Intelligent coating system and spraying control method

Abstract

The invention provides an intelligent coating system and a spraying control method. The system comprises a main control assembly, a structured light scanner, a spraying machine, a depth camera, an industrial robot and a base. The main control assembly is arranged in the computer and is in communication connection with the structured light scanner, the depth camera, the industrial robot and the base; one end of the industrial robot is arranged on the top of the base, and the other end of the industrial robot is connected with the structured light scanner, the spraying machine and the depth camera. The bottom end of the base is movably arranged on a working platform; according to the intelligent coating system and the spraying control method, the arrangement of the coating system can be optimized, the control precision of the system on the coating thickness of the coating is improved, the problems that the coating uniformity is low and the thickness control capacity is poor under the complex conditions of a glossy surface, a curved surface and the like of the coating are solved, the stability of the system is improved, and the coating quality is improved. And the coating quality and speed are improved, and the device can also be suitable for spraying of special functional coatings.

Description

Technical Field

[0001] The present invention relates to the technical field of robot intelligent painting, and in particular to an intelligent painting system and a spraying control method. Background Art

[0002] Internationally, the development of intelligent painting robots began early. For example, ABB Switzerland GmbH holds numerous patents in this field. ABB's patent application for a "Painting Robot and Painting Method" improves coating quality at the ends of the coating by suppressing paint overflow from the nozzle, demonstrating advanced technology for spraying precision control. A patent for a "Controller for a Spraying Robot," obtained in 2025, improves spraying accuracy, reduces paint waste, and enhances work efficiency.

[0003] In recent years, the number of domestic patent applications for intelligent painting robots has been on the rise. With the development of industrial automation and increasing environmental protection requirements, more and more companies and research institutions are investing in the research and development of intelligent painting robots. For example, Tianjin Qisuo High-tech Co., Ltd. successfully applied for a patent for a "wall-climbing roller coating robot for ship painting," and Guangzhou Rongda Information Technology Co., Ltd. applied for a patent for a "magnetic wall-climbing spray robot and its spraying method."

[0004] The following is information on some patents related to intelligent spraying robots: Foshan Daoshan Intelligent Robot Co., Ltd. applied for a patent titled "An Intelligent Marking and Spraying Robot," with authorization publication number CN222796170U and application date July 2024. By configuring a pan-tilt motor to rotate a reflective prism, a laser tracker can locate the automatic marking and spraying robot in real time. Hanergy Tiangong (Sichuan) Intelligent Technology Co., Ltd. applied for a patent titled "Spraying Control Method and System Based on Intelligent Robots," with publication number CN119972394A and application date February 2025. By iteratively processing the target robot's spraying control model through parameter learning, the efficiency and quality of the robot's spraying operation are improved. Shenzhen Yuejiang Technology Co., Ltd. applied for a patent titled "Robot Spraying Control Method and Robot Spraying Control Device," with publication number CN119098316A and application date August 2024. By acquiring a spraying repetition trajectory, the robot is controlled to spray at different speeds to optimize speed, thereby improving spraying efficiency, uniformity, and stability. Shanghai Jianye Technology Co., Ltd. has applied for a patent titled "An Intelligent Robotic Spraying Method Based on a Spraying System," with publication number CN119680788A and application date December 2024. The patent utilizes 3D scanning to construct a model for planning the spraying path, enabling real-time monitoring and adjustments based on quality inspections to improve spraying quality and production efficiency. Yinhu Technology (Nantong) Co., Ltd. has applied for a patent titled "An Intelligent Robotic Travel Device for Spraying," with authorization publication number CN222726708U and application date June 2024. The patent utilizes a travel mechanism and electric hydraulic rod design to prevent spraying failures due to insufficient height, and can sense the environment, improving spraying accuracy and operational safety.

