CN111804485B - Spraying machine, spraying method, device, equipment and storage medium - Google Patents

Spraying machine, spraying method, device, equipment and storage medium Download PDF

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Publication number
CN111804485B
CN111804485B CN202010674126.2A CN202010674126A CN111804485B CN 111804485 B CN111804485 B CN 111804485B CN 202010674126 A CN202010674126 A CN 202010674126A CN 111804485 B CN111804485 B CN 111804485B
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Prior art keywords
spraying
wire rope
steel wire
real
time length
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CN111804485A (en
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雷钧州
马兆彬
冯正东
罗银贵
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Guangdong Bozhilin Robot Co Ltd
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Guangdong Bozhilin Robot Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/16—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling the spray area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
    • B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups

Abstract

The embodiment of the invention discloses a spraying machine, a spraying method, a spraying device, equipment and a storage medium, wherein the spraying machine comprises: the device comprises a fixing device, a connecting body, a spraying device and a controller; the fixing device is connected with the spraying device through a connecting body and is used for fixing the spraying device through the connecting body; the spraying device is used for spraying a spraying area; the controller is used for controlling the length of a connecting body between the fixing device and the spraying device so as to change the spraying area of the spraying device and enable the spraying device to spray different spraying areas. The embodiment of the invention provides automatic spraying equipment which is exquisite in structure, portable in use and high in spraying efficiency.

Description

Spraying machine, spraying method, device, equipment and storage medium
Technical Field
The embodiment of the invention relates to the technical field of spraying, in particular to a spraying machine, a spraying method, a spraying device, equipment and a storage medium.
Background
With the widespread use of water-based paints, home DIY (Do It Yourself, Do-It-Yourself) paints are becoming more and more popular.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
most of the current indoor spray paints are also applied by a roll coating process, and the most of the current indoor spray paints are rarely applied organically. Mainly because most of the coating machines have larger power and the protection measures needed are more complicated. The roll coating process is completed through manual operation in the whole process, so that the time and the labor are consumed, and the efficiency is low.
Disclosure of Invention
The embodiment of the invention provides a spraying machine, a spraying method, a spraying device, equipment and a storage medium, and provides automatic spraying equipment which is exquisite in structure, portable in use and high in spraying efficiency.
In a first aspect, an embodiment of the present invention provides a coating machine, including: the device comprises a fixing device, a connecting body, a spraying device and a controller;
the fixing device is connected with the spraying device through a connecting body and is used for fixing the spraying device through the connecting body;
the spraying device is used for spraying a spraying area;
the controller is used for controlling the length of a connecting body between the fixing device and the spraying device so as to change the spraying area of the spraying device and enable the spraying device to spray different spraying areas.
The spraying device of the spraying machine is connected with the fixing device through the connecting body, so that the purpose of fixing the spraying device is achieved, the controller can control the spraying area of the spraying device by controlling the length of the connecting body between the fixing device and the spraying device, and the purpose of controlling the spraying device to spray different spraying areas is achieved. The spraying machine is exquisite in structure, portable in use and high in spraying efficiency.
Further, fixing device includes that two walls adsorb to detain, and it is right through adsorbing in the wall the spraying device passes through the connector is fixed, perhaps with the straight bracing piece of wall. The two wall surface adsorption buckles are respectively a left wall surface adsorption buckle and a right wall surface adsorption buckle;
the left wall surface adsorption buckle is adsorbed on the wall surface to fix the spraying device through the left connector;
the right wall surface adsorption buckle is fixed through the right connector by the spraying device through the adsorption on the wall surface.
Through adopting the wall to adsorb the fixing device who detains the form for this flush coater becomes more portable, the structure is more exquisite, can not occupy great interior space, even the indoor spraying in less room also can use this flush coater to carry out automatic spraying, can not cause the damage to the wall moreover, makes this flush coater possess stronger practicality.
Further, the connecting body includes: and the left steel wire rope is connected with the left wall surface adsorption buckle and the right steel wire rope is connected with the right wall surface adsorption buckle. Because wire rope has good rigidity for spraying device is fixed more steadily, and the pattern spraying effect is more accurate.
Further, the spray coating device includes: the support base plate and the spraying row brush are connected with a left rope winding motor of a left steel wire rope through a left steering pulley and connected with a right rope winding motor of a right steel wire rope through a right steering pulley;
the spraying row brush is arranged on the support bottom plate and is used for spraying different areas under the support movement of the support bottom plate;
left side serving motor and right serving motor respectively with supporting baseplate rigid connection for under the control of controller, through left side turn to the pulley pair with left side wall adsorbs the left wire rope of detaining the connection and rolls up or put, in order to change left side wire rope's length, through right side turn to the pulley pair with right side wall adsorbs the right wire rope of detaining the connection and rolls up or put, in order to change right side wire rope's length drives supporting baseplate removes based on setting for the route, changes the spraying region of brush is arranged in the spraying.
The spraying area of the spraying machine with the structure is controllable, the condition that the non-spraying area is polluted due to large-area spraying cannot occur, extra protection work with large workload is not needed before spraying, the spraying machine is portable in use, and the spraying efficiency is high.
Further, the coating machine further comprises: the pump body is used for conveying the coating for the spraying device through the connecting pipe.
In a second aspect, an embodiment of the present invention further provides a spraying method, where the method includes:
receiving a preset spraying pattern through a controller of the spraying machine;
determining, by the controller, a spray path of the spray device based on the preset spray pattern, the setting position of the fixing device, and the relative positional relationship between the spray device and the fixing device;
and controlling the length of a connecting body between the fixing device and the spraying device through the controller based on the spraying path so that the spraying device sprays according to the spraying path to finish spraying of the preset spraying pattern.
Further, the determining, by the controller, a spraying path of the spraying device based on the preset spraying pattern, the setting position of the fixing device, and the relative positional relationship between the spraying device and the fixing device includes:
based on the preset spraying pattern, determining a spraying path of the spraying row brush according to the setting positions of the two wall adsorption buckles, the relative position relation between the two steering pulleys and the two wall adsorption buckles and the relative position relation between the spraying row brush and the two steering pulleys.
