CN114215313B - Parapet spraying control method, parapet spraying control system and parapet spraying robot - Google Patents
Parapet spraying control method, parapet spraying control system and parapet spraying robot Download PDFInfo
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- CN114215313B CN114215313B CN202111460682.0A CN202111460682A CN114215313B CN 114215313 B CN114215313 B CN 114215313B CN 202111460682 A CN202111460682 A CN 202111460682A CN 114215313 B CN114215313 B CN 114215313B
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- Prior art keywords
- parapet
- basket body
- reference point
- hanging basket
- lifting
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Classifications
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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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- 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
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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
- B05B12/124—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 distance between spray apparatus and target
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
Abstract
The embodiment of the application provides a parapet spraying control method and system and a parapet spraying robot, and relates to the technical field of building machinery. The method comprises the following steps: lifting a hanging basket body of the parapet spraying robot and searching a reference point through a reference point component; stopping lifting the basket body after triggering the reference point assembly; closing the operation of the reference point assembly and controlling the hanging basket body to reversely creep and descend; searching the edge of the parapet through a laser range finder of the parapet spraying robot; stopping the hanging basket body after the edge of the parapet wall is searched; lifting the hanging basket body and obtaining distance information from the nozzle to the parapet through a laser range finder; and positioning the hanging basket body to the position where the nozzle is flush with the edge of the parapet wall according to the distance information. The method can realize the technical effects of automatically searching the zero position of the parapet and improving the spraying efficiency.
Description
Technical Field
The application relates to the technical field of building machinery, in particular to a parapet spraying control method and system and a parapet spraying robot.
Background
Parapet wall Sun Nvqiang is a short wall around the roof of a building, and is mainly used for preventing water seepage of a waterproof layer or rainwater overflow of the roof, and besides maintenance safety, the parapet wall is also used for applying a water-proof pressure brick collecting head at the bottom. The parapet height of the upper roofing is generally not lower than 1.1m and not higher than 1.5m according to relevant building specifications. The parapet wall of the boarding roof has the functions of protecting personnel safety and decorating the building elevation; the parapet wall without the roof can play a role of fixing the asphalt felt besides the role of elevation decoration.
In the prior art, parapet is generally positioned on the top layer of a high-rise building, the outer wall of parapet is sprayed with a high-altitude operation, when the parapet is sprayed automatically, the zero point of the parapet needs to be searched, the existing mode is generally manual searching, workers need to take a high-altitude hanging basket to carry out dangerous high-altitude operation, the operation is complex, the precision cannot be guaranteed, and the efficiency is low.
Disclosure of Invention
The application aims to provide a parapet spraying control method and system and a parapet spraying robot, which can automatically search the zero position of the parapet and improve the spraying efficiency.
In a first aspect, an embodiment of the present application provides a parapet spraying control method, including:
lifting a hanging basket body of the parapet spraying robot and searching a reference point through a reference point component;
stopping lifting the basket body after triggering the reference point assembly;
closing the operation of the reference point assembly and controlling the hanging basket body to reversely creep and descend;
searching the edge of the parapet through a laser range finder of the parapet spraying robot;
stopping the hanging basket body after the edge of the parapet wall is searched;
lifting the hanging basket body and obtaining distance information from the nozzle to the parapet through a laser range finder;
and positioning the hanging basket body to the position where the nozzle is flush with the edge of the parapet wall according to the distance information.
Further, after the step of closing the operation of the reference point assembly and controlling the basket body to reversely climb and descend, the method further comprises the steps of:
and resetting the encoder of the elevator assembly, and stopping the crawling and descending of the hanging basket body.
Further, the step of searching for the edge of the parapet through the laser range finder comprises the following steps:
acquiring a laser signal through the laser range finder;
filtering sundry information of the laser signal;
searching the edge of the parapet according to the filtered laser signals.
Further, after the lifting or lowering action of the basket body is stopped, the method further comprises:
leveling the hanging basket body.
In a second aspect, an embodiment of the present application provides a parapet spray control system, including:
the lifting module is used for lifting the hanging basket body of the parapet spraying robot and searching a reference point through the reference point component;
the stopping module is used for stopping lifting the hanging basket body after triggering the reference point assembly;
the reference point closing module is used for closing the operation of the reference point assembly and controlling the hanging basket body to reversely creep and descend;
the laser ranging module is used for searching the edge of the parapet through a laser range finder of the parapet spraying robot;
the stopping module is also used for stopping the hanging basket body after the edge of the parapet wall is searched;
the lifting module is also used for lifting the hanging basket body and obtaining distance information from the nozzle to the parapet through a laser range finder;
and the positioning module is used for positioning the hanging basket body to the position of the nozzle which is flush with the edge of the parapet according to the distance information.
