CN113457874B - Method, device, equipment and medium for determining spraying path - Google Patents
Method, device, equipment and medium for determining spraying path Download PDFInfo
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- CN113457874B CN113457874B CN202010241465.1A CN202010241465A CN113457874B CN 113457874 B CN113457874 B CN 113457874B CN 202010241465 A CN202010241465 A CN 202010241465A CN 113457874 B CN113457874 B CN 113457874B
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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
- 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
- B05B12/122—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 responsive to presence or shape of target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
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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
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- Structural Engineering (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
Abstract
The embodiment of the invention discloses a method, a device, equipment and a medium for determining a spraying path. The method comprises the following steps: the method comprises the steps of obtaining measurement data of a region to be sprayed, and dividing the region to be sprayed into at least one rectangular region according to the measurement data; determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area; and determining an operation path of the spraying equipment based on the spraying sequence of each wall type and the spraying mode of each wall type. The technical scheme of the embodiment of the invention solves the problem of low efficiency of manual garage spraying, improves the garage spraying efficiency and saves spraying materials.
Description
Technical Field
The embodiment of the invention relates to a spraying technology, in particular to a method, a device, equipment and a medium for determining a spraying path.
Background
The spraying robot is an industrial robot capable of automatically spraying, and is increasingly popularized in order to meet the requirement of customers on higher and higher spraying speed.
The underground garage layer height is higher and the structure is complicated, and current underground garage spraying mainly adopts artifical mode to carry out the spraying, nevertheless in view of underground garage's layer height and complicated structure, need incessantly remove the brace table and assist the manual work and carry out the spraying operation, consequently causes the spraying inefficiency, and the spraying material is great and the eminence operation security is low to human body injury.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a medium for determining a spraying path, which are used for improving the spraying efficiency of a to-be-sprayed area and avoiding human body injury caused by spraying.
In a first aspect, an embodiment of the present invention provides a method for determining a spray path, where the method includes: the method comprises the steps of obtaining measurement data of a region to be sprayed, and dividing the region to be sprayed into at least one rectangular region according to the measurement data;
determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area;
and determining an operation path of the spraying equipment based on the spraying sequence of each wall type and the spraying mode of each wall type.
Further, the area to be sprayed comprises at least one spraying sub-area, wherein the adjacent spraying sub-areas are divided by the upright post, and the spraying sequence of each wall type comprises the spraying sequence of each spraying sub-area and the spraying sequence of each wall in each spraying sub-area. The wall spraying sequence of each spraying subarea is the same, and one spraying subarea is sprayed after the spraying of the other spraying subarea, so that the times of extending and retracting the front end of the spraying equipment when spraying among the spraying subareas are performed are reduced, and the spraying efficiency is improved.
Further, in any spraying sub-area, the determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area includes:
the measurement data includes: the height of the floor slab ceiling, the height of the beam bottom ceiling, the size of the side surface of the beam and the size of the upright post;
when the difference in height between the beam bottom ceiling height and the floor ceiling height is less than a preset value, the spraying sequence of the wall types in the spraying sub-area is as follows: the structure comprises a floor slab ceiling, a beam bottom ceiling, beam side faces, upright posts and a vertical face wall;
when the height difference between the beam bottom ceiling height and the floor ceiling height exceeds the preset numerical value, the spraying sequence of the wall types in the spraying sub-area is as follows: beam bottom ceiling, floor ceiling, beam side, upright post and vertical wall. The height difference between the beam bottom ceiling and the floor ceiling is used as a limiting condition for determining the spraying sequence of each wall, so that the collision between the execution front end and the beam is avoided when the spraying equipment finishes spraying one spraying subarea and changes to spray the next spraying subarea, and the safety is improved.
Further, the determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular region belongs and the measurement data of each rectangular region further includes:
when the single side of the vertical wall is an internal corner, the spraying sequence of the area where the vertical wall is located is as follows: the internal corner and the area of the vertical wall except the internal corner are formed, wherein the internal corner is the junction of the adjacent vertical walls;
when the two sides of the vertical wall are both internal corners, the spraying sequence of the area where the three-dimensional wall is located is as follows: the internal corner with the minimum distance to the side face of the beam, the region of the vertical wall except the internal corner and the internal corner on the other side of the vertical wall. The width of the sprayed overlapped surface is consistent, and the phenomena of missing spraying and uniform and inconsistent spraying of the overlapped surface are avoided.
Further, the determining the operation path of the spraying equipment based on the spraying sequence of each wall type and the spraying mode of each wall type includes:
determining operation nodes of the spraying equipment on each rectangular area according to the spraying mode of each wall type;
and planning paths of the operation nodes on the rectangular areas according to the spraying sequence of the wall type to which the rectangular areas belong and a preset planning algorithm to obtain the operation paths of the spraying equipment. The times of executing front end arm stretching and arm retracting can be reduced, repeated walking caused by disordered paths is avoided, and the spraying efficiency is improved.