Further, the determining the spraying path of the spraying row brush comprises:
cutting a path which passes by the spraying row brush from a first point position of a preset spraying pattern to a second point position of the preset spraying pattern for n times, wherein n is an infinite integer;
processing the cutting through Fourier series to respectively obtain a relational expression between the real-time length of the left steel wire rope and the second point location and a relational expression between the real-time length of the right steel wire rope and the second point location;
determining a relational expression between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buckles and a relational expression between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles according to the relative position relationship between the two steering pulleys and the two wall surface adsorption buckles;
determining the relation among the real-time lengths of the second point position and the left steel wire rope and the real-time length of the right steel wire rope according to the relation between the real-time length of the left steel wire rope and the second point position, the relation between the real-time length of the right steel wire rope and the second point position, the relation between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buckles and the relation between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles;
and determining a relation between the second point position and the real-time lengths of the left steel wire rope and the right steel wire rope as a spraying path of the spraying row brush.
Further, the relational expression between the length of the left steel wire rope and the second point position is as follows:
the relational expression between the real-time length of the left steel wire rope and the second point location is as follows:
Figure RE-GDA0002668961150000041
wherein L left represents the real-time length of the left wire rope, L0Representing the initial length of the left wire, n the number of cuts, L1 the distance of said second point from the force point of the left diverting pulley, XnX-coordinate, Y, representing current point locationnThe Y coordinate of the current point location is represented, and pi x/L is an included angle between the left steel wire rope of the current point location and the horizontal direction;
the expression of the relationship between the length of the right steel wire rope and the second point position is as follows:
Figure RE-GDA0002668961150000051
wherein L right represents the real-time length of the right wire rope, L3Indicates the initial length, L, of the wire rope on the right4Indicating the distance, X, of the second point location from the force point of the right-hand steering pulleynX-coordinate, Y, representing current point locationnAnd the Y coordinate of the current point location is represented, and the pi x/L is the included angle between the left steel wire rope of the current point location and the horizontal direction.
Further, the relation between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buckles is as follows:
Figure RE-GDA0002668961150000052
the relation between the real-time length of the right steel wire rope and the arrangement positions of the two wall adsorption buckles is as follows:
Figure RE-GDA0002668961150000053
wherein, the left side of L represents the real-time length of the left wire rope, the right side of L represents the real-time length of the right wire rope, (X1, Y1) are the set position coordinates of the left wall surface adsorption buckle, (X2, Y2) are the set position coordinates of the right wall surface adsorption buckle, the position coordinates of the tangent point of the left steering pulley and the left wire rope are (X3, Y3), and the position coordinates of the tangent point of the right steering pulley and the right wire rope are (X4, Y4).
Further, the relation between the second point location and the real-time lengths of the left and right wire ropes is as follows:
Figure RE-GDA0002668961150000054
Figure RE-GDA0002668961150000061
wherein (X, Y) denotes the coordinates of the second point location, L0The initial length of the left steel wire rope is represented, C3 and C4 are preset parameters, L1 represents the length of the left steel wire rope at a second point, and X isnX-coordinate, Y, representing current point locationnY-coordinate, L, representing current point locationLeft side ofRepresents the real-time length, L, of the left wire rope at the current point locationRight sideAnd the real-time length of the right steel wire rope at the current point position is represented, and pi x/L is an included angle between the left steel wire rope at the current point position and the horizontal direction.
In a third aspect, an embodiment of the present invention further provides a spraying apparatus, which may be integrated with a controller of a spraying machine, where the apparatus specifically includes:
the receiving module is used for receiving a preset spraying pattern through a controller of the spraying machine;
the determining module is used for determining a spraying path of the spraying device through the controller based on the preset spraying pattern, the setting position of the fixing device and the relative position relationship between the spraying device and the fixing device;
and the control module is used for controlling the length of a connecting body between the fixing device and the spraying device through the controller based on the spraying path so as to enable the spraying device to spray according to the spraying path and finish the spraying of the preset spraying pattern.
In a fourth aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the spray coating method steps as provided by any of the embodiments of the invention.
In a fifth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the spray coating method provided in any of the embodiments of the present invention.
The embodiment of the invention has the following advantages or beneficial effects:
the controller can control the spraying area of the spraying device by controlling the length of the connecting body between the fixing device and the spraying device, and further realize the purpose of controlling the spraying device to spray different spraying areas. The spraying machine is exquisite in structure, portable in use and high in spraying efficiency.
Drawings
Fig. 1 is a schematic structural diagram of a coating machine according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another alternative applicator according to one embodiment of the present invention;
FIG. 3 is a top view of a spray coating device according to an embodiment of the present invention;
FIG. 4 is a front view of a spray coating device according to one embodiment of the present invention;
FIG. 5 is a schematic diagram of a model of an applicator according to an embodiment of the present invention;
FIG. 6 is a flow chart of a spraying method according to a second embodiment of the present invention;
fig. 7 is a schematic structural diagram of a spraying device according to a third embodiment of the present invention;
fig. 8 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a spraying machine according to an embodiment of the present invention, and the spraying machine according to the embodiment of the present invention is suitable for spraying a wall surface, and is particularly suitable for spraying personalized patterns on a wall surface in a small indoor space. As shown in fig. 1, the coating machine includes:
a fixture 110, a connector 120, a spray coating device 130, and a controller 140;
the fixing device 110 is connected with the spraying device 130 through the connecting body 120, and is used for fixing the spraying device 130 through the connecting body 120; the spraying device 130 is used for spraying a spraying area; the controller 140 is used to control the length of the connecting body 120 between the fixing device 110 and the spraying device 130, so as to change the spraying area of the spraying device 130, and the spraying device 130 can spray different spraying areas.