The parapet spraying control system further comprises: and the zero clearing module is used for zero clearing the encoder of the elevator assembly and stopping the crawling and descending of the hanging basket body.
Further, the laser ranging module includes:
the acquisition unit is used for acquiring laser signals through the laser range finder;
the filtering unit is used for filtering the sundry information of the laser signals;
and the searching unit is used for searching the edge of the parapet according to the filtered laser signals.
The parapet spraying control system further comprises: and the leveling module is used for leveling the hanging basket body.
In a third aspect, the embodiment of the application provides a parapet spraying robot, which comprises a hanging basket body, a hanging bracket body, a lifting machine component, a reference point component, a nozzle, a laser range finder and an inclinometer;
the suspension body is arranged on the floor of the parapet;
the lifting machine assembly comprises a first lifting machine and a second lifting machine, the first lifting machine and the second lifting machine are respectively arranged on two sides of the hanging basket body, and the first lifting machine and the second lifting machine are connected with the hanging basket body through a connecting mechanism;
the reference point assembly comprises a first reference point mechanism and a second reference point mechanism, and the first reference point mechanism and the second reference point mechanism are respectively arranged at two sides of the hanging basket body;
the nozzle, the laser range finder and the inclinometer are respectively installed on the hanging basket body.
In the implementation process, the parapet spraying robot realizes redundant protection of double reference points in the upward lifting process of the hanging basket body through the first reference point mechanism and the second reference point mechanism of the reference point assembly, and can prevent the danger of hanging basket top punching caused by switch faults and hanging basket inclination; meanwhile, the inclinometer monitors the posture of the hanging basket body in real time, forms closed-loop control with the first lifting machine and the second lifting machine, automatically levels the hanging basket body in real time, and can accurately identify the parapet through calculation, and after the change is completed, the hanging basket inclination angle is small, the ranging is stable, and the identification precision is high; therefore, the parapet spraying robot can automatically search the zero position of the parapet, and the technical effect of improving the spraying efficiency is achieved.
Further, the parapet spraying robot further comprises a limit switch assembly, and the limit switch assembly is installed on the hanging basket body.
In the implementation process, the limit switch can limit the lifting height of the hanging basket body, so that the danger of hanging basket top-punching caused by switch faults, hanging basket inclination and the like is further prevented.
Further, the limit switch assembly comprises a first limit switch and a second limit switch, and the first limit switch and the second limit switch are respectively installed on two sides of the hanging basket body.
In the implementation process, the first limit switch and the second limit switch can realize double-limit redundancy protection, and more effective protection is provided in the high-speed lifting and parameter searching (reference point searching) operation process of the hanging basket body.
Further, the parapet spraying robot further comprises a wall leaning wheel, the wall leaning wheel is fixedly arranged on the hanging basket body, and the wall leaning wheel is in contact with the wall surface of the parapet.
In the realization process, the wall leaning wheel can stably slide along the wall surface of the parapet wall, so that the hanging basket body is ensured to have reliable stability in the ascending or descending process along the wall surface of the parapet wall.
Further, the parapet spraying robot further comprises a control mechanism, wherein the control mechanism is respectively connected with the elevator component, the reference point component, the nozzle, the laser range finder and the inclinometer.
In the implementation process, the control mechanism can control the lifting or descending process of the hanging basket body through the lifting machine component and the reference point component, control the nozzle to realize spraying operation on the parapet wall, and control the posture of the hanging basket body through the laser range finder and the inclinometer.
Further, the first reference point mechanism includes a first reference point shutter and a first reference point switch, and the second reference point mechanism includes a second reference point shutter and a second reference point switch.
In the implementation process, the first reference point is found out by the first reference point baffle and the first reference point switch, and the second reference point is found out by the second reference point baffle and the second reference point switch, so that the redundant protection of the double reference points is realized.
Further, the connection mechanism comprises a working rope and a safety rope.
In the implementation process, the hanging basket body is enabled to ascend or descend along the parapet through the working rope, and the safety rope can ensure that the hanging basket body cannot fall when accidents (such as breakage of the working rope and the like) occur, so that the safety is improved.
