CN114346878B - AI intelligence lacquer painting polishing system - Google Patents
AI intelligence lacquer painting polishing system Download PDFInfo
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- CN114346878B CN114346878B CN202210058912.9A CN202210058912A CN114346878B CN 114346878 B CN114346878 B CN 114346878B CN 202210058912 A CN202210058912 A CN 202210058912A CN 114346878 B CN114346878 B CN 114346878B
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Abstract
The invention relates to the technical field of surface processing, and particularly discloses an AI intelligent paint finish polishing system, which comprises a contour scanning module, a polishing module and a polishing module, wherein the contour scanning module is used for starting a 3D scanning robot to scan the contour of an automobile to obtain scanning data; the task generation module is used for establishing an automobile model according to the scanning data, comparing the automobile model with the reference model, determining a difference part and further determining an execution task; the instruction generating module is used for determining a motion instruction of the DA polishing robot according to the execution task and sending the motion instruction to the DA polishing robot; and the task correction module is used for acquiring paint information in real time and correcting the execution task according to the paint information. The invention adopts the collection of the mechanical arm and the polishing equipment, finishes the polishing purpose by outputting parameters and controlling the system, cancels experience and technical threshold, reduces the construction limitation and dependency, and improves the operation inclusion and convenience.
Description
Technical Field
The invention relates to the technical field of surface processing, in particular to an AI intelligent paint finish polishing system.
Background
Vehicles play a vital role in economic development, from private automobiles, to trains, motor cars, airplanes, ships, and the like in collective transportation. In order to keep the appearance image of the vehicle all the time, huge manpower, material resources and time are consumed, the nursing and maintenance effects are uneven due to the limitation of technology and equipment, and domestic painted surface beauty nursing is far from meeting the market demand.
As the current mainstream finish polishing nursing, the finish is repaired by manually operating polishing equipment, and the condition of the finish, the polishing equipment, the polishing consumables, the temperature during construction and the change of the down pressure all can generate different degrees of influence on the finish polishing.
The manual operation can not guarantee long-time high-efficient operation, has decided that technical work can not guarantee just on time to accomplish the task target just like the assembly line, and secondly, one person's physical quality has also decided the ability scope, and the scope that exceeds just needs to use more tool equipment to assist, has increased cost and construction degree of difficulty.
Disclosure of Invention
The invention aims to provide an AI intelligent paint surface polishing system to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an AI intelligent paint finish polishing system, the system comprising:
the contour scanning module is used for obtaining the model of the automobile, calling a reference model from a database according to the model, selecting a model scanning path, and starting a 3D scanning robot to scan the contour of the automobile to obtain scanning data;
the task generation module is used for establishing an automobile model according to the scanning data, comparing the automobile model with the reference model and determining a difference part; when the difference part is empty, reading a preset execution task, and when the difference part is not empty, opening a task input port and acquiring the execution task based on the task input port;
the instruction generation module is used for determining a motion instruction of the DA polishing robot according to the execution task and sending the motion instruction to the DA polishing robot; wherein the motion instruction takes a tag of the DA polishing robot as an index;
the task correction module is used for acquiring paint information in real time and correcting the execution task according to the paint information;
the non-painted area of the automobile is provided with the masking paper containing the sensing signal material.
As a further scheme of the invention: the system further comprises:
and the task detection module is used for generating a rotation test instruction when the task is updated, acquiring a relative position parameter between the polishing disc and the DA polishing robot in real time, and determining the task feasibility according to the relative position parameter.
As a further scheme of the invention: the instruction generation module comprises:
the initial position determining unit is used for reading an initial position for executing a task and generating a position adjusting instruction for moving the DA polishing robot to the initial position; wherein the DA polishing robot is in contact with the automotive finish when the DA polishing robot reaches the initial position;
the boundary determining unit is used for establishing a motion trail origin and a pressure coefficient, carrying out motion trail range simulation according to the motion trail origin and the pressure coefficient and determining a limiting condition;
the conversion unit is used for inputting the execution task into a trained instruction generation model to obtain a motion instruction;
and the verification unit is used for performing reasonability verification on the motion instruction according to the limiting condition, and when the motion instruction passes the reasonability verification, the motion instruction is sent to the DA polishing robot.
