CN109225728A - A kind of spray painting control method and apparatus that laser detection dynamic outline spray gun is adaptive - Google Patents
A kind of spray painting control method and apparatus that laser detection dynamic outline spray gun is adaptive Download PDFInfo
- Publication number
- CN109225728A CN109225728A CN201810485973.7A CN201810485973A CN109225728A CN 109225728 A CN109225728 A CN 109225728A CN 201810485973 A CN201810485973 A CN 201810485973A CN 109225728 A CN109225728 A CN 109225728A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- spray gun
- laser
- adaptive
- spray
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000007921 spray Substances 0.000 title claims abstract description 85
- 238000001514 detection method Methods 0.000 title claims abstract description 29
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000007592 spray painting technique Methods 0.000 title claims abstract description 10
- 238000005507 spraying Methods 0.000 claims abstract description 30
- 238000005259 measurement Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—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 reciprocating or oscillating spray heads
- B05B13/041—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 reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
Landscapes
- Spray Control Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The present invention relates to a kind of spray painting control method and apparatus that laser detection dynamic outline spray gun is adaptive, in the technical program, reflection by laser to curved surface, calculate the position of curved surface, changed according to dynamic contour curve, the distance of spray gun is controlled, guarantees that spray gun is consistent at a distance from contour line, to guarantee the good result of spraying.
Description
Technical field
The present invention relates to the technical fields of spraying, more particularly to a kind of spray that laser detection dynamic outline spray gun is adaptive
Apply control method and device.
Background technique
Currently, can only accomplish uniformly to be adjusted according to the maximum outer dimension of workpiece in current reciprocating engine spraying control system
The spraying position of whole spray gun can obtain preferable spraying effect for flat panel workpieces, but to the work pieces process of curved surface or groove
When, it just will appear groove part and happen apart from spray gun is farther away, so as to cause groove coating film thicker than low, to influence
Product quality.
Summary of the invention
The present invention is to overcome the shortcomings of described above, provides a kind of spraying control that laser detection dynamic outline spray gun is adaptive
Method and apparatus processed.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
A kind of spray painting control method that laser detection dynamic outline spray gun is adaptive, comprising the following steps:
S1. whether system detection has workpiece, if then carrying out step S2, otherwise carries out step S8；
S2. the profile of workpiece is recorded by laser scanner；
S3. the length of workpiece is recorded by laser scanner；
S4. the distance of workpiece is recorded by encoder；
S5. whether detection workpiece reaches pre- specking, if then carrying out step S6, otherwise carries out step S8；
S6. spray gun is moved to by workpiece profile setting position by reciprocating engine；
S7. spray gun is opened to spray workpiece；
S8. judge whether spraying is completed, if then carrying out step S9, otherwise repeatedly step S6 and S7；
S9. system is resetted, and terminates spraying operation.
In the above scheme, system passes through first has detected whether workpiece, then record respectively the profile of workpiece, length and
Distance；Then pre- specking whether is reached in further detection workpiece, to open spray further by the mobile spray gun of reciprocating engine
Rifle is sprayed, and the spraying operation of workpiece is finally completed, and the reflection by laser to curved surface calculates the position of curved surface, according to
Dynamic contour curve variation, controls the distance of spray gun, guarantees that spray gun is consistent at a distance from contour line, to guarantee the good of spraying
Good effect.
Preferably, the step S2, specific step is as follows for the profile of laser scanner record workpiece:
By the distance between laser scanner measurement scanning element to laser, and feeds back to system processor and be recorded in and be
It unites in the corresponding register of processor, the register address and workpiece are apart from address information.
After workpiece enters in reciprocating engine spray range, the 4th axis of reciprocating engine is according to the workpiece profile before size progress
Into with the expanding-contracting action stepped back, finally make the rifle mouth of spray gun reach default value at a distance from workpiece surface.
Preferably, the step S3, specific step is as follows for the length of laser scanner record workpiece:
The both ends end to end of workpiece are identified by laser scanner, and are fed back to system processor and be recorded in system processor phase
In the register answered, the register address and workpiece are apart from address information.
After workpiece enters in spraying spray range, spray gun is opened, and carries out closing motion according to the work length scale.Most
Make the unlatching distance and the equal length of workpiece of spray gun eventually.
