CN115741739A - Dead angle spraying method, device, equipment and medium of spraying robot - Google Patents
Dead angle spraying method, device, equipment and medium of spraying robot Download PDFInfo
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Abstract
The application discloses dead angle spraying method, device, equipment and medium of spraying robot, wherein, this spraying robot's dead angle spraying method includes: acquiring wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters; inputting wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters into a building dead angle spraying model, and respectively acquiring a chassis moving path and a dead angle spraying path corresponding to each dead angle; acquiring each corresponding spraying time length according to the dead angle spraying path; and controlling the chassis of the robot to move according to the moving path of the chassis, controlling the mechanical arm to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed when the dead angle to be sprayed is encountered, stopping the mechanical arm according to the spraying time corresponding to the dead angle to be sprayed, and continuing to move until the moving path of the chassis is completed. The method can ensure that the spraying effect of the spraying robot is better when in spraying, and improves the accuracy of spraying.
Description
Technical Field
The invention relates to the technical field of automatic spraying, in particular to a dead angle spraying method, a device, equipment and a medium of a spraying robot.
Background
In the building industry, the painting operation of the walls or ceilings of rooms is usually carried out manually by related workers, which not only has low working efficiency and poor painting effect, but also causes damage to the health of the workers to different degrees.
At present, a spraying robot can be adopted to assist in realizing the spraying of the wall, and the spraying robot can often not better identify and spray the dead angle of the wall, so that the problems of uneven spraying, over-thick spraying and the like at the dead angle of the wall can be caused, and the spraying effect of the spraying robot is lower.
Disclosure of Invention
The embodiment of the invention provides a dead angle spraying method, a dead angle spraying device, equipment and a medium of a spraying robot, and aims to solve or partially solve the problem of low spraying effect of the spraying robot.
A dead angle spraying method of a spraying robot comprises the following steps:
acquiring wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters;
respectively acquiring a chassis moving path and a dead angle spraying path corresponding to each dead angle based on the wall dead angle parameters, the robot chassis parameters and the mechanical arm spraying parameters;
acquiring the spraying time corresponding to each dead angle according to the dead angle spraying path;
and controlling the chassis of the robot to move according to the moving path of the chassis, controlling the mechanical arm to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed when the dead angle to be sprayed is encountered, stopping according to the spraying duration corresponding to the dead angle to be sprayed, and then continuously moving until the moving path of the chassis is completed.
A dead-angle painting device of a painting robot, comprising:
the parameter acquisition module is used for acquiring wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters;
the path acquisition module is used for respectively acquiring a chassis moving path and a dead angle spraying path corresponding to each dead angle based on the wall dead angle parameter, the robot chassis parameter and the mechanical arm spraying parameter;
the spraying duration acquisition module is used for acquiring each corresponding spraying duration according to the dead angle spraying path;
and the control module is used for controlling the robot chassis to move according to the chassis moving path, controlling the mechanical arm to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed when the dead angle to be sprayed is encountered, stopping according to the spraying duration corresponding to the dead angle to be sprayed and then continuously moving until the chassis moving path is completed.
In some embodiments, the control module is further configured to: spraying dead corners to be sprayed according to the dead corner spraying path, and acquiring spraying result images through a camera in real time; and carrying out image analysis on the spraying result image, and if the analysis result is a non-standard result, sending dead angle repairing prompt information to the repairing end.
In some embodiments, the control module is further configured to: and acquiring the spraying state of the wall dead angle in real time, and adjusting the moving path of the chassis and the dead angle spraying path based on the spraying state.
In some embodiments, the wall dead angle parameter includes a spraying area of the wall dead angle, the mechanical arm spraying parameter includes a spraying width and a moving radius of the mechanical arm, and the path obtaining module is further configured to: inputting the wall dead angle parameters and the robot chassis parameters into a building dead angle spraying model, and outputting a chassis moving path by the building dead angle spraying model; based on the moving path of the chassis and the spraying area of the wall dead angle, the spraying amplitude and the moving radius of the mechanical arm are adjusted, and the dead angle spraying path corresponding to each dead angle is planned.
