Paint removal method, robot paint removal system and computer readable storage medium

Abstract

The invention relates to a paint removal method, a robot paint removal system and a computer readable storage medium. The method comprises the steps that a polishing path is generated in a to-be-depainted area of a workpiece, and a plurality of polishing path points are generated according to the polishing path; grinding parameters corresponding to the multiple grinding path points are obtained, and a grinding tool is controlled to conduct grinding action on the multiple grinding path points according to the grinding parameters; acquiring a surface image of the to-be-depainted area, and determining a depainting state of each polishing path point according to the surface image; and the polishing parameters corresponding to the polishing path points with the paint removal states not reaching the target paint removal state are adjusted, and based on the adjusted polishing parameters, a polishing tool is controlled to polish the corresponding polishing path points. By adopting the method, the paint on the surface of the workpiece can be specifically and uniformly removed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent robots, in particular to a paint removal method, a robot paint removal system and a computer readable storage medium. BACKGROUND

[0002] The polishing process is a complex and critical process in manufacturing. Compared with the traditional manual polishing method, the intelligent robot can better meet the upgrading needs of cost reduction and efficiency improvement of the industry. For example, the intelligent robot can replace manual work to efficiently remove paint on a large area of the workpiece surface. However, the workpiece to be removed paint often has various materials and complex shapes, and it is difficult for the robot to ensure the consistency of the polishing effect. SUMMARY

[0003] Therefore, it is necessary to provide a paint removal method and device, a robot paint removal system and a computer readable storage medium to solve the above technical problems.

[0004] In a first aspect, the present application provides a paint removal method. The method comprises:

[0005] generating a polishing path in a paint removal area of a workpiece, and generating a plurality of polishing path points according to the polishing path;

[0006] obtaining polishing parameters corresponding to the plurality of polishing path points, and controlling a polishing tool to perform polishing actions on the plurality of polishing path points according to the polishing parameters;

[0007] obtaining a surface image of the paint removal area, and determining a paint removal state of each polishing path point according to the surface image;

[0008] adjusting the polishing parameters corresponding to the polishing path points whose paint removal state does not reach a target paint removal state, and controlling the polishing tool to perform polishing actions on the corresponding polishing path points based on the adjusted polishing parameters.

[0009] In some embodiments, the paint removal state of each polishing path point is determined according to the surface image, comprising:

[0010] determining a pixel point in the surface image corresponding to each polishing path point according to position information of each polishing path point;

[0011] obtaining a pixel value corresponding to each pixel point;

[0012] determining the paint removal state of each polishing path point based on the pixel value corresponding to each pixel point.

[0013] In some embodiments, before the step of adjusting the polishing parameter corresponding to the polishing path point whose paint removal state does not reach the target paint removal state, the method further comprises:

[0014] obtaining the target paint removal state;

[0015] comparing the paint removal state of each polishing path point with the target paint removal state to obtain a comparison result;

[0016] determining the polishing path point whose paint removal state does not reach the target paint removal state according to the comparison result.

[0017] In some embodiments, the polishing parameter includes polishing force and polishing speed, and the adjusting the polishing parameter corresponding to the polishing path point whose paint removal state does not reach the target paint removal state comprises:

[0018] decreasing the polishing force corresponding to the polishing path point whose paint removal state does not reach the target paint removal state, and / or increasing the polishing speed corresponding to the polishing path point whose paint removal state does not reach the target paint removal state.

[0019] In some embodiments, when the paint removal state of the polishing path point reaches the target paint removal state, the polishing force is decreased to zero, and the polishing speed is increased to a preset speed.

[0020] In some embodiments, the polishing parameter further includes polishing direction, and the adjusting the polishing parameter corresponding to the polishing path point whose paint removal state does not reach the target paint removal state comprises:

[0021] setting a plurality of check points in a direction perpendicular to the polishing path direction of the polishing path point whose paint removal state does not reach the target paint removal state;

[0022] adjusting the polishing direction of the polishing tool according to the paint removal state of the plurality of check points and the paint removal state of the corresponding polishing path point.

