CN105964453A - Spraying system and method based on vision positioning - Google Patents
Spraying system and method based on vision positioning Download PDFInfo
- Publication number
- CN105964453A CN105964453A CN201610555032.7A CN201610555032A CN105964453A CN 105964453 A CN105964453 A CN 105964453A CN 201610555032 A CN201610555032 A CN 201610555032A CN 105964453 A CN105964453 A CN 105964453A
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- Prior art keywords
- workpiece
- spraying
- access control
- control model
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Abstract
The invention discloses a spraying system and method based on vision positioning. The system comprises one or more spraying devices, one or more vision positioning collecting devices and a vision positioning processor. Each spraying device is arranged on the corresponding side of a workpiece to carry out spraying on the workpiece, the vision positioning collecting devices are arranged on the periphery of the workpiece and used for collecting position information of multiple feature points of the workpiece and generating corresponding vision signals, the vision positioning processor is used for receiving the vision signals generated by the one or more vision positioning collecting devices, calculating the position deviation value of the workpiece according to pre-stored ideal position information of the feature points of the workpiece and adjusting the position relationships between the spraying devices and the workpiece according to the position deviation value. According to the spraying system and method based on vision positioning, mechanical positioning is avoided, the deviation value can be calculated only when the workpiece is located in the shooting range of the vision positioning collecting devices, manual intervention is avoided, the intelligent degree is high, the position relationships between the spraying devices and the workpiece can be rapidly adjusted, and efficiency is high.
Description
Technical field
The present invention relates to field of coating, particularly relate to paint finishing and the method for a kind of view-based access control model location.
Background technology
When spraying equipment carries out batch spraying operation, for ensureing deposition accuracies and the repeatability of spraying,
The workpiece stop place of such as equipment etc is had higher requirements, maybe needs to adjust spraying equipment relative to work
The position relationship of part.
Currently for batch part, rely primarily on following two mode to ensure the weight of deposition accuracies and spraying
Renaturation.
1. manufacture fixture, workpiece is carried out machinery location and sprayed later.
2., when location occurs deviation, the spraying path employing to spraying equipment manually adjusts.
According to mentioned above, the defect of mesh first two settling mode is mainly manifested in:
1. the cost manufacturing fixture increases；Fixture disposal costs are high；Machinery position error is big；For greatly
Workpiece, the exploitativeness of fixture is low, therefore reduces work efficiency, affects product quality.
2. Typical spray equipment does not use and automatically sprays location technology, for large-scale workpiece, when orienting
During existing deviation, using manually adjust spraying path completely, automaticity is low, and workload is big.
3., when spraying equipment includes robot, use and manually adjust robot path, mistake easily occurs
By mistake, robot and shower nozzle can be caused to collide and damage.
Summary of the invention
(1) to solve the technical problem that
In order to solve the problem in above-mentioned correlation technique, the present invention provides the spray that view-based access control model positions
System and method.
(2) technical scheme
According to an aspect of the present invention, it is provided that a kind of view-based access control model location paint finishing, including:
One or more spraying equipments, each spraying equipment is arranged at workpiece side to spray workpiece
It is coated with；
One or more vision localization harvesters, are arranged at around described workpiece, gather described work
The positional information of multiple characteristic points of part also generates corresponding visual signal, and wherein, described characteristic point is
Changeless feature on described workpiece, and each characteristic point is arranged at corresponding vision localization and adopts
In the coverage of acquisition means；
Vision localization processor, it receives regarding of the one or more vision localization harvester generation
Feel signal, and calculate described workpiece according to the ideal position information of the characteristic point of the described workpiece prestored
Position deviation value, and adjust between each spraying equipment and described workpiece according to described position deviation value
Position relationship.
Alternatively, the one or more vision localization harvester is installed on setting of described workpiece periphery
Standby upper.
Alternatively, the acquisition range of the one or more vision localization harvester is completely covered described
The profile of workpiece.
Alternatively, described vision localization harvester is photographic head.
Alternatively, when the quantity of vision localization harvester is four, four vision localization collection dresses
Put the position, four angles being disposed in the rectangle spraying operation region surrounding described workpiece.