Preferably, the step S4, specific step is as follows for the distance of encoder record workpiece:
One piece of workpiece is opened up in system processor apart from address, and is stored in the address and each spray gun to be swept to laser
Retouch the distance of device, i.e. workpiece distance.When there is workpiece to enter laser scanner, that is, distance operation is triggered, which is to be based on
What encoder pulse signal carried out, when workpiece distance is equal to zero, i.e., workpiece is close to spray gun.Finally make workpiece by laser
The distance passed by after scanner and workpiece are equidistant.
A kind of spraying control device that laser detection dynamic outline spray gun is adaptive, including it is processor module, scanner, past
It answers a pager's call, touch-control module, encoder and spray gun；Scanner, reciprocating engine, touch-control module, encoder and the spray gun with processing
The connection of device module.
In the technical scheme, spray parameters are preset by touch-control module, processor module is according to corresponding ginseng
Number controls the operation of scanner, reciprocating engine, encoder and spray gun respectively, wherein touch-control module is used for initial before system starts
Parameter setting, encoder are used for dusty spray for recording the location of workpiece, spray gun, and processor is used for operation and control, thus real
Now to the spraying of workpiece.
Preferably, the scanner is laser scanner.
Laser scanner can carry out range measurement to each different location of workpiece surface, measure laser scanner to workpiece
The distance value of each different surfaces, to reflect workpiece surface chamfered shape.
Preferably, the reciprocating engine is four axis reciprocating engines.
Four axis reciprocating engines can make reciprocating engine realize that providing can be single other than the whole three axis operation of whole x, y, z
Solely the 4th flexible s function, the 4th axis can carry out the flexible of front and back, to guarantee nozzle and work according to the features of shape of profile
The consistency of part surface distance.
Preferably, the touch device is touch screen, can directly be arranged and watch corresponding parameter letter by touch screen
Breath, enhances the operability of control device, facilitates the application of control system.
Preferably, the spray gun is multiple, and multiple spray guns are connect with processor module respectively, and multiple spray guns are same
When work effectively improve working efficiency.
Preferably, the processor module is PLC controller, and multiple spray guns, which work at the same time, effectively improves working efficiency.
Compared with prior art, the beneficial effects of the present invention are: in the technical program, reflection by laser to curved surface,
The position for calculating curved surface changes according to dynamic contour curve, controls the distance of spray gun, guarantees spray gun at a distance from contour line
Unanimously, to guarantee the good result of spraying.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of spray painting control method and apparatus that laser detection dynamic outline spray gun is adaptive；
Fig. 2 is a kind of schematic diagram of spraying control device that laser detection dynamic outline spray gun is adaptive.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.With reference to the accompanying drawings and examples to of the invention
Technical solution is described further.
A kind of spray painting control method that laser detection dynamic outline spray gun is adaptive, referring to FIG. 1, the following steps are included:
S1. whether system detection has workpiece, if then carrying out step S2, otherwise carries out step S8；
S2. the profile of workpiece is recorded by laser scanner；
S3. the length of workpiece is recorded by laser scanner；
S4. the distance of workpiece is recorded by encoder；
S5. whether detection workpiece reaches pre- specking, if then carrying out step S6, otherwise carries out step S8；
S6. spray gun is moved to by workpiece profile setting position by reciprocating engine；
S7. spray gun is opened to spray workpiece；
S8. judge whether spraying is completed, if then carrying out step S9, otherwise repeatedly step S6 and S7；
S9. system is resetted, and terminates spraying operation.
In the above scheme, system passes through first has detected whether workpiece, then record respectively the profile of workpiece, length and
Distance；Then pre- specking whether is reached in further detection workpiece, to open spray further by the mobile spray gun of reciprocating engine
Rifle is sprayed, and the spraying operation of workpiece is finally completed, and the reflection by laser to curved surface calculates the position of curved surface, according to
Dynamic contour curve variation, controls the distance of spray gun, guarantees that spray gun is consistent at a distance from contour line, to guarantee the good of spraying
Good effect.
