CN109972827A - Spray robot and control method and control device, computer readable storage medium - Google Patents

Spray robot and control method and control device, computer readable storage medium Download PDF

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Publication number
CN109972827A
CN109972827A CN201910385030.1A CN201910385030A CN109972827A CN 109972827 A CN109972827 A CN 109972827A CN 201910385030 A CN201910385030 A CN 201910385030A CN 109972827 A CN109972827 A CN 109972827A
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CN
China
Prior art keywords
spray
specified region
spraying
spray gun
spray robot
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
Application number
CN201910385030.1A
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Chinese (zh)
Inventor
许安鹏
季瑞南
殷奇
巫广义
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Bozhilin Robot Co Ltd
Original Assignee
Guangdong Bozhilin Robot Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangdong Bozhilin Robot Co Ltd filed Critical Guangdong Bozhilin Robot Co Ltd
Priority to CN201910385030.1A priority Critical patent/CN109972827A/en
Publication of CN109972827A publication Critical patent/CN109972827A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
    • E04F21/06—Implements for applying plaster, insulating material, or the like
    • E04F21/08—Mechanical implements
    • E04F21/12—Mechanical implements acting by gas pressure, e.g. steam pressure
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/002—Arrangements for cleaning building facades
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Robotics (AREA)
  • Spray Control Apparatus (AREA)
  • Manipulator (AREA)

Abstract

The present invention provides a kind of spray robot and control methods and control device, computer readable storage medium, the control method includes: that spray gun is moved to the specified region of work surface, control spray gun sprays specified region, and obtains the image in the specified region after spraying；The image that will acquire is compared with standard picture, and judges whether the spraying in specified region is qualified according to comparing result, and when the spraying for determining specified region is unqualified, control spray gun sprays specified region again.The program can be after the specified region to operating area sprays, obtain the image after specifying region spray coated, and the image that will acquire is compared with standard picture, whether the spraying to judge specified region is qualified, simultaneously supplement spraying can be carried out to underproof place, just can ensure coating quality in this way when the spraying for specifying region is unqualified, the phenomenon that avoiding spraying defect, preventing the poor quality sprayed automatically generation.

Description

Spray robot and control method and control device, computer readable storage medium
Technical field
The present invention relates to high-altitudes to spray field, more specifically, is related to a kind of spray robot and control method and control Device, computer readable storage medium.
Background technique
Occurring one kind at present can be to the spray robot that building is sprayed automatically, and this spray robot can External Wall or interior wall etc. are sprayed automatically, but spray robot can not detect coating quality in spraying, thus nothing Method ensures coating quality.
Therefore, it is impossible to which designing one kind can ensure that the spray robot of coating quality becomes urgently to be resolved at present and asks Topic.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.
For this purpose, it is an advantage of the invention to provide a kind of control methods of spray robot.
It is a further object of the invention to provide a kind of control devices of spray robot.
Yet another object of the invention is that providing a kind of spraying robot of control device including above-mentioned spray robot People.
It is still another object of the present invention to provide a kind of computer readable storage mediums.
To achieve the above object, the embodiment of first aspect present invention provides a kind of control method of spray robot, For spray robot, the spray robot includes spray gun, and the control method of the spray robot includes: by the spray gun It is moved to the specified region of work surface, the spray gun is controlled and the specified region is sprayed, and is obtained described after spraying The image in specified region；The image that will acquire is compared with standard picture, and judges the specified region according to comparing result Spraying it is whether qualified, when the spraying for determining the specified region is unqualified, control the spray gun to the specified region into Row sprays again.
The control method for the spray robot that embodiment according to the present invention provides, can be used for spray robot, and spray Robot can be specifically used for the exterior wall or interior wall of skyscraper are sprayed, such as to the exterior wall of skyscraper carry out spray painting or Person carries out spraying-rinsing to the exterior wall of skyscraper, or paints inner wall of building, such as spray emulsion paint etc..And the spraying Spray gun can be first moved to the specified region of work surface by the control method of robot, then be sprayed to specified region, and After spray coated, can be obtained by image collecting devices such as industrial cameras specified region it is spray coated after image, hereafter Can also will acquire it is spray coated after image and the standard picture of qualification compare, to judge that the coating quality in specified region is No all sprayings are qualified, if judging that the spraying in specified region is unqualified, then can control spray gun to mend underproof place Fill spraying.This kind setting can spray again spray coated work surface after coating robot coats are unqualified, thus The phenomenon that capable of ensuring coating quality, avoiding spraying defect, prevent the poor quality sprayed automatically generation.
In addition, the control method of the spray robot provided according to that above embodiment of the present invention also has following supplementary technology Feature:
In any of the above-described technical solution, it is preferable that in the specified region that the spray gun is moved to work surface Before step further include: work surface is divided into multiple regions, and using any region in multiple regions as the specified area Domain.
In those technical solutions, work surface can be divided into multiple specified regions in advance, so as to specified region It is sprayed one by one.And after having divided region, it can be first using any one region as specified region, so as to this The sequence of operations such as region sprayed, quality judging and reparation.
In any of the above-described technical solution, it is preferable that the control method of the spray robot further include: described in judgement It, will be another in multiple regions when the spraying qualification in specified region or after the completion of the spray gun sprays the specified region again One region executes the updated specified region and is moved to the spray gun as the updated specified region The specified region of work surface controls the spray gun and sprays to the specified region, and obtains the specified area after spraying The step of image in domain, until the spraying in the multiple region is qualified.
In those technical solutions, after the spraying for determining specified region is qualified, or passing through spray gun to specified region It again, can be using another region in multiple regions as updated specified region, at this point, can be by spray gun after the completion of spraying It is moved to updated specified region, and a systems such as spraying, quality judging and reparation are repeated to updated specified region Column operation, until the coating quality in all regions is determined qualification.This kind setting can to current specified region into After the sequence of operations such as row spraying, quality judging and reparation, spraying is moved to next specified region automatically, and to next The sequence of operations such as specified region sprayed, quality judging and reparation, just successively multiple regions can be sprayed in this way, The operation such as quality judging and reparation, so as to complete spraying and be automatically repaired automatically for all work surfaces.
In any of the above-described technical solution, it is preferable that described the step of work surface is divided into multiple regions specifically: edge The work surface is divided into multiple regions by longitudinal direction.
In those technical solutions, the region of work surface is preferably divided into multiple regions along the longitudinal direction, i.e., it is multiple Region is arranged along the longitudinal direction, allows for spray robot in this way when moving to any fixed position in transverse direction, energy It is enough that the work surface of fixed width is sprayed along the longitudinal direction, spray robot is allowed in this way to be fixed in a lateral direction When any fixed position, the lowest part of work surface can be sprayed directly into from the highest point of work surface along the longitudinal direction, thus Spray robot sprays entire work surface along the longitudinal direction of work surface repeatedly.And this kind setting only needs The hanger of spray robot is promoted up and down, work surface once can be sprayed from top to bottom, quality testing With repair etc. operation.Meanwhile spray robot only needs successively to be moved to the position of multiple fixations in transverse direction, without Move back and forth in transverse direction, just entire work surface can be sprayed, quality testing and reparation, and this set can subtract The frequency that few spray robot moves integrally, and in high-altitude, movement is relatively difficult for spray robot, therefore this Application can reduce the control difficulty of spray robot by the way that work surface to be divided into multiple regions along the longitudinal direction.
In any of the above-described technical solution, it is preferable that the step in the specified region that the spray gun is moved to work surface Suddenly specifically: move integrally spray robot to position corresponding with the specified region.
In those technical solutions, sprayed needing spray gun being moved to next specified region from currently assigned region Tu Shi, preferably by moving trolley, for example AGV trolley is by the whole lateral position corresponding to the current region of spray robot It sets and is moved to the corresponding lateral position in next region.
Wherein, spray robot being moved integrally to position corresponding with the specified region can be specially by flush coater Device people moves integrally to lateral position corresponding with the specified region, allows for spray robot in this way and integrally only needs edge Transverse direction is moved to another position from a position, and does not have to frequently mobile.
In any of the above-described technical solution, it is preferable that the image that will acquire is compared with standard picture, and according to Comparing result judge the specified region spraying whether He Ge step specifically includes: the image segmentation that will acquire is at multiple portions Point；Judge whether the multiple part part corresponding with the standard picture is completely the same, if completely the same, described in judgement The spraying in specified region is qualified, if not quite identical, determines that the spraying in the specified region is unqualified.
In those technical solutions, since the specified region of work surface has certain size, after obtaining spraying Image when, image may be a picture or one section of video, it is also possible to plurality of pictures or multistage video, and in the program In, when whether the spraying for specifically determining specified region according to the image and standard picture of acquisition is qualified, first will acquire Image segmentation is successively compared with part corresponding to standard picture at multiple portions, and by the multiple portions after segmentation, with Whether part corresponding to the multiple portions and standard picture after just capable of judging segmentation is identical, illustrates the part if the same There is no problem for image, to can determine that the spraying in specified region is unqualified.Conversely, if one or more parts of the image obtained With it is different in standard picture, then illustrate this part or multiple portions images it is unqualified, then can determine that specified region Spraying is qualified, needs to spray again.
In any of the above-described technical solution, it is preferable that the control spray gun sprays the specified region again The step of painting, specifically includes: part inconsistent with the standard picture in multiple portions is marked；Based on the label It determines to spray underproof region on the specified region；The spray gun is controlled to carry out the underproof region of spraying Again it sprays.
In those technical solutions, when successively being compared the multiple portions of segmentation and standard picture, if finding it In a part or different multiple portions part corresponding with standard picture when, different part can be marked, Then it can determine that the spraying in which region on specified region is unqualified according to these labels, and on determining specified region Which region it is unqualified after, spray gun can be controlled, these underproof parts are successively sprayed again, just can in this way After first time sprays, reparation spraying is carried out to underproof region, to ensure the spray of each part on each specified region Applying quality can be qualified.And by the image segmentation that will acquire at multiple portions, then by the multiple portions of image respectively with The corresponding part of standard picture is successively compared, can the coating quality to each section in specified region determine, this Sample can accurately judge that out whether the spraying of each section is qualified, prevents from judging by accident.
In any of the above-described technical solution, it is preferable that store the standard picture in the spray robot in advance.
In those technical solutions, the storage device for storage standard image can be set on spray robot, In this way after getting image, standard picture can be called out out of storage device, and be compared with the image of acquisition, Go out to specify the spraying in region whether qualified to sentence section.And this set due to being stored in spray robot for test pattern in advance Inside, therefore do not have to obtain by networking, the calling for allowing for standard picture in this way is more convenient.Certainly, in other schemes, It can also be not provided with storage device, at this point, can be input to the standard picture of peripheral hardware by user when needing to use standard picture Inside spray robot, or directly spray robot is networked, to get standard picture from other places.
The second aspect of the present invention proposes a kind of control device of spray robot, comprising: memory is configured to store Executable instruction；Processor is configured to execute the executable instruction to realize that any one of first aspect implements the spraying provided The step of control method of robot.
The control device of spray robot provided by the invention, since it can implement to provide according to any one of first aspect Spray robot control method the step of control the work of spray robot, and then there is any one of first aspect to implement to mention The beneficial effect of the control method of the spray robot of confession, will not repeat them here.
The third aspect of the present invention proposes a kind of computer readable storage medium, is stored thereon with executable instruction, can Execute instruction the control method that can be realized the spray robot that any one of first aspect implements offer when being executed by processor Step.
Computer readable storage medium provided by the invention, due to the executable instruction stored thereon is performed can be by The step of implementing the control method provided according to any one of first aspect controls the work of spray robot, and then has first aspect Any one implements the beneficial effect of the control method of the spray robot provided, will not repeat them here.
The fourth aspect of the present invention proposes a kind of spray robot, comprising: suspension is equipped with promotion dress on the suspension It sets；Hanger can be hung by the lifting device and is mounted in the suspended end of the suspension；Spray gun is mounted on the hanger； Image collecting device is mounted on the hanger, for acquire it is spray coated after work surface image；Any one of first aspect is real The control device for applying example offer, is mounted on the suspension and/or the hanger；Moving trolley is connect with the suspension, can The suspension is driven to move in transverse direction.
The spray robot provided according to the present invention can be specifically used for spraying the exterior wall or interior wall of skyscraper, Such as to the exterior wall of skyscraper carry out spray painting or to the exterior wall of skyscraper carry out spraying-rinsing or to inner wall of building into Row painting, such as spray emulsion paint etc..Specifically, spray robot includes suspension, hanger, spray gun, image collecting device, control dress It sets and moving trolley, wherein suspension can be specifically used for suspension installation aloft, for example one end of suspension can be mounted on high level and built On the roof built, and the other end of suspension is stretched out from the edge on the roof of skyscraper, at this point, the other end of suspension is in outstanding Dummy status, and hanger can be lifted on hanging one end of suspension by the wirerope etc. of lifting device, the i.e. suspended end of suspension One end namely suspension for being not installed on skyscraper etc. for suspension are not used in the one end installed with object, thus Hanger can be mounted in the work surfaces such as the exterior wall of skyscraper.I.e. suspension, hanger, lifting device and control device can here The barrel structure being designed in a similar building, the in this way device by this similar to barrel structure can realize spray gun along high-rise The movement of the metope of building etc..And spray gun is specifically used for spraying the work surfaces such as the exterior wall of skyscraper or interior wall, and scheme As acquisition device is used to acquire the figure of spray coated work surface, and moving trolley be used for it is whole by suspension drive spray robot Body is mobile, and spray gun just can be moved to the different zones for needing to spray in this way.And control device is used for the work to entire product It is controlled.Simultaneously as the control device that there is spray robot provided by the invention any of the above-described embodiment to provide, And then the beneficial effect that there is spray robot provided by the invention any of the above-described embodiment to provide, it will not repeat them here.
In any of the above-described technical solution, it is preferable that spray robot further include: supply assembly is mounted on the frame body On, it connect, can be fed into the spray gun under the control of the control device with the spray gun and the control device.
In those technical solutions, supply assembly is used to be fed to spray gun, so that spray gun can be by materials such as paint, clear water It sprays in work surface.
In any of the above-described technical solution, it is preferable that described image acquisition device is industrial camera or video camera, the figure When picture acquisition device is industrial camera, the study plot image pattern is the picture sample prestored, and described image acquisition device is When video camera, the study plot image pattern is the video sample prestored.
In those technical solutions, image collecting device can be industrial camera or video camera, and image collector is set to work When industry camera, directly the work surface after spraying can be saved in the form of picture industrial camera, and at this point, can shift to an earlier date Qualified picture sample is deposited into storage device, the picture shot in this way by analysis comparison industrial camera and the figure prestored Difference between shape sample can judge whether the quality of spraying is qualified.And when image collector is set to video camera, it can be straight Video camera was connected to save the work surface after spraying in the form of video, and at this point, can be in advance by qualified video sample Originally it is deposited into storage device, passes through the difference between the video of analysis comparison video camera shooting and the video sample prestored in this way Can judge whether the quality of spraying is qualified.
In any of the above-described technical solution, it is preferable that the supply assembly includes air compressor and storage device, described Air compressor is mounted on the suspension, and the storage device is mounted on the hanger, and is connected to the air compression Between machine and the spray gun, the control device includes the first control piece and the second control piece, and first control piece is mounted on It on the suspension, is connect with the lifting device and the supply assembly, for controlling the lifting device and the feed group The work of part, second control piece are mounted on the hanger, are adopted with first control piece, the spray gun, described image Acquisition means connection.
In those technical solutions, supply assembly includes air compressor and storage device, wherein air compressor is used for The input air into storage device, so as to increase the pressure in storage device, and the material in storage device pressure by It is cumulative it is big after can be drained into spray gun from the discharge port of storage device under pressure, in this way by air compressor and storage Material device can realize the supply of spray finishing material.Wherein, storage device is preferably storage tank.
In addition, one individual control piece is difficult to meet spray robot in view of the control heavy workload of spray robot Loading demand.Thus, it may be preferable to the control device of complete machine is divided into two parts, i.e. the first control piece and the second control piece, And preferably, the first control piece can be mounted on suspension, to control the work of electrical installation being mounted on suspension, and by the Two control pieces are mounted on hanger, to control the work for the electrical installation being mounted on hanger.And the second control piece is preferably with One control piece connection, so that the control section of complete machine can intercommunication, so as to complete machine carry out linkage control, without The phenomenon that there are respective independent controls.And this set can carry out the control of complete machine by two sseparated control pieces, from And the load of each control piece can be reduced, it is ensured that the safety of control device.
Wherein, lifting device can be specially the device including elevator, dynamic ropes and safety rope, and elevator is specifically used In the lifting for realizing dynamic ropes, and safety rope is for ensuring safety.And dynamic ropes and safety rope are preferably wirerope.
In any of the above-described technical solution, it is preferable that the moving trolley is AGV trolley, and the suspension is mounted on described On AGV trolley, the transverse direction that can control the suspension along work surface is moved, and be able to drive the suspension along perpendicular to The direction of work surface moves.
In those technical solutions, the transverse shifting of suspension is preferably carried out by AGV trolley, for example is moved left and right. And AGV trolley can carry out Scaned map and be automatically moved to roofing situation, so as to plan the spraying road of spray gun assembly automatically Line.
Specifically, AGV is the abbreviation of AutomatedGuidedVehicle, also referred to as AGV trolley, and AGV trolley is one Kind is equipped with electricity magnetically or optically equal homing devices, can travel along defined guide path, with safeguard protection and respectively The transport vehicle of kind transfer function, driver is not needed in industrial application, its travelling route can be controlled by computer, can be passed through Electromagnetic path bring message is moved and is acted.
In any of the above-described technical solution, it is preferable that spray robot further include: safety guard is mounted on described It on hanger, is connect with the lifting device, is able to detect the working condition of the lifting device and the hanger, and can be in institute It states when the working condition of lifting device and/or the hanger is in except preset state and locks the lifting device.
In those technical solutions, safety of the lifting device when promoting hanger can be ensured by safety guard, To effectively take precautions against the generation of work safety accident.Specifically, for example, lifting device be specially include elevator, dynamic ropes with And safety rope device when, safety guard can be arranged to a gliding speed when hanger and reach lock rope speed and extension The tilt angle of frame when reaching lock rope angle can automatic locking safety rope, so that hanger is stopped decline or is stopped inclined safety Lock, and preferably, when safety lock is arranged, it should be noted that safety lock should cannot automatically reset in the case where locking rope form state, effectively to take precautions against The generation of work safety accident.And the concrete operating principle of lock and the principle of the safety guard in existing building hanging basket are installed Equally, it does not repeat specifically herein.It certainly,, can also be by safeguard protection when the structure of lifting device is different in other schemes Device is arranged to other structures, for example, lifting device can also be the structures such as electric block, hydraulic hoist, and safety at this time Protective device can be specially a velocity estimated device, can ensure that hanger is being promoted by the promotion speed of lifting device in this way Safety in the process.Certainly, safety guard can also one can be judged according to the height of hanger hanger whether safety Device.And in the actual process, the structure of lifting device and safety guard can be set according to actual needs, and the application does not make It is specific to limit.
In any of the above-described technical solution, it is preferable that spray robot further include: weighing instrument is mounted on the hanger, It is electrically connected with second control piece, the storage device is mounted on the weighing instrument.
In those technical solutions, weighing instrument can be set on hanger, then storage device is mounted on weighing instrument, this Sample just can detect at any time the material in storage device by weighing instrument, so as to in storage device material carry out with When supervise.And weighing instrument is connect with the second control piece, and the weight data of storage device can be sent to the second control piece, in this way When material in storage device is very few, the second control piece can control the work of lifting device together with the first control piece, with Hanger just can be moved to the place for carrying out feeding operation convenient for user, just can be added in time into storage device in this way Material prevents the material in storage device from running out the phenomenon that being found not yet.
In any of the above-described technical solution, it is preferable that spray robot further include: clump weight is mounted on the suspension In non-suspended end.
In those technical solutions, by setting clump weight can by clump weight come the weight of balance frame itself, thus Frame body can be prevented overweight, and entire suspended structure is caused to be toppled.
In any of the above-described technical solution, it is preferable that spray robot further include: multiple direction-casters are arranged described On the face that work surface is arranged, multiple direction-casters and can be transported hanger with operation face contact in the hanger It is rolled in work surface when dynamic.
In those technical solutions, enables hanger to be supported on high level by direction-caster by setting direction-caster and build On the metopes such as the exterior wall built, just hanger can be prevented completely hanging in this way.In addition, passing through rolling of the direction-caster in work surface Also hanger can be made more steady when moving.
In any of the above-described technical solution, it is preferable that spray robot further include: cable disk is mounted on the suspension On, the cable disk includes cable, and one end of the cable is connect with external power supply or first control piece, described The other end of cable is connect with second control piece；Power supply line connect with first control piece and is first control Product power supply；Wherein, when one end of the cable is connect with external power supply, first control piece and second control piece Information transmission is wirelessly carried out, when one end of the cable is connect with first control piece, first control Product is second control piece power supply by the cable disk and carries out information transmission with second control piece.
In those technical solutions, spray robot further includes cable disk and power supply line, wherein power supply line is specifically used for For the power supply of the first control piece.And cable disk is in a specific embodiment, can be used for powering for the second control piece, at this point, electric One end of cable on reeler is connect with external power supply, and preferably passes through nothing between the first control piece and the second control piece at this time The mode of line is attached.And in another embodiment, the first control piece and the second control directly can be realized by cable disk Energization and signal transmission between product, at this point, cable is connected between the first control piece and the second control piece.And cable So that hanger is in lifting process, cable can be with the lifting of hanger and by folding and unfolding, so just can be to electricity for the setting of disk Cable carries out standardized administration, prevents cable too long and cable winding occurs or cable and other objects are mutually stuck Problem.And the first control piece and the second control piece be wirelessly attached can save the first control piece and second control The signal cable of product simplifies the overall structure of product.
In any of the above-described technical solution, it is preferable that spray robot further include: the first valve is connected to the air pressure Between contracting machine and the storage device, for controlling the on-off between the air compressor and the storage device；Second valve, It is connected between the storage device and the spray gun, for controlling the on-off between the air compressor and the spray gun； Third valve is connected between the storage device and the spray gun, for controlling between the air compressor and the spray gun Flow.
In those technical solutions, by the way that the first valve is arranged, it can control logical between air compressor and storage device It is disconnected, the pressure in air compressor just can be controlled in this way, to achieve the purpose that the start-stop for controlling air compressor.Certainly, The start-stop control of air compressor can also be controlled by a guard's valve.And the first valve here is preferably electromagnetism Valve, because the control of solenoid valve is more convenient precisely.And the second valve is preferably proportioning valve, and it is controllable by the second valve of setting On-off between storage device and spray gun just can control the start-stop of spray gun in this way.And the second valve is preferably ejector pin valve.And the Three valves can be used for controlling the flow between storage device and spray gun, just can control the flow of air in this way, to control spray gun The condensation rate of the material of ejection.I.e. here third valve is flow control valve.
In any of the above-described technical solution, it is preferable that spray robot further include: adjust component, be movably mounted to institute It states on hanger, is connect with second control piece, the spray gun is mounted on the adjusting component, can be in second control The spray gun is driven to slide and/or rotate under the action of part.
In those technical solutions, adjusting component actively, for example slidingly and/or rotatably can be mounted on hanger On, spray gun can be driven along the sliding of the direction up and down of work surface and/or drive spray gun in operation by adjusting component in this way Rotation in surface can pass through spray gun in this way when the exterior wall of skyscraper or interior wall etc. are painted, cleaned by spray gun It moves freely and rotates to be painted, be cleaned to the region around spray gun, be capable of increasing what spray gun can spray every time in this way Area does not both have to frequently move integrally spray robot to not have to the frame body for continually moving spray robot.And In high-altitude, movement is relatively difficult for spray robot, therefore the application is by increasing the freedom degree of spray gun, reducing The mobile number of spray robot can reduce the control difficulty of spray robot.
In any of the above-described technical solution, it is preferable that the adjusting component includes: slide assemblies, is mounted on the hanger On, it can be slided on the hanger along the longitudinal direction sliding of work surface and/or along the transverse direction of work surface；Sliding driving Part is connect with the slide assemblies, and the slide assemblies can be driven to slide；Rotary components are mounted on the slide assemblies； Wherein, the spray gun is mounted on the rotary components, can be slided under the action of the slide assemblies, and can be in institute It states and is rotated in work surface under the action of rotary components.
In those technical solutions, adjusting component includes slide assemblies, sliding actuator and rotary components, wherein sliding It is mounted on frame body to component slippage, can be slided along the longitudinal direction or transverse direction of the work surface of spray gun assembly, so just Spray gun can be driven to move along the longitudinal direction or transverse direction of work surface, and slide actuator and be used to that slide assemblies to be driven to slide, The automatic driving of slide assemblies can be realized by sliding actuator in this way, to just can be realized spray gun above and below work surface The automatic sliding of left and right directions.And rotary components are mounted on slide assemblies, can relative activity face rotation, can pass through in this way Rotary components drive spray gun in the operation rotation in surface of spraying.
In any of the above-described technical solution, it is preferable that the spray robot further includes the first guide rail, first guide rail It is mounted on the hanger, the transverse direction along work surface is arranged, and the slide assemblies include: the first sliding block, can be slidably It is mounted on first guide rail, can be slided along first guide rail；Actuator one is mounted on the hanger, and described First sliding block connection, for driving first sliding block to slide；Second guide rail is mounted on first sliding block, and along operation The longitudinal direction in face is arranged；Second sliding block can be slidably mounted on second guide rail, can be sliding along second guide rail It is dynamic；Actuator two is mounted on the hanger, is connect with second sliding block, for driving second sliding block to slide；Its In, the rotary components are mounted on second sliding block.
In the technical scheme, spray robot further includes the first guide rail, the first guide rail along work surface transverse direction, i.e., The left and right directions of work surface is arranged, and slide assemblies include the first sliding block, the second guide rail and the second sliding block, and slide assemblies can lead to It crosses the first sliding block slidably to install on the first guide rail, and can slide along the first rail, such slide assemblies are just able to drive spray Rifle slides in transverse direction, and the second sliding block can be slidably mounted on the second guide rail, just can pass through the second sliding block in this way Sliding on the second guide rail drives spray gun to slide along the longitudinal direction, passes through sliding of the slide assemblies on the first guide rail in this way, And second sliding of the sliding block on the second guide rail can adjust the position up and down of spray gun.And the first guide rail and second is led Rail can limit slippage direction, just can prevent in this way slide assemblies and the second sliding block sliding hour offset projected route, thus Enable spray gun to slide into the predetermined area according to projected route, is sprayed with the area to be sprayed to presumptive area.And it is somebody's turn to do Kind structure can adjust the position of spray gun by the sliding of longitudinal direction and left and right directions, so that the height and position of spray gun is adjusted It is more independent with left-right position adjusting, it just can be improved the height adjustment of spray gun and the convenience of left and right adjusting in this way.Certainly, exist In other schemes, the tilt adjustment of Burners Positions can also be realized by the sliding rail being obliquely installed, i.e., be not smooth vertical and horizontal tune Section.
In any of the above-described technical solution, it is preferable that be provided with first between first sliding block and second guide rail Connecting plate is connected by screw between first connecting plate and first sliding block, first connecting plate and described second It is connected by screw between guide rail.
In those technical solutions, can between the first sliding block and the second guide rail the first connecting plate, first can be made in this way It can more securely be connected between sliding block and the second guide rail, and preferably, between the first connecting plate and the first sliding block and first It is preferably connected by screw between connecting plate and the second guide rail, because the mode of screw connection is fairly simple and connection is reliable.
Wherein, when work surface is the exterior wall or interior wall of skyscraper, the longitudinal direction of work surface is the outer of skyscraper The up and down direction of wall or interior wall, the transverse direction of work surface are the exterior wall of skyscraper or the left and right directions of interior wall.
Wherein, at least one setting third guide rail along the transverse direction of work surface, slide assemblies are additionally provided on hanger It can be slidably mounted on third guide rail and the first guide rail.And slide assemblies and hanger can be enhanced by the way that third guide rail is arranged Between connection reliability, prevent slide assemblies installation it is unstable.
In any of the above-described technical solution, it is preferable that the sliding actuator includes: actuator one, is mounted on the extension It on frame, is connect with first sliding block, for driving first sliding block to slide；Actuator two is mounted on the hanger, with The second sliding block connection, for driving second sliding block to slide.
In those technical solutions, the first guide rail can be corresponded to and be mounted on first sliding block of driving slidably actuator one, And corresponding second guide rail is mounted on second sliding block of driving slidably actuator two, just can pass through two independent drives in this way Moving part realizes the independent driving of the first sliding block and the second sliding block, so that the first sliding block and the second sliding block can be in slidings Independently of each other, mutually not dry around the transverse direction that just can be realized spray gun in this way is separately adjustable separately adjustable with height, improves spray gun movement Freedom degree.
In any of the above-described technical solution, it is preferable that the actuator one includes first motor, and the first motor passes through The mode of V belt translation is connect with first sliding block, and the actuator two includes the second motor, and second motor passes through band and passes Dynamic mode is connect with second sliding block.
In those technical solutions, the first sliding block is preferably driven to slide by first motor, and first motor and first Preferably by V belt translation mode is attached between sliding block, meanwhile, preferably drive the second sliding block sliding by the second motor It is dynamic, and it is also preferred that by V belt translation mode is attached between the second motor and the second sliding block.This kind of structure can make to drive Part one and actuator two it is relatively simple for structure, it is thus possible to simplify the structure of product.Specifically, first motor, the second motor It can be connect by belt pulley and belt with the first sliding block and the second sliding block, certainly, in first motor and the first sliding block and second The drive mechanisms such as also settable gear between motor and the second sliding block, so as to rationally control the first sliding block and the second sliding block Speed.
In any of the above-described technical solution, it is preferable that the first motor and second motor are servo motor.Cause It is high for the control precision of servo motor, it is thus possible to ensure the deposition accuracies of spray gun.
Wherein it is preferred to which the second motor is preferably mounted at the lower end of the second guide rail, so that the second motor can be from The lower end of two guide rails come realize the sliding to the second sliding block drive.
In any of the above-described technical solution, it is preferable that the spray robot further includes the first shield and the second protection Cover, first shield are mounted on the motor shaft end of the first motor, can cover the motor shaft of the first motor, institute The motor shaft end that the second shield is mounted on second motor is stated, the motor shaft of second motor can be covered.
In those technical solutions, by the first shield of setting and the second shield, rainwater, dust shadow can be effectively prevent Ring the work of first motor and the second motor.Wherein it is preferred to the first shield and the second shield are preferably square, because Rectangular area is larger, just can enhance the protective performance of shield in this way.
In any of the above-described technical solution, it is preferable that the rotary components include: rotary drive, are mounted on the cunning On dynamic component；Second connecting plate is mounted on the output shaft of the rotary drive；Wherein, the spray gun is mounted on described On two connecting plates, the rotary drive rotation is able to drive the spray gun and moves along the longitudinal direction of work surface or along work surface Transverse direction movement.
In those technical solutions, rotary components include rotary drive and the second connecting plate, and rotary drive is used for The power of offer rotation, and installation of second connecting plate for realizing spray gun on rotary drive, meanwhile, the second connecting plate energy Enough increase the radial distance between rotary drive and spray gun, so as to increase the radius of turn of spray gun, so that spray gun can Pass through the greater area of region of rotation disposable spray finishing.In addition, the second connecting plate can also increase the placement space of spray gun, mention Contact area between high spray gun and rotary drive, to improve the mounting stability between rotary drive and spray gun.
In any of the above-described technical solution, it is preferable that the rotary drive includes: third motor, is mounted on the cunning On dynamic component；Retarder is mounted on the slide assemblies, is connect with the third motor；Wherein, the output shaft setting exists On the retarder.
In those technical solutions, power can be provided by third motor, and retarder is used to adjust the speed of spray gun Output torque is improved simultaneously, so as to by the speed control of output shaft in reasonable range.Wherein, third motor is preferably Servo motor, because the control precision of servo motor is higher, so as to improve the control precision to the speed of rotation axis etc..
Wherein it is preferred to the angle that the spray gun can rotate, which is more than or equal to 0 °, is less than or equal to 180 °, i.e., in the application, Spray gun preferably only rotates 180 °, can make the structure of spray gun more rationally compact in this way.Certainly, spray gun, which may also set up, to rotate 360 ° of structure.
In any of the above-described technical solution, it is preferable that spray robot further include: range unit, the range unit packet The signal reflectors for including the signal generator being mounted on the suspension and being mounted on the hanger, the signal generator with The first control piece electrical connection can emit distance measuring signal and receive the feedback signal that the signal reflectors are fed back to, and It can be measured between the hanger and the suspension according to the distance measuring signal and the received feedback signal of transmitting Distance.
In those technical solutions, a settable ranging component measures the distance between suspension and hanger, so just The height and position for obtaining hanger can be analyzed according to the distance between suspension and hanger, can pass through the height and position of hanger in this way And the position of hanger is oriented in the lateral position oriented of AGV trolley, it in this way can be according to the position of hanger and windowsill, sun The position at platform, turning etc. controls the motion profile of hanger, so that hanger can avoid windowing platform, sun automatically during the motion The barriers such as platform, turning, to achieve the effect that effective avoidance.
Wherein it is preferred to which signal generator is laser measuring apparatus, signal reflectors are laser reflection plate.
In those technical solutions, the measuring and calculating of the distance between suspension and hanger can be carried out by way of laser ranging. Because the mode comparative maturity of laser ranging and easily realization, thus the cost of product can be simplified, reduce ranging difficulty.Specifically, It can set signal generator to laser measuring apparatus, and set laser reflection plate for signal reflectors, and in this configuration, swash Optical measuring instrument is used to issue laser signal, receives the signal that laser reflection plate is reflected back, and determines to hang according to both signals The distance between frame and suspension, and laser measuring apparatus is returned in the signal reflex that laser reflection plate is used to issue laser measuring apparatus, this Sample just enables laser measuring apparatus according to laser from answering out received time and the aerial velocity-of-propagation meter of laser The distance that laser is passed by is calculated, so that the distance that just can be passed by according to laser determines the distance between suspension and hanger.
In any of the above-described technical solution, it is preferable that the quantity of the laser reflection plate is two, and two laser are anti- Plate is penetrated to be symmetrically mounted on the hanger along the transverse direction of work surface.
In those technical solutions, the laser that can be issued by two laser reflection plates to laser measuring apparatus carries out anti- It penetrates, the amount for the laser being reflected back can be enhanced in this way, so as to enhance the feedback signal that laser measuring apparatus can receive, this Sample just can enhance the laser signal of feedback when the laser signal by the laser signal and feedback that issue compares and analyzes Reliability, the accuracy of laser ranging is improved, so as to realize the accurate control mobile to the position of hanger.
In any of the above-described technical solution, it is preferable that be provided with sunk area, the suspension energy on the bottom of the suspension It is enough mounted on the AGV trolley by the sunk area, multiple pulleys, the suspension is provided on the bottom of the suspension When being mounted on the AGV trolley, the suspension can be contacted by multiple pulleys with the placement platform.
In those technical solutions, sunk area can be set in the bottom of suspension, AGV trolley is then mounted on depressed area It, so just can be while driving suspension to move integrally by AGV trolley in domain, reduction suspension constitutes whole with AGV trolley The volume of body, to reduce the occupied area of product.And by the way that pulley is arranged on the bottom of suspension, suspension is connect with ground Touching, and can be slided when mobile with AGV trolley by pulley, just the movement of suspension can be made more convenient in this way.
Wherein it is preferred to the artificial spraying machine for external wall device people of spraying robot.Certainly, spray robot can also be glass curtain wall Deng high-altitude cleaning machine people.In addition, spray robot can also be interior wall spray robot.
Additional aspect and advantage according to the present invention will provide in following description section, partially will be from following description In become obvious, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow diagram of the control method for the spray robot that embodiment according to the present invention provides；
Fig. 2 is another flow diagram of the control method for the spray robot that embodiment according to the present invention provides；
Fig. 3 is the idiographic flow schematic diagram of the step 206 in Fig. 2；
Fig. 4 is the idiographic flow schematic diagram of the step 208 in Fig. 2；
Fig. 5 is the structural schematic block diagram of the control device for the spray robot that embodiment according to the present invention provides；
Fig. 6 is the structural schematic diagram for the spray robot that embodiment according to the present invention provides；
Fig. 7 is the structural schematic diagram that the spray robot that embodiment according to the present invention provides includes hanger part；
Fig. 8 is another structural schematic diagram that the spray robot that embodiment according to the present invention provides includes hanger part；
Fig. 9 is the another structural schematic diagram that the spray robot that embodiment according to the present invention provides includes hanger part；
Figure 10 is another structural schematic diagram that the spray robot that embodiment according to the present invention provides includes hanger part；
Figure 11 is the structural schematic diagram that the spray robot that embodiment according to the present invention provides includes suspension part；
Figure 12 is another structural schematic diagram that the spray robot that embodiment according to the present invention provides includes suspension part；
Figure 13 is that the spray robot that embodiment according to the present invention provides includes spray gun and the structural representation for adjusting component Figure；
Figure 14 is that the spray robot that embodiment according to the present invention provides includes spray gun and another structure for adjusting component Schematic diagram；
Figure 15 be embodiment according to the present invention provide spray robot air compressor, storage device and spray gun it Between connection schematic diagram.
Wherein, corresponding relationship of the Fig. 5 into Figure 15 between appended drawing reference and component names are as follows:
100 spray robots, 1 control device, the first control piece of 1a, the second control piece of 1b, 12 memories, 14 processors, 2 Suspension, 20 lifting devices, 22 clump weights, 24 cable disks, 3 hangers, 30 safety guards, 31 direction-casters, 32 first lead Rail, 34 first shields, 36 second shields, 38 third guide rails, 42 spray guns, 44 air compressors, 46 storage devices, 5 images Acquisition device, 6AGV trolley, 72 signal generators, 74 signal reflectors, 8 weighing instruments, 9 adjusting components, 90 slide assemblies, 902 First sliding block, 904 second guide rails, 906 second sliding blocks, 908 first connecting plates, 92 rotary components, 922 third motors, 924 slow down Device, 926 second connecting plates, 94 sliding actuators, 942 actuators one, 944 actuators two, the first valve of a, the second valve of b, c third Valve.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also Implement in a manner of using other than the one described here, therefore, protection scope of the present invention is not by following public tool The limitation of body embodiment.
Described referring to Fig. 1 to Figure 15 embodiment according to the present invention offer spray robot and control method and Control device, computer readable storage medium.
As shown in Figure 1, the embodiment of first aspect present invention provides a kind of control method of spray robot, for such as Spray robot shown in fig. 6, the spray robot include spray gun 42, and the control method of the spray robot includes: step Rapid 102, the spray gun is moved to the specified region of work surface, the spray gun is controlled and the specified region is sprayed, and The image in the specified region after obtaining spraying；Step 104, the image that will acquire is compared with standard picture, and according to Comparing result judges whether the spraying in the specified region is qualified, when the spraying for determining the specified region is unqualified, control The spray gun sprays the specified region again.
The control method for the spray robot that embodiment according to the present invention provides, can be used for spray robot, and spray Robot can be specifically used for the exterior wall or interior wall of skyscraper are sprayed, such as to the exterior wall of skyscraper carry out spray painting or Person carries out spraying-rinsing to the exterior wall of skyscraper and perhaps carries out spraying-rinsing to the exterior wall of skyscraper or to inner wall of building It paints etc..And spray gun can be first moved to the specified region of work surface by the control method of the spray robot, it is then right Specified region is sprayed, and after spray coated, specified region can be obtained by image collecting devices such as industrial cameras Image after spray coated, hereafter can also will acquire it is spray coated after image and qualification standard picture compare, with judgement All whether spraying is qualified for the coating quality in specified region, if judging that the spraying in specified region is unqualified, then can control spray gun Supplement spraying is carried out to underproof place.This kind setting can be after coating robot coats be unqualified, to spray coated work Industry face is sprayed again, so as to ensure coating quality, is avoided spraying defect, is prevented showing for the poor quality sprayed automatically As occurring.
The control method of the spray robot of another embodiment of the present invention offer, tool are be provided below with reference to Fig. 2 Body, method includes the following steps:
Step 202, work surface is divided into multiple regions, and using any region in multiple regions as the specified area Domain.
In step 202, work surface can be divided into multiple specified regions in advance, so as to one one, specified region It is a to be sprayed.And after having divided region, can first using any one region as specified region, so as to the region into The sequence of operations such as row spraying, quality judging and reparation.
Step 204, the spray gun is moved to the specified region of work surface, control the spray gun to the specified region into Row spraying, and obtain the image in the specified region after spraying.
Step 206, the image that will acquire is compared with standard picture, and judges the specified region according to comparing result Spraying it is whether qualified, when the spraying for determining the specified region is unqualified, go to step 208, determining the specified region Spraying qualification when, go to step 210.
Step 208, the spray gun is controlled to spray the specified region again.It, can be direct after the completion of the step Go to step 210.
Step 210, using another region in multiple regions as the updated specified region, and step is repeated Rapid 204 and subsequent step, until the spraying in the multiple region is qualified.
In step 210, after the spraying for determining specified region is qualified, or by spray gun specified region is sprayed again It, can be using another region in multiple regions as updated specified region, at this point, spray gun can be moved to after the completion of painting Updated specified region, and the sequence of operations such as spraying, quality judging and reparation are repeated to updated specified region, Until the coating quality in all regions is determined qualification.This kind setting can current specified region is sprayed, After the sequence of operations such as quality judging and reparation, spraying is moved to next specified region automatically, and to next specified area The sequence of operations such as domain sprayed, quality judging and reparation, just can successively spray multiple regions, quality is sentenced in this way The operations such as fixed and reparation, so as to complete spraying and be automatically repaired automatically for all work surfaces.
In any of the above-described embodiment, it is preferable that described the step of work surface is divided into multiple regions specifically: along vertical Work surface is divided into multiple regions to direction.
In those embodiments, the region of work surface is preferably divided into multiple regions along the longitudinal direction, i.e., multiple areas Domain is arranged along the longitudinal direction, allows for spray robot in this way when moving to any fixed position in transverse direction, can The work surface of fixed width is sprayed along the longitudinal direction, allows for fixed times in a lateral direction of spray robot in this way When one fixed position, the lowest part of work surface can be sprayed directly into from the highest point of work surface along the longitudinal direction, is thus made Entire work surface can be sprayed repeatedly along the longitudinal direction of work surface by obtaining spray robot.And this kind setting needs pair The hanger of spray robot is promoted up and down, work surface once can be sprayed from top to bottom, quality testing and The operation such as reparation.Meanwhile spray robot only needs successively to be moved to the position of multiple fixations in transverse direction, without edge Transverse direction moves back and forth, and just can be sprayed to entire work surface, quality testing and reparation, and this set can be reduced The frequency that spray robot moves integrally, and in high-altitude, movement is relatively difficult for spray robot, therefore this Shen Please it can reduce the control difficulty of spray robot by the way that work surface to be divided into multiple regions along the longitudinal direction.
In the above embodiment, it is preferable that step 202 can specifically: move integrally spray robot and arrive and the finger Determine the corresponding position in region.
In this step, need spray gun being moved to next specified region from currently assigned region sprayed when, Preferably by moving trolley, for example AGV trolley 6 moves the whole lateral position corresponding to the current region of spray robot Move lateral position corresponding to next region.
Wherein it is preferred to as shown in figure 3, step 206 may particularly include: step 2062, the image segmentation that will acquire is at more A part；Step 2064, judge whether the multiple part part corresponding with the standard picture is completely the same, if complete one It causes, then determines that the spraying in the specified region is qualified, if not quite identical, determine that the spraying in the specified region is unqualified.
In this step, since the specified region of work surface has certain size, the image after obtaining spraying When, image may be a picture or one section of video, it is also possible to plurality of pictures or multistage video, and in this scenario, in root It is the image segmentation that first will acquire when whether qualified according to the next spraying for specifically determining specified region of the image and standard picture of acquisition It is successively compared with part corresponding to standard picture at multiple portions, and by the multiple portions after segmentation, so as to sentence Whether part corresponding to the multiple portions and standard picture after disconnected segmentation out is identical, illustrates that the parts of images does not have if the same Problem, to can determine that the spraying in specified region is unqualified.Conversely, if one or more parts of the image obtained and standard drawing It is different as in, then illustrate that the image of this part or multiple portions is unqualified, then can determine that the spraying in specified region is qualified, It needs to spray again.
Wherein it is preferred to as shown in figure 4, step 208 may particularly include: step 2082, in multiple portions with the mark The inconsistent part of quasi- image is marked；Step 2084, spraying is determined not on the specified region based on the label Qualified region；Step 2086, the spray gun is controlled to spray the underproof region of spraying again.
In this step, when successively being compared the multiple portions of segmentation and standard picture, if discovery therein one When a part or different multiple portions part corresponding with standard picture, different part can be marked, then may be used It determines that the spraying in which region on specified region is unqualified according to these labels, and is determining which on specified region After region is unqualified, spray gun can be controlled, these underproof parts are successively sprayed again, it so just can be first After secondary spraying, reparation spraying is carried out to underproof region, to ensure the coating quality of each part on each specified region It can be qualified.And by the image segmentation that will acquire at multiple portions, then by the multiple portions of image respectively with standard drawing As corresponding part is successively compared, can the coating quality to each section in specified region determine, in this way Accurately judge that out whether the spraying of each section is qualified, prevents from judging by accident.
Wherein it is preferred to which the standard picture is stored in the spray robot in advance.
In those embodiments, the storage device for storage standard image can be set on spray robot, this Sample can call out standard picture out of storage device after getting image, and be compared with the image of acquisition, with Sentence section to go out to specify the spraying in region whether qualified.And this set is since test pattern to be stored in spray robot in advance Portion, therefore do not have to obtain by networking, the calling for allowing for standard picture in this way is more convenient.Certainly, in other schemes, It can be not provided with storage device, at this point, the standard picture of peripheral hardware can be input to spray by user when needing to use standard picture Robot interior is applied, or directly spray robot is networked, to get standard picture from other places.
As shown in figure 5, the second aspect of the present invention proposes a kind of control device 1 of spray robot, comprising: memory 12, it is configured to storage executable instruction；Processor 14 is configured to execute the executable instruction to realize any one of first aspect The step of control method of the spray robot provided is provided.
The control device 1 of spray robot provided by the invention, since it can implement to provide according to any one of first aspect Spray robot control method the step of control the work of spray robot, and then there is any one of first aspect to implement to mention The beneficial effect of the control method of the spray robot of confession, will not repeat them here.
The third aspect of the present invention proposes a kind of computer readable storage medium (not shown), and being stored thereon with can It executes instruction, can be realized any one of first aspect when executable instruction is executed by processor and the spray robot provided is provided The step of control method.
Computer readable storage medium provided by the invention, due to the executable instruction stored thereon is performed can be by The step of implementing the control method provided according to any one of first aspect controls the work of spray robot, and then has first aspect Any one implements the beneficial effect of the control method of the spray robot provided, will not repeat them here.
As shown in Fig. 6 to Figure 15, the fourth aspect of the present invention proposes a kind of spray robot 100, including suspension 2, extension Frame 3, spray gun 42, image collecting device 5, control device 1 and moving trolley, moving trolley can be specially AGV trolley 6, specifically, As shown in fig. 6, being equipped with lifting device 20 on suspension 2；Hanger 3 can be hung the suspension for being mounted on suspension 2 by lifting device 20 On end；Spray gun 42 is mounted on hanger 3；As shown in fig. 7, image collecting device 5 is mounted on hanger 3, it is spray coated for acquiring The image of work surface afterwards；The control device 1 that any one of first aspect embodiment provides is mounted on suspension 2 and/or hanger 3； As shown in Fig. 6 and Figure 12, moving trolley is connect with suspension 2, is able to drive suspension 2 and is moved in transverse direction.
The spray robot 100 provided according to the present invention can be specifically used for spraying the exterior wall or interior wall of skyscraper It applies, for example the exterior wall of skyscraper paint or to the exterior wall progress spraying-rinsing of skyscraper or to skyscraper Exterior wall carry out spraying-rinsing, or inner wall of building is painted etc..Specifically, spray robot 100 includes suspension 2, hangs Frame 3, spray gun 42, image collecting device 5, control device 1 and moving trolley (the AGV trolley 6 in such as Fig. 6), wherein suspension 2 can Aloft specifically for suspension installation, for example one end of suspension 2 can be mounted on the roof of skyscraper, and by suspension 2 The other end is stretched out from the edge on the roof of skyscraper, at this point, the other end of suspension 2 is in vacant state, and hanger 3 can pass through The wirerope etc. of lifting device 20 is lifted on hanging one end of suspension 2, i.e., the suspended end of suspension 2 is that suspension 2 is fitted without One end namely suspension 2 on skyscraper etc. are not used in the one end installed with object, and this makes it possible to pacify hanger 3 In the work surfaces such as the exterior wall mounted in skyscraper.I.e. suspension 2, hanger 3, lifting device 20 and control device 1 may be designed to here Barrel structure in one similar building, the in this way device by this similar to barrel structure can realize spray gun 42 along skyscraper Metope etc. movement.And spray gun 42 is specifically used for spraying the work surfaces such as the exterior wall of skyscraper or interior wall, and image Acquisition device 5 is used to acquire the figure of spray coated work surface, and moving trolley is used to drive spray robot by suspension 2 100 move integrally, and spray gun 42 just can be moved to the different zones for needing to spray in this way.And control device 1 is used for entire The work of product is controlled.Simultaneously as spray robot 100 provided by the invention is provided with any of the above-described embodiment Control device 1, and then spray robot provided by the invention 100 have any of the above-described embodiment provide beneficial effect, Details are not described herein.
In any of the above-described embodiment, it is preferable that spray robot 100 further includes supply assembly, and supply assembly is mounted on It on frame body, connect, can be fed into spray gun 42 under the control of control device 1 with spray gun 42 and control device 1.Specifically, As shown in Figure 6 and Figure 8, supply assembly may particularly include the air compressor 44 in Fig. 6 and the storage device in Fig. 8 46.
In those embodiments, supply assembly is used to be fed to spray gun 42, so that spray gun 42 can be by objects such as paint, clear water Material sprays in work surface.
In any of the above-described embodiment, it is preferable that image collecting device 5 is industrial camera or video camera, image collector When setting 5 as industrial camera, study plot image pattern is the picture sample prestored, when image collecting device 5 is video camera, study plot Image pattern is the video sample prestored.
In those embodiments, image collecting device 5 can be industrial camera or video camera, and image collecting device 5 is work When industry camera, directly the work surface after spraying can be saved in the form of picture industrial camera, and at this point, can shift to an earlier date Qualified picture sample is deposited into storage device, the picture shot in this way by analysis comparison industrial camera and the figure prestored Difference between shape sample can judge whether the quality of spraying is qualified.And when image collecting device 5 is video camera, it can be straight Video camera was connected to save the work surface after spraying in the form of video, and at this point, can be in advance by qualified video sample Originally it is deposited into storage device, passes through the difference between the video of analysis comparison video camera shooting and the video sample prestored in this way Can judge whether the quality of spraying is qualified.
In any of the above-described embodiment, it is preferable that as shown in Figure 6 and Figure 8, supply assembly includes air compressor 44 and storage Expect that device 46, air compressor 44 are mounted on suspension 2, storage device 46 is mounted on hanger 3, and is connected to air compressor Between 44 and spray gun 42.Further, as shown in Figure 6 and Figure 7, control device 1 includes the first control piece 1a and the second control piece 1b, the first control piece 1a are mounted on suspension 2, connect with lifting device 20 and supply assembly, for controlling 20 He of lifting device The work of supply assembly, the second control piece 1b are mounted on hanger 3, with the first control piece 1a, spray gun 42, image collecting device 5 Connection.
In those embodiments, supply assembly includes air compressor 44 and storage device 46, wherein air compressor 44 For the input air into storage device 46, so as to increase the pressure in storage device 46, and the object in storage device 46 Material can be drained into spray gun 42 from the discharge port of storage device 46 under pressure after pressure is gradually increased, and be passed through in this way Air compressor 44 and storage device 46 can realize the supply of spray finishing material.Wherein, storage device 46 is preferably storage tank.
In addition, one individual control piece is difficult to meet spraying robot in view of the control heavy workload of spray robot 100 The loading demand of people 100.Thus, it may be preferable to which the control device 1 of complete machine is divided into two parts, i.e. the first control piece 1a and second Control piece 1b, and preferably, the first control piece 1a can be mounted on suspension 2, to control the electrical installation being mounted on suspension 2 Work, and the second control piece 1b is mounted on hanger 3, to control the work for the electrical installation being mounted on hanger 3.And the Two control piece 1b are preferably connect with the first control piece 1a, so that the control section of complete machine can intercommunication, so as to whole Machine carries out linkage control, without the phenomenon that there are respective independent controls.And this set can pass through two sseparated controls Part carries out the control of complete machine, so as to reduce the load of each control piece, it is ensured that the safety of control device 1.
Wherein, lifting device 20 can be specially the device including elevator, dynamic ropes and safety rope, and elevator is specific For realizing the lifting of dynamic ropes, and safety rope is for ensuring safety.And dynamic ropes and safety rope are preferably wirerope.
In any of the above-described embodiment, it is preferable that moving trolley is AGV trolley 6, and suspension 2 is mounted on AGV trolley 6, energy Enough control suspensions 2 are moved along the transverse direction of work surface, and are able to drive suspension 2 and are moved along the direction perpendicular to work surface.
In those embodiments, the transverse shifting of suspension 2 is preferably carried out by AGV trolley 6, for example is moved left and right. And AGV trolley 6 can carry out Scaned map and be automatically moved to roofing situation, so as to plan the spraying of 42 component of spray gun automatically Route.
Specifically, AGV is the abbreviation of AutomatedGuidedVehicle, also referred to as AGV trolley 6, and AGV trolley 6 is One kind being equipped with electricity magnetically or optically equal homing devices, can travel along defined guide path, with safeguard protection and The transport vehicle of various transfer functions, does not need driver in industrial application, its travelling route can be controlled by computer, can be led to Electromagnetic path bring message is crossed to be moved and acted.
In any of the above-described embodiment, it is preferable that as shown in figure 8, spray robot 100 further include: safety guard 30, it is mounted on hanger 3, is connect with lifting device 20, be able to detect the working condition of lifting device 20 and hanger 3, and can Lifting device 20 is lockked when the working condition of lifting device 20 and/or hanger 3 is in except preset state.
In those embodiments, peace of the lifting device 20 when promoting hanger 3 can be ensured by safety guard 30 Entirely, to effectively take precautions against the generation of work safety accident.It is specially including elevator, moves When the device of power rope and safety rope, safety guard 30 can be arranged to one when the gliding speed of hanger 3 reaches lock rope Speed and the tilt angle of hanger 3 reach lock rope angle when can automatic locking safety rope, make hanger 3 stop decline or stop Inclined safety lock, and preferably, when safety lock is arranged, it should be noted that safety lock should cannot automatically reset in the case where locking rope form state, Effectively to take precautions against the generation of work safety accident.And the concrete operating principle for installing lock and the safeguard protection in existing building hanging basket The principle of device 30 is the same, does not repeat specifically herein.Certainly, in other schemes, when the structure of lifting device 20 is different, Safety guard 30 can also be arranged to other structures, for example, lifting device 20 can also be electric block, hydraulic hoist Etc. structures, and safety guard 30 can be specially a velocity estimated device at this time, in this way can mentioning by lifting device 20 Lifting speed ensures safety of the hanger 3 in lifting process.Certainly, safety guard 30 can also one can be according to hanger 3 Height come judge hanger 3 whether An Quan device.And in the actual process, 20 He of lifting device can be set according to actual needs The structure of safety guard 30, the application are not especially limited.
Wherein it is preferred to as shown in figure 8, spray robot 100 further include: weighing instrument 8 is mounted on hanger 3, with Two control piece 1b electrical connection, storage device 46 are mounted on weighing instrument 8.
In those embodiments, weighing instrument 8 can be set on hanger 3, storage device 46 is then mounted on weighing instrument 8 On, just the material in storage device 46 can be detected at any time by weighing instrument 8 in this way, so as to in storage device 46 Material is supervised at any time.And weighing instrument 8 is connect with the second control piece 1b, can be sent to the weight data of storage device 46 Second control piece 1b, when the material in storage device 46 is very few in this way, the second control piece 1b can be with the first control piece 1a mono- The work of control lifting device 20 is played, so as to hanger 3 be moved to the place for carrying out feeding operation convenient for user, so just It can add materials in time into storage device 46, prevent the material in storage device 46 from running out showing of being found not yet As occurring.
In any of the above-described embodiment, it is preferable that as shown in Fig. 6 and Figure 11, spray robot 100 further include: clump weight 22, it is mounted in the non-suspended end of suspension 2.
In those embodiments, by setting clump weight 22 can by clump weight 22 come the weight of balance frame itself, from And frame body can be prevented overweight, and entire suspended structure is caused to be toppled.
In any of the above-described embodiment, it is preferable that as shown in Fig. 6 to Figure 10, spray robot 100 further include: Duo Geding To castor 31, hanger 3 is set on the face that work surface is arranged, multiple direction-casters 31 can be with operation face contact, and energy It is enough to be rolled in work surface when hanger 3 is moved.
In those embodiments, hanger 3 is enabled to be supported on height by direction-caster 31 by the way that direction-caster 31 is arranged On the metopes such as the exterior wall of layer building, hanger 3 just can be prevented completely hanging in this way.In addition, by direction-caster 31 in work surface On rolling can also make hanger 3 more steady when moving.
In any of the above-described embodiment, it is preferable that as shown in Fig. 6, Figure 11 and Figure 12, spray robot 100 further include: electricity Reeler 24 is mounted on suspension 2, and cable disk 24 includes cable, one end of cable and external power supply or the first control Part 1a connection, the other end of cable are connect with the second control piece 1b；Power supply line (not shown) connects with the first control piece 1a It connects and is the first control piece 1a power supply；Wherein, when one end of cable is connect with external power supply, the control of the first control piece 1a and second Product 1b wirelessly carries out information transmission, when one end of cable is connect with the first control piece 1a, the first control piece 1a is the second control piece 1b power supply by cable disk 24 and carries out information transmission with the second control piece 1b.
In those embodiments, spray robot 100 further includes cable disk 24 and power supply line, wherein power supply line is specific For powering for the first control piece 1a.And cable disk 24 is in a specific embodiment, can be used for for the second control piece 1b confession Electricity, at this point, one end of the cable on cable disk 24 is connect with external power supply, and the first control piece 1a and the second control piece at this time It is preferably wirelessly attached between 1b.And in another embodiment, it can directly be realized by cable disk 24 Energization and signal transmission between first control piece 1a and the second control piece 1b, at this point, cable is connected to the first control piece 1a Between the second control piece 1b.And the setting of cable disk 24, so that hanger 3 is in lifting process, cable can be with hanger 3 lifting and by folding and unfolding, so just can to cable carry out standardized administration, prevent cable too long and cable winding occur Or the problem that cable is mutually stuck with other objects.And the first control piece 1a and the second control piece 1b are wirelessly It is attached the signal cable that can save the first control piece 1a and the second control piece 1b, simplifies the overall structure of product.
In any of the above-described embodiment, it is preferable that as shown in figure 15, spray robot 100 further include: the first valve a, connection Between air compressor 44 and storage device 46, for controlling the on-off between air compressor 44 and storage device 46；The Two valve b, are connected between storage device 46 and spray gun 42, for controlling the on-off between air compressor 44 and spray gun 42；The Three valve c, are connected between storage device 46 and spray gun 42, for controlling the flow between air compressor 44 and spray gun 42.
In those embodiments, by the way that the first valve a is arranged, it can control between air compressor 44 and storage device 46 On-off just can control the pressure in air compressor 44 in this way, to achieve the purpose that the start-stop for controlling air compressor 44. Certainly, the start-stop control of air compressor 44 can also be controlled by a guard's valve.And the first valve a here is preferred For solenoid valve, because the control of solenoid valve is more convenient precisely.And the second valve b is preferably proportioning valve, and pass through setting second Valve b can control the on-off between storage device 46 and spray gun 42, just can control the start-stop of spray gun 42 in this way.And the second valve b can Preferably ejector pin valve.And third valve c can be used for controlling the flow between storage device 46 and spray gun 42, just can control sky in this way The flow of gas, to control the condensation rate of the material of the ejection of spray gun 42.I.e. here third valve c is flow control valve.
Wherein it is preferred to as shown in Fig. 6 to Figure 14, spray robot 100 further include: adjust component 9, be moveably mounted It on hanger 3, is connect with the second control piece 1b, spray gun 42, can be under the action of the second control piece 1b mounted in adjusting on component 9 Drive the sliding of spray gun 42 and/or rotation.
In those embodiments, adjusting component 9 actively, for example slidingly and/or rotatably can be mounted on hanger 3 On, spray gun 42 can be driven to exist along the sliding of the direction up and down of work surface and/or drive spray gun 42 by adjusting component 9 in this way Operation rotation in surface can pass through in this way when the exterior wall of skyscraper or interior wall etc. are painted, cleaned by spray gun 42 Spray gun 42 is moved freely and is rotated to be painted, be cleaned to the region around spray gun 42, and it is every to be capable of increasing spray gun 42 in this way The secondary area that can be sprayed both did not had to frequently to spray robot to not have to the frame body for continually moving spray robot 100 100 are moved integrally.And in high-altitude, movement is relatively difficult for spray robot 100, therefore the application passes through The control that the freedom degree for increasing spray gun 42, the mobile number for reducing spray robot 100 can reduce spray robot 100 is difficult Degree.
In any of the above-described embodiment, it is preferable that as shown in Figure 13 and Figure 14, adjusting component 9 includes: slide assemblies 90, It is mounted on hanger 3, can be slided on hanger 3 along the longitudinal direction sliding of work surface and/or along the transverse direction of work surface； Actuator 94 is slided, is connect with slide assemblies 90, slide assemblies 90 can be driven to slide；Rotary components 92, are mounted on Slide Group On part 90；Wherein, spray gun 42 is mounted on rotary components 92, can be slided under the action of slide assemblies 90, and can be It is rotated in work surface under the action of rotary components 92.
In those embodiments, adjusting component 9 includes slide assemblies 90, sliding actuator 94 and rotary components 92, wherein Slide assemblies 90 are slidably mounted on frame body, can be sliding along the longitudinal direction or transverse direction of the work surface of 42 component of spray gun It is dynamic, spray gun 42 can be driven to move along the longitudinal direction or transverse direction of work surface in this way, and actuator 94 is slided for driving Slide assemblies 90 slide, and the automatic driving of slide assemblies 90 can be realized by sliding actuator 94 in this way, thus just can be real Automatic sliding of the existing spray gun 42 along the direction up and down of work surface.And rotary components 92 are mounted on slide assemblies 90, it can The rotation of relative activity face can drive spray gun 42 in the operation rotation in surface of spraying by rotary components 92 in this way.
In any of the above-described embodiment, it is preferable that as shown in Fig. 7, Fig. 9, Figure 13 and Figure 14, spray robot 100 is also wrapped The first guide rail 32 is included, the first guide rail 32 is mounted on hanger 3, and the transverse direction along work surface is arranged, specifically, such as Figure 13 and figure Shown in 14, slide assemblies 90 include: the first sliding block 902, can be slidably mounted on the first guide rail 32, can be along the first guide rail 32 slidings；Actuator 1 is mounted on hanger 3, is connect with the first sliding block 902, for driving the sliding of the first sliding block 902；The Two guide rails 904 are mounted on the first sliding block 902, and are arranged along the longitudinal direction of work surface；Second sliding block 906, can be slidably It is mounted on the second guide rail 904, can be slided along the second guide rail 904；Actuator 2 944 is mounted on hanger 3, sliding with second Block 906 connects, for driving the sliding of the second sliding block 906；Wherein, rotary components 92 are mounted on the second sliding block 906.
In this embodiment, spray robot 100 further includes the first guide rail 32, and the first guide rail 32 is along the transverse direction side of work surface To, i.e. the left and right directions setting of work surface, and slide assemblies 90 include the first sliding block 902, the second guide rail 904 and the second sliding block 906, slide assemblies 90 can slidably be installed on the first guide rail 32 by the first sliding block 902, and can be sliding along the first guide rail 32 Dynamic, such slide assemblies 90 are just able to drive spray gun 42 and slide in transverse direction, and the second sliding block 906 can be slidably mounted on On second guide rail 904, just spray gun 42 can be driven along longitudinal direction by sliding of second sliding block 906 on the second guide rail 904 in this way Direction sliding, in this way by sliding and second sliding block 906 of the slide assemblies 90 on the first guide rail 32 in the second guide rail 904 On sliding can adjust the position up and down of spray gun 42.And the first guide rail 32 and the second guide rail 904 being capable of limit slippages Direction just can prevent slide assemblies 90 and the second sliding block 906 in sliding hour offset projected route, so that spray gun 42 in this way The predetermined area can be slided into according to projected route, be sprayed with the area to be sprayed to presumptive area.And this kind of structure energy The position of spray gun 42 is enough adjusted by the sliding of longitudinal direction and left and right directions, so that the height and position of spray gun 42 adjusts and a left side Right position adjusting is more independent, just can be improved the height adjustment of spray gun 42 and the convenience of left and right adjusting in this way.Certainly, at it In its scheme, the tilt adjustment of 42 position of spray gun can also be realized by the sliding rail being obliquely installed, i.e., be not smooth vertical and horizontal tune Section.
In any of the above-described embodiment, it is preferable that as shown in Figure 13 and Figure 14, the first sliding block 902 and the second guide rail 904 it Between be provided with the first connecting plate 908, be connected by screw between the first connecting plate 908 and the first sliding block 902, the first connecting plate 908 and second are connected by screw between guide rail 904.
In those embodiments, can between the first sliding block 902 and the second guide rail 904 first connecting plate 908, in this way can Make more securely connect between the first sliding block 902 and the second guide rail 904, and preferably, the first connecting plate 908 and first is sliding It is preferably connected by screw between block 902 and between the first connecting plate 908 and the second guide rail 904, because of the side of screw connection Formula is fairly simple and connection is reliable.
Wherein, when work surface is the exterior wall or interior wall of building, the longitudinal direction of work surface is the exterior wall or interior wall of building Up and down direction, the transverse direction of work surface is the left and right directions of external wall or interior wall.
Wherein, as shown in figures 7 and 9, at least one setting along the transverse direction of work surface is additionally provided on hanger 3 Three guide rails 38, slide assemblies 90 can be slidably mounted on third guide rail 38 and the first guide rail 32.And it is led by the way that third is arranged Rail 38 can enhance the connection reliability between slide assemblies 90 and hanger 3, prevent slide assemblies 90 from installing unstable.
In any of the above-described embodiment, it is preferable that as shown in Figure 13 and Figure 14, sliding actuator 94 includes: actuator one 942, it is mounted on hanger 3, is connect with the first sliding block 902, for driving the sliding of the first sliding block 902；Actuator 2 944, installation It on hanger 3, is connect with the second sliding block 906, for driving the sliding of the second sliding block 906.
In those embodiments, the first guide rail 32 can be corresponded to and be mounted on first sliding block 902 of driving slidably actuator One 942, and corresponding second guide rail 904 is mounted on second sliding block 906 of driving slidably actuator 2 944, just can in this way The independent driving that the first sliding block 902 and the second sliding block 906 are realized by two independent actuators, so that the first sliding block 902 and second sliding block 906 can be mutually indepedent in sliding, mutually not dry around just can be realized the laterally independent of spray gun 42 in this way It adjusts and height is separately adjustable, improve the freedom degree that spray gun 42 moves.
In any of the above-described embodiment, it is preferable that actuator 1 includes first motor, and first motor passes through V belt translation Mode connect with the first sliding block 902, actuator 2 944 includes the second motor, and the second motor is by way of V belt translation with the The connection of two sliding blocks 906.
In those embodiments, the first sliding block 902 is preferably driven to slide by first motor, and first motor and first Preferably by V belt translation mode is attached between sliding block 902, meanwhile, the second sliding block is preferably driven by the second motor 906 slidings, and it is also preferred that by V belt translation mode is attached between the second motor and the second sliding block 906.This kind of structure energy Enough make the relatively simple for structure of actuator 1 and actuator 2 944, it is thus possible to simplify the structure of product.Specifically, first Motor, the second motor can be connect by belt pulley and belt with the first sliding block 902 and the second sliding block 906, certainly, in the first electricity The drive mechanisms such as also settable gear between machine and the first sliding block 902 and the second motor and the second sliding block 906, so as to rationally Control the speed of the first sliding block 902 and the second sliding block 906.
In any of the above-described embodiment, it is preferable that first motor and the second motor are servo motor.Because of servo motor Control precision it is high, it is thus possible to ensure the deposition accuracies of spray gun 42.
Wherein it is preferred to which the second motor is preferably mounted at the lower end of the second guide rail 904, so that the second motor can Realize that the sliding to the second sliding block 906 drives from the lower end of the second guide rail 904.
In any of the above-described embodiment, it is preferable that as shown in Figure 13 and Figure 14, spray robot 100 further includes first anti- Shield 34 and the second shield 36, the first shield 34 are mounted on the motor shaft end of first motor, can cover first motor Motor shaft, the second shield 36 are mounted on the motor shaft end of the second motor, can cover the motor shaft of the second motor.
In those embodiments, by the first shield 34 of setting and the second shield 36, rainwater, dust can be effectively prevent Influence the work of first motor and the second motor.Wherein it is preferred to which the first shield 34 and the second shield 36 are preferably in side Shape just can enhance the protective performance of shield because rectangular area is larger in this way.
In any of the above-described embodiment, it is preferable that as shown in Figure 13 and Figure 14, rotary components 92 include rotary drive and Second connecting plate 926, specifically, rotary drive is mounted on slide assemblies 90, may particularly include the third motor in Figure 13 922 and retarder 924；Second connecting plate 926 is mounted on the output shaft of rotary drive；Wherein, spray gun 42 is mounted on second On connecting plate 926, rotary drive rotation be able to drive spray gun 42 moved along the longitudinal direction of work surface or along work surface cross It is moved to direction.
In those embodiments, rotary components 92 include rotary drive and the second connecting plate 926, and rotary drive is used In providing the power of rotation, and installation of second connecting plate 926 for realizing spray gun 42 on rotary drive, meanwhile, second Connecting plate 926 is capable of increasing the radial distance between rotary drive and spray gun 42, so as to increase the rotation half of spray gun 42 Diameter, so that spray gun 42 can pass through the greater area of region of rotation disposable spray finishing.In addition, the second connecting plate 926 can also Increase the placement space of spray gun 42, the contact area between spray gun 42 and rotary drive is improved, to improve rotary drive With the mounting stability between spray gun 42.
In any of the above-described embodiment, it is preferable that as shown in figure 13, rotary drive includes: third motor 922, installation On slide assemblies 90；Retarder 924 is mounted on slide assemblies 90, is connect with third motor 922；Wherein, output shaft is arranged On retarder 924.
In those embodiments, power can be provided by third motor 922, and retarder is used to adjust the speed of spray gun 42 It spends while improving output torque, so as to by the speed control of output shaft in reasonable range.Wherein, third motor 922 Preferably servo motor, because the control precision of servo motor is higher, so as to improve the control to the speed of rotation axis etc. Precision.
Wherein it is preferred to the angle that spray gun 42 can rotate, which is more than or equal to 0 °, is less than or equal to 180 °, i.e., in the application, spray Preferably only 180 ° of the rotation of rifle 42, can make the structure of spray gun 42 more rationally compact in this way.Certainly, may also set up can for spray gun 42 The structure being rotated by 360 °.
In any of the above-described embodiment, it is preferable that as shown in Fig. 7, Fig. 9, Figure 10 and Figure 12, spray robot 100 is also wrapped Include: range unit, range unit include the signal generator 72 being mounted on suspension 2 and the signal reflex being mounted on hanger 3 Device 74, signal generator 72 are electrically connected with the first control piece 1a, can be emitted distance measuring signal and be received signal reflectors 74 and feed back The feedback signal returned, and can be measured between hanger 3 and suspension 2 according to the distance measuring signal and received feedback signal of transmitting Distance.
In those embodiments, a settable ranging component measures the distance between suspension 2 and hanger 3, so just The height and position for obtaining hanger 3 can be analyzed according to the distance between suspension 2 and hanger 3, can pass through the height of hanger 3 in this way The position of hanger is oriented in the lateral position that position and AGV trolley 6 are oriented, in this way can position according to hanger and window The position at platform, balcony, turning etc. controls the motion profile of hanger 3, so that hanger 3 can avoid out automatically during the motion The barriers such as windowsill, balcony, turning, to achieve the effect that effective avoidance.
Preferably, signal generator 72 is laser measuring apparatus, and signal reflectors 74 are laser reflection plate.
In those embodiments, the measuring and calculating of the distance between suspension 2 and hanger 3 can be carried out by way of laser ranging. Because the mode comparative maturity of laser ranging and easily realization, thus the cost of product can be simplified, reduce ranging difficulty.Specifically, It can set signal generator 72 to laser measuring apparatus, and set laser reflection plate for signal reflectors 74, and in the structure In, laser measuring apparatus is used to issue laser signal, receives the signal that laser reflection plate is reflected back, and is determined according to both signals The distance between hanger 3 and suspension 2 out, and laser measurement is returned in the signal reflex that laser reflection plate is used to issue laser measuring apparatus Instrument just enables laser measuring apparatus according to laser from answering out received time and laser aerial propagation speed in this way Degree calculate the distance that laser is passed by, thus the distance that just can be passed by according to laser determine between suspension 2 and hanger 3 away from From.
Preferably, as shown in Fig. 7, Fig. 9, Figure 10 and Figure 12, the quantity of laser reflection plate is two, two laser reflection plates Transverse direction along work surface is symmetrically mounted on hanger 3.
In those embodiments, the laser that can be issued by two laser reflection plates to laser measuring apparatus carries out anti- It penetrates, the amount for the laser being reflected back can be enhanced in this way, so as to enhance the feedback signal that laser measuring apparatus can receive, this Sample just can enhance the laser signal of feedback when the laser signal by the laser signal and feedback that issue compares and analyzes Reliability, the accuracy of laser ranging is improved, so as to realize the accurate control mobile to the position of hanger 3.
Preferably, as shown in fig. 6, being provided with sunk area on the bottom of suspension 2, suspension 2 can be pacified by sunk area On AGV trolley 6, multiple pulleys are provided on the bottom of suspension 2, when suspension 2 is mounted on AGV trolley 6, suspension 2 can It is contacted by multiple pulleys with placement platform.
In those embodiments, sunk area can be set in the bottom of suspension 2, AGV trolley 6 is then mounted on depressed area In domain, just it can reduce suspension 2 while driving suspension 2 to move integrally by AGV trolley 6 in this way and AGV trolley 6 is constituted Whole volume, to reduce the occupied area of product.And by the way that pulley is arranged on the bottom of suspension 2, enable suspension 2 It contacts, and can be slided by pulley when mobile with AGV trolley 6 with ground, just the movement of suspension 2 can be made more square in this way Just.
Wherein it is preferred to which spray robot 100 is external wall spraying machine people.Certainly, spray robot 100 can also be glass The high-altitude cleaning machine people of glass curtain wall etc..In addition, spray robot can also be interior wall spray robot.
In the description of this specification, term " connection ", " installation ", " fixation " etc. shall be understood in a broad sense, for example, " even Connect " it may be fixed connection or may be dismantle connection, or integral connection；It can be directly connected, it can also be in Between medium be indirectly connected.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be Concrete meaning in invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc. Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with Suitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification, Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (11)

1. a kind of control method of spray robot is used for spray robot, which is characterized in that the spray robot includes spray The control method of rifle, the spray robot includes:
The spray gun is moved to the specified region of work surface, the spray gun is controlled and the specified region is sprayed, and obtain The image in the specified region after taking spraying；
The image that will acquire is compared with standard picture, and judges whether the spraying in the specified region closes according to comparing result Lattice control the spray gun and are sprayed again to the specified region when the spraying for determining the specified region is unqualified.
2. the control method of spray robot according to claim 1, which is characterized in that described that the spray gun is mobile Before the step of to the specified region of work surface further include:
Work surface is divided into multiple regions, and using any region in multiple regions as the specified region.
3. the control method of spray robot according to claim 2, which is characterized in that further include:
It, will when determining the spraying qualification in the specified region or after the completion of the spray gun sprays the specified region again Another region in multiple regions executes general as the updated specified region, and to the updated specified region The spray gun is moved to the specified region of work surface, controls the spray gun and sprays to the specified region, and obtains spraying The step of image in the specified region afterwards, until the spraying in the multiple region is qualified.
4. the control method of spray robot according to claim 2, which is characterized in that it is described work surface is divided into it is more The step of a region specifically:
The work surface is divided into multiple regions along the longitudinal direction.
5. the control method of spray robot according to claim 1, which is characterized in that described to be moved to the spray gun The step of specified region of work surface specifically:
Spray robot is moved integrally to position corresponding with the specified region.
6. the control method of spray robot according to any one of claim 1 to 5, which is characterized in that described to obtain The image taken is compared with standard picture, and according to comparing result judge the specified region spraying whether He Ge step It specifically includes:
The image segmentation that will acquire is at multiple portions；
Judge whether the multiple part part corresponding with the standard picture is completely the same, if completely the same, determines institute The spraying for stating specified region is qualified, if not quite identical, determines that the spraying in the specified region is unqualified.
7. the control method of spray robot according to claim 6, which is characterized in that the control spray gun is to institute The step of specified region is sprayed again is stated to specifically include:
Part inconsistent with the standard picture in multiple portions is marked；
It determines to spray underproof region on the specified region based on the label；
The spray gun is controlled to spray the underproof region of spraying again.
8. the control method of spray robot according to any one of claim 1 to 5, which is characterized in that
The standard picture is stored in the spray robot in advance.
9. a kind of control device of spray robot (1) characterized by comprising
Memory (12) is configured to storage executable instruction；
Processor (14) is configured to execute the executable instruction to realize such as any one of claims 1 to 8 the method Step.
10. a kind of computer readable storage medium, which is characterized in that be stored thereon with executable instruction, the executable instruction It can be realized when being executed by processor (14) such as the control method of spray robot described in any item of the claim 1 to 8 Step.
11. a kind of spray robot (100) characterized by comprising
Suspension (2) is equipped with lifting device (20) on the suspension (2)；
Hanger (3) can be hung by the lifting device (20) and is mounted in the suspended end of the suspension (2)；
Spray gun (42) is mounted on the hanger (3)；
Image collecting device (5) is mounted on the hanger (3), for acquire it is spray coated after work surface image；
Control device (1) as claimed in claim 9, is mounted on the suspension (2) and/or the hanger (3)；
Moving trolley is connect with the suspension (2), the spray robot (100) can be driven along cross by the suspension (2) It is moved integrally to direction.
CN201910385030.1A 2019-05-09 2019-05-09 Spray robot and control method and control device, computer readable storage medium Pending CN109972827A (en)

Priority Applications (1)

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CN110284693A (en) * 2019-07-17 2019-09-27 广东博智林机器人有限公司 The control method of spraying equipment and spraying equipment
CN110700523A (en) * 2019-09-30 2020-01-17 广东博智林机器人有限公司 Control method and device of spraying robot and spraying robot with control device
CN111054553A (en) * 2020-01-02 2020-04-24 辽宁石油化工大学 Multifunctional split type full-automatic indoor spraying robot
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CN112025677A (en) * 2020-07-28 2020-12-04 武汉象点科技有限公司 Automatic guiding glue supplementing system and method based on visual detection
CN114457989A (en) * 2020-11-09 2022-05-10 广东博智林机器人有限公司 Control method and device of blade coating mechanism, coating robot and storage medium
CN114769021A (en) * 2022-04-24 2022-07-22 广东天太机器人有限公司 Robot spraying system and method based on full-angle template recognition
CN115301517A (en) * 2022-08-22 2022-11-08 上海工程技术大学 Automatic spraying method for repairing defects of fan blade
CN115726547A (en) * 2022-11-21 2023-03-03 吉林大学 Control method and device for automatically spraying wall
CN117440308A (en) * 2023-12-21 2024-01-23 深圳市好兄弟电子有限公司 Intelligent control method and system for microphone production line

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WO2020224075A1 (en) * 2019-05-09 2020-11-12 广东博智林机器人有限公司 Spraying robot, control method, control apparatus, and computer readable storage medium
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CN110700523A (en) * 2019-09-30 2020-01-17 广东博智林机器人有限公司 Control method and device of spraying robot and spraying robot with control device
CN111054553A (en) * 2020-01-02 2020-04-24 辽宁石油化工大学 Multifunctional split type full-automatic indoor spraying robot
CN112025677B (en) * 2020-07-28 2023-09-26 武汉象点科技有限公司 Automatic guiding glue supplementing system and method based on visual detection
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CN114457989A (en) * 2020-11-09 2022-05-10 广东博智林机器人有限公司 Control method and device of blade coating mechanism, coating robot and storage medium
CN114457989B (en) * 2020-11-09 2024-01-30 广东博智林机器人有限公司 Method and device for controlling blade coating mechanism, coating robot and storage medium
CN114769021A (en) * 2022-04-24 2022-07-22 广东天太机器人有限公司 Robot spraying system and method based on full-angle template recognition
CN114769021B (en) * 2022-04-24 2022-11-25 广东天太机器人有限公司 Robot spraying system and method based on full-angle template recognition
CN115301517A (en) * 2022-08-22 2022-11-08 上海工程技术大学 Automatic spraying method for repairing defects of fan blade
CN115301517B (en) * 2022-08-22 2023-11-10 上海工程技术大学 Automatic spraying method for repairing defects of fan blades
CN115726547A (en) * 2022-11-21 2023-03-03 吉林大学 Control method and device for automatically spraying wall
CN117440308A (en) * 2023-12-21 2024-01-23 深圳市好兄弟电子有限公司 Intelligent control method and system for microphone production line
CN117440308B (en) * 2023-12-21 2024-04-26 深圳市好兄弟电子有限公司 Intelligent control method and system for microphone production line

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Application publication date: 20190705