Laboratory spray device

Abstract

The present application relates to laboratory spraying device and its spraying method. The spraying device includes a workbench, a visual recognition system and a spray gun unit, and the spraying method includes the following steps: using the camera and sensor of the visual recognition system to respectively shoot substrate images and detect physical information parameters, then further processing by an image processing module to generate a data set containing coordinate parameters and physical information parameters, and prompting the defect condition of the substrate surface through the controller, for serious defects, the controller generates a discard instruction for the substrate; for slight defects, the spray gun unit repairs the defects according to the spraying instruction. The spraying device and spraying method of the present application effectively solve the problems of high cost of existing spraying equipment, large limitation on substrate shape and size, poor spraying quality consistency, low spraying efficiency, serious raw material waste and other problems.

Description

Technical Field

[0001] This invention relates to the field of laboratory spraying technology. In particular, this invention relates to a laboratory spraying apparatus and method for repairing defects in substrates. Background Technology

[0002] In the laboratory, spraying is a common method for treating substrate surfaces, widely used for coating various substrates. This technology utilizes a spray gun to atomize the coating material, then evenly sprays it onto the surface of the substrate, ultimately forming a dense protective film. This protective film provides protection to the substrate, including but not limited to properties such as water resistance, oil resistance, and gas barrier properties. Therefore, spraying technology has a wide range of applications in the materials field, with significant demand in both laboratories and industry.

[0003] Currently, widely used laboratory spraying equipment has the following shortcomings in practical applications: (1) Traditional spraying equipment usually has a very complex mechanical structure and is expensive; (2) It has certain limitations on parameters such as the shape and size of the substrate to be coated, and its universality is poor. In response to the above disadvantages, some laboratories have introduced imported spraying equipment and achieved higher spraying quality, but the problem of high price has not been solved, which greatly increases the operating cost of the laboratory. In addition, some laboratories use manual spraying by laboratory personnel. Although it can effectively reduce costs, it is difficult to guarantee the consistency of quality of manual spraying, and it is time-consuming, labor-intensive, and inefficient.

[0004] In summary, the current application of spraying technology in laboratories mainly suffers from the following problems: (1) The cost of spraying equipment is too high, greatly increasing the operating costs of the laboratory; (2) There are strict limitations on the shape and size of the substrate to be coated, which cannot meet the needs of coating the surface of substrates of various shapes; (3) Manual spraying has the problem of difficulty in ensuring the consistency of spraying quality, and because the surface conditions of the substrates to be coated are different, even using advanced equipment for coating will result in poor consistency of spraying quality; (4) Due to the lack of detection of the surface spraying quality of the substrates to be coated, there are deviations in the spraying results, which greatly affects the yield rate and reduces the spraying efficiency, while also causing a great waste of raw materials. Therefore, developing new high-performance spraying technologies and designing spraying equipment with more functions, wider application scenarios, stronger universality, higher spraying efficiency, and better spraying yield is an important development goal in the field of spraying, and it is of great significance for promoting the development of materials science and surface science. Summary of the Invention

[0005] In a first aspect of this disclosure, a spraying apparatus 1 is provided, comprising: a worktable 2 configured to fix a substrate to be sprayed; a vision recognition system 3 configured to communicate with the worktable 2, the vision recognition system comprising: a light source 4 configured to illuminate the substrate in response to a start command A; a camera 5 configured to capture an image of the substrate in response to a start command B; a sensor 6 configured to detect physical information parameters of the substrate in response to a start command C, wherein the physical information parameters include a transmittance parameter, a thickness parameter, and / or an area parameter; a monitor 7 configured to send a trigger command to a controller 10 when the substrate is detected to be in a monitored area; and an image acquisition module 8 configured to receive the image captured by the camera 5 and assign coordinates to the image. The system includes: an image processing module 9, configured to receive physical information parameters detected by the sensor 6 and an image with assigned coordinate parameters obtained by the image acquisition module 8, and associate the physical information parameters with the corresponding coordinate parameters to generate a dataset containing the physical information parameters and coordinate parameters; a controller 10, configured to, upon receiving a trigger command from the monitor 7, issue a start command A to the light source 4, a start command B to the camera 5, and a start command C to the sensor 6, and / or, receive the dataset containing the physical information parameters and coordinate parameters from the image processing module 9, compare the physical information parameters with a given threshold, and then generate a spraying command for the area corresponding to the corresponding coordinate parameters, or generate a discard command; a communication unit 11; and a spray gun unit 12, configured to perform a spraying operation according to the spraying command.

