Method for determination of spraying parameters for controlling a painting appliance which uses spraying means
A method for determining of spraying parameters for controlling a painting appliance which sprays and is moved over an area to be painted, in particular a robot with a painting application. A known spraying map is produced, using known spraying parameters and paint amount, for a predetermined movement speed of the painting appliance, and a paint amount is matched to a new movement speed in comparison to the predetermined movement speed. Furthermore, new spraying parameters are calculated for the adapted paint amount, while maintaining a spraying map which is similar to the known spraying map.
1. Method for determining of spraying parameters for controlling a painting appliance which uses spraying means and is moved over an area to be painted, in particular a robot with a painting application, with a known spraying map being provided, with known spraying parameters and paint amounts for a predetermined movement speed of the painting appliance, with a paint amount being matched to a new movement speed in comparison to the predetermined movement speed, and with new spraying parameters being calculated for the adapted paint amount, while maintaining a spraying map which is similar to the known spraying map.
2. Method according to claim 1 , wherein the movement speed or the change in speed is provided as a preset value for an actual speed for a robot controller.
3. Method according to claim 2 , wherein a provisional spraying map is calculated on the basis of the known spraying map using the known spraying parameters and a new paint amount, in that the known spraying parameters are varied in order to obtain changed spraying parameters which result in a further spraying map, in that the changed spraying parameters are varied until the further spraying map is similar to the known spraying map within a similarity criterion, and in that the changed spraying parameters which are similar to the known spraying map are provided as new spraying parameters.
4. Method according to claim 1 , wherein a provisional spraying map is calculated on the basis of the known spraying map using the known spraying parameters and a new paint amount, in that the known spraying parameters are varied in order to obtain changed spraying parameters which result in a further spraying map, in that the changed spraying parameters are varied until the further spraying map is similar to the known spraying map within a similarity criterion, and in that the changed spraying parameters which are similar to the known spraying map are provided as new spraying parameters.
5. Method according to claim 4 , wherein the spraying parameters are suitable for controlling a plurality of air flows and influence the spraying behaviour of the painting appliance.
6. Method according to claim 1 , wherein the spraying parameters are suitable for controlling a plurality of air flows and influence the spraying behaviour of the painting appliance.
7. The method as claimed in claim 6 , wherein the known spraying parameters are used in the event of any discrepancies between the new movement speed and the predetermined movement speed which result in a provisional spraying map which is similar within the similarity criterion.
8. The method as claimed in claim 1 , wherein the known spraying parameters are used in the event of any discrepancies between the new movement speed and the predetermined movement speed which result in a provisional spraying map which is similar within the similarity criterion.
9. Method according to claim 8 , wherein the new spraying parameters are calculated during operation of the painting appliance and before the change to the predetermined movement speed.
10. Method according to claim 8 , wherein the new spraying parameters are calculated before operation of the painting appliance.
11. Method according to claim 1 , wherein the new spraying parameters are calculated during operation of the painting appliance and before the change to the predetermined movement speed.
12. Method according to claim 1 , wherein the new spraying parameters are calculated before operation of the painting appliance.
13. Method according to claim 12 , wherein the expected coating thickness distribution after a change is taken into account in the calculation of the new spraying parameters.
14. Method according to claim 1 , wherein the expected coating thickness distribution after a change is taken into account in the calculation of the new spraying parameters.
15. Method according to claim 14 , wherein the calculations are carried out by the robot controller or by a data processing installation which interacts with the robot controller.
16. Method according to claim 1 , wherein the calculations are carried out by the robot controller or by a data processing installation which interacts with the robot controller.
17. Method according to claim 16 , wherein new spraying parameters are in each case determined and stored for a number of speed ranges or speeds.
18. Method according to claim 1 , wherein new spraying parameters are in each case determined and stored for a number of speed ranges or speeds.
19. A method for robotic control of a spray appliance which uses spraying means for a spraying application, comprising:
providing a known spraying map;
providing known spraying parameters and spray amounts for a predetermined movement speed of the spray appliance;
matching a variable spray amount to a varying movement speed in comparison to the predetermined movement speed; and
calculating at least one variable spraying parameter based on the variable spray amount, while maintaining a mapped spraying path based on the known spraying map.