CN110017012B - Spray coating robot, control method, and computer-readable storage medium - Google Patents
Spray coating robot, control method, and computer-readable storage medium Download PDFInfo
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- CN110017012B CN110017012B CN201910425564.2A CN201910425564A CN110017012B CN 110017012 B CN110017012 B CN 110017012B CN 201910425564 A CN201910425564 A CN 201910425564A CN 110017012 B CN110017012 B CN 110017012B
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- spraying
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- lifting mechanism
- spray gun
- lifting
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- 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
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- 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
Abstract
The invention provides a spray coating robot, a control method and a computer readable storage medium, wherein the spray coating robot comprises: a frame body; a lifting mechanism; the control device is arranged on the frame body and is electrically connected with the lifting mechanism and the spray gun so as to control the lifting of the lifting mechanism and the spraying of the spray gun; the visual sensor is arranged on the frame body and used for acquiring the distance between the position of the frame body and the barrier, and the control device is electrically connected with the visual sensor so as to determine the house type information of the space where the frame body is located through the distance detected by the visual sensor; the moving assembly is arranged at the bottom of the frame body, and the control device is electrically connected with the moving assembly so as to control the movement of the moving assembly according to the spraying path corresponding to the house type information. The spraying robot provided by the invention can acquire the house type information of the position through the vision sensor, and perform spraying operation according to the matched spraying path aiming at different house types, thereby realizing automatic spraying and saving labor cost.
Description
Technical Field
The invention relates to the technical field of spraying equipment, in particular to a spraying robot, a control method and a computer readable storage medium.
Background
At present, the traditional spraying work is usually carried out in a manual spraying mode, and due to the high cost of manual spraying, part of the spraying work begins to use semi-automatic spraying equipment for operation. The existing semi-automatic spraying equipment is generally simple in structure, single in function, limited in equipment height, limited in spraying range, simple and single in control program, incapable of automatically planning spraying routes matched with house types according to different house types and performing spraying operation, low in automation degree, narrow in application range, poor in operation effect, high in manual operation requirement and capable of increasing labor cost of spraying operation.
Disclosure of Invention
In order to solve at least one of the above technical problems, an object of the present invention is to provide a painting robot.
Another object of the present invention is to provide a control method for the above robot.
It is still another object of the present invention to provide a computer-readable storage medium for the above-mentioned control method.
To achieve at least one of the above objects, a first aspect of the present invention provides a painting robot comprising: the frame body is internally provided with a lifting channel; the lifting mechanism is arranged in the lifting channel, can move in the lifting channel and is provided with a spray gun; the control device is arranged on the frame body and is electrically connected with the lifting mechanism and the spray gun so as to control the lifting of the lifting mechanism and the spraying of the spray gun; the visual sensor is arranged on the frame body and used for acquiring the distance between the position of the frame body and the barrier, and the control device is electrically connected with the visual sensor so as to determine the house type information of the space where the frame body is located through the distance detected by the visual sensor; the moving assembly is arranged at the bottom of the frame body, and the control device is electrically connected with the moving assembly so as to control the movement of the moving assembly according to the spraying path corresponding to the house type information.
According to the spraying robot provided by the invention, the frame body is internally provided with the lifting channel, the lifting mechanism is arranged in the lifting channel, the spray gun is arranged on the lifting mechanism, the lifting structure can move in the lifting channel, and when the lifting mechanism moves in the lifting channel, the spray gun moves along with the lifting mechanism, so that the spraying range is enlarged; still be equipped with controlling means on the support body, controlling means is connected with hoist mechanism and spray gun electricity respectively, can control hoist mechanism's removal in promoting the passageway through controlling means, specifically, when spraying robot work, through controlling means control hoist mechanism's removal in promoting the passageway, the spray gun moves along with hoist mechanism in the direction that promotes the passageway extension to make the spray gun rise along with hoist mechanism's rising. The method comprises the steps that a visual sensor is arranged on a frame body, distance information between the frame body and a barrier is obtained through the visual sensor, and a control device is electrically connected with the visual sensor, so that the control device can receive the visual information obtained by the visual sensor and determine house type information of the frame body; the bottom of the frame body is also provided with the moving assembly, the control device is electrically connected with the moving assembly, the control device controls the moving assembly to move along the spraying path according to the set spraying path matched with the house type after determining the house type information of the frame body, and spraying operation is performed, so that the spraying robot can autonomously identify the house type information and perform the spraying operation on the spraying path matched with the house type information, the automatic operation of the spraying robot is realized, manual intervention is reduced, and the labor cost is saved.
On one hand, the visual sensor acquires the distance information between the frame body and obstacles in each direction to obtain the basic information of the length, the width, the height and the like of the space where the frame body is located, so that the information of the house type where the frame body is located is determined; on the other hand, when the spraying robot works, the distance between the frame body and the working wall surface can be acquired through the visual sensor, so that the control device can control the moving assembly to enable the spraying robot to move according to the acquired distance information between the frame body and the working wall surface, the distance between the frame body and the working wall surface is adjusted, the spraying robot can always keep a proper distance with the working wall surface when working, and the spraying quality is improved.
Wherein, visual sensor can be a plurality of, set up visual sensor respectively through around the support body and top position, can acquire more detailed accurate house type information, in order to reduce the error that house type structure judged, simultaneously, visual sensor can also set up on the spray gun, in order to acquire the distance between spray gun and the spraying wall, thereby when spraying robot spraying operation, according to the distance between the spray gun that acquires and the wall, keep appropriate distance through controlling means control spray gun and spraying wall, improve the spraying quality.
In addition, the spraying robot in the above technical solution provided by the present invention may further have the following additional technical features:
in the above technical solution, further comprising: and the memory is electrically connected with the control device, and a plurality of house type graphs and spraying paths corresponding to each house type graph are stored in the memory in advance, so that the control device determines the house type graphs stored in the memory according to the house type information and determines the corresponding spraying paths according to the house type graphs.