Further, the spraying manner includes: floor ceiling spraying, beam bottom ceiling spraying, beam side spraying, upright post spraying and facade wall spraying.
Further, the operation node includes at least one of an operation starting point, a rotation position point of a front end of a mechanical arm of the painting robot device, a front end recovery point of the mechanical arm of the painting robot device, a moving point of the painting robot device, and a painting direction changing point.
Further, the performing path planning on the operation nodes on each rectangular area according to the spraying sequence of the wall type to which each rectangular area belongs and a preset planning algorithm to obtain the operation path of the spraying equipment includes:
determining movable points of the current operation nodes according to the spraying sequence of the wall types to which the rectangular areas belong;
and determining the next operation node of the current operation node from the movable points according to a preset planning algorithm so as to form an operation path of the spraying equipment. The traveling path of the spraying equipment is shortest, the traveling time is shortened, and the spraying efficiency is improved.
Further, the determining the operation nodes of the spraying equipment on each rectangular area according to the spraying mode of each wall type includes: when the difference between the beam bottom ceiling height between the vertical wall or the vertical wall and the ceiling and the floor ceiling height exceeds a preset value in the spraying direction of the spraying starting position, the spraying starting position is determined to be a position point which is away from the beam between the vertical wall or the vertical wall and the ceiling and is reserved with a preset distance. The collision between the front end of the execution device and a wall or a beam when the front end of the execution device stretches out is avoided, and the safety is improved.
Further, the determining the operation nodes of the painting robot device on each rectangular area according to the painting mode of each wall type includes:
for the floor ceiling spraying, when the spraying is carried out to the half area of the floor ceiling, a rotation position point of the execution front end of the spraying equipment is set, or a moving point of the spraying equipment is set, wherein the moving point of the spraying equipment is used for controlling the spraying equipment to move to a safe area to execute front end rotation. Guarantee floor smallpox can be by the complete spraying, and guarantee to carry out the front end and can not bump at rotatory in-process, improve the security.
Further, the determining the operation nodes of the spraying equipment on each rectangular area according to the spraying mode of each wall type further includes:
for beam side surface spraying, when a plurality of beams are crossed, calculating a safety distance according to the spraying amplitude length of spraying equipment and the current nozzle position of the spraying equipment;
and setting a spraying direction change point based on the safe distance. The collision of the front end of the spraying device during beam side spraying is avoided, and the safety of the beam side spraying of the spraying device is guaranteed.
Further, the method for determining the spraying path further comprises the following steps: when the spraying equipment moves between adjacent rectangular areas with different heights, if the height difference of the next rectangular area to the current rectangular area is larger than a preset value, setting an execution front end recovery point of the spraying equipment. The collision between the execution front end of the spraying equipment and the wall body is avoided, and the moving safety of the spraying equipment is improved.
In a second aspect, an embodiment of the present invention further provides a device for determining a spraying path, where the device includes:
the area division module is used for acquiring the measurement data of an area to be sprayed and dividing the area to be sprayed into at least one rectangular area according to the measurement data;
the spraying sequence determining module is used for determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area;
the operation path determining module is used for determining an operation path of the spraying equipment based on the spraying sequence of each wall type and the spraying mode of each wall type;
in a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining a spray path according to any of the embodiments of the present invention.
In a fourth aspect, the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are used to execute the method for determining a spray path according to any one of the embodiments of the present invention when executed by a computer processor.
According to the embodiment of the invention, the area to be sprayed is divided into at least one rectangular area according to the measurement data by acquiring the measurement data of the area to be sprayed; because the rectangular areas are at the same height and the spraying modes are the same, when the spraying equipment sprays one rectangular area, the distance between the execution front end and the area to be sprayed does not need to be adjusted, and the spraying mode does not need to be changed, so that the spraying efficiency of the spraying equipment is improved. Determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area; spraying according to the determined spraying sequence can reduce the times of the spraying equipment for executing front end arm extension and arm retraction, and improve the working efficiency of the spraying equipment; the operation path of the spraying equipment is determined based on the spraying sequence of each wall type and the spraying mode of each wall type, the walking distance of the spraying equipment is reduced through reasonable planning of the operation path, repeated walking is avoided, the problem that the garage is sprayed manually and is low in efficiency is solved, the garage spraying efficiency is improved, and the effect of spraying materials is saved.
Drawings
FIG. 1 is a flow chart of a method for determining a spray path according to a first embodiment of the present invention;
FIG. 2 is a schematic view of a rectangular division of the area to be painted;
FIG. 3 is a schematic diagram of a spray coating device path plan;
FIG. 4 is a flow chart of a method for determining a spray path according to a second embodiment of the present invention;
FIG. 5 is a highly schematic view of different rectangular areas;
fig. 6 is a structural diagram of a device for determining a spray path in the third embodiment of the present invention;
fig. 7 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 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 flowchart of a method for determining a spraying path according to an embodiment of the present invention, where this embodiment is applicable to a garage spraying situation, and the method may be executed by a device for determining a spraying path, and specifically includes the following steps:
s110, obtaining measurement data of a region to be sprayed, and dividing the region to be sprayed into at least one rectangular region according to the measurement data.
