CN112604844B - Method and device for quickly calibrating movable square cabin type automatic spraying system after transition - Google Patents
Method and device for quickly calibrating movable square cabin type automatic spraying system after transition Download PDFInfo
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- CN112604844B CN112604844B CN202011430657.3A CN202011430657A CN112604844B CN 112604844 B CN112604844 B CN 112604844B CN 202011430657 A CN202011430657 A CN 202011430657A CN 112604844 B CN112604844 B CN 112604844B
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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
- 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
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
Abstract
The invention discloses a method and a system for quickly calibrating a movable square cabin type automatic spraying system after transition, which comprises the following steps: after the movable cabin type automatic spraying system moves to a spraying position of a new vehicle type, acquiring the position relation of a first camera, a second camera, a third camera and a fourth camera; calibrating a first automobile to be sprayed of the new automobile type to obtain a standard position of the first automobile to be sprayed of the new automobile type; obtaining the spraying tracks of the first spraying robot and the second spraying robot according to the standard position of the first automobile to be sprayed of the new automobile type, and finishing the spraying work of the first automobile to be sprayed of the new automobile type according to the spraying tracks; when the new vehicle type is sprayed in batch, when the remaining vehicles to be sprayed of the new vehicle type enter the spraying position, calculating the position deviation data of the second vehicle to be sprayed and the first vehicle to be sprayed, and finishing the spraying work of the remaining vehicles to be sprayed of the new vehicle type.
Description
Technical Field
The application relates to the technical field of spraying, in particular to a method and a device for quickly calibrating a movable square cabin type automatic spraying system after transition.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
After the movable cabin type automatic spraying system is transferred, calibration work is very complicated, and each automobile needs to be calibrated again.
At present, the existing visual positioning-based transition calibration has some problems and disadvantages:
1. related precise instruments and professional software are required, so that the instrument cost and the transportation cost are high;
2. the new vehicle type conversion calibration time is long, and the workload is large;
3. the calibration learning cost of professional technicians is high;
4. the professional technical personnel can finish the calibration of the transition equipment within two days, thereby wasting time and labor.
Disclosure of Invention
In order to overcome the defects of the prior art, the application provides a method and a device for quickly calibrating a movable square cabin type automatic spraying system after transition;
in a first aspect, the application provides a method for quickly calibrating a movable square cabin type automatic spraying system after transition;
the method for quickly calibrating the movable square cabin type automatic spraying system after transition comprises the following steps:
the movable square cabin type automatic spraying system moves to a spraying position of a new vehicle type;
calibrating a first automobile to be sprayed of the new automobile type to obtain a standard position of the first automobile to be sprayed of the new automobile type;
obtaining the spraying tracks of the first spraying robot and the second spraying robot according to the standard position of the first automobile to be sprayed of the new automobile type, and finishing the spraying work of the first automobile to be sprayed of the new automobile type according to the spraying tracks;
when the new vehicle type is sprayed in batch, when the remaining vehicles to be sprayed of the new vehicle type enter the spraying position, calculating the position deviation data of the second vehicle to be sprayed and the first vehicle to be sprayed, and finishing the spraying work of the remaining vehicles to be sprayed of the new vehicle type.
In a second aspect, the application also provides a rapid calibration system after the transition of the movable square cabin type automatic spraying system;
quick calibration system after portable shelter formula automatic spraying system transition includes:
a mobile module configured to: the movable square cabin type automatic spraying system moves to a spraying position of a new vehicle type;
a calibration module configured to: calibrating a first automobile to be sprayed of the new automobile type to obtain a standard position of the first automobile to be sprayed of the new automobile type;
a spray module configured to: obtaining the spraying tracks of the first spraying robot and the second spraying robot according to the standard position of the first automobile to be sprayed of the new automobile type, and finishing the spraying work of the first automobile to be sprayed of the new automobile type according to the spraying tracks;
a deviation calculation module configured to: when the new vehicle type is sprayed in batch, when the remaining vehicles to be sprayed of the new vehicle type enter the spraying position, calculating the position deviation data of the second vehicle to be sprayed and the first vehicle to be sprayed, and finishing the spraying work of the remaining vehicles to be sprayed of the new vehicle type.