In the technical scheme, the spraying robot is further provided with a memory, a plurality of house type graphs and spraying paths respectively corresponding to the house type graphs are stored in the memory, and the memory is electrically connected with the control device, so that after the spraying robot acquires the house type information, the control device determines the house type graphs corresponding to the house type information and the memory according to the acquired house type information, thereby determining the spraying paths of the spraying robot, when the spraying robot performs spraying operation, the distance between the frame body and the obstacle is acquired through the vision sensor, different house type information is determined, the house type graphs corresponding to different house type information can be determined according to the plurality of house type graphs stored in the memory in advance, the spraying paths corresponding to the house type graphs are determined according to the determined house type graphs, so that the spraying robot can execute the corresponding spraying paths according to different house types, and the application range of the spraying robot is improved, the spraying operation is convenient.
Understandably, the more the number of the house type graphs and the spraying paths corresponding to the house type graphs stored in the memory is, the wider the application range of the spraying robot is, the more the number of the house type graphs and the spraying paths corresponding to the house type graphs in the memory is increased, so that the application range of the spraying robot can be improved, and meanwhile, new house type graphs and the spraying paths corresponding to the house type graphs are continuously added into the memory, so that the spraying robot can adapt to the continuously changing market, and the adaptability of the spraying robot is improved.
In the above technical solution, the vision sensor specifically includes: laser radar sensor, infrared sensor, ultrasonic sensor.
In this technical solution, the visual sensor specifically includes at least one of: laser radar sensor, infrared sensor, ultrasonic sensor to make spraying robot adapt to different operational environment, specifically, laser radar sensor sends the laser beam at the during operation, when meetting barriers such as wall body, arouses the scattering of laser beam, when laser radar sensor received the reflection light, through the operating duration of measuring the reverberation, confirm the distance of barrier, thereby the accurate distance between measuring obstacles such as spraying robot and wall body, make spraying robot obtain more accurate house type information. The ultrasonic radar emits high-frequency mechanical waves, when the ultrasonic radar meets an obstacle, partial mechanical wave reflection is generated, the ultrasonic sensor measures the running time of the reflected mechanical waves, the distance of the obstacle is determined, the directivity of the ultrasonic sensor is good, and the ultrasonic sensor can be used for detecting the material level of the spraying robot, so that the spraying robot is prevented from colliding with the obstacle. The infrared sensor can respond to the temperature of obtaining barriers such as walls, and when the temperature of the barriers such as the walls is too low, the operation of the spraying robot is interrupted through the control device, so that the phenomenon that the coating is frozen due to too low wall temperature in the spraying process is prevented, and the operation quality is influenced.
In any of the above technical solutions, the first part of the lifting mechanism is fixedly connected to the frame body, the second part of the lifting mechanism is provided with the spray gun, and the first part and the second part are arranged on two sides of the lifting mechanism, so that the lifting mechanism extends out of or retracts into the lifting channel under the driving of the lifting motor, and the spray gun and the lifting mechanism move relatively.
In the technical scheme, the lifting mechanism is fixedly connected with the frame body through the first part, the stability of the lifting mechanism is improved, the second part of the lifting mechanism is provided with the spray gun, the first part and the second part are arranged on two sides of the lifting mechanism, one side of the first part of the lifting mechanism faces the frame body and is relatively static with the fixed part of the frame body, one side of the second part of the lifting mechanism is far away from the frame body, namely faces outwards, when the lifting motor drives the lifting mechanism, the lifting mechanism can extend out or retract into the lifting channel, so that the spray gun moves along with the second part, and relative movement occurs between the spray gun and the lifting mechanism, so that when the spray gun is used for spraying, the lifting mechanism is driven by the lifting motor, the spray gun can move under the driving of the second part of the lifting mechanism, so as to realize the mobile spraying operation of the spray gun, meanwhile, the first part of the lifting mechanism is fixedly connected, the stability of hoist mechanism is improved to improve the stability of spray gun, avoid the spray gun to receive the influence of external force and produce great rocking in the operation process, reduce the spraying accuracy.
It should be emphasized that in the process of movement of the lifting mechanism, the spray gun can be lifted in two stages relative to the frame, that is, the spray gun moves relatively on the lifting mechanism, and the lifting mechanism moves relatively on the frame, at this time, the material is conveyed to the spray gun through the plurality of material barrels, so that the coating at a higher position can be conveyed on the basis of enlarging the spraying range, and the possibility of large color difference between the actual spraying color and the theoretical color is reduced.
In the above technical solution, further comprising: the lifting motor is in transmission connection with the lifting mechanism, so that the lifting mechanism moves in the lifting channel under the driving of the lifting motor; the hoist mechanism specifically includes: one of the at least two driving wheels is in transmission connection with the lifting motor; the transmission belt is wound outside the transmission wheels which are in transmission connection with the lifting motor, and the transmission belt is matched with the at least two transmission wheels to move under the driving of the lifting motor.
In the technical scheme, the lifting motor is in transmission connection with the lifting mechanism, so that the lifting mechanism can move in the lifting channel under the driving of the lifting motor; two driving wheels are sequentially arranged along the length direction of the frame body, and the conveying belt is wound outside the two driving wheels; in this way, when the lifting mechanism is driven by the motor to ascend, the movable end of the conveyor belt ascends relative to the frame body through the transmission wheel positioned above through the matching of the transmission wheel, in other words, the conveyor belt integrally moves upwards relative to the frame body, and meanwhile, the relative position of the spray gun on the conveyor belt also moves upwards. Wherein, under the effect of hoist mechanism, the spray gun rises along the support body direction with twice as fast as hoist mechanism. Thus, the lifting mechanism has a two-stage lifting structure: the lifting mechanism is one-level, and the conveying belt is one-level. The length of the conveyor belt is the lifting height of the lifting mechanism, namely when the lifting height of the lifting mechanism is S, the height of the spray gun lifted by the lifting mechanism is 2S.
Wherein, need explain the ground, the promotion motor can be connected with one or more simultaneous transmission in the drive wheel to realize the removal of drive belt, the quantity of action wheel can be one also can be a plurality of promptly, when the quantity of action wheel is one, reducible unnecessary drive mechanism's quantity, save space, when the quantity of action wheel is a plurality of, act on simultaneously through a plurality of action wheels, when a drive structure takes place to damage, still can drive the action wheel through all the other drive structure and take place to rotate, in order to improve the reliability of using.
