CN106861982B - Spray painting control method and device - Google Patents
Spray painting control method and device Download PDFInfo
- Publication number
- CN106861982B CN106861982B CN201710122227.7A CN201710122227A CN106861982B CN 106861982 B CN106861982 B CN 106861982B CN 201710122227 A CN201710122227 A CN 201710122227A CN 106861982 B CN106861982 B CN 106861982B
- Authority
- CN
- China
- Prior art keywords
- spraying
- color
- profile
- pattern
- pixel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
-
- 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
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a kind of spray painting control method and devices, are related to spraying technology field, and main purpose is to improve spray efficiency and coating quality, main technical schemes of the invention are as follows: when receiving spraying instruction, obtain the target pattern for including in spraying instruction；The target pattern is scanned, the corresponding color of each pixel and position in target pattern are obtained；Spraying profile is generated according to the corresponding color of pixel each in target pattern and position, the spraying profile includes multiple spraying points, and paint color corresponding with spraying point；Application element coating objective pattern on target object is controlled by the spraying profile.Present invention is mainly used for sprayed on target object.
Description
Technical field
The present invention relates to spraying technology fields, more particularly to a kind of spray painting control method and device.
Background technique
Spraying is, by means of pressure or centrifugal force, to be dispersed into uniform and fine droplet by spray gun or dish-style atomizer,
It is applied over coated article surface.According to the mode of spraying, spraying can be divided into aerial spraying, airless spraying, electrostatic spraying and
The mode of the various derivations of above-mentioned basic spray form, such as big flow low-pressure atomizing spraying, thermal spraying, automatic spraying, multiple groups
Spraying etc..
Currently, carrying out manual spray by manual type, i.e. decoration worker manually completes spray according to the pattern that will be sprayed
Operation is applied, and the working efficiency that manual type is sprayed is lower；And the height of coating quality, it is heavily dependent on operation
The experience of worker.Therefore the efficiency and quality of existing spraying technology are lower.
Summary of the invention
In view of this, the present invention provides a kind of spray painting control method and device, main purpose be to improve spray efficiency and
Coating quality.
According to the present invention on one side, a kind of spray painting control method is provided, comprising:
When receiving spraying instruction, the target pattern for including in spraying instruction is obtained；
The target pattern is scanned, the corresponding color of each pixel and position in target pattern are obtained；
Spraying profile, the spraying profile packet are generated according to the corresponding color of pixel each in target pattern and position
Include multiple spraying points, and paint color corresponding with spraying point；
Application element coating objective pattern on target object is controlled by the spraying profile.
According to the present invention on the other hand, a kind of spraying control device is provided, comprising:
Acquiring unit, for obtaining the target pattern for including in spraying instruction when receiving spraying instruction；
It is corresponding to obtain each pixel in target pattern for being scanned to the target pattern for scanning element
Color and position；
Generation unit, for generating spraying profile according to the corresponding color of pixel each in target pattern and position,
The spraying profile includes multiple spraying points, and paint color corresponding with spraying point；
Spray unit, for controlling application element coating objective pattern on target object by the spraying profile.
A kind of spray painting control method and device provided by the invention passes through decoration worker according to the pattern hand of spraying with current
Dynamic spraying operation of completing is compared, and the present invention first sweeps the target pattern in spraying instruction when receiving spraying instruction
It retouches, obtains the corresponding color of each pixel and position in target pattern, then distinguished according to pixel each in target pattern
Corresponding color and position generate spraying profile, and carry out spraying operation according to spraying profile control application element, thus logical
Crossing the present invention realizes the intelligence spraying of target pattern, improves spray efficiency and coating quality.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows a kind of spray painting control method flow diagram provided in an embodiment of the present invention；
Fig. 2 shows another spray painting control method flow diagrams provided in an embodiment of the present invention；
Fig. 3 shows a kind of spraying control device structural block diagram provided in an embodiment of the present invention；
Fig. 4 shows another spraying control device structural block diagram provided in an embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
The advantages of to make technical solution of the present invention, is clearer, makees specifically to the present invention with reference to the accompanying drawings and examples
It is bright.
