CN115780125A - Spraying method and related device for full-coverage traversing spraying - Google Patents
Spraying method and related device for full-coverage traversing spraying Download PDFInfo
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Abstract
The application discloses a spraying method and a related device for full-coverage traversing spraying, wherein the method is based on a spray gun model and a spraying thickness distribution model, and comprises the steps of dividing a region to be sprayed into a plurality of sub-regions, and determining a spraying radius according to the relationship between the width of the sub-regions, the spraying overlapping distance and the spraying radius; determining the spraying height based on the spraying radius and the spray gun fog cone angle, and determining the paint flow speed and the spray gun moving speed based on the spraying thickness and the spraying radius; and controlling the spraying equipment to spray according to the spraying height, the paint flow rate and the moving speed of the spray gun corresponding to each subarea so as to spray the area to be sprayed. According to the spraying method and device, after the spraying parameters are obtained, the spraying radius is determined according to the relation between the sub-area width and the spraying overlapping distance and the spraying radius, so that the sub-area width can be evenly divided by the single moving distance of the spraying equipment, the problem that narrow bands cannot be sprayed due to uneven spraying or possible leaving of narrow bands in the actual spraying condition is solved, and the spraying area is evenly sprayed without omission and full coverage.
Description
Technical Field
The application relates to the technical field of spraying, in particular to a spraying method and a related device for full-coverage traversing spraying.
Background
In the field of wall spraying, the working environment of a spraying robot comprises non-spraying areas such as doors, windows, cross beams and the like besides a wall. In order to realize the full-coverage spraying of the wall body, the collected wall body pictures need to be identified in an effective spraying area in advance, and the actual effective spraying area is often divided into a plurality of sub-areas due to the limitation of non-spraying areas such as barriers. In order to realize the full-coverage traversing spraying of the wall body, proper spraying parameters need to be set for each subarea, so that the whole wall body achieves a better spraying effect.
At present, when the sub-area is sprayed, a transverse spraying arched spraying track is generally adopted as a main working mode, and the working mode has the characteristic of convenience in task planning. However, this working method cannot guarantee the uniformity of the coating for different sub-areas, and can leave some narrow bands incapable of being coated.
Thus, the prior art has yet to be improved and enhanced.
Disclosure of Invention
The technical problem to be solved by the present application is to provide a spraying method and related apparatus for full-coverage traversal spraying, aiming at the deficiencies of the prior art.
In order to solve the technical problem, a first aspect of the embodiments of the present application provides a spraying method for full-coverage traversal spraying, the method including:
dividing a region to be sprayed into a plurality of sub-regions, and acquiring spraying parameters corresponding to the sub-regions, wherein the spraying parameters comprise coating thickness, spray gun fog cone angle and sub-region width;
for each sub-area, determining a spray radius according to the sub-area width and a preset relation between the spray overlapping distance and the spray radius, calculating a spray height based on the spray radius and the spray gun fog angle, and determining a paint flow rate and a spray gun moving speed based on the spray thickness and the spray radius, wherein the sub-area width = k (2 spraying radius-spraying overlapping distance);
and controlling the spraying equipment to spray according to the spraying height, the paint flow speed and the moving speed of the spray gun corresponding to each subarea so as to spray the area to be sprayed.
The spraying method for full-coverage traversal spraying is characterized in that the spraying overlapping distance of the spraying equipment in the x direction is equal to the spraying overlapping distance of the spraying equipment in the y direction.
The spraying method for full-coverage traversing spraying is characterized in that the relation between the preset spraying overlapping distance and the spraying radius is as follows:
L＝1.225r
where L represents the spray overlap distance and r represents the spray radius.
The spraying method for full-coverage traversal spraying is characterized in that the determination process of the relation between the preset spraying overlapping distance and the spraying radius specifically comprises the following steps:
for each region point in the sub-region, acquiring a spraying distribution function M corresponding to the region point s (x) Wherein, in the step (A),
x represents the distance between the area point in the sub-area and the projection point of the center of the spray gun, L represents the spray overlap distance, r represents the spray radius,
v represents the speed of travel of the spray gun, q represents the paint flow rate, β 1 Is a beta distribution coefficient;
obtaining a second derivative of the spray distribution function, and selecting a target distance such that the second derivative is zero, wherein the second derivative is a derivative of the spray distribution function
And substituting the target distance into a second derivative to obtain the relation between the spraying overlapping distance and the spraying radius.