[0006] In a second aspect of this disclosure, a method for processing a substrate is provided, the method comprising: when a monitor 7 detects that the substrate to be sprayed is in a monitored area on a workbench 2, the monitor 7 sends a trigger command to a controller 10; after receiving the trigger command, the controller 10 sends a start command A to a light source 4 to activate the light source 4 to illuminate the substrate to be sprayed, sends a start command B to a camera 5 to activate the camera 5 to capture an image of the substrate to be sprayed, and sends a start command C to a sensor 6 to activate the sensor 6 to detect physical information parameters; transmitting the image captured by the camera 5 to an image acquisition module 8, wherein the image is assigned coordinate parameters in the image acquisition module 8; transmitting the image assigned coordinate parameters to an image processing module 9; and transmitting the image detected by the sensor 6 to an image processing module 9. The physical information parameters are transmitted to the image processing module 9; the image processing module 9 associates the physical information parameters detected by the sensor 6 with the coordinate parameters assigned by the image acquisition module 8 to generate a dataset containing the physical information parameters and coordinate parameters, and then transmits the dataset to the controller 10; after receiving the dataset containing the physical information parameters and coordinate parameters from the image processing module 9, the controller 10 compares the physical information parameters with a given threshold, and then generates a spraying instruction for the area corresponding to the corresponding coordinate parameters, or generates a discard instruction, and then sends the spraying instruction to the spray gun unit 12; the spray gun unit 12 performs the spraying operation according to the spraying instruction, wherein the physical information parameters include light transmittance parameters, thickness parameters and / or area parameters.

[0007] In addition, the applicant has unexpectedly discovered that, compared with traditional spraying devices and methods, the device and method of this application have the following technical advantages: (1) Spraying device 1 is suitable for spraying substrates (surfaces) of various shapes, and is not limited by the shape and size of the substrate to be sprayed, fully meeting the needs of coating various substrates in practical applications; (2) Spraying cost is much lower than other commercially available spraying products; (3) Spraying quality consistency is high; (4) Spraying efficiency is greatly improved. The device and method can effectively save the use of raw materials and reduce waste.

[0008] It should be understood that the description in the Summary of the Invention section is not intended to limit the key or essential features of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0009] To better understand the above and other objects, features, advantages, and functions of this disclosure, reference can be made to the embodiments shown in the accompanying drawings. The same reference numerals in the drawings refer to the same parts. Those skilled in the art should understand that the drawings are intended to schematically illustrate preferred embodiments of this disclosure and are not intended to limit the scope of this disclosure; the parts in the drawings are not drawn to scale.

[0010] Figure 1An exemplary spraying apparatus according to the present disclosure is shown. Detailed Implementation

[0011] Various embodiments will now be described with reference to the accompanying drawings, wherein similar reference numerals are used throughout to refer to similar elements. In the following description, numerous specific details are set forth for purposes of explanation in order to facilitate a thorough understanding of one or more embodiments. However, it may be apparent in some or all cases that any of the embodiments described below can be practiced without employing the specific design details described below. A simplified overview of one or more embodiments is given below to provide a basic understanding of the embodiments. This overview is not an exhaustive summary of all contemplated embodiments, nor is it intended to identify key or essential elements of all embodiments, nor is it intended to define the scope of any or all embodiments.

[0012] The references to “implementation” or “one implementation” within the framework of this description are intended to indicate that a particular configuration, structure, or feature described with respect to an implementation is included in at least one implementation. Therefore, phrases such as “in an implementation” or “in one implementation” that may appear at one or more points in this description do not necessarily refer to the same implementation. Furthermore, in one or more implementations, particular constructions, structures, or features may be combined in any suitable manner.