[0023] In some embodiments, the adjusting the polishing direction of the polishing tool according to the paint removal state of the plurality of check points and the paint removal state of the corresponding polishing path point comprises:

[0024] determining a check point whose paint removal state is closest to the target paint removal state according to the paint removal state of the plurality of check points and the paint removal state of the corresponding polishing path point;

[0025] adjusting the polishing direction of the polishing tool towards other check points other than the check point closest to the target paint removal state until the paint removal state of the corresponding polishing path point reaches the target paint removal state.

[0026] In some embodiments, a distance between each of the checkpoints and a corresponding polishing path point that does not reach the target paint removal state is less than or equal to a polishing pad radius of the polishing tool.

[0027] In some embodiments, the method further comprises: repeatedly acquiring the surface image of the paint removal area, and adjusting the polishing parameters corresponding to the polishing path points whose paint removal states do not reach the target paint removal state in the repeatedly acquired surface image to obtain repeatedly adjusted polishing parameters; and controlling the polishing tool to perform polishing actions on the corresponding polishing path points based on the repeatedly adjusted polishing parameters until the paint removal states of the plurality of polishing path points all reach the target paint removal state.

[0028] In a second aspect, the present application further provides a paint removal device, comprising:

[0029] a path generation module configured to generate a polishing path in a paint removal area of a workpiece, and generate a plurality of polishing path points according to the polishing path;

[0030] an acquisition module configured to acquire polishing parameters corresponding to the plurality of polishing path points, and control a polishing tool to perform polishing actions on the plurality of polishing path points according to the polishing parameters;

[0031] a paint removal state determination module configured to acquire a surface image of the paint removal area, and determine a paint removal state of each polishing path point according to the surface image;

[0032] a parameter adjustment module configured to adjust the polishing parameters corresponding to the polishing path points whose paint removal states do not reach a target paint removal state, and control the polishing tool to perform polishing actions on the corresponding polishing path points based on the adjusted polishing parameters.

[0033] In a third aspect, the present application further provides a robot paint removal system. The robot paint removal system comprises a robot body, a polishing tool mounted on the robot body, and a control system for controlling the robot to perform paint removal on a workpiece, wherein the control system is configured to perform the steps of the paint removal method in the first aspect.

[0034] In a fourth aspect, the present application further provides a computer readable storage medium. The computer readable storage medium has a computer program stored thereon, and the computer program is configured to perform the steps of the paint removal method in the first aspect when executed by a processor.

[0035] The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the application will be apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments description. The drawings in the following description are only some embodiments of the present application, and do not constitute limitation to the disclosed content and protection scope of the present application.

[0037] Figure 1 Flowchart of paint removing method in some embodiments;

[0038] Figure 2 Flowchart of determining paint removing state of each polishing path point according to surface image in some embodiments;

[0039] Figure 3 Schematic diagram of setting inspection point in some embodiments;

[0040] Figure 4 Schematic diagram of adjusting polishing direction of polishing tool in some embodiments;

[0041] Figure 5 Structural block diagram of paint removing device in some embodiments;

[0042] Figure 6 Structural schematic diagram of robot paint removing system in some embodiments. DETAILED DESCRIPTION

[0043] In order to facilitate the understanding of the present application, the following will make a more comprehensive description of the present application with reference to the relevant drawings. The drawings show the embodiments of the present application. However, the present application can be realized in many different forms, and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items. The terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above description of drawings are intended to cover non-exclusive inclusion.

[0045] As Figure 1As shown, the present application provides a paint removal method, and the present embodiment takes the method applied to a control system of a robot paint removal system as an example. The robot paint removal system further comprises at least one robot manipulator for executing tasks sent by the control system, and a polishing tool as an end effector. The at least one robot manipulator can be installed on a static workbench, a linear guide rail, or a mobile chassis to realize the movement of the robot, which is not limited by the present application. In the present embodiment, the method comprises steps S102-S108.