The spraying method for full-coverage traversal spraying is characterized in that the calculation formula of the spraying height is as follows:
wherein h represents the spray height, r represents the spray radius, and θ represents the spray gun cone angle.
The spraying method for full-coverage traversing spraying is characterized in that the value of k is determined based on the height range of the spraying height.
The spraying method for full-coverage traversal spraying, wherein the determining of the paint flow rate and the spray gun moving speed based on the spraying thickness and the spraying radius specifically comprises:
acquiring a first corresponding relation among the spraying thickness, the spraying radius, the paint flow rate and the moving speed of the spray gun, wherein the first corresponding relation is
q represents the paint flow rate, v represents the spray gun travel speed, r represents the spray radius, M max The thickness of the spray is indicated;
substituting the spraying thickness and the spraying radius into the first corresponding relation, and determining a second corresponding relation between the paint flow rate and the moving speed of the spray gun;
and selecting the paint flow rate and the spray gun moving speed based on the second corresponding relation.
A second aspect of an embodiment of the present application provides a spray coating system for full coverage traversal spray coating, the system comprising:
the acquisition module is used for dividing a region to be sprayed into a plurality of sub-regions and acquiring spraying parameters corresponding to the sub-regions, wherein the spraying parameters comprise coating thickness, spray gun fog cone angle and sub-region width;
a determining module, configured to determine, for each sub-region, a spray radius according to a relation between the sub-region width and a preset spray overlap distance and the spray radius, calculate a spray height based on the spray radius and the spray gun mist cone angle, and determine a paint flow rate and a spray gun movement speed based on the spray thickness and the spray radius, wherein the sub-region width = k (2 spray radius — spray overlap distance);
and the control module is used for controlling the spraying equipment to spray according to the spraying height, the paint flow speed and the moving speed of the spray gun corresponding to each subarea so as to spray the area to be sprayed.
A third aspect of embodiments of the present application provides a computer readable storage medium storing one or more programs, which are executable by one or more processors to implement the steps in a spraying method for full-coverage traversal spraying as described in any above.
A fourth aspect of embodiments of the present application provides a terminal device, including: a processor, a memory, and a communication bus; the memory has stored thereon a computer readable program executable by the processor;
the communication bus realizes connection communication between the processor and the memory;
the processor, when executing the computer readable program, implements the steps in the spray coating method for full coverage traversal spraying as described above.
Has the advantages that: compared with the prior art, the method is based on a spray gun model and a spraying thickness distribution model, and comprises the steps of dividing a region to be sprayed into a plurality of sub-regions, and determining the spraying radius according to the width of the sub-regions and the relation between the spraying overlapping distance and the spraying radius; determining the spraying height based on the spraying radius and the spray gun fog cone angle, and determining the paint flow speed and the spray gun moving speed based on the spraying thickness and the spraying radius; and controlling the spraying equipment to spray according to the spraying height, the paint flow rate and the moving speed of the spray gun corresponding to each subarea so as to spray the area to be sprayed. According to the spraying method and the spraying device, after the spraying parameters are obtained, the spraying radius is determined according to the relation between the sub-area width and the spraying overlapping distance and the spraying radius, so that the sub-area width can be evenly divided by the single moving distance of the spraying equipment, the problem that narrow bands cannot be sprayed due to uneven spraying or possible leaving of narrow bands in the actual spraying condition is solved, and the uniform, non-omission and full-coverage spraying of the spraying area is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without any inventive work.
Fig. 1 is a flowchart of a spraying method for full-coverage traversal spraying provided in the present application.
Fig. 2 is a schematic diagram of the overlap of the spray points in the transverse direction in a top view.
Fig. 3 is a schematic view of the vertical stacking of the spray points in a top view.
Fig. 4 is a schematic view of a spray gun spray pattern.
FIG. 5 is a plot of the distribution of coating thickness for a single spray.
FIG. 6 is a distribution curve of coating thicknesses for overlap spray coating.
Fig. 7 is a schematic structural diagram of a spray coating system for full-coverage traverse spraying provided in the present application.
Fig. 8 is a schematic structural diagram of a terminal device provided in the present application.
Detailed Description
The present application provides a spraying method and related apparatus for full-coverage traversal spraying, and in order to make the purpose, technical scheme, and effect of the present application clearer and clearer, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those within the art that, unless otherwise defined, all terms (including 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 will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It should be understood that, the sequence numbers and sizes of the steps in this embodiment do not mean the execution sequence, and the execution sequence of each process is determined by its function and inherent logic, and should not constitute any limitation to the implementation process in this embodiment.
The inventor discovers that in the field of wall spraying, the working environment of the spraying robot comprises non-spraying areas such as doors, windows and beams besides the wall. In order to realize the full-coverage spraying of the wall body, the collected wall body picture needs to be identified in advance in an effective spraying area, the effective spraying area is divided into a plurality of sub-areas, and the full-coverage traversing spraying is realized in each sub-area.
At present, when the sub-area is subjected to full-coverage traversing spraying, the sub-area is generally sprayed by adopting a transverse spraying arch-shaped spraying track, and the spraying mode has the characteristics of convenience in task planning and the like. However, this mode of operation has the following problems:
1. uniformity cannot be guaranteed: the coating sprayed by the spray gun is distributed in a conical shape in the air, the coating has the characteristic of thick middle and thin edge, and the coating thickness of the whole wall surface is always in a thin-thick-thin alternative distribution state after traversing spraying based on the grid arch shape, so that the spraying is not uniform.
2. Leaving narrow edges to be incapable of spraying: because the area ranges of the sub-areas divided by the spraying area are different, the spraying radius is not always suitable for all the spraying areas, and the situation that narrow bands cannot be sprayed due to the fact that the spraying radius cannot be evenly divided by the width of the wall in the sub-areas can occur.
In order to solve the above problem, in the embodiment of the present application, a region to be sprayed is divided into a plurality of sub-regions, and for each sub-region, a spraying radius is determined according to the width of the sub-region and a relationship between a preset spraying overlapping distance and the spraying radius; determining a spray height based on the spray radius and the spray gun fog angle, and determining a paint flow rate and a spray gun moving speed based on the spray thickness and the spray radius; and controlling the spraying equipment to spray according to the spraying height, the paint flow speed and the moving speed of the spray gun corresponding to each subarea so as to spray the area to be sprayed. After the spraying parameters are acquired, the appropriate spraying radius is selected according to the relationship between the sub-area width and the spraying overlapping distance and the spraying radius, so that the sub-area width can be evenly divided by the single moving distance of the spraying equipment, the problem that the left narrow band cannot be sprayed is solved, and the full coverage of a spraying area is realized. In addition, the spraying radius is determined by adopting the relation between the preset spraying overlapping distance and the spraying radius, and then the spraying height, the paint flow speed and the moving speed of the spray gun are determined based on the spraying radius, so that the thicknesses of the paint materials received by all spraying positions are the same, and the spraying thicknesses of the spraying areas are consistent.
The following further describes the content of the application by describing the embodiments with reference to the attached drawings.
The embodiment provides a spraying method for full-coverage traversal spraying, as shown in fig. 1, the method includes:
s10, dividing the area to be sprayed into a plurality of sub-areas, and acquiring the spraying parameters corresponding to the sub-areas.
Specifically, the area to be painted may be a wall surface, a ceiling, etc., wherein the area to be painted may include several non-painted areas, such as a door, a window, a beam, etc. Therefore, before the area to be sprayed is divided into a plurality of sub-areas, the target image of the area to be sprayed can be collected in advance, the target image is identified to obtain a spraying area and a non-spraying area corresponding to the target image, then the spraying area is divided into the plurality of sub-areas, and spraying paths of the plurality of sub-areas are planned, wherein the spraying paths fully cover each sub-area of the plurality of sub-areas, and each sub-area is only covered by the spraying paths once.
In addition, since the region to be sprayed carries the non-spraying region and the sub-regions are obtained by dividing the spraying region in the region to be sprayed, the sizes of the regions of the sub-regions may be different, for example, the plurality of sub-regions include a sub-region a and a sub-region B, and the size of the sub-region a is different from that of the region B. In one typical implementation, each of the several sub-regions may be a square region. Of course, in practical applications, the sub-regions may also take other shapes, such as rectangular, etc.
The spraying parameters comprise the thickness of the coating, the spray gun fog cone angle and the width of the sub-area, wherein the spraying thickness refers to the thickness of the coating to be sprayed on the sub-area, and the width of the sub-area refers to the area size of the sub-area, wherein when the sub-area is rectangular, the width of the sub-area refers to the width of the rectangle; the spray gun spray cone angle is the spray cone angle of a spray gun configured for a spray coating device for spraying a sub-region.
S20, for each sub-area, determining a spraying radius according to the width of the sub-area and the relation between a preset spraying overlapping distance and the spraying radius, calculating a spraying height based on the spraying radius and a spray gun fog cone angle, and determining a paint flow rate and a spray gun moving speed based on the spraying thickness and the spraying radius.
Specifically, the spraying overlapping distance is used for reflecting overlapping area information of a spraying area formed by two adjacent times of spraying of the spraying equipment, wherein the spraying overlapping distance is the length of the overlapping area in the direction of a circle center connecting line. For example, as shown in fig. 2, the overlap area is of spray area a and spray area B, and the spray overlap distance is L. It is understood that, as shown in fig. 2, the length d of the line connecting the centers of the two spraying areas, which represents the movement distance of one movement of the spraying equipment, = the area radius r × 2-the spraying overlapping distance L, i.e., d =2 r-L. In addition, in order to prevent narrow bands from remaining in the spraying process, the sub-region width s of the sub-region can be divided by the length d of a line connecting the centers of two spraying regions, i.e., s = kd = k (2 r-L), where k is a positive integer.
Further, the sub-area is sprayed by adopting a transverse spraying zigzag spraying track, so that the spraying equipment moves one step vertically after moving the spraying equipment in the transverse direction in the sub-area and then moves the spraying equipment in the transverse direction. Thus, the spray areas formed by each movement of the spray arrangement have an overlap in the lateral direction and also in the vertical direction, so that no narrow strip remains in a sub-spray area, requiring the vertical length of the sub-area to be divided by the single longitudinal movement distance of the spray device, as shown in fig. 3, for example.
In one exemplary implementation, the spray overlap distance of two laterally adjacent spray zones may be the same as the spray overlap distance of two vertically adjacent spray zones, i.e., as shown in fig. 2 and 3, the spray overlap distance in the x-direction and the spray overlap distance in the y-direction of the spray apparatus are equal. In addition, when the length and the width of the sub-region are different, the width can be divided by the single moving distance, and the length can also be divided by the single moving distance. In one exemplary implementation, the sub-region is a square sub-region, such that the sub-region width s of the sub-region is divisible by the length d of the line connecting the centers of the two spray regions, i.e., s = kd, where k is a positive integer.
In one implementation, the determining process of the relationship between the preset spraying overlapping distance and the spraying radius specifically includes:
s21, for each region point in the sub-region, acquiring a spraying distribution function M corresponding to the region point s (x)；
S22, acquiring a second derivative of the spraying distribution function, and selecting a target distance to enable the second derivative to be zero, wherein the second derivative is
And S23, substituting the target distance into a second derivative to obtain the relation between the spraying overlapping distance and the spraying radius.
Specifically, in step S21, the spraying distribution function is used to reflect the coating thickness of the overlapped spraying region points, and the spraying distribution function M s (x) Can be expressed as:
wherein x represents the distance between the area point in the sub-area and the projection point of the center of the spray gun, L represents the spray overlapping distance, r represents the spray radius, v represents the moving speed of the spray gun, q represents the paint flow rate, and beta 1 For the beta distribution coefficient, M (x) represents the spray thickness distribution function after a single spray.
