CN117019596A - Automatic spraying and positioning method for plastic packaging bottle - Google Patents
Automatic spraying and positioning method for plastic packaging bottle Download PDFInfo
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- CN117019596A CN117019596A CN202311294134.4A CN202311294134A CN117019596A CN 117019596 A CN117019596 A CN 117019596A CN 202311294134 A CN202311294134 A CN 202311294134A CN 117019596 A CN117019596 A CN 117019596A
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- 238000005507 spraying Methods 0.000 title claims abstract description 485
- 238000004806 packaging method and process Methods 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000004458 analytical method Methods 0.000 claims abstract description 34
- 239000003973 paint Substances 0.000 claims description 148
- 239000007921 spray Substances 0.000 claims description 115
- 230000005484 gravity Effects 0.000 claims description 31
- 238000012544 monitoring process Methods 0.000 claims description 29
- 238000005315 distribution function Methods 0.000 claims description 21
- 230000008021 deposition Effects 0.000 claims description 18
- 230000001276 controlling effect Effects 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 238000010276 construction Methods 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 7
- 230000006870 function Effects 0.000 description 23
- 230000008569 process Effects 0.000 description 8
- 230000007613 environmental effect Effects 0.000 description 4
- 238000013528 artificial neural network Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011002 quantification Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
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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
- B05D7/00—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials
- B05D7/02—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials to macromolecular substances, e.g. rubber
-
- 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
-
- 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
- B05B12/084—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 condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
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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
- 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
Abstract
The invention provides an automatic spraying and positioning method for plastic packaging bottles, which relates to the technical field of spraying control and comprises the following steps: acquiring a first spraying target of a first plastic packaging bottle; constructing a preset spraying model; obtaining a preset spraying track; acquiring actual spraying conditions of the automatic spraying device; obtaining a first condition deviation; correcting the preset spraying track according to the first condition deviation to obtain a target spraying track, utilizing the target spraying track to carry out spraying positioning control on the first plastic packaging bottle, solving the technical problem that the spraying positioning accuracy is poor due to the lack of influence analysis on the spraying track by the spraying environment in the prior art, and ensuring the fit degree of the spraying track and the actual spraying environment while improving the spraying positioning efficiency by correcting the preset spraying track by combining the actual environment condition, thereby improving the technical effect of the spraying positioning accuracy and the accuracy.
Description
Technical Field
The invention relates to the technical field of spraying control, in particular to an automatic spraying and positioning method for plastic packaging bottles.
Background
Plastic packaging bottles are widely used in various industries due to the advantages of light weight, strong anti-falling performance and the like, and the plastic packaging bottles generally need to be subjected to spraying treatment on the surface in the processing process so as to improve the aesthetic property, corrosion resistance and the like of the appearance of the plastic tank. Most of the existing spraying positioning methods are to directly generate a spraying track according to a spraying target to control an automatic spraying device to perform spraying operation, but in the actual spraying process, different environments can influence the spraying track of the spraying device, so that deviation exists in the spraying track, and the spraying positioning accuracy is not high.
At present, the technical problem of poor spraying positioning accuracy caused by lack of influence analysis on spraying tracks by a spraying environment exists in the prior art.
Disclosure of Invention
The invention provides an automatic spraying and positioning method for a plastic packaging bottle, which is used for solving the technical problem of poor spraying and positioning precision caused by lack of influence analysis on spraying tracks by a spraying environment in the prior art.
According to a first aspect of the present invention, there is provided an automatic spray positioning method for plastic packaging bottles, comprising: acquiring a first spraying target of a first plastic packaging bottle, wherein the first spraying target comprises target spraying position information and target paint film thickness information; acquiring device structure information of an automatic spraying device, and constructing a preset spraying model under a first preset condition based on the device structure information; analyzing the target spraying position information and the target paint film thickness information through the preset spraying model to obtain a preset spraying track; acquiring actual spraying conditions of the automatic spraying device; comparing the actual spraying condition with the first preset condition to obtain a first condition deviation; and correcting the preset spraying track according to the first condition deviation to obtain a target spraying track, and performing spraying positioning control on the first plastic packaging bottle by using the target spraying track.
According to a second aspect of the present invention, there is provided an automatic spray positioning system for plastic packaging bottles, comprising: the spraying target acquisition module is used for acquiring a first spraying target of the first plastic packaging bottle, wherein the first spraying target comprises target spraying position information and target paint film thickness information; the device comprises a preset spraying model construction module, a control module and a control module, wherein the preset spraying model construction module is used for acquiring device structure information of an automatic spraying device and constructing a preset spraying model under a first preset condition based on the device structure information; the preset spraying track acquisition module is used for analyzing the target spraying position information and the target paint film thickness information through the preset spraying model to obtain a preset spraying track; the actual spraying condition acquisition module is used for acquiring actual spraying conditions of the automatic spraying device; the condition comparison module is used for comparing the actual spraying condition with the first preset condition to obtain a first condition deviation; and the spraying track correction module is used for correcting the preset spraying track according to the first condition deviation to obtain a target spraying track, and performing spraying positioning control on the first plastic packaging bottle by using the target spraying track.
