Method for spraying vehicle refinish paint, electronic device and storage medium

Abstract

This application provides a method for spraying vehicle repair paint, an electronic device, and a storage medium, belonging to the field of vehicle paint repair technology. The method includes: identifying damaged areas of the vehicle to be repaired and determining a repair transition area based on the damaged areas; determining a repair paint spraying strategy based on the geometric and / or optical characteristics of the repair transition area, the spraying strategy including at least one of nozzle spacing adjustment, nozzle row spacing adjustment, nozzle column spacing adjustment, nozzle movement speed adjustment, nozzle output volume adjustment, and nozzle distance adjustment; determining dynamic spraying parameters according to the damaged areas, the repair transition area, and the spraying strategy; and spraying repair paint onto the damaged areas and the repair transition area according to the dynamic spraying parameters. This application enables a smooth transition between the repaired paint surface and the original paint surface.

Description

Technical Field

[0001] This application relates to the field of vehicle paint repair technology, and more particularly to a method for spraying vehicle repair paint, electronic equipment, and storage medium. Background Technology

[0002] With the rapid development of the automotive industry, automobiles have become an indispensable means of transportation in people's daily lives. However, paint damage, such as scratches and scrapes, is inevitable during vehicle use, requiring repair with paint. Traditional paint repair techniques mainly rely on manual operation with a spray gun. The spray gun uses compressed air to atomize the paint and spray it onto the car's surface to achieve the repair effect. While this method is simple and easy to implement, it demands a high level of skill from the operator. The operator needs extensive experience to control the uniformity and thickness of the spray; otherwise, problems such as color differences or obvious repair marks can easily occur.

[0003] In recent years, with the development of automation technology, machine spraying has gradually been introduced into the field of automotive refinish paint. Machine spraying, through program-controlled nozzle movement and spraying parameters, can improve the precision and consistency of spraying to a certain extent. However, existing machine spraying technology still struggles to achieve a smooth transition between the repaired paint surface and the original paint surface.

[0004] Therefore, developing a new technology that can achieve a smooth transition between the repaired paint surface and the original paint surface has become an urgent need in the field of automotive refinish paint. Summary of the Invention

[0005] The purpose of this application is to provide a method for spraying vehicle repair paint, an electronic device, and a storage medium to solve the above-mentioned problems.

[0006] To achieve the above objectives, in a first aspect, this application proposes a method for spraying vehicle repair paint, the method comprising:

[0007] Identify the damaged parts of the vehicle to be repaired, and determine the repair transition area based on the damaged parts;

[0008] Based on the geometric and / or optical characteristics of the repair transition area, a spraying strategy for the repair paint is determined, the spraying strategy including at least one of nozzle spacing adjustment, nozzle row spacing adjustment, nozzle column spacing adjustment, nozzle movement speed adjustment, nozzle spray volume adjustment, and nozzle distance adjustment;

[0009] Based on the damaged area, the repair transition area, and the spraying strategy, determine the dynamic spraying parameters;

[0010] Repair paint is applied to the damaged area and the repair transition area according to the dynamic spraying parameters.

[0011] In some implementations, the geometric features include measuring width, and determining the application strategy of the repair paint based on the geometric and / or optical features of the repair transition area includes:

[0012] When the measured width falls within a preset first range, the spraying strategy is determined to include nozzle movement speed adjustment and / or nozzle ejection volume adjustment.

[0013] When the measured width falls within a preset second range, the spraying strategy is determined to include nozzle array spacing adjustment and / or nozzle distance adjustment;

[0014] When the measured width falls within a preset third interval, the spraying strategy is determined to include nozzle row spacing adjustment and / or nozzle movement speed adjustment, wherein the width of the first interval is less than the width of the second interval, and the width of the second interval is less than the width of the third interval.

[0015] In some embodiments, the geometric features include surface shape, and determining the spraying strategy for the repair paint based on the geometric and / or optical features of the repair transition area includes:

[0016] When the surface shape is a flat surface, the spraying strategy is determined to include nozzle spacing adjustment and nozzle movement speed adjustment;

[0017] When the surface shape does not belong to the flat surface, the spraying strategy is determined to include nozzle spray volume adjustment and nozzle distance adjustment.

[0018] In some embodiments, the optical features include color differences, and determining the spraying strategy for the repair paint based on the geometric and / or optical features of the repair transition area includes:

[0019] When the color difference falls within a preset low difference range, the spraying strategy is determined to include nozzle movement speed adjustment;

[0020] When the color difference falls within a preset range, the spraying strategy is determined to include nozzle array spacing adjustment and nozzle distance adjustment.