It is understood that the fixing device 110 can be installed on the wall surface, and the position relationship between the fixing device 110 and the spraying device 130 is shown in fig. 1; the fixture 110 may also be placed on the floor, where the connecting body 120 is similar to a robot arm that lifts or pulls the painting device 130. Specifically, the fixing device 110 may include a wall surface absorption buckle or a support rod that is straight with the wall surface, that is, the vertical rod supports the spraying device, so that the spraying device is straight with the wall surface.
In order to reduce the floor area of the painting apparatus, and improve the adaptability of the painting apparatus to a small space and the portability of use, the embodiment takes the fixing device 110 disposed on a wall surface as an example, and a specific implementation manner of the fixing device 110 is given. Referring to fig. 2, another structure of the coating machine is schematically shown, the fixing device 110 includes two wall suction buttons, and the coating device 130 is fixed to the wall surface through the connecting body 120. The two wall surface adsorption buckles are a left wall surface adsorption buckle 111 and a right wall surface adsorption buckle 112 respectively; the connector 120 can specifically include the left wire rope that links to each other with left wall adsorbs detain 111 and the right wire rope that links to each other with right wall adsorbs detain 112, because wire rope has good rigidity, can make spraying device 130 fixed more steady, the pattern spraying effect is more accurate, the condition that spraying device 130 swayd can not appear, through the adjustable spraying route of diverting pulley spraying device.
As shown in fig. 2, the spraying device 130 specifically includes: the support base plate 131 and the spraying row brush 132 are connected with a left rope winding motor of a left wire rope 1211 through a left steering pulley 1331, and connected with a right rope winding motor of a right wire rope 1212 through a right steering pulley 1332. The spraying row brush 132 is disposed on the supporting base plate 131, and is used for spraying different areas under the supporting movement of the supporting base plate 131; the two rope winding motors and the diverting pulleys are respectively and rigidly connected with the supporting base plate 131, and are used for winding or unwinding the steel wire rope 121 respectively connected with the two adsorption buckles under the control of the controller to change the lengths of the steel wire ropes (specifically, the left steel wire rope 1211 and the right steel wire rope 1212), drive the supporting base plate 131 to move based on a set path, and change the spraying area of the spraying row brush, specifically, the left steel wire rope 1211 connected with the left wall adsorption buckle 111 is wound or unwound through the left diverting pulley 1331 to change the length of the left steel wire rope 1211, and the right steel wire rope 1212 connected with the right wall adsorption buckle 112 is wound or unwound through the right diverting pulley 1332 to change the length of the right steel wire rope 1212.
Further, referring to a top view of the spraying device 130 shown in fig. 3, the spraying device specifically includes: a support base 131, a spray row brush 132, a left diverting pulley 1331 and a right diverting pulley 1332. Correspondingly, referring to the front view of the spraying device 130 shown in fig. 4, specifically: a left diverting pulley 1331, a right diverting pulley 1332, a support floor 131 and a spray row brush 132. In the direction parallel to the wall surface, the force bearing point of the painting device 130 is only two points of the left and right deflection pulleys (respectively, the left deflection pulley 1331 and the right deflection pulley 1332), which makes it necessary to firstly ensure the overlapping of the center of gravity and the geometric center thereof if it is necessary to keep the painting device from rotating in any direction in the plane, which is very difficult for the design, so the solution of the present embodiment ensures the simplicity of the processing by simplifying the complexity of the supporting and fixing structure as much as possible.
Specifically, the spray path of the spray brush 132 is planned according to a pre-designed spray pattern. Referring to the model diagram of the coating machine shown in fig. 3, since the relative position relationship between the coating row brush 132 and the coating base plate 131 is fixed, the specific position of the coating base plate 131 is determined by the lengths of the left wire rope 1211 and the right wire rope 1212 and the arrangement positions of the left wall surface adsorption buckle 111 and the right wall surface adsorption buckle 112. Assuming that the coordinates of the installation position of the left wall suction buckle are (X1, Y1), the coordinates of the installation position of the right wall suction buckle are (X2, Y2), the position of the tangent point between the left diverting pulley and the left wire rope is (X3, Y3), and the position of the tangent point between the right diverting pulley and the right wire rope is (X4, Y4), as shown in fig. 3, the position (X, Y) of the spray row brush 132 is determined by the positions of the tangent point between the left diverting pulley and the left wire rope being (X3, Y3) and the positions of the tangent point between the right diverting pulley and the right wire rope being (X4, Y4).
Further referring to the model schematic diagram of the painting machine shown in fig. 5, the coordinates of the installation position of the left wall surface adsorption buckle are (X1, Y1), the coordinates of the installation position of the right wall surface adsorption buckle are (X2, Y2), the coordinates of the tangent point between the left steering pulley and the left wire rope are (X3, Y3), the coordinates of the tangent point between the right steering pulley and the right wire rope are (X4, Y4), and the coordinates of the position of the painting row brush are (X, Y). As shown in fig. 5, the position coordinates (X, Y) of the spray row brush are determined by the points (X3, Y3) and (X4, Y4), and the positions of the points (X3, Y3) and (X4, Y4) are determined by the points (X1, Y1), the left wire length L left, (X2, Y2), and the right wire length L right. When setting for the spraying row brush and being located initial position, left wire rope and right wire rope's initial length is L0, and left wire rope's rope length is L left when making the spraying row brush reach the target location, and the cutting of unlimited number of times is done to the route that the brush was arrived from initial position to the target location of will spraying row, and supposing to cut n times, n is the infinity, then can be through the change of Fourier series to the coordinate system, obtains the expression that left wire rope's rope length is L left when reaching the target location about the spraying row brush:
Figure RE-GDA0002668961150000101
the same principle is as follows:
Figure RE-GDA0002668961150000111
because of the tangent relation between the steel wire rope and the motor, the cutting of the coefficients in a left small length range and a right small length range is performed through Fourier series transformation, and the following relation always exists:
Figure RE-GDA0002668961150000112
Figure RE-GDA0002668961150000113
therefore, a complex variable's relational coordinate formula for the X, Y points can be obtained as follows:
Figure RE-GDA0002668961150000114
Figure RE-GDA0002668961150000115
wherein L left represents the real-time length of the left wire rope, L0Representing the initial length of the left wire, n the number of cuts, L1 the distance of said second point from the force point of the left diverting pulley, XnX-coordinate, Y, representing current point locationnThe Y coordinate of the current point location is represented, and pi x/L is an included angle between the left steel wire rope of the current point location and the horizontal direction; l Right represents the real-time length of the right wire rope, L3Indicates the initial length, L, of the wire rope on the right4Representing the distance between the second point position and the force bearing point of the right steering pulley; l left represents the real-time length of the left steel wire rope, L right represents the real-time length of the right steel wire rope, (X1, Y1) is the set position coordinate of the left wall surface adsorption buckle, (X2, Y2) is the set position coordinate of the right wall surface adsorption buckle, the tangent point position coordinate of the left steering pulley and the left steel wire rope is (X3, Y3), the tangent point position coordinate of the right steering pulley and the right steel wire rope is (X4, Y4), C3, C4 are preset parameters, L1 represents the length of the left steel wire rope at the second point position, X1 represents the length of the left steel wire rope at the second point position, and Y8983 represents the length of the left steel wire rope at the second point positionnX-coordinate, Y, representing current point locationnY-coordinate, L, representing current point locationLeft side ofRepresents the real-time length, L, of the left wire rope at the current point locationRight sideAnd representing the real-time length of the right steel wire rope at the current point position.