According to one or more technical schemes adopted by the invention, the following beneficial effects can be achieved:
1. acquiring a first spraying target of a first plastic packaging bottle, wherein the first spraying target comprises target spraying position information and target paint film thickness information, acquiring device structure information of an automatic spraying device, constructing a preset spraying model based on the device structure information under a first preset condition, analyzing the target spraying position information and the target paint film thickness information through the preset spraying model to obtain a preset spraying track, acquiring a historical spraying record of the automatic spraying device, analyzing spraying conditions of the automatic spraying device to obtain actual spraying conditions, comparing the actual spraying conditions with the first preset conditions, acquiring a first condition deviation, correcting the preset spraying track according to the first condition deviation to obtain a target spraying track, and performing spraying positioning control on the first plastic packaging bottle by utilizing the target spraying track, so that the preset spraying track is corrected by combining the actual environment conditions, the spraying positioning efficiency is improved, the degree of fit between the spraying track and the actual spraying environment is ensured, and the technical effects of spraying positioning accuracy and accuracy are further improved.
2. Extracting shape and size information of a spray gun from device structure information, acquiring a paint film forming distribution function under a first preset condition according to the shape and size information of the spray gun, extracting single spraying amount of the spray gun according to the device structure information, constructing a paint film thickness growing function under the first preset condition according to the single spraying amount of the spray gun, constructing a digital spraying model of an automatic spraying device based on the device structure information, and embedding the paint film forming distribution function and the paint film thickness growing function into the digital spraying model to obtain a preset spraying model. Therefore, the preset spraying model is realized, the target spraying track is conveniently and rapidly obtained through comparison of environmental conditions, and the technical effect of improving the spraying positioning efficiency and simultaneously guaranteeing the matching degree of the spraying track and the actual spraying environment is achieved.
3. The method comprises the steps of carrying out multi-point position real-time monitoring on paint film thickness of a first plastic packaging bottle to obtain multi-point position thickness monitoring data, carrying out data uniformity analysis on the multi-point position thickness monitoring data to obtain paint film uniformity coefficients, comparing the multi-point position thickness monitoring data with target paint film thickness information to obtain multi-point position thickness deviation, and carrying out dynamic regulation and control on spraying tracks through an automatic spraying device according to the paint film uniformity coefficients and the multi-point position thickness deviation, so that dynamic regulation and control on the spraying tracks are achieved, and the technical effect of improving spraying quality is achieved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. The accompanying drawings, which are included to provide a further understanding of the invention, illustrate and explain the present invention, and together with the description serve to explain the principle of the invention, if not to limit the invention, and to enable others skilled in the art to make and use the invention without undue effort.
Fig. 1 is a schematic flow chart of an automatic spraying and positioning method for plastic packaging bottles according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of an automatic spraying and positioning system for plastic packaging bottles according to an embodiment of the present invention.
Reference numerals illustrate: the device comprises a spraying target acquisition module 11, a preset spraying model construction module 12, a preset spraying track acquisition module 13, an actual spraying condition acquisition module 14, a condition comparison module 15 and a spraying track correction module 16.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present invention and not all embodiments of the present invention, and it should be understood that the present invention is not limited by the example embodiments described herein.
The terminology used in the description is for the purpose of describing embodiments only and is not intended to be limiting of the invention. As used in this specification, the singular terms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises" and/or "comprising," when used in this specification, specify the presence of steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other steps, operations, elements, components, and/or groups thereof.
Unless defined otherwise, all terms (including technical and scientific terms) used in this specification should have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms, such as those defined in commonly used dictionaries, should not be interpreted in an idealized or overly formal sense unless expressly so defined herein. Like numbers refer to like elements throughout.
It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for presentation, analyzed data, etc.) related to the present invention are information and data authorized by the user or sufficiently authorized by each party.
Example 1
Fig. 1 is a diagram of an automatic spraying and positioning method for a plastic packaging bottle, which includes:
acquiring a first spraying target of a first plastic packaging bottle, wherein the first spraying target comprises target spraying position information and target paint film thickness information;
the first plastic packaging bottle refers to any type of plastic packaging bottle to be sprayed, a first spraying target is a spraying task which needs to be completed on the first plastic packaging bottle, the first spraying target comprises target spraying position information and target paint film thickness information, the target spraying position information refers to a position which needs to be sprayed with paint on the first plastic packaging bottle, such as a bottle body, the target paint film thickness information refers to paint film thickness which needs to be sprayed on the first plastic packaging bottle, and the target spraying position information and the target paint film thickness information are uploaded through a user side after the target spraying position information and the target paint film thickness information are determined according to actual conditions.
Acquiring device structure information of an automatic spraying device, and constructing a preset spraying model under a first preset condition based on the device structure information;
in a preferred embodiment, further comprising:
extracting shape and size information of a spray gun from the device structure information, and acquiring a paint film forming distribution function under a first preset condition according to the shape and size information of the spray gun; extracting the unit spraying amount of a spray gun according to the device structure information, and constructing a paint film thickness increasing function under the first preset condition according to the unit spraying amount of the spray gun; constructing a digital spraying model of the automatic spraying device based on the device structure information; and embedding the paint film forming distribution function and the paint film thickness increasing function into the digital spraying model to obtain the preset spraying model.