Generally, the area to be painted includes: solid structures such as floor ceilings, beams and columns. And (3) carrying out data measurement on each entity structure of the area to be sprayed, wherein the data measurement mode comprises the following optional steps: the measurement is carried out on site in the area to be painted by a measuring tool, by a Building Information Modeling (BIM) model or by a Building design drawing. Optionally, the measurement data includes: floor ceiling height, beam bottom ceiling height, beam side dimensions and column dimensions. And dividing each solid structure of the area to be sprayed into rectangular areas according to the measurement data. Illustratively, as shown in fig. 2, the floor ceiling is divided into 4 rectangular areas, namely a ceiling one, a ceiling two, a ceiling three and a ceiling four according to the measured height; according to the measurement data of the beam, the beam is divided into a first beam bottom and a second beam bottom, and the height of each rectangular area is different. The rectangular division is carried out on the area to be sprayed, so that the spraying equipment does not need to frequently extend and retract the arm of the front end of the spraying equipment during spraying, the spraying mode does not need to be frequently changed, and the spraying efficiency is improved.
And S120, determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area.
Exemplary wall types include: floor ceiling, beam bottom ceiling, beam side, upright post and vertical wall. Each wall type may be divided into a plurality of rectangular areas, so the spraying sequence of each wall type is determined according to the wall type to which each rectangular area belongs and the measurement data.
Optionally, the area to be sprayed includes at least one spraying sub-area, where adjacent spraying sub-areas are demarcated by a pillar, and the spraying sequence of each wall type includes a spraying sequence of each spraying sub-area and a spraying sequence of each wall in each spraying sub-area. If the area to be sprayed contains the upright posts, the area to be sprayed can be divided into a plurality of sub-areas, one sub-area is firstly sprayed, the next sub-area is sprayed after the spraying of one sub-area is finished, and the spraying sequence of the wall bodies of each sub-area is consistent. The area to be sprayed is divided into a plurality of sub-areas for spraying, so that the times of executing front end arm extension and arm retraction of the spraying equipment can be reduced, and the spraying efficiency is improved.
Optionally, in any spraying sub-area, the determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area includes: when the difference in height between the beam bottom ceiling height and the floor ceiling height is less than a preset value, the spraying sequence of the wall types in the spraying sub-area is as follows: the structure comprises a floor slab ceiling, a beam bottom ceiling, beam side faces, upright posts and a vertical face wall; the measurement data includes: floor ceiling height, beam bottom ceiling height, beam side dimensions and column dimensions. When the height difference between the beam bottom ceiling height and the floor slab ceiling height exceeds the preset numerical value, the spraying sequence of the wall types in the spraying sub-area is as follows: beam bottom ceiling, floor ceiling, beam side, upright post and vertical wall. Illustratively, when the spraying equipment is used for spraying, the distance between the spray head and the spraying surface is 500mm, the safety distance between the spray head and the spraying surface is 100mm, when the height difference between the beam bottom ceiling and the floor ceiling is greater than 400mm, the spray nozzle of the spraying equipment can collide with the beam bottom ceiling during spraying, so that the height difference between the beam bottom ceiling and the floor ceiling is used as a limiting condition of the spraying sequence of the wall types in the spraying sub-area, the beam bottom ceiling is sprayed preferentially at the moment, the floor ceiling is sprayed again, and when the spraying equipment is switched from the beam bottom ceiling to the floor ceiling for spraying, the front end of the spraying equipment does not need to be withdrawn, so that the spraying efficiency is improved. For example, when the height difference between the beam bottom ceiling and the floor ceiling is less than 400mm, the spraying sequence of the wall types in the spraying sub-area is as follows: the structure comprises a floor slab ceiling, a beam bottom ceiling, beam side faces, upright posts and a vertical face wall; when the difference in height of beam bottom smallpox and floor smallpox is greater than 400mm, when, the spraying order of wall type in the spraying subregion is: beam bottom ceiling, floor ceiling, beam side, upright post and vertical wall.
It should be noted that, when there is no pillar in the area to be sprayed, the area to be sprayed cannot be divided into a plurality of sub-areas, that is, the area to be sprayed is one area, at this time, the spraying of the pillar may be omitted in the spraying sequence, and the spraying sequence of the wall types in other areas to be sprayed is not changed. The spraying sequence of the wall types in the area to be sprayed is planned, the times of arm extension and arm retraction of the spraying equipment can be reduced, the spraying efficiency is improved, the collision of the spraying equipment during spraying can be avoided, and the safety is improved.