[0005] However, special functional coatings used in certain equipment or devices require a high degree of control over the coating thickness. However, for complex structures such as curved surfaces, the traditional manual spraying process has a large thickness error and cannot meet the construction needs of special functional coatings. When using general automatic painting robots, the special functional coating spraying operation faces strong ambient light interference in the working environment, resulting in a large number of missing and noise points in the point cloud. The workpiece surface has high reflectivity similar to that of a mirror due to material, polishing or cutting, making it difficult to obtain complete and accurate point cloud data. The complex shapes of workpieces with features such as bevels and large area rates have multiple reflections, resulting in missing and erroneous point cloud data, which seriously affects the stability of the intelligent spraying system. Therefore, it is of great significance to study how to ensure the uniformity of coating application in complex situations and to improve the ability to control the coating thickness of the coating during the coating process.

[0006] Patent CN119017404A discloses a vision-guided robotic automated spraying device and method of use, including a vision guidance system, a control system, and an execution system. The vision guidance system is used to collect workpiece information and environmental information and send it to the control system. The control system is used to plan a spraying trajectory based on the workpiece information and environmental information and send it to the execution system. The execution system performs a spraying action based on the spraying trajectory to complete the spraying. It can effectively improve the spraying efficiency, but because it guarantees the uniformity of the spraying thickness by determining whether re-spraying is required or the spraying is completed after the spraying is performed through a thickness detection unit, the method of use is relatively complicated and is prone to the problem of over-spraying, which in turn affects the accuracy of the spraying. Summary of the Invention

[0007] In view of this, the present invention aims to propose an intelligent coating system and spraying control method to solve the problems in the prior art of large thickness errors in traditional manual spraying processes and the poor stability of the spraying system caused by the susceptibility of existing automatic coating robots to interference when spraying special functional coatings; thereby optimizing the settings of the coating system, improving the system's control accuracy over the coating thickness of the coating, solving the problems of low coating uniformity and poor thickness control ability in complex situations such as glossy surfaces and curved surfaces, improving the stability of the system, improving the quality and speed of coating, and being suitable for the spraying of special functional coatings.

[0008] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0009] The present invention relates to an intelligent coating system and a spraying control method. The intelligent coating system includes a main control component, a structured light scanner, a sprayer, a depth camera, an industrial robot and a base; the main control component is arranged inside a computer, and the main control component is respectively communicated with the structured light scanner, the depth camera, the industrial robot and the base; one end of the industrial robot is arranged on the top of the base, and the other end of the industrial robot is respectively connected to the structured light scanner, the sprayer and the depth camera; the bottom end of the base is movably arranged on a working horizontal platform.

[0010] Furthermore, the sprayer is a pneumatic airless sprayer.

[0011] Furthermore, the spraying machine includes a spray gun, which is arranged at one end of the spraying machine away from the industrial robot.

[0012] Furthermore, the shooting time of the structured light scanner ranges from 0.98s / frame to 2.26s / frame.

[0013] Furthermore, the structured light scanner is attached to or separated from the side of the industrial robot away from the base, and the lens of the structured light scanner is set above the top of the industrial robot. The depth camera is attached to or separated from the side of the structured light scanner away from the industrial robot, and the lens of the depth camera is set at the lower end of the top of the industrial robot.

[0014] Furthermore, the main control component includes a visual perception module and an operation planning module. The visual perception module and the operation planning module are both set inside the computer.

[0015] A spray control method for an intelligent coating system, the method being applied to an intelligent coating system according to any one of claims 1 to 4, the method comprising the following steps:

[0016] Step 1: Scanning and analysis: The visual perception module of the intelligent coating system uses a depth camera and a structured light scanner to scan the sample. The computer analyzes the scan information to determine the current location of the sample and its specific structural shape.

[0017] Step 2: Determine the motion mode: Determine the motion trajectory of the industrial robot, and set the relevant parameters of the motion mode of the industrial robot for coating through the computer according to the relevant information of the sample to be sprayed;

[0018] Step 3: Movable spraying: Start the spraying machine, and the industrial robot moves under the action of the base to drive the spray gun to the position of the sample to be sprayed, and the spray gun sprays the surface of the sample to be sprayed in the area to be sprayed;

[0019] Step 4: Complete the spraying and clean the equipment to obtain the required spray sample.

[0020] Furthermore, in step three, during the spraying process, the base can be moved as needed to allow the spray gun to spray different positions of the sample to be sprayed.