As a further scheme of the invention: the task modification module comprises:
the information acquisition unit is used for acquiring the paint information in real time and adjusting the paint edge distance according to the paint information; the paint information comprises abrasive distribution condition, paint scratch, an oxide layer and brightness;
the speed increasing unit is used for increasing the rotating speed of the polishing machine when the distribution condition of the grinding agent is uniform;
the adjusting unit is used for determining the polishing problem according to the paint scratches, the oxide layer and the brightness, calling a new execution task through database information, and generating a motion instruction for changing the rotating speed, the pressure coefficient, the use and the component of the grinding agent, the polishing area and the polishing temperature of the OA polishing robot;
and the cleaning instruction generating unit is used for generating a cleaning instruction when all data in the paint information reach a preset value.
As a further scheme of the invention: the system further comprises:
the grinding agent distribution module is used for acquiring a motion instruction of the DA polishing robot in real time, generating a liquid squeezing instruction when the motion instruction is a replenishing instruction, and sending the liquid squeezing instruction to the squeezing execution piece;
the cleaning module is used for acquiring a motion instruction of the DA polishing robot in real time, and generating a wetting instruction, a gear set operation instruction and an air suction instruction when the motion instruction is a cleaning instruction or when the track amount is determined to reach a preset track threshold value according to the motion instruction;
and when a cleaning completion signal fed back by the cleaning module is received, generating a liquid squeezing instruction with the priority higher than that of other motion instructions.
As a further scheme of the invention: the cleaning module includes:
the air suction assembly is used for receiving an air suction instruction and executing air suction action;
the gear set is used for receiving a gear set operation instruction, executing a rotation action and carding bristles on a polishing disk in the DA polishing robot;
the spraying assembly is used for connecting a water source; the spray assembly includes a solenoid valve for receiving a wetting command and performing an adjustment action.
As a further scheme of the invention: the system further comprises an assistance system comprising:
the air blowing module is used for acquiring a motion instruction of the DA polishing robot in real time, determining the track quantity according to the motion instruction, and sending an air blowing instruction to the blower when the track quantity reaches a preset track threshold value;
the dust settling module is used for acquiring the content of smoke dust in air and sending a dust settling instruction to the water spraying device when the content of the smoke dust reaches a preset smoke dust threshold value; wherein, the water spraying device comprises an atomizing spray head;
and the temperature monitoring module is used for acquiring the paint surface temperature in real time and adjusting the motion instruction according to the paint surface temperature.
As a further scheme of the invention: the system still includes portal frame track module, portal frame track module includes:
the instruction receiving unit is used for receiving a control instruction and executing door opening and closing actions; generating a locking instruction when the control instruction is in error or interrupted;
the sensing unit is used for detecting whether an object exists in a target area in real time according to preset light sensation alarm equipment, and when the object exists in the target area, a warning signal and a stop instruction with the highest priority level are generated; sending the stop instruction to all executors;
the light sensation alarm equipment is arranged at an article inlet and outlet position of the portal frame rail.
As a further scheme of the invention: the system also comprises a reset module used for generating reset signals according to the preset parameters of each executive component and sending the reset signals to the corresponding executive components; and receiving feedback data uploaded after the resetting of each executing piece is finished, and judging the running condition of the executing piece according to the feedback data.
As a further scheme of the invention: the DA polishing robot comprises a tray, a polishing head and a polishing head, wherein the tray is used for vertically installing a polishing disk containing bristles; the axis of the polishing disk is parallel to the axis of the DA polishing robot.
Compared with the prior art, the invention has the beneficial effects that: the invention adopts the collection of the mechanical arm and the polishing equipment, finishes the polishing purpose by outputting parameters and controlling the system, cancels experience and technical threshold, reduces the construction limitation and dependency, and improves the operation inclusion and convenience. The equipment can work stably and effectively for a long time, and the working efficiency and the completion degree are ensured.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
Fig. 1 is a block diagram of the constitution of an AI intelligent paint finishing polishing system.
Fig. 2 is a block diagram showing the structure of the instruction generating module in the AI intelligent paint finishing system.
FIG. 3 is a block diagram of the task modification module in the AI intelligent paint polishing system.
FIG. 4 is a schematic three-dimensional structure diagram of the AI intelligent paint finish polishing system.
Fig. 5 is a schematic top view of the AI intelligent paint polishing system.
Fig. 6 is a schematic front view of the AI intelligent paint surface polishing system.
FIG. 7 is a schematic diagram of a side view of the AI intelligent paint finish polishing system.
