the image acquisition of the primary layer paint object, the acquired image is input into the paint deviation recognition model, the corresponding primary layer deviation recognition branch in the model is activated, and the primary layer paint object is subjected to deviation recognition to obtain K paint deviation nodes and their corresponding K paint deviation features, providing data support for subsequent path optimization.

[0052] In summary, the embodiments of the present application have at least the following technical effects:

[0053] First, a painting process model is constructed based on the process design information of the painting process object. Next, a painting path is planned based on the painting process model to obtain a painting path trajectory. Furthermore, the painting path trajectory is deconstructed to obtain a painting control sequence and a rotation control sequence. After a rotating support structure controls the alignment of the painting process object with the spray gun, the painting control sequence and the rotation control sequence are used to coordinately operate a hydraulic cylinder and a rotating support structure to paint the surface of the painting process object. The rotating support structure is used to secure the painting process object, and the hydraulic cylinder is mechanically connected to the spray gun. Finally, a paint layer specification for the painting process object is interactively obtained. During the layer-by-layer painting process of the painting process object using the paint layer specification as a painting cycle constraint, paint deviations are identified for the painting process object, and the painting path trajectory is cyclically updated based on the identification results until a finished painting process product is obtained. This solves the technical problems of unstable painting process quality and low efficiency in the prior art, achieving the technical effect of improving the quality and efficiency of the painting process.

[0054] Embodiment 2 is based on the same inventive concept as the method for controlling the painting process of a hydraulic cylinder in the above embodiment. Figure 2 As shown, the present application provides a hydraulic cylinder painting process control system, wherein the system includes:

[0055] Modeling module 11: Modeling and obtaining a painting process model based on the process design information of the painting process object; path planning module 12: Performing painting path planning based on the painting process model to obtain a painting path trajectory; trajectory analysis module 13: Deconstructing the painting path trajectory to obtain a painting control sequence and a rotation control sequence; painting control module 14: After the rotating support structure controls the alignment of the painting process object 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 perform surface painting 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 15: Interactively obtaining the number of paint layers of the painting process object; optimization control module 16: In the process of performing surface painting processing on the painting process object layer by layer with the number of paint layers specified 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.

[0056] Furthermore, the path planning module 12 is configured to execute the following method:

[0057] The longitudinal direction of the painting process object is used as the painting trajectory vector; the depth of the process object is extracted in the painting process model according to the painting trajectory vector; the path width is initialized using 1 / W of the process object depth to construct a standard spiral path; the painting process model is simulated with the standard spiral path as a constraint to locate the painting overlapping area set and the painting omission area set; according to the regional spatial characteristics of the painting overlapping area set and the paint omission area set, the path width of the standard spiral path is optimized to obtain the painting path trajectory.

[0058] Furthermore, the path planning module 12 is configured to execute the following method:

[0059] According to the feeding direction of the standard spiral path, a first paint overlapping area is extracted from the paint overlapping area set; according to the coverage range of the first paint overlapping area, a union path is collected on the standard spiral path to obtain K local paint paths; the K initial path widths of the K local paint paths are used as the initial values of the paint paths; the K initial path widths are added to obtain a path adjustment scale; with the initial values of the paint paths as the starting point and the path adjustment scale as the constraint, an iterative simulation optimization of the paint fineness of the initial values of the paint paths is performed to obtain a first local adjustment path; and so on, a local overlap adjustment path set corresponding to the paint overlapping area set is generated, and a local omission adjustment path set corresponding to the paint omission area set is generated; the paint 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.

[0060] Furthermore, the optimization control module 16 is configured to execute the following method:

[0061] The painting control sequence and the rotation control sequence are used to coordinately operate the hydraulic cylinder and the rotating support structure to paint the surface of the painting process object to obtain a primary-layer painting object; painting deviations are identified on the primary-layer painting object to obtain K painting deviation features of K painting deviation nodes; the painting path trajectory is directionally updated 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 paint the surface of the painting process object to obtain a second-layer painting object; and so on, with the paint layer number specification as a constraint, a finite number of optimizations of the optimized path trajectory are performed according to the paint deviation of the second-layer painting object until the finished product of the painting process is obtained.

[0062] Furthermore, the path planning module 12 is configured to execute the following method:

[0063] 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 painting overlap area is used as the simulation range constraint to verify the painting fineness of the painting process model to obtain H painting overlap areas; according to the sorting results of the H painting overlap areas, a first screening adjustment scheme and a second screening adjustment scheme are extracted from the H path adjustment schemes; with the path adjustment scale as the constraint, the first screening adjustment scheme and the second screening adjustment scheme are subjected to cross-mutation and random perturbation processing to obtain a first updated adjustment scheme set and a 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 combined into a matrix. After the adjustment scheme set is smoothly connected with the standard spiral path, the painting fineness of the painting process model is verified with the first painting overlap area as the simulation range constraint to obtain the first screening overlap area, the second screening overlap area, the first painting overlap area set and the second painting overlap area set; according to the H painting overlap areas, the first screening overlap area, the second screening overlap area, the first painting overlap area set and the second painting overlap area set, the first group of child adjustment schemes are located from the H path adjustment schemes, the first screening adjustment scheme, the second screening adjustment scheme, the first update adjustment scheme set and the second update adjustment scheme set; and so on, the adjustment schemes are cross-mutated and screened based on the painting overlap area until the first local adjustment path with a painting overlap area less than a preset overlap threshold is obtained.