It can be known that when the initial point is determined, the coverage of the complete point can be achieved by controlling the increment and decrement of the L, and meanwhile, the coordinate relation can be established with the pattern to be sprayed, so that the full coverage planning of the specific wall pattern path can be completed according to the specified wall (X, Y) coordinate system.
Further, the coating machine further comprises: the pump body is used for conveying the coating for the spraying device through the connecting pipe. The connecting pipe is a corrugated pipe and the like, paint is conveyed to the spraying row brush through the small pump body, and the paint with different colors is sprayed on the wall surface through the spraying row brush.
The embodiment provides a flush coater, includes: the device comprises a fixing device, a connecting body, a spraying device and a controller; the fixing device is connected with the spraying device through a connecting body and is used for fixing the spraying device through the connecting body; the spraying device is used for spraying a spraying area; the controller is used for controlling the length of a connecting body between the fixing device and the spraying device so as to change the spraying area of the spraying device and enable the spraying device to spray different spraying areas; specifically, the controller controls the lifting degree of the steel wire rope between the fixing device and the spraying device according to the planned path of the pattern to be sprayed to control the position point of the spraying row brush moving on the wall surface, and then different pigments are sprayed to achieve the effect of drawing pictures on the wall surface. The spraying machine is exquisite in structure, portable in use and high in spraying efficiency.
Example two
Fig. 6 is a flowchart of a spraying method according to a second embodiment of the present invention, where the spraying method of the present embodiment is applied to the controller of the spraying machine. Wherein explanations of the same or corresponding terms as those of the above-described embodiments are omitted.
Referring to fig. 6, the spraying method provided in this embodiment specifically includes the following steps:
step 610, receiving a preset spray pattern by a controller of the applicator.
Wherein the preset spraying pattern is a pattern, a picture or the like which is required to be formed on the wall and is expected by a user. The preset spraying pattern may be an electronic picture, and specifically, the preset spraying pattern may be transmitted through an input interface of the controller. The preset spray pattern is transmitted to a processor of the controller, for example, through a USB (Universal Serial Bus) interface of the controller.
And step 620, determining a spraying path of the spraying device through the controller based on the preset spraying pattern, the setting position of the fixing device and the relative position relationship between the spraying device and the fixing device.
Specifically, the controller has the capability of directly inputting a CAD drawing, can determine the required color of each small block position on the wall through cutting like a locus, then carries out data processing through a computer, controls the spray pens with different colors in the row brush to spray paint with various colors on the wall, and accordingly has the capability of drawing on the wall.
Illustratively, the determining, by the controller, a spraying path of the spraying device based on the preset spraying pattern, the set position of the fixing device, and the relative positional relationship between the spraying device and the fixing device includes:
based on predetermine the spraying pattern, adsorb according to two walls set up the position, two diverting pulleys that detain and two walls adsorb relative position relation and spraying row brush between detaining and relative position relation between two diverting pulleys, confirm the spraying route of brush is arranged in the spraying.
The determining of the spraying path of the spraying row brush comprises:
cutting a path which passes by the spraying row brush from a first point position of a preset spraying pattern to a second point position of the preset spraying pattern for n times, wherein n is an infinite integer;
processing the cutting through Fourier series to respectively obtain a relational expression between the real-time length of the left steel wire rope and the second point location and a relational expression between the real-time length of the right steel wire rope and the second point location;
determining a relational expression between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buckles and a relational expression between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles according to the relative position relationship between the two steering pulleys and the two wall surface adsorption buckles;
determining the relation among the real-time lengths of the second point position and the left steel wire rope and the real-time length of the right steel wire rope according to the relation between the real-time length of the left steel wire rope and the second point position, the relation between the real-time length of the right steel wire rope and the second point position, the relation between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buckles and the relation between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles;
and determining a relation between the second point position and the real-time lengths of the left steel wire rope and the right steel wire rope as a spraying path of the spraying row brush.
Specifically, as shown in fig. 5, the position coordinates (X, Y) of the spray by the spray row brush are determined by the coordinates (X3, Y3) of the tangent point between the left diverting pulley and the left wire rope and the coordinates (X4, Y4) of the tangent point between the right diverting pulley and the right wire rope, and the coordinates (X3, Y3) of the tangent point between the left diverting pulley and the left wire rope and the coordinates (X4, Y4) of the tangent point between the right diverting pulley and the right wire rope are determined by the coordinates (X1, Y1) of the installation position of the left wall surface adsorption button, the length of the left wire rope, the coordinates (X2, Y2) of the installation position of the right wall surface adsorption button, and the length of the right wire rope. When the spraying row brush is located at the initial position, the initial length of the left steel wire rope and the initial length of the right steel wire rope are set to be L0, the rope length of the left steel wire rope is set to be L left when the spraying row brush reaches a target position (the target position is a certain point position on a spraying path), the path through which the spraying row brush reaches the target position from the initial position is cut for infinite times, and if the cutting is performed for n times and n is infinite, the expression that the rope length of the left steel wire rope is L left when the spraying row brush reaches the target position can be obtained through the change of a Fourier series to a coordinate system.
Illustratively, the determining the spray path of the spray row brush includes:
cutting a path which passes by the spraying row brush from a first point position of a preset spraying pattern to a second point position of the preset spraying pattern for n times, wherein n is an infinite integer;
processing the cutting through Fourier series to respectively obtain a relational expression between the real-time length of the left steel wire rope and the second point location and a relational expression between the real-time length of the right steel wire rope and the second point location;
determining a relational expression between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buckles and a relational expression between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles according to the relative position relationship between the two steering pulleys and the two wall surface adsorption buckles;
determining the relation among the real-time lengths of the second point position and the left steel wire rope and the real-time length of the right steel wire rope according to the relation between the real-time length of the left steel wire rope and the second point position, the relation between the real-time length of the right steel wire rope and the second point position, the relation between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buckles and the relation between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles;
and determining a relation between the second point position and the real-time lengths of the left steel wire rope and the right steel wire rope as a spraying path of the spraying row brush.
9. The method of claim 8, wherein the relation between the real-time length of the left steel wire rope and the second point location is expressed as:
Figure RE-GDA0002668961150000151
wherein L left represents the real-time length of the left wire rope, L0Representing the initial length of the left wire, n the number of cuts, L1 the distance of said second point from the force point of the left diverting pulley, XnX-coordinate, Y, representing current point locationnThe Y coordinate of the current point location is represented, and pi x/L is an included angle between the left steel wire rope of the current point location and the horizontal direction;
the expression of the relationship between the length of the right steel wire rope and the second point position is as follows:
Figure RE-GDA0002668961150000161
wherein L right represents the real-time length of the right wire rope, L3Indicates the initial length, L, of the wire rope on the right4Indicating the distance, X, of the second point location from the force point of the right-hand steering pulleynX-coordinate, Y, representing current point locationnThe Y coordinate of the current point location is shown, and pi x/L is the left steel of the current point locationThe wire rope forms an included angle with the horizontal direction.
The relation between the real-time length of the left steel wire rope and the arrangement positions of the two wall adsorption buckles is as follows:
Figure RE-GDA0002668961150000162
the relation between the real-time length of the right steel wire rope and the arrangement positions of the two wall adsorption buckles is as follows:
Figure RE-GDA0002668961150000163
wherein, the left side of L represents the real-time length of the left wire rope, the right side of L represents the real-time length of the right wire rope, (X1, Y1) are the set position coordinates of the left wall surface adsorption buckle, (X2, Y2) are the set position coordinates of the right wall surface adsorption buckle, the position coordinates of the tangent point of the left steering pulley and the left wire rope are (X3, Y3), and the position coordinates of the tangent point of the right steering pulley and the right wire rope are (X4, Y4).
The relation between the second point position and the real-time length of the left steel wire rope and the real-time length of the right steel wire rope is as follows:
Figure RE-GDA0002668961150000164
Figure RE-GDA0002668961150000165
wherein (X, Y) denotes the coordinates of the second point location, L0The initial length of the left steel wire rope is represented, C3 and C4 are preset parameters, L1 represents the length of the left steel wire rope at a second point, and X isnX-coordinate, Y, representing current point locationnY-coordinate, L, representing current point locationLeft side ofRepresents the real-time length, L, of the left wire rope at the current point locationRight sideRepresenting the real-time length of the right steel wire rope at the current point position, and pi x/L is the length of the left steel wire rope at the current point position and the horizontal directionThe included angle of (a).
As can be seen from the above, when the setting position (X1, Y1) of the left wall surface suction buckle 111 and the setting position (X2, Y2) of the right wall surface suction buckle 112 are determined, the coverage of a complete point can be achieved by controlling the amount of increase and decrease of the left and right wire ropes L, and the full coverage planning of a specific wall surface pattern path can be completed according to the specified wall surface (X, Y) coordinate system by establishing the coordinate relationship with the pattern to be sprayed.
And 630, controlling the length of a connecting body between the fixing device and the spraying device through the controller based on the spraying path so that the spraying device sprays according to the spraying path to finish spraying of the preset spraying pattern.
The spraying position of the spraying device is controlled, and the fact is that the two rope winding motors control the winding and unwinding of the steel wire ropes on the two sides. The motion of the two rope winding motors is completely determined by the speed and depends on various pulse spectrums sent by the controller, the planning of the traveling route of the motors is extremely complicated, the pulse signals in the previous step need to be repeatedly brought in to control the rotating speed of the next step, the current position coordinates need to be repeatedly replaced and stored, and the output signals have a lot of signal data which are contradictory to each other for the speed index of the motors, and a reasonable global optimization scheme needs to be searched, so the core task lies in the calibration work of the working parameters of the two rope winding motors. When calibrating various working parameters, the control parameters to be optimized are defined, and the target to be achieved and the limiting conditions thereof are optimized. For example, if it is desired to operate the applicator vertically, the initial position of the applicator is first fully calibrated and the motor controller is then searched to study the calibration of the parameters that correspond to its particular motion. And detecting all dynamic and static balance data of the spraying machine, further optimizing, outputting a set of stable parameter indexes, bringing the set of stable parameter indexes into a callable database of the algorithm, and directly calling the callable database when the spraying machine works.
According to the technical scheme of the embodiment, the preset spraying pattern is received; determining a spray path based on the spray pattern; and controlling a spraying device to spray according to the spraying path to finish the spraying of the preset spraying pattern, thereby realizing the automatic spraying of the preset spraying pattern, simplifying the spraying steps and improving the spraying efficiency.
The following is an embodiment of a spraying apparatus provided in an embodiment of the present invention, which belongs to the same inventive concept as the spraying machine and the spraying method of the above embodiments, and details that are not described in detail in the embodiment of the spraying apparatus may refer to the above embodiments of the spraying machine and the spraying method.
EXAMPLE III
Fig. 7 is a schematic structural diagram of a spraying device provided in the third embodiment of the present invention, where the spraying device specifically includes: a receiving module 710, a determining module 720, and a control module 730.
The receiving module 710 is configured to receive a preset spraying pattern through a controller of the spraying machine; a determining module 720, configured to determine, by the controller, a spraying path of the spraying device based on the preset spraying pattern, a setting position of the fixing device, and a relative positional relationship between the spraying device and the fixing device; the control module 730 is configured to control, by the controller, the length of a connecting body between the fixing device and the spraying device based on the spraying path, so that the spraying device performs spraying according to the spraying path to complete spraying of the preset spraying pattern.
Further, the determining module 720 is specifically configured to determine, based on the preset spraying pattern, a spraying path of the spraying row brush according to the setting positions of the two wall surface adsorption buckles, the relative position relationship between the two diverting pulleys and the relative position relationship between the spraying row brush and the two diverting pulleys.
Further, the determining module 720 includes: the device comprises a cutting unit, a processing unit, a first determining unit and a second determining unit;
the cutting unit is used for cutting a path which passes by the spraying row brush from a first point position of a preset spraying pattern to a second point position of the preset spraying pattern for n times, wherein n is an infinite integer;
the processing unit is used for processing the cutting through Fourier series to respectively obtain a relational expression between the real-time length of the left steel wire rope and the second point location and a relational expression between the real-time length of the right steel wire rope and the second point location;
the first determining unit is used for determining a relational expression between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buckles and a relational expression between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles according to the relative position relationship between the two steering pulleys and the two wall surface adsorption buckles;
the second determining unit is used for determining the relational expressions between the real-time lengths of the second point position and the left steel wire rope and between the real-time lengths of the right steel wire rope and the second point position according to the relational expression between the real-time length of the left steel wire rope and the second point position, the relational expression between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles, and the relational expressions between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles; and determining a relation between the second point position and the real-time lengths of the left steel wire rope and the right steel wire rope as a spraying path of the spraying row brush.
Further, the expression of the relationship between the real-time length of the left steel wire rope and the second point location is as follows:
Figure RE-GDA0002668961150000191
wherein L left represents the real-time length of the left wire rope, L0Representing the initial length of the left wire, n the number of cuts, L1 the distance of said second point from the force point of the left diverting pulley, XnX-coordinate, Y, representing current point locationnThe Y coordinate of the current point location is represented, and pi x/L is an included angle between the left steel wire rope of the current point location and the horizontal direction;
the expression of the relationship between the length of the right steel wire rope and the second point position is as follows:
Figure RE-GDA0002668961150000201
wherein L right represents the real-time length of the right wire rope, L3Indicates the initial length, L, of the wire rope on the right4Indicating the distance, X, of the second point location from the force point of the right-hand steering pulleynX-coordinate, Y, representing current point locationnAnd the Y coordinate of the current point location is represented, and the pi x/L is the included angle between the left steel wire rope of the current point location and the horizontal direction.
The relation between the real-time length of the left steel wire rope and the arrangement positions of the two wall adsorption buckles is as follows:
Figure RE-GDA0002668961150000202
the relation between the real-time length of the right steel wire rope and the arrangement positions of the two wall adsorption buckles is as follows:
Figure RE-GDA0002668961150000203
wherein, the left side of L represents the real-time length of the left wire rope, the right side of L represents the real-time length of the right wire rope, (X1, Y1) are the set position coordinates of the left wall surface adsorption buckle, (X2, Y2) are the set position coordinates of the right wall surface adsorption buckle, the position coordinates of the tangent point of the left steering pulley and the left wire rope are (X3, Y3), and the position coordinates of the tangent point of the right steering pulley and the right wire rope are (X4, Y4).
The relation between the second point position and the real-time length of the left steel wire rope and the real-time length of the right steel wire rope is as follows:
Figure RE-GDA0002668961150000204
Figure RE-GDA0002668961150000205
wherein (X, Y) denotes the coordinates of the second point location, L0The initial length of the left steel wire rope is represented, C3 and C4 are preset parameters, L1 represents the length of the left steel wire rope at a second point, and X isnX-coordinate, Y, representing current point locationnY-coordinate, L, representing current point locationLeft side ofRepresents the real-time length, L, of the left wire rope at the current point locationRight sideAnd the real-time length of the right steel wire rope at the current point position is represented, and pi x/L is an included angle between the left steel wire rope at the current point position and the horizontal direction.
According to the technical scheme of the embodiment, a preset spraying pattern is received through a controller of a spraying machine; determining, by the controller, a spray path of the spray device based on the preset spray pattern, the setting position of the fixing device, and the relative positional relationship between the spray device and the fixing device; the controller controls the length of a connecting body between the fixing device and the spraying device based on the spraying path so that the spraying device sprays according to the spraying path to finish the technical means of spraying the preset spraying pattern, automatic spraying of the preset spraying pattern is realized, the spraying steps are simplified, and the spraying efficiency is improved.
The spraying device provided by the embodiment of the invention can execute the spraying method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the spraying method.
Example four
Fig. 8 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention. FIG. 8 illustrates a block diagram of an exemplary device 12 suitable for use in implementing embodiments of the present invention. The device 12 shown in fig. 8 is only an example and should not bring any limitation to the function and scope of use of the embodiments of the present invention.
As shown in FIG. 8, device 12 is in the form of a general purpose computing device. The components of device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, and commonly referred to as a "hard drive"). Although not shown in FIG. 8, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one of the receiving module 710, the determining module 720, and the controlling module 730) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one receiving module 710, determining module 720, and control module 730) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination may include an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
Device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with device 12, and/or with any devices (e.g., network card, modem, etc.) that enable device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown, the network adapter 20 communicates with the other modules of the device 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement a spraying method provided by the embodiment of the present invention, the method includes:
receiving a preset spraying pattern through a controller of the spraying machine;
determining, by the controller, a spray path of the spray device based on the preset spray pattern, the setting position of the fixing device, and the relative positional relationship between the spray device and the fixing device;
and controlling the length of a connecting body between the fixing device and the spraying device through the controller based on the spraying path so that the spraying device sprays according to the spraying path to finish spraying of the preset spraying pattern.
Of course, those skilled in the art will understand that the processor may also implement the solution of the spraying machine and the spraying method provided by any embodiment of the present invention.
EXAMPLE five
This fifth embodiment provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the spray coater and the spray coating method provided by any of the embodiments of the present invention, the method comprising:
receiving a preset spraying pattern through a controller of the spraying machine;
determining, by the controller, a spray path of the spray device based on the preset spray pattern, the setting position of the fixing device, and the relative positional relationship between the spray device and the fixing device;
and controlling the length of a connecting body between the fixing device and the spraying device through the controller based on the spraying path so that the spraying device sprays according to the spraying path to finish spraying of the preset spraying pattern.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It will be understood by those skilled in the art that the modules or steps of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented by program code executable by a computing device, such that it may be stored in a memory device and executed by a computing device, or it may be separately fabricated into various integrated circuit modules, or it may be fabricated by fabricating a plurality of modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (9)

1. An applicator, comprising: the device comprises a fixing device, a connecting body, a spraying device and a controller;
the fixing device is connected with the spraying device through a connecting body and is used for fixing the spraying device through the connecting body;
the spraying device is used for spraying a spraying area;
the controller is used for controlling the length of a connecting body between the fixing device and the spraying device so as to change the spraying area of the spraying device and enable the spraying device to spray different spraying areas;
the fixing device comprises a left wall surface adsorption buckle and a right wall surface adsorption buckle;
or, a support rod which is straight with the wall surface;
the connector includes: the left steel wire rope is connected with the left wall surface adsorption buckle, and the right steel wire rope is connected with the right wall surface adsorption buckle;
the spray coating device includes: the spraying brush is arranged on the support base plate, the left rope winding motor is connected with a left steel wire rope through a left steering pulley, and the right rope winding motor is connected with a right steel wire rope through a right steering pulley;
the spraying row brush is arranged on the support bottom plate and is used for spraying different areas under the support movement of the support bottom plate;
the left rope winding motor and the right rope winding motor are respectively and rigidly connected with the supporting base plate and are used for winding or unwinding a left steel wire rope connected with the left wall surface adsorption buckle through the left steering pulley under the control of the controller so as to change the length of the left steel wire rope, and winding or unwinding a right steel wire rope connected with the right wall surface adsorption buckle through the right steering pulley so as to change the length of the right steel wire rope, so that the supporting base plate is driven to move based on a set path, and the spraying area of the spraying row brush is changed;
the controller receives a preset spraying pattern, and based on the preset spraying pattern, the setting position of the fixing device and the relative position relationship between the spraying device and the fixing device, the controller cuts a path through which the spraying row brush moves from a first point position of the preset spraying pattern to a second point position of the preset spraying pattern for n times, wherein n is an infinite integer;
processing the cutting through Fourier series to respectively obtain a relational expression between the real-time length of the left steel wire rope and the second point location and a relational expression between the real-time length of the right steel wire rope and the second point location;
determining a relational expression between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buckles and a relational expression between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles according to the relative position relationship between the two steering pulleys and the two wall surface adsorption buckles;
determining the relation among the real-time lengths of the second point position and the left steel wire rope and the real-time length of the right steel wire rope according to the relation between the real-time length of the left steel wire rope and the second point position, the relation between the real-time length of the right steel wire rope and the second point position, the relation between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buckles and the relation between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles;
and determining a relation between the second point position and the real-time lengths of the left steel wire rope and the right steel wire rope as a spraying path of the spraying row brush.
2. The applicator of claim 1, further comprising: the pump body is used for conveying the coating for the spraying device through the connecting pipe.
3. A coating method applied to the coating machine according to any one of claims 1 to 2, comprising:
receiving a preset spraying pattern through a controller of the spraying machine;
determining, by the controller, a spray path of the spray device based on the preset spray pattern, the setting position of the fixing device, and the relative positional relationship between the spray device and the fixing device;
the determining, by the controller, a spraying path of the spraying device based on the preset spraying pattern, the setting position of the fixing device, and the relative positional relationship between the spraying device and the fixing device includes:
determining a spraying path of the spraying row brush according to the arrangement positions of the two wall surface adsorption buttons, the relative position relationship between the two steering pulleys and the two wall surface adsorption buttons and the relative position relationship between the spraying row brush and the two steering pulleys based on the preset spraying pattern;
the determining of the spraying path of the spraying row brush comprises:
cutting a path which passes by the spraying row brush from a first point position of a preset spraying pattern to a second point position of the preset spraying pattern for n times, wherein n is an infinite integer;
processing the cutting through Fourier series to respectively obtain a relational expression between the real-time length of the left steel wire rope and the second point location and a relational expression between the real-time length of the right steel wire rope and the second point location;
determining a relational expression between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buckles and a relational expression between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles according to the relative position relationship between the two steering pulleys and the two wall surface adsorption buckles;
determining the relation among the real-time lengths of the second point position and the left steel wire rope and the real-time length of the right steel wire rope according to the relation between the real-time length of the left steel wire rope and the second point position, the relation between the real-time length of the right steel wire rope and the second point position, the relation between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buckles and the relation between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles;
determining a relation between the second point position and the real-time lengths of the left steel wire rope and the right steel wire rope as a spraying path of the spraying row brush;
and controlling the length of a connecting body between the fixing device and the spraying device through the controller based on the spraying path so that the spraying device sprays according to the spraying path to finish spraying of the preset spraying pattern.
4. The method of claim 3, wherein the relational expression between the real-time length of the left wire rope and the second point location is as follows:
Figure FDA0003242092630000041
wherein L left represents the real-time length of the left wire rope, L0Representing the initial length of the left wire, n the number of cuts, L1 the distance of said second point from the force point of the left diverting pulley, XnX-coordinate, Y, representing current point locationnThe Y coordinate of the current point location is represented, and pi x/L is an included angle between the left steel wire rope of the current point location and the horizontal direction;
the expression of the relationship between the length of the right steel wire rope and the second point position is as follows:
Figure FDA0003242092630000042
wherein, L is rightRepresenting the real-time length, L, of the right wire rope3Indicates the initial length, L, of the wire rope on the right4Indicating the distance, X, of the second point location from the force point of the right-hand steering pulleynX-coordinate, Y, representing current point locationnAnd the Y coordinate of the current point location is represented, and the pi x/L is the included angle between the left steel wire rope of the current point location and the horizontal direction.
5. The method according to claim 4, wherein the relation between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buttons is as follows:
Figure FDA0003242092630000043
the relation between the real-time length of the right steel wire rope and the arrangement positions of the two wall adsorption buckles is as follows:
Figure FDA0003242092630000044
wherein, the left side of L represents the real-time length of the left wire rope, the right side of L represents the real-time length of the right wire rope, (X1, Y1) are the set position coordinates of the left wall surface adsorption buckle, (X2, Y2) are the set position coordinates of the right wall surface adsorption buckle, the position coordinates of the tangent point of the left steering pulley and the left wire rope are (X3, Y3), and the position coordinates of the tangent point of the right steering pulley and the right wire rope are (X4, Y4).
6. The method of claim 5, wherein the relationship between the second point location and the real-time lengths of the left and right cords is:
Figure FDA0003242092630000051
Figure FDA0003242092630000052
wherein (X, Y) denotes the coordinates of the second point location, L0The initial length of the left steel wire rope is represented, C3 and C4 are preset parameters, L1 represents the length of the left steel wire rope at a second point, and X isnX-coordinate, Y, representing current point locationnY-coordinate, L, representing current point locationLeft side ofRepresents the real-time length, L, of the left wire rope at the current point locationRight sideAnd the real-time length of the right steel wire rope at the current point position is represented, and pi x/L is an included angle between the left steel wire rope at the current point position and the horizontal direction.
7. A spray coating device, comprising:
the receiving module is used for receiving a preset spraying pattern through a controller of the spraying machine;
the determining module is used for determining a spraying path of the spraying device through the controller based on the preset spraying pattern, the setting position of the fixing device and the relative position relationship between the spraying device and the fixing device; the determining, by the controller, a spraying path of the spraying device based on the preset spraying pattern, the setting position of the fixing device, and the relative positional relationship between the spraying device and the fixing device includes:
determining a spraying path of the spraying row brush according to the arrangement positions of the two wall surface adsorption buttons, the relative position relationship between the two steering pulleys and the two wall surface adsorption buttons and the relative position relationship between the spraying row brush and the two steering pulleys based on the preset spraying pattern;
the determining of the spraying path of the spraying row brush comprises:
cutting a path which passes by the spraying row brush from a first point position of a preset spraying pattern to a second point position of the preset spraying pattern for n times, wherein n is an infinite integer;
processing the cutting through Fourier series to respectively obtain a relational expression between the real-time length of the left steel wire rope and the second point location and a relational expression between the real-time length of the right steel wire rope and the second point location;
determining a relational expression between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buckles and a relational expression between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles according to the relative position relationship between the two steering pulleys and the two wall surface adsorption buckles;
determining the relation among the real-time lengths of the second point position and the left steel wire rope and the real-time length of the right steel wire rope according to the relation between the real-time length of the left steel wire rope and the second point position, the relation between the real-time length of the right steel wire rope and the second point position, the relation between the real-time length of the left steel wire rope and the setting positions of the two wall surface adsorption buckles and the relation between the real-time length of the right steel wire rope and the setting positions of the two wall surface adsorption buckles;
determining a relation between the second point position and the real-time lengths of the left steel wire rope and the right steel wire rope as a spraying path of the spraying row brush;
and the control module is used for controlling the length of a connecting body between the fixing device and the spraying device through the controller based on the spraying path so as to enable the spraying device to spray according to the spraying path and finish the spraying of the preset spraying pattern.
8. An electronic device, characterized in that the device comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the spray coating method steps of any one of claims 3-6.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method steps of any one of claims 3 to 6.
CN202010674126.2A 2020-07-14 2020-07-14 Spraying machine, spraying method, device, equipment and storage medium Active CN111804485B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02252859A (en) * 1989-03-27 1990-10-11 Takenaka Komuten Co Ltd Movement control system of wall surface working robot
JPH0577772A (en) * 1991-09-20 1993-03-30 Tokico Ltd Wall surface traveling device
CN2357067Y (en) * 1998-06-11 2000-01-05 西安恒生自动化工程有限责任公司 Cleaner for external walls of high-rise buildings
CN106088547A (en) * 2016-08-02 2016-11-09 武汉科技大学 A kind of high-altitude vertical wall rendering robot
CN106269359A (en) * 2016-08-05 2017-01-04 广东银洋环保新材料有限公司 A kind of wall surface spraying print system and spraying method thereof
CN110014437A (en) * 2019-05-09 2019-07-16 广东博智林机器人有限公司 Spray robot and control method and control device, computer readable storage medium

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02252859A (en) * 1989-03-27 1990-10-11 Takenaka Komuten Co Ltd Movement control system of wall surface working robot
JPH0577772A (en) * 1991-09-20 1993-03-30 Tokico Ltd Wall surface traveling device
CN2357067Y (en) * 1998-06-11 2000-01-05 西安恒生自动化工程有限责任公司 Cleaner for external walls of high-rise buildings
CN106088547A (en) * 2016-08-02 2016-11-09 武汉科技大学 A kind of high-altitude vertical wall rendering robot
CN106269359A (en) * 2016-08-05 2017-01-04 广东银洋环保新材料有限公司 A kind of wall surface spraying print system and spraying method thereof
CN110014437A (en) * 2019-05-09 2019-07-16 广东博智林机器人有限公司 Spray robot and control method and control device, computer readable storage medium

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