Fig. 8 is a schematic diagram of the combination of the cleaning modules in the AI intelligent paint polishing system.
Fig. 9 is a schematic diagram of a disassembled structure of a cleaning module in the AI intelligent paint finishing polishing system.
Fig. 10 is a schematic view of the combined structure of the DA polishing robot in the AI intelligent paint polishing system.
Fig. 11 is a schematic diagram of a disassembled structure of the DA polishing robot in the AI intelligent paint surface polishing system.
In the figure: 1-gantry track module 1, 2-controller 2, 3-cleaning module 33, 4-car 4, 5-conveyor belt 5, 6-gear set 6, 7-spraying component 7, 8-air suction component 8, 9-tray 9.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Example 1
Referring to fig. 1 to 7, in an embodiment of the present invention, an AI intelligent paint finishing system, the system 100 includes the system 100 installed in a controller 2:
the contour scanning module 110 is configured to obtain a model of the automobile 4, call a reference model from a database according to the model, select a model scanning path, and start a 3D scanning robot to scan a contour of the automobile 4 to obtain scanning data;
the task generating module 120 is configured to establish an automobile 4 model according to the scanning data, compare the automobile 4 model with the reference model, and determine a difference part; when the difference part is empty, reading a preset execution task, when the difference part is not empty, opening a task input port, and acquiring the execution task based on the task input port;
the instruction generating module 130 is configured to determine a motion instruction of the DA polishing robot according to the execution task, and send the motion instruction to the DA polishing robot; wherein the motion instruction takes a tag of the DA polishing robot as an index;
the task correction module 140 is configured to obtain paint information in real time, and correct the execution task according to the paint information;
wherein, the non-painted surface area of the automobile 4 is provided with the masking paper containing the sensing signal material.
In an example of the technical scheme of the invention, before the automobile 4 is driven into the conveyor belt 5, the surface of the paint is ensured to be clean and free of impurities and moisture through preliminary paint surface cleaning, and the non-paint surface area is covered by masking paper with a specific sensing signal material, so that the protection effect is achieved, and information acquisition and distinguishing during 3D modeling are facilitated. The information collection differentiation is the function to be performed by the contour scanning module 110. 9. After the automobile 4 is conveyed to the designated area, a model is called from the database according to the type of the automobile 4, a model scanning path is selected, and the 3D scanning robot is started to scan the outline of the automobile 4. In the scanning process, the 3d scanning robot automatically avoids the masking area of the masking paper and directly scans the information of the paint area.
The task generating module 120 has the functions of scanning a model established by data, comparing the model with a model reserved in a database, directly selecting the database to execute a command task without difference, comparing different parts of the model with differences, adjusting parameters of a corresponding robot according to the paint surface condition, establishing a new execution command task, and finally generating an execution task.
The purpose of the command generating module 130 is to convert the execution task into a motion command of the DA polishing robots, the number of which may not be unique, and therefore, the generated motion command needs to contain a label of the DA polishing robot, which is described in popular language, that is, the address of the DA polishing robot.
In the process of polishing by the DA polishing robot, the task correction module 140 obtains the paint information in real time, and corrects the executed task according to the paint information, it should be noted that it corrects the executed task and does not refer to the motion instruction of the DA polishing robot, therefore, the task correction module 140 is a module that is continuously repeated and matched with the instruction generation module 130, and when the executed task changes, the executed task is converted into the motion instruction by the instruction generation module 130.
As a further limitation of the technical solution of the present invention, the system further comprises:
and the task detection module is used for generating a rotation test instruction when the task is updated, acquiring a relative position parameter between the polishing disc and the DA polishing robot in real time, and determining the task feasibility according to the relative position parameter.
Specifically, in an example of the technical solution of the present invention, after the execution task is established, a DA wool polishing pad is installed at the tray 9 of each DA polishing robot, and a rotation test is started to ensure that the DA wool polishing pad is tightly adhered and does not rotate and swing.
As a further limitation of the technical solution of the present invention, the instruction generating module 130 includes:
an initial position determining unit 131 for reading an initial position at which a task is performed, and generating a position adjustment instruction for moving the DA polishing robot to the initial position; wherein the DA polishing robot contacts the finish of the automobile 4 when the DA polishing robot reaches the initial position;
the boundary determining unit 132 is configured to establish a motion trajectory origin and a pressure coefficient, perform motion trajectory range simulation according to the motion trajectory origin and the pressure coefficient, and determine a limiting condition;
a conversion unit 133, configured to input the execution task into a trained instruction generation model to obtain a motion instruction;
and the verification unit 134 is used for performing rationality verification on the motion instruction according to the limiting conditions, and when the motion instruction passes the rationality verification, the motion instruction is sent to the DA polishing robot.