[0046] Step S102, generating a polishing path in the paint removal area of the workpiece, and generating a plurality of polishing path points according to the polishing path.

[0047] In some embodiments, the control system acquires an initial surface image of the paint removal area of the workpiece, which can be captured by one or more 2D / 3D depth cameras. The plurality of 2D / 3D depth cameras can be installed on the robot body or in the environment around the workpiece. Then the control system can use AI technology to process the initial surface image to generate the polishing path.

[0048] In some embodiments, the control system can use AI technology such as multi-classification logistic regression or semantic segmentation to classify the initial state of different regions in the initial surface image according to the desired paint removal state, specifically, the initial state of different points in the initial surface image. Further, the polishing path is generated in the surface area that does not reach the desired paint removal state.

[0049] When the polishing tool travels along the polishing path, the polishing pad of the polishing tool can gradually cover the paint removal area. Further, the polishing path can be divided into a plurality of discrete points as the polishing path points of the polishing tool. In addition to being automatically generated by the control system, the polishing path can also be generated by user input in other embodiments.

[0050] In addition, the control system also needs to acquire the position information of the camera collecting the initial surface image and the position information of the paint removal area, and further determine the specific position information of each polishing path point on the workpiece according to the position information.

[0051] Step S104, acquiring polishing parameters corresponding to the plurality of polishing path points, and controlling the polishing tool to perform polishing actions on the plurality of polishing path points according to the polishing parameters.

[0052] In some embodiments, the initial polishing parameters are generally determined by the material to be polished, the thickness of the paint layer, the preset polishing time, the desired polishing quality (i.e. the desired paint removal state desired by the user), and the like. In other embodiments, the polishing parameters can also be obtained through extensive parameter testing or through the experience of a skilled technician. The polishing parameters can include polishing force, polishing speed, polishing frequency, and polishing direction. The system can reasonably set the polishing parameters according to the actual working conditions of the paint surface of the workpiece. Further, the control system controls the polishing tool to work along the plurality of polishing path points in sequence.

[0053] Step S106, acquiring a surface image of the paint removal area, and determining the paint removal state of each polishing path point according to the surface image.

[0054] During the polishing process, the control system can acquire the surface image of the paint removal area in real time through the 2D / 3D depth camera, and then view the paint removal state of the polished path point in real time. In other examples, the control system can also acquire the surface image of the paint removal area after the first round of polishing.

[0055] In some embodiments, as shown in FIG. 2A, the above-mentioned determination of the paint removal state of each polishing path point according to the surface image includes the following steps S201-S203. Figure 2

[0056] Step S201, determining the pixel point corresponding to each polishing path point in the surface image according to the position information of each polishing path point.

[0057] Since the paint removal state of each polishing path point on the workpiece is determined through the surface image of the paint removal area, it is necessary to establish the correspondence between the pixel points in the newly acquired surface image and the polishing path points. In some examples, the control system can determine the pixel points corresponding to each polishing path point according to the position information of each polishing path point and the position information of the camera collecting the surface image.

[0058] Step S202, acquiring the pixel value corresponding to each pixel point.

[0059] In some embodiments, in addition to directly acquiring the pixel value corresponding to each pixel point as the color information of the polishing path point, the user can also specify other parameters, such as the margin around the pixel point, and then generate a circle or square centered on the pixel point, and take the overall pixel value corresponding to the generated circle or square as the color information of the polishing path point.

[0060] Step S203, determining the paint removal state of each polishing path point based on the pixel value corresponding to each pixel point.

[0061] ​In some embodiments, the control system can determine the paint removal state of each polishing path point based on color estimation of the pixels (or the area surrounding the pixels). For example, assuming that the color of the paint layer is white and the target paint removal state corresponds to a color of red, after obtaining the pixel value corresponding to each polishing path point, the control system can use the color estimation method to estimate the difference between the actual color of each polishing path point and the color of red based on a classical image processing algorithm or a deep learning algorithm, and then determine the paint removal state of each polishing path point.