The embodiment of the invention provides a kind of spray painting control methods, as shown in Figure 1, which comprises
101, when receiving spraying instruction, the target pattern for including in spraying instruction is obtained.
Wherein, the target pattern is picture to be sprayed, the target pattern can for plan view piece, stereotome etc.,
The embodiment of the present invention is not specifically limited.
102, the target pattern is scanned, obtains the corresponding color of each pixel and position in target pattern
It sets.
For the embodiment of the present invention, after getting target pattern, by being scanned to target pattern, target is obtained
The corresponding color of each pixel and position in pattern.If it should be noted that pixel is that target pattern is divided into
Dry lattice, each lattice are known as a pixel, and computer passes through the position for indicating these pixels, color, brightness
Etc. information, indicate whole picture target pattern.
103, spraying profile is generated according to the corresponding color of pixel each in target pattern and position.
In embodiments of the present invention, one is produced according to the corresponding color of pixel each in target pattern and position
Spraying profile can also generate multiple spraying profiles according to the corresponding color of pixel each in target pattern and position.Wherein,
The spraying profile of generation includes multiple spraying points, a pixel in the corresponding target pattern of each spraying point, by spraying point
The color of position and spraying point in the target image generates spraying profile.
It should be noted that the embodiment of the present invention can be according to of pixel horizontally-arranged in target image and vertical setting of types pixel
Number control generates the number of spraying profile, such as generates spraying profile corresponding with horizontally-arranged pixel；It can also generate and target figure
The corresponding spraying profile of color number as in, the embodiment of the present invention are not specifically limited.
104, application element coating objective pattern on target object is controlled by the spraying profile.
Wherein, target object is the object for needing coating objective pattern, is specifically as follows wall, company's publicity board, public transport
Car body, family background wall, cup etc., the embodiment of the present invention is not specifically limited.In embodiments of the present invention, passing through spraying rail
Mark controls application element on target object before coating objective pattern, and the embodiment of the present invention is needed according to TRAJECTORY CONTROL adjustment spray
Starting spraying position of the component on target object is applied, application element is then controlled by spraying profile and is sprayed on target object
Target pattern.
It should be noted that the application element in the embodiment of the present invention includes one or more spray heads, each spray head is corresponding
One spraying profile can control multiple spray heads through the invention while carry out spray coating operations, also can control multiple spray heads respectively into
Row spray coating operations, the embodiment of the present invention are not specifically limited.For example, the embodiment of the present invention generates and the horizontally-arranged pixel of target pattern
The corresponding spraying profile of number, each spraying profile correspond to the one-row pixels point in target pattern, are then each showerhead configurations
One spraying profile, and according to each spray head in the tandem of row pixel every in target pattern arrangement application element, row
After column are completed, application element is adjusted in the leftmost side or the rightmost side of target object, finally controls and sprays according to multiple spraying profiles
The coating objective pattern on target object of each spray head in component is applied, so as to complete the spray coating operations of target pattern.
A kind of spray painting control method provided in an embodiment of the present invention passes through decoration worker according to the pattern hand of spraying with current
Dynamic spraying operation of completing is compared, and the present invention first sweeps the target pattern in spraying instruction when receiving spraying instruction
It retouches, obtains the corresponding color of each pixel and position in target pattern, then distinguished according to pixel each in target pattern
Corresponding color and position generate spraying profile, and carry out spraying operation according to spraying profile control application element, thus logical
Crossing the present invention realizes the intelligence spraying of target pattern, improves spray efficiency and coating quality.
The embodiment of the invention provides another spray painting control methods, as shown in Figure 2, which comprises
201, when receiving spraying instruction, the target pattern for including in spraying instruction is obtained.