In a third aspect, the present application further provides an electronic device, including: one or more processors, one or more memories, and one or more computer programs; wherein a processor is connected to the memory, the one or more computer programs are stored in the memory, and when the electronic device is running, the processor executes the one or more computer programs stored in the memory, so as to make the electronic device execute the method according to the first aspect.
In a fourth aspect, the present application also provides a computer-readable storage medium for storing computer instructions which, when executed by a processor, perform the method of the first aspect.
In a fifth aspect, the present application also provides a computer program (product) comprising a computer program for implementing the method of any of the preceding first aspects when run on one or more processors.
Compared with the prior art, the beneficial effects of this application are:
the method solves the problems and the defects existing in the current transition calibration based on visual positioning, and makes the transition calibration of the robot become simpler and faster.
Professional software and precise instruments are not needed, and the transportation cost is saved;
the culture and learning cost of professionals is low;
the calibration time is short, the equipment is used for four hours when being transferred, and the new vehicle type is used for one hour when being transferred.
After the movable shelter type automatic spraying system is transferred, the position of a first vehicle is determined, the position of the first vehicle is a reference target of a vehicle behind, the vehicle behind enters, the position of the vehicle is extracted by using a visual positioning system, the vehicle is compared with the first vehicle to obtain the offset, and the offset is converted into the posture, angle and code data (Uframe data and Oframe data) of the robot, so that the path of the robot can meet the spraying precision requirement.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic view of a first embodiment of a mechanical coupling of a spray coating robot;
101, a first spraying robot, 102, a third visual positioning acquisition device, 103, a processor, 104, an automobile to be sprayed, 105, a first shelter, 106 and a first guide rail.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and it should be understood that the terms "comprises" and "comprising", and any variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In addition, in order to facilitate clear description of technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items having substantially the same functions and actions. Those skilled in the art will appreciate that the words "first", "second", etc. do not necessarily define a quantity or order of execution and that the words "first", "second", etc. do not necessarily differ.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
A movable square cabin type automatic spraying system;
as shown in fig. 1, the movable shelter type automatic spray system includes: a first shelter and a second shelter;
the position between the first shelter and the second shelter is the spraying position of the automobile 104 to be sprayed;
a first guide rail 106 is arranged on the side surface of the first cabin 105; a second guide rail is arranged on the side surface of the second shelter; the first guide rail and the second guide rail are arranged in parallel;
a first spraying robot 101 is arranged on the first guide rail, and a second spraying robot is arranged on the second guide rail; the first spraying robot can slide on a first guide rail, and the second spraying robot can slide on a second guide rail;
a first visual positioning and collecting device is arranged right above one end of the first guide rail at a set distance, a second visual positioning and collecting device is arranged right above the other end of the first guide rail at a set distance, a third visual positioning and collecting device 102 is arranged right above one end of the second guide rail at a set distance, and a fourth visual positioning and collecting device is arranged right above the other end of the second guide rail at a set distance;
the first visual positioning acquisition device, the second visual positioning acquisition device, the third visual positioning acquisition device and the fourth visual positioning acquisition device are all connected with the processor 103.
Furthermore, the first visual positioning acquisition device, the second visual positioning acquisition device, the third visual positioning acquisition device and the fourth visual positioning acquisition device are all cameras.
Further, the first visual positioning acquisition device is a first camera;
further, the second visual positioning acquisition device is a second camera;
further, the third visual positioning acquisition device is a third camera;
further, the fourth visual positioning acquisition device is a fourth camera.