Optionally, the determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular region belongs and the measurement data of each rectangular region further includes: when the single side of the vertical wall is an internal corner, the spraying sequence of the area where the vertical wall is located is as follows: the internal corner and the area of the vertical wall except the internal corner are formed, wherein the internal corner is the junction of the adjacent vertical walls; when the two sides of the vertical wall are both internal corners, the spraying sequence of the area where the three-dimensional wall is located is as follows: the internal corner with the minimum distance to the side face of the beam, the region of the vertical wall except the internal corner and the internal corner on the other side of the vertical wall. When the vertical wall is sprayed, if one side of the vertical wall is provided with an internal corner, the internal corner is sprayed firstly, and then the vertical wall except the internal corner is sprayed; if the two sides of the vertical wall are provided with the internal corners, the internal corners with the minimum distance from the side faces of the beams are sprayed, then the vertical wall except the internal corners is sprayed, and finally the internal corners on the other side are sprayed. Therefore, the interface of the vertical wall with two adjacent surfaces can be uniformly sprayed, the width of the sprayed overlapped surface is consistent, and the phenomena of missing spraying and uniform and inconsistent spraying of the overlapped surface are avoided.
S130, determining an operation path of the spraying equipment based on the spraying sequence of each wall type and the spraying mode of each wall type.
It should be noted that the spraying modes of different wall types are different. The spraying order and the spraying mode of each wall type determine the operation path of the spraying equipment. Determining an operation path of the spraying equipment based on the spraying sequence of each wall type and the spraying mode of each wall type, wherein the operation path comprises operation nodes of the spraying equipment on each rectangular area according to the spraying mode of each wall type; and planning paths of the operation nodes on the rectangular areas according to the spraying sequence of the wall type to which the rectangular areas belong and a preset planning algorithm to obtain the operation paths of the spraying equipment. Optionally, the spraying manner includes: floor ceiling spraying, beam bottom ceiling spraying, beam side spraying, upright post spraying and facade wall spraying. Optionally, the operation node includes at least one of an operation starting point, a rotation position point of an execution front end of the spraying device, a recovery point of the execution front end of the spraying device, a moving point of the spraying device, and a spraying direction changing point. The operation starting point is a position point where the spraying equipment starts to operate; the rotary position point of the execution front end of the spraying equipment and the moving point of the spraying equipment are used for rotating the execution front end when the spraying equipment sprays the floor ceiling; the execution front end recovery point of the spraying equipment is used for executing a front end recovery position point in order to avoid collision between the execution front end and a wall body when the spraying equipment is used for transferring rectangular areas with different heights; and the spraying direction changing point is used for changing the spraying direction of the execution front end at a safe position when the spraying equipment sprays the ceiling, so that the collision between the execution front end and the wall body when the spraying direction is changed is avoided. Each wall type corresponds to different spraying modes, operation nodes of the spraying equipment when each rectangular area is sprayed are determined according to the spraying modes of the walls, path planning is carried out on the operation nodes by combining a path planning algorithm and a spraying sequence, the spraying equipment carries out spraying according to the planned path, the times of executing front-end arm stretching and arm retracting can be reduced, repeated walking caused by disordered paths is avoided, and the spraying efficiency is improved.
Performing path planning on the operation nodes on each rectangular area according to the spraying sequence of the wall type to which each rectangular area belongs and a preset planning algorithm to obtain an operation path of the spraying equipment, wherein the path planning comprises the following steps: determining movable points of the current operation nodes according to the spraying sequence of the wall types to which the rectangular areas belong; and determining the next operation node of the current operation node from the movable points according to a preset planning algorithm so as to form an operation path of the spraying equipment. After the movable point of the current operation node is determined, that is, after the spraying of the spraying equipment on the current operation node is completed, all movable next operation nodes of the spraying equipment are determined, for example, the preset planning algorithm may be, but is not limited to: a predation search algorithm. The optimal next operation node is determined from all the movable next operation nodes through a predation search algorithm, so that the traveling path of the spraying equipment is shortest, the traveling time is shortened, and the spraying efficiency is improved.
Optionally, the determining the operation path of the spraying equipment based on the spraying order of each wall type and the spraying manner of each wall type includes: when the difference between the beam bottom ceiling height between the vertical wall or the vertical wall and the ceiling and the floor ceiling height exceeds a preset value in the spraying direction of the spraying starting position, the spraying starting position is determined to be a position point which is away from the beam between the vertical wall or the vertical wall and the ceiling and is reserved with a preset distance. Fig. 3 is a schematic diagram of a path plan for the ceiling of a floor, with the points marked with sequence numbers identifying the positions of the spraying equipment. The point with the sequence number 1 is the initial position of the operation of the spraying equipment, any one of four corners of a spraying area is determined as the initial position, the initial position has a preset safety distance from a vertical wall or a beam, and the safe extension of the front end of the spraying equipment at the spraying initial point is ensured. For example, when the difference between the ceiling height and the beam bottom ceiling height between a vertical wall or a vertical wall and a ceiling in the spraying direction exceeds 600mm, a safety distance of 80mm should be reserved between the starting point and the wall or the beam, so that collision between the starting point and the wall or the beam when the front end of the spraying device is extended out is avoided, and safety is improved.
Optionally, the determining the operation nodes of the spraying equipment on each rectangular area according to the spraying mode of each wall type includes: for the floor ceiling spraying, when the spraying is carried out to the half area of the floor ceiling, a rotation position point of the execution front end of the spraying equipment is set, or a moving point of the spraying equipment is set, wherein the moving point of the spraying equipment is used for controlling the spraying equipment to move to a safe area to execute front end rotation. And planning the operation path of the floor ceiling by combining a preset planning algorithm based on the spraying mode of the floor ceiling. Illustratively, the spraying equipment moves the execution front end to the point of the serial number 2 after stretching out at the starting position of the point of the serial number 1 for spraying, the spraying equipment performs spraying according to the sequence of arrows, when the spraying equipment sprays the floor ceiling in a half area, namely the spraying equipment moves to the point of the serial number 5, the execution front end of the spraying equipment needs to rotate to ensure that the floor ceiling can be completely sprayed, but the collision risk exists at the point of the serial number 5 when the spraying equipment rotates to execute the front end, so the spraying equipment moves to the safe region of the serial number 11 first and then rotates to execute the front end, the execution front end is ensured not to collide in the rotating process, the safety is improved, and after the rotation, the spraying equipment moves to the point of the serial number 8 for continuous spraying.
Optionally, the determining, according to the spraying manner of each wall type, the operation node of the spraying device on each rectangular area further includes: when the floor ceiling is moved to the beam bottom after the floor ceiling is sprayed, the beam bottom ceiling is sprayed, and the moving point of the spraying equipment is arranged at the completion position of the beam bottom ceiling. The floor ceiling is moved to the beam bottom to be sprayed with the beam bottom ceiling after spraying is finished, after the beam bottom ceiling is sprayed with the beam bottom ceiling, the equipment needs to be moved to a safe area to adjust the front end of the spraying equipment and convert the front end of the spraying equipment into a beam side spraying mode, so that the moving point of the spraying equipment is arranged at the position where the beam bottom ceiling is sprayed with the beam bottom ceiling and is a safe point where the spraying equipment stretches out and draws back the front end of the spraying equipment and converts the spraying mode, and the operation safety of the spraying equipment is guaranteed.
Optionally, the determining the operation nodes of the spraying equipment on each rectangular area according to the spraying mode of each wall type further includes: for beam side surface spraying, when a plurality of beams are crossed, calculating a safety distance according to the spraying amplitude length of spraying equipment and the current nozzle position of the spraying equipment; and setting a spraying direction change point based on the safe distance. When the beams are crossed, calculating a safe distance according to the spraying width length of the spraying equipment and the current nozzle position of the spraying equipment; and changing the spraying direction to spray the side surfaces of the beams which are mutually crossed by rotating the front executing end of the spraying equipment at a safe distance. The collision of the front end of the spraying device during beam side spraying is avoided, and the safety of the beam side spraying of the spraying device is guaranteed.
According to the technical scheme of the embodiment, the area to be sprayed is divided into at least one rectangular area according to the measurement data by acquiring the measurement data of the area to be sprayed; because the rectangular areas are at the same height and the spraying modes are the same, when the spraying equipment sprays one rectangular area, the distance between the execution front end and the area to be sprayed does not need to be adjusted, and the spraying mode does not need to be changed, so that the spraying efficiency of the spraying equipment is improved. Determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area; spraying according to the determined spraying sequence can reduce the times of arm extension and arm retraction of the front end of the spraying equipment, and improve the working efficiency of the spraying equipment; the operation path of the spraying equipment is determined based on the spraying sequence of each wall type and the spraying mode of each wall type, the walking distance of the spraying equipment is reduced through reasonable planning of the operation path, repeated walking is avoided, the problem that the garage is sprayed manually and is low in efficiency is solved, and the effects of improving the garage spraying efficiency and saving spraying materials are achieved.
Example two
Fig. 4 is a flowchart of a method for determining a spraying path according to a second embodiment of the present invention, which is further optimized based on the second embodiment, and optionally, the method for determining a spraying path further includes: when the spraying equipment moves between adjacent rectangular areas with different heights, and if the height difference of the next rectangular area to the current rectangular area is larger than a preset value, setting an execution front end rotating position point of the spraying equipment. The collision of the spraying equipment when the spraying equipment moves among the rectangular areas with different heights is avoided, and the moving safety of the spraying equipment is improved. As shown in fig. 4, the method specifically includes the following steps:
s210, obtaining measurement data of a region to be sprayed, and dividing the region to be sprayed into at least one rectangular region according to the measurement data.
S220, determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area.
And S230, determining an operation path of the spraying equipment based on the spraying sequence of each wall type and the spraying mode of each wall type.
S240, when the spraying equipment moves between adjacent rectangular areas with different heights, and if the height difference of the next rectangular area to the current rectangular area is larger than a preset value, setting an execution front end recovery point of the spraying equipment.
The front end recovery point of the coating apparatus is a position point at which the front end of the coating apparatus is recovered. When the spraying equipment needs to move to the rectangular areas with different heights, if the height of the next rectangular area is smaller than that of the current rectangular area and the height difference is larger than a preset value, the spraying equipment needs to retract the execution front end to prevent collision. For example, as shown in fig. 5, after the spraying equipment finishes spraying the first ceiling, the spraying equipment moves to the second ceiling for spraying, the height of the first ceiling is 34100mm, the height of the second ceiling 2 is 2900mm, the height of the beam bottom between the first ceiling and the second ceiling is 3250mm, when the spraying equipment sprays the first ceiling, the distance between the spray head and the first ceiling is 500mm, and the safety distance between the spray head and the spraying surface is 100mm, so when the height difference between the first ceiling and the beam bottom exceeds 400mm, the spraying equipment does not move directly to the front end and collide, at this moment, the height difference between the first ceiling and the beam bottom is 450mm, if the spraying equipment needs to move to the second ceiling after moving to spray the front end, and if the second ceiling is sprayed first and then shifts to the first ceiling, the equipment moves safely in an arm extending state without moving after arm retracting. The collision between the execution front end of the spraying equipment and the wall body is avoided, and the moving safety of the spraying equipment is improved.
According to the technical scheme of the embodiment, the area to be sprayed is divided into at least one rectangular area according to the measurement data by acquiring the measurement data of the area to be sprayed. And determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area. And determining an operation path of the spraying equipment based on the spraying sequence of each wall type and the spraying mode of each wall type. When the spraying equipment moves between adjacent rectangular areas with different heights, if the height difference of the next rectangular area is larger than the preset value of the current rectangular area, the execution front end recovery point of the spraying equipment is set, collision between the execution front end of the spraying equipment moving between different rectangular areas and a wall body is avoided, and the moving safety of the spraying equipment is guaranteed.
EXAMPLE III
Fig. 6 is a structural diagram of a device for determining a spray path according to a third embodiment of the present invention, where the logic device includes: a zone division module 310, a spray order determination module 320, and a job path determination module 330.
The area dividing module 310 is configured to obtain measurement data of an area to be sprayed, and divide the area to be sprayed into at least one rectangular area according to the measurement data; the spraying sequence determining module 320 is configured to determine a spraying sequence of each wall type according to the wall type to which the at least one rectangular region belongs and the measurement data of each rectangular region; and the working path determining module 330 is configured to determine a working path to the spraying equipment based on the spraying order of each wall type and the spraying manner of each wall type.
Optionally, the area to be sprayed includes at least one spraying sub-area, where adjacent spraying sub-areas are demarcated by a pillar, and the spraying sequence of each wall type includes a spraying sequence of each spraying sub-area and a spraying sequence of each wall in each spraying sub-area.
Optionally, the measurement data includes: floor ceiling height, beam bottom ceiling height, beam side dimensions and column dimensions.
Optionally, when the height difference between the beam bottom ceiling height and the floor ceiling height is smaller than a preset value, the spraying sequence of the wall types in the spraying sub-area is as follows: the structure comprises a floor slab ceiling, a beam bottom ceiling, beam side faces, upright posts and a vertical face wall;
when the height difference between the beam bottom ceiling height and the floor ceiling height exceeds the preset numerical value, the spraying sequence of the wall types in the spraying sub-area is as follows: beam bottom ceiling, floor ceiling, beam side, upright post and vertical wall.
Optionally, when the single side of the vertical wall is an internal corner, the spraying sequence of the area where the vertical wall is located is as follows: the internal corner and the area of the vertical wall except the internal corner are formed, wherein the internal corner is the junction of the adjacent vertical walls;
when the two sides of the vertical wall are both internal corners, the spraying sequence of the area where the three-dimensional wall is located is as follows: the internal corner with the minimum distance to the side face of the beam, the region of the vertical wall except the internal corner and the internal corner on the other side of the vertical wall.
In the technical solution of the above embodiment, the job path determining module 330 includes:
the operation node determining unit is used for determining operation nodes of the spraying equipment on each rectangular area according to the spraying mode of each wall type;
and the path planning unit is used for performing path planning on the operation nodes on the rectangular areas according to the spraying sequence of the wall type to which the rectangular areas belong and a preset planning algorithm to obtain the operation paths of the spraying equipment.
Optionally, the spraying manner includes: floor ceiling spraying, beam bottom ceiling spraying, beam side spraying, upright post spraying and facade wall spraying.
Optionally, the operation node includes at least one of an operation starting point, a rotation position point of an execution front end of the spraying device, a recovery point of the execution front end of the spraying device, a moving point of the spraying device, and a spraying direction changing point.
In the technical solution of the above embodiment, the path planning unit includes:
the movable point determining subunit is used for determining movable points of the current operation nodes according to the spraying sequence of the wall types to which the rectangular areas belong;
and the operation path forming subunit is used for determining the next operation node of the current operation node from the movable points according to a preset planning algorithm so as to form the operation path of the spraying equipment.
In a technical solution of the above embodiment, the job node determining unit includes:
and the preset distance position point determining subunit is used for determining that the spraying starting position is a position point which is away from the beam between the vertical wall or the vertical wall and the ceiling and is reserved with a preset distance when the difference between the beam bottom ceiling height between the vertical wall or the vertical wall and the ceiling and the floor ceiling height exceeds a preset value in the spraying direction of the spraying starting position.
In the technical solution of the above embodiment, the job node determining unit further includes:
the mechanical arm rotating point setting subunit is used for setting an execution front end rotating point of the spraying equipment or a moving point of the spraying equipment when the spraying equipment is sprayed to the half area of the floor ceiling, wherein the moving point of the spraying equipment is used for controlling the spraying equipment to move to a safe area to execute front end rotation.
In the technical solution of the above embodiment, the job node determining unit further includes:
and the safe distance calculation unit is used for spraying the side surfaces of the beams, and when the beams are crossed, calculating the safe distance according to the spraying width length of the spraying equipment and the current nozzle position of the spraying equipment.
In the technical solution of the above embodiment, the determining apparatus of the spraying path further includes:
and the execution front end rotating position point setting module is used for setting an execution front end recovery point of the spraying equipment when the spraying equipment moves between adjacent rectangular areas with different heights and the height difference of the next rectangular area to the current rectangular area is greater than a preset value.
According to the technical scheme of the embodiment, the area to be sprayed is divided into at least one rectangular area according to the measurement data by acquiring the measurement data of the area to be sprayed; because the rectangular areas are at the same height and the spraying modes are the same, when the spraying equipment sprays one rectangular area, the distance between the execution front end and the area to be sprayed does not need to be adjusted, and the spraying mode does not need to be changed, so that the spraying efficiency of the spraying equipment is improved. Determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area; spraying according to the determined spraying sequence can reduce the times of the spraying equipment for executing front end arm extension and arm retraction, and improve the working efficiency of the spraying equipment; the operation path of the spraying equipment is determined based on the spraying sequence of each wall type and the spraying mode of each wall type, the walking distance of the spraying equipment is reduced through reasonable planning of the operation path, repeated walking is avoided, the problem that the manual spraying garage is low in efficiency is solved, the garage spraying efficiency is improved, and the spraying material is saved.
The device for determining the spraying path provided by the embodiment of the invention can execute the method for determining the spraying path provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 7 is a schematic structural diagram of an apparatus according to embodiment 7 of the present invention, as shown in fig. 7, the apparatus includes a processor 410, a memory 420, an input device 430, and an output device 440; the number of the processors 410 in the device may be one or more, and one processor 410 is taken as an example in fig. 7; the processor 410, the memory 420, the input device 430 and the output device 440 in the apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 7.
The memory 420 may be used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the determination method of the spray path in the embodiment of the present invention (for example, the region dividing module 310, the spray order determination module 320, and the work path determination module 330 in the determination device of the spray path). The processor 410 executes various functional applications of the device and data processing by executing software programs, instructions and modules stored in the memory 420, that is, the determination method of the spray path is realized.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 420 may further include memory located remotely from processor 410, which may be connected to devices through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the apparatus. The output device 440 may include a display device such as a display screen.
EXAMPLE five
Embodiment 5 of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method for determining a spray path, the method including:
acquiring measurement data of a region to be sprayed, and dividing the region to be sprayed into at least one rectangular region according to the measurement data;
determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area;
and determining an operation path of the spraying equipment based on the spraying sequence of each wall type and the spraying mode of each wall type.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the determination method of the spray path provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the device for determining a spraying path, each unit and each module included in the device is only divided according to functional logic, but is not limited to the above division, as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
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 some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (13)
1. A method of determining a spray path, comprising:
acquiring measurement data of a region to be sprayed, and dividing the region to be sprayed into at least one rectangular region according to the measurement data;
determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area;
determining an operation path of spraying equipment based on the spraying sequence of each wall type and the spraying mode of each wall type;
the determining an operation path of the spraying equipment based on the spraying sequence of each wall type and the spraying mode of each wall type comprises:
determining operation nodes of the spraying equipment on each rectangular area according to the spraying mode of each wall type; the wall types include: the structure comprises a floor slab ceiling, a beam bottom ceiling, beam side faces, upright posts and a vertical face wall;
performing path planning on the operation nodes on each rectangular area according to the spraying sequence of the wall type to which each rectangular area belongs and a preset planning algorithm to obtain an operation path of the spraying equipment;
wherein, the determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area further comprises:
when the single side of the vertical wall is an internal corner, the spraying sequence of the area where the vertical wall is located is as follows: the internal corner and the area of the vertical wall except the internal corner are formed, wherein the internal corner is the junction of the adjacent vertical walls;
when the two sides of the vertical wall are internal corners, the spraying sequence of the area where the vertical wall is located is as follows: the internal corner with the minimum distance with the side face of the beam, the area of the vertical wall except the internal corner and the internal corner on the other side of the vertical wall.
2. The method of claim 1, wherein the area to be painted comprises at least one painting sub-area, wherein adjacent painting sub-areas are demarcated by a column, and the painting sequence for each wall type comprises the painting sequence for each painting sub-area and the painting sequence for each wall in each painting sub-area.
3. The method according to claim 2, wherein in any spraying subarea, determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area comprises:
the measurement data includes: the height of the ceiling of the floor slab, the height of the ceiling at the bottom of the beam, the size of the side surface of the beam and the size of the upright post;
when the difference in height between the beam bottom ceiling height and the floor ceiling height is less than a preset value, the spraying sequence of the wall types in the spraying sub-area is as follows: the structure comprises a floor slab ceiling, a beam bottom ceiling, beam side faces, upright posts and a vertical face wall;
when the height difference between the beam bottom ceiling height and the floor ceiling height exceeds the preset numerical value, the spraying sequence of the wall types in the spraying sub-area is as follows: beam bottom ceiling, floor ceiling, beam side, upright post and vertical wall.
4. The method of claim 1, wherein the spray pattern comprises: floor ceiling spraying, beam bottom ceiling spraying, beam side spraying, upright post spraying and facade wall spraying.
5. The method of claim 1, wherein the job node comprises at least one of a job start point, a spray equipment front end of execution rotational position point, a spray equipment front end of execution retraction point, a spray equipment movement point, a spray direction change point.
6. The method according to claim 1, wherein the path planning is performed on the operation nodes on each rectangular area according to the spraying sequence of the wall type to which each rectangular area belongs and a preset planning algorithm to obtain the operation path of the spraying equipment, and the method comprises the following steps:
determining movable points of the current operation nodes according to the spraying sequence of the wall types to which the rectangular areas belong;
and determining the next operation node of the current operation node from the movable points according to a preset planning algorithm so as to form an operation path of the spraying equipment.
7. The method of claim 1, wherein determining the operation nodes of the painting equipment on each rectangular area according to the painting mode of each wall type comprises: when the difference between the beam bottom ceiling height between the vertical wall or the vertical wall and the ceiling and the floor ceiling height exceeds a preset value in the spraying direction of the spraying starting position, the spraying starting position is determined to be a position point which is away from the beam between the vertical wall or the vertical wall and the ceiling and is reserved with a preset distance.
8. The method of claim 1, wherein determining the operation nodes of the painting equipment on each rectangular area according to the painting mode of each wall type comprises:
for the floor ceiling spraying, when the spraying is performed to one half area of the floor ceiling, a rotation position point of the execution front end of the spraying equipment is set, or a moving point of the spraying equipment is set, wherein the moving point of the spraying equipment is used for controlling the spraying equipment to move to a safe area to execute front end rotation.
9. The method of claim 1, wherein determining the operational node of the painting device on each rectangular area according to the painting mode of each wall type further comprises:
for beam side surface spraying, when a plurality of beams are crossed, calculating a safe distance according to the spraying amplitude length of spraying equipment and the current nozzle position of the spraying equipment;
and setting a spraying direction change point based on the safe distance.
10. The method of claim 1, further comprising:
when the spraying equipment moves between adjacent rectangular areas with different heights, if the height difference of the next rectangular area to the current rectangular area is larger than a preset value, setting an execution front end recovery point of the spraying equipment.
11. A spray path determining apparatus, comprising:
the area division module is used for acquiring the measurement data of an area to be sprayed and dividing the area to be sprayed into at least one rectangular area according to the measurement data;
the spraying sequence determining module is used for determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area;
the operation path determining module is used for determining an operation path of the spraying equipment based on the spraying sequence of each wall type and the spraying mode of each wall type;
wherein the job path determination module includes:
the operation node determining unit is used for determining operation nodes of the spraying equipment on each rectangular area according to the spraying mode of each wall type; the wall types include: the structure comprises a floor slab ceiling, a beam bottom ceiling, beam side faces, upright posts and a vertical face wall;
the path planning unit is used for planning paths of the operation nodes on the rectangular areas according to the spraying sequence of the wall type to which the rectangular areas belong and a preset planning algorithm to obtain operation paths of the spraying equipment;
wherein, the determining the spraying sequence of each wall type according to the wall type to which the at least one rectangular area belongs and the measurement data of each rectangular area further comprises:
when the single side of the vertical wall is an internal corner, the spraying sequence of the area where the vertical wall is located is as follows: the internal corner and the area of the vertical wall except the internal corner are formed, wherein the internal corner is the junction of the adjacent vertical walls;
when the two sides of the vertical wall are internal corners, the spraying sequence of the area where the vertical wall is located is as follows: the internal corner with the minimum distance to the side face of the beam, the region of the vertical wall except the internal corner and the internal corner on the other side of the vertical wall.
12. A determination device for a spray path, the device comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of determining a spray path of any of claims 1-10.
13. A computer-readable storage medium for determining a spray path, on which a computer program is stored which, when being executed by a processor, carries out the method for determining a spray path according to any one of claims 1-10.
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| CN101716568B (en) * | 2009-11-19 | 2011-09-07 | 重庆大学 | Method for indoor spray-finishing by using robot spraying system |
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