Wherein, about step 201 when receiving spraying instruction, the detailed of the target pattern for including in spraying instruction is obtained
Description, can refer to the description of corresponding steps in Fig. 1, details are not described herein for the embodiment of the present invention.
202, the target pattern is scanned, according to the position of each pixel in preset color sequence and target pattern
Generate spraying profile.
It should be noted that due to including multiple color in target pattern, if what the spray head in control application element was run
Include multiple color in spraying profile, then, when carrying out spraying operation, needs frequently to replace in spray head by the spray head
Spray coated paint, and a large amount of time can be wasted by frequently replacing spray coated paint.To solve the above-mentioned problems, the embodiment of the present invention exists
After being scanned to target pattern, spraying rail is generated according to the position of each pixel in preset color sequence and target pattern
Mark.
For example, three kinds of colors for including in target pattern are respectively as follows: red, yellow, and green, then according to preset color sequence and mesh
The position of each pixel in sample of marking on a map generates spraying profile, is the pixel of red color in target pattern first in the spraying profile
Point, followed by the pixel of yellow color are finally the pixels of green color.Being sprayed first by the spraying profile is target figure
The part of red color in sample, followed by the part of yellow color are finally the parts of green color, obtain after the completion of whole color sprayings
Target pattern.
For the embodiment of the present invention, in order to be rapidly completed the spraying of target pattern, the embodiment of the present invention can also generate with
The corresponding spraying profile of color number in target pattern, each spraying profile correspond to a spray head in application element and realize spraying
Then a color in target pattern controls the spray coating operations that spray head realizes target pattern simultaneously by multiple spraying profiles.
203, same color in the spraying profile is adjusted according to the adjacent position relationship of same color pixel spray point
Spraying sequence.
It should be noted that since the pixel of same color in target pattern is there are multiple, if the spraying profile generated
The positional relationship for not considering pixel will be from the when carrying out control application element by the spraying profile and carrying out spraying operation
When one spraying point jumps to second spraying point and sprayed, there is the color in spraying and repeat the case where spraying, and spray
Efficiency it is also very low.Therefore, the embodiment of the present invention is generating spraying profile according to the position of pixel each in target pattern
Later, it needs to adjust same color in the spraying profile according to the adjacent position relationship of same color pixel in target pattern
The spraying sequence of specking improves the spraying effect and spray efficiency of target pattern to realize the orderly spraying of application element.
204, the spraying profile by adjusting after controls application element coating objective pattern on target object.
In embodiments of the present invention, if the target object is solid object, according to pixel each in target pattern point
Not corresponding color and position generate after spraying profile, it is also necessary to obtain the three-dimensional coordinate information of the stereo-picture, then
The spray angle that each spraying point in the spraying profile is adjusted according to the three-dimensional coordinate information, finally by spray adjusted
Apply TRAJECTORY CONTROL application element coating objective pattern in solid object.To complete the spray coating operations on stereo-picture.
The embodiment of the present invention provides another spray painting control method, and the present invention is when receiving spraying instruction, first to spray
The target pattern applied in instruction is scanned, and is then generated according to the position of each pixel in preset color sequence and target pattern
Spraying profile, and the adjacent position relationship according to same color pixel adjusts same color spraying point in the spraying profile
Spraying sequence controls application element coating objective pattern on target object finally by spraying profile adjusted, due to pressing
Spraying rate and spraying effect can be improved in the spraying profile generated according to color, therefore improves target figure through the embodiment of the present invention
The spray efficiency and coating quality of sample.
Further, the embodiment of the present invention provides a kind of spraying control device, as shown in figure 3, described device includes: to obtain
Unit 31, scanning element 32, generation unit 33, control unit 34.
Acquiring unit 31, for obtaining the target pattern for including in spraying instruction when receiving spraying instruction；
Wherein, the target pattern is picture to be sprayed, the target pattern can for plan view piece, stereotome etc.,
The embodiment of the present invention is not specifically limited.