[0021] When the color difference falls within a preset high difference range, the spraying strategy is determined to include nozzle row spacing adjustment and nozzle spray volume adjustment.

[0022] In some implementations, identifying the damaged portion of the vehicle to be repaired and determining a repair transition area based on the damaged portion includes:

[0023] Identify the damaged parts of the vehicle to be repaired and extract the edge contour features of the damaged parts, including the shape sharpness and / or color gradient change rate of each local edge;

[0024] The edge type of each local edge is determined based on the sharpness of its shape and / or the rate of change of its color gradient.

[0025] Based on the edge type of each local edge, determine the transition distance of each local edge;

[0026] Based on the transition distance of each local edge, a repair transition area is generated for the damaged part.

[0027] In some embodiments, determining the dynamic spraying parameters based on the damaged area, the repair transition area, and the spraying strategy includes:

[0028] Generate a spraying path based on the geometry of the damaged area and the repair transition area;

[0029] Based on the color changes along the spraying path, determine the required amount of repair paint to be applied.

[0030] Dynamic spraying parameters are determined along the spraying path based on the changes in spray volume requirements and the spraying strategy.

[0031] In some embodiments, after spraying repair paint onto the damaged area and the repair transition area according to the dynamic spraying parameters, the method further includes:

[0032] The repair area of ​​the vehicle to be repaired is determined, wherein the repair area includes the damaged part after repair and the repair transition area;

[0033] The difference in spectral reflectance between the repair paint and the original paint surface in the repaired area was detected;

[0034] Based on the distribution of the spectral reflectance differences, the correction area and spraying correction strategy are determined;

[0035] Based on the correction area and the spraying correction strategy, determine the correction spraying parameters;

[0036] Based on the corrected spraying parameters, the corrected area is re-sprayed with repair paint.

[0037] In some embodiments, the method is applied to a combination of nozzles, which includes an m-row n-column nozzle group or a nozzle group distributed in concentric rings, wherein m and n are integers greater than or equal to 1.

[0038] Secondly, this application proposes an electronic device, comprising:

[0039] One or more processors;

[0040] Memory, used to store one or more programs.

[0041] When the one or more programs are executed by the one or more processors, the one or more processors perform the vehicle repair paint spraying method as described above.

[0042] Thirdly, this application proposes a storage medium storing executable instructions that, when executed by a processor, cause the processor to perform the vehicle repair paint spraying method as described above.

[0043] Compared with the prior art, the beneficial effects of this application include:

[0044] Firstly, by accurately identifying the damaged area, the specific location and extent of the repair can be clearly defined. The resulting transition area provides a smooth foundation for subsequent painting, helping the repair paint blend better into the original paint and reducing repair marks. Secondly, determining the painting strategy based on the geometric and / or optical characteristics of the transition area ensures better uniformity and matching with the original paint, improving repair quality. Thirdly, combining the damaged area, the transition area, and the painting strategy to determine dynamic painting parameters means that these parameters can be adjusted in real time according to actual repair needs and the characteristics of the transition area. This allows for more precise control of the paint volume, ensuring a natural color transition between the repair and original paint, further reducing color difference and repair marks, and enhancing the natural effect of the repair. Fourthly, actual painting operations based on dynamic painting parameters ensure that the repair paint is precisely applied to the damaged area and the transition area. Thanks to the precise determination and real-time adjustment of parameters, this spraying process can achieve high-quality repair results, making the repaired paint surface highly consistent with the original paint surface in appearance and texture, achieving a smooth transition, thereby significantly improving the overall quality and aesthetics of vehicle repair paint. Attached Figure Description

[0045] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation on the scope of this application.

[0046] Figure 1 This is a schematic flowchart of a vehicle repair paint spraying method in one embodiment;

[0047] Figure 2 This is a schematic diagram of a process for identifying damaged parts of a vehicle to be repaired and determining a repair transition area based on the damaged parts in one embodiment;

[0048] Figure 3 This is a schematic diagram of the spraying state of the combined spray head used in a vehicle repair paint spraying method in one embodiment;

[0049] Figure 4 This is a flowchart illustrating the process of determining dynamic spraying parameters based on the damaged area, the repair transition area, and the spraying strategy in one embodiment.

