Hardware equipment spraying method and device, equipment and medium

Abstract

The invention discloses a spraying method, device and equipment for hardware equipment and a medium. The method comprises the steps that shape information of target hardware equipment and a preset point taking rule are obtained, target track information matched with the target hardware equipment is obtained based on the shape information and the point taking rule, and the target track information comprises target contour information and at least one target point location; in response to an attribute setting operation of a user for each target point location in the target track information, generating target spraying information matched with the target hardware equipment; and the target spraying information is sent to spraying equipment, so that the spraying equipment executes spraying operation on the hardware equipment based on the target spraying information. By means of the technical scheme, spraying operation can be conducted on the hardware equipment according to the shape of the hardware equipment, the accuracy of spraying work and the coating efficiency are improved, and waste of coating is reduced.

Description

Technical Field

[0001] The present invention relates to the field of hardware processing, and in particular to a spraying method, device, equipment and medium for hardware equipment. Background Art

[0002] In the field of hardware equipment manufacturing, especially in the production process of automobile bumpers and other parts, the spraying process is a crucial link. It not only affects the appearance quality of the product, but also plays a key role in the protective performance of the product.

[0003] At present, the current hardware equipment programs generally have some problems that need to be solved. Its running trajectory mainly presents a longitudinal linear motion mode, and the spraying operation is completed by covering different areas of the product through this trajectory. However, this spraying trajectory has obvious defects. During the spraying process, the trajectory often appears outside the hardware equipment. This leads to a large number of invalid and repeated operations when executing the trajectory action. For example, when the robot moves along the longitudinal straight track for spraying, the spraying action performed on the part outside the edge of the product does not actually play any role in the hardware equipment itself, which undoubtedly causes the waste of robot action and makes its work efficiency low. At the same time, with the ineffective action of the robot, the spitted paint is also wasted in the area outside the product, which not only increases the cost of the paint, but also may cause pollution to the production environment. What is more unfavorable is that the existing spraying method is not optimized according to the specific shape, size and structural characteristics of different hardware equipment, and all kinds of hardware equipment use the program spraying method for spraying. However, different hardware equipments have large differences in shape, and a simple and unified spraying program cannot fully meet the unique needs of each hardware equipment.

[0004] In summary, the existing spraying methods of hardware equipment have the problems of low spraying accuracy and coating efficiency, and serious paint waste. Summary of the invention

[0005] The present invention provides a method, device, equipment and medium for spraying hardware equipment, which can solve the problems of low spraying accuracy and coating efficiency and serious paint waste in the existing method for spraying hardware equipment.

[0006] In a first aspect, an embodiment of the present invention provides a method for spraying a hardware device, the method comprising:

[0007] Acquire shape information of a target hardware device and a preset point selection rule, and obtain target trajectory information matching the target hardware device based on the shape information and the point selection rule, wherein the target trajectory information includes target contour information and at least one target point;

[0008] In response to a user's attribute setting operation for each target point in the target trajectory information, generate target spraying information that matches the target hardware device;

[0009] Send the target spraying information to a spraying device so that the spraying device performs a spraying operation on the hardware device based on the target spraying information.

[0010] In a second aspect, an embodiment of the present invention provides a spraying device for a hardware device. The device includes:

[0011] A trajectory information generation module, configured to obtain the shape information of a target hardware device and a preset point-taking rule, and obtain target trajectory information that matches the target hardware device based on the shape information and the point-taking rule. The target trajectory information includes target contour information and at least one target point;

[0012] A spraying information generation module, configured to generate target spraying information that matches the target hardware device in response to a user's attribute setting operation for each target point in the target trajectory information;

[0013] A spraying execution module, configured to send the target spraying information to a spraying device so that the spraying device performs a spraying operation on the hardware device based on the target spraying information.

[0014] In a third aspect, an embodiment of the present invention provides an electronic device. The electronic device includes:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute a spraying method for a hardware device according to any embodiment of the present invention.

[0018] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium. The computer-readable storage medium stores computer instructions for causing a processor to implement a spraying method for a hardware device according to any embodiment of the present invention when executed.