In a fourth aspect, an electronic device provided by an embodiment of the present application includes: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of the first aspects when the computer program is executed.
In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, where instructions are stored, which when executed on a computer, cause the computer to perform the method according to any one of the first aspects.
In a sixth aspect, embodiments of the present application provide a computer program product, which when run on a computer causes the computer to perform the method according to any of the first aspects.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a parapet spraying control method according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of another parapet spraying control method according to an embodiment of the present application;
FIG. 3 is a block diagram of a parapet spray control system according to an embodiment of the present application;
fig. 4 is a right side view of a parapet spraying robot according to an embodiment of the present application;
fig. 5 is a front view of a parapet spraying robot according to an embodiment of the present application;
fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.
Icon: 10-lifting module; a 20-stop module; 30-reference point closing module; 40-a laser ranging module; 50-positioning module; 100-hanging basket body; 110-wall leaning wheel; 200-a suspension body; 300-elevator assembly; 310-a first elevator; 320-a second elevator; 400-reference point component; 410-a first reference point mechanism; 411-a first reference point baffle; 412-a first reference point switch; 420-a second reference point mechanism; 421-second reference point baffle; 422-a second reference point switch; 500-nozzles; 600-laser rangefinder; 700-inclinometer; 800-limit switch assembly; 810-a first limit switch; 820-a second limit switch; 510-a processor; 520-communication interface; 530-memory; 540-a communication bus.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or a point connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish between different devices, elements, or components (the particular species and configurations may be the same or different), and are not used to indicate or imply the relative importance and number of devices, elements, or components indicated. Unless otherwise indicated, the meaning of "a plurality" is two or more.
The embodiment of the application provides a parapet spraying control method and system and a parapet spraying robot, which can be applied to the outer wall spraying operation of parapet; according to the parapet spraying robot, through the first reference point mechanism and the second reference point mechanism of the reference point assembly, redundant protection of double reference points is realized in the upward lifting process of the hanging basket body, and the danger that a hanging basket is toppled due to switch failure and hanging basket inclination can be prevented; meanwhile, the inclinometer monitors the posture of the hanging basket body in real time, forms closed-loop control with the first lifting machine and the second lifting machine, automatically levels the hanging basket body in real time, and can accurately identify the parapet through calculation, and after the change is completed, the hanging basket inclination angle is small, the ranging is stable, and the identification precision is high; therefore, the parapet spraying robot can automatically search the zero position of the parapet, and the technical effect of improving the spraying efficiency is achieved.
Referring to fig. 1, fig. 1 is a flow chart of a parapet spraying control method according to an embodiment of the application, where the parapet spraying control method includes:
s100: lifting the hanging basket body and searching a reference point through a reference point component;
s200: stopping lifting the basket body after triggering the reference point assembly;
s300: closing the operation of the reference point assembly and controlling the hanging basket body to reversely creep down;
s400: searching the edge of the parapet through a laser range finder;
s500: stopping the hanging basket body after the edge of the parapet is searched;
s600: lifting the hanging basket body and obtaining distance information from the nozzle to the parapet through a laser range finder;
s700: and positioning the hanging basket body to the position of the nozzle which is flush with the edge of the parapet wall according to the distance information.
In the implementation process of the parapet spraying control method, the hanging basket body is lifted, after a reference point is found, the hanging basket body reversely crawls and descends, a reference point switch (reference point assembly) is disconnected, an encoder of the elevator assembly is cleared, and descending crawling of the hanging basket body is stopped; then, the basket body searches the edge of the parapet downwards and finally positions to the position where the nozzle is flush with the edge of the parapet, and the first gun spraying operation of the equipment can be directly and conveniently executed after the change is completed; therefore, the parapet spraying control method can realize automatic zeroing operation and improve the technical effect of spraying efficiency.
In some embodiments, the real-time leveling control of the basket body can be realized through an inclinometer in the implementation process of S100-S700.
Referring to fig. 2, fig. 2 is a flow chart of another parapet spraying control method according to an embodiment of the application.
Illustratively, S300: after the step of closing the operation of the reference point assembly and controlling the basket body to reversely climb and descend, the method further comprises the following steps of:
s310: and resetting the encoder of the elevator assembly, and stopping the crawling and descending of the hanging basket body.
Illustratively, S400: the step of searching for the edge of parapet through the laser range finder includes:
s410: acquiring a laser signal through a laser range finder;
s420: filtering sundry information of the laser signal;
s430: and searching the edge of the parapet according to the filtered laser signals.