Example one
The embodiment provides a method for quickly calibrating a movable square cabin type automatic spraying system after transition;
the method for quickly calibrating the movable square cabin type automatic spraying system after transition comprises the following steps:
s101: the movable square cabin type automatic spraying system moves to a spraying position of a new vehicle type;
s102: calibrating a first automobile to be sprayed of the new automobile type to obtain a standard position of the first automobile to be sprayed of the new automobile type;
s103: obtaining the spraying tracks of the first spraying robot and the second spraying robot according to the standard position of the first automobile to be sprayed of the new automobile type, and finishing the spraying work of the first automobile to be sprayed of the new automobile type according to the spraying tracks;
s104: when the new vehicle type is sprayed in batch, when the remaining vehicles to be sprayed of the new vehicle type enter the spraying position, calculating the position deviation data of the second vehicle to be sprayed and the first vehicle to be sprayed, and finishing the spraying work of the remaining vehicles to be sprayed of the new vehicle type.
Further, the step S101: after the step of moving the movable cabin type automatic painting system to the painting position of the new vehicle type, the step S102: calibrating a first automobile to be sprayed of the new automobile type to obtain a standard position of the first automobile to be sprayed of the new automobile type; further comprising: and acquiring the position relation of the first camera, the second camera, the third camera and the fourth camera.
Further, the acquiring of the position relationship of the first camera, the second camera, the third camera and the fourth camera includes the following specific steps:
and obtaining the position relation of the first camera, the second camera, the third camera and the fourth camera according to the position relation of the first spraying robot and the second spraying robot.
Further, the position relationship between the first spraying robot and the second spraying robot specifically includes:
and calculating the position relation of the first spraying robot and the second spraying robot according to a plurality of groups of position coordinate data obtained by the first spraying robot and the second spraying robot through a plurality of designated position points in the collision space.
Further, the first spraying robot and the second spraying robot obtain a plurality of groups of position coordinate data through a plurality of designated position points in the collision space; the method comprises the following specific steps:
the first spraying robot and the second spraying robot collide with each other at different postures and positions under respective geodetic coordinate systems; the butt-collision means that: mounting a first positioning needle on a first spraying robot flange plate; mounting a second positioning needle at a flange of a second spraying robot;
carrying out collision on a first designated position point in space by using a first positioning needle of a first spraying robot and a second positioning needle of a second spraying robot, and recording position coordinate data of the first spraying robot and the second spraying robot after the collision is finished;
in the same way, after the collision of a plurality of designated position points is realized, a plurality of groups of position coordinate data of the first spraying robot and the second spraying robot are obtained.
It will be appreciated that the flange is also used to mount a lance.
Further, calibrating a first automobile to be sprayed of the new automobile type; the method comprises the following specific steps:
the method comprises the steps that a first vehicle of a new vehicle type is driven to a specified position of a spraying field, coordinate values of a plurality of points are selected on a simulation model of the first vehicle of the new vehicle type to be sprayed, label target points are adhered at the same position on the first vehicle of the new vehicle type to be sprayed in the spraying field, and a first camera, a second camera, a third camera and a fourth camera with known positions are used for collecting point data target points; and comparing the collected target point data with the coordinate values of the points on the simulation model, calculating and compensating to obtain the standard position of the first automobile to be sprayed of the new automobile type, and finishing calibration.
Illustratively, calibrating a first automobile to be sprayed of a new automobile type; the method comprises the following specific steps:
selecting four characteristic points on a simulation model of a first automobile to be sprayed of a new automobile type to obtain coordinate data of the four characteristic points; parking a new automobile to be sprayed at a specified position; pasting four target point icons at the same position of the automobile to be sprayed; acquiring target point data by using a first camera, a second camera, a third camera and a fourth camera with known positions; and comparing the selected points on the simulation model with the collected target point data to calculate so as to obtain the zero point position of the new vehicle type.
The zero point position is the standard position of a new vehicle type, and the calibration of the same vehicle type sprayed in batches at the back only needs to compare the target point position with the zero point for calculation to obtain corresponding data.
