CN-122008160-A - Paint surface maintenance operation robot and operation method

CN122008160ACN 122008160 ACN122008160 ACN 122008160ACN-122008160-A

Abstract

The application provides a paint surface maintenance operation robot and an operation method. The paint surface maintenance operation robot is used for repairing damaged paint surfaces of vehicles and comprises a cabinet body, a control mechanism, a moving mechanism, a detection mechanism and a repairing mechanism, wherein the moving mechanism, the detection mechanism and the repairing mechanism are connected to the cabinet body, can move relative to the cabinet body, and is used for driving the repairing mechanism to move relative to the damaged paint surfaces of the vehicles so that the repairing mechanism can move to damaged paint surfaces of the vehicles and repair the damaged paint surfaces of the vehicles, the detection mechanism is connected to the moving mechanism and is used for detecting damage parameters of the damaged paint surfaces of the vehicles, the damage parameters comprise damage depth and damage area, and the control mechanism is configured to control the operation of the moving mechanism and the repairing mechanism based on detection data of the detection mechanism. According to the paint surface maintenance operation robot disclosed by the application, the whole process is not required to disassemble the vehicle body panel, and all operations are completed in the whole vehicle in-situ state.

Inventors

LI MIAOLIN
ZHANG ZIHUA
Feng Haoxin
ZHANG GUOQING
WANG YUEYUAN
ZHANG XIANDONG

Assignees

广州城市理工学院

Dates

Publication Date: 20260512
Application Date: 20260330

Claims (10)