[0021] Furthermore, step one includes:

[0022] Step S11: placing the sample to be sprayed in the scanning area in front of the intelligent coating system;

[0023] Step S12: The visual perception module of the intelligent coating system calls the depth camera and the structured light scanner to scan the sample;

[0024] Step S13: Analyze the surface image of the sample to be sprayed by the image processing module in the computer to determine the current position of the sample to be sprayed and the specific structure and shape of the sample itself.

[0025] Further, step S13 includes:

[0026] Step S131: completing surface partitioning and scanning pose solution of the painted sample based on the acquired original model information of the painted sample by a computer;

[0027] Step S132: Analyze the surface image of the sample to be sprayed by the image processing module of the computer to determine the current position of the sample to be sprayed and the specific structure and shape of the sample itself.

[0028] Compared with the prior art, the intelligent coating system and spraying control method described in the present invention have the following beneficial effects:

[0029] By coordinating the system and method, the settings of the coating system can be optimized, the system's control accuracy over the coating thickness can be improved, and the problems of low coating uniformity and poor thickness control ability on complex surfaces such as glossy surfaces and curved surfaces can be solved. The stability of the system can be improved, and the quality and speed of coating can be improved. It can also be suitable for the spraying of special functional coatings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0031] Figure 1 This is a schematic diagram of the overall hardware structure of the intelligent coating system;

[0032] Figure 2 This is a schematic diagram of the simulation of the displacement and velocity curves of the paint spraying path tested by the laser tracker;

[0033] Figure 3 This is a schematic diagram of the overall software structure of the intelligent painting system.

[0034] Explanation of the accompanying drawings: 1. Main control component; 2. Structured light scanner; 3. Sprayer; 4. Depth camera; 5. Industrial robot; 6. Base. DETAILED DESCRIPTION

[0035] The inventive concepts of the present disclosure will be described below using terms commonly used by those skilled in the art to convey the essence of their work to other persons skilled in the art. However, these inventive concepts can be embodied in many different forms and should not be considered limited to the embodiments described herein.

[0036] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0037] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0038] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0039] In the existing technology, the special functional coating spraying operation faces the problem of strong ambient light interference in the working environment, which leads to a large number of missing and noise points in the point cloud. The workpiece surface has high reflectivity similar to that of a mirror due to reasons such as material, polishing or cutting, which makes it difficult to obtain complete and accurate point cloud data. The complex shapes of workpieces with features such as bevels and large area rates have multiple reflections, resulting in missing and erroneous point cloud data, which seriously affects the stability of the intelligent spraying system.

[0040] To address the existing issues of large thickness errors in traditional manual spraying processes and the poor stability of the spraying system caused by interference when applying special functional coatings using existing automatic painting robots, this embodiment proposes an intelligent painting system and spraying control method. The intelligent painting system includes a main control component 1, a structured light scanner 2, a sprayer 3, a depth camera 4, an industrial robot 5, and a base 6. The main control component 1 is located within a computer and is connected to the structured light scanner 2, the depth camera 4, the industrial robot 5, and the base 6. One end of the industrial robot 5 is located on top of the base 6, and the other end is connected to the structured light scanner 2, the sprayer 3, and the depth camera 4. The bottom end of the base 6 is movably mounted on a working platform. The sprayer 3 is a pneumatic airless sprayer. The sprayer 3 includes a spray gun, which is located at the end of the sprayer 3 away from the industrial robot 5. In this embodiment, the structured light scanner 2, the sprayer 3, the depth camera 4, the industrial robot 5, and the base 6 constitute the hardware components of the intelligent painting system of this application.

[0041] Through the above system settings, the settings of the coating system can be optimized, the system's control accuracy of the coating thickness can be improved, the problems of low coating uniformity and poor thickness control ability on complex surfaces such as glossy surfaces and curved surfaces can be solved, the stability of the system can be improved, the quality and speed of coating can be improved, and it can also be suitable for the spraying of special functional coatings.

[0042] The parameters of the structured light scanner 2 are as follows: the working distance of the structured light scanner 2 ranges from 0.4m to 1m. The Z single-point repeatability of the structured light scanner 2 is 0.27mm. The capture time of the structured light scanner 2 ranges from 0.98s / frame to 2.26s / frame.