[0062] In step S108, the polishing parameters corresponding to the polishing path points whose paint removal states do not reach the target paint removal state are adjusted, and the polishing tool is controlled to perform polishing actions on the corresponding polishing path points based on the adjusted polishing parameters.

[0063] In some embodiments, before the step of adjusting the polishing parameters corresponding to the polishing path points whose paint removal states do not reach the target paint removal state, the method further comprises: obtaining the target paint removal state; comparing the paint removal state of each polishing path point with the target paint removal state to obtain a comparison result; and determining the polishing path points whose paint removal states do not reach the target paint removal state according to the comparison result.

[0064] The target paint removal state can be input by a user. After the control system obtains the paint removal state of a polishing path point, it compares the paint removal state with the target paint removal state, so as to determine whether the paint removal state of the polishing path point reaches the target paint removal state. According to actual needs, all or part of the polishing path points whose paint removal states do not reach the target paint removal state can be screened out.

[0065] After a round of polishing is completed, the paint removal states of the polishing path points are not all the same due to inconsistencies in the flatness of the workpiece surface and motion errors of the robot. For the polishing path points whose paint removal states do not reach the target paint removal state, the control system can adjust the corresponding polishing parameters based on the difference between the current paint removal state and the target paint removal state. The adjustment degree of the polishing parameters of each polishing path point can be consistent or different. After the polishing parameters corresponding to the polishing path points whose paint removal states do not reach the target paint removal state are adjusted, the control system can regenerate the polishing path of the end effector according to the position information of the polishing path points, so as to control the polishing tool to perform work on the polishing path points again.

[0066] In some embodiments, the method further comprises: repeatedly acquiring the surface image of the paint removal area, and adjusting the polishing parameters corresponding to the polishing path points whose paint removal states do not reach the target paint removal state in the repeatedly acquired surface image to obtain repeatedly adjusted polishing parameters; and controlling the polishing tool to perform polishing actions on the corresponding polishing path points based on the repeatedly adjusted polishing parameters, i.e., repeatedly performing the steps S106-S108 until the paint removal states of the plurality of polishing path points all reach the target paint removal state.

[0067] The paint removal state of the polishing path point can be viewed in real time during the polishing process through the camera, or the surface image of the paint removal area can be acquired after a new round of polishing is completed. Further, the control system can again screen out the polishing path points whose paint removal states do not reach the target paint removal state, and then adjust the polishing parameters corresponding to the polishing path points and control the polishing tool to perform work on the corresponding polishing path points based on the again adjusted polishing parameters. This process is repeated until the paint removal states of all the polishing path points reach the target paint removal state. The number of times of adjusting the polishing parameters of the polishing path points is at least one.

[0068] The above paint removal method generates a polishing path in the paint removal area of the workpiece, obtains a plurality of polishing path points through which the polishing tool travels, and then controls the polishing tool to polish the surface of the workpiece along the plurality of polishing path points according to the initial polishing parameters. Further, the polishing path points whose paint removal states do not reach the target paint removal state are screened out through image feedback, and the polishing parameters of the polishing path points are adjusted at least once until the adjusted parameters make the paint removal state of the path point reach the target paint removal state, thereby realizing targeted and uniform removal of paint on the surface (flat or curved) of the workpiece.

[0069] In some embodiments, the step of adjusting the polishing parameters corresponding to the polishing path points whose paint removal states do not reach the target paint removal state comprises: reducing the polishing force corresponding to the polishing path points whose paint removal states do not reach the target paint removal state, and / or increasing the polishing speed corresponding to the polishing path points whose paint removal states do not reach the target paint removal state.

[0070] In some embodiments, when the paint removal state of the polishing path point reaches the target paint removal state, the polishing force is reduced to zero, and the polishing speed is increased to a preset speed.

[0071] To prevent the polishing tool from polishing the polishing path points with high intensity all the time, generally speaking, as the current paint removal state of the polishing path points approaches the target paint removal state, the polishing force gradually decreases and reaches zero when the target paint removal state is reached. As the current paint removal state of the polishing path points approaches the target paint removal state, the polishing speed needs to gradually increase because the polishing force is gradually decreasing, and reaches a preset speed when the target paint removal state is reached. The preset speed can be the maximum speed set by the user.