For the above, in an actual working condition, each DA polishing robot is moved to a corresponding position, the polishing disc can be contacted with the paint surface through the visual sensing system and the pressure system, and at this time, the origin of the motion track and the pressure coefficient are established. After the origin is established, motion trail range simulation is carried out, and the fact that the motion trail of each DA polishing robot is reasonable, effective and does not exceed the boundary is confirmed. And executing the command task at the center console, transmitting the data to the DA polishing machine robot, and starting to execute paint finish polishing.
As a preferred embodiment of the technical solution of the present invention, the task modification module 140 includes:
the information acquisition unit 141 is used for acquiring the paint information in real time and adjusting the paint edge distance according to the paint information; the paint information comprises abrasive distribution condition, paint scratch, oxide layer and brightness;
the speed increasing unit 142 is used for increasing the rotating speed of the polishing machine when the distribution condition of the grinding agents is uniform;
the adjusting unit 143 is used for determining the polishing problem according to the paint scratch, the oxide layer and the brightness, calling a new execution task through database information, and generating a motion instruction for changing the rotating speed, the pressure coefficient, the use and component of the grinding agent, the polishing area and the polishing temperature of the OA polishing robot;
and the cleaning instruction generating unit 144 is used for generating a cleaning instruction when each data in the paint information reaches a preset value.
Visual detection systems are arranged at the left end and the right end of the DA polishing machine, paint information is obtained in real time, changes such as abrasive distribution conditions, paint scratches, oxide layers and brightness are contrasted, the edge interval of the paint is controlled, and invalid contact between the DA polishing robot body and the automobile 4 is effectively prevented.
After the grinding agent is uniformly distributed, the rotating speed of the polishing machine is increased, and the symptoms such as paint scratches, oxide layers and the like are repaired by utilizing the effects of the polishing disk and the grinding agent.
And comparing the information collected by the vision systems at two ends to detect the problem that the paint surface is not processed in the polishing process, calling a new execution task and outputting data through database information comparison, and changing the rotation speed, the pressure coefficient, the use and the component of the grinding agent, the polishing area and the polishing temperature of the polishing machine by the robot.
In the process, according to the parameter setting, the DA polishing machine robot automatically goes to the polishing disc cleaning device to clean the polishing disc under the condition that the DA polishing machine robot runs to a certain track.
Further, the system further comprises:
the grinding agent distribution module is used for acquiring a motion instruction of the DA polishing robot in real time, generating a liquid squeezing instruction when the motion instruction is a supplement instruction, and sending the liquid squeezing instruction to the squeezing execution piece;
the cleaning module 3 is used for acquiring a motion instruction of the DA polishing robot in real time, and generating a wetting instruction, a gear set 6 operation instruction and an air suction instruction when the motion instruction is a cleaning instruction or when the track amount is determined to reach a preset track threshold value according to the motion instruction;
when a cleaning completion signal fed back by the cleaning module 3 is received, a squeezing instruction with a priority higher than other motion instructions is generated.
When the DA polisher robot reaches the abrasive dispensing device, an equal amount of abrasive is squeezed out at the corresponding location on the DA wool polishing pad, according to the task parameters, in a roughly ring shape consisting of abrasive droplets.
And (4) returning the DA polishing robot to the original motion point, pressing the DA wool disc on the paint surface, starting the polishing machine at a low rotating speed, and uniformly distributing the grinding agent on the paint surface through the rotation of the polishing machine and the motion of the robot.
When the DA polishing robot reaches the cleaning device, the spraying assembly 7 can spray out clean water to wet the rough surface of the polishing disk, the gear set 6 and the air suction system are started, when the gear set 6 combs wool, the air suction system sucks away cleaned abrasive excess and dirt, and then the DA polishing disk is dried through the air blowing module on the cleaning device.
It should be noted that the cleaning module 3 is used very frequently, and not only during the polishing process, but also in many cases, cleaning instructions are generated, such as at the beginning or end of polishing, or at regular time.
Specifically, as shown in fig. 8 and 9, the cleaning module 3 includes:
the air suction assembly 8 is used for receiving an air suction instruction and executing air suction action;
the gear set 6 is used for receiving an operation instruction of the gear set 6, executing a rotation action and carding bristles on a polishing disc in the DA polishing robot;
the spraying assembly 7 is used for connecting a water source; the spray assembly 7 comprises a solenoid valve for receiving a wetting command and performing an adjustment action.
As a preferred embodiment of the technical solution of the present invention, the system further includes an auxiliary system, the auxiliary system including:
the air blowing module is used for acquiring a motion instruction of the DA polishing robot in real time, determining the track quantity according to the motion instruction, and sending an air blowing instruction to the blower when the track quantity reaches a preset track threshold value;
the dust settling module is used for acquiring the content of smoke dust in air and sending a dust settling instruction to the water spraying device when the content of the smoke dust reaches a preset smoke dust threshold value; wherein, the water spraying device comprises an atomizing nozzle;
and the temperature monitoring module is used for acquiring the paint surface temperature in real time and adjusting the motion instruction according to the paint surface temperature.
After the DA polishing machine robot runs a certain amount of tracks, a blowing module of the port is started, the polished paint surface is subjected to soot blowing treatment, and then dust particles in the air are settled through the cooperation of a dust falling module.
The dust fall module, smoke and dust granule content in the automated inspection air, when the content surpassed the predetermined value, signal transmission arrives the host computer, adds water atomization blowout through high-pressure port, and the dust granule in the adsorbed air forms the water droplet, sinks by water droplet self gravity again, goes out the dust granule.
In the polishing process, an infrared temperature sensing system detects the temperature of the paint surface, so that the polishing of the paint surface is controlled within a safe temperature range.
As a preferred embodiment of the technical solution of the present invention, the system further includes a gantry rail module 1, and the gantry rail module 1 includes:
the instruction receiving unit is used for receiving the control instruction and executing door opening and closing actions; generating a locking instruction when the control instruction is in error or interrupted;
the sensing unit is used for detecting whether an object exists in a target area in real time according to preset light sensation alarm equipment, and when the object exists in the target area, a warning signal and a stop instruction with the highest priority level are generated; sending the stop instruction to all execution pieces;
the light sensing alarm equipment is arranged at an article inlet and outlet position of the portal frame rail.
The portal frame track module 1 has the function of controlling a portal frame on one side of an inlet and an outlet to rise for enough space, wherein the portal frame track module has an automatic locking function, and automatically stops and then resets when an instruction is interrupted; the portal frame is provided with a lifting emergency stop mechanical button, so that the software can be ensured to carry out emergency risk avoidance under the condition of error, and the automobile 4 enters a construction area.
When the polishing process is finished, the outlet portal frame is lifted, the conveying belt conveys the automobile 4 away from the working area until the automobile 4 is separated from the light sensation alarm area of the inlet and the outlet, and the portal frame descends and restores to the original position.
It is conceivable that the gantry rail module 1 is a base part of the solution according to the invention.
As a preferred embodiment of the technical solution of the present invention, the system further includes a reset module, configured to generate a reset signal according to a predetermined parameter of each executing component, and send the reset signal to the corresponding executing component; and receiving feedback data uploaded after the resetting of each executing piece is finished, and judging the running condition of the executing piece according to the feedback data.
As shown in fig. 10 and 11, as a preferred embodiment of the technical solution of the present invention, the DA polishing robot includes a tray 9 for vertically mounting a polishing disk containing bristles; the axis of the polishing disk is parallel to the axis of the DA polishing robot.
For convenience of understanding, a specific practical workflow is used to illustrate the technical solution of the present invention, and the following steps are included:
1. according to different construction objects and construction spaces, a portal frame track group is built, and supporting hardware such as a mechanical arm is installed;
2. connecting each hardware device to a central console by using an xx communication mode to form an information channel;
3. starting a central console, opening xx intelligent polishing system software, and activating intelligent polishing system hardware;
4. clicking a reset function, enabling each hardware device to reset according to the movement of preset parameters, uploading data after the devices are reset, and judging whether the devices can normally and effectively operate or not by software according to the uploaded data;
5. the portal frame rail function is used in software to control the portal frame on one side of the inlet and the outlet to rise for enough space (the software has an automatic locking function, the portal frame automatically stops and then resets when the instruction is interrupted, and the portal frame is provided with a lifting emergency stop mechanical button to ensure that the software can carry out emergency risk avoidance under the condition of error), and when the automobile 4 enters a construction area;
6. before the automobile 4 is driven into the conveyor belt 5, the surface of the paint is clean and free of impurities and moisture by primary paint surface cleaning, and a non-paint surface area is covered by masking paper with a specific sensing signal material, so that the protection effect is achieved, and information acquisition and distinguishing during 3D modeling are facilitated;
7. the automobile 4 is driven into the conveyor belt 5, the inner side of the hub is locked, and the automobile 4 is ensured not to be displaced on the way of being conveyed to a construction area;
8. when the automobile 4 passes through the portal frames of the inlet and the outlet, when the light-sensitive alarm devices on two sides of the doorway detect that an object enters or exits, an alarm warning is sent out, all the devices can pause to work, the alarm can not be released until the automobile 4 leaves the induction range, and all the devices can resume operation;
9. after the automobile 4 is conveyed to a designated area, calling a model from a database according to the type of the automobile 4, selecting a model scanning path, and starting a 3D scanning robot to scan the outline of the automobile 4;
10. in the scanning process, the 3d scanning robot automatically avoids masking areas of the masking paper and directly scans information of the painted areas;
11. the model established by scanning data is compared with a model reserved in a database, the database can be directly selected to execute command tasks without difference, the difference part of the model is compared with the difference part of the model, parameters of a corresponding robot are adjusted according to the paint surface condition, and a new command execution task is established;
12. after the execution task is established, installing DA wool polishing discs on the tray 9 of each DA polishing robot, starting a rotation test, and ensuring that the DA wool polishing discs are tightly adhered and do not swing when rotating;
13. each DA polishing robot is moved to a corresponding part, the polishing disc is contacted with the paint surface through a visual induction system and a pressure system, and the origin point and the pressure coefficient of the motion track are established;
14. after an original point is established, motion trail range simulation is carried out, and the fact that the motion trail of each DA polishing robot is reasonable, effective and does not exceed the boundary is confirmed;
15. and executing the command task at the center console, transmitting the data to the DA polishing machine robot, and starting to execute paint finish polishing.
16. Starting a dust falling device, automatically detecting the content of the smoke dust particles in the air, when the content exceeds a preset value, transmitting a signal to a host, adding water through a high-pressure port for atomization and spraying, adsorbing the dust particles in the air to form water drops, and sinking by the self gravity of the water drops to remove the dust particles;
the DA polishing machine robot comes to the grinding agent distribution device, and extrudes the same amount of grinding agent at the corresponding position on the DA wool polishing disk according to the task parameters, wherein the grinding agent is approximately in a ring shape consisting of grinding agent water drops;
the DA polishing robot returns to the original point of motion, the DA wool disc is pressed on the painted surface, the polishing machine is started at a low rotating speed, and the grinding agents are uniformly distributed on the painted surface through the rotation of the polishing machine and the motion of the robot;
visual detection systems are arranged at the left end and the right end of the DA polishing machine, paint information is obtained in real time, changes of abrasive distribution conditions, paint scratches, oxide layers, brightness and the like are contrasted, the edge distance of the paint is controlled, and invalid contact between the DA polishing robot body and the automobile 4 is effectively prevented;
20. after the grinding agent is uniformly distributed, the rotating speed of the polishing machine is increased, and the symptoms such as paint scratches and oxide layers are repaired under the action of the polishing disk and the grinding agent;
21. in the polishing process, an infrared temperature sensing system detects the temperature of the painted surface, so that the polishing of the painted surface is controlled within a safe temperature range;
22. according to the information comparison collected by the vision systems at the two ends, the problem that the paint surface is not processed in the polishing process is detected, a new execution task is called through the database information comparison, data are output, and the rotation speed, the pressure coefficient, the use and the component of an abrasive, the polishing area and the polishing temperature of the polishing machine are changed by the robot;
starting an air blowing system at a port after the DA polishing machine robot runs a certain amount of track, performing soot blowing treatment on the polished paint surface, and settling dust particles in the air through the cooperation of a dust falling system;
24. according to the parameter setting, the DA polishing machine robot automatically goes to a polishing disc cleaning device to clean the polishing disc under the condition of running to a certain track;
25. when the wool is cleaned by the cleaning device, clear water is sprayed out from a spraying port to wet the rough surface of the polishing disk, the gear set 6 and the air suction system are started, the air suction system sucks away cleaned abrasive excess and dirt while the gear set 6 combs wool, and then the DA polishing disk is dried by the air blowing system on the cleaning device;
26. the cleaned DA polishing robot goes to the grinding agent distribution device to replenish the grinding agent again;
27. under the information feedback of a visual system, after the first polishing is finished, a sponge polishing disc is replaced for the DA polishing robot, the second surface is subjected to reduction treatment, and the fine textures left after polishing are repaired;
28. the steps 12, 17 and 18 are carried out like the second reduction processing;
29. information captured by a front-end visual system is used until each datum such as paint scratch and paint brightness reaches a preset value;
after the DA polishing machine robot finishes the task, the cleaning device carries out the final cleaning of the polishing disk;
resetting the DA polishing robot;
32. and lifting the portal frame at the inlet and the outlet, conveying the automobile 4 away from the working area by the conveying belt until the automobile 4 is separated from the light sensation alarm area at the inlet and the outlet, and descending the portal frame to restore to the original position.
The functions that can be performed by the AI intelligent finish polishing system are performed by a computer device that includes one or more processors and one or more memories having at least one program code stored therein that is loaded into and executed by the one or more processors to perform the functions of the AI intelligent finish polishing system.
The processor fetches instructions and analyzes the instructions one by one from the memory, then completes corresponding operations according to the instruction requirements, generates a series of control commands, enables all parts of the computer to automatically, continuously and coordinately act to form an organic whole, realizes the input of programs, the input of data, the operation and the output of results, and the arithmetic operation or the logic operation generated in the process is completed by the arithmetic unit; the Memory comprises a Read-Only Memory (ROM) for storing a computer program, and a protection device is arranged outside the Memory.
Illustratively, a computer program can be partitioned into one or more modules, which are stored in memory and executed by a processor to implement the present invention. One or more of the modules may be a series of computer program instruction segments capable of performing certain functions, the instruction segments being used to describe the execution of the computer program in the terminal device.
Those skilled in the art will appreciate that the above description of the service device is merely exemplary and not limiting of the terminal device, and may include more or less components than those described, or combine certain components, or different components, such as may include input output devices, network access devices, buses, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is the control center of the terminal equipment and connects the various parts of the entire user terminal using various interfaces and lines.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the terminal device by operating or executing the computer programs and/or modules stored in the memory and calling data stored in the memory. The memory mainly comprises a storage program area and a storage data area, wherein the storage program area can store an operating system, application programs (such as an information acquisition template display function, a product information publishing function and the like) required by at least one function and the like; the storage data area may store data created according to the use of the berth status display system (such as product information acquisition templates corresponding to different product categories, product information that needs to be issued by different product providers, and the like). In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The terminal device integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the modules/units in the system according to the above embodiment may be implemented by a computer program, which may be stored in a computer-readable storage medium and used by a processor to implement the functions of the embodiments of the system. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (6)
1. An AI intelligent paint finish polishing system, the system comprising:
the contour scanning module is used for obtaining the model of the automobile, calling a reference model from a database according to the model, selecting a model scanning path, and starting a 3D scanning robot to scan the contour of the automobile to obtain scanning data;
the task generation module is used for establishing an automobile model according to the scanning data, comparing the automobile model with the reference model and determining a difference part; when the difference part is empty, reading a preset execution task, and when the difference part is not empty, opening a task input port and acquiring the execution task based on the task input port;
the instruction generating module is used for determining a motion instruction of the DA polishing robot according to the execution task and sending the motion instruction to the DA polishing robot; wherein the motion instruction takes a tag of the DA polishing robot as an index;
the task correction module is used for acquiring paint information in real time and correcting the execution task according to the paint information;
the non-painted area of the automobile is provided with masking paper containing sensing signal materials; the DA polishing robot comprises a tray, a polishing head and a polishing head, wherein the tray is used for vertically installing a polishing disk containing bristles; the axis of the polishing disc is parallel to the axis of the DA polishing robot;
the task modification module comprises: the information acquisition unit is used for acquiring the paint information in real time and adjusting the paint edge distance according to the paint information; the paint information comprises abrasive distribution condition, paint scratch, oxide layer and brightness; the speed increasing unit is used for increasing the rotating speed of the polishing machine when the distribution condition of the grinding agents is uniform; the adjusting unit is used for determining the polishing problem according to the paint scratch, the oxide layer and the brightness, calling a new execution task through database information, and generating a motion instruction for changing the rotating speed, the pressure coefficient, the use and component of the grinding agent, the polishing area and the polishing temperature of the OA polishing robot; the cleaning instruction generating unit is used for generating a cleaning instruction when all data in the paint information reach a preset value;
in the polishing process, an infrared temperature sensing system detects the temperature of the paint surface, so that the polishing of the paint surface is controlled within a safe temperature range; calling a new execution task, outputting data, and changing the rotation speed, the pressure coefficient, the use and the component of the grinding agent, the polishing area and the polishing temperature of the polishing machine by the robot;
the system further comprises: the grinding agent distribution module is used for acquiring a motion instruction of the DA polishing robot in real time, generating a liquid squeezing instruction when the motion instruction is a supplement instruction, and sending the liquid squeezing instruction to the squeezing execution piece; the cleaning module is used for acquiring a motion instruction of the DA polishing robot in real time, and generating a wetting instruction, a gear set operation instruction and an air suction instruction when the motion instruction is a cleaning instruction or when the track amount reaches a preset track threshold value according to the motion instruction; when a cleaning completion signal fed back by the cleaning module is received, a liquid squeezing instruction with the priority higher than that of other motion instructions is generated;
the cleaning module includes: the air suction assembly is used for receiving an air suction instruction and executing an air suction action; the gear set is used for receiving a gear set operation instruction, executing a rotation action and carding bristles on a polishing disk in the DA polishing robot; the spraying assembly is used for connecting a water source; the spray assembly includes a solenoid valve for receiving a wetting command and performing an adjustment action.
2. The AI intelligent paint finish polishing system of claim 1, further comprising:
and the task detection module is used for generating a rotation test instruction when the task is updated, acquiring a relative position parameter between the polishing disc and the DA polishing robot in real time, and determining the task feasibility according to the relative position parameter.
3. The AI intelligent paint finishing system of claim 1, wherein the instruction generation module comprises:
an initial position determining unit for reading an initial position for executing a task and generating a position adjusting instruction for moving the DA polishing robot to the initial position; wherein the DA polishing robot is in contact with the automotive finish when the DA polishing robot reaches the initial position;
the boundary determining unit is used for establishing a motion trail origin and a pressure coefficient, carrying out motion trail range simulation according to the motion trail origin and the pressure coefficient and determining a limiting condition;
the conversion unit is used for inputting the execution task into a trained instruction generation model to obtain a motion instruction;
and the verification unit is used for performing reasonability verification on the motion instruction according to the limiting condition, and when the motion instruction passes the reasonability verification, the motion instruction is sent to the DA polishing robot.
4. The AI intelligent paint finishing system of claim 1, further comprising an auxiliary system, the auxiliary system comprising:
the air blowing module is used for acquiring a motion instruction of the DA polishing robot in real time, determining the track quantity according to the motion instruction, and sending an air blowing instruction to the blower when the track quantity reaches a preset track threshold value;
the dust settling module is used for acquiring the smoke content in the air and sending a dust settling instruction to the water spraying device when the smoke content reaches a preset smoke threshold; wherein, the water spraying device comprises an atomizing spray head;
and the temperature monitoring module is used for acquiring the paint temperature in real time and adjusting the motion instruction according to the paint temperature.
5. The AI intelligent paint finishing system of claim 4, further comprising a gantry track module, the gantry track module comprising:
the instruction receiving unit is used for receiving a control instruction and executing door opening and closing actions; generating a locking instruction when the control instruction is in error or interrupted;
the sensing unit is used for detecting whether an object exists in a target area in real time according to preset light sensation alarm equipment, and when the object exists in the target area, generating a warning signal and a stop instruction with the highest priority; sending the stop instruction to all execution pieces;
the light sensing alarm equipment is arranged at an article inlet and outlet position of the portal frame rail.
6. The AI intelligent paint finishing system of any of claims 1-5, further comprising a reset module for generating a reset signal in accordance with predetermined parameters of each actuator and sending the reset signal to the corresponding actuator; and receiving feedback data uploaded after the resetting of each executing piece is finished, and judging the running condition of the executing piece according to the feedback data.
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| CN202210058912.9A CN114346878B (en) | 2022-01-19 | 2022-01-19 | AI intelligence lacquer painting polishing system |
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| CN114346878B true CN114346878B (en) | 2023-03-14 |
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