CN114687538B - Working method, device, equipment and medium of floor paint coating equipment - Google Patents
Working method, device, equipment and medium of floor paint coating equipment Download PDFInfo
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- CN114687538B CN114687538B CN202011590421.6A CN202011590421A CN114687538B CN 114687538 B CN114687538 B CN 114687538B CN 202011590421 A CN202011590421 A CN 202011590421A CN 114687538 B CN114687538 B CN 114687538B
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- mechanical arm
- circular area
- rotation
- distance
- floor paint
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The embodiment of the invention discloses a working method, a device, equipment and a medium of floor paint coating equipment. The method comprises the following steps: when the mechanical arm on the floor paint equipment moves to an initial position, the mechanical arm is controlled to rotate along a preset rotation direction based on the initial position; acquiring at least two rotating distances of the mechanical arm relative to the circular area in the process of rotating the mechanical arm along a preset rotating direction; determining a rotational positioning angle of the mechanical arm relative to the circular area based on each rotational distance; and controlling the mechanical arm to execute the floor paint coating task along the circular area based on the initial position and the rotary positioning angle. The embodiment of the invention solves the problem that the floor paint coating equipment does not have the working capacity for the round area, widens the working scene of the floor paint coating equipment, and further improves the construction quality and the construction efficiency for the cylindrical area in the construction process.
Description
Technical Field
The embodiment of the invention relates to the technical field of floor paint construction, in particular to a working method, a device, equipment and a medium of floor paint coating equipment.
Background
In the construction stage, along with the improvement of the quality requirement of people on the floors, various floor paint constructions, such as epoxy resin floor paint, acrylic acid floor paint, waterproof and anti-electricity floor paint and the like, are derived. The existing floor paint construction mostly adopts manual work to carry out scraping and roller coating operations. And because experience and skill level of each constructor are different, uneven quality of floor paint is easily caused.
Floor paint construction is a tedious, labor intensive and hazardous to the human body. Mainly relates to the full mixing of various materials for large-area scraping and coating operation, wherein part of the materials contain organic matters harmful to human bodies, are easy to volatilize, and can be inhaled into the body by constructors in the scraping and coating operation to cause injury to heart and lung.
In particular, a cylindrical area formed by a building structure belongs to a relatively complex construction area in terrace construction, and the problems of missing scraping, uneven scraping quality and low construction efficiency often exist in an artificial construction mode. The existing floor paint coating robot does not have the working capacity aiming at a cylindrical area.
Disclosure of Invention
The embodiment of the invention provides a working method, a device, equipment and a medium of floor paint coating equipment, which are used for widening the working scene of the floor paint coating equipment and improving the construction quality and the construction efficiency aiming at a cylindrical area in the construction process.
In a first aspect, an embodiment of the present invention provides a working method of a floor paint coating apparatus, where the method includes:
when a mechanical arm on floor paint coating equipment moves to an initial position, controlling the mechanical arm to rotate along a preset rotation direction based on the initial position;
acquiring at least two rotation distances of the mechanical arm relative to a circular area in the process of rotating the mechanical arm along the preset rotation direction;
determining a rotational positioning angle of the mechanical arm relative to the circular region based on each rotational distance; under the rotation positioning angle, the mechanical arm direction of the mechanical arm is perpendicular to the tangential direction of the circular area;
and controlling the mechanical arm to execute a floor paint coating task along the circular area based on the initial position and the rotary positioning angle.
In a second aspect, an embodiment of the present invention further provides a working device of a floor paint application apparatus, where the device includes:
the first rotating module is used for controlling the mechanical arm to rotate along a preset rotating direction based on the initial position when the mechanical arm on the floor paint coating equipment moves to the initial position;
the rotating distance determining module is used for acquiring at least two rotating distances of the mechanical arm relative to the circular area in the process of rotating the mechanical arm along the preset rotating direction;
the rotary positioning angle determining module is used for determining the rotary positioning angle of the mechanical arm relative to the circular area based on the rotary distances; under the rotation positioning angle, the mechanical arm direction of the mechanical arm is perpendicular to the tangential direction of the circular area;
and the work task execution module is used for controlling the mechanical arm to execute work tasks along the circular area based on the initial position and the rotary positioning angle.