The device structure information refers to the physical structure of the automatic spraying device, including the composition, the shape and the like, for example, the automatic spraying device is composed of a control end, a spray gun and other structures, and the shape, the size and other information of the spray gun and other structures are directly obtained through a manual of the automatic spraying device to serve as the device structure information and uploaded. Further, a preset spraying model is built under a first preset condition based on the device structure information, wherein the first preset condition is an ideal condition, namely, paint atomized particles sprayed in a spray gun are not influenced by environmental factors such as wind direction, wind speed, gravity and pressure when the automatic spraying device is used for spraying, for example, the wind direction, wind speed, gravity and pressure are all set to be constant in quantification and serve as the first preset condition, so that the preset spraying model is built under the first preset condition, and the specific process is as follows:
the method comprises the steps of extracting spray gun shape and size information from device structure information, acquiring paint film-forming distribution functions under a first preset condition according to the spray gun shape and size information, determining film-forming positions, shapes and film-forming ranges of paint sprayed by a spray gun on a first plastic packaging bottle, wherein the spray gun shape is generally conical, the sprayed paint is circularly distributed, the size information is the opening angle of the spray gun, can be understood as the cone angle of the cone, can be directly extracted from the device structure information, and constructs the paint film-forming distribution functions based on the spray gun shape and the size information: Wherein->I.e. the opening angle of the spray gun, is a constant amount,/->For the vertical distance from the spray gun to the surface of the first plastic package, which can be adjusted by a user, is a variable, but has a certain range constraint, because if the treatment distance is too short, the sprayed paint can flow, and particularly, the range of the vertical distance from the spray gun to the surface of the first plastic package can be determined by combining historical experience, so that the paint is ensured not to flow when the spraying operation is carried out, and the range is increased>It is the radius of the paint film forming area of the surface of the first plastic package, also as a result of the paint film forming distribution. According to the paint film forming distribution function, the wind direction, the wind speed and the gravity of paint spraying are not considered in the paint film forming distribution function, and the paint can be vertically sprayed to the surface of the first plastic packaging bottle from the spray head.
According to the device structure information, the unit spraying amount of the spray gun is extracted, the unit spraying amount of the spray gun is the amount of paint sprayed by the spray gun in unit time, a paint film thickness increasing function is constructed under the first preset condition according to the unit spraying amount of the spray gun, in short, the unit film thickness of any point on the surface of the first plastic package can be calculated and obtained through the unit spraying amount, when the spray gun is fixed and hangs down on the surface of the first plastic package for spraying, the thickness of a paint film on the surface of the first plastic package theoretically shows a phenomenon of continuously increasing thickness along with the increase of time, and in fact, the paint film thickness increasing function is obtained under ideal conditions and is changed along with fluctuation of wind speed, pressure and flow, and the paint film thickness increasing function is obtained under ideal conditions without considering the influence of the fluctuation of wind speed, pressure and flow, and is as follows: Wherein, the method comprises the steps of, wherein,any one point in the area formed for the paint to adhere to the sprayed surface of the plastic packaging bottle>The function value is the film thickness over time, which is the film thickness growth function of +.>The radius of the area formed for the paint to adhere to the sprayed surface of the plastic packaging bottle can be obtained by the paint film forming distribution function,/->The flow rate of the paint sprayed by the spray gun, which increases along with time, can be set by the person skilled in the art by himself, is obtained by real-time monitoring through the control end of the automatic spraying device, +.>For attaching paint to any one point in the area formed by the sprayed surface of the plastic packaging bottleThe distance from the center of the spray gun, that is, the film thickness of different points may be different, so that film thickness growth analysis needs to be performed on each point, so that uniformity of paint film formation is ensured. That is, in the case of determining the film thickness, the data of the time-dependent change of the thickness of the paint film at any one point can be calculated and obtained by the paint film thickness increasing function, so that the time of the spraying operation at any one point can be determined.
The digital spraying model of the automatic spraying device is built based on the device structure information, the digital spraying model is a virtual model of the automatic spraying device, the device structure information can be input into an existing digital simulation platform to build the digital spraying model, and the digital simulation technology is a common technical means for a person skilled in the art, so that the digital spraying model is not unfolded here. And embedding the paint film forming distribution function and the paint film thickness increasing function into the digital spraying model to obtain the preset spraying model, providing model support for subsequent spraying track analysis, and improving the spraying positioning precision and efficiency.
Analyzing the target spraying position information and the target paint film thickness information through the preset spraying model to obtain a preset spraying track;
in a preferred embodiment, further comprising:
optimizing the spraying position of a spray gun based on the target spraying position information by using a paint film forming distribution function in the preset spraying model to obtain a first spraying track; optimizing the single spraying operation time based on the target paint film thickness information by the paint film thickness growing function in the preset spraying model to obtain a first spraying operation time; and fusing the first spraying track and the first spraying operation time to obtain the preset spraying track.