Scanning element 32 obtains each pixel in target pattern and respectively corresponds for being scanned to the target pattern
Color and position；
For the embodiment of the present invention, after getting target pattern, by being scanned to target pattern, target is obtained
The corresponding color of each pixel and position in pattern.If it should be noted that pixel is that target pattern is divided into
Dry lattice, each lattice are known as a pixel, and computer passes through the position for indicating these pixels, color, brightness
Etc. information, indicate whole picture target pattern.
Generation unit 33, for generating spraying rail according to the corresponding color of pixel each in target pattern and position
Mark, the spraying profile include multiple spraying points, and paint color corresponding with spraying point；
In embodiments of the present invention, one is produced according to the corresponding color of pixel each in target pattern and position
Spraying profile can also generate multiple spraying profiles according to the corresponding color of pixel each in target pattern and position.Wherein,
The spraying profile of generation includes multiple spraying points, a pixel in the corresponding target pattern of each spraying point, by spraying point
The color of position and spraying point in the target image generates spraying profile.
It should be noted that the embodiment of the present invention can be according to of pixel horizontally-arranged in target image and vertical setting of types pixel
Number control generates the number of spraying profile, such as generates spraying profile corresponding with horizontally-arranged pixel；It can also generate and target figure
The corresponding spraying profile of color number as in, the embodiment of the present invention are not specifically limited.
Control unit 34, for controlling application element coating objective pattern on target object by the spraying profile.
Wherein, target object is the object for needing coating objective pattern, is specifically as follows wall, company's publicity board, public transport
Car body, family background wall, cup etc., the embodiment of the present invention is not specifically limited.In embodiments of the present invention, passing through spraying rail
Mark controls application element on target object before coating objective pattern, and the embodiment of the present invention is needed according to TRAJECTORY CONTROL adjustment spray
Starting spraying position of the component on target object is applied, application element is then controlled by spraying profile and is sprayed on target object
Target pattern.
It should be noted that the application element in the embodiment of the present invention includes one or more spray heads, each spray head is corresponding
One spraying profile can control multiple spray heads through the invention while carry out spray coating operations, also can control multiple spray heads respectively into
Row spray coating operations, the embodiment of the present invention are not specifically limited.For example, the embodiment of the present invention generates and the horizontally-arranged pixel of target pattern
The corresponding spraying profile of number, each spraying profile correspond to the one-row pixels point in target pattern, are then each showerhead configurations
One spraying profile, and according to each spray head in the tandem of row pixel every in target pattern arrangement application element, row
After column are completed, application element is adjusted in the leftmost side or the rightmost side of target object, finally controls and sprays according to multiple spraying profiles
The coating objective pattern on target object of each spray head in component is applied, so as to complete the spray coating operations of target pattern.
It should be noted that other of each functional unit involved by a kind of spraying control device provided in an embodiment of the present invention
Corresponding description, can be with reference to the corresponding description of method shown in Fig. 1, and details are not described herein, it should be understood that the dress in the present embodiment
The full content realized in preceding method embodiment can be corresponded to by setting.
A kind of spraying control device provided in an embodiment of the present invention passes through decoration worker according to the pattern hand of spraying with current
Dynamic spraying operation of completing is compared, and the present invention first sweeps the target pattern in spraying instruction when receiving spraying instruction
It retouches, obtains the corresponding color of each pixel and position in target pattern, then distinguished according to pixel each in target pattern
Corresponding color and position generate spraying profile, and carry out spraying operation according to spraying profile control application element, thus logical
Crossing the present invention realizes the intelligence spraying of target pattern, improves spray efficiency and coating quality.
Further, the embodiment of the present invention provides another spraying control device, as shown in figure 4, described device includes: to obtain
Take unit 41, scanning element 42, generation unit 43, control unit 44.