[0043] Through the setting of structured light scanner 2, it can have 40LUX resistance to ambient light interference, an ultra-large working distance range of 0.4-1m, a measurement accuracy of up to 0.1%, and a wide field of view of 0.86×0.65m. Different from the existing setting of three-dimensional laser scanners that use laser ranging combined with beam deflection, which is prone to potential eye safety risks from the laser light source itself, this application adopts the setting of structured light scanner 2. By adopting the setting of active projection coded light combined with triangulation, it can accurately scan a single object or a small range of scenes. It can also use safe visible light or low-power infrared LED / projector light sources, which has a very low risk to human eye safety. This solves the problem that special functional coating spraying operations are faced with the strong ambient light interference in the working environment, resulting in a large number of missing and noise points in the point cloud. The workpiece surface has high reflectivity similar to that of a mirror due to material, polishing or cutting, which makes it difficult to obtain complete and accurate point cloud data. The complex shape of the workpiece with features such as grooves and large area rates has multiple reflections, resulting in missing and erroneous point cloud data, which seriously affects the stability of the intelligent spraying system.

[0044] Specifically, the structured light scanner 2 is attached to or detached from the side of the industrial robot 5 away from the base 6, with its lens positioned above the top of the industrial robot. The depth camera 4 is attached to or detached from the side of the structured light scanner 2 away from the industrial robot 5, with its lens positioned at the lower end of the top of the industrial robot 5. Both the structured light scanner 2 and the depth camera 4 are provided with mounting holes. The sprayer 3 passes through the mounting holes of the depth camera 4 and the structured light scanner 2, respectively, and is connected to or detached from the end of the industrial robot 5 away from the base 6. The outer wall of the spray gun of the sprayer 3 is attached to the inner wall of the mounting holes of the structured light scanner 2 and the depth camera 4. The technical parameters of the robots in the intelligent coating system include the working range radius and payload parameters. Specifically, the working range radius of the industrial robot 5 is 901 mm. The payload of the industrial robot 5 is 5 kg. The model technical parameters of the sprayer 3 include the pressure ratio, no-load flow rate, intake pressure, and air consumption. Specifically, the pressure ratio of the sprayer 3 is 65:1. The no-load flow rate of the sprayer 3 is 25 L / min. The air intake pressure of the sprayer 3 is in the range of 0.3 MPa to 0.6 MPa. The air consumption of the sprayer 3 is in the range of 300 L / min to 2500 L / min.

[0045] Through the coordinated arrangement of the structured light scanner 2, the sprayer 3, the depth camera 4, the industrial robot 5 and the base 6, the coating system can improve the spraying range to a certain extent when spraying the sample, and can scan the entire sprayed sample and feed back the scanned information to the main control component 1.

[0046] The main control component 1 includes a visual perception module and an operation planning module. Both modules are located within the computer. These modules form the software component of the painting system, controlling the industrial robot 5 to precisely spray the sample according to a pre-set path.

[0047] The visual perception module within the intelligent painting system is used to acquire high-precision point cloud data, which plays a crucial role in the subsequent coating application accuracy. The job planning module is primarily used to complete the reconstruction of partitioned point clouds and generate coating application paths. The coordinated configuration of the visual perception module and the job planning module can improve the scanning accuracy of the painted sample surface and ensure the optimal planning of the painting path, thereby achieving accurate and rapid painting of the painted sample.

[0048] A spraying control method for an intelligent coating system, the method being applied to the intelligent coating system, the method comprising the following steps:

[0049] Step 1: Scanning and analysis: The visual perception module of the intelligent coating system calls the depth camera 4 and the structured light scanner 2 to scan the sample, and the computer analyzes the scanning information to determine the current position of the sample and the shape of its specific structure.

[0050] Step 2: Determine the motion mode: Determine the motion trajectory of the industrial robot 5 and, based on the relevant information of the sample to be sprayed, set the relevant parameters of the motion mode of the industrial robot 5 for painting through the computer.