Understandably, the number of the driving wheels is reasonably arranged to form a multi-level lifting structure, so that the spraying robot can reduce the overall height of the frame body when spraying to a higher position, and the spraying robot can enter a narrow space more easily to adapt to different working occasion requirements. Meanwhile, the lifting mechanism is embedded into the frame body, or the lifting mechanisms are sleeved with each other, so that the mounting structure can be simplified, and the cost is further saved.
In the above technical solution, further comprising: the hanging rack is arranged on the second part of the lifting mechanism, a sliding assembly is arranged on the hanging rack, and the spray gun is arranged on the sliding assembly to slide under the action of the sliding assembly.
In this technical scheme, through set up the slip subassembly at the second part of hoist mechanism, and the spray gun locates on the slip subassembly, make the spray gun can be on the slip subassembly, along the extending direction of slip subassembly, for hoist mechanism's removal, specifically, the spray gun can move along hoist mechanism's extending direction, and simultaneously, can be for hoist mechanism along the reverse relative movement of extending of slip subassembly through the slip subassembly, when the extending direction of slip subassembly has an contained angle that is greater than 0 degree with hoist mechanism's extending direction, the displacement in two directions can be realized to the spray gun, thereby through controlling means, the spray gun can be at will the removal in the plane that hoist mechanism's extending direction and slip subassembly extending direction constitute, make the spray gun have the degree of freedom of two dimensions, make things convenient for the spraying operation of spray gun.
In the above technical solution, further comprising: the rotating assembly is arranged on the sliding assembly, and the spray gun is arranged on the rotating assembly and rotates in the working face of the spray gun under the action of the rotating assembly.
In this technical scheme, be equipped with rotating assembly on the slip subassembly, and the spray gun is located on the rotating assembly, make the spray gun rotatory in the operation face, thereby when making the spray gun spraying operation, the coating of spraying in the wall is more even, improve the spraying quality, and simultaneously, through the rotation of spray gun, can carry out the spraying to the wall of different angles, specifically, can be through the rotation of spray gun to the spraying of slope wall, also can carry out the spraying operation to multiple non-straight walls such as arc wall, spherical wall, in order to improve spraying robot's adaptability.
A second aspect of the present invention provides a control method for a painting robot according to any one of the above aspects, including: determining house type information of the position where the spraying robot is located through a vision sensor of the spraying robot; searching a house type graph corresponding to the house type structure; and controlling the spraying robot to move according to the spraying path corresponding to the house type diagram.
According to the control method provided by the invention, the spraying robot firstly acquires the house type structure information of the position through the vision sensor, the house type graph corresponding to the house type structure of the spraying robot is determined by comparing the house type graph with the house type graph pre-stored in the memory, and then the control device controls the spraying robot to move according to the spraying path corresponding to the determined house type graph, so that the spraying robot autonomously plans the spraying path according to the real-time information acquired by the vision sensor, thereby omitting manual operation, saving the labor cost and improving the operation efficiency.
In the above technical solution, further comprising: when the spraying robot moves to any spraying position of the spraying path, controlling a moving component of the spraying robot to stop moving, controlling a spray gun of the spraying robot to move through a lifting mechanism of the spraying robot, and controlling the spray gun to spray; or in the process that the spraying robot moves along the spraying path, the lifting mechanism of the spraying robot controls the movement of the spray gun of the spraying robot and controls the spray gun to spray.
In the technical scheme, when the spraying robot works and moves to any spraying position of a spraying path, the moving assembly of the spraying robot is controlled to stop moving, so that the spraying robot can stop at any position of the spraying path according to a spraying requirement, and the lifting mechanism of the spraying robot controls the movement of the spray gun of the spraying robot to control the spray gun to spray according to the spraying requirement; in addition, in the process that the spraying robot moves along the spraying path, the lifting mechanism of the spraying robot can be used for controlling the movement of the spray gun of the spraying robot and controlling the spray gun to spray, so that the spraying robot can move and perform spraying operation at the same time, and the spraying operation efficiency is improved.
In the above technical solution, searching for the house type graph corresponding to the house type structure specifically includes: respectively determining the matching degree of each house type graph pre-stored in a memory and the house type information; and determining the house type graph with the highest matching degree in the plurality of house type graphs as the house type graph corresponding to the house type structure.
According to the technical scheme, after the vision sensor acquires the house type structure information, the matching degree of each house type graph and the house type structure information in the memory is determined, and then the house type graph with the highest matching degree with the house type structure information is selected as the house type graph corresponding to the house type information according to the matching degree of each house type graph and the house type structure information, so that a more accurate spraying path is provided for spraying operation.
In the above technical solution, before determining the matching degree of each house type graph stored in the external memory with the house type information, the method further includes: determining the use state of a memory interface, judging whether the memory interface is connected with a memory or not, and generating a judgment result; and if the judgment result is yes, executing a step of respectively determining the matching degree of each house type graph stored in the external memory and the house type information.
In the technical scheme, before the matching degree of each house type image stored in the external memory and the house type information is respectively determined, the using state of a memory interface is determined, whether the memory is connected to the memory interface is judged, and when the memory is connected to the memory interface, the step of respectively determining the matching degree of each house type image stored in the external memory and the house type information is executed, so that the condition that when the memory interface is not connected with the memory, a spraying program is wrong, the spraying robot is illegally operated, a wrong spraying path is executed, and the spraying robot is damaged due to collision or the working face is damaged is avoided.
A third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is used for implementing, when executed by a processor, the steps of any one of the control methods described above, so as to achieve all the above beneficial effects, and details are not repeated herein.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic perspective view of a painting robot according to an embodiment of the present invention;
FIG. 2 is an exploded view of a painting robot according to one embodiment of the present invention;
FIG. 3 is a schematic perspective view of a painting robot according to an embodiment of the present invention from another perspective; (ii) a
FIG. 4 is an enlarged schematic view of the portion A shown in FIG. 3;
FIG. 5 is a schematic view of a part of a painting robot according to an embodiment of the present invention;
FIG. 6 shows a flow diagram of a control method according to an embodiment of the invention;
FIG. 7 shows a flow diagram of a control method according to an embodiment of the invention;
FIG. 8 shows a flow diagram of a control method according to an embodiment of the invention;
fig. 9 shows a flow diagram of a control method according to an embodiment of the invention.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 5 is:
1 lifting mechanism, 12 lifting mechanism first part, 14 driving belt, 16 lifting motor, 18 lifting mechanism second part, 110 driving wheel, 2 frame body, 22 lifting channel, 24 moving component, 3 spray gun, 4 vision sensor, 5 hanging rack, 6 sliding component, 62 rotating component, 100 spraying robot.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Some embodiments according to the invention are described below with reference to fig. 1 to 5.