In some embodiments, the control module is further configured to: spraying dead corners to be sprayed according to a dead corner spraying path, and obtaining texture images of wall dead corners through a depth camera in real time; spraying dead corners to be sprayed according to the dead corner spraying paths, and acquiring current images of the wall dead corners through the RGB cameras in real time; and carrying out image analysis on the texture image and the current image, and if the analysis result is a non-standard result, sending dead angle repairing prompt information to a repairing end.
In some embodiments, the path obtaining module is further configured to: and determining a dead angle spraying path to spray from one vertex of the wall surface until the spraying area of the dead angle of the wall surface is sprayed.
In some embodiments, the dead-space painting device of the painting robot is further configured to: acquiring wall surface body parameters; acquiring a chassis moving path, a wall spraying path corresponding to the robot and a dead angle spraying path corresponding to each dead angle based on the wall dead angle parameters, the wall body parameters, the robot chassis parameters and the mechanical arm spraying parameters; and controlling the chassis of the robot to move according to the moving path of the chassis, and controlling the mechanical arm to respectively perform integrated spraying on the wall surface and the dead corners according to the wall surface spraying path and the dead corner spraying path corresponding to each dead corner.
An electronic device comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the dead-space spraying method of the spraying robot.
A computer-readable medium, in which a computer program is stored which, when being executed by a processor, implements the dead-space painting method of the painting robot described above.
According to the dead angle spraying method, the device, the equipment and the medium of the spraying robot, the corresponding chassis moving path and the dead angle spraying path corresponding to each dead angle are obtained through multi-angle analysis of the wall dead angle parameters, the robot chassis parameters and the mechanical arm spraying parameters, so that the spraying effect of the spraying robot during spraying is good, and the spraying accuracy is improved. Meanwhile, based on the spraying duration, the moving path and the dead-angle spraying path of the chassis are well matched, so that the moving path and the dead-angle spraying path are not interfered with each other, and the spraying can be well realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic diagram illustrating an application environment of a dead-space spraying method of a spraying robot according to an embodiment of the present invention;
FIG. 2 is a first flowchart of a dead-space spraying method of the spraying robot according to the first embodiment of the present invention;
FIG. 3 is a second flowchart of the dead-space spraying method of the spraying robot according to the second embodiment of the present invention;
FIG. 4 is a schematic view of a dead-space spraying device of a spraying robot according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an electronic device according to an embodiment of the invention.
Detailed Description
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, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
The dead angle spraying method of the spraying robot provided by the embodiment of the invention can be applied to an application environment shown in fig. 1, the dead angle spraying method of the spraying robot is applied to a dead angle spraying system of the spraying robot, the dead angle spraying system of the spraying robot comprises the spraying robot and a control end, and the spraying robot is communicated with the control end through a network. And the control end provides a program of local service for the spraying robot. Further, the control end is a computer end program, an APP program of the intelligent device or a third-party applet embedded with other APPs. The control terminal can be installed on but not limited to various electronic devices such as personal computers, notebook computers, smart phones, tablet computers, spraying robots and portable wearable devices. The control end can be realized by an independent control end or a control end cluster consisting of a plurality of control ends.
In an embodiment, as shown in fig. 2, a dead-space spraying method of a spraying robot is provided, which is described by taking the method applied to the control end in fig. 1 as an example, and specifically includes the following steps:
s10, wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters are obtained.
In this embodiment, the wall dead angle may be an included angle between the wall and the wall or a close angle thereof, including an internal corner and an external corner. The wall dead angle parameters can be the space structure, the area range, the dead angle type, the dead angle condition and the like of the wall dead angle. The robot chassis parameters can be the chassis moving speed, moving direction, moving speed threshold value and the like of the spraying robot, and the mechanical arm spraying parameters can be the spraying amplitude, the moving radius, the spraying speed, the spraying direction and the like of the mechanical arm.