[0050] Figure 5 This is a flowchart illustrating a method for applying vehicle repair paint in another embodiment;

[0051] Figure 6 This is a schematic diagram of the electronic device involved in the vehicle repair paint spraying method in the embodiments of this application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0053] All terms used in this application (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0054] For example, the terms "first," "second," etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0055] For example, the terms "comprising" or "including" used in this application indicate the presence of features, steps, operations and / or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

[0056] As mentioned above, in recent years, with the development of automation technology, machine spraying has gradually been introduced into the field of automotive refinish paint. Machine spraying, through program control of the nozzle movement and spraying parameters, can improve the accuracy and consistency of spraying to a certain extent. However, existing machine spraying technologies still struggle to achieve a smooth transition between the repaired paint surface and the original paint surface. Therefore, developing a new technology capable of achieving a smooth transition between the repaired paint surface and the original paint surface has become an urgent need in the field of automotive refinish paint. To this end, this application proposes a vehicle refinish paint spraying method, electronic equipment, and storage medium capable of achieving a smooth transition between the repaired paint surface and the original paint surface.

[0057] like Figure 1 As shown in the figure, this application provides a method for spraying vehicle repair paint, the method including the following steps:

[0058] Step S10: Identify the damaged parts of the vehicle to be repaired, and determine the repair transition area based on the damaged parts.

[0059] In this embodiment, the damaged part of the vehicle to be repaired refers to the specific location on the vehicle surface where the paint has been damaged due to scratches, scrapes, collisions, or other reasons. The repair transition area refers to a specific area precisely defined around the damaged part of the vehicle to be repaired to ensure a natural and smooth transition between the repaired paint and the original paint.

[0060] In some implementations, machine vision technology can be used to scan the surface of the vehicle to be repaired using a camera to capture image information of the damaged area. Image processing algorithms are then used to analyze the image information to identify the location, shape, and size of the damaged area. Alternatively, laser scanning technology can be used to perform a 360-degree scan of the vehicle's surface using a laser scanning device, acquiring point cloud data of the surface. By processing and analyzing this point cloud data, areas with anomalies can be identified, thus determining the damaged area.

[0061] In some implementations, after identifying the damaged area, a specific algorithm can be used to determine the extent of the repair transition area based on the shape and size of the damaged area, as well as factors such as the curvature of the vehicle surface and changes in paint color.

[0062] Specifically, such as Figure 2 As shown, step S10 includes:

[0063] Step S11: Identify the damaged parts of the vehicle to be repaired and extract the edge contour features of the damaged parts.

[0064] In this embodiment, edge contour features refer to the geometric and optical properties of the edges of the damaged area, including the shape sharpness and / or color gradient rate of change of each local edge. Shape sharpness refers to the degree of abrupt change in each local edge, used to describe the clarity or sharpness of each local edge. High shape sharpness indicates a clear edge with obvious abrupt changes, while low shape sharpness indicates a blurred edge with a gentle gradient. Color gradient rate of change refers to the degree of drastic color change in each local edge, used to describe the magnitude of the color difference between the two sides of each local edge. A high color gradient rate of change indicates a large color difference between the two sides of the local edge, while a low color gradient rate of change indicates a small color difference.

[0065] In some implementations, image data corresponding to the damaged part of the vehicle to be repaired is acquired; the image data is converted into a grayscale image, and the gradient magnitude of each edge pixel of the damaged part is extracted based on the grayscale image; the shape sharpness of each local edge is determined based on the mean of the gradient magnitude of each edge pixel in each local edge and a preset gradient threshold.

[0066] Specifically, the gradient value for each pixel can be calculated using the Sobel operator. For each pixel (i, j), its gradient components in the x and y directions are calculated based on equations (1) and (2):

[0067]

[0068] Calculate the gradient magnitude based on formula (3):

[0069]

[0070] A preset gradient threshold T can be set. If G(i,j) is greater than T, the local edge is considered high-sharp. If G(i,j) is greater than T / 2 and less than or equal to T, the local edge is considered medium-sharp. If G(i,j) is less than or equal to T / 2, the local edge is considered low-sharp.

[0071] In some implementations, image data corresponding to the damaged part of the vehicle to be repaired is acquired; the image data is converted from RGB color space to color space; based on the converted image data, the color difference between each edge pixel of the damaged part and its adjacent pixels is calculated; based on the mean of the color difference of each edge pixel in each local edge and a preset color threshold, the color gradient change rate of each local edge is determined.

[0072] Specifically, the color difference ΔE can be calculated using formula (4):

[0073]

[0074] Where ΔL, Δa, and Δb represent the differences in brightness, the red-green axis, and the yellow-blue axis, respectively.