The spraying thickness distribution function is a function representation of a spraying thickness distribution model, wherein the spraying thickness distribution model can be formulated by beta distribution, namely the spraying thickness distribution function can be formulated by distribution. This is because the thickness of the coating is mainly determined by the growth rate of the coating, and as shown in fig. 4, the coating is sprayed radially from the nozzle of the spray gun with a thick center and a thin edge during the spraying process, and the distribution of the sprayed coating is regarded as a probabilistic event and is fitted by using the β distribution. Accordingly, the determination of the spray thickness distribution function M (x) may be:
assuming that the coating growth rate curve follows the β distribution model on both X-and Y-direction sections, the coating growth rate can be expressed by the following formula, taking the X-direction section with Y =0 as an example:
where a denotes the maximum coating build-up rate, q denotes the paint flow rate, r denotes the radius of the circular spray area formed by the spray gun on a plane, i.e. the spray head radius, x denotes the distance between the area point in the sub-area and the projection point of the spray gun centre, β 1 Is the beta distribution coefficient.
In the Y-direction cross section of x = k, the coating growth rate also follows a beta distribution with an opening width of
Height of a x＝k Then the growth rate of the coating on the section is:
wherein beta is 2 Is the beta distribution coefficient.
In the formula, a x＝k That is, the coating growth rate of X = k point on the X-direction cross section of y =0, so that the instantaneous growth rate function of the coating when the spray gun sprays perpendicularly to the surface of the workpiece is set at any point in the circular spraying area formed on the plane surface by the spray gunThe number is as follows:
further, since the robot typically applies a uniform spray along the workpiece surface, a point O (x) in the spray area is defined as o ,y o ) The coating thickness of (a) is obtained by integrating the growth rate of the coating in the time period during which the point O is sprayed, and the expression is:
where τ is the spray time.
The transform integration limit yields:
further, when the beta distribution coefficient of the beta distribution model is 2, the goodness of fit between the coating growth rate model and the actual spraying effect is high, so that the beta distribution coefficient is 2, and a spraying thickness distribution function of the spray gun during uniform-speed spraying along the surface of the workpiece can be obtained:
wherein r represents a painting radius, v represents a moving speed of the spray gun, q represents a paint flow rate, and β 1 Is the beta distribution coefficient.
For example, the following steps are carried out: when r represents the spray radius, v represents the spray gun moving speed, and q represents the paint flow rate as a known quantity, the coating thickness distribution curve determined based on the above-described spray thickness distribution function may be as shown in fig. 5, in which the point having a smaller absolute value of the distance between the area point in the area and the spray gun center projection point has a larger spray thickness, whereas the point having a larger absolute value of the distance between the area point in the area and the spray gun center projection point has a smaller spray thickness, which coincides with the middle thickness and the thin edge when the coating is radially ejected from the spray gun nozzle during the spraying process.
Of course, in practical application, the coating thickness distribution function of the single spraying of the spray gun can also be fitted by using an elliptical double-beta distribution, a gaussian distribution or a cauchy distribution, and the like, wherein the distribution of the coating sprayed in a single time in the air can also be described by adopting other distribution models, and only the initial coating growth rate function needs to be changed into a function form of the selected distribution model. For example, if a gaussian distribution is used, the coating growth rate function can be written as:
the method only needs to deduce a coating thickness distribution function based on the growth rate function by using the method given above, determine the relation between the optimal overlapping distance L and the spraying radius on the basis, and finally determine the spraying height, the paint flow rate and the spray gun moving speed according to the relation between the width s of the subarea, the optimal overlapping distance L and the spraying radius r, and the relation between the spraying radius r and the height h of the spray gun from the wall surface so as to uniformly, completely and uninterruptedly cover the subarea to be sprayed.
In step S22, the spray distribution function M is acquired s (x) Then, in order to make the spray thickness of each region point in the sub-region the same, calculating the second derivative of the spray distribution function, and controlling the second derivative at the position of the second derivative
And zero is taken. That is, when x in the second derivative takes on a value of
The value of the second derivative is 0, wherein two of the spray distribution function is calculatedIn the case of the second derivative, x is used as an argument to perform derivation, and other parameters are used as constants, and the specific derivation process is not specifically described here.