Specifically, the control end acquires wall dead angle parameters and the spraying robot sets preset robot chassis parameters and mechanical arm spraying parameters.
S20, respectively acquiring a moving path of the chassis and a dead angle spraying path corresponding to each dead angle based on the wall dead angle parameters, the robot chassis parameters and the mechanical arm spraying parameters.
In this embodiment, the spraying model of the Building dead angle may be a Building engineering three-dimensional model in a BIM (Building Information Modeling). The core of the building information model system is to establish a virtual building engineering three-dimensional model, and a digital technology is utilized to provide a complete building engineering information base consistent with the actual situation for the model. In a wall, the dead space of the wall can include four dead space areas.
Specifically, the method establishes a space three-dimensional model through a building information model system, and inputs wall dead angle parameters and robot chassis parameters to acquire the specific spatial structure, position and shape of the wall dead angle. A chassis moving path is set in the BIM system model, and the control end can acquire the chassis moving path from the BIM system model. And the control end can acquire the dead angle spraying path corresponding to each dead angle through analyzing the wall dead angle parameters and the mechanical arm spraying parameters.
S30, according to the dead angle spraying path, the spraying time length corresponding to each dead angle is obtained.
Specifically, after the control end obtains the dead angle spraying path, the control end determines the spraying time required for spraying in the region range of the dead angle, and the control end is used for determining the reserved stopping time required for stopping the chassis when the spraying robot sprays.
S40, controlling the chassis of the robot to move according to the moving path of the chassis, controlling the mechanical arm to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed when the dead angle to be sprayed is encountered, stopping the robot according to the spraying time corresponding to the dead angle to be sprayed, and continuing to move until the moving path of the chassis is completed.
Specifically, the control end controls a chassis of the spraying robot to move according to a chassis moving path, when a dead angle to be sprayed is met, the chassis of the spraying robot stops moving, the stop time is the spraying time corresponding to the dead angle to be sprayed, at the moment, the control end controls a mechanical arm to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed and the corresponding spraying time, after the dead angle to be sprayed is completed, the mechanical arm does not perform spraying action, and the chassis of the spraying robot moves to the next task spraying according to the chassis moving path until the spraying task corresponding to the chassis moving path is completed.
According to the dead angle spraying method of the spraying robot, the corresponding chassis moving path and the dead angle spraying path corresponding to each dead angle are obtained through multi-angle analysis of the wall dead angle parameters, the robot chassis parameters and the mechanical arm spraying parameters, so that the spraying effect of the spraying robot during spraying is good, and the spraying accuracy is improved. Meanwhile, based on the spraying duration, the moving path and the dead-angle spraying path of the chassis are well matched, so that the moving path and the dead-angle spraying path are not interfered with each other, and the spraying can be well realized.
In an embodiment, as shown in fig. 3, in step S40, that is, the mechanical arm is controlled to perform spraying according to the dead angle spraying path corresponding to the dead angle to be sprayed, which specifically includes the following steps:
s401, spraying dead corners to be sprayed according to the dead corner spraying paths, and acquiring spraying result images through a camera in real time.
S402, carrying out image analysis on the spraying result image, and sending dead angle repairing prompt information to a repairing end if the analysis result is a non-standard result.
In this embodiment, the repairing end may be a repairing jig of the spraying robot, that is, a repairing jig and the like are provided on the nozzle of the robot arm in addition to the nozzle. And the remediation nozzle responds to the dead angle repairing prompt information generated by the control end to carry out spraying repair. For example: and when local missing coating occurs in the dead angle spraying area, the repairing jig is a small nozzle for spraying and repairing the missing coating area. In addition, the repair end can also be a professional, and spraying repair is carried out by sending dead angle repair prompt information to the professional.
Specifically, when the spraying robot sprays the dead angle to be sprayed according to the dead angle spraying path, the camera acquires a spraying combination image and transmits the image to the control end, the control end acquires and analyzes a spraying result image, if the acquired analysis result is not in a labeling range preset by the control end, the control end sends dead angle repairing prompt information to the repairing end, and the repairing end sprays and repairs the dead angle according to the dead angle repairing prompt information.