[0051] Step 3: Movable spraying treatment: Start the sprayer 3, and the industrial robot 5 drives the spray gun to the position of the sample to be sprayed in a movable manner under the action of the base 6, and the spray gun sprays the surface of the area to be sprayed of the sample to be sprayed.

[0052] Step 4: Complete spraying and clean the equipment to obtain the required spray sample: After the sample spraying is completed, use the matching diluent to clean the airless sprayer 3 and the spray gun.

[0053] Among them, in step three, by starting the air pump, power is provided to the pneumatic airless sprayer 3, thereby starting the sprayer 3. In step three, during the spraying process, the mobile base 6 can be used to spray different positions of the sample to be sprayed as needed.

[0054] By setting up the method, the coating accuracy of the paint can be greatly improved, achieving a repeat positioning accuracy of ≤ 0.5 mm and a coating thickness error of ≤ 10% of the total coating thickness.

[0055] Specifically, step one includes:

[0056] Step S11: placing the sample to be sprayed in the scanning area in front of the intelligent coating system;

[0057] Step S12: The visual perception module of the intelligent coating system calls the depth camera 4 and the structured light scanner 2 to scan the sample;

[0058] Step S13: Analyze the surface image of the sample to be sprayed by the image processing module in the computer to determine the current position of the sample to be sprayed and the specific structure and shape of the sample itself.

[0059] Through the coordinated setting of the visual perception module, the depth camera 4, and the structured light scanner 2, multi-sensor fusion scanning of the surface of the sample to be painted is realized; it can lay the foundation for the robotic spraying system to intelligently and autonomously obtain high-precision point cloud models, and can also achieve the accuracy of obtaining the position information and specific structural shape of the sample to be sprayed, which is conducive to improving the accuracy and reliability of spraying.

[0060] Wherein, step S12 includes:

[0061] Step S121: First, the visual perception module of the intelligent coating system calls the depth camera 4 to perform a preliminary scan to quickly obtain a low-precision surface model and rough position information of the coating sample; and transmit the information to the computer for storage;

[0062] Step S122: Then, the structured light scanner 2 is called by the visual perception module of the intelligent painting system to perform a depth scan on the sample to be painted, and high-precision point cloud data within the surface partition of the sample to be painted is obtained; and the information is transmitted to the computer for storage.

[0063] By acquiring point cloud data after preliminary scanning and high-precision scanning, the wide field of view of the depth camera 4 and the high-precision characteristics of the structured light scanner 2 are combined; it is possible to improve the accuracy of sample scanning and enhance the accuracy of sample scanning results, providing more accurate data for subsequent spray path planning.

[0064] Step S13 includes:

[0065] Step S131: The surface partitioning and scanning posture solution of the painted sample are completed by the computer based on the original model information of the sample to be sprayed; wherein, the surface partitioning and scanning posture solution rely on accurate CAD models, robot models, and sensor models, and are achieved through complex geometric calculations, simulations, and optimization algorithms.

[0066] Step S132: Analyze the surface image of the sample to be sprayed by the image processing module of the computer to determine the current position of the sample to be sprayed and the specific structure and shape of the sample itself.

[0067] Surface partitioning intelligently divides the surface of a complex part to be painted into scannable units based on geometric features, accessibility, scan quality, and process requirements. Scanning pose solving calculates the optimal position and orientation for each unit for industrial robot 5 carrying structured light scanner 2. The core goal is to achieve high-quality, full-coverage, collision-free scanning of that unit. These two steps ensure the core preprocessing of the automated 3D scanning-guided painting system, thereby improving subsequent point cloud quality, path planning accuracy, and overall painting efficiency and effectiveness.

[0068] Step two includes;

[0069] Step S21: Calculate the motion parameters of each joint of the collaborative industrial robot 5 based on the position and shape of the sample to be sprayed and the kinematic model of the collaborative industrial robot 5, thereby determining the motion trajectory of the collaborative industrial robot 5.

[0070] Step S22: According to the relevant information of the sample to be sprayed, the relevant parameters of the movement mode of the industrial robot 5 for painting are set through the computer.