[0019] In the technical solution of the embodiment of the present invention, first, the shape information of the target hardware device and a preset point-taking rule are obtained, and target trajectory information matching the target hardware device is obtained based on the shape information and the point-taking rule. Then, in response to the user's attribute setting operation for each target point in the target trajectory information, target spraying information matching the target hardware device is generated. Finally, the target spraying information is sent to a spraying device so that the spraying device performs a spraying operation on the hardware device based on the target spraying information, solving the problems existing in the existing spraying method for hardware devices, such as low accuracy and coating efficiency of the spraying work and serious paint waste. It can perform a spraying operation on the hardware device according to the shape of the hardware device, improve the accuracy and coating efficiency of the spraying work, and reduce paint waste.

[0020] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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 drawings in the following description 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.

[0022] Figure 1 is a flowchart of a spraying method for a hardware device according to Embodiment 1 of the present invention;

[0023] Figure 2 is a flowchart of a spraying method for a hardware device according to Embodiment 2 of the present invention;

[0024] Figure 3 is a schematic structural diagram of a spraying device for a hardware device according to Embodiment 3 of the present invention;

[0025] Figure 4 is a schematic structural diagram of an electronic device for implementing the spraying method for a hardware device in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] To enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solution in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned accompanying drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" any variations are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment 1

[0029] Figure 1 It is a flowchart of a spraying method for a hardware device provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of spraying a hardware device. This method can be executed by a spraying device for a hardware device. The spraying device for the hardware device can be implemented in the form of hardware and / or software. The spraying device for the hardware device can be configured in a terminal or server with the spraying function of the hardware device.

[0030] As Figure 1 shown, the method includes:

[0031] S110. Obtain the shape information of the target hardware device and a preset point-taking rule, and obtain target trajectory information matching the target hardware device based on the shape information and the point-taking rule.

[0032] Among them, the target trajectory information includes target contour information and at least one target point.

[0033] Among them, the shape information includes at least one contour segment of the target hardware device and contour segment information respectively matching each contour segment.

[0034] Specifically, the shape information is usually obtained through non-contact three-dimensional scanning technology. For example, a car bumper is laser scanned to generate a digital twin model containing millions of point cloud data. After noise reduction processing of these data, a high-precision NURBS surface is generated through a surface reconstruction algorithm, which is the contour segment and the contour segment information respectively matched with each contour segment in this embodiment. Further, the contour segment is the basic geometric unit constituting the shape of the product. For example, a car bumper can be divided into a main plane segment, a flank surface segment, a diversion groove depression segment, etc. Each contour segment contains information such as position coordinates (X / Y / Z), radius of curvature (such as R50mm), normal vector (such as an angle of 30° with the horizontal plane), etc.

[0035] S120. In response to a user's attribute setting operation for each target point position in the target trajectory information, generate target spraying information that matches the target hardware device.

[0036] Specifically, generating target spraying information that matches the target hardware device in response to a user's attribute setting operation for each target point position in the target trajectory information includes: in response to a user's selection operation for each target point position, obtaining each set point position respectively; in response to a user's attribute setting operation for each set point position, obtaining point position attributes respectively matched with each set point position, where the point position attributes include at least one of discharge amount, forming pressure, and spray gun speed; detecting whether there is any empty point position in each target point position of the target trajectory information that has not been subjected to an attribute setting operation; if there is no empty target point position, bind and store each target point position in the target trajectory information and the point position attributes matched with the target point position to obtain target spraying information that matches the target hardware device.