Analyzing the target spraying position information and the target paint film thickness information through the preset spraying model to obtain a preset spraying track, wherein the specific process is as follows:
the paint film forming distribution function in the preset spraying model is used for optimizing the spraying position of the spray gun based on the target spraying position information to obtain a first spraying track, in short, the radius R of a paint film forming area is obtained through calculation of the paint film forming distribution function, a single preset film forming area is drawn and is a round area, the single preset film forming area is used as a sliding window to be distributed on the surface of a first plastic packaging bottle based on the target spraying position information, the target spraying position on the surface of the first plastic packaging bottle is guaranteed to be fully covered, meanwhile, the distributed single preset film forming area is minimum, the distribution position of the single preset film forming area is obtained, the center of the distribution position of the single preset film forming area distributed on the outermost layer is used as the starting point of the first spraying track, the center of the distribution position of other single preset film forming areas is used as the middle point of the first spraying track, the starting point and the middle point are connected, in the connection process, each middle point is guaranteed to pass through once, and the connection path is shortest, and the starting point is used as the first spraying track.
Further, the paint film thickness increasing function in the predetermined spraying model is optimized based on the target paint film thickness information to obtain a first spraying operation time, in short, when spraying is performed according to a first spraying track, the spraying time of a starting point and a middle point of a spray gun needs to be determined, the paint film thickness does not accord with the target paint film thickness due to the fact that the too short or too long spraying time is too short, therefore, paint film thickness increasing analysis is required to be performed through the paint film thickness increasing function to determine the optimal spraying operation time as the first spraying operation time, in short, through the paint film thickness increasing function, the paint film thickness in the target paint film thickness information is taken as a function value of the paint film thickness increasing function, corresponding paint flow is calculated through the paint film thickness increasing function, in addition, the first spraying operation time is determined according to the paint flow, namely, the paint flow is divided by the paint amount sprayed by the unit time of the spray gun, and the paint amount sprayed by the unit time of the spray gun needs to be determined according to practical conditions.
And finally, fusing the first spraying track and the first spraying operation time to obtain the preset spraying track, wherein the first spraying track is simply a moving track of a spray gun, but reaches a starting point in the moving process, each intermediate point needs to be sprayed for a period of time and then moves to the next intermediate point to continue spraying, and the first spraying operation time is mapped to the starting point and the intermediate point in the first spraying track to obtain the preset spraying track.
Therefore, analysis of the preset spraying track is realized, support is provided for acquisition of the subsequent target spraying track, and correction of the track is conveniently carried out by comparison of environmental conditions, so that the spraying positioning precision and efficiency are improved.
Acquiring actual spraying conditions of the automatic spraying device;
comparing the actual spraying condition with the first preset condition to obtain a first condition deviation;
in a preferred embodiment, further comprising:
the first preset conditions comprise a preset wind speed, a preset wind direction, a preset paint spraying gravity and a preset pressure, and the actual spraying conditions comprise an actual wind speed, an actual wind direction, an actual paint spraying gravity and an actual pressure; and comparing the actual spraying condition with the first preset condition to obtain a first condition deviation, wherein the first condition deviation comprises wind speed deviation, wind direction deviation, gravity deviation and pressure deviation.
The method comprises the steps of collecting and obtaining actual spraying conditions of the automatic spraying device, wherein the actual spraying conditions comprise actual wind speed, actual wind direction, actual paint spraying gravity and actual pressure, and specifically, the actual spraying conditions can be obtained by collecting the actual conditions through an existing wind sensor, a gravity sensor, a pressure sensor and the like.
And comparing the actual spraying condition with the first preset condition to obtain a first condition deviation, wherein the first preset condition corresponds to the actual spraying condition, the first preset condition comprises a preset wind speed, a preset wind direction, a preset paint spraying gravity and a preset pressure, the preset wind speed, the preset wind direction and the preset paint spraying gravity are all 0, and the preset pressure is generally atmospheric pressure. And comparing the actual spraying condition with the first preset condition to obtain a first condition deviation, wherein the first condition deviation comprises wind speed deviation, wind direction deviation, gravity deviation and pressure deviation. Therefore, the actual spraying conditions and the first preset conditions are realized, the actual track analysis of the spray gun is conveniently realized according to the actual situation, the degree of fit between the spraying track and the actual situation is improved, and the accuracy and precision of spraying positioning are further improved.
And correcting the preset spraying track according to the first condition deviation to obtain a target spraying track, and performing spraying positioning control on the first plastic packaging bottle by using the target spraying track.
In a preferred embodiment, further comprising:
carrying out spray position deviation analysis on the paint spray surface according to the wind speed deviation, the wind direction deviation, the gravity deviation and the pressure deviation to obtain spray position deviation; carrying out paint product rate analysis according to the wind speed deviation, wind direction deviation, gravity deviation and pressure deviation to obtain deposition rate deviation; and correcting the preset spraying track according to the spraying position deviation and the deposition rate deviation to obtain the target spraying track.
And correcting the preset spraying track according to the first condition deviation to obtain a target spraying track, and performing spraying positioning control on the first plastic packaging bottle by using the target spraying track.
According to the wind speed deviation, wind direction deviation, gravity deviation and pressure deviation, spraying position deviation analysis is carried out on a paint spraying surface to obtain spraying position deviation, specifically, a historical spraying record of an automatic spraying device can be extracted, the historical spraying record comprises historical wind speed deviation, historical wind direction deviation, historical gravity deviation, historical pressure deviation, corresponding historical spraying position deviation and historical deposition rate deviation, a spraying position deviation analysis channel is built by using the historical wind speed deviation, the historical wind direction deviation, the historical gravity deviation, the historical pressure deviation and the corresponding historical spraying position deviation as training data sets based on a neural network, the spraying position deviation analysis channel is a machine learning model based on the neural network, each group of historical wind speed deviation, the historical wind direction deviation, the historical gravity deviation and the historical pressure deviation are input into the spraying position deviation analysis channel, the output of the spraying position deviation analysis channel is subjected to supervision adjustment by using the corresponding historical spraying position deviation, the spraying position deviation analysis channel is trained to converge, and then the wind speed deviation, the wind direction deviation, the gravity deviation and the pressure deviation are input into the spraying position deviation analysis channel, and the spraying position deviation is output.