[0013] The following will refer to Figure 1 This describes a spraying apparatus according to one embodiment of the present disclosure. For example... Figure 1As shown, the spraying apparatus 1 of the present invention includes a worktable 2, a vision recognition system 3, and a spray gun unit 12. The vision recognition system 3 includes a light source 4, a camera 5, a sensor 6, a monitor 7, an image acquisition module 8, an image processing module 9, a controller 10, and a communication unit 11. The substrate to be sprayed is fixed on the worktable 2. When the substrate is within the monitoring area of ​​the monitor 7, the monitor 7 sends a trigger command to the controller 10. After receiving the trigger command, the controller 10 sends a start command A to the light source 4, which includes the control signal of the light source 4; a start command B to the camera 5, which includes the control signal of the camera 5; and a start command C to the sensor 6, which includes the control signal of the sensor 6. Subsequently, according to a pre-set program or according to the command from the controller 10, the light source 4 and the camera 5 cooperate to complete the image capture of the substrate, and the sensor 6 completes the detection of the physical information parameters of the substrate. The image captured by the camera 5 is then transmitted to the image acquisition module 8, processed, and then transmitted to the image processing module 9. Simultaneously, the physical information parameters detected by the sensor 6 are also transmitted to the image processing module 9. Further data processing is performed in image processing module 9. Based on the processing results of image processing module 9, a spraying command is generated in the controller, and then the spray gun unit 12 executes the spraying operation according to the spraying command.

[0014] In one embodiment, the spraying apparatus 1 of the present invention includes a workbench 2, a vision recognition system 3, and a spray gun unit 12.

[0015] In one embodiment, the spraying device 1 of the present invention consists of a workbench 2, a vision recognition system 3, and a spray gun unit 12.

[0016] In one embodiment, the visual recognition system 3 of the present invention is communicatively connected to the workbench 2.

[0017] In one embodiment, the visual recognition system 3 of the present invention is communicatively connected to the spray gun unit 12.

[0018] In one embodiment, the spray gun unit 12 of the present invention is communicatively connected to the worktable 2.

[0019] In one embodiment, the spray gun unit 12 of the present invention has no communication connection with the worktable 2.

[0020] In one implementation, the communication connection is achieved via a wired connection.

[0021] In one implementation, the communication connection is achieved wirelessly.

[0022] In one embodiment, the visual recognition system 3 of the present invention includes a light source 4, a camera 5, a sensor 6, a monitor 7, an image acquisition module 8, an image processing module 9, a controller 10, and a communication unit 11.

[0023] In one embodiment, the visual recognition system 3 of the present invention comprises a light source 4, a camera 5, a sensor 6, a monitor 7, an image acquisition module 8, an image processing module 9, a controller 10, and a communication unit 11.

[0024] In one embodiment, the monitor 7 is configured to monitor the position of the substrate to be coated, and when the substrate to be coated is detected to be within the monitoring area of ​​the monitor 7, the monitor 7 sends a trigger command to the controller 10.

[0025] In one implementation, the triggering command is a trigger pulse.

[0026] In one embodiment, the controller 10 sends start commands A, B and C to the light source 4, camera 5 and sensor 6 respectively, according to a preset program and delay time.

[0027] In one implementation, the camera 5 prepares to take a new photo after receiving a start command B from the controller 10.

[0028] In one embodiment, the camera 5 is in a waiting state before receiving a start command B from the controller 10. After receiving the start command B, the waiting state ends, and the camera 5 opens its exposure component according to a preset exposure time, ready to take a new photo.

[0029] In one embodiment, after receiving a start command A from the controller 10, the light source 4 illuminates the substrate to be coated, and at the same time works with the camera 5 to take a picture.

[0030] In one embodiment, sensor 6 is activated after receiving a start command C from controller 10, and works with light source 4 to detect physical information parameters.

[0031] In one embodiment, the light source 4 and the sensor 6 are located on both sides of the substrate to be coated and are in a fixed position.

[0032] In one embodiment, the light source 4 and the sensor 6 are located on opposite sides of the substrate to be coated and their positions are not fixed.

[0033] In one implementation, the opening time of the light source 4 is matched with the exposure time of the camera 5.

[0034] In one implementation, a start command B is sent to the camera 5 before a start command A is sent to the light source 4.

[0035] In one implementation, after issuing start command A to light source 4, start command B is issued to camera 5.