Illustratively, the sundry information of the laser signals is filtered, and the edge of the parapet is searched according to the filtered laser signals, so that the information such as a lightning rod can be filtered, and the accuracy of the laser range finder in searching the edge of the parapet is effectively improved.
Optionally, after the lifting or lowering action of the basket body is stopped, the parapet spraying control method further comprises the following steps:
leveling the hanging basket body.
Illustratively, the hanging basket body is leveled in real time after the hanging basket body stops moving, so that the hanging basket body can be ensured to be always in a leveling state.
Referring to fig. 3, fig. 3 is a block diagram of a parapet spraying control system according to an embodiment of the present application, where the parapet spraying control system includes:
the lifting module 10 is used for lifting the hanging basket body of the parapet spraying robot and searching a reference point through the reference point component;
a stopping module 20, configured to stop lifting the basket body after triggering the reference point assembly;
a reference point closing module 30 for closing the operation of the reference point assembly and controlling the basket body to reversely climb and descend;
the laser ranging module 40 is used for searching the edge of the parapet through a laser range finder of the parapet spraying robot;
the stopping module 20 is further configured to stop the basket body after searching for the edge of the parapet wall;
the lifting module 10 is further used for lifting the hanging basket body and obtaining distance information from the nozzle to the parapet through a laser range finder;
and the positioning module 50 is used for positioning the hanging basket body to the position of the nozzle which is flush with the edge of the parapet according to the distance information.
The parapet spraying control system further comprises: and the zero clearing module is used for zero clearing the encoder of the elevator assembly and stopping the crawling and descending of the hanging basket body.
Further, the laser ranging module 40 includes:
the acquisition unit is used for acquiring laser signals through the laser range finder;
the filtering unit is used for filtering the sundry information of the laser signals;
and the searching unit is used for searching the edge of the parapet according to the filtered laser signals.
The parapet spraying control system further comprises: and the leveling module is used for leveling the hanging basket body.
It should be understood that the parapet spraying control system shown in fig. 3 corresponds to the method embodiment shown in fig. 1 and 2, and is not repeated here.
Referring to fig. 4 and 5, fig. 4 is a right side view of a parapet spraying robot according to an embodiment of the present application, and fig. 5 is a front side view of the parapet spraying robot according to the embodiment of the present application; the parapet spraying robot includes a basket body 100, a suspension body 200, a hoist assembly 300, a reference point assembly 400, a nozzle 500, a laser rangefinder 600, and an inclinometer 700.
Illustratively, the suspension body 200 is mounted to a floor of parapet.
Illustratively, the parapet is a parapet wall around a building roof, the hanger body 200 may be fixedly installed on a floor of the parapet wall, the basket body 100 is connected with the hanger body 200 through a connection mechanism, and the hanger body 200 provides a fixed force point, so that the basket body 100 may be lifted or lowered along a wall surface of the parapet wall after the bottom of the parapet is prepared and under the action of a power device (the lifter assembly 300).
Illustratively, the hoist assembly 300 includes a first hoist 310 and a second hoist 320, the first hoist 310 and the second hoist 320 are respectively installed at both sides of the basket body 100, and the first hoist 310 and the second hoist 320 are connected with the hanger body 200 through a connection mechanism.
Illustratively, the first lifter 310 and the second lifter 320 are respectively installed at both sides of the basket body 100, which helps to improve stability of the basket body 100 during lifting or lowering.
Illustratively, the reference point assembly 400 includes a first reference point mechanism 410 and a second reference point mechanism 420, the first reference point mechanism 410 and the second reference point mechanism 420 being mounted on both sides of the basket body 100, respectively.
Illustratively, the first reference point mechanism 410 and the second reference point mechanism 420 may enable a redundant design of dual reference points, preventing the risk of a switch failure, a basket tilting, causing the basket body 100 to topple.
Illustratively, the nozzle 500, the laser rangefinder 600, and the inclinometer 700 are mounted to the basket body, respectively.
Illustratively, the nozzle 500 is used for spraying work of the parapet wall outer wall, the laser rangefinder 600 is used for measuring the distance between the basket body 100 and the parapet wall surface, and the inclinometer 700 is used for measuring the inclination angle of the basket body 100.
In some embodiments, the parapet painting robot further includes a limit switch assembly 800, and the limit switch assembly 800 is mounted on the basket body 100.