Acquiring unit 41, for obtaining the target pattern for including in spraying instruction when receiving spraying instruction；
Scanning element 42 obtains each pixel in target pattern and respectively corresponds for being scanned to the target pattern
Color and position；
For the embodiment of the present invention, after getting target pattern, by being scanned to target pattern, target is obtained
The corresponding color of each pixel and position in pattern.If it should be noted that pixel is that target pattern is divided into
Dry lattice, each lattice are known as a pixel, and computer passes through the position for indicating these pixels, color, brightness
Etc. information, indicate whole picture target pattern.
Generation unit 43, for generating spraying rail according to the corresponding color of pixel each in target pattern and position
Mark, the spraying profile include multiple spraying points, and paint color corresponding with spraying point；
Control unit 44, for controlling application element coating objective pattern on target object by the spraying profile.
Wherein, target object is the object for needing coating objective pattern, is specifically as follows wall, company's publicity board, public transport
Car body, family background wall, cup etc., the embodiment of the present invention is not specifically limited.In embodiments of the present invention, passing through spraying rail
Mark controls application element on target object before coating objective pattern, and the embodiment of the present invention is needed according to TRAJECTORY CONTROL adjustment spray
Starting spraying position of the component on target object is applied, application element is then controlled by spraying profile and is sprayed on target object
Target pattern.
It should be noted that due to including multiple color in target pattern, if what the spray head in control application element was run
Include multiple color in spraying profile, then, when carrying out spraying operation, needs frequently to replace in spray head by the spray head
Spray coated paint, and a large amount of time can be wasted by frequently replacing spray coated paint.To solve the above-mentioned problems, therefore the present invention is implemented
Generation unit 43 in example, for generating spraying profile according to the position of each pixel in preset color sequence and target pattern.
For example, three kinds of colors for including in target pattern are respectively as follows: red, yellow, and green, then according to preset color sequence and mesh
The position of each pixel in sample of marking on a map generates spraying profile, is the pixel of red color in target pattern first in the spraying profile
Point, followed by the pixel of yellow color are finally the pixels of green color.Being sprayed first by the spraying profile is target figure
The part of red color in sample, followed by the part of yellow color are finally the parts of green color, obtain after the completion of whole color sprayings
Target pattern.
For the embodiment of the present invention, in order to which the spraying of target pattern is rapidly completed, the generation unit 43 is specifically used for life
At spraying profile corresponding with color number in target pattern, each spraying profile corresponds to the realization of a spray head in application element
A color in coating objective pattern.Control the spray coating operations that spray head realizes target pattern simultaneously by multiple spraying profiles.
It should be noted that since the pixel of same color in target pattern is there are multiple, if the spraying profile generated
The positional relationship for not considering pixel will be from the when carrying out control application element by the spraying profile and carrying out spraying operation
When one spraying point jumps to second spraying point and sprayed, there is the color in spraying and repeat the case where spraying, and spray
Efficiency it is also very low.Therefore described device further include:
Adjustment unit 45 adjusts same in the spraying profile for the adjacent position relationship according to same color pixel
The spraying sequence of color spraying point；
Described control unit 44 sprays mesh for the spraying profile control application element by adjusting after on target object
It marks on a map sample.
If the target object is solid object, according to the corresponding color of pixel each in target pattern and position
After generation spraying profile, it is also necessary to obtain the three-dimensional coordinate information of the stereo-picture, then believe according to the three-dimensional coordinate
Breath adjusts the spray angle of each spraying point in the spraying profile, controls application element finally by spraying profile adjusted
The coating objective pattern in solid object.To complete the spray coating operations on stereo-picture.Therefore in the embodiment of the present invention
Therefore the acquiring unit 41 in the embodiment of the present invention obtains if being also used to the target object is solid object
The three-dimensional coordinate information of the stereo-picture；
The adjustment unit 45 is also used to adjust each spraying point in the spraying profile according to the three-dimensional coordinate information
Spray angle；
Described control unit 44 sprays mesh for the spraying profile control application element by adjusting after in solid object
It marks on a map sample.