The steps S401 to S402 have the effects that the spraying result information is obtained through the camera, the spraying is repaired in real time, and the spraying effect of the spraying robot is guaranteed.
In an embodiment, as shown in fig. 3, after step S40, that is, after the mechanical arm is controlled to perform spraying according to the dead-angle spraying path corresponding to the dead angle to be sprayed, the method specifically includes the following steps:
s41, acquiring the spraying state of the wall dead angle in real time, and adjusting the moving path of the chassis and the spraying path of the dead angle based on the spraying state.
In this embodiment, the spraying state may be actual dead angle information before spraying by the spraying robot or an actual spraying state after spraying by the spraying robot.
Specifically, before the spraying robot performs spraying, the position relation between a wall dead angle and the spraying robot can be acquired through a laser radar device, whether the spraying robot moves to a position specified by a chassis moving path or not is determined, information is sent through the laser radar device, and a control end receives the information and controls a chassis to move to the specified position; after the spraying robot sprays, the spraying state is obtained through the camera, whether the spraying state meets the preset labeling state or not is determined, if not, the spraying time length, the spraying speed and the spraying position in the dead angle spraying path can be adjusted subsequently, and meanwhile, the stopping time length and the specified position in the chassis moving path are adjusted correspondingly, so that the spraying effect is guaranteed.
For example: when the missing coating occurs during spraying, the mechanical arm is returned to the position of the missing coating for spraying again to adjust; when the actual spraying thickness is higher than the set thickness during spraying, the spraying speed of the spraying robot is increased to adjust the thickness.
The step S41 has the function of adjusting the moving path of the chassis and the dead angle spraying path based on the spraying state, and ensuring the spraying effect.
In an embodiment, as shown in fig. 3, in step S401, spraying a dead angle to be sprayed according to a dead angle spraying path, and acquiring a spraying result image in real time through a camera, specifically includes the following steps:
s4011, spraying dead corners to be sprayed according to the dead corner spraying paths, and obtaining texture images of wall dead corners through a depth camera in real time.
S4012, spraying dead corners to be sprayed according to the dead corner spraying paths, and acquiring current images of the wall dead corners through the RGB cameras in real time.
In step S402, performing image analysis on the spraying result image, and if the analysis result is a non-standard result, sending a dead angle repair prompt message to the repair end, specifically including the following steps:
s4021, carrying out image analysis on the texture image and the current image, and if the analysis result is a non-standard result, sending dead angle repairing prompt information to a repairing end.
In this embodiment, the texture may be the smoothness of the wall surface before spraying, the pattern and the pattern, the uniformity, the smoothness, the thickness and the like of the paint left on the wall surface after spraying. The current image can be an image and a space of the wall surface before spraying, an image and a space structure formed on the wall surface after spraying, and the like. The depth camera and the RGB camera can be located at the nozzle of the mechanical arm.
Specifically, due to the relations of the chassis moving path, the dead angle spraying path, the wall surface area size, the distance between the depth camera and the RGB camera and the wall surface and the like, the depth camera and the RGB camera can scan and acquire partial areas of the wall surface, and scan and acquire other areas after moving according to the chassis moving path. When the spraying robot sprays the dead angle to be sprayed according to the dead angle spraying path, the depth camera and the RGB camera are mutually assisted, based on the depth camera and the RGB camera, texture images and current influences are transmitted to the control end, the control end can more accurately acquire and analyze wall information, if the analysis result is obtained, the analysis result is not in a labeling range preset by the control end, the control end sends dead angle repairing prompt information to the repairing end, and the repairing end carries out spraying repairing on the dead angle according to the dead angle repairing prompt information.
The steps S4011 to S4021 have the function of acquiring spraying result information through the depth camera and the RGB camera, repairing the spraying in real time and ensuring the spraying effect of the spraying robot.