As shown in fig. 1 to 3, one embodiment of the present invention provides a painting robot 100 including: the frame body 2 is internally provided with a lifting channel 22; the lifting mechanism 1 is arranged in the lifting channel 22, the lifting mechanism 1 can move in the lifting channel 22, and the lifting mechanism 1 is provided with a spray gun 3; the control device is arranged on the frame body 2 and is electrically connected with the lifting mechanism 1 and the spray gun 3 so as to control the lifting of the lifting mechanism 1 and the spraying of the spray gun 3; the visual sensor 4 is arranged on the frame body 2 and used for acquiring the distance between the position of the frame body 2 and the obstacle, and the control device is electrically connected with the visual sensor 4 so as to determine the house type information of the space where the frame body 2 is located through the distance detected by the visual sensor 4; the moving assembly 24 is arranged at the bottom of the frame body 2, and the control device is electrically connected with the moving assembly 24 so as to control the movement of the moving assembly 24 according to the spraying path corresponding to the house type information.
In this embodiment, a lifting channel 22 is provided in the frame body 2, the lifting mechanism 1 is provided in the lifting channel 22, and the spray gun 3 is provided on the lifting mechanism 1, the lifting mechanism can move in the lifting channel 22, when the lifting mechanism 1 moves in the lifting channel 22, the spray gun 3 moves along with the lifting mechanism 1, so that the spray gun 3 can move along with the lifting mechanism 1 during spraying operation, thereby increasing the spraying range; the frame body 2 is further provided with a control device, the control device is electrically connected with the lifting mechanism 1 and the spray gun 3, and the movement of the lifting mechanism 1 in the lifting channel 22 can be controlled through the control device, so that the control device can control the movement of the spray gun 3, specifically, when the spraying robot 100 works, the control device controls the movement of the lifting mechanism 1 in the lifting channel 22, and the spray gun 3 moves along with the lifting mechanism 1 in the direction extending along the lifting channel 22, so that the spray gun 3 rises along with the rising of the lifting mechanism 1; the method comprises the steps that a visual sensor 4 is arranged on a frame body 2, distance information between the frame body 2 and an obstacle is obtained through the visual sensor 4, and a control device is electrically connected with the visual sensor 4, so that the control device can receive the visual information obtained by the visual sensor 4 and determine house type information of the frame body 2, specifically, before spraying operation of the spraying robot 100, the distance information between the frame body 2 and the obstacle in each direction of the house type is obtained through the visual sensor 4 arranged on the frame body 2, and the obtained information is transmitted to the control device, so that the spraying robot 100 can determine house type structure information of the frame body 2; the bottom of the frame body 2 is also provided with the moving assembly 24, and the control device is electrically connected with the moving assembly 24, so that after the control device determines the house type information of the frame body 2, the moving assembly 24 is controlled to move along the spraying path according to the set spraying path matched with the house type to perform spraying operation, and therefore the spraying robot 100 can autonomously identify the house type information and perform spraying operation on the spraying path matched with the house type information, automatic operation of the spraying robot 100 is achieved, manual intervention is reduced, and labor cost is saved.
Specifically, the vision sensor 4 has two functions, on one hand, the vision sensor 4 acquires distance information between the frame body 2 and obstacles in each direction to obtain basic information of the length, the width, the height and the like of the space where the frame body 2 is located, so as to determine the information of the house type where the frame body 2 is located; on the other hand, when the painting robot 100 works, the distance between the frame body 2 and the working wall surface can be acquired through the vision sensor 4, so that the control device can control the moving assembly 24 to move the painting robot 100 according to the acquired distance information between the frame body 2 and the working wall surface, thereby adjusting the distance between the frame body 2 and the working wall surface, so that the painting robot 100 can keep a proper distance with the working wall surface all the time during the working, and the painting quality is improved.
Wherein, vision sensor 4 can be a plurality of, set up vision sensor 4 respectively through around support body 2 and top position, can acquire more detailed accurate house type information, in order to reduce the judgement error of house type structure, and simultaneously, vision sensor 4 can also set up on spray gun 3, in order to acquire the distance between spray gun 3 and the spraying wall, thereby when spraying robot 100 operation, according to the distance between spray gun 3 and the wall that acquires, keep appropriate distance through controlling means control spray gun 3 and spraying wall, improve the spraying quality.
In addition, the spraying robot in the above embodiment provided by the present invention may further have the following additional technical features:
in the above embodiment, the method further includes: and the memory is electrically connected with the control device, and a plurality of house type graphs and spraying paths corresponding to each house type graph are stored in the memory in advance, so that the control device determines the house type graphs stored in the memory according to the house type information and determines the corresponding spraying paths according to the house type graphs.
In this embodiment, the painting robot 100 further includes a memory, a plurality of house type maps and painting paths respectively corresponding to the house type maps are stored in the memory, and the memory is electrically connected to the control device, so that after the painting robot 100 acquires the house type information, the control device determines the house type map corresponding to the house type information and the memory according to the acquired house type information, thereby determining the painting path of the painting robot 100, so that when the painting robot 100 performs painting operation, the distance between the frame body 2 and the obstacle is acquired through the vision sensor 4, and different house type information is determined, according to the house type maps pre-stored in the memory, the house type map corresponding to different house type information can be determined, and the painting path corresponding to the house type map is determined according to the determined house type map, so that the painting robot 100 can execute the corresponding painting path according to different house types, the application range of the spraying robot 100 is increased, and the spraying operation is facilitated.
Understandably, the larger the number of the house type diagrams and the spraying paths corresponding to the house type diagrams stored in the memory, the wider the application range of the spraying robot 100, and the larger the number of the house type diagrams and the spraying paths corresponding to the house type diagrams in the memory, the wider the application range of the spraying robot 100 can be, and meanwhile, when new house type diagrams and the spraying paths corresponding to the house type diagrams are continuously added into the memory, the spraying robot 100 can adapt to a continuously changing market, and the adaptability of the spraying robot 100 can be improved.