[0075] A preset gradient threshold S can be set. If ΔE is greater than S, the local edge has a high color gradient rate of change. If ΔE is greater than S / 2 and less than or equal to S, the local edge has a medium color gradient rate of change. If ΔE is less than or equal to S / 2, the local edge has a low color gradient rate of change.

[0076] Step S12: Determine the edge type of each local edge based on the shape sharpness and / or color gradient change rate of each local edge.

[0077] In this embodiment, edge type refers to the category classified according to the geometric and optical characteristics of each local edge, which may include sharp edges, blurred edges, gradient edges, etc. Among them, sharp edges are characterized by clear edges and obvious abrupt changes, with high shape sharpness and color gradient change rate; blurred edges are characterized by blurred edges and gentle gradients, with low shape sharpness and color gradient change rate; gradient edges are between sharp edges and blurred edges, with moderate shape sharpness and color gradient change rate.

[0078] Based on the extracted shape sharpness and / or color gradient change rate, the edge type of each local edge is determined through classification strategies or machine learning.

[0079] Specifically, if the shape sharpness is high and / or the color gradient rate is high, the edge type is determined to be a sharp edge. If the shape sharpness is low and / or the color gradient rate is low, the edge type is determined to be a blurred edge. If the shape sharpness is medium and / or the color gradient rate is medium, the edge type is determined to be a gradient edge.

[0080] Step S13: Determine the transition distance of each local edge according to the edge type of each local edge.

[0081] In this embodiment, the transition distance refers to the distance that needs to be extended outward from the local edge to achieve a smooth transition between the repaired paint surface and the original paint surface.

[0082] In some implementations, the transition distance of each local edge is determined by consulting a pre-established transition distance table based on the edge type.

[0083] For example, when the edge type is a sharp edge, the transition distance can be set to a larger value, such as 20-30mm; when the edge type is a blurred edge, the transition distance can be set to a centered value, such as 10-20mm. When the edge type is a gradient edge, the transition distance can be set to a smaller value, such as 5-10mm.

[0084] Step S14: Generate a repair transition area for the damaged part based on the transition distance of each local edge.

[0085] After determining the transition distances of each local edge, image processing or 3D modeling techniques are used to apply these transition distances to the edges of the damaged area, generating a repair transition region. The repair transition region can be represented as a two-dimensional or three-dimensional region map, clearly identifying the specific area requiring repair and transition.

[0086] Furthermore, in some implementations, the definition of the repair transition area is based on the edge characteristics of the damaged area. Its extent may partially cover the damaged area itself, or it may be limited to the surrounding normal paint area, or a combination of both. Specifically, the edge characteristics of each local edge are analyzed to identify the degree of damage to the local edge. These edge characteristics include two types: deep damage (presenting sharp scratches or deep damage) and shallow damage (such as shallow scratches or slight discoloration). When a local edge is deeply damaged, a predetermined transition distance is extended outward from that local edge to form a repair transition area. When a local edge is shallowly damaged, a predetermined transition distance is extended outward from that local edge, combining with the shallow damage area to form a repair transition area. This ensures the overall uniformity and harmony of the repaired paint surface, improving the repair quality.

[0087] Step S20: Determine the spraying strategy for the repair paint based on the geometric and / or optical characteristics of the repair transition area.

[0088] In this embodiment, geometric features refer to spatial attributes such as the shape, size, surface curvature, and edge contour of the repair transition area, while optical features refer to light-related properties such as the color, gloss, and transparency of the repair transition area. A spraying strategy is a plan or method used to guide the spraying operation to achieve a smooth transition between the repaired paint surface and the original paint surface, including at least one of nozzle spacing adjustment, nozzle row spacing adjustment, nozzle column spacing adjustment, nozzle movement speed adjustment, nozzle output volume adjustment, and nozzle distance adjustment.

[0089] It should be understood that this embodiment applies to combined nozzles, such as... Figure 3 As shown, the combined nozzle includes an m-row, n-column nozzle group, or a nozzle group distributed in concentric rings, where m and n are integers greater than or equal to 1. The combined nozzle can achieve at least 1m 2 / min, 2m 2 / min, 3m 2 / min, 4m 2 / min or 5m 2 / min surface coating performance; and / or achieved surface coating discharge of at least 50ml / min, 100ml / min, 150ml / min, 200ml / min, 300ml / min, 400ml / min or 500ml / min.