In the present embodiment, step S2, specific step is as follows for the profile of laser scanner record workpiece:
By the distance between laser scanner measurement scanning element to laser, and feeds back to system processor and be recorded in and be
It unites in the corresponding register of processor, the register address and workpiece are apart from address information.
After workpiece enters in reciprocating engine spray range, the 4th axis of reciprocating engine is according to the workpiece profile before size progress
Into with the expanding-contracting action stepped back, finally make the rifle mouth of spray gun reach default value at a distance from workpiece surface.
In the present embodiment, step S3, specific step is as follows for the length of laser scanner record workpiece:
The both ends end to end of workpiece are identified by laser scanner, and are fed back to system processor and be recorded in system processor phase
In the register answered, the register address and workpiece are apart from address information.
After workpiece enters in spraying spray range, spray gun is opened, and carries out closing motion according to the work length scale.Most
Make the unlatching distance and the equal length of workpiece of spray gun eventually.
In the present embodiment, step S4, specific step is as follows for the distance of encoder record workpiece:
One piece of workpiece is opened up in system processor apart from address, and is stored in the address and each spray gun to be swept to laser
Retouch the distance of device, i.e. workpiece distance.When there is workpiece to enter laser scanner, that is, distance operation is triggered, which is to be based on
What encoder pulse signal carried out, when workpiece distance is equal to zero, i.e., workpiece is close to spray gun.Finally make workpiece by laser
The distance passed by after scanner and workpiece are equidistant.
A kind of spraying control device that laser detection dynamic outline spray gun is adaptive, referring to FIG. 2, including processor die
Block, scanner, reciprocating engine, touch-control module, encoder and spray gun；The scanner, reciprocating engine, touch-control module, encoder and
Spray gun is connect with processor module.
In the present embodiment, spray parameters are preset by touch-control module, processor module is according to corresponding parameter
The operation of scanner, reciprocating engine, encoder and spray gun is controlled respectively, wherein touch-control module is used for the initial ginseng before system starts
Number setting, encoder are used for dusty spray for recording the location of workpiece, spray gun, and processor is used for operation and control, to realize
Spraying to workpiece.
In the present embodiment, the scanner is laser scanner.
In the present embodiment, the reciprocating engine is four axis reciprocating engines.
In the present embodiment, the touch device is touch screen, can be directly arranged by touch screen and be watched corresponding
Parameter information enhances the operability of control device, facilitates the application of control system.
In the present embodiment, the spray gun is multiple, and multiple spray guns are connect with processor module respectively, multiple
Spray gun, which works at the same time, effectively improves working efficiency.
In the present embodiment, the processor module is PLC controller, and multiple spray guns, which work at the same time, effectively improves work
Efficiency.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (10)
1. a kind of spray painting control method that laser detection dynamic outline spray gun is adaptive, it is characterised in that: the following steps are included:
S1. whether system detection has workpiece, if then carrying out step S2, otherwise carries out step S9；
S2. the profile of workpiece is recorded by laser scanner；
S3. the length of workpiece is recorded by laser scanner;
S4. the distance of workpiece is recorded by encoder；
S5. whether detection workpiece reaches pre- specking, if then carrying out step S6, otherwise carries out step S9；
S6. spray gun is moved to by workpiece profile setting position by reciprocating engine；
S7. spray gun is opened to spray workpiece；
S8. judge whether spraying is completed, if then carrying out step S9, otherwise repeatedly step S6 and S7；
S9. system is resetted, and terminates spraying operation.
2. the adaptive spray painting control method of laser detection dynamic outline spray gun according to claim 1, it is characterised in that:
The step S2, specific step is as follows for the profile of laser scanner record workpiece:
By the distance between laser scanner measurement scanning element to laser, and feeds back to system processor and be recorded at system
It manages in the corresponding register of device, the register address and workpiece are apart from address information.
3. the adaptive spray painting control method of laser detection dynamic outline spray gun according to claim 1, it is characterised in that:
The step S3, specific step is as follows for the length of laser scanner record workpiece:
The both ends end to end of workpiece are identified by laser scanner, and feed back to system processor to be recorded in system processor corresponding
In register, the register address and workpiece are apart from address information.