In a third aspect, an embodiment of the present invention further provides a floor paint application apparatus, including: the device comprises a ranging sensor, a mechanical arm, driving equipment and a controller;
the distance measuring sensor is used for acquiring at least two rotating distances of the mechanical arm relative to a circular area;
the mechanical arm is used for executing a floor paint coating task;
the driving device is used for driving the mechanical arm to move or driving the mechanical arm to rotate;
the controller for comprising one or more processors and a memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of operating the floor finish application device of any of claims 1-7.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are used to perform the method of operating any of the floor finish application devices referred to above.
The embodiments of the above invention have the following advantages or benefits:
according to the embodiment of the invention, the mechanical arm on the floor paint coating equipment is controlled to rotate based on the initial position, the rotation positioning angle when the moving direction of the mechanical arm is vertical to the tangential direction of the circular area is determined, and the floor paint coating task is executed based on the initial position and the rotation positioning angle, so that the problem that the floor paint coating equipment does not have the working capacity for the circular area is solved, the working scene of the floor paint coating equipment is widened, and the construction quality and the construction efficiency for the cylindrical area in the construction process are improved.
Drawings
Fig. 1 is a flowchart of a working method of a floor paint coating apparatus according to an embodiment of the present invention.
Fig. 2A is a schematic diagram of an initial position according to an embodiment of the invention.
Fig. 2B is a schematic diagram of a rotation distance according to an embodiment of the invention.
Fig. 2C is a schematic view illustrating a rotation of a mechanical arm along a circular area according to an embodiment of the invention.
Fig. 3 is a flowchart of a working method of the floor paint coating apparatus according to the second embodiment of the present invention.
Fig. 4A is a schematic diagram of a target rotation direction according to a second embodiment of the present invention.
Fig. 4B is a flowchart of a specific example of an operating method of the floor paint application apparatus according to the second embodiment of the present invention.
Fig. 5 is a schematic diagram of a working device of a floor paint coating apparatus according to a third embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a floor paint coating apparatus according to a fourth embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a specific example of a mechanical arm according to a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below 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 thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a working method of a floor paint application apparatus according to a first embodiment of the present invention, where the present embodiment is applicable to a case of performing a floor paint application task for a circular area, the method may be performed by a working device of the floor paint application apparatus, the device may be implemented in a software and/or hardware manner, and the device may be configured in the floor paint application apparatus. The method specifically comprises the following steps:
and S110, when the mechanical arm on the floor paint coating equipment moves to the initial position, controlling the mechanical arm to rotate along the preset rotation direction based on the initial position.
Specifically, after the mechanical arm moves to the initial position, the mechanical arm is controlled to rotate along a preset rotation direction by taking the initial position as a rotation center. The preset rotation direction may be a counterclockwise direction or a clockwise direction, and is not limited herein.
In this embodiment, the arm direction of the arm is perpendicular to the moving direction of the arm.
In one embodiment, optionally, the initial position includes a position where a moving direction of the robot arm is perpendicular to a tangential direction of the circular area. Wherein, concretely, the mechanical arm moves along the direction perpendicular to the mechanical arm direction. Fig. 2A is a schematic diagram of an initial position according to an embodiment of the invention. Fig. 2A shows a circular area and four tangential lines on the circular area, and the arrow in fig. 2A indicates the moving direction when the robot arm moves to the initial position. Specifically, when the mechanical arm moves in the horizontal direction, the mechanical arm direction of the mechanical arm is the vertical direction. In the present embodiment, the initial position is a position in which the moving direction is perpendicular to the tangential direction of the circular area. Fig. 2A shows the initial position in which the movement direction of the robot arm is perpendicular to the left tangential direction of the circular area, but of course, the initial position may be in which the movement direction of the robot arm is perpendicular to the right tangential direction of the circular area.
In another embodiment, the initial position may optionally include a position where a movement direction of the robot arm is not perpendicular to a tangential direction of the circular area. Taking fig. 2A as an example, the mechanical arm continues to move in the horizontal direction at the initial position shown in fig. 2A, and any position from the left tangential boundary to the right tangential boundary of the circular area can be used as the initial position.
S120, acquiring at least two rotation distances of the mechanical arm relative to the circular area in the process of rotating the mechanical arm along the preset rotation direction.