1. The paint surface maintenance operation robot is used for repairing damaged paint surfaces of vehicles and is characterized by comprising a cabinet body, a control mechanism, a moving mechanism, a detection mechanism and a repairing mechanism, wherein the moving mechanism, the detection mechanism and the repairing mechanism are connected to the cabinet body; The moving mechanism can move relative to the cabinet body and is used for driving the repairing mechanism to move relative to the damaged paint surface of the vehicle so that the repairing mechanism can move to the damaged paint surface of the vehicle and repair the damaged paint surface of the vehicle; the detection mechanism is connected with the moving mechanism and is used for detecting damage parameters of damaged paint surfaces of vehicles, wherein the damage parameters comprise damage depth and damage area; The control mechanism is configured to control operations of the moving mechanism and the repairing mechanism based on detection data of the detecting mechanism.
2. The paint repair robot of claim 1, further comprising a cleaning mechanism, wherein the cleaning mechanism is connected to the cabinet, and the cleaning mechanism is used for cleaning impurities generated when the repairing mechanism repairs damaged paint surfaces of the vehicle.
3. The paint repair work robot of claim 2 wherein the repair mechanism comprises a sanding member for sanding damaged paint surfaces of the vehicle; The cleaning mechanism comprises a water spraying piece and an air spraying piece, wherein the water spraying piece and the air spraying piece are electrically connected with the control mechanism, the control mechanism is configured to control the water spraying piece to spray water to the damaged paint surface of the vehicle after the damaged paint surface of the vehicle is polished by the polishing piece so as to clean the polished piece to generate powder, and control the air spraying piece to spray air to the damaged paint surface of the vehicle after the water spraying piece sprays water to the damaged paint surface of the vehicle.
4. The paint repair robot of claim 2 further comprising a drying member coupled to the cabinet, wherein the repair mechanism further comprises a puttying member, a painting member, and a polishing member, wherein the drying member, the puttying member, the painting member, and the polishing member are electrically coupled to the control mechanism, and wherein the control mechanism is configured to control the polishing member, the cleaning mechanism, the puttying member, the painting member, the drying member, and the polishing member to work in sequence on a damaged paint surface of the vehicle.
5. The paint work robot of any one of claims 1 to 4 further comprising a placement mechanism fixedly disposed on top of the cabinet, the placement mechanism for carrying the repair mechanism.
6. A paint inspection operation method applied to the paint inspection operation robot according to any one of claims 1 to 5, comprising: s1, controlling the detection mechanism to acquire damage parameters of damaged paint surfaces of vehicles after the detection mechanism is positioned above a middle area of the damaged paint surfaces of the vehicles; s2, determining that the damage parameters are in a preset range; s3, controlling the moving mechanism to drive the repairing mechanism to move to the damaged paint surface of the vehicle; S4, controlling a repairing mechanism to repair the damaged paint surface of the vehicle.
7. The paint repair operation method of claim 6, wherein the detection mechanism comprises a visual sensor, and the step of controlling the detection mechanism to obtain damage parameters of damaged paint surfaces of the vehicle comprises: s11, controlling the visual sensor to acquire images of damaged paint surfaces of the vehicle to obtain an original image; S12, based on the original image, sequentially performing mild bilateral filtering, non-local mean denoising and guided filtering according to a preset filtering rule to obtain a denoised image; s13, identifying a closed boundary of the damaged area through a contour registration algorithm based on the noise-reduced image, and filling a communication area in the closed boundary by combining an area growth algorithm to obtain a damaged area mask; S14, obtaining the damaged area of the damaged paint surface of the vehicle based on the damaged area mask; S15, determining brightness distribution data based on all pixel points in the coverage area of the mask of the damaged area in the noise-reduced image, wherein the brightness distribution data comprises a brightness value of each pixel point; s16, identifying a darkest color region set and a lightest color region set based on color distribution in the coverage area of the damaged region mask in the noise-reduced image; S17, based on the central coordinates of the high-brightness area and the central coordinates of the low-brightness area, controlling to measure the distances between the central points of the high-brightness area and the low-brightness area to obtain a first depth value and a second depth value, wherein the brightness value of the pixel point of the high-brightness area is larger than a first threshold value, and the brightness value of the pixel point of the low-brightness area is smaller than a second threshold value; And S18, determining the damage depth of the damaged paint surface of the vehicle based on the first depth value and the second depth value.
8. The paint repair operation method according to claim 7, wherein step S4 comprises: determining the filling sequence and the growth direction in the damaged area based on the damaged area mask and the area growth algorithm, and obtaining area growth direction information; generating depth distribution feedback data based on depth values of a plurality of sampling points in the damaged area; based on the region growth direction information and the depth distribution feedback data, carrying out point-by-point calibration on the coverage range of the damaged region mask to obtain a calibrated coordinate sequence; obtaining a reciprocating type operation track based on the calibration coordinate sequence; and sending a motion instruction to the moving mechanism based on the reciprocating operation track so as to drive the repairing mechanism to move along the reciprocating operation track and execute repairing operation.
9. The paint repair operation method according to claim 8, wherein the repair mechanism comprises a polishing member, and step S4 comprises: Controlling the moving mechanism to drive the polishing piece to perform polishing operation on damaged paint surfaces of the vehicle along the reciprocating operation track based on the reciprocating operation track; based on the polishing area image acquired by the visual sensor in real time in the polishing operation process, extracting the brightness value of each pixel point in the image, judging whether a continuous area with the brightness value larger than a preset glossiness threshold exists or not, and obtaining a first flatness judgment result; Generating a polishing completion signal based on the first flatness determination result being that a continuous highlight region exists and the second flatness determination result being that all sampling point distances are within a thickness tolerance range; And controlling the cleaning mechanism to clean the damaged paint surface of the vehicle based on the polishing completion signal.
10. The paint repair method of claim 9, wherein after the step of controlling the cleaning mechanism to clean the damaged paint surface of the vehicle, further comprising: The visual sensor and the infrared ranging sensor are controlled to scan the damaged paint surface of the vehicle to obtain a polished detection image and polished depth data; Repeating S13 to S18 based on the post-polishing detection image and the post-polishing depth data to obtain a post-polishing damage area and a post-polishing damage depth; Generating a local regrinding instruction based on the fact that the damage area after polishing is larger than a preset area value or the damage depth after polishing is larger than a preset flatness threshold value, and regenerating a local regrinding track based on a mask of a damage area after polishing, wherein the local regrinding track is different from the reciprocating operation track; And controlling the moving mechanism to drive the polishing piece to move along the local regrinding track and execute repairing operation based on the local regrinding track.