[0071] In step S22, the relevant information includes the surface shape of the sample to be sprayed, the required coating thickness of the sample to be sprayed, and relevant parameter information of the coating to be sprayed on the sample to be sprayed. The relevant parameter information of the coating includes any one or more of the type, model, and viscosity of the coating. In addition, the relevant parameters of the motion mode of the industrial robot 5 include any one or more of the motion trajectory, motion rate, and spraying parameters of the spray gun.

[0072] Step S22 includes:

[0073] Step S221: Based on the relevant information of the sample to be sprayed, the computer performs surface scanning sequence planning on the sample to be sprayed, and solves the optimal configuration sequence of the industrial robot 5; this is used to guide the industrial robot 5 to complete the multi-viewpoint precise scanning and spraying operation on the surface of the sample to be sprayed;

[0074] Step S222: The system registers and stitches the collected point clouds of different partitions through the operation planning module to obtain a complete point cloud model;

[0075] Step S223: The computer obtains the sampling path points and normal information of the area to be painted through the system's visual perception module, and then solves the painting configuration sequence of the industrial robot 5 to generate the required painting path for the current area to be painted;

[0076] Step S224: testing and verifying the execution effect of the paint spraying path using a laser tracker;

[0077] Step S225: Determine whether the test verification result is feasible. If yes, the current path planning is feasible, and the relevant parameters of the movement mode of the industrial robot 5 for painting are set through the computer; if no, the current path planning is not feasible, return to step S221, and re-plan the spraying path for the area to be sprayed of the current sample.

[0078] Testing and verifying the execution effect of the paint spray path through a laser tracker is conducive to verifying the feasibility of paint spray path planning, thereby improving the reliability of spray path determination. In addition, according to the test results of the laser tracker, the intelligent painting system of this application accurately executes the planned spray path in space and can continuously maintain the set requirements in terms of speed during the spraying process. At the same time, using a laser tracker and in accordance with GB / T 12642-2001, the two indicators of spray coverage and repeat positioning accuracy were tested. The test results showed that the spray coverage range of the intelligent painting robot was ≥1m and the repeat positioning accuracy was ≤0.5mm.

[0079] Step S222 includes:

[0080] Step S2221: The system uses the ICP registration algorithm through the job planning module to register and splice the high-precision point cloud models of different partitions of the collected sample;

[0081] Step S2222: Fitting point cloud models of different partitions to achieve surface reconstruction of the point cloud model, thereby obtaining a complete point cloud model.

[0082] By establishing the point cloud model in step S222, a foundation can be laid for the painting operation, facilitating the planning and determination of the painting path, and further optimizing the setting of the spraying path.

[0083] Example 1:

[0084] The intelligent coating system designed above was used to spray paint #1. The paint had a density of 2.5 ± 0.15 g / ml, a viscosity of 1800-2300 cp, and a designed coating thickness of 900 μm. The sample to be coated was a 300 mm × 300 mm panel. The sample was coated according to the spray control method. For specific steps, see the spray control method for an intelligent coating system described above. After the coating was completely dry, the coating thickness was measured at nine random points. The coating thickness error was 1.71%.

[0085] Example 2:

[0086] The intelligent coating system designed above was used to spray paint #2. The paint had a density of 1.0 ± 0.15 g / ml, a viscosity of 2500–3000 cp, and a designed coating thickness of 600 μm. The sample to be coated was 1 m × 1 m × 1 m. The sample was coated according to the spray control method described above. For specific steps, see the spray control method for an intelligent coating system. After the coating was completely dry, the coating thickness was measured at nine random points. The coating thickness error was 3.62%.

[0087] Example 3:

[0088] The intelligent coating system designed above was used to spray paint 3#. The density of 3# paint was 1.45 ± 0.15 g / ml, the viscosity was 1500–2000 cp, and the designed coating thickness was 150 μm. The coating specimen was a hemispherical specimen with a diameter of 80 cm. The specimen was coated according to the spray control method. The specific steps are detailed in the spray control method for an intelligent coating system described above. After the coating was completely dry, the coating thickness was measured at nine random points. The coating thickness error was 2.29%.