[0036] In one embodiment, the controller 10 simultaneously sends start commands A and B to the light source 4 and the camera 5, respectively.

[0037] In one embodiment, the controller 10 simultaneously sends start commands A and C to the light source 4 and the sensor 6, respectively.

[0038] In one implementation, a start command C is sent to the sensor 6 before a start command A is sent to the light source 4.

[0039] In one implementation, after issuing a start command A to the light source 4, a start command C is issued to the sensor 6.

[0040] In one embodiment, the start commands A, B, and C issued by the controller 10 to the light source 4, camera 5, and sensor 6 are the same start commands.

[0041] In one embodiment, the controller 10 sends different start commands A, B, and C to the light source 4, camera 5, and sensor 6, respectively.

[0042] In one implementation, the start command is a start pulse.

[0043] In one embodiment, after a new photo is taken, the camera 5 transmits the image as a signal to the image acquisition module 8. In one embodiment, the image acquisition module 8 is in the form of a chip. In another embodiment, the image acquisition module 8 is in the form of an image acquisition card.

[0044] In one embodiment, the image acquisition module 8 assigns coordinate parameters to the image after receiving the signal, and then transmits the image with the assigned coordinate parameters to the image processing module 9 for further processing.

[0045] In one embodiment, sensor 6 converts the detected physical information parameters into signals and transmits them to image processing module 9.

[0046] In one embodiment, the image processing module 9 further processes the received signal, extracts coordinate parameters and physical information parameters, and associates the physical information parameters with the corresponding coordinate parameters to generate a dataset containing the coordinate parameters and physical information parameters. In one embodiment, the dataset can be in digital or image form. In one embodiment, the dataset contains coordinate parameters and physical information parameters. In one embodiment, the dataset contains an image with coordinate parameters and physical information parameters.

[0047] In one implementation, the image processing module 9 transmits a dataset containing coordinate parameters and physical information parameters to the controller 10, which compares the physical information parameters with a given threshold and then generates a spraying instruction for the area corresponding to the coordinate parameters.

[0048] In one implementation, the image processing module 9 transmits a dataset containing coordinate parameters and physical information parameters to the controller 10, which compares the physical information parameters with a given threshold and then generates a discard instruction.

[0049] In one implementation, the controller 10 includes one or more sub-modules.

[0050] In one implementation, after receiving a trigger command from the monitor 7, a submodule of the controller 10 sends a start command A to the light source 4, a start command B to the camera 5, and a start command C to the sensor 6.

[0051] In one implementation, after receiving a dataset containing physical information parameters and coordinate parameters from the image processing module 9, another submodule of the controller 10 compares the physical information parameters with a given threshold, and then generates a spraying instruction for the area corresponding to the corresponding coordinate parameters, or generates a discard instruction.

[0052] In one implementation, the controller 10 is a separate component.

[0053] In one implementation, one or more submodules of the controller 10 are integrated with the monitor 7 (e.g., in the form of a monitoring controller or a monitoring control chip).

[0054] In one implementation, one or more submodules of the controller 10 are integrated with the image acquisition module 8 (e.g., in the form of an image acquisition chip or an image acquisition card).

[0055] In one implementation, one or more submodules of the controller 10 are integrated with the image processing module 9 (e.g., in the form of an image processing chip).

[0056] In one implementation, the functionality of controller 10 is implemented by a submodule.

[0057] In one implementation, the functionality of controller 10 is implemented by multiple sub-modules.

[0058] In one embodiment, any one or more of the sensor 6, monitor 7, image acquisition module 8, image processing module 9, controller 10, and / or communication unit 11 in the visual recognition system 3 can be integrated together.

[0059] In one embodiment, the visual recognition system 3 sends a spraying command to the spray gun unit 12 via the communication unit 11.

[0060] In one embodiment, the controller 10 sends a spraying command to the spray gun unit 12 via the communication unit 11.

[0061] In one embodiment, the spraying instructions include, but are not limited to, spraying amount, spraying coordinates, spraying speed, spraying time, and spraying rotation centrifugal force.

[0062] In one embodiment, the worktable 2 is a rotary worktable.

[0063] In one embodiment, the controller 10 sends a general spraying command to the spray gun unit 12 via the communication unit 11, and then the spray gun unit 12 completes the spraying.