4. the adaptive spray painting control method of laser detection dynamic outline spray gun according to claim 1, it is characterised in that:
The step S4, specific step is as follows for the distance of encoder record workpiece:
One piece of workpiece is opened up in system processor apart from address, and is stored in the address each spray gun to laser scanner
Distance, i.e. workpiece distance；When there is workpiece to enter laser scanner, i.e., triggering distance operation, the distance operation are based on coding
What device pulse signal carried out, when workpiece distance is equal to zero, i.e., workpiece is close to spray gun.
5. a kind of spraying control device that laser detection dynamic outline spray gun is adaptive, it is characterised in that: including processor module,
Scanner, reciprocating engine, touch-control module, encoder and spray gun；
Scanner, reciprocating engine, touch-control module, encoder and the spray gun is connect with processor module.
6. the adaptive spraying control device of laser detection dynamic outline spray gun according to claim 5, it is characterised in that:
The scanner is laser scanner.
7. the adaptive spraying control device of laser detection dynamic outline spray gun according to claim 5, it is characterised in that:
The reciprocating engine is four axis reciprocating engines.
8. the adaptive spraying control device of laser detection dynamic outline spray gun according to claim 5, it is characterised in that:
The touch device is touch screen.
9. the adaptive spraying control device of laser detection dynamic outline spray gun according to claim 5, it is characterised in that:
The spray gun be it is multiple, multiple spray guns are connect with processor module respectively.
10. the adaptive spraying control device of laser detection dynamic outline spray gun according to claim 5, feature exist
In: the processor module is PLC controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810485973.7A CN109225728A (en) | 2018-05-21 | 2018-05-21 | A kind of spray painting control method and apparatus that laser detection dynamic outline spray gun is adaptive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810485973.7A CN109225728A (en) | 2018-05-21 | 2018-05-21 | A kind of spray painting control method and apparatus that laser detection dynamic outline spray gun is adaptive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109225728A true CN109225728A (en) | 2019-01-18 |
Family
ID=65083752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810485973.7A Pending CN109225728A (en) | 2018-05-21 | 2018-05-21 | A kind of spray painting control method and apparatus that laser detection dynamic outline spray gun is adaptive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109225728A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113145335A (en) * | 2021-04-27 | 2021-07-23 | 山东动向新材料科技有限公司 | Automatic spraying machine with adaptability to special-shaped plate surface |
| CN115350849A (en) * | 2022-10-19 | 2022-11-18 | 二重（德阳）重型装备有限公司 | Forging spraying system and spraying method |
| CN116603661A (en) * | 2023-05-04 | 2023-08-18 | 江门丽宫国际食品股份有限公司 | Method and device for controlling copying spraying of pericarpium citri reticulatae |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1110035A (en) * | 1997-06-20 | 1999-01-19 | Toray Ind Inc | Manufacture of planar material and its producing device |
| DE102004005171A1 (en) * | 2003-02-01 | 2004-08-26 | Illinois Tool Works Inc., Cook County | Hot melt adhesive detection system for detection of articles coated with adhesive, whereby a thermal sensor output signal is compared with a reference heat profile |
| CN201482643U (en) * | 2009-08-20 | 2010-05-26 | 陈显忠 | Intelligent spray system |
| CN106179828A (en) * | 2016-08-29 | 2016-12-07 | 桂林梵玛科机械有限公司 | Green tyres flush coater autocontrol method and system |
| CN106938229A (en) * | 2016-12-27 | 2017-07-11 | 深圳市华成工业控制有限公司 | A kind of spray painting control method of spray coating mechanical hand |
| US20180112425A1 (en) * | 2016-10-25 | 2018-04-26 | Forjak Industrial, Inc. | Apparatus for treating a surface and vehicle for same |
| CN107983570A (en) * | 2017-12-31 | 2018-05-04 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of steel member paint finishing based on 3D vision technology |
-
2018
- 2018-05-21 CN CN201810485973.7A patent/CN109225728A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1110035A (en) * | 1997-06-20 | 1999-01-19 | Toray Ind Inc | Manufacture of planar material and its producing device |