In will
And substituting the second derivative into the first derivative, and taking the spraying overlapping distance L and the spraying radius r as unknowns to determine the corresponding relation between the spraying overlapping distance L and the spraying radius r. Wherein, the second derivative is
The corresponding relation between the spraying overlapping distance L and the spraying radius r can be calculated to be 0
In a typical implementation, will
The value is 1.225, so that the preset spraying overlapping distance has the following relation with the spraying radius: l =1.225r, respectively, as can be derived from L =1.225r and s = kd = k (2 r-L),
where s represents the sub-region width and r represents the spray radius.
By way of example: the relation between the preset spraying overlapping distance and the spraying radius is as follows: l =1.225r, and during the spraying process, three adjacent spraying areas have overlapping, as shown in fig. 6, the difference of the spraying thickness of each area point in the sub-area is small, so that the spraying uniformity of the sub-area can be improved by using the preset relation between the spraying overlapping distance and the spraying radius.
In one implementation, the paint sprayed by the spray gun forms a conical shape in space, and assuming that the size of the spray cone angle θ (i.e. the included angle formed by the projection line of the center of the spray gun and the conical generatrix) is certain when the height h of the spray gun from the subregion is changed, the spray radius r and the height h of the spray gun from the subregion (i.e. the spray tell) have the following relationship:
thus, when the preset spraying overlapping distance and the spraying radius have the relation of L =1.225r and d =2r-L, the calculation formula of the spraying height is as follows:
wherein h represents the spray height, r represents the spray radius, and θ represents the spray gun cone angle.
In addition, when the sub-region is sprayed, the distance between the spray gun and the sub-region cannot be too close or too far, and the preset height range generally needs to be controlled, so that the value of the parameter k can be determined according to the range of the distance between the spray gun and the sub-region, the region width can be evenly divided by d =2r-L, and the spraying height can meet the preset height requirement. Of course, in practical application, the value ranges of the spraying heights of different spraying devices may be different, so that the value of k may also be different, and the value of k is not particularly limited and may be determined according to actual use requirements.
In one implementation, the determining a paint flow rate and a spray gun movement speed based on the spray thickness and the spray radius specifically comprises:
acquiring a first corresponding relation among the spraying thickness, the spraying radius, the paint flow rate and the moving speed of the spray gun, wherein the first corresponding relation is
q represents the paint flow rate, v represents the spray gun travel speed, r represents the spray radius, M max Represents the thickness of the spray;
substituting the spraying thickness and the spraying radius into the first corresponding relation, and determining a second corresponding relation between the paint flow rate and the moving speed of the spray gun;
and selecting the paint flow rate and the spray gun moving speed based on the second corresponding relation.
Specifically, the first corresponding relationship is determined based on a spraying thickness distribution function, where it can be known that, when x = r, the spraying thickness distribution function takes a maximum value, and the first corresponding relationship can be expressed as:
furthermore, as can be seen from the above, when β is 1 When the spraying thickness distribution function is not less than 2, the matching degree of the value of the spraying thickness distribution function and the actual spraying is the highest, so that the beta value is enabled to be the highest 1 =2, the first correspondence is
After the first corresponding relation is obtained, the spraying thickness and the spraying radius are substituted into the first corresponding relation, a relation function of the paint flow rate and the moving speed of the spray gun can be obtained, and then the paint flow rate and the moving speed of the spray gun are selected according to actual conditions under the condition that the spraying thickness is not changed, so that the spraying thickness formed by spraying based on the paint flow rate and the moving speed of the spray gun is the expected spraying thickness. In practice, a spray gun travel speed may be selected and then the desired spray thickness may be achieved by adjusting the paint flow rate, or a paint flow rate may be selected and then the spray gun travel speed may be adjusted to achieve the desired spray thickness.
And S30, controlling the spraying equipment to spray according to the spraying height, the paint flow speed and the spray gun moving speed corresponding to each subarea so as to spray the area to be sprayed.
Specifically, for each of the plurality of sub-areas, the spraying height, the paint flow rate, and the moving speed of the spray gun corresponding to each sub-area may be determined based on the above process before spraying, and then when each sub-area is sprayed, the spraying device is controlled to spray the sub-area based on the spraying height, the paint flow rate, and the moving speed of the spray gun corresponding to the sub-area, so as to complete the spraying of the area to be sprayed. In addition, before a certain sub-region is sprayed, the spraying height, the paint flow rate and the moving speed of the spray gun of the sub-region are determined based on the above process, spraying is performed based on the determined spraying height, the determined paint flow rate and the determined moving speed of the spray gun, then, before the spraying equipment moves to spray the next sub-region, the spraying height, the determined paint flow rate and the determined moving speed of the spray gun of the sub-region are obtained, and the like is performed until the last sub-region.