Further, when the new vehicle type is sprayed in batch, when the remaining vehicles to be sprayed of the new vehicle type enter the spraying position, calculating the position deviation data of the second vehicle to be sprayed and the first vehicle to be sprayed, and finishing the spraying work of the remaining vehicles to be sprayed of the new vehicle type; the method comprises the following specific steps:
sticking label targets at the same positions on a second automobile to be sprayed of a new automobile type in a spraying field according to coordinate values of a plurality of points selected from the simulation model of the first automobile to be sprayed of the new automobile type;
acquiring coordinate information of four target points by using four cameras, calculating deviation data of a second automobile to be sprayed of the new automobile type relative to a standard position of a first automobile to be sprayed of the new automobile type, and calculating spraying tracks of the first spraying robot and the second spraying robot according to the deviation data; and then finishing the spraying work of a second automobile to be sprayed of the new automobile type according to the spraying track, and finishing the spraying work of other automobiles to be sprayed of the new automobile type in the same way as the second automobile to be sprayed.
When a first vehicle of a new vehicle type is parked, the parking position is required to be maximally matched with or close to the accurate position where the vehicle is theoretically parked, and therefore the calibrated position data of the first vehicle can be more accurate.
In addition, the method is finally embodied on the spraying path G code data of the robot, wherein (namely Uframe and Oframe) the value determines the spraying track of the robot, and the position of the vehicle is not changed, the first vehicle only needs to determine the Uframe value finally, the second vehicle, namely the next nth vehicle only needs to determine the Oframe value (the value determines that the spraying tracks of the second vehicle and the nth vehicle are equivalent to the offset of the first vehicle), the spraying track is determined by the first vehicle, and the spraying tracks of the second vehicle and the nth vehicle are offset on the basis of the first vehicle (the parking position of the second vehicle may be different from the position of the first vehicle).
And selecting coordinate values of a plurality of points, for example, selecting coordinate values of four points, on the new simulation model of the automobile to be sprayed. And (3) calibration time: the equipment transition is less than or equal to 4h, and the new vehicle type conversion is less than or equal to 1 h; visual positioning precision after transition: 1-2 mm.
The number of the visual positioning acquisition devices can be determined according to the size of a workpiece, one visual positioning acquisition device is generally arranged at each of four corners of the workpiece, and if the length of the workpiece is longer, a plurality of visual positioning acquisition devices are additionally arranged at corresponding positions according to the principle of full coverage of workpiece appearance acquisition. The system can control a plurality of visual positioning acquisition devices.
The collected pictures are transmitted to a processor, are synthesized and then are analyzed and processed, are compared with a theoretical position (the position deviation comprises X, Y coordinate deviation and position deviation forming a certain angle with the theoretical position), automatically generate a solution (the posture of the robot is changed and the path is modified and compensated), are converted into a robot signal and are transmitted to the robot.
Example two
The embodiment provides a rapid calibration system after a movable square cabin type automatic spraying system is transferred;
quick calibration system after portable shelter formula automatic spraying system transition includes:
a mobile module configured to: the movable square cabin type automatic spraying system moves to a spraying position of a new vehicle type;
a calibration module configured to: calibrating a first automobile to be sprayed of the new automobile type to obtain a standard position of the first automobile to be sprayed of the new automobile type;
a spray module configured to: obtaining the spraying tracks of the first spraying robot and the second spraying robot according to the standard position of the first automobile to be sprayed of the new automobile type, and finishing the spraying work of the first automobile to be sprayed of the new automobile type according to the spraying tracks;
a deviation calculation module configured to: when the new vehicle type is sprayed in batch, when the remaining vehicles to be sprayed of the new vehicle type enter the spraying position, calculating the position deviation data of the second vehicle to be sprayed and the first vehicle to be sprayed, and finishing the spraying work of the remaining vehicles to be sprayed of the new vehicle type.
It should be noted here that the moving module, the first vehicle calibration module, the spraying module and the deviation calculation module correspond to steps S101 to S104 in the first embodiment, and the modules are the same as the corresponding steps in the implementation example and application scenarios, but are not limited to the disclosure of the first embodiment. It should be noted that the modules described above as part of a system may be implemented in a computer system such as a set of computer-executable instructions.