And further performing paint product rate analysis according to the wind speed deviation, the wind direction deviation, the gravity deviation and the pressure deviation to obtain a deposition rate deviation, specifically, constructing a deposition rate deviation analysis channel based on a neural network by using the historical wind speed deviation, the historical wind direction deviation, the historical gravity deviation, the historical pressure deviation and the corresponding historical deposition rate deviation in the historical spraying records, wherein the construction mode of the deposition rate deviation analysis channel is identical to that of the spraying position deviation analysis channel, and therefore, the wind speed deviation, the wind direction deviation, the gravity deviation and the pressure deviation are input into the deposition rate deviation analysis channel without repeated description, and the deposition rate deviation can be output. Correcting the preset spraying track according to the spraying position deviation and the deposition rate deviation, in short, correcting the moving track of the spray gun according to the spraying position deviation, namely, reversely correcting the starting point in the preset spraying track and the position of each middle point according to the spraying position deviation, further correcting the starting point in the preset spraying track and the working time of each middle point according to the deposition rate deviation, dividing the target paint film thickness information by the first working time in the preset spraying track to obtain the preset deposition rate, and then obtaining the working time deviation corresponding to the deposition rate deviation according to the deposition rate deviation through simple mathematical calculation, and correcting the first working time according to the working time deviation, thereby correcting the preset spraying track to obtain the target spraying track. Therefore, analysis of the target spraying track is realized, the degree of fit between the target spraying track and the actual spraying environment is improved, and the accuracy of spraying positioning is improved.
In a preferred embodiment, further comprising:
acquiring a target pre-aiming distance according to the target spraying track; acquiring the length of a spray gun nozzle of the automatic spraying device, and drawing a target circle by taking the center of the length of the spray gun nozzle as a circle center and the target pre-aiming distance as a radius; taking the intersection point of the target circle and the target spraying track as a pre-aiming point; the spray gun of the automatic spraying device is monitored in real time, the actual movement direction of the spray gun is obtained, and the included angle between the actual movement direction and the pre-aiming point is used as a real-time deviation angle; calculating to obtain a real-time rotation angle of the spray gun according to the length of the spray head of the spray gun, the pre-aiming distance and the real-time deviation angle; obtaining an actual spraying track of the spray gun according to the real-time rotation angle; and calculating the real-time deviation of the actual spraying track and the target spraying track, and dynamically regulating and controlling the spraying track through the automatic spraying device according to the real-time deviation.
The target pre-aiming distance is obtained according to the target spraying track, the pre-aiming distance is the moving distance of a spray gun of the automatic spraying device, the target pre-aiming distance can be obtained according to the target spraying track, a plurality of nodes (such as a starting point and a middle point when the target spraying track is obtained) can be arranged on the target spraying track, the pre-aiming distance is obtained for a plurality of times, and the pre-aiming distance is the distance from the starting point to the middle point of the spray gun. The method comprises the steps of obtaining the length of a spray gun nozzle of the automatic spraying device, drawing a target circle by taking the center of the length of the spray gun nozzle as a circle center and the target pre-aiming distance as a radius, taking the intersection point of the target circle and a target spraying track as a pre-aiming point, monitoring the spray gun of the automatic spraying device in real time, obtaining the actual movement direction of the spray gun, and particularly, setting a displacement sensor on the spray gun to obtain the actual movement direction, and taking the included angle between the actual movement direction and the pre-aiming point as a real-time deviation angle. And calculating the real-time rotation angle of the spray gun according to the length of the spray head of the spray gun, the target pre-aiming distance and the real-time deviation angle, wherein the calculation formula is as follows:
；
Wherein,for real-time turning angle->Is the length of the spray head of the spray gun, and is->Is the target pre-aiming distance,/->Is the real-time offset angle. By adopting the method, a plurality of nodes can be arranged on the target spraying track, the actual rotation angle is acquired for a plurality of times, and the actual spraying track is formed by a plurality of actual rotation angles.
Further comparing the actual spraying track with the target spraying track, calculating the real-time deviation of the actual spraying track and the target spraying track, and dynamically regulating and controlling the spraying track through the automatic spraying device according to the real-time deviation, wherein the actual spraying track is identical to the target spraying track in an ideal situation, but the actual spraying process has errors, and the dynamic adjustment of the spraying track of the spray gun is required according to the real-time deviation, so that the actual spraying track is continuously close to the target spraying track, the accuracy of the actual spraying process is ensured, the deviation is reduced, and the spraying positioning accuracy is improved.
In a preferred embodiment, further comprising:
carrying out multi-point real-time monitoring on the paint film thickness of the first plastic packaging bottle to obtain multi-point thickness monitoring data; carrying out data uniformity analysis on the multi-point position thickness monitoring data to obtain a paint film uniformity coefficient; comparing the multi-point position thickness monitoring data with the target paint film thickness information to obtain multi-point position thickness deviation; and dynamically regulating and controlling the spraying track through the automatic spraying device according to the paint film uniformity coefficient and the multi-point thickness deviation.