In one embodiment, as shown in fig. 3, the wall dead angle parameter includes a spraying area of the wall dead angle, and the mechanical arm spraying parameter includes a spraying width and a moving radius of the mechanical arm; in step S20, that is, based on the wall dead angle parameter, the robot chassis parameter, and the mechanical arm spraying parameter, a chassis moving path and a dead angle spraying path corresponding to each dead angle are respectively obtained, which specifically includes the following steps:
s201, inputting the wall dead angle parameters and the robot chassis parameters into the building dead angle spraying model, and outputting a chassis moving path by the building dead angle spraying model.
S202, adjusting the spraying amplitude and the moving radius of the mechanical arm based on the moving path of the chassis and the spraying area of the wall dead angle, and planning the dead angle spraying path corresponding to each dead angle.
In this embodiment, the spraying model of the Building dead angle may be a Building engineering three-dimensional model in a BIM (Building Information Modeling). The core of the building information model system is to establish a virtual three-dimensional model of the building engineering, and a complete building engineering information base consistent with the actual situation is provided for the model by utilizing the digital technology. In a wall, the wall dead space may include four dead corner regions. The mechanical arm needs to swing back and forth when spraying. For example: along with the continuous reduction of arm height, the arm is repeated many times and is carried out stage spraying from a left side to the right side, then the active radius is the actual length that the arm once carried out spraying from a left side to the right side at the wall.
Specifically, the method establishes a space three-dimensional model through a building information model system, and inputs wall dead angle parameters and robot chassis parameters to acquire the specific spatial structure, position and shape of the wall dead angle. A chassis moving path is set in the BIM system model, and the control end can acquire the chassis moving path from the BIM system model.
After the control end acquires the moving path of the chassis, the spraying area of the wall dead angle, the spraying amplitude and the moving radius of the mechanical arm, the length and the width of the spraying area of the wall dead angle are analyzed, the corresponding spraying amplitude and the moving radius are found in the spraying database, the corresponding spraying amplitude and the moving radius are adjusted, and the dead angle spraying path corresponding to each dead angle is planned.
The steps S201 to S202 have the function of acquiring the corresponding chassis movement path and the dead angle spraying path corresponding to each dead angle, so that the spraying effect of the spraying robot during spraying is better, and the accuracy of spraying is improved.
In an embodiment, as shown in fig. 3, in step S201, planning a dead-angle spraying path corresponding to each dead angle specifically includes the following steps:
and S2011, determining a dead angle spraying path to spray from one vertex of the wall surface until the spraying area of the dead angle of the wall surface is sprayed based on the moving path of the chassis.
Specifically, in a chassis moving path, the control end determines that the dead-angle spraying path starts spraying from one vertex of the wall surface until the spraying area of the dead angle of the wall surface is sprayed.
In an embodiment, as shown in fig. 3, after step 10, that is, after obtaining the wall dead angle parameter, the method specifically includes the following steps:
s101, wall surface body parameters are obtained.
S102, acquiring a moving path of the chassis, a wall spraying path corresponding to the robot and a dead angle spraying path corresponding to each dead angle based on the wall dead angle parameters, the wall body parameters, the robot chassis parameters and the mechanical arm spraying parameters.
And S103, controlling the chassis of the robot to move according to the moving path of the chassis, and controlling the mechanical arm to respectively perform integrated spraying on the wall surface and the dead corners according to the wall surface spraying path and the dead corner spraying paths corresponding to the dead corners.
In this embodiment, the wall surface includes a wall surface body and wall surface dead angles, and for different wall surface sizes, the area division of the wall surface body and the wall surface dead angles is also different. This regional area is divided, can divide based on the biggest movable radius of arm, and then the length (or the width, and the acquiescence wall is the rectangle) of the regional area at wall dead angle generally is less than the biggest movable radius of arm, and the length (or the width, and the acquiescence wall is the rectangle) of the regional area at wall body wall dead angle generally is the integral multiple of the biggest movable radius of arm. The wall body parameters can be the shape, size, spatial position, area and the like of the wall body.