Description

Paint surface maintenance operation robot and operation method Technical Field The application relates to the technical field of paint surface maintenance, in particular to a paint surface maintenance operation robot and an operation method. Background In the current after-sales repair field of automobiles, aiming at the defects of scratches, bruises, bubbles or local chromatic aberration and the like on the painted surface of the automobile body, the conventional repair process generally depends on an operation mode of 'disassembling, transferring, manual repair and assembling'. Specifically, a maintainer needs to detach covering parts (such as a car door trim panel, a fender, a lamp group or a bumper and the like) around the damaged area from a car body, then transfer the detached parts to a special paint spray booth or a polishing station, and carry out manual polishing, putty filling, primer and finishing paint spraying by holding tools such as sand paper, a scraper, a spray gun and the like by the technician, and finally finish polishing and assembly. The traditional maintenance mode has the obvious technical defects that for paint surface damage at a high position or in a complex structure in a vehicle body, the time and effort are wasted when the related covering parts are disassembled, and the buckle breakage, the sealing strip deformation or the electrophoretic anti-corrosion layer breakage are extremely easy to cause, so that secondary damage such as abnormal sound during assembly, rain leakage or metal substrate corrosion is caused, and the structural integrity, the use durability and the second-hand vehicle value retention rate of the whole vehicle are seriously affected. In addition, since the disassembly and assembly process is irreversible, even if reinstalled after repair is completed, it is difficult to completely restore the original factory assembled state. Therefore, a technical scheme capable of directly carrying out in-situ automatic repair on a damaged paint surface in a whole vehicle state on the premise of not disassembling a vehicle body part is needed, so that structural risks and additional cost caused by disassembling a part are avoided. Disclosure of Invention The embodiment of the application provides a paint surface maintenance operation robot and an operation method. In a first aspect, the embodiment of the application provides a paint surface maintenance operation robot for repairing damaged paint surfaces of vehicles, which comprises a cabinet body, a control mechanism, a moving mechanism, a detecting mechanism and a repairing mechanism, wherein the moving mechanism, the detecting mechanism and the repairing mechanism are connected with the cabinet body; The moving mechanism can move relative to the cabinet body and is used for driving the repairing mechanism to move relative to the damaged paint surface of the vehicle so that the repairing mechanism can move to the damaged paint surface of the vehicle and repair the damaged paint surface of the vehicle; the detection mechanism is connected with the moving mechanism and is used for detecting damage parameters of damaged paint surfaces of vehicles, wherein the damage parameters comprise damage depth and damage area; The control mechanism is configured to control operations of the moving mechanism and the repairing mechanism based on detection data of the detecting mechanism. In a second aspect, an embodiment of the present application provides a paint repair operation method applied to the paint repair operation robot described above, the paint repair operation method including: s1, controlling the detection mechanism to acquire damage parameters of damaged paint surfaces of vehicles after the detection mechanism is positioned above a middle area of the damaged paint surfaces of the vehicles; s2, determining that the damage parameters are in a preset range; s3, controlling the moving mechanism to drive the repairing mechanism to move to the damaged paint surface of the vehicle; S4, controlling a repairing mechanism to repair the damaged paint surface of the vehicle. The embodiment of the application has the beneficial effects that: In the embodiment of the application, the cabinet body is used as a supporting and integrating platform of the whole machine, a control mechanism, a power module and a material supply system are accommodated in the cabinet body, the moving mechanism is arranged at the top or the side part of the cabinet body and can slide along a horizontal track or realize space pose adjustment through a multi-degree-of-freedom mechanical arm, the repairing mechanism and the cleaning mechanism are arranged on an end effector of the moving mechanism in parallel, the two mechanisms can be switched to work states under the instruction of the control mechanism, and the detecting mechanism is fixed at the front end of the moving mechanism, the optical axis of the detecting mechanism points to a to-be-repaired area, s