[0072] In some embodiments, as the current paint removal state of the polishing path points approaches the target paint removal state, the control system can also control the polishing tool to gradually lift off the workpiece surface to avoid over-polishing.

[0073] During the polishing process, due to some error factors, the polishing tool is not always positioned in such a way that the polishing pad is perpendicular to the surface at each path point for different curved surfaces on the workpiece. Therefore, there will be some areas within the footprint of the polishing pad that are polished more than other areas, resulting in uneven polishing. In some embodiments, the uncertainty problem of polishing uniformity for different curved surfaces can be solved by direction compensation.

[0074] In some embodiments, the step of adjusting the polishing parameters corresponding to the polishing path points that do not reach the target paint removal state also includes: setting a plurality of checkpoints in the direction perpendicular to the polishing path direction of the polishing path points that do not reach the target paint removal state; and adjusting the polishing direction of the polishing tool according to the paint removal states of the plurality of checkpoints and the paint removal state of the corresponding polishing path points.

[0075] In this embodiment, as an example, two checkpoints can be set for each polishing path point that does not reach the target paint removal state, as shown in Figure 3 The two checkpoints can be distributed at the upper and lower positions of the corresponding polishing path point in the direction perpendicular to the polishing path direction, and the distances between the two checkpoints and the corresponding polishing path point are equal, respectively. It can be understood that the polishing path is not always a straight line, so the polishing path points are not always arranged along a straight line. For example, when the polishing path is a curve, the connecting line between two adjacent polishing path points is taken as the polishing path direction, and then the two polishing path points are set with checkpoints in the direction perpendicular to the polishing path direction, respectively. In some embodiments, the distance between each checkpoint and the corresponding polishing path point that does not reach the target paint removal state is less than or equal to the radius of the polishing pad of the polishing tool.

[0076] In other embodiments, checkpoints can be set around each sanding path point that has not reached the target paint removal state. For example, with the sanding path point as the center, the checkpoints can be set within a circle with a preset distance as the radius, which is less than or equal to the radius of the sanding pad of the sanding tool.

[0077] Furthermore, the paint removal status of these two checkpoints can be determined using the method described above for determining the paint removal status of the sanding path points. Then, the paint removal status of these two checkpoints and their corresponding sanding path points can be compared with the target paint removal status. The control system then adjusts the sanding direction of the sanding tool based on the comparison results, thereby achieving uniform paint removal on surfaces of any curvature.

[0078] In some embodiments, adjusting the polishing direction of the polishing tool according to the paint peeling state of the plurality of checkpoints and the corresponding paint peeling state of the polishing path points includes: determining the checkpoint whose paint peeling state is closest to the target paint peeling state according to the paint peeling state of the plurality of checkpoints and the corresponding paint peeling state of the polishing path points; and adjusting the polishing direction of the polishing tool toward other checkpoints besides the checkpoint whose paint peeling state is closest to the target paint peeling state.

[0079] In this embodiment, we will take setting two checkpoints for each sanding path point that does not reach the target paint removal state as an example. When the paint removal state of the two checkpoints is compared with the target paint removal state, we can determine the checkpoint whose paint removal state is closest to the target paint removal state. This indicates that when the sanding tool sands the corresponding sanding path point, it sands more towards the area of ​​the checkpoint that is closest to the target paint removal state. Therefore, we adjust the sanding direction of the sanding tool to a suitable angle towards the area of ​​the other checkpoint to compensate for the less sanded area. Figure 4 As shown, this allows the curved surface of the workpiece to be polished evenly, thus maintaining a good consistency in the paint removal effect of the polished area.

[0080] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0081] Based on the same inventive concept, the embodiments of the present application also provide a paint removal device for implementing the paint removal method described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in the device embodiments provided below can be referred to the limitations of the paint removal method described above, which will not be repeated here.