Specifically, a distance measuring sensor is installed on the mechanical arm, and the rotating distance of the mechanical arm relative to the circular area is obtained through the distance measuring sensor. The circular area may be an area corresponding to a cylindrical object in a building area, or may be a specially divided area in a building area. In this embodiment, it is necessary to construct a construction area other than the circular area along the boundary of the circular area. The specific category to which the circular region belongs is not limited here.
Fig. 2B is a schematic diagram of a rotation distance according to an embodiment of the invention. The dashed box in fig. 2B indicates the rotational position of the robot arm at a certain rotational angle when rotating in the counterclockwise direction. In fig. 2B, the center point of the mechanical arm is taken as the rotation center, and of course, the rotation center may also be an end of the mechanical arm away from the circular area, and the position of the rotation center is not limited herein. The dashed lines in fig. 2B represent the rotational distance of the robotic arm relative to the circular region at different rotational positions.
And S130, determining the rotation positioning angle of the mechanical arm relative to the circular area based on each rotation distance.
In one embodiment, optionally, the initial position includes a position where a movement direction of the mechanical arm is perpendicular to a tangential direction of the circular area, and correspondingly, determining a rotational positioning angle of the mechanical arm relative to the circular area based on each rotational distance includes: and taking the rotation angle corresponding to the minimum rotation distance as the rotation positioning angle of the mechanical arm relative to the circular area.
As shown in fig. 2B, when the initial position is a position where the moving direction of the robot arm is perpendicular to the tangential direction of the circular area, the rotation distance is decreased and then increased during the rotation of the robot arm in the preset rotation direction. And taking the rotation angle corresponding to the minimum rotation distance as the rotation positioning angle of the mechanical arm relative to the circular area. In this embodiment, the arm direction of the arm is perpendicular to the tangential direction of the circular area at the rotational positioning angle.
In this embodiment, the mechanical arm has only one valid preset rotation direction. If the mechanical arm rotates in the opposite direction to the preset rotation direction, the measurement result of the ranging sensor on the mechanical arm may exceed the measuring range, or the measured rotation distance has no obvious change rule. I.e. the robot arm can only rotate in a clockwise direction or only rotate in a counter-clockwise direction.
And S140, controlling the mechanical arm to execute the floor paint coating task along the circular area based on the initial position and the rotary positioning angle.
In one embodiment, optionally, based on the initial position and the rotational positioning angle, controlling the robotic arm to perform the floor finish application task along the circular area includes: determining a next moving position based on the initial position and the unit moving distance, and determining a next positioning angle based on the rotational positioning angle and the unit rotational angle; and controlling the mechanical arm to execute the floor paint coating task along the circular area based on the next moving position and the next positioning angle.
Wherein, specifically, the unit rotation angle is determined based on the unit movement distance. Wherein, the unit rotation angle beta satisfies the formula:
where a represents a unit movement distance and r represents a radius of the circular region. Specifically, as the unit moving distance is smaller, the unit rotation angle is smaller, and the moving track of the mechanical arm is closer to the circular arc. Among them, the unit moving distance may be 1mm, for example. The unit moving distance represents a distance that one end of the mechanical arm, which is close to the circular area, moves along the arc boundary of the circular area.
In another embodiment, when the unit moving distance represents a distance that an end of the mechanical arm, which is not close to the circular area, moves along the circular arc boundary of the circular area, and the distance between the point and the end close to the circular area is l, the unit rotation angle β satisfies the formula:
fig. 2C is a schematic view illustrating a rotation of a mechanical arm along a circular area according to an embodiment of the invention. As shown in fig. 2C, where β represents a unit rotation angle.
According to the technical scheme, the mechanical arm on the floor paint coating equipment is controlled to rotate based on the initial position, the rotation positioning angle of the mechanical arm when the moving direction of the mechanical arm is perpendicular to the tangential direction of the circular area is determined, and the floor paint coating task is executed based on the initial position and the rotation positioning angle, so that the problem that the floor paint coating equipment does not have the working capacity for the circular area is solved, the working scene of the floor paint coating equipment is widened, and the construction quality and the construction efficiency for the cylindrical area in the construction process are improved.