Illustratively, the limit switch assembly 800 may limit the elevation of the basket body 100, further preventing the risk of the basket toppling due to a switch malfunction, a basket tilting, etc.
Illustratively, the limit switch assembly 800 includes a first limit switch 810 and a second limit switch 820, and the first limit switch 810 and the second limit switch 820 are respectively mounted on two sides of the basket body 100.
Illustratively, the first limit switch 810 and the second limit switch 820 can realize redundancy protection with double limit, and provide more effective protection during the high-speed lifting and parameter searching (reference point searching) operation process of the basket body 100.
Illustratively, the parapet spraying robot further comprises a wall wheel 110 fixedly mounted on the basket body 100, and the wall wheel 110 contacts with the wall surface of the parapet.
Illustratively, the wall-leaning wheel 110 can slide smoothly along the wall surface of the parapet wall, so as to ensure the reliability of the basket body 100 in the process of ascending or descending along the wall surface of the parapet wall.
Illustratively, the parapet spraying robot further comprises a control mechanism respectively connected with the elevator assembly 300, the reference point assembly 400, the nozzle 500, the laser rangefinder 600, and the inclinometer 700.
Illustratively, the control mechanism can control the lifting or descending process of the basket body 100 through the lifting machine assembly 300 and the reference point assembly 400, control the spray nozzle 500 to realize spraying operation on the parapet wall, and control the posture of the basket body 100 through the laser range finder 600 and the inclinometer 700; in addition, the control mechanism comprises a limited network module and a wireless network module (such as a wireless bridge and the like), and is provided with a man-machine interaction interface, and the connection with an external controller (such as an IPAD and the like) can be realized through the limited network module or the wireless network module.
Illustratively, the first reference point mechanism 410 includes a first reference point bezel 411 and a first reference point switch 412, and the second reference point mechanism 420 includes a second reference point bezel 421 and a second reference point switch 422.
Illustratively, the first reference point seeking operation is implemented through the first reference point baffle 411 and the first reference point switch 412, and the second reference point seeking operation is implemented through the second reference point baffle 421 and the second reference point switch 422, so that the redundancy protection of the dual reference points is implemented.
Illustratively, the connection mechanism includes a work rope and a safety rope.
Illustratively, the hanging basket body 100 is lifted or lowered along the parapet through the working rope, and the safety rope can ensure that the hanging basket body 100 cannot fall when accidents (such as breakage of the working rope and the like) occur, so that the safety is improved; the working rope bypasses the elevator assembly 300, and when the elevator assembly 300 operates, the lifting basket body 100 can be lifted along the working rope; the safety rope provides safety guarantee, and the safety rope can be automatically locked when the working rope is disconnected, so that the hanging basket is prevented from overturning and falling.
Illustratively, in the parapet spraying robot provided by the embodiment of the present application, the basket body 100 is used for carrying spraying, movement and other mechanisms; the suspension body 200 is used for fixing a safety rope and a working rope used by the hanging basket body 100; the first reference point baffle 411 is used for triggering the first reference point switch 412 when the elevator assembly 300 is lifted; the second reference point baffle 421 is used for triggering the second reference point switch 422 when the elevator assembly 300 is lifted; the nozzle 500 is used to spray paint.
Exemplary electrical main relevant portions: the first lifter 310 and the second lifter 320 are respectively used for controlling the lifting of the left side or the right side of the basket body 100; the first reference point switch 412 and the second reference point switch 422 are respectively used for lifting and searching parameters on the left side or the right side; the first limit switch 810 and the second limit switch 820 are used for lifting limit of the elevator assembly 300, and servo power off is performed after triggering to prevent lifting and top-punching of the hanging basket; the laser range finder 600 is used for measuring the distance between the basket body 100 and the parapet wall and monitoring the edge of the parapet wall; the inclinometer 700 is used for monitoring the posture of the hanging basket and synchronously controlling the left and right elevators.
In some implementation scenarios, referring to fig. 1 to 5, the control process of the parapet spraying robot provided in the embodiment of the present application is illustrated as follows:
1. starting lifting to find a reference point, lifting the basket body 100, and automatically searching the reference point;
2. the first reference point switch 412 or the second reference point switch 422 is triggered to raise the seeking stop;
3. the basket body 100 reversely crawls and descends, the first reference point switch 412 and the second reference point switch 422 are disconnected, the encoder of the elevator assembly 300 is cleared, and then the descending crawling of the basket body 100 is stopped;
4. the basket body 100 searches downward for the edge of the parapet wall;
5. stopping the basket body 100 after the parapet wall is searched;
6. the lifting of the hanging basket body 100 is carried out by crawling, reading is carried out after the edge is identified through the laser signal of the laser range finder 600, the distance from the center of the nozzle 500 to the parapet is calculated through the background, and the lifting of the hanging basket body 100 is stopped;
7. the hanging basket body 100 is positioned to the position where the center of the nozzle 500 is flush with the parapet wall, leveling is performed through the inclinometer 700, and the encoder of the elevator assembly 300 is set to zero; thus, the automatic searching of the zero position of the parapet wall is completed.
Illustratively, the parapet spraying robot realizes redundancy protection of double reference points in the upward lifting process of the basket body 100 through the first reference point mechanism 410 and the second reference point mechanism 420 of the reference point assembly 400, and can prevent the danger of switching failure and the basket tilting to cause the top of the basket to be punched; meanwhile, the inclinometer 700 monitors the posture of the hanging basket body 100 in real time, forms closed-loop control with the first lifter 310 and the second lifter 320, automatically levels the hanging basket body 100 in real time, and can accurately identify the parapet through calculation by the laser range finder 600, and the hanging basket inclination angle is small and the identification precision is high after the change is completed; therefore, the parapet spraying robot can automatically search the zero position of the parapet, and the technical effect of improving the spraying efficiency is achieved; in addition, the laser range finder 600 can filter sundry interference such as lightning rods and the like and accurately detect parapet edge positions; in the parapet wall zero point searching process, even if a certain switch is broken, the redundant design of the double reference points and the double limit switches can avoid the uncontrolled operation of equipment, and the safety is improved.
The application further provides an electronic device, please refer to fig. 6, and fig. 6 is a block diagram of an electronic device according to an embodiment of the application. The electronic device may include a processor 510, a communication interface 520, a memory 530, and at least one communication bus 540. Wherein the communication bus 540 is used to enable direct connection communication for these components. The communication interface 520 of the electronic device in the embodiment of the present application is used for performing signaling or data communication with other node devices. Processor 510 may be an integrated circuit chip with signal processing capabilities.
The processor 510 may be a general-purpose processor, including a central processing unit (CPU, central Processing Unit), a network processor (NP, network Processor), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor 510 may be any conventional processor or the like.
The Memory 530 may be, but is not limited to, random access Memory (RAM, random Access Memory), read Only Memory (ROM), programmable Read Only Memory (PROM, programmable Read-Only Memory), erasable Read Only Memory (EPROM, erasable Programmable Read-Only Memory), electrically erasable Read Only Memory (EEPROM, electric Erasable Programmable Read-Only Memory), and the like. The memory 530 has stored therein computer readable instructions which, when executed by the processor 510, may cause an electronic device to perform the various steps described above in relation to the method embodiments of fig. 1-2.
Optionally, the electronic device may further include a storage controller, an input-output unit.
The memory 530, the memory controller, the processor 510, the peripheral interface, and the input/output unit are electrically connected directly or indirectly to each other, so as to realize data transmission or interaction. For example, the elements may be electrically coupled to each other via one or more communication buses 540. The processor 510 is configured to execute executable modules stored in the memory 530, such as software functional modules or computer programs included in the electronic device.
The input-output unit is used for providing the user with the creation task and creating the starting selectable period or the preset execution time for the task so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in fig. 6 is merely illustrative, and that the electronic device may also include more or fewer components than shown in fig. 6, or have a different configuration than shown in fig. 6. The components shown in fig. 6 may be implemented in hardware, software, or a combination thereof.
The embodiment of the application also provides a storage medium, wherein the storage medium stores instructions, and when the instructions run on a computer, the computer program is executed by a processor to implement the method described in the method embodiment, so that repetition is avoided, and no further description is provided here.
The application also provides a computer program product which, when run on a computer, causes the computer to perform the method according to the method embodiments.
In all embodiments of the present application, "large" and "small" are relative terms, "more" and "less" are relative terms, "upper" and "lower" are relative terms, and the description of such relative terms is not repeated herein.
It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the present application," or "as an alternative" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in this embodiment," "in an embodiment of the application," or "as an alternative embodiment" in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art will also appreciate that the embodiments described in the specification are alternative embodiments and that the acts and modules referred to are not necessarily required for the present application.
In various embodiments of the present application, it should be understood that the sequence numbers of the foregoing processes do not imply that the execution sequences of the processes should be determined by the functions and internal logic of the processes, and should not be construed as limiting the implementation of the embodiments of the present application.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the application shall be subject to the protection scope of the claims.
Claims (10)
1. The parapet spraying control method is characterized by comprising the following steps of:
lifting a hanging basket body of the parapet spraying robot and searching a reference point through a reference point component;
stopping lifting the basket body after triggering the reference point assembly;
closing the operation of the reference point assembly and controlling the hanging basket body to reversely creep and descend;
searching the edge of the parapet through a laser range finder of the parapet spraying robot;
stopping the hanging basket body after the edge of the parapet wall is searched;
lifting the hanging basket body and obtaining distance information from the nozzle to the parapet through a laser range finder;
and positioning the hanging basket body to the position where the nozzle is flush with the edge of the parapet wall according to the distance information.
2. The parapet spray control method of claim 1, further comprising, after the step of closing the operation of the reference point assembly and controlling the basket body to reversely climb down:
and resetting the encoder of the elevator assembly, and stopping the crawling and descending of the hanging basket body.
3. The parapet spray control method as defined in claim 1, wherein the searching for the edge of the parapet by the laser rangefinder comprises:
acquiring a laser signal through the laser range finder;
filtering sundry information of the laser signal;
searching the edge of the parapet according to the filtered laser signals.
4. The parapet spray control method as defined in claim 1, further comprising, after the basket body stops lifting or lowering actions:
leveling the hanging basket body.
5. A parapet spray control system, comprising:
the lifting module is used for lifting the hanging basket body of the parapet spraying robot and searching a reference point through the reference point component;
the stopping module is used for stopping lifting the hanging basket body after triggering the reference point assembly;
the reference point closing module is used for closing the operation of the reference point assembly and controlling the hanging basket body to reversely creep and descend;
the laser ranging module is used for searching the edge of the parapet through a laser range finder of the parapet spraying robot;
the stopping module is also used for stopping the hanging basket body after the edge of the parapet wall is searched;
the lifting module is also used for lifting the hanging basket body and obtaining distance information from the nozzle to the parapet through the laser range finder;
and the positioning module is used for positioning the hanging basket body to the position of the nozzle which is flush with the edge of the parapet according to the distance information.
6. The parapet spray control system of claim 5, wherein the parapet spray control system further comprises:
and the zero clearing module is used for zero clearing the encoder of the elevator assembly and stopping the crawling and descending of the hanging basket body.
7. The parapet spraying robot is characterized by comprising a control mechanism, a hanging basket body, a hanging rack body, a lifting machine component, a reference point component, a nozzle, a laser range finder and an inclinometer;
the control mechanism is respectively connected with the elevator assembly, the reference point assembly, the nozzle, the laser range finder and the inclinometer, and is used for executing the parapet spraying control method according to any one of claims 1 to 4;
the suspension body is arranged on the floor of the parapet;
the lifting machine assembly comprises a first lifting machine and a second lifting machine, the first lifting machine and the second lifting machine are respectively arranged on two sides of the hanging basket body, and the first lifting machine and the second lifting machine are connected with the hanging basket body through a connecting mechanism;
the reference point assembly comprises a first reference point mechanism and a second reference point mechanism, and the first reference point mechanism and the second reference point mechanism are respectively arranged at two sides of the hanging basket body;
the nozzle, the laser range finder and the inclinometer are respectively installed on the hanging basket body.
8. The parapet spraying robot of claim 7, further comprising a first limit switch and a second limit switch, wherein the first limit switch and the second limit switch are respectively installed on two sides of the hanging basket body.
9. An electronic device, comprising: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the parapet spray control method as claimed in any one of claims 1 to 4 when the computer program is executed.
10. A computer-readable storage medium having instructions stored thereon that, when executed on a computer, cause the computer to perform the parapet spray control method of any one of claims 1 to 4.
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| CN202111460682.0A CN114215313B (en) | 2021-12-02 | 2021-12-02 | Parapet spraying control method, parapet spraying control system and parapet spraying robot |
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| CN202111460682.0A CN114215313B (en) | 2021-12-02 | 2021-12-02 | Parapet spraying control method, parapet spraying control system and parapet spraying robot |
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| CN114215313B true CN114215313B (en) | 2023-09-12 |
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| CN114215313A (en) | 2022-03-22 |
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