[0089] Through the test results after spraying using the above-mentioned spray control method in Examples 1-3, it can be seen that the coordinated setting of the intelligent coating system and the spray control method of the present application can effectively reduce the error of the coating thickness to ≤10% of the total coating thickness, and can also reduce the re-read positioning accuracy to ≤0.5mm. Therefore, it is not difficult to see that through the setting of the system and spraying method of the present application, the accuracy of spraying special functional coatings can be greatly improved, and the problems of low coating uniformity and poor thickness control ability of coatings in complex situations such as glossy surfaces and curved surfaces can be effectively solved. In addition, it can also be seen that the setting of the system and spraying method of the present application has broad application prospects.

[0090] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent painting system, characterized in that: The invention comprises a main control component (1), a structured light scanner (2), a sprayer (3), a depth camera (4), an industrial robot (5) and a base (6); the main control component (1) is arranged inside a computer, and the main control component (1) is respectively connected to the structured light scanner (2), the depth camera (4), the industrial robot (5) and the base (6); one end of the industrial robot (5) is arranged on the top of the base (6), and the other end of the industrial robot (5) is respectively connected to the structured light scanner (2), the sprayer (3) and the depth camera (4); the bottom end of the base (6) is arranged on a working horizontal platform in a movable manner.

2. The intelligent coating system according to claim 1, characterized in that: The sprayer (3) is a pneumatic airless sprayer.

3. The intelligent coating system according to claim 2, characterized in that: The spraying machine (3) comprises a spray gun, which is arranged at one end of the spraying machine (3) away from the industrial robot (5).

4. The intelligent coating system according to claim 1, characterized in that: The shooting time of the structured light scanner (2) ranges from 0.98s / frame to 2.26s / frame.

5. The intelligent coating system according to claim 1, characterized in that: The structured light scanner (2) is attached to or separated from a side of the industrial robot (5) away from the base (6), and a lens of the structured light scanner (2) is arranged above the top of the industrial robot; the depth camera (4) is attached to or separated from a side of the structured light scanner (2) away from the industrial robot (5), and a lens of the depth camera (4) is arranged at the lower end of the top of the industrial robot (5).

6. The intelligent coating system according to claim 1, characterized in that: The main control component (1) comprises a visual perception module and an operation planning module; the visual perception module and the operation planning module are both arranged inside the computer.

7. A spraying control method for an intelligent coating system, characterized in that: The method is applied to an intelligent coating system according to any one of claims 1 to 6, and the method comprises the following steps: Step 1: Scanning and analysis: The visual perception module of the intelligent coating system calls the depth camera (4) and the structured light scanner (2) to scan the sample, and the computer analyzes the scan information to determine the current position of the sample and the shape of its specific structure; Step 2: Determine the motion mode: Determine the motion trajectory of the industrial robot (5), and set the relevant parameters of the motion mode of the industrial robot (5) for coating through a computer according to the relevant information of the sample to be sprayed; Step 3: Movable spraying treatment: Start the spraying machine (3), and the industrial robot (5) drives the spray gun to move to the position of the sample to be sprayed in a manner that can be moved under the action of the base (6), and the spray gun sprays the surface of the spraying area of ​​the sample to be sprayed; Step 4: Complete the spraying and clean the equipment to obtain the required spray sample.

8. The spraying control method of an intelligent coating system according to claim 7, characterized in that: In the step 3, during the spraying process, the spray gun can be used to spray different positions of the sample to be sprayed by moving the base (6) as needed.

9. The spraying control method of an intelligent coating system according to claim 7, characterized in that: The step one comprises: Step S11: placing the sample to be sprayed in the scanning area in front of the intelligent coating system; Step S12: The visual perception module of the intelligent coating system calls the depth camera (4) and the structured light scanner (2) to scan the sample; Step S13: Analyze the surface image of the sample to be sprayed by the image processing module in the computer to determine the current position of the sample to be sprayed and the specific structure and shape of the sample itself.

10. The spraying control method of an intelligent coating system according to claim 9, characterized in that: The step S13 includes: Step S131: completing surface partitioning and scanning pose solution of the painted sample based on the acquired original model information of the painted sample by a computer; Step S132: Analyze the surface image of the sample to be sprayed by the image processing module of the computer to determine the current position of the sample to be sprayed and the specific structure and shape of the sample itself.

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