[0064] Furthermore, the trajectory analysis module 13 is used to perform the following method:

[0065] A painting simulation space is pre-constructed, and the painting process model is loaded into the painting simulation space; after pre-defining the spray gun simulation node in the painting simulation space, the painting process model is controlled and simulated using the painting trajectory vector and the feed direction of the standard spiral path, and the painting process model is simulated using the painting path trajectory to obtain the rotation control sequence; according to the painting trajectory vector and the feed direction of the standard spiral path, the painting path trajectory is subdivided into multiple local painting areas; in the process of simulating the painting process model using the painting path trajectory, the relative position of the spray gun simulation node and the painting path trajectory is collected to obtain multiple local relative positions; after data alignment of the multiple local painting areas and the multiple local relative positions, multiple local painting parameters are calculated based on the multiple local painting areas and the multiple local relative positions; according to the connection relationship of the multiple local relative positions in the painting path trajectory, the multiple local painting parameters are spliced to obtain the painting control sequence.

[0066] Furthermore, the optimization control module 16 is configured to execute the following method:

[0067] According to the model information of the painting process object, local data is called to obtain a plurality of sample paint deviation images, wherein the plurality of sample paint deviation images have a plurality of paint layer identifications; after coordinate normalization processing is performed on the plurality of sample paint deviation images, deviation feature identification is performed on the plurality of sample paint deviation images to obtain a plurality of 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; the paint layer specification is used as a classification condition, and the plurality of sample paint deviation images are classified according to the plurality of paint layer identifications. The sample paint deviation images and the multiple sample paint deviation feature sets are divided into M groups of sample paint deviation images and M groups of sample paint deviation feature sets; 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 recognition branches are cascaded according to the M paint levels of the paint layer specification to obtain a paint deviation recognition model; after image acquisition of the primary paint object, the primary layer deviation recognition branch of the paint deviation recognition model is activated to perform paint deviation recognition to obtain K paint deviation features of the K paint deviation nodes.

[0068] It should be noted that the order in which the embodiments of the present application are presented is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. Furthermore, the foregoing descriptions of specific embodiments of this specification are provided. The processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0069] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

[0070] This specification and drawings are merely illustrative of the present application and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Obviously, those skilled in the art may make various modifications and variations to this application without departing from the scope of this application. Thus, this application is intended to include such modifications and variations as fall within the scope of this application and its equivalents.

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 alignment of the painting process object 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 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 obtaining a paint layer number specification for the paint process object; During the process of performing a surface painting process layer by layer on the painting process object with the paint layer number specification as the painting cycle constraint, the painting process object is subjected to a paint deviation identification, and the painting path trajectory is cyclically updated according to the identification result until a finished painting process product is obtained; The painting path is planned according to the painting process model to obtain the painting path trajectory, including: 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 using the standard spiral path as a constraint to locate a painting overlap region set and a painting omission region set; Optimizing the path width of the standard spiral path according to the regional spatial characteristics of the paint overlap region set and the paint omission region set to obtain the paint path trajectory; Optimizing the path width of the standard spiral path according to the regional spatial characteristics of the paint overlap region set and the paint omission region set to obtain the paint path trajectory includes: extracting a first painting overlap region from the painting overlap region set according to the feeding direction of the standard spiral path; Performing union path collection on the standard spiral path according to the coverage of the first painting overlap area to obtain K local painting paths; The K initial path widths of the K local painting paths are used as 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; Similarly, a local overlap adjustment path set corresponding to the paint overlap area set is generated, and a local omission adjustment path set corresponding to the 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; Performing paint deviation identification on the paint process object and cyclically updating the paint path trajectory according to the identification result, including: The painting control sequence and the rotation control sequence are used to coordinately operate the hydraulic cylinder and the rotation support structure to paint the surface of the painting process object to obtain a primary layer of the painted 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; 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 paint the surface of the painting process object to obtain a two-layer painted object; Similarly, 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.

2. The method for controlling the painting process of a hydraulic cylinder according to claim 1, wherein: 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 comprising: 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 painting process model is subjected to painting fineness verification using the first painting overlap area as a simulation range constraint to obtain H 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; Using 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, performing a painting fineness verification on the painting process model using the first painting overlap area as a simulation range constraint to obtain a first screening overlap area, a second screening overlap area, a first painting overlap area set, and a second painting overlap area set; 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 set of updated adjustment solutions, and the second set of updated adjustment solutions based on 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; Similarly, 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 the preset overlap threshold.

3. The method for controlling the painting process of a hydraulic cylinder according to claim 1, wherein: Deconstructing the painting path trajectory to obtain a painting control sequence and a rotation control sequence, the method comprising: Pre-building a painting simulation space, and loading the painting process model into the painting simulation space; After predefining a spray gun simulation node in the spray painting simulation space, the spray painting process model is controlled and simulated using the spray painting trajectory vector and the feed direction of the standard spiral path, and the spray painting process model is simulated 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; During the painting simulation process of 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 based on 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.

4. The method for controlling the painting process of a hydraulic cylinder according to claim 1, wherein: 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 plurality of sample paint deviation images and the plurality of 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 plurality of paint layer number identifiers; Using the M groups of sample paint deviation images and the M groups of sample paint deviation feature sets as training data, constructing M deviation recognition branches; cascading the M deviation recognition branches according to the M paint levels of the paint layer number specification to obtain a paint deviation recognition model; After collecting images of the primary-layer painted object, the primary-layer 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.

5. A hydraulic cylinder spraying process control system, characterized in that: A method for controlling a painting process of a hydraulic cylinder according to any one of claims 1 to 4, wherein the system comprises: Modeling module: According to the process design information of the painting process object, the painting process model is obtained by modeling; Path planning module: performs 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 the painting control sequence and rotation control sequence; A painting control module: after the rotating support structure controls the alignment of the painting process object 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 paint 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 painting process object; Optimization control module: In the process of spraying paint layer by layer on the surface of 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.

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