[0064] In one embodiment, the controller 10 sends a first spraying command to the spray gun unit 12 via the communication unit 11, and then the spray gun unit 12 completes the first part of the spraying work. Optionally, the controller 10 also sends a second spraying command, a third spraying command, etc., to the spray gun unit 12 via the communication unit 11 until the spraying is completely completed.

[0065] In one embodiment, the first spraying instruction, the second spraying instruction, the third spraying instruction, etc., are determined according to the different shapes and sizes of the substrate to be sprayed.

[0066] In one embodiment, the spray gun unit 12 and the worktable 2 work together to complete the spraying.

[0067] In one embodiment, a material is sprayed onto a substrate (surface) during spraying.

[0068] In one embodiment, more than one material is sprayed onto the substrate (surface) during spraying.

[0069] In one embodiment, a material different from the material of the substrate is sprayed onto the substrate (surface) during spraying to provide protection for the substrate (surface).

[0070] In one embodiment, the protective effect provided to the substrate (surface) includes, but is not limited to, water resistance, oil resistance, and gas barrier properties.

[0071] In one embodiment, a single-layer spray coating is applied to the substrate.

[0072] In one embodiment, the substrate is coated with multiple layers.

[0073] In one implementation, a single layer of spray coating uses the same material.

[0074] In one embodiment, single-layer spraying uses different materials depending on the needs of different areas of the substrate to be sprayed.

[0075] In one embodiment, multi-layer spraying is the spraying of multiple layers of the same material.

[0076] In one embodiment, multi-layer spraying is the spraying of more than one material.

[0077] In one implementation, spraying is used to repair defects in the substrate (surface).

[0078] In one embodiment, spraying is an overall spraying of the substrate (surface) to be sprayed.

[0079] In one embodiment, spraying is spraying a portion of the substrate (surface) to be sprayed.

[0080] In one embodiment, the visual recognition system 3 includes only one light source 4, one camera 5, one sensor 6, one monitor 7, one image acquisition module 8, one image processing module 9, one controller 10, and one communication unit 11.

[0081] In one embodiment, the visual recognition system 3 may include one or more light sources 4, cameras 5, sensors 6, monitors 7, image acquisition modules 8, image processing modules 9, controllers 10, and communication units 11.

[0082] In one embodiment, the spraying device 1 sprays one substrate at a time.

[0083] In one embodiment, the spraying device 1 sprays more than one substrate at a time.

[0084] In one implementation, the coordinate parameters are represented by two-dimensional coordinates (x,y) or three-dimensional coordinates (x,y,z). By pre-setting the resolution of the image acquisition module 8, the number of coordinate points per unit area / volume can be changed.

[0085] In one embodiment, a visual recognition system 3 is used to detect the physical information of the substrate (surface) to be sprayed, and to obtain the physical information parameters of the substrate (surface).

[0086] In one implementation, the physical information parameters include a transmittance parameter, which includes transmittance values ​​at one or more sites, expressed as a percentage.

[0087] In one embodiment, the physical information parameters include thickness parameters, which are percentages representing the ratio of the absolute value of the difference between the actual thickness at one or more locations and the nominal thickness of the substrate to be coated to the nominal thickness of the substrate to be coated.

[0088] In one embodiment, the physical information parameters include area parameters, which are the ratio of the area of ​​the region of interest to the total surface area of ​​the substrate, expressed as a percentage.

[0089] In one implementation, the physical information parameters also include other quantitative parameters, such as bottom flatness and longitudinal cross-sectional area.

[0090] In one implementation, based on the received dataset, the controller 10 marks the region X corresponding to all coordinate points whose physical information parameters are less than the physical information parameter threshold A1, and indicates that region X is defect-free.

[0091] In one implementation, based on the received dataset, the controller 10 marks the region Y corresponding to all coordinate points whose physical information parameters are greater than or equal to the physical information parameter threshold A1 but less than the physical information parameter threshold A2, and indicates that region Y is a minor defect.

[0092] In one implementation, the controller 10 further generates a spraying instruction to repair minor defects in region Y.

[0093] In one implementation, based on the received dataset, the controller 10 marks the region Z corresponding to all coordinate points whose physical information parameters are greater than or equal to the physical information parameter threshold A2, and the region Z contains one or more independent regions.

[0094] In one implementation, controller 10 calculates the area of ​​one or more independent regions within region Z.

[0095] In one implementation, when the ratio of the area of ​​each individual region in region Z to the total surface area of ​​the substrate is less than the area ratio threshold S1, region Z is indicated as having a minor defect (indicating that the substrate is paintable), and then a spraying instruction is generated for region Z to repair the minor defect.

[0096] In one implementation, when there is at least one independent area in region Z whose area ratio to the total surface area of ​​the substrate is greater than or equal to the area ratio threshold S1, the independent area is indicated as a serious defect (indicating that the substrate is not paintable), and a discard instruction is subsequently generated.

[0097] In one implementation, after the discard instruction is generated, the visual recognition system 3 will issue a reminder message, indicating that the substrate can be discarded directly.

[0098] In one embodiment, the physical information parameter threshold A1 is selected from any value between 5% and 20%, for example, 5%, 10%, 15%, 20%; preferably selected from any value between 5% and 15%; more preferably selected from any value between 5% and 10%.

[0099] In one embodiment, the physical information parameter threshold A2 is selected from any value between 60% and 85%, for example, 60%, 65%, 70%, 75%, 80%, 85%; preferably selected from any value between 70% and 85%; more preferably selected from any value between 80% and 85%.

[0100] In one embodiment, the area ratio threshold S1 is selected from any value between 15% and 40%, for example, 15%, 20%, 25%, 30%, 35%, 40%; preferably selected from any value between 25% and 40%; more preferably selected from any value between 25% and 30%.

[0101] In one embodiment, the spray gun unit 12 further includes a precision flow meter 13, which is configured to achieve precise and quantitative spraying based on the relationship between the ratio of the area of ​​an independent region on the substrate surface to the total surface area of ​​the substrate and the area ratio threshold S1, and the relationship between the physical information parameters of the coordinate points within the independent region and the physical information parameter thresholds A1 and A2.

[0102] The defects described herein refer to areas with deteriorated physical characteristics compared to other parts of the substrate. Typically, physical parameters indicate the presence of (uneven) depressions relative to other parts. For example, this area may have increased light transmittance or be thinner than other parts of the substrate.

[0103] In one embodiment, after repairing defects on the substrate surface, the entire surface of the substrate can be sprayed.

[0104] In one implementation, the spraying speed, spraying time, etc., can be preset to adapt to spraying under various conditions.

[0105] In one embodiment, the spraying apparatus 1 of the present invention is used to spray a substrate to repair defects on the surface of the substrate.

[0106] In one embodiment, the substrate includes, but is not limited to, glass, ceramic tile, concrete, metal, textile, plastic, wood, paper, fiber-molded substrate, or composite material.

[0107] In one embodiment, the substrate is a paper or fiber molded substrate.

[0108] In one embodiment, the substrate is a two-dimensional substrate or a three-dimensional substrate.

[0109] In one embodiment, after the overall spraying of the substrate surface is completed, a visual recognition system 3 can be used to inspect the spraying quality of the substrate surface.

[0110] Various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to the technology in the market, or to enable others skilled in the art to understand the various implementations disclosed herein.

[0111] Example

[0112] To better understand the present invention, the following embodiments further illustrate the content of the present invention, but the content of the present invention is not limited to the following embodiments.

[0113] Example 1

[0114] The spraying device of the present invention is used to inspect fiber molded substrate and repair defects according to the type of defects on the surface of the substrate: The disc-shaped fiber molded substrate is fixed on the worktable 2. When the substrate is observed to be in the monitoring area of ​​the monitor 7, the monitor 7 sends a trigger pulse to the controller 10. Subsequently, the controller 10 sends a start pulse A to the light source 4 to start the light source 4 to irradiate the surface of the substrate to be sprayed, sends a start pulse B to the camera 5 to start the camera 5 to take pictures of the surface of the substrate to be sprayed, and sends a start pulse C to the sensor 6 to start the sensor 6 to detect physical information parameters. The physical information parameters are transmittance parameters, which are the transmittance values ​​at one or more points on the surface of the substrate.

[0115] After the image captured by camera 5 is transmitted to image acquisition module 8, the image is assigned coordinate parameters in image acquisition module 8 and then further transmitted to image processing module 9. Sensor 6 also transmits the above physical information parameters to image processing module 9 for further processing.

[0116] Image processing module 9 associates the received physical information parameters with the corresponding coordinate parameters and generates a dataset containing the physical information parameters and coordinate parameters. Then, based on the dataset, controller 10 further marks the regions corresponding to all coordinate points whose transmittance parameters are less than the transmittance parameter threshold A1 (10%) as region X and indicates that region X is defect-free; marks the regions corresponding to all coordinate points whose transmittance parameters are greater than or equal to the transmittance parameter threshold A1 (10%) but less than the transmittance parameter threshold A2 (80%) as region Y and indicates that region Y is slightly defective; and marks the regions corresponding to all coordinate points whose transmittance parameters are greater than or equal to the transmittance parameter threshold A2 (80%) as region Z.

[0117] The controller 10 further calculates the area of ​​one or more independent regions on the surface of the substrate Z and finds that the ratio of the area of ​​each independent region in region Z to the total surface area of ​​the substrate is less than the area ratio threshold S1, which is 25%. Then, it indicates that region Z is a minor defect.

[0118] Therefore, the substrate has no serious defects and is paintable. Subsequently, the controller 10 generates a spraying command and sends it to the spray gun unit 12. The spray gun unit 12 then performs a spraying operation to repair all minor defects on the surface to be sprayed, thus providing protection for the substrate.

[0119] Although the invention has been described in detail by way of illustration and example for clarity, those skilled in the art will recognize that certain changes and modifications can be made within the scope of the appended claims.

Claims

1. A spraying apparatus (1), comprising: The workbench (2) is configured to fix the substrate to be sprayed; A visual recognition system (3), configured to communicate with the workbench (2), includes: The light source (4) is configured to irradiate the substrate to be coated in response to the start command A; Camera (5) is configured to capture an image of the substrate to be coated in response to activation command B; Sensor (6) is configured to detect physical information parameters of the substrate to be coated in response to a start command C, wherein the physical information parameters include transmittance parameters, thickness parameters, and / or area parameters; The monitor (7) is configured to send a trigger command to the controller (10) when it detects that the substrate to be coated is in the monitored area; The image acquisition module (8) is configured to receive the image captured by the camera (5) and assign coordinate parameters to the image; The image processing module (9) is configured to receive the physical information parameters detected by the sensor (6) and the image with assigned coordinate parameters obtained by the image acquisition module (8), and associate the physical information parameters and the corresponding coordinate parameters to generate a dataset containing the physical information parameters and coordinate parameters. The controller (10) is configured to, upon receiving the trigger command from the monitor (7), issue a start command A to the light source (4), a start command B to the camera (5), and a start command C to the sensor (6); and / or, receive a dataset containing physical information parameters and coordinate parameters from the image processing module (9), compare the physical information parameters with a given threshold, and then generate a spraying command for the area corresponding to the corresponding coordinate parameters, or generate a discard command; and Communication unit (11); and The spray gun unit (12) is configured to perform a spraying operation according to the spraying command.

2. The spraying apparatus (1) according to claim 1, wherein the transmittance parameter includes the transmittance value at one or more sites.

3. The spraying apparatus (1) according to any one of the preceding claims, wherein the thickness parameter includes the ratio of the absolute value of the difference between the actual thickness at one or more sites and the nominal thickness of the substrate to be sprayed to the nominal thickness of the substrate to be sprayed.

4. The spraying apparatus (1) according to any one of the preceding claims, wherein the communication connection is a wired communication connection or a wireless communication connection.

5. The spraying apparatus (1) according to any one of the preceding claims, wherein the spray gun unit (12) further includes a precision flow meter (13).

6. The spraying apparatus (1) according to any one of the preceding claims, wherein the coordinate parameters are represented by two-dimensional coordinates (x,y) or three-dimensional coordinates (x,y,z).