Specifically, the control end obtains wall dead angle parameters, wall body parameters, robot chassis parameters and mechanical arm spraying parameters to obtain corresponding wall spraying paths and dead angle spraying paths corresponding to each dead angle. The method can firstly spray the wall dead corners according to the dead corner spraying paths corresponding to each dead corner, and then spray the wall body according to the wall spraying paths; or combining the wall surface spraying path and the dead angle spraying path to generate a total spraying path, and spraying according to the total spraying path.
The steps S101 to S103 have an effect of spraying the wall body.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not limit the implementation process of the embodiments of the present invention in any way.
In one embodiment, a dead-space painting device of a painting robot is provided, and the dead-space painting device of the painting robot corresponds to the dead-space painting method of the painting robot in the above embodiment one to one. As shown in fig. 4, the dead-angle painting device of the painting robot includes a parameter acquisition module 10, a path acquisition module 20, a painting duration acquisition module 30, and a control module 40. The functional modules are explained in detail as follows:
the parameter acquisition module 10 is used for acquiring wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters;
the path acquisition module 20 is configured to input the wall dead angle parameters, the robot chassis parameters and the mechanical arm spraying parameters into the building dead angle spraying model, and respectively acquire a chassis moving path and a dead angle spraying path corresponding to each dead angle;
a spraying duration acquisition module 30, configured to acquire each corresponding spraying duration according to the dead angle spraying path;
and the control module 40 is used for controlling the robot chassis to move according to the chassis moving path, controlling the mechanical arm to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed when the dead angle to be sprayed is encountered, stopping according to the spraying duration corresponding to the dead angle to be sprayed, and then continuously moving until the chassis moving path is completed.
For the specific definition of the dead-space spraying device of the spraying robot, reference may be made to the above definition of the dead-space spraying method of the spraying robot, and details thereof are not repeated here. All modules in the dead angle spraying device of the spraying robot can be completely or partially realized through software, hardware and a combination thereof. The modules may be embedded in a hardware form or may be independent of a processor in the electronic device, or may be stored in a memory in the electronic device in a software form, so that the processor calls and executes operations corresponding to the modules.
In one embodiment, an electronic device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 5. The electronic device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic device comprises a nonvolatile medium and an internal memory. The non-volatile medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer programs in the non-volatile medium to run. The database of the electronic equipment is used for data related to the dead angle spraying method of the spraying robot. The network interface of the electronic device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a dead-space painting method of a painting robot.
In one embodiment, an electronic device is provided, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the dead-space spraying method of the spraying robot according to the above embodiments is implemented, for example, in S10 to S40 shown in fig. 2. Alternatively, the processor, when executing the computer program, implements the functions of the modules/units of the dead-space painting device of the painting robot in the above-described embodiment, such as the functions of the modules 10 to 40 shown in fig. 4. To avoid repetition, the description is omitted here.
In an embodiment, a computer readable medium is provided, on which a computer program is stored, and the computer program is executed by a processor to implement the dead-angle spraying method of the spraying robot according to the above embodiment, for example, S10 to S40 shown in fig. 2. Alternatively, the computer program is executed by a processor to implement the functions of each module/unit in the blind spot spraying of the spraying robot in the above-described apparatus embodiment, for example, the functions of the modules 10 to 40 shown in fig. 4. To avoid repetition, the description is omitted here.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments of the present application may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A dead angle spraying method of a spraying robot is characterized by comprising the following steps:
acquiring wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters;
respectively acquiring a chassis moving path and a dead angle spraying path corresponding to each dead angle based on the wall dead angle parameter, the robot chassis parameter and the mechanical arm spraying parameter;
acquiring the spraying duration corresponding to each dead angle according to the dead angle spraying path;
and controlling a robot chassis to move according to the chassis moving path, controlling a mechanical arm to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed when the dead angle to be sprayed is encountered, stopping according to the spraying duration corresponding to the dead angle to be sprayed, and then continuing to move until the chassis moving path is completed.