In the above embodiment, the vision sensor 4 specifically includes: a lidar sensor, an infrared sensor, and/or an ultrasonic sensor.
In this embodiment, the vision sensor 4 specifically includes a laser radar sensor, an infrared sensor, and/or an ultrasonic sensor to adapt the painting robot 100 to different working environments. Specifically, if the vision sensor 4 includes a laser radar sensor, the laser radar sensor emits a laser beam when operating, and when encountering an obstacle such as a wall, scattering of the laser beam is caused, and when the laser radar sensor receives reflected light, the distance to the obstacle is determined by measuring the operating time of the reflected light, so that the distance between the painting robot 100 and the obstacle such as the wall is accurately measured, and the painting robot 100 acquires more accurate house type information. The ultrasonic radar generates high-frequency mechanical waves, when encountering an obstacle, partial mechanical waves are reflected, the ultrasonic sensor measures the running time of the reflected mechanical waves to determine the distance of the obstacle, and the ultrasonic sensor has good directivity and can be used for detecting the material level of the spraying robot 100, so that the spraying robot 100 is prevented from colliding with the obstacle. The infrared sensor can be used for sensing the temperature of the barriers such as the wall surface, when the temperature of the barriers such as the wall surface is too low, the operation of the spraying robot 100 is interrupted through the control device, and the phenomenon that the coating is frozen due to too low wall surface temperature in the spraying process to influence the operation quality is prevented.
In any of the above embodiments, as shown in fig. 5, the first part of the lifting mechanism 1 is fixedly connected to the frame body 2, the second part of the lifting mechanism 1 is provided with the spray gun 3, and the first part and the second part are provided on both sides of the lifting mechanism 1, so that the lifting mechanism 1 extends out of or retracts into the lifting channel 22 under the driving of the lifting motor 16, and the spray gun 3 and the lifting mechanism 1 move relatively.
In this embodiment, the lifting mechanism 1 is composed of two parts, the first part of the lifting mechanism 1 is fixedly connected with the frame body 2, the stability of the lifting mechanism 1 is improved, the second part of the lifting mechanism 1 is provided with the spray gun 3, and the first part and the second part are arranged at two sides of the lifting mechanism 1, so that one side of the first part of the lifting mechanism 1 faces the frame body 2 and is stationary relative to the fixed part of the frame body 2, one side of the second part of the lifting mechanism 1 is far away from the frame body 2, namely faces outwards, when the lifting motor 16 drives the lifting mechanism 1, the first mechanism can extend out or retract into the lifting channel 22, so that the spray gun 3 moves along with the second lifting mechanism 1, and relative movement occurs between the spray gun 3 and the lifting mechanism 1, thereby when the spray gun 3 is in spraying operation, the lifting mechanism 1 is driven by the lifting motor 16, the spray gun 3 can move under the drive of the second part of the lifting mechanism 1, in order to realize the removal spraying operation of spray gun 3, simultaneously, through with hoist mechanism 1 first part fixed connection on support body 2, improve hoist mechanism 1's stability to improve spray gun 3's stability, avoid spray gun 3 to receive the influence of external force and produce great rocking in the operation process, reduce the spraying accuracy.
As shown in fig. 1 and fig. 2, in the above embodiment, the method further includes: a lifting motor 16, which is in transmission connection with the lifting mechanism 1, so that the lifting mechanism 1 moves in the lifting channel 22 under the driving of the lifting motor 16; the lifting mechanism 1 specifically includes: at least two driving wheels 110, wherein one of the at least two driving wheels 110 is in transmission connection with the lifting motor 16; the transmission belt 14 is wound outside the transmission wheels 110 in transmission connection with the lifting motor 16, and the transmission belt 14 is matched with at least two transmission wheels 110 to move under the driving of the lifting motor 16.
In this embodiment, the lifting motor 16 is in transmission connection with the lifting mechanism 1, so that the lifting mechanism 1 can move in the lifting channel 22 under the driving of the lifting motor 16; two driving wheels 110 are sequentially arranged along the length direction of the frame body 2, and the conveying belt is wound outside the two driving wheels 110; in this way, when the lifting mechanism 1 is driven by the motor to ascend, the belt moving end ascends relative to the frame body 2 through the transmission wheel 110 located above by the cooperation of the transmission wheel 110, in other words, the belt moves up relatively to the frame body 2 as a whole, and the relative position of the spray gun 3 on the belt also moves up. Wherein, under the action of the lifting mechanism 1, the spray gun 3 rises along the direction of the frame body 2 at twice the speed of the lifting mechanism 1. In this way, the lifting mechanism 1 presents a two-stage lifting structure: the lifting mechanism 1 is a first-level one, and the conveying belt is a first-level one. The length of the conveyor belt is the lifting height of the lifting mechanism 1, that is, when the lifting height of the lifting mechanism 1 is S, the height at which the spray gun 3 is lifted by the lifting mechanism 1 is 2S.
Wherein, need explain the ground, promote motor 16 can be connected with one or more simultaneous transmission in drive wheel 110 to realize the removal of drive belt 14, the quantity of action wheel can be one also can be a plurality of promptly, when the quantity of action wheel is one, the quantity of reducible unnecessary drive mechanism, save space, when the quantity of action wheel is a plurality of, act on simultaneously through a plurality of action wheels, when a drive structure takes place to damage, still can drive the action wheel through all the other drive structure and take place to rotate, in order to improve the reliability of using.
Understandably, the number of the driving wheels 110 is reasonably arranged to form a multi-stage lifting structure, so that the spraying robot 100 can spray to a higher position, and simultaneously, the overall height of the frame body 2 is reduced, so that the spraying robot 100 can more easily enter a narrow space to adapt to different working occasion requirements. Meanwhile, the lifting mechanism 1 is embedded into the frame body 2, or the lifting mechanisms 1 are sleeved with each other, so that the mounting structure can be simplified, and the cost is further saved.
In the above embodiment, the method further includes: the hanging frame 5 is arranged on the second part of the lifting mechanism 1, a sliding assembly 6 is arranged on the hanging frame 5, and the spray gun 3 is arranged on the sliding assembly 6 to slide under the action of the sliding assembly 6.