In the foregoing embodiments, the descriptions of the embodiments have different emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The proposed system can be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the above-described modules is merely a logical functional division, and in actual implementation, there may be other divisions, for example, multiple modules may be combined or integrated into another system, or some features may be omitted, or not executed.
EXAMPLE III
The present embodiment also provides an electronic device, including: one or more processors, one or more memories, and one or more computer programs; wherein, a processor is connected with the memory, the one or more computer programs are stored in the memory, and when the electronic device runs, the processor executes the one or more computer programs stored in the memory, so as to make the electronic device execute the method according to the first embodiment.
It should be understood that in this embodiment, the processor may be a central processing unit CPU, and the processor may also be other general purpose processors, digital signal processors DSP, application specific integrated circuits ASIC, off-the-shelf programmable gate arrays FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may include both read-only memory and random access memory, and may provide instructions and data to the processor, and a portion of the memory may also include non-volatile random access memory. For example, the memory may also store device type information.
In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software.
The method in the first embodiment may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor. The software modules may be located in ram, flash, rom, prom, or eprom, registers, among other storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor. To avoid repetition, it is not described in detail here.
Those of ordinary skill in the art will appreciate that the various illustrative elements, i.e., algorithm steps, described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
Example four
The present embodiments also provide a computer-readable storage medium for storing computer instructions, which when executed by a processor, perform the method of the first embodiment.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. The method for quickly calibrating the movable square cabin type automatic spraying system after transition is characterized by comprising the following steps:
the movable square cabin type automatic spraying system moves to a spraying position of a new vehicle type;
calibrating a first automobile to be sprayed of the new automobile type to obtain a standard position of the first automobile to be sprayed of the new automobile type;
obtaining the spraying tracks of the first spraying robot and the second spraying robot according to the standard position of the first automobile to be sprayed of the new automobile type, and finishing the spraying work of the first automobile to be sprayed of the new automobile type according to the spraying tracks;
when the new vehicle type is sprayed in batch, when the remaining vehicles to be sprayed of the new vehicle type enter the spraying position, calculating the position deviation data of the second vehicle to be sprayed and the first vehicle to be sprayed, and finishing the spraying work of the remaining vehicles to be sprayed of the new vehicle type;
calibrating a first automobile to be sprayed of the new automobile type; the method comprises the following specific steps:
the method comprises the steps that a first vehicle of a new vehicle type is driven to a specified position of a spraying field, coordinate values of a plurality of points are selected on a simulation model of the first vehicle of the new vehicle type to be sprayed, then a target point is adhered to the same position on the first vehicle of the new vehicle type to be sprayed in the spraying field, and target point data are collected by a first camera, a second camera, a third camera and a fourth camera which have known positions; and comparing the collected target point data with the coordinate values of the points on the simulation model, calculating and compensating to obtain the standard position of the first automobile to be sprayed of the new automobile type, and finishing calibration.
2. The method as claimed in claim 1, wherein after the step of moving the movable shelter type automatic spraying system to the spraying position of the new vehicle type, the step of calibrating the first vehicle to be sprayed of the new vehicle type is performed before the step of obtaining the standard position of the first vehicle to be sprayed of the new vehicle type; further comprising: and acquiring the position relation of the first camera, the second camera, the third camera and the fourth camera.
3. The method as claimed in claim 2, wherein the step of obtaining the position relationship of the first camera, the second camera, the third camera and the fourth camera comprises the following steps:
and obtaining the position relation of the first camera, the second camera, the third camera and the fourth camera according to the position relation of the first spraying robot and the second spraying robot.
4. The method of claim 3, wherein the positional relationship of the first and second spray robots is obtained by:
and calculating the position relation of the first spraying robot and the second spraying robot according to a plurality of groups of position coordinate data obtained by the first spraying robot and the second spraying robot through a plurality of designated position points in the collision space.