[0090] Based on the above-mentioned combined spray heads, nozzle spacing adjustment refers to the nozzles on the combined spray head participating in spraying at intervals. As the normal distance from the repair transition area to the edge of the intact paint surface increases, the number of interval nozzles participating in spraying decreases until all nozzles cease spraying. Nozzle row spacing adjustment refers to the nozzle rows on a multi-row combined spray head having nozzles spraying at intervals or partially shutting down. As the normal distance from the combined spray head from the repair transition area to the edge of the intact paint surface increases, the number of interval rows participating in spraying decreases until all nozzle rows cease spraying. Nozzle column spacing adjustment refers to the nozzle columns on a multi-row, multi-column (matrix-type) combined spray head having nozzles spraying at intervals or partially shutting down. As the normal distance from the combined spray head from the repair transition area to the edge of the intact paint surface increases, the number of interval columns participating in spraying decreases until all nozzle columns cease spraying. Nozzle movement speed adjustment refers to gradually increasing the nozzle movement speed within the spray head assembly as the normal distance of the spray head from the repair transition area into the edge of the intact paint surface increases. Nozzle output adjustment refers to gradually decreasing the output of the spray head assembly as the normal distance of the spray head from the over-coated surface into the edge of the intact paint surface increases. Nozzle distance adjustment refers to gradually increasing the distance of the nozzles of the spray head assembly in the normal direction (perpendicular) of the repair transition area as the normal distance of the spray head from the repair transition area into the edge of the intact paint surface increases.

[0091] In some implementations, the geometric features include a measured width, which is the radial distance of the repair transition area in a certain direction, reflecting the size of the repair transition area. Different width ranges require different spraying strategies to ensure the uniformity of the repair paint surface and a smooth transition with the original paint surface.

[0092] In some implementations, a corresponding spraying strategy can be determined based on the width range corresponding to the measured width. This spraying strategy includes at least one or various possible combinations of nozzle spacing adjustment, nozzle row spacing adjustment, nozzle column spacing adjustment, nozzle movement speed adjustment, nozzle output volume adjustment, and nozzle distance adjustment. The width range includes at least a preset first range and a preset second range, and a preset third range can also be set according to actual application requirements.

[0093] Furthermore, when the measured width falls within a preset first interval, the repair transition area is limited, requiring fine adjustments to avoid paint buildup and ensure uniform coverage. The spraying strategy is determined to include nozzle movement speed adjustment and / or nozzle output adjustment. When the measured width falls within a preset second interval, the spraying objective is to balance spraying efficiency and coverage. The spraying strategy is determined to include nozzle row spacing adjustment and / or nozzle distance adjustment. When the measured width falls within a preset third interval, the spraying objective is to improve spraying efficiency and maintain spray uniformity. The spraying strategy is determined to include nozzle row spacing adjustment and / or nozzle movement speed adjustment. The width of the first interval is smaller than the width of the second interval, and the width of the second interval is smaller than the width of the third interval. The first interval is a narrow interval, the second interval is a medium interval, and the third interval is a wide interval. This embodiment ensures the uniformity of the repaired paint surface and a smooth transition with the original paint surface by selecting an appropriate spraying strategy based on the measured width.

[0094] In some embodiments, geometric features include surface shape, which refers to the surface geometry of the repair transition area. Surface shape can be categorized as smooth or uneven surfaces. A smooth surface is an area with minimal curvature variation, approximating a plane, while an uneven surface is an area with significant curvature variation, such as an arc or complex curved surface. When the surface shape is smooth, the spraying path and nozzle movement are relatively simple, mainly adjusting the nozzle spacing and movement speed to ensure uniform spraying. The spraying strategy includes adjusting the nozzle spacing and nozzle movement speed. When the surface shape is not smooth, it is necessary to adjust the nozzle output and maintain or change the distance between the nozzle and the sprayed surface using a surface shape model stored in the electronic device controlling the nozzle, to adapt to curvature changes and ensure uniform paint adhesion. The spraying strategy then includes adjusting the nozzle output and nozzle distance. This embodiment, by adjusting the spraying strategy according to the surface shape, ensures the uniformity and adhesion of the repair paint on various surface morphologies.

[0095] In some implementations, the optical feature includes color difference, which refers to the range of color difference within the repair transition area. When the color difference falls within a preset low-difference range, the spraying strategy includes adjusting the nozzle movement speed to achieve a natural transition. When the color difference falls within a preset medium-difference range, the spraying strategy includes adjusting the nozzle row spacing and nozzle distance to improve color coverage and transition effect. When the color difference falls within a preset high-difference range, the spraying strategy includes adjusting the nozzle row spacing and nozzle output to cover larger color differences and achieve a smooth transition.