[0037] In a specific implementation manner of this embodiment, when the user starts to operate on each target point in the target trajectory information, the first step is to select a specific target point. The user may, based on the different regional characteristics of the target hardware device, the requirements of the spraying process, or their own experience judgment, use interaction tools on the dedicated spraying programming software interface, such as mouse clicks, box selections, etc., to select the target points. Each valid selection operation will determine the corresponding target point as a set point. For example, for the target trajectory information of an automotive bumper, the user may focus on the target points at the edges, corners, and some key decorative areas of the bumper, and select these points as set points because these areas usually require more precise spraying control. Then, the user will perform an attribute setting operation on these set points. The point attributes here include at least one of the discharge amount, forming pressure, and spray gun speed. The discharge amount refers to the amount of paint sprayed by the spray gun per unit time. An appropriate discharge amount can ensure that the thickness of the coating is uniform and meets the requirements. For example, for large flat areas, a larger discharge amount may be required to improve spraying efficiency, while for some fine patterns or small areas, a smaller discharge amount is needed to ensure spraying accuracy; the forming pressure affects the atomization effect and coverage range of the paint after spraying. A higher forming pressure can make the paint atomize more finely and have a wider coverage range, but too high may cause paint waste and scattering; a lower forming pressure is suitable for areas with higher requirements for coating thickness and more concentrated spraying; the spray gun speed determines the moving speed of the spray gun when passing through the target point. If the gun speed is too fast, the coating may be too thin, and if the gun speed is too slow, the coating may be too thick or even sag. The user will set appropriate discharge amounts, forming pressures, and spray gun speeds for each set point according to factors such as the material and shape of the target hardware device and the expected coating effect. For example, when spraying at the corner of an automotive bumper, the spray gun speed may be appropriately reduced, and the forming pressure may be adjusted to ensure that the paint can evenly cover all parts of the corner. After completing the attribute setting of the set points, the system will perform an important detection task, that is, to detect whether there is any empty point in the target points of the target trajectory information that has not been subjected to the attribute setting operation. This is a key step to ensure the integrity and accuracy of the entire spraying process. If it is detected that there is no empty target point, it means that the user has performed attribute settings on all target points. At this time, the target points in the target trajectory information and the point attributes matching these target points are bound and stored. The bound storage usually uses a database or a specific data file format to correspond the coordinate information of the target points and the corresponding point attribute information one by one.

[0038] S130. Send the target spraying information to the spraying device so that the spraying device performs a spraying operation on the hardware device based on the target spraying information.

[0039] Based on the above steps, it is easy to understand that in the target trajectory information set by the user in S120, adjacent two target points form line segments. For the spraying of these line segments, the spraying device will apply the point attributes of each target point according to specific rules. Specifically, when the spray gun starts spraying the line segment formed by two target points, it will use the point attribute of the previous point for spraying until it reaches the adjacent next target point. Once the spray gun reaches the next target point, the spray gun will quickly read the point attribute preset for this target point. It is easy to understand that the point attribute may be different from that of the previous endpoint because the spraying requirements for different parts of the target hardware device are different. For example, when spraying a car body, the door part may require a lower discharge rate and a slower gun speed to ensure the smoothness of the surface, while a larger area on the side of the body can use a higher discharge rate and a faster gun speed to improve efficiency. After reading the point attribute of the next point, the spray gun will immediately adjust its working state and spray the next line segment according to the new point attribute. This process will be repeated continuously. The spray gun will spray along each line segment in the target trajectory information in turn, dynamically adjusting the spraying state according to the spraying parameters of each line segment endpoint to ensure that all parts of the entire target hardware device can be accurately and evenly sprayed, and finally achieve a high-quality spraying effect.

[0040] The technical solution of the embodiment of the present invention first obtains the shape information of the target hardware device and the preset point-taking rule, obtains the target trajectory information matching the target hardware device based on the shape information and the point-taking rule, then responds to the user's attribute setting operation for each target point in the target trajectory information, generates the target spraying information matching the target hardware device, and finally sends the target spraying information to the spraying device so that the spraying device performs a spraying operation on the hardware device based on the target spraying information. It can perform a spraying operation on the hardware device according to the shape of the hardware device, improve the accuracy and coating efficiency of the spraying work, and reduce the waste of paint.

[0041] Embodiment 2

[0042] Figure 2 It is a flowchart of a spraying method for a hardware device provided in Embodiment 2 of the present invention. This embodiment is refined based on the above embodiment. Specifically, in this embodiment, the method for obtaining the target trajectory information matching the target hardware device based on the shape information and the point-taking rule is refined.

[0043] As Figure 2As shown in the figure, the method includes:

[0044] S210. Obtain the shape information of the target hardware device and a preset point-taking rule.

[0045] Among them, the shape information includes at least one contour segment of the target hardware device and contour segment information respectively matching each contour segment.

[0046] S220. Process the shape information using circular arc interpolation to obtain target contour information matching the target hardware device.