In summary, the embodiment provides a spraying method for full-coverage traversal spraying, the method includes dividing a region to be sprayed into a plurality of sub-regions, and determining a spraying radius for each sub-region according to the width of the sub-region and a preset relation between a spraying overlapping distance and the spraying radius; determining a spray height based on the spray radius and the spray gun fog angle, and determining a paint flow rate and a spray gun moving speed based on the spray thickness and the spray radius; and controlling the spraying equipment to spray according to the spraying height, the paint flow rate and the moving speed of the spray gun corresponding to each subarea so as to spray the area to be sprayed. After the spraying parameters are acquired, the spraying radius is determined according to the sub-area width, the spraying overlapping distance and the spraying radius, so that the sub-area width can be evenly divided by the single moving distance of the spraying equipment, the spraying area can be fully covered, the problem that the left narrow band cannot be sprayed is solved, and the full coverage of the spraying area is realized. In addition, the spraying radius is determined by adopting the relation between the preset spraying overlapping distance and the spraying radius, and then the spraying height, the paint flow speed and the moving speed of the spray gun are determined based on the spraying radius, so that the thicknesses of the paint materials received by all spraying positions are the same, and the spraying thicknesses of the spraying areas are consistent.
Based on the above spraying method for full-coverage traverse spraying, the embodiment provides a spraying system for full-coverage traverse spraying, as shown in fig. 7, the system includes:
the acquisition module 100 is configured to divide a region to be sprayed into a plurality of sub-regions, and acquire spraying parameters corresponding to the sub-regions, where the spraying parameters include a coating thickness, a spray gun fog cone angle, and a sub-region width;
a determining module 200, configured to determine, for each sub-region, a spray radius according to a relation between the sub-region width and a preset spray overlap distance and the spray radius, calculate a spray height based on the spray radius and the spray gun fog cone angle, and determine a paint flow rate and a spray gun moving speed based on the spray thickness and the spray radius, wherein the sub-region width = k (2 spray radius — spray overlap distance);
and the control module 300 is configured to control the spraying equipment to perform spraying according to the spraying height, the paint flow rate, and the moving speed of the spray gun corresponding to each sub-area, so as to spray the area to be sprayed.
Based on the spraying method for full-coverage traversal spraying described above, the present embodiment provides a computer-readable storage medium storing one or more programs, which are executable by one or more processors to implement the steps in the spraying method for full-coverage traversal spraying described in the above embodiment.
Based on the spraying method for full-coverage traversal spraying, the present application further provides a terminal device, as shown in fig. 8, which includes at least one processor (processor) 20; a display screen 21; and a memory (memory) 22, and may further include a communication Interface (Communications Interface) 23 and a bus 24. The processor 20, the display 21, the memory 22 and the communication interface 23 can communicate with each other through the bus 24. The display screen 21 is configured to display a user guidance interface preset in the initial setting mode. The communication interface 23 may transmit information. The processor 20 may call logic instructions in the memory 22 to perform the methods in the embodiments described above.
Furthermore, the logic instructions in the memory 22 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product.
The memory 22, which is a computer-readable storage medium, may be configured to store a software program, a computer-executable program, such as program instructions or modules corresponding to the methods in the embodiments of the present disclosure. The processor 20 executes the functional application and data processing, i.e. implements the method in the above-described embodiments, by executing the software program, instructions or modules stored in the memory 22.
The memory 22 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal device, and the like. Further, the memory 22 may include a high speed random access memory and may also include a non-volatile memory. For example, a variety of media that can store program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, may also be transient storage media.