[0096] In some implementations, a comprehensive spraying strategy is determined based on the union of spraying strategies corresponding to at least two of the following factors: measured width, surface shape, and color difference. For example, suppose the measured width of the repair transition area falls within a preset narrow range, the surface shape is a flat surface, and the color difference is within a high-difference range. Then, the spraying strategy corresponding to the measured width is nozzle movement speed adjustment and nozzle output adjustment. The spraying strategy corresponding to the surface shape is nozzle spacing adjustment and nozzle movement speed adjustment. The spraying strategy corresponding to the color difference is nozzle row spacing adjustment and nozzle output adjustment. Combining these three strategies yields a comprehensive spraying strategy that includes nozzle movement speed adjustment, nozzle output adjustment, nozzle spacing adjustment, and nozzle row spacing adjustment.

[0097] Step S30: Determine dynamic spraying parameters based on the damaged area, the repair transition area, and the spraying strategy.

[0098] In this embodiment, dynamic spraying parameters refer to the spraying parameters that are determined and adjusted in real time during the spraying process based on the specific conditions of the damaged area, the repair transition area, and the spraying strategy. These parameters include the nozzle spacing at different positions, moving speed, spray volume, and distance from the vehicle surface, etc. They are dynamically adjusted as the spraying process progresses and the repair area changes to ensure the consistency and optimality of the spraying effect.

[0099] In some implementations, such as Figure 4 As shown, step S30 includes:

[0100] Step S31: Generate a spraying path based on the geometry of the damaged area and the repair transition area.

[0101] Specifically, a target path planning algorithm is determined based on the geometric complexity of the damaged area and the repair transition area. This algorithm then determines the spraying path for the damaged area and the repair transition area, where the spraying path refers to the movement trajectory of the nozzle, ensuring complete coverage of both areas. When the geometric complexity of the damaged area and the repair transition area is low, Dijkstra's algorithm is chosen to ensure the shortest path and full coverage. When the geometric complexity is high, the A* algorithm is chosen to utilize heuristic functions to improve search efficiency.

[0102] Step S32: Determine the change in the amount of repair paint required based on the color change along the spraying path.

[0103] In some implementations, color data of the spraying path is acquired at the damaged area and the repair transition area; the trend and extent of color change along the spraying path are determined by analyzing the color data; and the required amount of repair paint is determined based on the area and extent of color change and the color information of the original paint. The greater the difference between the color data along the spraying path and the color information of the original paint, the greater the required amount of repair paint.

[0104] Step S33: Along the spraying path, determine dynamic spraying parameters based on the changes in spray volume requirements and the spraying strategy.

[0105] In some implementations, parameter adjustment rules are determined based on the changes in spray volume requirements and the spraying strategy. According to these rules, specific operational parameters at each location along the spraying path are calculated, such as the nozzles involved in the spraying, nozzle movement speed, nozzle spray volume, and nozzle distance, to form dynamic spraying parameters.

[0106] For example, if the spraying strategy includes nozzle movement speed adjustment, the specific adjustment method for the nozzle movement speed is determined according to changes in spray volume demand; for example, the nozzle movement speed is decreased when the spray volume demand increases, and the nozzle movement speed is increased when the spray volume demand decreases. If the spraying strategy includes nozzle output volume adjustment, the nozzle output volume is directly adjusted according to changes in spray volume demand. If the spraying strategy includes nozzle distance adjustment, the distance between the nozzle and the vehicle surface is adjusted according to changes in spray volume demand and factors such as surface shape.

[0107] In this embodiment, on the one hand, dynamic spraying parameters can be adjusted in real time according to the damaged area, the repair transition area, and the spraying strategy, enabling the spraying operation to adapt to the complexity and variability of the repair area and improving the stability of the repair quality. On the other hand, by precisely controlling various parameters of the nozzle, the distribution of the repair paint is made more accurate and uniform, avoiding paint waste and the generation of repair marks, further improving the aesthetics and texture of the repair effect.

[0108] Step S40: Apply repair paint to the damaged area and the repair transition area according to the dynamic spraying parameters.

[0109] In this embodiment, the spraying of repair paint refers to the process of using a paint spraying device to spray repair paint onto the damaged area and the repair transition area according to predetermined dynamic spraying parameters. During the spraying process, parameters such as the nozzles involved in the spraying, the nozzle moving speed, the nozzle spray volume, and the distance between the nozzle and the vehicle surface are adjusted in real time according to the dynamic spraying parameters to ensure the uniform distribution of the repair paint and a good transition with the original paint surface.

[0110] By strictly following the dynamic spraying parameters, the repair paint can be precisely sprayed onto the damaged area and the repair transition area, achieving a high degree of integration between the repair paint and the original paint surface, and achieving the ideal repair effect.