[0047] Among them, processing the shape information using circular arc interpolation to obtain target contour information matching the target hardware device includes: obtaining each contour segment information, and processing each contour segment information using circular arc interpolation to obtain at least one target difference point; performing a path drawing operation based on each contour segment information and each target difference point to obtain target contour information matching the target hardware device.

[0048] Exemplarily, in the process of generating target contour information, first preprocess each contour segment, such as mature data preprocessing operations in the prior art like removing noise points and complementing missing data. Then apply circular arc interpolation to generate dense target difference points. These difference points are connected by cubic spline interpolation to form a smooth spraying path, that is, the target contour information in this embodiment.

[0049] S230. Process the target contour information based on the preset point-taking rule to obtain at least one target point position matching the target hardware device.

[0050] Specifically, processing the target contour information based on the preset point-taking rule to obtain at least one target point position matching the target hardware device includes: performing segmentation processing on the target contour information based on a preset segmentation rule to obtain at least one target segment; setting a target origin in the target contour information based on the user's point position selection operation, and establishing a target coordinate system with the target origin as the reference; obtaining the coordinate information of the endpoints of each target segment in the target coordinate system, and outputting it as the target point position matching the target hardware device.

[0051] Among them, the preset segmentation rule includes at least one of a geometric feature segmentation rule, a curvature-driven segmentation rule, a structure segmentation rule, and a uniform segmentation rule.

[0052] Optionally, in this embodiment, the segmentation processing of the target contour information can adopt a hierarchical progressive strategy. Taking the flank surface segment (curvature radius R80mm) of the front bumper of a certain SUV as an example, initially, the curvature-driven segmentation rule is applied to generate the initial segmentation, and the curvature change rate threshold between adjacent segments is set to 0.01mm-1. Then, it is further subdivided through the geometric feature rule, and the surface segment is divided into a transition area (curvature change rate > 0.01mm-1) and a stable area (curvature change rate ≤ 0.01mm-1). The finally formed target segments include 5 transition segments (average length 8mm) and 15 stable segments (average length 12mm).

[0053] Furthermore, the setting of the target origin is based on the reference features of the product and is configured by relevant personnel according to the actual implementation scenario. For example, in the spraying of automobile bumpers, the lower left corner vertex of the product can be selected as the target origin, with coordinates (X = 0, Y = 0, Z = 0). The target coordinate system is established using the right-hand rule, with the X-axis along the length direction of the product, the Y-axis along the width direction, and the Z-axis perpendicular to the spraying surface. This coordinate system setting is compatible with the industrial robot coordinate system, facilitating subsequent trajectory conversion.

[0054] Based on the above steps, for the target contour after segmentation processing, the endpoint coordinates of each segment can be directly read from the system. For example, after applying the curvature-driven segmentation rule to process the flank surface segment of the SUV front bumper, the system will generate 20 target segments, and the start and end coordinates of each segment will be displayed in real time on the interface of the planning software and output as the target points matching the segment.

[0055] Optionally, in actual operation, technicians can use interactive planning software to directly perform segmentation processing on the target contour information on the graphical interface, that is, technicians can segment the target contour information by manually selecting at least one point on the target contour information. Relevant personnel in this field should be aware that the operation of segmenting the contour information of hardware devices based on manual operation is a mature existing technology, and this embodiment will not elaborate on it here.

[0056] S240. Combine the target contour information and each target point to obtain target trajectory information.

[0057] Among them, the target trajectory information includes target contour information and at least one target point.

[0058] S250. Respond to the user's attribute setting operation for each target point in the target trajectory information, and generate target spraying information matching the target hardware device.

[0059] S260. Send the target spraying information to a spraying device so that the spraying device performs a spraying operation on the hardware device based on the target spraying information.

[0060] In the technical solution of the embodiment of the present invention, by first obtaining the shape information of the target hardware device and a preset point-taking rule, using the circular arc interpolation method to process the shape information to obtain target contour information matching the target hardware device, and processing the target contour information based on the preset point-taking rule to obtain at least one target point matching the target hardware device, then combining the target contour information and each target point to obtain target trajectory information, then in response to a user's attribute setting operation for each target point in the target trajectory information, generating target spraying information matching the target hardware device, and finally sending the target spraying information to the spraying device so that the spraying device performs a spraying operation on the hardware device based on the target spraying information, it is possible to perform a spraying operation on the hardware device according to the shape of the hardware device, improve the accuracy and coating efficiency of the spraying work, and reduce the waste of paint.