| DE102004005171A1 (en) * | 2003-02-01 | 2004-08-26 | Illinois Tool Works Inc., Cook County | Hot melt adhesive detection system for detection of articles coated with adhesive, whereby a thermal sensor output signal is compared with a reference heat profile |
| CN201482643U (en) * | 2009-08-20 | 2010-05-26 | 陈显忠 | Intelligent spray system |
| CN106179828A (en) * | 2016-08-29 | 2016-12-07 | 桂林梵玛科机械有限公司 | Green tyres flush coater autocontrol method and system |
| US20180112425A1 (en) * | 2016-10-25 | 2018-04-26 | Forjak Industrial, Inc. | Apparatus for treating a surface and vehicle for same |
| CN106938229A (en) * | 2016-12-27 | 2017-07-11 | 深圳市华成工业控制有限公司 | A kind of spray painting control method of spray coating mechanical hand |
| CN107983570A (en) * | 2017-12-31 | 2018-05-04 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of steel member paint finishing based on 3D vision technology |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113145335A (en) * | 2021-04-27 | 2021-07-23 | 山东动向新材料科技有限公司 | Automatic spraying machine with adaptability to special-shaped plate surface |
| CN115350849A (en) * | 2022-10-19 | 2022-11-18 | 二重（德阳）重型装备有限公司 | Forging spraying system and spraying method |
| CN115350849B (en) * | 2022-10-19 | 2023-02-03 | 二重（德阳）重型装备有限公司 | Forging spraying system and spraying method |
| CN116603661A (en) * | 2023-05-04 | 2023-08-18 | 江门丽宫国际食品股份有限公司 | Method and device for controlling copying spraying of pericarpium citri reticulatae |
| CN116603661B (en) * | 2023-05-04 | 2023-12-29 | 江门丽宫国际食品股份有限公司 | Method and device for controlling copying spraying of pericarpium citri reticulatae |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108480101A (en) | A kind of spray painting control method and apparatus of vision-based detection workpiece identification | |
| CN109225728A (en) | A kind of spray painting control method and apparatus that laser detection dynamic outline spray gun is adaptive | |
| CN106312397B (en) | A kind of the welding track automatic tracking system and method for laser vision guiding | |
| CN108982546B (en) | Intelligent robot gluing quality detection system and method | |
| CN104841593B (en) | Control method of robot automatic spraying system | |
| CA1331796C (en) | Automatic seam tracker and real time error cumulative control system for an industrial robot | |
| CN104002602B (en) | The laser activation device and laser activation method of function are corrected with machining accuracy | |
| Zhang et al. | Neurofuzzy model-based predictive control of weld fusion zone geometry | |
| CN113427168A (en) | Real-time welding seam tracking device and method for welding robot | |
| CN111530671A (en) | Intelligent robot spraying method based on spraying system | |
| CN112632718B (en) | Spraying robot track planning method based on improved point cloud slicing algorithm | |
| CN107127432A (en) | The aluminum alloy MIG welding Fusion Control System and method adjusted based on welder | |
| CN111013857A (en) | Spraying robot control system and control method | |
| CN110162834A (en) | The analogy method and reinforcing quality control apparatus of laser-impact data based on acquisition | |
| CN108563852A (en) | A kind of computational methods of the coating thickness cumulative speed based on spherical coordinate system | |
| CN115587552B (en) | Grid optimization method and device, terminal equipment and storage medium | |
| CN108549759A (en) | A kind of part coating layer thickness for automatic spraying technique calculates and emulation mode | |
| CN115193658A (en) | Bumper surface spraying method, device, equipment and storage medium | |
| Hang et al. | Reducing distortions caused by the welding arc in a laser stripe sensor system for automated seam tracking | |
| CN108355861A (en) | A kind of powder thickness detection spray painting control method and device based on heat wave | |
| CN114669835B (en) | Surface strong reflection workpiece welding seam pose extraction method based on powder spraying type visual sensing | |
| CN108355860A (en) | A kind of spray painting control method and device of powder thickness detection | |
| JP2015150617A (en) | Metallic mold spray method, and metallic mold spray system | |
| CN108444379A (en) | A kind of welding torch all positon angle recognition method and system | |
| CN109520457B (en) | Online oil film detection method and transportation system with online oil film detection function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |