CN115055301A - Automatic spraying machine with visual positioning function for experiments - Google Patents
Automatic spraying machine with visual positioning function for experiments Download PDFInfo
- Publication number
- CN115055301A CN115055301A CN202210604428.1A CN202210604428A CN115055301A CN 115055301 A CN115055301 A CN 115055301A CN 202210604428 A CN202210604428 A CN 202210604428A CN 115055301 A CN115055301 A CN 115055301A
- Authority
- CN
- China
- Prior art keywords
- spraying
- visual positioning
- working platform
- automatic
- machine
- 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
- 238000005507 spraying Methods 0.000 title claims abstract description 129
- 230000000007 visual effect Effects 0.000 title claims abstract description 48
- 238000002474 experimental method Methods 0.000 title claims description 16
- 239000007921 spray Substances 0.000 claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 10
- 239000011248 coating agent Substances 0.000 claims abstract description 7
- 238000000576 coating method Methods 0.000 claims abstract description 7
- 238000010438 heat treatment Methods 0.000 claims description 15
- 239000007788 liquid Substances 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 239000013589 supplement Substances 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000007592 spray painting technique Methods 0.000 claims 6
- 239000000463 material Substances 0.000 abstract description 11
- 230000003252 repetitive effect Effects 0.000 abstract description 3
- 239000000049 pigment Substances 0.000 description 2
- 238000007781 pre-processing Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
Landscapes
- Spray Control Apparatus (AREA)
Abstract
The invention relates to an experimental automatic spraying machine with visual positioning, which comprises a working platform, a sliding device, a spraying device and a visual positioning device, wherein the working platform is used for placing a spraying object and carrying out data processing, the spraying device is arranged on the sliding device, the sliding device is used for adjusting the three-dimensional coordinate of the spraying device, the visual positioning device is used for capturing the position of the spraying object so as to calculate the three-dimensional coordinate position of the spraying device, which needs to be moved, and the working platform drives the sliding device to carry out corresponding control according to the three-dimensional coordinate position of the spraying device, which is calculated by the visual positioning device. Compared with the prior art, the invention positions the spraying object through the visual positioning device, avoids the spraying dead angle, obtains the coating with high uniformity, changes the height of the spray head according to the size of the spraying object, reduces the material loss to the maximum extent, is convenient for large-batch repetitive spraying operation, ensures that the spraying process is standard and controllable, and really realizes automatic spraying.
Description
Technical Field
The invention relates to the field of spraying equipment, in particular to an experimental automatic spraying machine with visual positioning function.
Background
The spray coating process is a processing method for changing the surface performance of a spray coating formed by atomizing and spraying a spray coating material on the surface of a spray coating object, and is widely applied in various technical industries.
The experimental spraying machine sprays a layer of film on the surface of a spraying object (generally a glass sheet), and the spraying speed, the spraying height, the thickness and the uniformity of the sprayed layer all influence the quality of the film.
The invention with publication number CN112275496A discloses an experimental guide rail type automatic spraying machine, which comprises a machine body, a heating platform, a guide rail, a vertical swing rod, a horizontal telescopic swing rod and an air pump. Compared with the prior art, the spraying horizontal displacement of the first dimension in the horizontal direction is realized through the matching of the guide rail, the sliding block and the first driving piece, the vertical displacement is realized through the matching of the vertical swing rod, the bearing block and the second driving piece, the spraying horizontal displacement of the second dimension is realized through driving the spraying unit by the horizontal telescopic swing rod, and the adjustment of the spraying displacement is richer through the relative rotation between the heating platform and the heating platform, so that the experimental material preparation is greatly facilitated, the standardized experiment can be carried out through a programmed spraying path, the problems of uneven film thickness, waste of solvent and the like caused by artificial spraying in the experimental process can be avoided, and manpower and material resources are greatly saved.
However, the guide rail type automatic spraying machine for the experiment still needs to manually input the position coordinates of the spraying object, and is low in efficiency and accuracy.
Disclosure of Invention
The invention aims to overcome the defects that the position coordinates of a spraying object need to be manually input, the efficiency is low and the accuracy rate is low in the prior art, and provides the automatic spraying machine with the visual positioning function for the experiment.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides an automatic spraying machine for experiments with visual positioning, includes work platform, slider and spraying device, work platform is used for placing the spraying object and carries out data processing, spraying device installs on slider, slider is used for adjusting spraying device's three-dimensional coordinate, automatic spraying machine for experiments still includes:
the visual positioning device is used for capturing the position of the spraying object, so that the three-dimensional coordinate position of the spraying device needing to move is calculated;
the working platform is respectively in communication connection with the sliding device and the visual positioning device, and drives the sliding device to perform corresponding control according to the three-dimensional coordinate position, calculated by the visual positioning device, of the spraying device, which needs to move.
Furthermore, the visual positioning device comprises a CCD camera and an image processing module which are connected with each other, and the CCD camera is right opposite to the working platform and used for collecting platform images.
Further, the image processing module is used for recognizing the outermost layer contour of the spraying object after preprocessing the platform image, calculating the minimum circumscribed circle of the outermost layer contour, acquiring the circle center coordinate and radius information of the minimum circumscribed circle, and then calculating the three-dimensional coordinate position of the spraying device needing to move.
Further, the calculation expression of the three-dimensional coordinate position where the spraying device needs to move is as follows:
in the formula, M is a three-dimensional coordinate position required to be moved by the spraying device, a and b are coordinates of the center of a minimum circumcircle, r is the radius of the minimum circumcircle, delta is an error, and theta is the spraying angle of the spraying device.
Furthermore, the CCD camera is provided with a lens protection cover and a light supplement lamp.
Further, the CCD camera is positioned above the spraying device, and the sliding device returns to the original position after moving each time, so that the visual center of the CCD camera is right opposite to the central point of the working platform.
Further, work platform includes organism case and heating platform, the organism case is located the work platform bottom, the organism case is equipped with the ARM treater and is used for controlling the spraying process.
Further, the sliding device includes:
the guide rail is arranged on one side of the machine body box;
the first sliding block is arranged in the guide rail and is used for performing linear movement along the guide rail under the driving of the working platform;
the vertical telescopic rod is arranged on the sliding block and used for displacement adjustment in the vertical direction;
the transverse sliding rod is vertically arranged at the top of the vertical telescopic rod;
the second sliding block is arranged on the transverse sliding rod and is used for transversely moving along the transverse sliding rod under the driving of the working platform;
and the spraying device and the visual positioning device are both arranged on the second sliding block.
Further, the spraying device comprises a liquid storage tank and a spray head, the spray head is installed on the sliding device, and the liquid storage tank is connected with the spray head through a guide pipe.
Further, the initial position of the spray head is right opposite to the center of the working platform, and the spraying amount and the spraying time interval are controlled by the working platform.
Compared with the prior art, the invention has the following advantages:
the experimental automatic spraying machine with the visual positioning function can automatically position a spraying object, avoid spraying dead angles, obtain a coating with high uniformity, change the height of a spray head according to the size of the spraying object, reduce material loss to the greatest extent, facilitate large-batch repetitive spraying operation, enable the spraying process to be standard and controllable, and really realize automatic spraying.
Drawings
FIG. 1 is a perspective view of an exemplary automatic coating machine with visual orientation provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a visual positioning apparatus according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating the operation of an automatic coating machine with visual positioning for experiments according to an embodiment of the present invention;
in the figure, the device comprises a machine body box 1, a machine body box 2, a heating platform 3, a guide rail 4, a first sliding block 5, a vertical telescopic rod 6, a transverse sliding rod 7, a second sliding block 8, a liquid storage tank 9, a spray head 10, a guide pipe 11 and a CCD camera.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
It should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
Example 1
In recent years, automation equipment based on machine vision has higher flexibility, a visual positioning device is arranged on a spraying machine, so that the spraying dead angle can be avoided, the material loss is reduced to the greatest extent, large-batch repetitive spraying operation is facilitated, the spraying process is standard and controllable, and the automation spraying is realized in a true sense.
The embodiment provides an experimental automatic spraying machine with visual positioning, which comprises a working platform, a sliding device, a spraying device and a visual positioning device, wherein the working platform is used for placing a spraying object and carrying out data processing;
the visual positioning device is used for capturing the position of the spraying object, so that the three-dimensional coordinate position of the spraying device needing to move is calculated;
the working platform is respectively in communication connection with the sliding device and the visual positioning device, and drives the sliding device to perform corresponding control according to the three-dimensional coordinate position, calculated by the visual positioning device, of the spraying device, which needs to move.
Specifically, the visual positioning device comprises a CCD camera 11 and an image processing module which are connected with each other, and the CCD camera 11 is over against the working platform for acquiring the platform image.
The image processing module is used for recognizing the outermost layer contour of the spraying object after preprocessing the platform image, calculating the minimum circumscribed circle of the outermost layer contour, acquiring the circle center coordinate and radius information of the minimum circumscribed circle, and then calculating the three-dimensional coordinate position of the spraying device needing to move.
As shown in fig. 2, the calculation expression of the three-dimensional coordinate position where the spray coating device needs to move is:
in the formula, M is a three-dimensional coordinate position required to be moved by the spraying device, a and b are coordinates of the center of a minimum circumcircle, r is the radius of the minimum circumcircle, delta is an error, and theta is the spraying angle of the spraying device.
Preferably, the CCD camera 11 is provided with a lens protection cover to prevent the sprayed pigment from polluting the view of the lens; the CCD camera 11 is provided with an LED light supplement lamp, and the LED light supplement lamp is automatically turned on in a dark environment to shoot.
Preferably, the CCD camera 11 is located above the spraying device, and the sliding device returns to the original position after each movement, so that the visual center of the CCD camera 11 is right opposite to the central point of the working platform, which is convenient for control and calculation.
The invention positions the position of the spraying object through the visual positioning device, avoids spraying dead angles, obtains a coating with high uniformity, changes the height of the spray head according to the size of the spraying object, and reduces material loss to the maximum extent.
The following describes a specific embodiment of the present invention in an experimental automatic coating machine with visual orientation.
As shown in fig. 1, the working platform comprises a machine body box 1 and a heating platform 2, the machine body box 1 is located at the bottom of the working platform, and the machine body box 1 is provided with an ARM processor for controlling the spraying process. The heating platform 2 is positioned at the upper part of the machine body box and can rotate around a central shaft at a certain angular speed.
The sliding device includes:
a guide rail 3 arranged at one side of the machine body box 1;
the first sliding block 4 is arranged in the guide rail 3 and can move linearly along the guide rail paved on the machine body box under the control of the ARM processor, namely in the X-axis direction.
The vertical telescopic rod 5 is arranged on the sliding block and used for displacement adjustment in the vertical direction, and the vertical telescopic rod is an electric telescopic rod and can be adjusted in height to realize displacement in the Z-axis direction;
the transverse sliding rod 6 is vertically arranged at the top of the vertical telescopic rod 5 and moves in the Y-axis direction;
the second sliding block 7 is arranged on the transverse sliding rod 6 and is used for transversely moving along the transverse sliding rod 6 under the driving of the working platform;
the spraying device and the visual positioning device are both arranged on the second slide block 7.
The spraying device comprises a liquid storage tank 8 and a spray head 9, wherein the liquid storage tank 8 is positioned on one side of the machine body box, the initial position of the spray head 9 is right opposite to the center of the heating platform, the spraying amount and the spraying time interval are controlled by the ARM processor, and the liquid storage tank 8 is connected with the spray head 9 through a guide pipe 10.
The CCD camera 11 is positioned above the spray head and is provided with a lens protective cover to prevent sprayed pigment from polluting the sight of a lens; when shooting is carried out each time, the sliding device returns to the original position, so that the visual center of the CCD camera 11 is right opposite to the central point of the heating platform 2, the LED light supplementing shooting is automatically started in a dark environment, and the picture is transmitted to the image processing module of the ARM processor. And the image processing module converts the image into a gray-scale image, performs mean filtering and binarization, identifies the outermost layer contour of the spraying object, calculates the minimum circumscribed circle of the contour, and acquires the coordinate and radius information of the circle center. As shown in FIG. 2, the image processing module calculates the movement coordinates of the head 9 as
Wherein a and b are the coordinates of the center of the minimum circumcircle, r is the radius of the minimum circumcircle, delta is the error, and the spray angle of the theta spray head is determined.
The specific working process is as follows:
as shown in fig. 3, the spraying material is put into the liquid storage tank 8, the spraying object is put on the heating platform 2, the nozzle 9 returns to the initial position, just above the heating platform 2, the CCD camera 11 turns on the detection light source environment, if the light is too dark, the LED auxiliary lighting is turned on, and at the same time, a picture of the spraying object on the heating platform 2 is taken and transmitted to the image processing system, and the heating platform 2 starts to be preheated. The image processing system takes the heating platform center 2 as an original point, a space coordinate system is constructed by the guide rail 3, the transverse sliding rod 6 and the vertical telescopic rod 5, the optimal spraying position which can completely cover a spraying object and save spraying materials is calculated, the ARM processor sends out a control command to move the spray head 9 to a specified position, then the image is photographed again to check whether dead angles exist or not, and spraying preparation is started. The liquid storage tank 8 transports the spraying material to the spray head 9, and atomizes and sprays the spraying material on the surface of the spraying object to form a spraying layer. And after one-time spraying is finished, the ARM processor controls the spray head to stop spraying for a period, and then next spraying is started until the next spraying is finished.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The utility model provides an automatic spraying machine for experiments with visual positioning, includes work platform, slider and spraying device, work platform is used for placing the spraying object and carries out data processing, spraying device installs on slider, slider is used for adjusting spraying device's three-dimensional coordinate, its characterized in that, automatic spraying machine for experiments still includes:
the visual positioning device is used for capturing the position of the spraying object, so that the three-dimensional coordinate position of the spraying device needing to move is calculated;
the working platform is respectively in communication connection with the sliding device and the visual positioning device, and drives the sliding device to perform corresponding control according to the three-dimensional coordinate position, calculated by the visual positioning device, of the spraying device, which needs to move.
2. The automatic spraying machine with the visual positioning function for the experiment is characterized in that the visual positioning device comprises a CCD camera (11) and an image processing module which are connected with each other, and the CCD camera (11) is opposite to the working platform and used for collecting a platform image.
3. The automatic experimental spraying machine with the visual positioning function as claimed in claim 2, wherein the image processing module is configured to pre-process the platform image, identify an outermost contour of the spraying object, calculate a minimum circumscribed circle of the outermost contour, obtain center coordinates and radius information of the minimum circumscribed circle, and then calculate a three-dimensional coordinate position where the spraying device needs to move.
4. The automatic spray painting machine for experiments with visual positioning as claimed in claim 3, wherein the calculation expression of the three-dimensional coordinate position where the spray painting device needs to move is as follows:
in the formula, M is a three-dimensional coordinate position required to be moved by the spraying device, a and b are coordinates of the center of a minimum circumcircle, r is the radius of the minimum circumcircle, delta is an error, and theta is the spraying angle of the spraying device.
5. The automatic spraying machine with visual positioning for experiments according to claim 2 is characterized in that the CCD camera (11) is provided with a lens protection cover and a light supplement lamp.
6. The automatic spray painting machine for experiments with visual positioning according to claim 2, characterized in that the CCD camera (11) is located above the spray painting device, and the sliding device returns to the original position after each movement, so that the visual center of the CCD camera (11) is right opposite to the central point of the working platform.
7. The automatic spray painting machine with visual positioning for experiments according to claim 1 is characterized in that the working platform comprises a machine body box (1) and a heating platform (2), the machine body box (1) is located at the bottom of the working platform, and the machine body box (1) is provided with an ARM processor for controlling the spray painting process.
8. The automatic experimental coating machine with visual positioning as claimed in claim 1, wherein said sliding means comprises:
the guide rail (3) is arranged on one side of the machine body box (1);
the first sliding block (4) is arranged in the guide rail (3) and is used for performing linear movement along the guide rail (3) under the driving of the working platform;
the vertical telescopic rod (5) is arranged on the sliding block and is used for displacement adjustment in the vertical direction;
the transverse sliding rod (6) is vertically arranged at the top of the vertical telescopic rod (5);
the second sliding block (7) is arranged on the transverse sliding rod (6) and is used for transversely moving along the transverse sliding rod (6) under the driving of the working platform;
the spraying device and the visual positioning device are both arranged on the second sliding block (7).
9. The automatic experimental sprayer with visual positioning as claimed in claim 1, characterized in that said spraying device comprises a liquid storage tank (8) and a spray head (9), said spray head (9) being mounted on a sliding device, said liquid storage tank (8) and spray head (9) being connected by a conduit (10).
10. The automatic experimental sprayer with visual positioning as claimed in claim 9, characterized in that the initial position of the spray head (9) is aligned with the center of the working platform, and the spraying amount and the spraying time interval are controlled by the working platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210604428.1A CN115055301A (en) | 2022-05-30 | 2022-05-30 | Automatic spraying machine with visual positioning function for experiments |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210604428.1A CN115055301A (en) | 2022-05-30 | 2022-05-30 | Automatic spraying machine with visual positioning function for experiments |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115055301A true CN115055301A (en) | 2022-09-16 |
Family
ID=83197780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210604428.1A Pending CN115055301A (en) | 2022-05-30 | 2022-05-30 | Automatic spraying machine with visual positioning function for experiments |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115055301A (en) |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005014216A (en) * | 2003-06-23 | 2005-01-20 | Seiko Epson Corp | Dot deviation detection method and dot deviation detecting device |
| CN104670496A (en) * | 2015-03-11 | 2015-06-03 | 西南大学 | Six-shaft type pesticide spray flight device and control method |
| CN106922484A (en) * | 2017-02-16 | 2017-07-07 | 南京信息工程大学 | Humidify the distribution method of region shower nozzle |
| CN108465583A (en) * | 2018-04-10 | 2018-08-31 | 广州启帆工业机器人有限公司 | A kind of curved surface spraying orbit generation method and system based on surface parameterization |
| CN108481294A (en) * | 2018-03-12 | 2018-09-04 | 高顺 | A kind of Engineering Robot for environmental monitoring, reparation |
| CN109003910A (en) * | 2018-06-06 | 2018-12-14 | 广东利扬芯片测试股份有限公司 | Irregular crystal round test approach and its computer readable storage medium based on full-automatic probe station |
| CN109290088A (en) * | 2018-08-08 | 2019-02-01 | 湖南晗光智能科技股份有限公司 | A kind of spraying intelligence control system and automation equipment based on machine vision |
| CN109967292A (en) * | 2019-04-18 | 2019-07-05 | 中联西北工程设计研究院有限公司 | A kind of automatic spraying system and its method based on the reconstruct of workpiece profile information three-dimensional |
| CN110076029A (en) * | 2019-04-18 | 2019-08-02 | 湖南城市学院 | Glue spraying control method, system, computer equipment and computer storage medium |
| US20190255551A1 (en) * | 2018-02-22 | 2019-08-22 | Hope Robotics Llc | Autonomous mobile coating applicator |
| CN110209015A (en) * | 2019-05-31 | 2019-09-06 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Glue spreader spraying method and system |
| CN111192189A (en) * | 2019-12-27 | 2020-05-22 | 中铭谷智能机器人(广东)有限公司 | Three-dimensional automatic detection method and system for automobile appearance |
| CN112275496A (en) * | 2020-10-29 | 2021-01-29 | 上海应用技术大学 | Guide rail type automatic spraying machine for experiment |
| CN212766756U (en) * | 2020-04-06 | 2021-03-23 | 深圳市澳华德赛实业有限公司 | Agricultural is with unmanned aerial vehicle that spreads pesticides |
| CN113109215A (en) * | 2021-03-12 | 2021-07-13 | 南京航空航天大学 | Spray droplet particle size detection device and detection method |
| CN113331167A (en) * | 2021-08-02 | 2021-09-03 | 西咸新区千兆智能科技有限公司 | Control system for spraying pesticide in agricultural greenhouse and spraying method thereof |
| CN113963144A (en) * | 2020-07-01 | 2022-01-21 | 鑫宏图科贸有限公司 | Icicle identification and positioning method based on image |
| CN114494225A (en) * | 2022-02-11 | 2022-05-13 | 安徽大学 | Paper tube breakage defect detection method based on shape characteristics |
| CN114504170A (en) * | 2022-03-07 | 2022-05-17 | 知守科技(杭州)有限公司 | Method and system for spraying glue on soles of flaky soles and storage medium |
| US20220314256A1 (en) * | 2019-04-26 | 2022-10-06 | Guangdong Bright Dream Robotics Co., Ltd. | Spraying robot, control method, and computer readable storage medium |
-
2022
- 2022-05-30 CN CN202210604428.1A patent/CN115055301A/en active Pending
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005014216A (en) * | 2003-06-23 | 2005-01-20 | Seiko Epson Corp | Dot deviation detection method and dot deviation detecting device |
| CN104670496A (en) * | 2015-03-11 | 2015-06-03 | 西南大学 | Six-shaft type pesticide spray flight device and control method |
| CN106922484A (en) * | 2017-02-16 | 2017-07-07 | 南京信息工程大学 | Humidify the distribution method of region shower nozzle |
| US20190255551A1 (en) * | 2018-02-22 | 2019-08-22 | Hope Robotics Llc | Autonomous mobile coating applicator |
| CN108481294A (en) * | 2018-03-12 | 2018-09-04 | 高顺 | A kind of Engineering Robot for environmental monitoring, reparation |
| CN108465583A (en) * | 2018-04-10 | 2018-08-31 | 广州启帆工业机器人有限公司 | A kind of curved surface spraying orbit generation method and system based on surface parameterization |
| CN109003910A (en) * | 2018-06-06 | 2018-12-14 | 广东利扬芯片测试股份有限公司 | Irregular crystal round test approach and its computer readable storage medium based on full-automatic probe station |
| CN109290088A (en) * | 2018-08-08 | 2019-02-01 | 湖南晗光智能科技股份有限公司 | A kind of spraying intelligence control system and automation equipment based on machine vision |
| CN109967292A (en) * | 2019-04-18 | 2019-07-05 | 中联西北工程设计研究院有限公司 | A kind of automatic spraying system and its method based on the reconstruct of workpiece profile information three-dimensional |
| CN110076029A (en) * | 2019-04-18 | 2019-08-02 | 湖南城市学院 | Glue spraying control method, system, computer equipment and computer storage medium |
| US20220314256A1 (en) * | 2019-04-26 | 2022-10-06 | Guangdong Bright Dream Robotics Co., Ltd. | Spraying robot, control method, and computer readable storage medium |
| CN110209015A (en) * | 2019-05-31 | 2019-09-06 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Glue spreader spraying method and system |
| CN111192189A (en) * | 2019-12-27 | 2020-05-22 | 中铭谷智能机器人(广东)有限公司 | Three-dimensional automatic detection method and system for automobile appearance |
| CN212766756U (en) * | 2020-04-06 | 2021-03-23 | 深圳市澳华德赛实业有限公司 | Agricultural is with unmanned aerial vehicle that spreads pesticides |
| CN113963144A (en) * | 2020-07-01 | 2022-01-21 | 鑫宏图科贸有限公司 | Icicle identification and positioning method based on image |
| CN112275496A (en) * | 2020-10-29 | 2021-01-29 | 上海应用技术大学 | Guide rail type automatic spraying machine for experiment |
| CN113109215A (en) * | 2021-03-12 | 2021-07-13 | 南京航空航天大学 | Spray droplet particle size detection device and detection method |
| CN113331167A (en) * | 2021-08-02 | 2021-09-03 | 西咸新区千兆智能科技有限公司 | Control system for spraying pesticide in agricultural greenhouse and spraying method thereof |
| CN114494225A (en) * | 2022-02-11 | 2022-05-13 | 安徽大学 | Paper tube breakage defect detection method based on shape characteristics |
| CN114504170A (en) * | 2022-03-07 | 2022-05-17 | 知守科技(杭州)有限公司 | Method and system for spraying glue on soles of flaky soles and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 张富贵;洪添胜;王锦坚;陈进勇;吕敬堂;: "现代农药喷施技术及装备研究进展", 农机化研究, no. 02 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110665707B (en) | Automatic spraying robot | |
| CN109967292A (en) | A kind of automatic spraying system and its method based on the reconstruct of workpiece profile information three-dimensional | |
| CN106864751A (en) | Unmanned plane during flying landing system and method based on image procossing | |
| CN110899027A (en) | Transformer substation insulator anti-pollution flashover coating spraying robot system and spraying method | |
| CN108985184B (en) | Automatic mounting system and method for multipurpose aircraft plug-in | |
| CN110116067A (en) | A kind of axle automatic spray apparatus and method | |
| CN113674299A (en) | 3D printing method and device | |
| CN109848998A (en) | One kind being used for 3C industry vision four axis flexible robot | |
| CN114720475A (en) | Intelligent detection and polishing system and method for automobile body paint surface defects | |
| CN103673876A (en) | Swing-type measuring head robot online measuring system for body-in-white dimension measurement | |
| CN111415585B (en) | Flexible screen bending and attaching machine | |
| CN107804708A (en) | A kind of pivot localization method of placement equipment feeding rotary shaft | |
| CN110732437A (en) | pressure-sensitive paint intelligent automatic spraying system and spraying method | |
| CN108097504A (en) | A kind of intelligence spraying equipment | |
| CN115055301A (en) | Automatic spraying machine with visual positioning function for experiments | |
| KR19980063882A (en) | Paste applicator | |
| CN108620840B (en) | Aircraft cabin door intelligent installation method based on AGV intelligent parallel robot | |
| CN111330778A (en) | Robot and spraying system for spraying automobile sheet metal shell | |
| CN110303509B (en) | Mechanical arm device for paper laying and control method thereof | |
| CN210570542U (en) | Experimental device for measuring fog cone angle based on image | |
| CN116899797A (en) | Full-automatic paint spray booth and control method thereof | |
| CN211914305U (en) | Intelligent automatic spraying device for pressure-sensitive paint | |
| CN109484975A (en) | A kind of vehicle saddle Scan orientation method | |
| CN110672041A (en) | Experimental device for measuring fog cone angle based on image | |
| CN114720476A (en) | Intelligent detection and polishing method for defects of automobile body paint surface |
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 |