2. The dead angle spraying method of the spraying robot according to claim 1, wherein the controlling of the mechanical arm to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed comprises:
spraying the dead angle to be sprayed according to the dead angle spraying path, and acquiring a spraying result image through a camera in real time;
and carrying out image analysis on the spraying result image, and sending dead angle repairing prompt information to a repairing end if the analysis result is a non-standard result.
3. Dead-angle painting method of a painting robot according to claim 1,
after the control mechanical arm carries out spraying according to the dead angle spraying path corresponding to the dead angle to be sprayed, the method further comprises the following steps:
and acquiring the spraying state of the wall dead angle in real time, and adjusting the chassis moving path and the dead angle spraying path based on the spraying state.
4. The dead-angle painting method of a painting robot according to claim 1, wherein the wall dead-angle parameter includes a painting area of the wall dead-angle, and the robot painting parameter includes a painting swath and a moving radius of the robot;
based on wall dead angle parameter, robot chassis parameter and arm spraying parameter, acquire chassis removal route and the dead angle spraying route that each dead angle corresponds respectively, include:
inputting the wall dead angle parameters and the robot chassis parameters into a building dead angle spraying model, and outputting a chassis moving path by the building dead angle spraying model;
and adjusting the spraying amplitude and the moving radius of the mechanical arm based on the chassis moving path and the spraying area of the wall dead angle, and planning the dead angle spraying path corresponding to each dead angle.
5. The dead angle spraying method of the spraying robot according to claim 2, wherein the spraying the dead angle to be sprayed according to the dead angle spraying path, and the acquiring the spraying result image through the camera in real time comprises:
spraying the dead angle to be sprayed according to the dead angle spraying path, and obtaining texture images of the wall dead angle through the depth camera in real time;
spraying the dead angle to be sprayed according to the dead angle spraying path, and acquiring a current image of the wall dead angle through an RGB camera in real time;
and carrying out image analysis on the spraying result image, and if the analysis result is a non-standard result, sending dead angle repairing prompt information to a repairing end, wherein the image analysis comprises the following steps:
and carrying out image analysis on the texture image and the current image, and if the analysis result is a non-standard result, sending dead angle repairing prompt information to a repairing end.
6. The dead-angle spraying method of the spraying robot according to claim 4, wherein the planning of the dead-angle spraying path corresponding to each dead angle comprises:
and determining the spraying area of the dead angle of the wall surface from one top point of the wall surface until the spraying is finished in the dead angle spraying path of the dead angle of the wall surface based on the moving path of the chassis.
7. The dead-angle painting method of a painting robot according to claim 1, further comprising, after the obtaining the wall dead-angle parameter:
acquiring wall surface body parameters;
acquiring a chassis moving path, a wall spraying path corresponding to the robot and a dead angle spraying path corresponding to each dead angle based on the wall dead angle parameter, the wall body parameter, the robot chassis parameter and the mechanical arm spraying parameter;
and controlling the robot chassis to move according to the chassis moving path, and controlling the mechanical arm to respectively carry out integrated spraying on the wall surface and the dead angle according to the wall surface spraying path and the dead angle spraying path corresponding to each dead angle.
8. A dead angle spraying device of a spraying robot is characterized by comprising:
the parameter acquisition module is used for acquiring wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters;
the path acquisition module is used for respectively acquiring a chassis moving path and a dead angle spraying path corresponding to each dead angle based on the wall dead angle parameter, the robot chassis parameter and the mechanical arm spraying parameter;
the spraying duration acquisition module is used for acquiring each corresponding spraying duration according to the dead angle spraying path;
and the control module is used for controlling the robot chassis to move according to the chassis moving path, controlling the mechanical arm to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed when the dead angle to be sprayed is encountered, stopping according to the spraying duration corresponding to the dead angle to be sprayed, and then continuously moving until the chassis moving path is completed.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements a dead-space painting method of a painting robot according to any one of claims 1 to 7.
10. A computer-readable medium, in which a computer program is stored which, when being executed by a processor, carries out a dead-space painting method of a painting robot according to any one of claims 1 to 7.
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