In this embodiment, by providing the slide assembly 6 in the second part of the lifting mechanism 1, and the lance 3 on the slide assembly 6, so that the spray gun 3 can move on the slide assembly 6 relative to the lifting mechanism 1 along the extension direction of the slide assembly 6, in particular, the spray gun 3 can move along the extension direction of the lifting mechanism 1, at the same time, the sliding component 6 can move relatively along the extending direction of the sliding component 6 relative to the lifting mechanism 1, when the extension direction of the sliding assembly 6 has an angle greater than 0 degrees with the extension direction of the lifting mechanism 1, the lance 3 can be displaced in two directions, therefore, the spray gun 3 can move freely in a plane formed by the extending direction of the lifting mechanism 1 and the extending direction of the sliding assembly 6 through the control device, so that the spray gun 3 has two-dimensional freedom degree, and the spraying operation of the spray gun 3 is convenient.
As shown in fig. 4, in the above embodiment, the method further includes: the rotating assembly 62 is arranged on the sliding assembly 6, and the spray gun 3 is arranged on the rotating assembly 62 and rotates in the working plane of the spray gun 3 under the action of the rotating assembly 62.
In this embodiment, be equipped with rotating assembly 62 on sliding assembly 6, and spray gun 3 locates on rotating assembly 62, make spray gun 3 can rotate in the operation face, thereby when making the spraying operation of spray gun 3, the coating of spraying in the wall is more even, improve the spraying quality, simultaneously, through the rotation of spray gun 3, can carry out the spraying to the wall of different angles, specifically, can spray the slope wall through the rotation of spray gun 3, also can carry out the spraying operation to multiple non-straight walls such as arc wall, spherical wall, in order to improve the adaptability of spraying robot 100.
As shown in fig. 6, another embodiment of the present invention proposes a control method for a painting robot according to an embodiment of the above person, the control method including: step S102, determining house type information of the position where the spraying robot is located through a vision sensor; step S104, searching a house type graph corresponding to the house type structure; and S106, controlling the spraying robot to move according to the spraying path corresponding to the house type diagram.
Specifically, the spraying robot firstly acquires the house type structure information of the position through the visual sensor, determines the house type diagram corresponding to the house type structure of the spraying robot by comparing the house type diagram with the house type diagram pre-stored in the memory, and then the control device controls the spraying robot to move according to the spraying path corresponding to the determined house type diagram, so that the spraying robot autonomously plans the spraying route according to the real-time information acquired by the visual sensor, manual operation is omitted, labor cost is saved, and operation efficiency is improved.
As shown in fig. 7, the method for controlling a painting robot according to an embodiment of the present invention specifically includes the following steps:
step S202, determining house type information of the position where the spraying robot is located through a vision sensor;
step S204, searching a house type graph corresponding to the house type structure;
step S206, controlling the spraying robot to move according to a spraying path corresponding to the house type diagram;
step S208, when the spraying robot moves to any spraying position of the spraying path, controlling the moving component of the spraying robot to stop moving, controlling the movement of a spray gun of the spraying robot through a lifting mechanism of the spraying robot, and controlling the spray gun to spray;
and step S210, in the process that the spraying robot moves along the spraying path, controlling the movement of a spray gun of the spraying robot through a lifting mechanism of the spraying robot, and controlling the spray gun to spray.
Specifically, when the spraying robot works and moves to any spraying position of a spraying path, the moving assembly of the spraying robot is controlled to stop moving, so that the spraying robot can stop at any position of the spraying path according to a spraying requirement, and a lifting mechanism of the spraying robot controls the movement of a spray gun of the spraying robot and controls the spray gun to spray according to the spraying requirement; in addition, in the process that the spraying robot moves along the spraying path, the lifting mechanism of the spraying robot can be used for controlling the movement of the spray gun of the spraying robot and controlling the spray gun to spray, so that the spraying robot can move and perform spraying operation at the same time, and the spraying operation efficiency is improved.
As shown in fig. 8, the method for controlling a painting robot according to an embodiment of the present invention specifically includes the following steps:
step S302, determining house type information of the position where the spraying robot is located through a vision sensor;
step S304, respectively determining the matching degree of each house type graph pre-stored in the memory and the house type information;
step S306, determining the house type graph with the highest matching degree in the plurality of house type graphs as the house type graph corresponding to the house type structure;
step S308, controlling the spraying robot to move according to a spraying path corresponding to the house type diagram;
step S310, when the spraying robot moves to any spraying position of the spraying path, controlling a moving component of the spraying robot to stop moving, controlling a spray gun of the spraying robot to move through a lifting mechanism of the spraying robot, and controlling the spray gun to spray;
and step S312, in the process that the spraying robot moves along the spraying path, controlling the movement of a spray gun of the spraying robot through a lifting mechanism of the spraying robot, and controlling the spray gun to spray.
Specifically, after the vision sensor acquires the house type structure information, the matching degree of each house type graph and the house type structure information in the memory is determined, and then the house type graph with the highest matching degree with the house type structure information is selected as the house type graph corresponding to the house type information according to the matching degree of each house type graph and the house type structure information, so that a more accurate spraying path is provided for spraying operation.
As shown in fig. 9, the method for controlling a painting robot according to an embodiment of the present invention specifically includes the following steps:
step S402, determining house type information of the position where the spraying robot is located through a vision sensor;
step S404, judging whether a memory is connected at the interface of the memory, if so, executing S406, and if not, finishing;
step S406, respectively determining the matching degree of each house type graph pre-stored in the memory and the house type information;
step S408, determining the house type graph with the highest matching degree in the plurality of house type graphs as the house type graph corresponding to the house type structure;
step S410, controlling the spraying robot to move according to a spraying path corresponding to the house type diagram;
step S412, when the spraying robot moves to any spraying position of the spraying path, controlling the moving component of the spraying robot to stop moving, controlling the movement of a spray gun of the spraying robot through a lifting mechanism of the spraying robot, and controlling the spray gun to spray;
and step S414, in the process that the spraying robot moves along the spraying path, controlling the movement of a spray gun of the spraying robot through a lifting mechanism of the spraying robot, and controlling the spray gun to spray.
Specifically, before determining the matching degree of each house type image stored in the external memory with the house type information, the using state of the memory interface is determined, whether the memory is connected to the memory interface is judged, and when the memory is connected to the memory interface, the step of determining the matching degree of each house type image stored in the external memory with the house type information is executed, so that the problems that when the memory interface is not connected with the memory, a spraying program is wrong, the spraying robot violates the operation, and executes a wrong spraying path, and the spraying robot is damaged due to collision or the working face is damaged are avoided.