[0082] In some embodiments, as shown in Figure 5 A paint removal device is provided, comprising: a path generation module 501, an acquisition module 502, a paint removal state determination module 503, and a parameter adjustment module 504. Wherein:

[0083] The path generation module 501 is configured to generate a polishing path in a paint removal area of a workpiece, and generate a plurality of polishing path points according to the polishing path;

[0084] The acquisition module 502 is configured to acquire polishing parameters corresponding to the plurality of polishing path points, and control a polishing tool to perform polishing actions on the plurality of polishing path points according to the polishing parameters;

[0085] The paint removal state determination module 503 is configured to acquire a surface image of the paint removal area, and determine a paint removal state of each polishing path point according to the surface image;

[0086] The parameter adjustment module 504 is configured to adjust the polishing parameters corresponding to the polishing path points whose paint removal state does not reach a target paint removal state, and control the polishing tool to perform polishing actions on the corresponding polishing path points based on the adjusted polishing parameters.

[0087] In some embodiments, the paint removal state determination module 503 is further configured to determine a pixel point in the surface image corresponding to each polishing path point according to position information of the each polishing path point, acquire a pixel value corresponding to each pixel point, and determine the paint removal state of the each polishing path point based on the pixel value corresponding to the each pixel point.

[0088] In some embodiments, the parameter adjustment module 504 is further configured to acquire the target paint removal state, compare the paint removal state of each polishing path point with the target paint removal state to obtain a comparison result, and determine the polishing path points whose paint removal state does not reach the target paint removal state according to the comparison result.

[0089] In some embodiments, the polishing parameters include polishing force and polishing speed, and the parameter adjustment module 504 is further configured to reduce the polishing force corresponding to the polishing path points whose paint removal state does not reach the target paint removal state, and / or increase the polishing speed corresponding to the polishing path points whose paint removal state does not reach the target paint removal state.

[0090] In some embodiments, when the paint removal state of the polishing path point reaches the target paint removal state, the polishing force is reduced to zero, and the polishing speed is increased to a preset speed.

[0091] In some embodiments, the polishing parameters further include a polishing direction, and the parameter adjustment module 504 is further configured to set a plurality of check points in a direction perpendicular to the polishing path direction for the polishing path point that does not reach the target paint removal state; and adjust the polishing direction of the polishing tool according to the paint removal states of the plurality of check points and the paint removal state of the corresponding polishing path point.

[0092] In some embodiments, the parameter adjustment module 504 is further configured to determine a check point with a paint removal state closest to the target paint removal state according to the paint removal states of the plurality of check points and the paint removal state of the corresponding polishing path point; and adjust the polishing direction of the polishing tool to be directed towards other check points other than the check point closest to the target paint removal state.

[0093] In some embodiments, a distance between each of the check points and the corresponding polishing path point that does not reach the target paint removal state is less than or equal to a polishing pad radius of the polishing tool.

[0094] In some embodiments, the parameter adjustment module 504 is further configured to repeatedly acquire surface images of the paint removal area, and adjust the polishing parameters corresponding to the polishing path points with paint removal states that do not reach the target paint removal state in the repeatedly acquired surface images to obtain repeatedly adjusted polishing parameters; and control the polishing tool to perform polishing actions on the corresponding polishing path points based on the repeatedly adjusted polishing parameters until the paint removal states of the plurality of polishing path points all reach the target paint removal state.

[0095] The above-described various modules in the paint removal device can be implemented in whole or in part by software, hardware, and combinations thereof. The above-described various modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in a computer device in software form, so as to be called and executed by a processor to perform operations corresponding to the above-described various modules.