Alternatively, each spraying equipment all includes:
Base support, it is installed on ground or in shelter；
Guide rail, it is arranged on described base support；
Spray equipment, it is arranged on described guide rail and moves on described guide rail, enters described workpiece
Row spraying, and receive described position deviation value.
Alternatively, described spray equipment adjusts initial position and the spray of self according to described position deviation value
It is coated with path.
Alternatively, described spray equipment is spray robot.
Alternatively, described base support is bolted on ground or in described shelter.
According to another aspect of the present invention, it is provided that a kind of view-based access control model location spraying method, including:
Gather the positional information of multiple characteristic points of workpiece and generate corresponding visual signal, sending described
Visual signal；
Receive described visual signal；
The ideal position information of the characteristic point according to the described workpiece prestored calculates the position of described workpiece
Deviation value；
The position relationship between each spraying equipment and described workpiece is adjusted according to described position deviation value.
(3) beneficial effect
Paint finishing and the method for the view-based access control model location according to the present invention possess following beneficial effect:
1, without fixtures for painting, manufacturing cost is saved, only need to be by the ideal position of the characteristic point of workpiece
Information is pre-stored in vision localization processor；
2, without manually adjusting, for identical product, can automatically be adjusted, intelligence degree is high；
3, respond and regulate the speed fast, improving work efficiency；
4, workpiece position only just can need to calculate in vision localization harvester coverage
Position deviation value, can quickly adjust the position relationship of spraying equipment and workpiece.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the paint finishing of view-based access control model location according to an embodiment of the invention.
Fig. 2 is the flow process of the spraying method of view-based access control model location according to an embodiment of the invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with concrete real
Execute example, and referring to the drawings, the present invention is described in more detail.
Fig. 1 is the schematic diagram of the paint finishing of view-based access control model location according to an embodiment of the invention.
The present invention view-based access control model location paint finishing include one or more spraying equipment, one or
Multiple vision localization harvesters 102, vision localization processor 103.
It should be noted that four shown in Fig. 1 spraying equipment is only example, the base of the present invention
Paint finishing in vision localization can use one, two, three, five or more spraying to set
Standby.Shown in Fig. 1 eight vision localization harvester 102 is only example, the present invention based on
The paint finishing of vision localization can use the vision localization harvester 102 of eight above and below.
The workpiece 104 of the rectangle shown in Fig. 1 is only example, the spraying of the view-based access control model location of the present invention
The workpiece of difformity and size can be sprayed by system.Workpiece mentioned by the present invention can wrap
Include any article that can be sprayed-on, such as, part, equipment, building materials etc..Shown in Fig. 1
The vision localization processor 103 being positioned at spraying equipment side is only example, vision localization processor
103 can be installed in any suitable location.
Specifically, each spraying equipment is arranged at workpiece side to spray workpiece 104.This
Skilled person is appreciated that and can arrange multiple spraying equipment in the side of workpiece 104.Such as figure
Shown in 1, when workpiece 104 oversize, multiple spraying equipments can be arranged on workpiece 104
The same side workpiece 104 is sprayed.
Preferably, each spraying equipment all includes: base support 105, and it is installed on ground or side
In cabin；Guide rail 106, it is arranged on base support 105；Spray equipment 101, it is arranged on leads
Move on rail 106 and on guide rail 106, workpiece 104 is sprayed, and receiving position deviation
Value.Preferably, base support 105 is bolted on ground or in shelter.
Preferably, one or more (in Fig. 1 being eight) vision localization harvesters 102 are arranged at
Workpiece 104 around, gathers the positional information of the characteristic point of workpiece 104 and generates corresponding vision letter
Number.Preferably, one or more vision localization harvesters 102 can be installed on workpiece 104 periphery
Equipment on.Such as, one or more vision localization harvesters 102 can be installed on workpiece 104
On the spraying equipment of periphery.Characteristic point is the upper changeless feature of described workpiece (with a workpiece),
And each characteristic point is arranged in the coverage of corresponding vision localization harvester 102.Example
As, in eight vision localization harvesters 102 in Fig. 1, each vision localization harvester 102
Can photograph in the whole characteristic points on workpiece is one or more.Such as, characteristic point can be work
Hole on part or the artificial feature etc. pasted.Preferably, workpiece has at least four characteristic point.Ability
Field technique personnel are appreciated that according to practical situation, and it is also feasible that workpiece is less than four characteristic points.