Example two
Fig. 3 is a flowchart of a working method of the floor paint coating apparatus according to the second embodiment of the present invention, and the technical solution of this embodiment is further refinement on the basis of the foregoing embodiment. Optionally, the initial position includes a position where a moving direction of the mechanical arm is not perpendicular to a tangential direction of the circular area, and the determining, based on each of the rotation distances, a rotation positioning angle of the mechanical arm with respect to the circular area includes: determining a target rotation direction of the mechanical arm based on the change trend corresponding to the rotation distance, and controlling the mechanical arm to rotate along the target rotation direction; acquiring at least two target rotation distances of the mechanical arm relative to a circular area in the process of rotating the mechanical arm along the target rotation direction; and determining the rotation positioning angle of the mechanical arm relative to the circular area based on each target rotation distance.
The specific implementation steps of the embodiment include:
and S210, when the mechanical arm on the floor paint coating equipment moves to the initial position, controlling the mechanical arm to rotate along the preset rotation direction based on the initial position.
In this embodiment, the initial position is a position where the movement direction of the robot arm is not perpendicular to the tangential direction of the circular area. The mechanical arm moves to a first position where the moving direction of the mechanical arm is perpendicular to the tangential direction of the circular area in the moving process along the circular area, and the tangential direction is perpendicular to the moving direction of the mechanical arm. The mechanical arm continues to move along the current moving direction, and the mechanical arm can move to a second position in which the moving direction of the mechanical arm is perpendicular to the tangential direction of the circular area again. The initial position may be any position between the first position and the second position in this embodiment.
In this embodiment, the preset rotation direction may be counterclockwise or clockwise, that is, the mechanical arm may rotate in either a clockwise or counterclockwise direction.
S220, acquiring at least two rotation distances of the mechanical arm relative to the circular area in the process of rotating the mechanical arm along the preset rotation direction.
S230, determining a target rotation direction of the mechanical arm based on the change trend corresponding to the rotation distance, and controlling the mechanical arm to rotate along the target rotation direction.
In another embodiment, optionally, determining the target rotation direction of the mechanical arm based on the change trend corresponding to the rotation distance includes: if the change trend is a numerical value increasing trend, taking a rotation direction opposite to a preset rotation direction as a target rotation direction; and if the variation trend is a trend of decreasing the numerical value, taking the preset rotation direction as the target rotation direction.
Specifically, if the trend of change is a trend of increasing the value, it is indicated that the initial rotation angle when rotating along the current rotation direction corresponds to the minimum distance, but the minimum distance cannot be directly used as the minimum distance between the mechanical arm and the circular area, and the mechanical arm needs to be controlled to rotate along the rotation direction opposite to the preset rotation direction so as to determine the minimum distance between the mechanical arm and the circular area.
Specifically, if the trend is a trend of decreasing value, it indicates that the minimum distance of the mechanical arm relative to the circular area can be met when the mechanical arm continues to rotate along the current rotation direction, so that the preset rotation direction is taken as the target rotation direction.
Fig. 4A is a schematic diagram of a target rotation direction according to a second embodiment of the present invention. As shown in fig. 4A, when the preset rotation direction is clockwise, the change trend of the rotation distance is a numerical trend that becomes larger, and thus, the counterclockwise direction is taken as the target rotation direction. When the preset rotating direction is in the anticlockwise direction, the change trend of the rotating distance is in a numerical value decreasing trend, and the minimum distance between the mechanical arm and the circular area can be obtained by continuing to rotate based on the anticlockwise direction, namely, the current rotating direction is kept.
S240, acquiring at least two target rotation distances of the mechanical arm relative to the circular area in the process of rotating the mechanical arm along the target rotation direction.
S250, determining the rotation positioning angle of the mechanical arm relative to the circular area based on the rotation distance of each target.
In the present embodiment, the rotation angle corresponding to the smallest distance among the target rotation distances is taken as the rotation positioning angle of the robot arm with respect to the circular area.
And S260, controlling the mechanical arm to execute the floor paint coating task along the circular area based on the initial position and the rotary positioning angle.
Optionally, on the basis of the above embodiment, after the mechanical arm moves to the initial position, the method further includes: and acquiring the moving distance of the mechanical arm relative to the circular area, comparing the moving distance with the safety distance in the safety distance range, and adjusting the distance of the mechanical arm relative to the circular area according to the comparison result.
Specifically, the moving distance is compared with the maximum safety distance and the minimum safety distance in the safety distance range respectively, and if the moving distance is smaller than the maximum safety distance and larger than the minimum safety distance, the current position is kept unchanged; if the moving distance is greater than the maximum safety distance, controlling the mechanical arm to move along the direction close to the circular area, wherein the moving direction is the same as the mechanical arm direction of the mechanical arm; and if the moving distance is smaller than the maximum safety distance, controlling the mechanical arm to move along the direction away from the circular area, wherein the moving direction is the same as the mechanical arm direction of the mechanical arm.
This has the advantage that the distance of the front end of the robot arm from the boundary of the circular area changes as the robot arm rotates. If the movement distance between the front end of the mechanical arm and the circular area is too short, the front end of the mechanical arm touches the boundary of the circular area in the rotating process, and if the circular area corresponds to a cylindrical object, the mechanical arm is damaged. If the movement distance of the mechanical arm relative to the circular area is too far, larger pores exist between the coating area and the circular area when the floor paint coating task is carried out later, so that the floor paint coating effect is affected.
On the basis of the above embodiment, optionally, the method further includes: comparing the size of the working area corresponding to the circular area with the maximum working size corresponding to the mechanical arm; if the size of the working area is larger than the maximum working size, dividing the circular area according to the comparison result, and determining at least two initial positions based on the divided sub-circular area.
Specifically, the size of the circular area corresponding to the working area may be the circumferential length of the circular area, and the working size of the mechanical arm may be the length of the mechanical arm. In the actual working process, the chassis of the floor paint coating equipment is motionless, and only the mechanical arm on the floor paint coating equipment is controlled to execute the floor paint coating work, so that the working range of the floor paint coating is limited by the length of the mechanical arm. For example, if the working area size is 2 times the maximum working size, the circular area is divided into 2 sub-circular areas.
Fig. 4B is a flowchart of a specific example of a working method of the floor paint coating apparatus according to the second embodiment of the present invention, and fig. 4B illustrates a cylindrical object corresponding to a circular area. The radius of the cylinder, the unit moving distance and the safe distance range are input into a controller of the floor paint coating equipment, and after the chassis of the floor paint coating equipment is controlled to move to an operation point and the mechanical arm is moved to an initial position, the ranging sensor is started to start working. The moving distance of the mechanical arm relative to the cylindrical object is acquired through the ranging sensor, if the moving distance is smaller than the minimum safety distance, the mechanical arm is controlled to move away from the cylinder, if the moving distance is larger than the maximum safety distance, the mechanical arm is controlled to move close to the cylinder, if the moving distance is within the safety distance range, the mechanical arm is controlled to rotate anticlockwise around one end far away from the cylinder based on the current position, the ranging indication change trend is acquired in the rotating process, if the ranging indication change trend is increased, the mechanical arm is controlled to rotate clockwise around one end far away from the cylinder, and if the ranging indication change trend is reduced, the mechanical arm is controlled to rotate anticlockwise around one end far away from the cylinder continuously. And taking the position of the rotation angle corresponding to the minimum value acquired in the rotation process as the position of the mechanical arm, the direction of which is perpendicular to the tangent line of the cylindrical surface. And controlling the mechanical arm to move anticlockwise or clockwise to execute the floor paint coating task, and rotating the mechanical arm by an angle beta unit rotation angle every a unit moving distances. Judging whether the current position point is an end point, if so, finishing the floor paint coating task, and if not, continuously controlling the mechanical arm to execute the floor paint coating task.
In the actual working process, the mechanical equipment positioning accuracy is affected, and certain deviation possibly exists between the actual initial position and the planned initial position of the mechanical arm, so that the mechanical arm cannot be accurately positioned to a position where the moving direction of the mechanical arm is perpendicular to the tangential direction of the circular area, and the follow-up rotation positioning angle is inaccurate. According to the technical scheme, the target rotation direction of the mechanical arm is determined according to the change area corresponding to the rotation distance, and the mechanical arm is controlled to rotate along the target rotation direction, so that the problem of inaccurate initial position positioning is solved, and the construction quality and the construction efficiency of the cylindrical area in the construction process are further improved.
Example III
Fig. 5 is a schematic diagram of a working device of a floor paint coating apparatus according to a third embodiment of the present invention. The embodiment can be suitable for the situation of executing the floor paint coating task aiming at the round area, the device can be realized in a software and/or hardware mode, and the device can be configured in floor paint coating equipment. The working device of the floor paint coating equipment comprises: a first rotation module 310, a rotational distance determination module 320, a rotational positioning angle determination module 330, and a work task execution module 340.
The first rotating module 310 is configured to control the mechanical arm to rotate along a preset rotating direction based on an initial position when the mechanical arm on the floor paint coating apparatus moves to the initial position;
the rotation distance determining module 320 is configured to obtain at least two rotation distances of the mechanical arm relative to the circular area during rotation of the mechanical arm along a preset rotation direction;
a rotational positioning angle determining module 330, configured to determine a rotational positioning angle of the mechanical arm relative to the circular area based on each rotational distance; under the rotation positioning angle, the mechanical arm direction of the mechanical arm is perpendicular to the tangential direction of the circular area;
the work task execution module 340 is configured to control the mechanical arm to execute a work task along the circular area based on the initial position and the rotational positioning angle.
According to the technical scheme, the mechanical arm on the floor paint coating equipment is controlled to rotate based on the initial position, the rotation positioning angle of the mechanical arm when the moving direction of the mechanical arm is perpendicular to the tangential direction of the circular area is determined, and the floor paint coating task is executed based on the initial position and the rotation positioning angle, so that the problem that the floor paint coating equipment does not have the working capacity for the circular area is solved, the working scene of the floor paint coating equipment is widened, and the construction quality and the construction efficiency for the cylindrical area in the construction process are improved.
On the basis of the above technical solution, optionally, the initial position includes a position where the movement direction of the mechanical arm is not perpendicular to the tangential direction of the circular area, and the rotational positioning angle determining module 330 includes:
the target rotation direction determining unit is used for determining the target rotation direction of the mechanical arm based on the change trend corresponding to the rotation distance and controlling the mechanical arm to rotate along the target rotation direction;
the target rotating distance acquisition unit is used for acquiring at least two target rotating distances of the mechanical arm relative to the circular area in the process of rotating the mechanical arm along the target rotating direction;
and the rotation positioning angle determining unit is used for determining the rotation positioning angle of the mechanical arm relative to the circular area based on the rotation distance of each target.
On the basis of the above technical solution, optionally, the target rotation direction determining unit is specifically configured to:
if the change trend is a numerical value increasing trend, taking a rotation direction opposite to a preset rotation direction as a target rotation direction;
and if the variation trend is a trend of decreasing the numerical value, taking the preset rotation direction as the target rotation direction.
On the basis of the above technical solution, optionally, the initial position includes a position where the movement direction of the mechanical arm is perpendicular to the tangential direction of the circular area, and the rotational positioning angle determining module 330 is specifically configured to:
and taking the rotation angle corresponding to the minimum rotation distance as the rotation positioning angle of the mechanical arm relative to the circular area.
Based on the above technical solution, optionally, the task execution module 340 is specifically configured to:
determining a next moving position based on the initial position and the unit moving distance, and determining a next positioning angle based on the rotational positioning angle and the unit rotational angle;
and controlling the mechanical arm to execute the floor paint coating task along the circular area based on the next moving position and the next positioning angle.
On the basis of the above technical solution, optionally, the apparatus further includes:
and the moving distance adjusting module is used for acquiring the moving distance of the mechanical arm relative to the circular area after the mechanical arm moves to the initial position, comparing the moving distance with the safety distance in the safety distance range, and adjusting the distance of the mechanical arm relative to the circular area according to the comparison result.
On the basis of the above technical solution, optionally, the apparatus further includes:
the round area dividing module is used for comparing the size of the working area corresponding to the round area with the maximum working size corresponding to the mechanical arm; if the size of the working area is larger than the maximum working size, dividing the circular area according to the comparison result, and determining at least two initial positions based on the divided sub-circular area.
The working device of the floor paint coating equipment provided by the embodiment of the invention can be used for executing the working method of the floor paint coating equipment provided by the embodiment of the invention, and has the corresponding functions and beneficial effects of the executing method.
It should be noted that, in the embodiment of the working device of the above floor paint coating apparatus, each unit and module included are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Example IV
Fig. 6 is a schematic structural diagram of a floor paint coating apparatus according to a fourth embodiment of the present invention, where the fourth embodiment of the present invention provides services for implementing the working method of the floor paint coating apparatus according to any one of the foregoing embodiments of the present invention, and the working device of the floor paint coating apparatus according to the embodiment of the present invention may be configured. Fig. 6 shows a block diagram of an exemplary floor finish application apparatus suitable for use in practicing embodiments of the invention. The floor finish application apparatus provided in fig. 6 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
The floor paint coating apparatus includes: a ranging sensor 41, a robot arm 42, a driving device 43, and a controller 44; the ranging direction of the ranging sensor 41 is parallel to the direction of the mechanical arm 42, and the ranging sensor 41 is used for acquiring at least two rotation distances of the mechanical arm 42 relative to the circular area; a robotic arm 42 for performing a floor finish application task; a driving device 43 for driving the mechanical arm 42 to move or driving the mechanical arm 42 to rotate; the controller 44 is configured to include one or more processors and a memory for storing one or more programs, which when executed by the one or more processors, cause the one or more processors to implement a method of operating the floor finish application device as provided by the embodiments of the present invention.
The distance measuring sensor 41, the mechanical arm 42, the driving device 43 and the controller 44 in the floor finish application device may be connected by a bus or other means, in fig. 6 by way of example.
Among them, the ranging sensor 41 may be a laser ranging sensor, an ultrasonic sensor, a millimeter wave sensor, or an infrared ranging sensor by way of example, and the specific type of the ranging sensor 41 is not limited herein.
Fig. 7 is a schematic structural diagram of a specific example of a mechanical arm according to a fourth embodiment of the present invention. As shown in fig. 7, two distance measuring sensors 41 are mounted on the robot arm 42. The ranging sensor 41 collects distance data by emitting ranging rays 411 toward a circular area. The advantage of this arrangement is that distance data can be acquired whether the circular area is on the left or right side of the floor finish application apparatus, so that the relative orientation of the robotic arm 42 need not be adjusted, thereby improving the efficiency of floor finish application.
In this embodiment, optionally, the floor paint coating apparatus further includes a ranging sensor fixing plate 421 connected to the ranging sensor 41 and the main body of the robot arm 42, respectively, for fixing the ranging sensor 41 to the main body of the robot arm 42. The robotic arm 42 shown in fig. 7 also has mounted thereon a working assembly 422 for floor finish application.
As shown in fig. 7, the distance measuring device has a certain distance relative to the end side of the working assembly 422, i.e. the rotational distance acquired by the distance measuring sensor 41 is actually the distance data of the distance measuring sensor 41 on the floor paint application device relative to the circular area.
The memory is used as a computer readable storage medium for storing software programs, computer executable programs and modules, such as program instructions/modules corresponding to the operation based on the external corner in the embodiment of the present invention (for example, the first rotation module 310, the rotation distance determining module 320, the rotation positioning angle determining module 330 and the work task executing module 340). The processor executes various functional applications and data processing of the floor paint coating apparatus by running software programs, instructions and modules stored in the memory, that is, implements the working method of the floor paint coating apparatus.
The memory may mainly include a memory program area and a memory data area, wherein the memory program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the terminal, etc. In addition, the memory 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, the memory may further include memory remotely located with respect to the processor, which may be connected to the floor finish application device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Through above-mentioned terrace paint coating apparatus, solved terrace paint coating apparatus and not possess the problem to circular regional operational capability, widened terrace paint coating apparatus's operational scenario, and then improved construction quality and efficiency to the cylinder region in the work progress.
Example five
A fifth embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are used to perform a working method of a floor finish application apparatus, the method comprising:
when the mechanical arm on the floor paint coating equipment moves to an initial position, the mechanical arm is controlled to rotate along a preset rotation direction based on the initial position;
acquiring at least two rotating distances of the mechanical arm relative to the circular area in the process of rotating the mechanical arm along a preset rotating direction;
determining a rotational positioning angle of the mechanical arm relative to the circular area based on each rotational distance; under the rotation positioning angle, the mechanical arm direction of the mechanical arm is perpendicular to the tangential direction of the circular area;
and controlling the mechanical arm to execute the floor paint coating task along the circular area based on the initial position and the rotary positioning angle.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present invention is not limited to the above method operations, and may also perform the related operations in the working method of the floor paint application apparatus provided in any embodiment of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. The working method of the floor paint coating equipment is characterized by comprising the following steps of:
when a mechanical arm on floor paint coating equipment moves to an initial position, controlling the mechanical arm to rotate along a preset rotation direction based on the initial position;
acquiring at least two rotation distances of the mechanical arm relative to a circular area in the process of rotating the mechanical arm along the preset rotation direction;
determining a rotational positioning angle of the mechanical arm relative to the circular region based on each rotational distance; under the rotation positioning angle, the mechanical arm direction of the mechanical arm is perpendicular to the tangential direction of the circular area, and the rotation positioning angle is the rotation angle corresponding to the minimum distance in the rotation distances;
and controlling the mechanical arm to execute a floor paint coating task along the circular area based on the initial position and the rotary positioning angle.
2. The method of claim 1, wherein the initial position includes a position where a direction of movement of the robotic arm is not perpendicular to a tangential direction of the circular region, and wherein the determining a rotational positioning angle of the robotic arm relative to the circular region based on each of the rotational distances, respectively, includes:
determining a target rotation direction of the mechanical arm based on the change trend corresponding to the rotation distance, and controlling the mechanical arm to rotate along the target rotation direction;
acquiring at least two target rotation distances of the mechanical arm relative to a circular area in the process of rotating the mechanical arm along the target rotation direction;
and determining the rotation positioning angle of the mechanical arm relative to the circular area based on each target rotation distance.
3. The method of claim 2, wherein determining the target rotational direction of the robotic arm based on the trend of change in the rotational distance comprises:
if the change trend is a numerical value increasing trend, taking a rotation direction opposite to the preset rotation direction as a target rotation direction;
and if the change trend is a trend of decreasing the numerical value, taking the preset rotation direction as a target rotation direction.
4. The method of claim 1, wherein the initial position comprises a position in which a direction of movement of the robotic arm is perpendicular to a tangential direction of the circular region, and wherein the determining a rotational positioning angle of the robotic arm relative to the circular region based on each of the rotational distances, respectively, comprises:
and taking the rotation angle corresponding to the minimum rotation distance as the rotation positioning angle of the mechanical arm relative to the circular area.
5. The method of claim 1, wherein the controlling the robotic arm to perform a floor finish application task along the circular area based on the initial position and the rotational positioning angle comprises:
determining a next moving position based on the initial position and the unit moving distance, and determining a next positioning angle based on the rotational positioning angle and the unit rotational angle;
and controlling the mechanical arm to execute a floor paint coating task along the circular area based on the next moving position and the next positioning angle.
6. The method of claim 1, wherein after the robotic arm moves to an initial position, the method further comprises:
and acquiring the moving distance of the mechanical arm relative to the circular area, comparing the moving distance with a safe distance in a safe distance range, and adjusting the distance of the mechanical arm relative to the circular area according to a comparison result.
7. The method according to claim 1, wherein the method further comprises:
comparing the size of the working area corresponding to the circular area with the maximum working size corresponding to the mechanical arm;
and if the size of the working area is larger than the maximum working size, dividing the circular area according to a comparison result, and determining at least two initial positions based on the divided sub-circular area.
8. A working device of floor paint coating equipment, characterized by comprising:
the first rotating module is used for controlling the mechanical arm to rotate along a preset rotating direction based on the initial position when the mechanical arm on the floor paint coating equipment moves to the initial position;
the rotating distance determining module is used for acquiring at least two rotating distances of the mechanical arm relative to the circular area in the process of rotating the mechanical arm along the preset rotating direction;
the rotary positioning angle determining module is used for determining the rotary positioning angle of the mechanical arm relative to the circular area based on the rotary distances; under the rotation positioning angle, the mechanical arm direction of the mechanical arm is perpendicular to the tangential direction of the circular area, and the rotation positioning angle is the rotation angle corresponding to the minimum distance in the rotation distances;
and the work task execution module is used for controlling the mechanical arm to execute work tasks along the circular area based on the initial position and the rotary positioning angle.
9. A floor paint application apparatus, characterized in that the floor paint application apparatus comprises: the device comprises a ranging sensor, a mechanical arm, driving equipment and a controller;
the distance measuring sensor is used for acquiring at least two rotating distances of the mechanical arm relative to a circular area;
the mechanical arm is used for executing a floor paint coating task;
the driving device is used for driving the mechanical arm to move or driving the mechanical arm to rotate;
the controller for comprising one or more processors and a memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of operating the floor finish application device of any of claims 1-7.
10. A storage medium containing computer-executable instructions, which when executed by a computer processor are used to perform the method of operating the floor finish application device of any one of claims 1 to 7.
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