And carrying out multi-point position real-time monitoring on the paint film thickness of the first plastic packaging bottle to obtain multi-point position thickness monitoring data, specifically, carrying out paint film thickness detection on a plurality of positions on the first plastic packaging bottle through the existing coating thickness detector, thereby obtaining the multi-point position thickness monitoring data. And carrying out data uniformity analysis on the multi-point thickness monitoring data, and simply calculating the standard deviation or variance of the multi-point thickness monitoring data as a paint film uniformity coefficient. And further comparing the multi-point position thickness monitoring data with the target paint film thickness information to obtain a difference value between the multi-point position thickness monitoring data and the target paint film thickness information as multi-point position thickness deviation. According to the paint film uniformity coefficient and the multi-point thickness deviation, dynamic regulation and control of a spraying track are carried out through the automatic spraying device, specifically, if the multi-point thickness deviation is in a preset deviation range and the paint film uniformity coefficient is also in a uniform coefficient threshold range, the regulation and control of the spraying track are not needed, the preset deviation range and the uniform coefficient threshold are determined by a user according to actual requirements, the regulation and control are not limited, otherwise, if any one of the multi-point thickness deviation is not in the preset deviation range or the paint film uniformity coefficient is not in the uniform coefficient threshold range, the deviation position is needed to be positioned according to the multi-point thickness deviation, for example, if the paint film thickness of the deviation position is larger than the target paint film thickness information, the working time of the deviation position in spraying is reduced, otherwise, the working time of the position in spraying is increased, and therefore the dynamic regulation and control of the spraying track are realized, and the spraying quality is improved.
Based on the analysis, the one or more technical schemes provided by the invention can achieve the following beneficial effects:
1. acquiring a first spraying target of a first plastic packaging bottle, wherein the first spraying target comprises target spraying position information and target paint film thickness information, acquiring device structure information of an automatic spraying device, constructing a preset spraying model based on the device structure information under a first preset condition, analyzing the target spraying position information and the target paint film thickness information through the preset spraying model to obtain a preset spraying track, acquiring a historical spraying record of the automatic spraying device, analyzing spraying conditions of the automatic spraying device to obtain actual spraying conditions, comparing the actual spraying conditions with the first preset conditions, acquiring a first condition deviation, correcting the preset spraying track according to the first condition deviation to obtain a target spraying track, and performing spraying positioning control on the first plastic packaging bottle by utilizing the target spraying track, so that the preset spraying track is corrected by combining the actual environment conditions, the spraying positioning efficiency is improved, the degree of fit between the spraying track and the actual spraying environment is ensured, and the technical effects of spraying positioning accuracy and accuracy are further improved.
2. Extracting shape and size information of a spray gun from device structure information, acquiring a paint film forming distribution function under a first preset condition according to the shape and size information of the spray gun, extracting single spraying amount of the spray gun according to the device structure information, constructing a paint film thickness growing function under the first preset condition according to the single spraying amount of the spray gun, constructing a digital spraying model of an automatic spraying device based on the device structure information, and embedding the paint film forming distribution function and the paint film thickness growing function into the digital spraying model to obtain a preset spraying model. Therefore, the preset spraying model is realized, the target spraying track is conveniently and rapidly obtained through comparison of environmental conditions, and the technical effect of improving the spraying positioning efficiency and simultaneously guaranteeing the matching degree of the spraying track and the actual spraying environment is achieved.
3. The method comprises the steps of carrying out multi-point position real-time monitoring on paint film thickness of a first plastic packaging bottle to obtain multi-point position thickness monitoring data, carrying out data uniformity analysis on the multi-point position thickness monitoring data to obtain paint film uniformity coefficients, comparing the multi-point position thickness monitoring data with target paint film thickness information to obtain multi-point position thickness deviation, and carrying out dynamic regulation and control on spraying tracks through an automatic spraying device according to the paint film uniformity coefficients and the multi-point position thickness deviation, so that dynamic regulation and control on the spraying tracks are achieved, and the technical effect of improving spraying quality is achieved.
Example two
Based on the same inventive concept as the automatic spraying and positioning method for plastic packaging bottles in the foregoing embodiment, as shown in fig. 2, the present invention further provides an automatic spraying and positioning system for plastic packaging bottles, which includes:
the spraying target acquisition module 11 is used for acquiring a first spraying target of the first plastic packaging bottle, wherein the first spraying target comprises target spraying position information and target paint film thickness information;
a predetermined spray pattern constructing module 12, wherein the predetermined spray pattern constructing module 12 is configured to acquire device structure information of an automatic spray device, and construct a predetermined spray pattern under a first preset condition based on the device structure information;
the preset spraying track acquisition module 13 is used for analyzing the target spraying position information and the target paint film thickness information through the preset spraying model to obtain a preset spraying track;
the actual spraying condition acquisition module 14 is used for acquiring actual spraying conditions of the automatic spraying device by the actual spraying condition acquisition module 14;
the condition comparison module 15 is configured to compare the actual spraying condition with the first preset condition, so as to obtain a first condition deviation;
The spraying track correction module 16 is configured to correct the predetermined spraying track according to the first condition deviation, obtain a target spraying track, and perform spraying positioning control on the first plastic packaging bottle by using the target spraying track.