It should be noted that its of each functional unit involved by another kind spraying control device provided in an embodiment of the present invention
He accordingly describes, can be with reference to the corresponding description of method shown in Fig. 2, and details are not described herein, it should be understood that in the present embodiment
Device can correspond to the full content realized in preceding method embodiment.
The embodiment of the present invention provides another spraying control device, and the present invention is when receiving spraying instruction, first to spray
The target pattern applied in instruction is scanned, and is then generated according to the position of each pixel in preset color sequence and target pattern
Spraying profile, and the adjacent position relationship according to same color pixel adjusts same color spraying point in the spraying profile
Spraying sequence controls application element coating objective pattern on target object finally by spraying profile adjusted, due to pressing
Spraying rate and spraying effect can be improved in the spraying profile generated according to color, therefore improves target figure through the embodiment of the present invention
The spray efficiency and coating quality of sample.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, reference can be made to the related descriptions of other embodiments.
It is understood that the correlated characteristic in the above method and device can be referred to mutually.In addition, in above-described embodiment
" first ", " second " etc. be and not represent the superiority and inferiority of each embodiment for distinguishing each embodiment.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Algorithm and display are not inherently related to any particular computer, virtual system, or other device provided herein.
Various general-purpose systems can also be used together with teachings based herein.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the present invention is also not directed to any particular programming language.It should be understood that can use various
Programming language realizes summary of the invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
Meaning one of can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) realize the update of self-aided terminal operation flow according to an embodiment of the present invention
The some or all functions of some or all components in method and device.The present invention is also implemented as executing this
In described method some or all device or device programs (for example, computer program and computer program
Product).It is such to realize that program of the invention can store on a computer-readable medium, it either can have one or more
The form of a signal.Such signal can be downloaded from an internet website to obtain, be perhaps provided on the carrier signal or with
Any other form provides.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
Claims (6)
1. a kind of spray painting control method characterized by comprising
When receiving spraying instruction, the target pattern for including in spraying instruction is obtained；
The target pattern is scanned, the corresponding color of each pixel and position in target pattern are obtained；
Spraying profile is generated according to the corresponding color of pixel each in target pattern and position, the spraying profile includes more
A spraying point, and paint color corresponding with spraying point；
It is described to include: according to the corresponding color of pixel each in target pattern and position generation spraying profile
Spraying profile is generated according to the position of each pixel in preset color sequence and target pattern；
The spraying that adjacent position relationship according to same color pixel adjusts same color spraying point in the spraying profile is suitable
Sequence；
Application element coating objective pattern on target object is controlled by the spraying profile；
It is described to include: by spraying profile control application element coating objective pattern on target object
Spraying profile by adjusting after controls application element coating objective pattern on target object.
2. the method according to claim 1, wherein the method also includes:
Spraying profile corresponding with color number in target pattern is generated, each spraying profile corresponds to a spray in application element
Head realizes a color in coating objective pattern.
3. the method according to claim 1, wherein if the target object be solid object, it is described according to mesh
After the corresponding color of each pixel in sample of marking on a map and position generate spraying profile, the method also includes:
Obtain the three-dimensional coordinate information of the solid object；
The spray angle of each spraying point in the spraying profile is adjusted according to the three-dimensional coordinate information；
It is described to include: by spraying profile control application element coating objective pattern on target object
Spraying profile by adjusting after controls application element coating objective pattern in solid object.
4. a kind of spraying control device characterized by comprising
Acquiring unit, for obtaining the target pattern for including in spraying instruction when receiving spraying instruction；
Scanning element obtains the corresponding color of each pixel in target pattern for being scanned to the target pattern
And position；
Generation unit, it is described for generating spraying profile according to the corresponding color of pixel each in target pattern and position
Spraying profile includes multiple spraying points, and paint color corresponding with spraying point；
The generation unit, for generating spraying profile according to the position of each pixel in preset color sequence and target pattern；
Adjustment unit adjusts same color spray in the spraying profile for the adjacent position relationship according to same color pixel
The spraying sequence of paint point；
Control unit, for controlling application element coating objective pattern on target object by the spraying profile；
Described control unit controls application element coating objective figure on target object for the spraying profile by adjusting after
Sample.