[0111] In some implementations, such as Figure 5 As shown, after step S40, the method further includes:

[0112] Step S50: Determine the repair area of ​​the vehicle to be repaired, wherein the repair area includes the damaged part after repair and the repair transition area.

[0113] Step S60: Detect the difference in spectral reflectance between the repair paint and the original paint surface in the repaired area.

[0114] In this embodiment, the difference in spectral reflectance refers to the difference in reflectance between the repair paint and the original paint surface at different wavelengths. Using a spectral reflectance meter, preset points are selected on the repair area and the original paint surface to measure the spectral reflectance, obtaining repair spectral reflectance data and original spectral reflectance data. Based on the repair spectral reflectance data and the original spectral reflectance data, the difference in spectral reflectance between the repair paint and the original paint surface at various wavelengths is determined at each preset point within the repair area.

[0115] By detecting differences in spectral reflectance, the degree of matching between the repair paint and the original paint surface can be quantified, providing a scientific basis for subsequent corrections.

[0116] Step S70: Based on the distribution of the spectral reflectance differences, determine the correction area and correct the spraying parameters.

[0117] Based on the distribution of spectral reflectance differences, distribution points with spectral reflectance differences exceeding a preset difference threshold are selected. Correction areas are determined for each distribution point; these areas require touch-up painting. Based on the color difference between each distribution point and the original paint surface, the corresponding amount of paint to be applied to each distribution point is determined. Based on the amount of paint applied to each distribution point, correction painting parameters for the correction areas are determined. These parameters include the number of nozzles involved in the painting process, nozzle movement speed, nozzle output, and distance between the nozzle and the vehicle surface. The amount of paint applied is inversely proportional to the nozzle movement speed and the distance between the nozzle and the vehicle surface, and directly proportional to the number of nozzles involved in the painting and the nozzle output.

[0118] Step S80: Based on the corrected spraying parameters, apply touch-up paint to the corrected transition area.

[0119] Using an automatic painting machine, the corrected transition area is touched up with paint according to the determined corrected painting parameters. In some embodiments, the painting effect can be monitored in real time during the touch-up painting process, and the corrected painting parameters can be adjusted based on feedback to ensure the quality of the touch-up painting. After the touch-up painting is completed, the above steps S50 to S80 are repeated.

[0120] In the vehicle repair paint spraying method proposed in this application embodiment, firstly, by accurately identifying the damaged area, the specific location and scope of the repair can be clearly defined. The repair transition area determined based on this provides a smooth transition foundation for subsequent spraying, helping the repair paint to better blend into the original paint surface and reducing repair marks. Secondly, determining the spraying strategy based on the geometric and / or optical characteristics of the repair transition area can better ensure the uniformity of the spraying and its matching degree with the original paint surface, improving repair quality. Thirdly, combining the damaged area, the repair transition area, and the spraying strategy to determine dynamic spraying parameters means that the spraying parameters can be adjusted in real time according to the actual repair needs and the characteristics of the transition area. This allows for more precise control of the paint amount, enabling the repair paint to transition naturally with the original paint surface in color, further reducing color difference and repair marks, and enhancing the natural effect of the repair. Fourthly, based on the dynamic spraying parameters, the actual spraying operation can accurately spray the repair paint onto the damaged area and the repair transition area. Thanks to the precise determination and real-time adjustment of parameters, this spraying process can achieve high-quality repair results, making the repaired paint surface highly consistent with the original paint surface in appearance and texture, achieving a smooth transition, thereby significantly improving the overall quality and aesthetics of vehicle repair paint.

[0121] In one embodiment, a computer-readable storage medium is provided having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the steps in the above method embodiments.

[0122] In one embodiment, an electronic device is also provided, including one or more processors; and a memory storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors perform the steps in the above method embodiments.

[0123] In one embodiment, such as Figure 6The diagram illustrates the structure of an electronic device used to implement an embodiment of this application. The electronic device 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage portion 608 into a random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the electronic device 600. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0124] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0125] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer-readable medium carrying instructions that, in such embodiments, can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the instructions are executed by central processing unit (CPU) 601, the various method steps described in this application are performed.

[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0127] Furthermore, those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of this application and form different embodiments. For example, any of the above embodiments can be used in any combination. The information disclosed in this background section is intended only to enhance the understanding of the general background of this application and should not be construed as an admission or in any way implying that such information constitutes prior art known to those skilled in the art.

Claims

1. A method for spraying vehicle repair paint, characterized in that, The method includes: Identify the damaged parts of the vehicle to be repaired, and determine the repair transition area based on the damaged parts; Based on the geometric and / or optical characteristics of the repair transition area, a spraying strategy for the repair paint is determined, the spraying strategy including at least one of nozzle spacing adjustment, nozzle row spacing adjustment, nozzle column spacing adjustment, nozzle movement speed adjustment, nozzle spray volume adjustment, and nozzle distance adjustment; Based on the damaged area, the repair transition area, and the spraying strategy, determine the dynamic spraying parameters; Repair paint is applied to the damaged area and the repair transition area according to the dynamic spraying parameters.

2. The method for spraying vehicle repair paint according to claim 1, characterized in that, The geometric features include measuring width, and the determination of the repair paint spraying strategy based on the geometric and / or optical features of the repair transition area includes: When the measured width falls within a preset first range, the spraying strategy is determined to include nozzle movement speed adjustment and / or nozzle spray volume adjustment. When the measured width falls within a preset second range, the spraying strategy is determined to include nozzle array spacing adjustment and / or nozzle distance adjustment; When the measured width falls within a preset third interval, the spraying strategy is determined to include nozzle row spacing adjustment and / or nozzle movement speed adjustment, wherein the width of the first interval is less than the width of the second interval, and the width of the second interval is less than the width of the third interval.

3. The method for spraying vehicle repair paint according to claim 1, characterized in that, The geometric features include surface shape, and the determination of the repair paint spraying strategy based on the geometric and / or optical features of the repair transition area includes: When the surface shape is a flat surface, the spraying strategy is determined to include nozzle spacing adjustment and nozzle movement speed adjustment; When the surface shape does not belong to the flat surface, the spraying strategy is determined to include nozzle spray volume adjustment and nozzle distance adjustment.

4. The method for spraying vehicle repair paint according to claim 1, characterized in that, The optical features include color differences, and the determination of the repair paint spraying strategy based on the geometric and / or optical features of the repair transition area includes: When the color difference falls within a preset low difference range, the spraying strategy is determined to include nozzle movement speed adjustment; When the color difference falls within a preset range, the spraying strategy is determined to include nozzle array spacing adjustment and nozzle distance adjustment. When the color difference falls within a preset high difference range, the spraying strategy is determined to include nozzle row spacing adjustment and nozzle spray volume adjustment.

5. The method for spraying vehicle repair paint according to claim 1, characterized in that, The process of identifying the damaged parts of the vehicle to be repaired and determining the repair transition area based on the damaged parts includes: Identify the damaged parts of the vehicle to be repaired and extract the edge contour features of the damaged parts, including the shape sharpness and / or color gradient change rate of each local edge; The edge type of each local edge is determined based on the sharpness of its shape and / or the rate of change of its color gradient. Based on the edge type of each local edge, determine the transition distance of each local edge; Based on the transition distance of each local edge, a repair transition area is generated for the damaged part.

6. The method for spraying vehicle repair paint according to claim 1, characterized in that, The step of determining dynamic spraying parameters based on the damaged area, the repair transition area, and the spraying strategy includes: A spraying path is generated based on the geometry of the damaged area and the repair transition area; Based on the color changes along the spraying path, determine the required amount of repair paint to be applied. Dynamic spraying parameters are determined along the spraying path based on the changes in spray volume requirements and the spraying strategy.

7. The method for spraying vehicle repair paint according to claim 1, characterized in that, After spraying repair paint onto the damaged area and the repair transition area according to the dynamic spraying parameters, the method further includes: The repair area of ​​the vehicle to be repaired is determined, wherein the repair area includes the damaged part after repair and the repair transition area; The difference in spectral reflectance between the repair paint and the original paint surface in the repaired area was detected; Based on the distribution of the spectral reflectance differences, the correction area and spraying correction strategy are determined; Based on the correction area and the spraying correction strategy, determine the correction spraying parameters; Based on the corrected spraying parameters, the corrected area is re-sprayed with repair paint.

8. The method for spraying vehicle repair paint according to any one of claims 1 to 7, characterized in that, The method is applied to a combination of nozzles, which includes an m-row n-column nozzle group or a nozzle group distributed in concentric rings, where m and n are integers greater than or equal to 1.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors perform the vehicle refinish paint spraying method as described in any one of claims 1 to 8.

10. A storage medium, characterized in that, The storage medium stores executable instructions that, when executed by a processor, cause the processor to perform the vehicle refinish paint spraying method as described in any one of claims 1 to 8.

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