Preferably, vision localization processor 103 receives one or more vision localization harvester 102
The visual signal generated, and calculate according to the ideal position information of the characteristic point of the workpiece 104 prestored
The position deviation value of workpiece 104, and adjust each spraying equipment and workpiece 104 according to position deviation value
Between position relationship.Adjust the position relationship between each spraying equipment and workpiece 104 not only
Refer to adjust the resting position relation between parts and the workpiece 104 that the carrying out in spraying equipment sprays,
Also refer to adjust parts that the carrying out in spraying equipment the spray road when workpiece 104 is sprayed
Footpath.Preferably, the position relationship between each spraying equipment and workpiece 104 also refers to spraying
The initial position of device 105 and spraying path.Therefore, each spraying equipment and workpiece 104 are adjusted
Between position relationship so that spraying equipment will not be by workpiece 104 when spraying workpiece 104
The impact of position deviation, and just can be automatically performed predetermined spraying operation without manual intervention.
In one embodiment, when workpiece 104 enters spray station, physical location may be with default
There is deviation in stop place (theoretic position), therefore causes the physical location of the characteristic point of workpiece
Deviation is produced, it is impossible to carry out automatic spraying operating with the theoretical position of characteristic point.Therefore, enter at workpiece
After entering setting position, the position of workpiece 104 is acquired by vision localization harvester 102, i.e.
The positional information of acquisition characteristics point, and it is transferred to vision localization processor 103 by signal.Vision is fixed
Bit processor 103, according to the ideal position information of the characteristic point of the workpiece 104 prestored therein, enters
Row analyzing and processing also calculates position deviation value, and by signal, position deviation value is sent to spray equipment
101.Spray equipment 101 adjusts initial position and the spraying path of self according to position deviation value.Excellent
Selection of land, when spray equipment 101 is spray robot, adjusts flush coater automatically according to position deviation value
The initial position of device people and spraying path.Therefore, according to the positional information of the fact characteristic point of workpiece,
Initial position and follow-up spraying path poses to spray equipment are automatically adjusted, it is achieved without manually
The intelligent automatic spraying technology intervened.
Preferably, the quantity of spraying equipment can be one, two, three or four.Such as, when
Workpiece is one piece of platelet period of the day from 11 p.m. to 1 a.m needing one side to spray, the paint finishing of the view-based access control model location of the present invention
A spraying equipment can be used.Such as, when workpiece is Large-Scale Equipment, the view-based access control model of the present invention
The paint finishing of location can use two or four spraying equipment (see Fig. 1).Preferably, workpiece is worked as
When being the object of triangular prism shape, the paint finishing of the view-based access control model location of the present invention can use three sprays
Automatic doubler surface glouer.It will be understood by those skilled in the art that in the paint finishing of view-based access control model location of the present invention
The quantity of spraying equipment can be more than four.
Preferably, the acquisition range of one or more vision localization harvesters 102 is completely covered described
The profile of workpiece.Preferably, the quantity of vision localization harvester 102 can be one, two,
Three, four or more.Such as, when workpiece is one piece of platelet period of the day from 11 p.m. to 1 a.m needing one side to spray, this
The paint finishing of the view-based access control model location of invention can use a vision localization harvester 102.Example
As, when workpiece is small-sized equipment, the paint finishing of the view-based access control model location of the present invention can use two
Individual or four vision localization harvesters 102.Preferably, when the object that workpiece is triangular prism shape,
The paint finishing of the view-based access control model location of the present invention can use three vision localization harvesters 102.
Preferably, when the quantity of vision localization harvester 102 is four, four vision localization are adopted
Acquisition means 102 can be disposed in four angles in the rectangle spraying operation region surrounding workpiece 104
Position.
It will be understood by those skilled in the art that the vision of the paint finishing of the view-based access control model location of the present invention
The quantity of positioning acquisition device can be more than four, such as, if Workpiece length is the longest, then according to work
Part profile gathers the principle of all standing, increases some vision localization harvesters in relevant position, therefore
The vision localization harvester of more than four may be needed.As it is shown in figure 1, workpiece 104 is oversize
(such as, be Large-Scale Equipment), therefore, can be by cloth except four vision localization harvesters 102
Put outside surrounding the position, four angles of rectangular area of workpiece, it is also possible on the long limit of described rectangular area
Medium position arrange 4 vision localization harvesters 102, for being pointed to the vision of position, four angles
Positioning acquisition device 102 shoot less than position shoot.Which ensure that vision localization harvester
The all standing of 102 pairs of workpiece 104, and vision localization processor 103 is obtained in that complete feature
Dot position information calculates position deviation value.
Preferably, vision localization harvester 102 can be photographic head.
In one embodiment, it is fixed that the receipt after vision localization harvester 102 gathers is sent to vision
Bit processor 103, analyzes and processes after synthesis, and (theoretical with the ideal position information of characteristic point
Position) (such as, the positional information skew of characteristic point herein includes X, Y, Z coordinate in comparison
Skew and the skew angled with ideal position), automatically generate solution and be transferred to spraying
Device (such as, robot) 101.Spray equipment 101 adjusts initial position automatically according to this scheme
And regenerate spraying path).
Preferably, described spray equipment 101 receives described position adjustment value.Preferably, spray equipment
101 adjust from the position on guide rail 106 and attitude according to described position adjustment value.
Preferably, spray equipment 101 is spray robot.
Preferably, base support 105 is bolted on ground or in shelter.So can make
The base support of the spraying equipment in the paint finishing of the view-based access control model location of the present invention is more firm.
Preferably, guide rail 106 is bolted on base support 105.So can make this
The guide rail in spraying equipment in the paint finishing of bright view-based access control model location is more firm, spray equipment
101 movements on guide rail also can be more stable.
Fig. 2 is the flow chart of the spraying method of view-based access control model location according to an embodiment of the invention.
As in figure 2 it is shown, the spraying method of view-based access control model location includes step according to an embodiment of the invention
Rapid S110, S120, S130 and S140.
In step s 110, the positional information the generation that gather multiple characteristic points of workpiece regard accordingly
Feel signal, sends visual signal.
In the step s 120, visual signal is received.
In step s 130, workpiece is calculated according to the ideal position information of the characteristic point of the workpiece prestored
Position deviation value.
In step S140, adjust the position between each spraying equipment and workpiece according to position deviation value
Put relation.
The paint finishing of the view-based access control model location according to the present invention possesses following beneficial effect:
1, without fixtures for painting, manufacturing cost is saved, only need to be by the ideal position of the characteristic point of workpiece
Information is pre-stored in vision localization processor；
2, without manually adjusting, for identical product, can automatically be adjusted, intelligence degree is high；
3, respond and regulate the speed fast (can≤60s), improve work efficiency；
3, workpiece position only just can need to calculate in vision localization harvester coverage
Position deviation value, can quickly adjust the position relationship of spraying equipment and workpiece.
Particular embodiments described above, is carried out the purpose of the present invention, technical scheme and beneficial effect
Further describe, be it should be understood that the foregoing is only the present invention specific embodiment and
, be not limited to the present invention, all within the spirit and principles in the present invention, that is done any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. the paint finishing of a view-based access control model location, it is characterised in that including:
One or more spraying equipments, each spraying equipment is arranged at workpiece side to spray workpiece
It is coated with；
One or more vision localization harvesters, are arranged at around described workpiece, gather described work
The positional information of multiple characteristic points of part also generates corresponding visual signal, and wherein, described characteristic point is
Changeless feature on described workpiece, and each characteristic point is arranged at corresponding vision localization and adopts
In the coverage of acquisition means；
Vision localization processor, it receives regarding of the one or more vision localization harvester generation
Feel signal, and calculate described workpiece according to the ideal position information of the characteristic point of the described workpiece prestored
Position deviation value, and adjust between each spraying equipment and described workpiece according to described position deviation value
Position relationship.
2. the paint finishing of view-based access control model location as claimed in claim 1, it is characterised in that institute
State one or more vision localization harvester to be installed on the equipment of described workpiece periphery.
3. the paint finishing of view-based access control model location as claimed in claim 1, it is characterised in that institute
The acquisition range stating one or more vision localization harvester is completely covered the profile of described workpiece.
4. the paint finishing of view-based access control model location as claimed in claim 1, it is characterised in that institute
Stating vision localization harvester is photographic head.
5. the paint finishing of view-based access control model location as claimed in claim 1, it is characterised in that when
When the quantity of vision localization harvester is four, four vision localization harvesters are disposed in encirclement
The position, four angles in one rectangle spraying operation region of described workpiece.
6. the paint finishing of view-based access control model location as claimed in claim 1, it is characterised in that every
One spraying equipment all includes:
Base support, it is installed on ground or in shelter；
Guide rail, it is arranged on described base support；
Spray equipment, it is arranged on described guide rail and moves on described guide rail, enters described workpiece
Row spraying, and receive described position deviation value.
7. the paint finishing of view-based access control model location as claimed in claim 6, it is characterised in that institute
State spray equipment and adjust self initial position and spraying path according to described position deviation value.
8. the paint finishing of view-based access control model location as claimed in claim 6, it is characterised in that institute
Stating spray equipment is spray robot.
9. the paint finishing of view-based access control model location as claimed in claim 6, it is characterised in that institute
State base support to be bolted on ground or in described shelter.
10. the spraying method of a view-based access control model location, it is characterised in that including:
Gather the positional information of multiple characteristic points of workpiece and generate corresponding visual signal, sending described
Visual signal；
Receive described visual signal；
The ideal position information of the characteristic point according to the described workpiece prestored calculates the position of described workpiece
Deviation value；
The position relationship between each spraying equipment and described workpiece is adjusted according to described position deviation value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610555032.7A CN105964453A (en) | 2016-07-14 | 2016-07-14 | Spraying system and method based on vision positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610555032.7A CN105964453A (en) | 2016-07-14 | 2016-07-14 | Spraying system and method based on vision positioning |
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| Publication Number | Publication Date |
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| CN105964453A true CN105964453A (en) | 2016-09-28 |
Family
ID=56952543
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| CN201610555032.7A Pending CN105964453A (en) | 2016-07-14 | 2016-07-14 | Spraying system and method based on vision positioning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106335065A (en) * | 2016-10-31 | 2017-01-18 | 上海新朋联众汽车零部件有限公司 | Robot visual guiding system |
| CN107367269A (en) * | 2017-08-29 | 2017-11-21 | 上汽大通汽车有限公司 | Primary coat vehicle body position finding and detection method |
| CN107983569A (en) * | 2017-12-18 | 2018-05-04 | 清华大学 | A kind of intelligent flexible sprays process units |
| WO2018214156A1 (en) * | 2017-05-26 | 2018-11-29 | 深圳配天智能技术研究院有限公司 | Method of correcting locomotion control command of robot, and related apparatus for same |
| CN109453928A (en) * | 2019-01-08 | 2019-03-12 | 河北科技大学 | Spraying equipment based on multi-freedom electric motor |
| CN112238032A (en) * | 2020-09-04 | 2021-01-19 | 上海尧崇智能科技有限公司 | Gluing path generation method, device and system and computer-readable storage medium |
| CN112720471A (en) * | 2020-12-18 | 2021-04-30 | 希美埃（芜湖）机器人技术有限公司 | Automatic spraying method for realizing online tracking of furniture industry based on robot vision |
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| CN109453928A (en) * | 2019-01-08 | 2019-03-12 | 河北科技大学 | Spraying equipment based on multi-freedom electric motor |
| CN112238032A (en) * | 2020-09-04 | 2021-01-19 | 上海尧崇智能科技有限公司 | Gluing path generation method, device and system and computer-readable storage medium |
| CN112720471A (en) * | 2020-12-18 | 2021-04-30 | 希美埃（芜湖）机器人技术有限公司 | Automatic spraying method for realizing online tracking of furniture industry based on robot vision |
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Application publication date: 20160928 |