Further, the predetermined spray pattern building module 12 is further configured to:
extracting shape and size information of a spray gun from the device structure information, and acquiring a paint film forming distribution function under a first preset condition according to the shape and size information of the spray gun;
extracting the unit spraying amount of a spray gun according to the device structure information, and constructing a paint film thickness increasing function under the first preset condition according to the unit spraying amount of the spray gun;
constructing a digital spraying model of the automatic spraying device based on the device structure information;
and embedding the paint film forming distribution function and the paint film thickness increasing function into the digital spraying model to obtain the preset spraying model.
Further, the actual spraying condition obtaining module 14 is further configured to:
the first preset conditions comprise a preset wind speed, a preset wind direction, a preset paint spraying gravity and a preset pressure, and the actual spraying conditions comprise an actual wind speed, an actual wind direction, an actual paint spraying gravity and an actual pressure;
And comparing the actual spraying condition with the first preset condition to obtain a first condition deviation, wherein the first condition deviation comprises wind speed deviation, wind direction deviation, gravity deviation and pressure deviation.
Further, the predetermined spraying track obtaining module 13 is further configured to:
optimizing the spraying position of a spray gun based on the target spraying position information by using a paint film forming distribution function in the preset spraying model to obtain a first spraying track;
optimizing the single spraying operation time based on the target paint film thickness information by the paint film thickness growing function in the preset spraying model to obtain a first spraying operation time;
and fusing the first spraying track and the first spraying operation time to obtain the preset spraying track.
Further, the spray trajectory correction module 16 is further configured to:
carrying out spray position deviation analysis on the paint spray surface according to the wind speed deviation, the wind direction deviation, the gravity deviation and the pressure deviation to obtain spray position deviation;
carrying out paint product rate analysis according to the wind speed deviation, wind direction deviation, gravity deviation and pressure deviation to obtain deposition rate deviation;
and correcting the preset spraying track according to the spraying position deviation and the deposition rate deviation to obtain the target spraying track.
Further, the system further comprises a first dynamic regulation module for:
acquiring a target pre-aiming distance according to the target spraying track;
acquiring the length of a spray gun nozzle of the automatic spraying device, and drawing a target circle by taking the center of the length of the spray gun nozzle as a circle center and the target pre-aiming distance as a radius;
taking the intersection point of the target circle and the target spraying track as a pre-aiming point;
the spray gun of the automatic spraying device is monitored in real time, the actual movement direction of the spray gun is obtained, and the included angle between the actual movement direction and the pre-aiming point is used as a real-time deviation angle;
calculating to obtain a real-time rotation angle of the spray gun according to the length of the spray head of the spray gun, the pre-aiming distance and the real-time deviation angle;
obtaining an actual spraying track of the spray gun according to the real-time rotation angle;
and calculating the real-time deviation of the actual spraying track and the target spraying track, and dynamically regulating and controlling the spraying track through the automatic spraying device according to the real-time deviation.
Further, the system further comprises a second dynamic regulation module for:
carrying out multi-point real-time monitoring on the paint film thickness of the first plastic packaging bottle to obtain multi-point thickness monitoring data;
Carrying out data uniformity analysis on the multi-point position thickness monitoring data to obtain a paint film uniformity coefficient;
comparing the multi-point position thickness monitoring data with the target paint film thickness information to obtain multi-point position thickness deviation;
and dynamically regulating and controlling the spraying track through the automatic spraying device according to the paint film uniformity coefficient and the multi-point thickness deviation.
The specific example of the automatic plastic packaging bottle spraying and positioning method in the first embodiment is also applicable to the automatic plastic packaging bottle spraying and positioning system in the present embodiment, and the automatic plastic packaging bottle spraying and positioning system in the present embodiment is clearly known to those skilled in the art from the foregoing detailed description of the automatic plastic packaging bottle spraying and positioning method, so that the detailed description thereof will not be repeated herein for brevity.
It should be understood that the various forms of flow shown above, reordered, added or deleted steps may be used, as long as the desired results of the disclosed embodiments are achieved, and are not limiting herein.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. The automatic spraying and positioning method for the plastic packaging bottles is characterized by comprising the following steps of:
acquiring a first spraying target of a first plastic packaging bottle, wherein the first spraying target comprises target spraying position information and target paint film thickness information;
acquiring device structure information of an automatic spraying device, and constructing a preset spraying model under a first preset condition based on the device structure information;
analyzing the target spraying position information and the target paint film thickness information through the preset spraying model to obtain a preset spraying track;
acquiring actual spraying conditions of the automatic spraying device;
comparing the actual spraying condition with the first preset condition to obtain a first condition deviation;
and correcting the preset spraying track according to the first condition deviation to obtain a target spraying track, and performing spraying positioning control on the first plastic packaging bottle by using the target spraying track.