7. A method for treating a substrate, comprising: When the monitor (7) detects that the substrate to be sprayed is in the monitoring area on the workbench (2), the monitor (7) sends a trigger command to the controller (10); After receiving the trigger command, the controller (10) sends a start command A to the light source (4) to start the light source (4) to irradiate the substrate to be sprayed, sends a start command B to the camera (5) to start the camera (5) to take pictures of the substrate to be sprayed, and sends a start command C to the sensor (6) to start the sensor (6) to detect physical information parameters. The image captured by the camera (5) is transmitted to the image acquisition module (8), and the image is assigned coordinate parameters in the image acquisition module (8); The image to which coordinate parameters are assigned is transmitted to the image processing module (9), and the physical information parameters detected by the sensor (6) are transmitted to the image processing module (9); The image processing module (9) associates the physical information parameters detected by the sensor (6) and the coordinate parameters assigned by the image acquisition module (8) to generate a dataset containing the physical information parameters and coordinate parameters, and then transmits the dataset to the controller (10). After receiving the dataset containing physical information parameters and coordinate parameters from the image processing module (9), the controller (10) compares the physical information parameters with a given threshold, and then generates a spraying instruction for the area corresponding to the corresponding coordinate parameters or generates a discard instruction. Then the spraying instruction is sent to the spray gun unit (12). The spray gun unit (12) performs the spraying operation according to the spraying command. The physical information parameters include transmittance parameters, thickness parameters, and / or area parameters.

8. The method of claim 7, further comprising: After the controller (10) receives the dataset containing physical information parameters and coordinate parameters from the image processing module (9), the controller (10) performs the following operations: (a) Mark the region X corresponding to all coordinate points whose physical information parameters are less than the physical information parameter threshold A1, and indicate that the region X is defect-free; (b) Mark the region Y corresponding to all coordinate points whose physical information parameters are greater than or equal to the physical information parameter threshold A1 but less than the physical information parameter threshold A2, and indicate that region Y is a minor defect. For region Y, which is flagged as a minor defect, generate a spraying instruction; and (c) Mark the region Z corresponding to all coordinate points whose physical information parameters are greater than or equal to the physical information parameter threshold A2, wherein region Z contains one or more independent regions. Calculate the area of ​​one or more independent regions within region Z. When the ratio of the area of ​​each individual region in region Z to the total surface area of ​​the substrate is less than the area ratio threshold S1, region Z is indicated as a minor defect; for region Z indicated as a minor defect, a spraying instruction is generated, or When there is at least one independent region in region Z whose area ratio to the total surface area of ​​the substrate is greater than or equal to the area ratio threshold S1, the independent region in region Z is indicated as a serious defect; based on the serious defect indication, a discard instruction is generated.

9. The method according to claim 7 or 8, wherein, The transmittance parameter includes the transmittance value at one or more sites, and / or the thickness parameter includes the ratio of the absolute value of the difference between the actual thickness at one or more sites and the nominal thickness of the substrate to be coated to the nominal thickness of the substrate to be coated.

10. The method according to any one of claims 7-9, wherein the physical information parameter threshold A1 is selected from any value in the range of 5%-20%, for example, 5%, 10%, 15%, 20%; preferably selected from any value in the range of 5%-15%; more preferably selected from any value in the range of 5%-10%.

11. The method according to any one of claims 7-10, wherein the physical information parameter threshold A2 is selected from any value in the range of 60%-85%, for example, 60%, 65%, 70%, 75%, 80%, 85%; preferably selected from any value in the range of 70%-85%; more preferably selected from any value in the range of 80%-85%.

12. The method according to any one of claims 7-11, wherein the area ratio threshold S1 is selected from any value of 15%-40%, for example, 15%, 20%, 25%, 30%, 35%, 40%; preferably selected from any value of 25%-40%; more preferably selected from any value of 25%-30%.

13. The method according to any one of claims 7-12, wherein the spraying command includes spraying amount, spraying coordinates, spraying speed, spraying time, and / or spraying rotation centrifugal force.

14. The method according to any one of claims 7-13, wherein the substrate comprises glass, ceramic tile, concrete, metal, textile, plastic, wood, paper, fiber molding substrate and composite material, preferably paper and fiber molding substrate.

15. The method according to any one of claims 7-14, wherein the coordinate parameters are represented by two-dimensional coordinates (x, y) or three-dimensional coordinates (x, y, z).

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