[0096] In some embodiments, the present application further provides a robot paint removal system. As shown in Figure 6 The robot paint removal system includes a robot body 601, a polishing tool 602 mounted on the robot body, and a control system 603 for controlling the robot to perform paint removal on a workpiece 604. The control system 603 can be various computer systems with processors. It can be understood that the control system 603 can be a control system of the robot itself, or a control system independent of the robot. The control system 603 is configured to perform the following steps:

[0097] generating a polishing path in a paint removal area of a workpiece, and generating a plurality of polishing path points according to the polishing path;

[0098] obtaining polishing parameters corresponding to the plurality of polishing path points, and controlling a polishing tool to perform polishing actions on the plurality of polishing path points according to the polishing parameters;

[0099] obtaining a surface image of the paint removal area, and determining a paint removal state of each polishing path point according to the surface image;

[0100] adjusting the polishing parameters corresponding to the polishing path point whose paint removal state does not reach a target paint removal state, and controlling the polishing tool to perform polishing actions on the corresponding polishing path point based on the adjusted polishing parameters.

[0101] In some embodiments, the control system 603 is further configured to perform the following steps:

[0102] determining a pixel point in the surface image corresponding to each polishing path point according to position information of the polishing path point;

[0103] obtaining a pixel value corresponding to each pixel point;

[0104] determining a paint removal state of each polishing path point based on the pixel value corresponding to the pixel point.

[0105] In some embodiments, the processor further implements the following steps when executing the computer program:

[0106] obtaining the target paint removal state;

[0107] comparing the paint removal state of each polishing path point with the target paint removal state to obtain a comparison result;

[0108] determining the polishing path point whose paint removal state does not reach the target paint removal state according to the comparison result.

[0109] In some embodiments, the polishing parameters include a polishing force and a polishing speed, and the control system 603 is further configured to perform the following steps:

[0110] decreasing the polishing force corresponding to the polishing path point whose paint removal state does not reach the target paint removal state, and / or increasing the polishing speed corresponding to the polishing path point whose paint removal state does not reach the target paint removal state.

[0111] In some embodiments, when the paint removal state of the polishing path point reaches the target paint removal state, the polishing force is decreased to zero, and the polishing speed is increased to a preset speed.

[0112] In some embodiments, the polishing parameters further include a polishing direction, and the control system 603 is further configured to perform the following steps:

[0113] a plurality of checkpoints are set in a direction perpendicular to the polishing path direction at the polishing path points that do not reach the target paint removal state;

[0114] According to the paint removal states of the plurality of checkpoints and the paint removal states of the corresponding polishing path points, the polishing direction of the polishing tool is adjusted.

[0115] In some embodiments, the control system 603 is further configured to perform the following steps:

[0116] According to the paint removal states of the plurality of checkpoints and the paint removal states of the corresponding polishing path points, a checkpoint whose paint removal state is closest to the target paint removal state is determined;

[0117] The polishing direction of the polishing tool is adjusted to be towards other checkpoints other than the checkpoint closest to the target paint removal state.

[0118] In some embodiments, the distance between each of the checkpoints and the corresponding polishing path points that do not reach the target paint removal state is less than or equal to the polishing pad radius of the polishing tool.

[0119] In some embodiments, the control system 603 is further configured to perform the following steps: repeatedly acquiring surface images of the paint removal area, and adjusting the polishing parameters corresponding to the polishing path points whose paint removal states do not reach the target paint removal state in the repeatedly acquired surface images to obtain repeatedly adjusted polishing parameters, and based on the repeatedly adjusted polishing parameters, controlling the polishing tool to perform polishing actions on the corresponding polishing path points until the paint removal states of the plurality of polishing path points all reach the target paint removal state.

[0120] In some embodiments, the present application further provides a computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0121] In some embodiments, the present application further provides a computer program product comprising a computer program, which, when executed by a processor, implements the steps in the above method embodiments.

[0122] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0123] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0124] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A paint removal method, characterized in that, include: A grinding path is generated in the area of ​​the workpiece to be painted, and multiple grinding path points are generated based on the grinding path. Obtain the grinding parameters corresponding to the plurality of grinding path points, and control the grinding tool to perform grinding actions on the plurality of grinding path points according to the grinding parameters; Obtain a surface image of the area to be painted, and determine the paint removal status of each sanding path point based on the surface image; The grinding parameters corresponding to the grinding path points where the paint removal state has not reached the target paint removal state are adjusted, and based on the adjusted grinding parameters, the grinding tool is controlled to perform grinding actions on the corresponding grinding path points.