2. The method of claim 1, wherein constructing a predetermined spray model based on the device configuration information under a first preset condition comprises:
extracting shape and size information of a spray gun from the device structure information, and acquiring a paint film forming distribution function under a first preset condition according to the shape and size information of the spray gun;
Extracting the unit spraying amount of a spray gun according to the device structure information, and constructing a paint film thickness increasing function under the first preset condition according to the unit spraying amount of the spray gun;
constructing a digital spraying model of the automatic spraying device based on the device structure information;
and embedding the paint film forming distribution function and the paint film thickness increasing function into the digital spraying model to obtain the preset spraying model.
3. The method of claim 1, wherein said comparing said actual spray condition to said first predetermined condition to obtain a first condition deviation comprises:
the first preset conditions comprise a preset wind speed, a preset wind direction, a preset paint spraying gravity and a preset pressure, and the actual spraying conditions comprise an actual wind speed, an actual wind direction, an actual paint spraying gravity and an actual pressure;
and comparing the actual spraying condition with the first preset condition to obtain a first condition deviation, wherein the first condition deviation comprises wind speed deviation, wind direction deviation, gravity deviation and pressure deviation.
4. The method of claim 2, wherein said analyzing said target spray location information and target paint film thickness information by said predetermined spray model to obtain a predetermined spray trajectory comprises:
Optimizing the spraying position of a spray gun based on the target spraying position information by using a paint film forming distribution function in the preset spraying model to obtain a first spraying track;
optimizing the single spraying operation time based on the target paint film thickness information by the paint film thickness growing function in the preset spraying model to obtain a first spraying operation time;
and fusing the first spraying track and the first spraying operation time to obtain the preset spraying track.
5. A method according to claim 3, wherein said correcting said predetermined spray trajectory based on said first condition deviation to obtain a target spray trajectory comprises:
carrying out spray position deviation analysis on the paint spray surface according to the wind speed deviation, the wind direction deviation, the gravity deviation and the pressure deviation to obtain spray position deviation;
carrying out paint product rate analysis according to the wind speed deviation, wind direction deviation, gravity deviation and pressure deviation to obtain deposition rate deviation;
and correcting the preset spraying track according to the spraying position deviation and the deposition rate deviation to obtain the target spraying track.
6. The method of claim 5, wherein the method further comprises:
Acquiring a target pre-aiming distance according to the target spraying track;
acquiring the length of a spray gun nozzle of the automatic spraying device, and drawing a target circle by taking the center of the length of the spray gun nozzle as a circle center and the target pre-aiming distance as a radius;
taking the intersection point of the target circle and the target spraying track as a pre-aiming point;
the spray gun of the automatic spraying device is monitored in real time, the actual movement direction of the spray gun is obtained, and the included angle between the actual movement direction and the pre-aiming point is used as a real-time deviation angle;
calculating to obtain a real-time rotation angle of the spray gun according to the length of the spray head of the spray gun, the pre-aiming distance and the real-time deviation angle;
obtaining an actual spraying track of the spray gun according to the real-time rotation angle;
and calculating the real-time deviation of the actual spraying track and the target spraying track, and dynamically regulating and controlling the spraying track through the automatic spraying device according to the real-time deviation.
7. The method of claim 6, wherein said using said target spray trajectory for spray positioning control of said first plastic packaging bottle further comprises:
carrying out multi-point real-time monitoring on the paint film thickness of the first plastic packaging bottle to obtain multi-point thickness monitoring data;
Carrying out data uniformity analysis on the multi-point position thickness monitoring data to obtain a paint film uniformity coefficient;
comparing the multi-point position thickness monitoring data with the target paint film thickness information to obtain multi-point position thickness deviation;
and dynamically regulating and controlling the spraying track through the automatic spraying device according to the paint film uniformity coefficient and the multi-point thickness deviation.
8. A plastic packaging bottle automatic spray positioning system characterized by the steps for performing any one of the plastic packaging bottle automatic spray positioning methods of claims 1 to 7, the system comprising:
the spraying target acquisition module is used for acquiring a first spraying target of the first plastic packaging bottle, wherein the first spraying target comprises target spraying position information and target paint film thickness information;
the device comprises a preset spraying model construction module, a control module and a control module, wherein the preset spraying model construction module is used for acquiring device structure information of an automatic spraying device and constructing a preset spraying model under a first preset condition based on the device structure information;
the preset spraying track acquisition module is used for analyzing the target spraying position information and the target paint film thickness information through the preset spraying model to obtain a preset spraying track;
The actual spraying condition acquisition module is used for acquiring actual spraying conditions of the automatic spraying device;
the condition comparison module is used for comparing the actual spraying condition with the first preset condition to obtain a first condition deviation;
and the spraying track correction module is used for correcting the preset spraying track according to the first condition deviation to obtain a target spraying track, and performing spraying positioning control on the first plastic packaging bottle by using the target spraying track.
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| US20190002100A1 (en) * | 2016-08-05 | 2019-01-03 | Guangdong Yinyang Environment-Friendly New Materials Co..Ltd. | Unmanned aerial vehicle-based external wall spray printing system and spraying method thereof |
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| US20190002100A1 (en) * | 2016-08-05 | 2019-01-03 | Guangdong Yinyang Environment-Friendly New Materials Co..Ltd. | Unmanned aerial vehicle-based external wall spray printing system and spraying method thereof |
| CN112827772A (en) * | 2021-02-08 | 2021-05-25 | 湖州洛博特机械科技有限公司 | Workpiece identification automatic spraying control method and system |
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