5. The method as set forth in claim 4, wherein the first and second painting robots obtain sets of position coordinate data by colliding a plurality of designated position points in the space; the method comprises the following specific steps:
the first spraying robot and the second spraying robot collide with each other at different postures and positions under respective geodetic coordinate systems; the butt-collision means that: mounting a first positioning needle on a first spraying robot flange plate; mounting a second positioning needle at a flange of a second spraying robot;
carrying out collision on a first designated position point in space by using a first positioning needle of a first spraying robot and a second positioning needle of a second spraying robot, and recording position coordinate data of the first spraying robot and the second spraying robot after the collision is finished;
in the same way, after the collision of a plurality of designated position points is realized, a plurality of groups of position coordinate data of the first spraying robot and the second spraying robot are obtained.
6. The method as claimed in claim 1, wherein when the new vehicle type is sprayed in batch, when the remaining cars to be sprayed of the new vehicle type enter the spraying position, the position deviation data of the second car to be sprayed and the first car to be sprayed is calculated, and the spraying work of the remaining cars to be sprayed of the new vehicle type is completed; the method comprises the following specific steps:
sticking label targets at the same positions on a second automobile to be sprayed of a new automobile type in a spraying field according to coordinate values of a plurality of points selected from the simulation model of the first automobile to be sprayed of the new automobile type;
acquiring coordinate information of four target points by using four cameras, calculating deviation data of a second automobile to be sprayed of the new automobile type relative to a standard position of a first automobile to be sprayed of the new automobile type, and calculating spraying tracks of the first spraying robot and the second spraying robot according to the deviation data; and then finishing the spraying work of a second automobile to be sprayed of the new automobile type according to the spraying track, and finishing the spraying work of other automobiles to be sprayed of the new automobile type in the same way as the second automobile to be sprayed.
7. Quick calibration system after portable shelter formula automatic spraying system transition, characterized by includes:
a mobile module configured to: the movable square cabin type automatic spraying system moves to a spraying position of a new vehicle type;
a calibration module configured to: calibrating a first automobile to be sprayed of the new automobile type to obtain a standard position of the first automobile to be sprayed of the new automobile type;
a spray module configured to: obtaining the spraying tracks of the first spraying robot and the second spraying robot according to the standard position of the first automobile to be sprayed of the new automobile type, and finishing the spraying work of the first automobile to be sprayed of the new automobile type according to the spraying tracks;
a deviation calculation module configured to: when the new vehicle type is sprayed in batch, when the remaining vehicles to be sprayed of the new vehicle type enter the spraying position, calculating the position deviation data of the second vehicle to be sprayed and the first vehicle to be sprayed, and finishing the spraying work of the remaining vehicles to be sprayed of the new vehicle type;
the calibration module calibrates a first automobile to be sprayed of a new automobile type, and specifically comprises the following steps:
the method comprises the steps that a first vehicle of a new vehicle type is driven to a specified position of a spraying field, coordinate values of a plurality of points are selected on a simulation model of the first vehicle of the new vehicle type to be sprayed, then a target point is adhered to the same position on the first vehicle of the new vehicle type to be sprayed in the spraying field, and target point data are collected by a first camera, a second camera, a third camera and a fourth camera which have known positions; and comparing the collected target point data with the coordinate values of the points on the simulation model, calculating and compensating to obtain the standard position of the first automobile to be sprayed of the new automobile type, and finishing calibration.
8. An electronic device, comprising: one or more processors, one or more memories, and one or more computer programs; wherein a processor is connected to the memory, the one or more computer programs being stored in the memory, and the processor executes the one or more computer programs stored in the memory when the electronic device is running, so as to cause the electronic device to perform the method of any of the preceding claims 1-6.
9. A computer-readable storage medium storing computer instructions which, when executed by a processor, perform the method of any one of claims 1 to 6.
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102004040161A1 (en) * | 2004-08-19 | 2006-03-09 | Eisenmann Maschinenbau Gmbh & Co. Kg | Apparatus for coating, in particular for painting, articles, in particular vehicle bodies |
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| DE102004040161A1 (en) * | 2004-08-19 | 2006-03-09 | Eisenmann Maschinenbau Gmbh & Co. Kg | Apparatus for coating, in particular for painting, articles, in particular vehicle bodies |
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| CN112604844A (en) | 2021-04-06 |
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