2. The method according to claim 1, characterized in that, Determining the paint removal status of each sanding path point based on the surface image includes: Based on the position information of each polishing path point, determine the pixel in the surface image corresponding to each polishing path point; Get the pixel value corresponding to each pixel; Based on the pixel value corresponding to each pixel, the paint removal status of each polishing path point is determined.

3. The method according to claim 1, characterized in that, Before adjusting the sanding parameters for sanding path points where the paint removal state has not reached the target state, the process also includes: Obtain the target paint stripping state; The paint removal state at each sanding path point is compared with the target paint removal state to obtain a comparison result. Based on the comparison results, the sanding path points where the paint removal state has not reached the target paint removal state are determined.

4. The method according to claim 1, characterized in that, The polishing parameters include polishing force and polishing speed. Adjusting the polishing parameters corresponding to polishing path points where the paint removal state has not reached the target paint removal state includes: Reduce the polishing force corresponding to the polishing path point that has not reached the target paint removal state, and / or increase the polishing speed corresponding to the polishing path point that has not reached the target paint removal state.

5. The method according to claim 4, characterized in that, When the paint removal state at the polishing path point reaches the target paint removal state, the polishing force is reduced to zero, and the polishing speed is increased to a preset speed.

6. The method according to claim 4, characterized in that, The sanding parameters also include the sanding direction. Adjusting the sanding parameters corresponding to sanding path points where the paint removal state has not reached the target paint removal state includes: Multiple checkpoints are set along the direction perpendicular to the sanding path for sanding path points where the target paint removal state has not been achieved. The polishing direction of the polishing tool is adjusted according to the paint peeling status of the multiple checkpoints and the corresponding paint peeling status of the polishing path points.

7. The method according to claim 6, characterized in that, The step of adjusting the polishing direction of the polishing tool based on the paint peeling status of the multiple inspection points and the corresponding paint peeling status of the polishing path points includes: Based on the paint removal status of the multiple checkpoints and the corresponding paint removal status of the sanding path points, determine the checkpoints whose paint removal status is closest to the target paint removal status. Adjust the polishing direction of the polishing tool toward other inspection points besides the inspection point that is closest to the target paint peeling state.

8. The method according to claim 6, characterized in that, The distance between each checkpoint and the corresponding sanding path point that has not reached the target paint removal state is less than or equal to the radius of the sanding pad of the sanding tool.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: Repeatedly acquire surface images of the area to be de-painted, and adjust the sanding parameters corresponding to the sanding path points in the repeatedly acquired surface images where the de-painting state has not reached the target de-painting state, so as to obtain the repeatedly adjusted sanding parameters. Based on the repeatedly adjusted polishing parameters, the polishing tool is controlled to perform polishing actions on the corresponding polishing path points until the paint removal state of the multiple polishing path points reaches the target paint removal state.

10. A paint removal device, characterized in that, include: The path generation module is used to generate a grinding path in the paint-to-be-removed area of ​​the workpiece, and generate multiple grinding path points based on the grinding path. The acquisition module is used to acquire the grinding parameters corresponding to the plurality of grinding path points, and control the grinding tool to perform grinding actions on the plurality of grinding path points according to the grinding parameters. The paint removal status determination module is used to acquire a surface image of the area to be painted and determine the paint removal status of each sanding path point based on the surface image. The parameter adjustment module is used to adjust the grinding parameters corresponding to the grinding path points where the paint removal state has not reached the target paint removal state, and based on the adjusted grinding parameters, control the grinding tool to perform grinding actions on the corresponding grinding path points.

11. A robotic paint removal system, characterized in that, The method includes a robot body, a polishing tool mounted on the robot body, and a control system for controlling the robot to remove paint from a workpiece, wherein the control system is used to perform the steps of the method according to any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 9.

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