In addition, the specific processes loaded and executed by the storage medium and the instruction processors in the terminal device are described in detail in the method, and are not stated herein.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A spray coating method for full coverage traversal spray coating, the method comprising:
dividing a region to be sprayed into a plurality of sub-regions, and acquiring spraying parameters corresponding to the sub-regions, wherein the spraying parameters comprise coating thickness, spray gun fog cone angle and sub-region width;
for each subarea, determining a spraying radius according to the subarea width and a preset relation between a spraying overlapping distance and the spraying radius, calculating a spraying height based on the spraying radius and the spray gun fog cone angle, and determining a paint flow rate and a spray gun moving speed based on the spraying thickness and the spraying radius, wherein the subarea width = k (2 spraying radius-spraying overlapping distance), and k is a positive integer;
and controlling the spraying equipment to spray according to the spraying height, the paint flow rate and the moving speed of the spray gun corresponding to each subarea so as to spray the area to be sprayed.
2. The spray method for full coverage traversal spray coating of claim 1, wherein the spray overlap distance of the spray equipment in the x-direction and the spray overlap distance in the y-direction are equal.
3. The spray method for full coverage traversal spray according to claim 1, wherein the preset spray overlap distance is related to the spray radius by:
L＝1.225r
where L represents the spray overlap distance and r represents the spray radius.
4. The spraying method for full-coverage traversal spraying according to claim 3, wherein the determining process of the relation between the preset spraying overlapping distance and the spraying radius specifically comprises:
for each region point in the sub-region, acquiring a spraying distribution function M corresponding to the region point s (x) Wherein, in the process,
x represents the distance between the area point in the sub-area and the projection point of the center of the spray gun, L represents the spray overlapping distance, r represents the spray radius,
v represents the moving speed of the spray gun, q represents the paint flow rate, beta 1 Is a beta distribution coefficient;
obtaining a second derivative of the spray distribution function, and selecting a target distance such that the second derivative is zero, wherein the target distance is a function of the spray distribution function
And substituting the target distance into a second derivative to obtain the relation between the spraying overlapping distance and the spraying radius.
5. The spray method for full coverage traversal spray according to claim 2, wherein the calculation formula of the spray height is as follows:
wherein h represents the spray height, r represents the spray radius, and θ represents the spray gun cone angle.
6. The spraying method for full-coverage traversal spraying as defined in claim 5, wherein the value of k is determined based on a height range in which the spraying height is located.
7. The spray method for full-coverage traversal spraying of claim 1, wherein the determining of paint flow rate and spray gun movement speed based on the spray thickness and the spray radius specifically comprises:
obtaining a first corresponding relation among the spraying thickness, the spraying radius, the paint flow rate and the moving speed of the spray gun, wherein the first corresponding relation is
q represents the paint flow rate, v represents the spray gun travel speed, r represents the spray radius, M max Represents the thickness of the spray;
substituting the spraying thickness and the spraying radius into the first corresponding relation, and determining a second corresponding relation between the paint flow rate and the moving speed of the spray gun;
and selecting the paint flow rate and the spray gun moving speed based on the second corresponding relation.
8. A spray system for full coverage traversal of spray, said system comprising:
the acquisition module is used for dividing a region to be sprayed into a plurality of sub-regions and acquiring spraying parameters corresponding to the sub-regions, wherein the spraying parameters comprise coating thickness, spray gun fog cone angle and sub-region width;
a determining module, configured to determine, for each sub-area, a spray radius according to a relation between the sub-area width and a preset spray overlap distance and the spray radius, calculate a spray height based on the spray radius and the spray gun mist cone angle, and determine a paint flow rate and a spray gun moving speed based on the spray thickness and the spray radius, where the sub-area width = k (2 spray radius — spray overlap distance);
and the control module is used for controlling the spraying equipment to spray according to the spraying height, the paint flow speed and the moving speed of the spray gun corresponding to each subarea so as to spray the area to be sprayed.
9. A computer readable storage medium, characterized in that the computer readable storage medium stores one or more programs which are executable by one or more processors to implement the steps in the spraying method for full coverage traversal spraying of any one of claims 1-7.
10. A terminal device, comprising: a processor, a memory, and a communication bus; the memory has stored thereon a computer readable program executable by the processor;
the communication bus realizes connection communication between the processor and the memory;
the processor, when executing the computer readable program, implements the steps in the method for full coverage spray painting of any one of claims 1 to 7.
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