Yet another embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, for implementing the steps of any one of the above control methods when the computer program is executed by a processor, so as to have all the above beneficial effects, which are not described herein again.
According to the spraying robot provided by the application, full-automatic spraying can be performed.
The spraying robot comprises an automatic spraying system, a robot walking and route planning system, a secondary lifting mechanism and the like, can realize the spraying of the wall surface and the ceiling and the spraying quality detection, can acquire the house type information of the position, and determines a spraying path matched with the house type information, and the spraying robot automatically carries out the spraying operation along the spraying path.
As shown in fig. 2, the robot walking and route planning system includes a visual sensor 4, a control device, a moving assembly 24, and a memory, the visual sensor 4 is disposed at the bottom of the frame body 2, the control device is electrically connected to the visual sensor 4, the moving assembly 24, and the memory, the distance between the frame body 2 and the obstacle can be obtained by the visual sensor 4, so as to obtain the house type information of the room where the frame body 2 is located, a plurality of house type maps and a spraying path corresponding to each house type map are pre-stored in the memory, when the spraying robot 100 obtains the house type information by the visual sensor 4, the control device compares the obtained house type information with the house type map pre-stored in the memory, determines the house type map corresponding to the house type structure where the spraying robot 100 is currently located, and then the control device controls the moving assembly 24 to move according to the spraying path corresponding to the determined house type map, the spraying robot 100 can autonomously plan a spraying route according to the real-time information acquired by the vision sensor 4, thereby omitting manual operation, saving labor cost and improving operation efficiency.
As shown in fig. 6 to 9, specifically, when the painting robot 100 performs the autonomous painting operation, first, the user type information of the position where the painting robot 100 is located is determined by the vision sensor 4, then, whether or not a memory is connected to the memory interface is determined by the control device, if the determination result is yes, the matching degree of each user type graph pre-stored in the memory with the user type information is respectively determined, then, the user type graph with the highest matching degree is determined as the user type graph corresponding to the user type structure among the user type graphs, the painting robot 100 is controlled to move according to the painting path corresponding to the user type graph, and according to specific requirements, the painting robot 100 can stop moving at any position of the painting path and perform the painting operation, or the spray gun 3 can be controlled to perform the painting while moving during the process in which the painting robot 100 moves along the path, so as to meet different spraying requirements.
The spray gun 3 of the automatic spraying system is provided with two degrees of freedom, and can realize 360-degree rotation in the horizontal and vertical aspects, and in addition, the spraying system is provided with an extension arm, and spraying of special-shaped walls such as bay windows and the like can be realized by combining with the rotation of a spray head. The extension arm mechanism of the spray gun 3 is provided with a foldable rotating mechanism, so that equipment can conveniently enter and exit from narrow space areas such as an elevator, a room door and the like.
Furthermore, the spraying, storing, power supplying, navigating and walking are integrated, so that the full-automatic spraying operation is realized.
Specifically, as shown in fig. 1 and fig. 2, the spraying robot 100 of this application is including support body 2, 2 bottoms of support body are equipped with steering wheel and a plurality of universal wheel, be equipped with controlling means on the support body 2, be equipped with in the support body 2 and promote passageway 22, be equipped with in the promotion passageway 22 and follow the hoist mechanism 1 that promotes passageway 22 and reciprocate, be equipped with spray gun 3 on the hoist mechanism 1, the top of hoist mechanism 1 is equipped with apart from detecting component, spraying robot 100 still includes microcontroller, link to each other with apart from detecting component and elevator motor 16.
As shown in fig. 3 and 4, the lifting mechanism 1 is provided with a transversely-arranged hanger 5, the hanger 5 is fixedly provided with a slide rail perpendicular to the lifting channel 22, the slide rail is slidably provided with a slide block spray gun 3 arranged on the slide block through a rotating component 62, and the slide block slides along the slide rail through the driving of a sliding motor, so that the spray gun 3 can move up and down along with the up-and-down movement of the lifting mechanism 1, can horizontally move along with the sliding of the slide block on the slide rail, and can rotate to different angles along with the rotation of the rotating component 62, thereby realizing the 360-degree rotation in the horizontal and vertical directions, and expanding the spraying range of the spray gun 3.
As shown in fig. 5, further, the lifting mechanism 1 is provided as a two-stage lifting mechanism 1 and serves as an extension arm of the painting system.
The lifting mechanism 1 is divided into two parts, the first part of the lifting mechanism 1 and the second part of the frame body 2 for fixing the lifting mechanism 1 and the first part of the lifting mechanism 1 are respectively arranged at the left side and the right side of the lifting mechanism 1, and the hanging frame 5 and the spray gun 3 are arranged on the second part of the lifting mechanism 1 so as to move up and down along with the second part of the lifting mechanism 1.
As shown in fig. 5, in particular, the second part of the lifting mechanism 1 is provided with a belt 14 and two driving wheels 110 cooperating with the belt 14, wherein the driving wheel is connected to the lifting motor 16 and the driven wheel is connected to the other one; the first part 12 of the lifting mechanism 1 is fixedly connected with a fixed plate 18 on the frame body 2, the second part 18 of the lifting mechanism 1 is movable, and the spray gun 3 is connected with the second part 18 of the lifting mechanism 1; thus, under the driving of the lifting motor 16, the driving wheel 110 connected with the lifting motor 16 rotates, so that the transmission belt 14 moves along with the transmission belt, and as the first part 12 of the lifting mechanism 1 is fixed, as shown in fig. 5, when the driving wheel rotates clockwise, the second part 18 of the lifting mechanism 1 moves down integrally, so that the lifting mechanism 1 moves down, the spray gun 3 fixed on the second part of the transmission belt 14 moves down along with the transmission belt, and meanwhile, as the fixed part of the spray gun 3 and the transmission belt 14 moves down integrally relative to the lifting mechanism 1, double displacement is realized; when the driving wheel rotates anticlockwise, the second part 18 of the lifting mechanism 1 moves upwards integrally to realize the upward movement of the lifting mechanism 1, the spray gun 3 fixed on the second part of the transmission belt 14 moves upwards along with the upward movement, and meanwhile, because the fixed part of the spray gun 3 and the transmission belt 14 moves upwards integrally relative to the lifting mechanism 1, in the automatic spraying operation of the spraying robot 100, the spray gun 3 can reach any height between the ground and the ceiling at any position of a spraying path through the movement of the lifting mechanism 1, so that the spraying robot 100 realizes the automatic spraying at any height position on the spraying path matched with a house type structure; in addition, because two-stage lifting is adopted, the storage size is smaller, and the elevator can easily enter small space areas such as an elevator and a secondary bed; in addition, the single motor realizes two-stage lifting, and has simple structure, reliability and low cost.