5. device according to claim 4, which is characterized in that the generation unit is specifically used for generating and target pattern
The corresponding spraying profile of middle color number, each spraying profile correspond to a spray head in application element and realize coating objective pattern
In a color.
6. device according to claim 4, which is characterized in that the acquiring unit is if being also used to the target object
Solid object then obtains the three-dimensional coordinate information of the solid object；
The adjustment unit is also used to adjust the spraying of each spraying point in the spraying profile according to the three-dimensional coordinate information
Angle；
Described control unit controls application element coating objective figure in solid object for the spraying profile by adjusting after
Sample.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710122227.7A CN106861982B (en) | 2017-03-02 | 2017-03-02 | Spray painting control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710122227.7A CN106861982B (en) | 2017-03-02 | 2017-03-02 | Spray painting control method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106861982A CN106861982A (en) | 2017-06-20 |
| CN106861982B true CN106861982B (en) | 2019-02-22 |
Family
ID=59169559
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710122227.7A Active CN106861982B (en) | 2017-03-02 | 2017-03-02 | Spray painting control method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106861982B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107899784A (en) * | 2017-11-27 | 2018-04-13 | 蚌埠抒阳自动化设备制造有限公司 | A kind of intelligent spray painting regulator control system with positioning function |
| CN107755147A (en) * | 2017-11-27 | 2018-03-06 | 蚌埠抒阳自动化设备制造有限公司 | A kind of intelligent spray painting regulation and control method based on fixation and recognition |
| CN108837982B (en) * | 2018-07-10 | 2020-12-25 | 江苏赛愽智能制造研究院有限公司 | Paint spraying system capable of automatically selecting colors and working method thereof |
| CN109317383B (en) * | 2018-10-25 | 2021-07-16 | 佛山市顺德区东亚汽车部件有限公司 | High-efficiency spraying production process and system for surface machining of injection molding part |
| CN109731708B (en) * | 2018-12-27 | 2021-04-30 | 上海理工大学 | Automatic paint spraying method for automobile maintenance based on image recognition |
| CN109572240B (en) * | 2019-01-30 | 2020-02-21 | 合肥京东方光电科技有限公司 | Spraying instrument and control method thereof |
| CN110053359A (en) * | 2019-03-19 | 2019-07-26 | 山东师范大学 | A kind of intelligence air brushing robot and its working method |
| CN110052347B (en) * | 2019-04-24 | 2021-08-31 | 佛山科学技术学院 | Automatic spraying method and system based on machine vision |
| CN111054539A (en) * | 2019-12-19 | 2020-04-24 | 上海骋润高分子材料有限公司 | Automatic spraying method for small workpieces |
| CN111250313B (en) * | 2020-02-13 | 2022-01-25 | 安捷睿（厦门）机器人有限公司 | Spraying reciprocating robot, control device thereof and spraying control method |
| CN113496324A (en) * | 2020-03-20 | 2021-10-12 | 广东博智林机器人有限公司 | Spray quality prediction method, spray quality prediction device, electronic equipment and storage medium |
| CN112337675B (en) * | 2020-10-29 | 2021-10-15 | 北京曲线智能装备有限公司 | Spraying control method and device for spraying robot and electronic equipment |
| CN113714012A (en) * | 2021-08-30 | 2021-11-30 | 青岛金光鸿智能机械电子有限公司 | Automatic planning method and system for three-dimensional camouflage pattern spraying path |
| CN114950775A (en) * | 2022-05-07 | 2022-08-30 | 苏州方石科技有限公司 | Spraying path control method and device |
| CN115283164B (en) * | 2022-07-29 | 2023-06-09 | 东风柳州汽车有限公司 | Vehicle paint spraying track generation method, device, equipment and storage medium |