[0061] Embodiment III

[0062] Figure 3 is a schematic structural diagram of a spraying device for a hardware device provided in Embodiment III of the present invention. As Figure 3 shown, the device includes:

[0063] A trajectory information generation module 310, configured to obtain the shape information of the target hardware device and a preset point-taking rule, and obtain target trajectory information matching the target hardware device based on the shape information and the point-taking rule, where the target trajectory information includes target contour information and at least one target point;

[0064] A spraying information generation module 320, configured to generate target spraying information matching the target hardware device in response to a user's attribute setting operation for each target point in the target trajectory information;

[0065] A spraying execution module 330, configured to send the target spraying information to a spraying device so that the spraying device performs a spraying operation on the hardware device based on the target spraying information.

[0066] In the technical solution of the embodiment of the present invention, by first obtaining the shape information of the target hardware device and the preset point-taking rule, obtaining the target trajectory information matching the target hardware device based on the shape information and the point-taking rule, then in response to the user's attribute setting operation for each target point in the target trajectory information, generating the target spraying information matching the target hardware device, and finally sending the target spraying information to the spraying device, so that the spraying device performs the spraying operation on the hardware device based on the target spraying information, it is possible to perform the spraying operation on the hardware device according to the shape of the hardware device, improve the accuracy and coating efficiency of the spraying work, and reduce the waste of paint.

[0067] Based on the above embodiment, the trajectory information generation module 310 includes:

[0068] The shape information processing unit is used to process the shape information by using the circular arc interpolation method to obtain the target contour information matching the target hardware device;

[0069] The contour information processing unit is used to process the target contour information based on the preset point-taking rule to obtain at least one target point matching the target hardware device;

[0070] The information combination unit is used to combine the target contour information and each target point to obtain the target trajectory information.

[0071] Based on the above embodiment, the shape information processing unit includes:

[0072] The circular arc interpolation unit is used to obtain each contour segment information and process each contour segment information by using the circular arc interpolation method to obtain at least one target interpolation point;

[0073] The path drawing unit is used to perform path drawing operations according to each contour segment information and each target interpolation point to obtain the target contour information matching the target hardware device.

[0074] Based on the above embodiment, the contour information processing unit includes:

[0075] The segmentation unit is used to segment the target contour information based on the preset segmentation rule to obtain at least one target segment;

[0076] The coordinate system establishment unit is used to set the target origin in the target contour information based on the user's point selection operation and establish a target coordinate system with the target origin as the reference;

[0077] The target point output unit is used to obtain the coordinate information of the endpoints of each target segment in the target coordinate system and output it as the target point matching the target hardware device.

[0078] Based on the above embodiments, the spraying information generation module 320 includes:

[0079] A point selection unit, configured to obtain each setting point in response to the user's selection operation for each target point.

[0080] An attribute setting unit, configured to obtain a point attribute respectively matching each setting point in response to the user's attribute setting operation for each setting point, where the point attribute includes at least one of discharge amount, forming pressure, and spray gun speed.

[0081] A detection unit, configured to detect whether there is any empty point in the target points of the target trajectory information that has not been subjected to the attribute setting operation.

[0082] A binding storage unit, configured to, if there is no empty point among the target points, bind and store each target point in the target trajectory information and the point attribute matching the target point, so as to obtain target spraying information matching the target hardware device.

[0083] The spraying device of a hardware device provided by an embodiment of the present invention can execute the spraying method of a hardware device provided by any embodiment of the present invention, and has corresponding function modules and beneficial effects for executing the method.

[0084] Embodiment 4

[0085] Figure 4 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0086] As Figure 4As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0087] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0088] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a spraying method for a hardware device.

[0089] Correspondingly, the method includes:

[0090] Obtain the shape information of the target hardware device and a preset point-taking rule, and obtain target trajectory information matching the target hardware device based on the shape information and the point-taking rule. The target trajectory information includes target contour information and at least one target point position;

[0091] In response to the user's attribute setting operation for each target point position in the target trajectory information, generate target spraying information matching the target hardware device;

[0092] Send the target spraying information to the spraying device so that the spraying device performs a spraying operation on the hardware device based on the target spraying information.

[0093] In some embodiments, a spraying method for a hardware device may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the spraying method for a hardware device described above may be executed. Alternatively, in other embodiments, the processor 11 may be configured to execute a spraying method for a hardware device by any other suitable means (e.g., by means of firmware).

[0094] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0095] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer programs are executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0096] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0097] For purposes of providing interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0098] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0099] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of high management difficulty and weak business scalability existing in traditional physical hosts and VPS services.

[0100] It should be understood that various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

Claims

1. A spraying method for a hardware device, characterized in that, Including: Obtain the shape information of the target hardware device and a preset point-taking rule, and obtain target trajectory information matching the target hardware device based on the shape information and the point-taking rule. The target trajectory information includes target contour information and at least one target point position; In response to a user's attribute setting operation for each target point position in the target trajectory information, generate target spraying information matching the target hardware device; Send the target spraying information to a spraying device, so that the spraying device performs a spraying operation on the hardware device based on the target spraying information.

2. The method according to claim 1, characterized in that, Obtaining target trajectory information matching the target hardware device based on the shape information and the point-taking rule includes: Process the shape information using circular arc interpolation to obtain target contour information matching the target hardware device; Process the target contour information based on a preset point-taking rule to obtain at least one target point position matching the target hardware device; Combine the target contour information and each target point position to obtain target trajectory information.

3. The method according to claim 2, wherein The shape information includes: At least one contour segment of the target hardware device and contour segment information respectively matching each contour segment.

4. The method according to any one of claims 2-3, characterized in that, Processing the shape information using circular arc interpolation to obtain target contour information matching the target hardware device includes: Obtain each contour segment information, and process each contour segment information using circular arc interpolation to obtain at least one target interpolation point; Perform a path drawing operation according to each contour segment information and each target interpolation point to obtain target contour information matching the target hardware device.

5. The method according to claim 2, wherein Processing the target contour information based on a preset point-taking rule to obtain at least one target point position matching the target hardware device includes: Segment the target contour information based on a preset segmentation rule to obtain at least one target segment; Set a target origin in the target contour information based on the user's point position selection operation, and establish a target coordinate system with the target origin as a reference; Obtain the coordinate information of the endpoints of each target segment in the target coordinate system, and output it as a target point position matching the target hardware device.

6. The method according to claim 5, wherein The preset segmentation rule includes at least one of: a geometric feature segmentation rule, a curvature-driven segmentation rule, a structure segmentation rule, and a uniform segmentation rule.

7. The method according to claim 1, wherein Generating target spraying information matching the target hardware device in response to a user's attribute setting operation for each target point position in the target trajectory information includes: In response to the user's selection operation for each target point position, obtain each set point position respectively; In response to the user's attribute setting operation for each set point position, obtain a point position attribute respectively matching each set point position, where the point position attribute includes at least one of: discharge amount, forming pressure, and spray gun speed; Detect whether there is any empty point position in each target point position of the target trajectory information that has not been subjected to an attribute setting operation; If none of the target points is an empty point, bind and store each target point in the target trajectory information and the point attribute matching the target point to obtain target spraying information matching the target hardware device.

8. A spraying device for a hardware device, characterized in that, Including: A trajectory information generation module, configured to obtain the shape information of the target hardware device and a preset point-taking rule, and obtain target trajectory information matching the target hardware device based on the shape information and the point-taking rule. The target trajectory information includes target contour information and at least one target point; A spraying information generation module, configured to generate target spraying information matching the target hardware device in response to a user's attribute setting operation for each target point in the target trajectory information; A spraying execution module, configured to send the target spraying information to a spraying device, so that the spraying device performs a spraying operation on the hardware device based on the target spraying information.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor, so that the at least one processor can execute a spraying method for a hardware device according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement a spraying method for a hardware device according to any one of claims 1-7 when executed by a processor.

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