The advantages of this embodiment are as follows:
the automatic spraying device can be used for automatically spraying the inner wall of a building, has the remarkable characteristic of full-automatic spraying, and can ensure that the spraying robot can automatically run along a preset line and finish wall surface spraying without manpower.
The digital spraying can be realized by the control device, and the efficiency and the quality are high.
The technical scheme of the invention is described in detail in the above with reference to the attached drawings, and through the technical scheme of the invention, the lifting amplitude of the lifting mechanism is effectively controlled, the collision between the lifting mechanism and obstacles such as a ceiling and the like due to overhigh lifting height is automatically avoided, the automation degree of the spraying robot is improved, and the dependence of the spraying robot on manpower is reduced.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A painting robot, comprising:
the lifting device comprises a frame body, wherein a lifting channel is arranged in the frame body;
the lifting mechanism is arranged in the lifting channel, can move in the lifting channel and is provided with a spray gun;
the control device is arranged on the frame body and is electrically connected with the lifting mechanism and the spray gun so as to control the lifting of the lifting mechanism and the spraying of the spray gun;
the control device is electrically connected with the visual sensor so as to determine the house type information of the space where the frame body is located through the distance detected by the visual sensor;
the control device is electrically connected with the moving assembly so as to control the movement of the moving assembly according to the spraying path corresponding to the house type information;
the first part of the lifting mechanism is fixedly connected with the frame body, the spray gun is arranged on the second part of the lifting mechanism, the first part and the second part are arranged on two sides of the lifting mechanism, so that the lifting mechanism extends out of or retracts into the lifting channel under the driving of a lifting motor, the spray gun and the lifting mechanism move relatively, and the spray gun can realize secondary lifting relative to the frame body;
and the memory is electrically connected with the control device and is pre-stored with a plurality of house type graphs and spraying paths corresponding to each house type graph, so that the control device determines the house type graphs stored in the memory according to the house type information and determines the corresponding spraying paths according to the house type graphs.
2. The painting robot of claim 1, wherein the visual sensor specifically comprises at least one of:
laser radar sensor, infrared sensor, ultrasonic sensor.
3. The painting robot of claim 1, further comprising:
the lifting motor is in transmission connection with the lifting mechanism, so that the lifting mechanism moves in the lifting channel under the driving of the lifting motor;
the lifting mechanism specifically comprises: at least two driving wheels, wherein one of the at least two driving wheels is in transmission connection with the lifting motor;
and the transmission belt is wound outside the transmission wheels in transmission connection with the lifting motor, and is matched with the at least two transmission wheels to move under the driving of the lifting motor.
4. The painting robot of claim 3, further comprising:
the hanging rack is arranged on the second part of the lifting mechanism, a sliding assembly is arranged on the hanging rack, and the spray gun is arranged on the sliding assembly and slides under the action of the sliding assembly.
5. The painting robot of claim 4, further comprising:
the rotating assembly is arranged on the sliding assembly, and the spray gun is arranged on the rotating assembly and rotates in the working face of the spray gun under the action of the rotating assembly.
6. A control method for a painting robot according to any one of claims 1 to 5, characterized by comprising:
determining house type information of the position where the spraying robot is located through a visual sensor of the spraying robot;
searching a house type graph corresponding to the house type information;
controlling the spraying robot to move according to the spraying path corresponding to the house type diagram;
when the spraying robot moves to any spraying position of the spraying path, controlling a moving component of the spraying robot to stop moving, controlling a spray gun of the spraying robot to move through a lifting mechanism of the spraying robot, and controlling the spray gun to spray; or
And in the process that the spraying robot moves along the spraying path, controlling the movement of a spray gun of the spraying robot through a lifting mechanism of the spraying robot, and controlling the spray gun to spray.
7. The control method according to claim 6, wherein the searching for the house type graph corresponding to the house type information specifically includes:
respectively determining the matching degree of each house type graph pre-stored in a memory and the house type information;
and determining the house type graph with the highest matching degree in the plurality of house type graphs as the house type graph corresponding to the house type information.
8. The control method according to claim 7, further comprising, before said separately determining a degree of matching of each house type map stored in said memory with said house type information:
the use status of the memory interface is determined,
judging whether a memory is connected to the memory interface, and generating a judgment result;
and if the judgment result is yes, executing the step of respectively determining the matching degree of each house type graph stored in the memory and the house type information.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the control method according to any one of claims 6 to 8.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910425564.2A CN110017012B (en) | 2019-05-21 | 2019-05-21 | Spray coating robot, control method, and computer-readable storage medium |
| SG11202111861PA SG11202111861PA (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| CA3138027A CA3138027A1 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| AU2020263464A AU2020263464A1 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| PCT/CN2020/087069 WO2020216382A1 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| JP2021563659A JP2022530156A (en) | 2019-04-26 | 2020-04-26 | Painted robots, control methods and computer readable storage media |
| US17/606,702 US20220314256A1 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| EP20794811.8A EP3960961A4 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
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| CN201910425564.2A CN110017012B (en) | 2019-05-21 | 2019-05-21 | Spray coating robot, control method, and computer-readable storage medium |
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| CN110017012A CN110017012A (en) | 2019-07-16 |
| CN110017012B true CN110017012B (en) | 2021-05-04 |
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| CN107053205A (en) * | 2017-04-25 | 2017-08-18 | 佛山市奥通工业科技有限公司 | A kind of spray robot |
| CN108590126A (en) * | 2018-04-27 | 2018-09-28 | 李大伟 | A kind of metope intelligence plastoring system |
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| CN110017012A (en) | 2019-07-16 |
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