| CN115193658A (en) * | 2022-08-12 | 2022-10-18 | 一汽丰田汽车有限公司 | Bumper surface spraying method, device, equipment and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101448433B1 (en) * | 2014-05-16 | 2014-10-10 | 성선향 | Paint coating device for pillar |
| CN104487174A (en) * | 2012-05-21 | 2015-04-01 | Cmo索迪尼蒂诺和C.S.N.C.公司 | Method and apparatus for painting objects |
| CN105289884A (en) * | 2015-09-13 | 2016-02-03 | 常州大学 | Intelligent portrait sketch inkjet robot |
| CN105457785A (en) * | 2016-01-06 | 2016-04-06 | 长沙学院 | Automatic spraying device for mobile building exterior wall marks |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140238296A1 (en) * | 2013-02-25 | 2014-08-28 | John F. Grimes | Automated Paint Application System |
-
2017
- 2017-03-02 CN CN201710122227.7A patent/CN106861982B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104487174A (en) * | 2012-05-21 | 2015-04-01 | Cmo索迪尼蒂诺和C.S.N.C.公司 | Method and apparatus for painting objects |
| KR101448433B1 (en) * | 2014-05-16 | 2014-10-10 | 성선향 | Paint coating device for pillar |
| CN105289884A (en) * | 2015-09-13 | 2016-02-03 | 常州大学 | Intelligent portrait sketch inkjet robot |
| CN105457785A (en) * | 2016-01-06 | 2016-04-06 | 长沙学院 | Automatic spraying device for mobile building exterior wall marks |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106861982A (en) | 2017-06-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106861982B (en) | Spray painting control method and device | |
| CN106184759B (en) | A kind of external wall spraying print system and its spraying method based on unmanned plane | |
| CN107089060B (en) | Method for inkjet printing on at least one curved region of an object surface | |
| CN103660658B (en) | Surface for making object is imaged and/or the method for japanning | |
| CN104415868B (en) | For exchanging the nozzle of fuid distribution system and the method and system of spray head | |
| US8050799B2 (en) | Method for determination of spraying parameters for controlling a painting appliance which uses spraying means | |
| WO2018023853A1 (en) | Spraying and printing system for wall surface and spraying method | |
| CN107116910B (en) | Wall spraying and painting system and method | |
| DE102012212469A1 (en) | Method for printing upper surface of e.g. three-dimensional object with multi colors, involves designing and/or modifying control program based on computer model, where upper surface of object is printed by robotic arm controlled by program | |
| PH12020500441A1 (en) | A coating system for coating an optical substrate, method thereof and coated optical substrate | |
| CN209350243U (en) | A kind of artificial teaching system of spraying based on Kinect | |
| CN109703194A (en) | Transparent ink curing method, device, equipment and system | |
| KR20180038390A (en) | Method and installation for painting a surface of a component with a pattern | |
| CN111744735B (en) | Control method based on surface spraying simulation of artware | |
| CN105233716B (en) | A kind of automotive paints mixing color system | |
| KR101308824B1 (en) | Coating method | |
| CN106915160B (en) | Black liquid applying device and black liquid coating method | |
| CN108705530A (en) | Method and system for automatically correcting path of industrial robot | |
| JP2024000461A (en) | Coating work management device, coating work management method and program | |
| CN112825617B (en) | Coating method, coating device, and coating program | |
| CN107839237B (en) | A kind of color spraying method based on colored 3D printer | |
| CN106457289A (en) | Method for coating with real-time display | |
| DE102015114045A1 (en) | Active surface treatment system for providing an image on a surface | |
| US6703079B2 (en) | Method for painting with a bell applicator | |
| JP6558260B2 (en) | Painting method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |