CN114918083B

CN114918083B - Spraying control method and system, storage medium and electronic device

Info

Publication number: CN114918083B
Application number: CN202210439477.4A
Authority: CN
Inventors: 徐佳昊
Original assignee: Qingdao Haier Technology Co Ltd; Haier Smart Home Co Ltd
Current assignee: Qingdao Haier Technology Co Ltd; Haier Smart Home Co Ltd
Priority date: 2022-04-25
Filing date: 2022-04-25
Publication date: 2023-06-16
Anticipated expiration: 2042-04-25
Also published as: CN114918083A

Abstract

The application discloses a spraying control method and system, a storage medium and an electronic device, and relates to the technical field of smart families, wherein the spraying control method comprises the following steps: controlling the spraying equipment to move to the object to be sprayed through a control device corresponding to the spraying equipment, and controlling the spraying device of the spraying equipment to be aligned to the area to be sprayed of the object to be sprayed, wherein the spraying device is positioned in the spraying equipment; detecting the palm bending degree of a target object through the data glove, and sending the detected target palm bending degree to target equipment, wherein the target object is an object allowing control of the spraying equipment; the indication target device controls the spraying device to spray the target material to the area to be sprayed according to the target palm bending degree. By adopting the technical scheme, the problem that the potential safety hazard of the spray painting worker is large due to the fact that the spray painting worker directly sprays the surface of the object to be sprayed in the spray painting room by using the hand-held spray painting gun is solved.

Description

Spraying control method and system, storage medium and electronic device

Technical Field

The application relates to the technical field of smart families, in particular to a spraying control method and system, a storage medium and an electronic device.

Background

Many high-risk operations are typically associated with a production plant. The operations of high temperature, high pressure, inflammability, hoisting and the like are finished by manpower, and the risks of the operations are extremely high, so that irrecoverable results can be caused by a little carelessness. Powder spraying is performed, so that the high-risk operation is realized. The powder paint is fed into the spray gun by means of compressed air, high voltage produced by high voltage electrostatic generator is added to the front end of the spray gun, and because of corona discharge, dense charge is produced near the spray gun, when powder is sprayed out from the gun nozzle, the loop is formed into charged paint particles, which are attracted onto the workpiece with opposite polarity, and as the sprayed powder increases, the charge accumulation is increased, when a certain thickness is reached, the adsorption is not continued due to electrostatic repulsion, so that the whole workpiece can obtain a powder coating with a certain thickness, and then the powder is melted, leveled and solidified by heat, i.e. a hard coating film is formed on the surface of the workpiece.

However, the powder sprayed by the powder gun is extremely harmful to human body, and once the powder is mixed with air in the air to form dust cloud, the powder can explode when encountering open fire. However, under the condition of guaranteeing the powder spraying quality in the current powder spraying operation, the front line powder spraying worker still needs to wear protective clothing, and the handheld powder spraying gun directly sprays the surface of a product in a powder spraying chamber, so that great hidden danger exists in the safety of the powder spraying worker.

Aiming at the problems of the prior art that the hand-held spray gun of the spray painting worker directly sprays the surface of a product in a spray painting room, so that the potential safety hazard of the spray painting worker is large, no effective solution is proposed at present.

Accordingly, there is a need for improvements in the related art to overcome the drawbacks of the related art.

Disclosure of Invention

The embodiment of the invention provides a spraying control method and system, a storage medium and an electronic device, which are used for at least solving the problem that the potential safety hazard of a spraying worker is large because a handheld spraying gun of the spraying worker directly sprays the surface of an object to be sprayed in a spraying room.

According to an aspect of the embodiment of the present invention, there is provided a spray control method including: controlling the spraying equipment to move to an object to be sprayed through a control device corresponding to the spraying equipment, and controlling the spraying device of the spraying equipment to align to a region to be sprayed of the object to be sprayed, wherein the spraying device is positioned in the spraying equipment; detecting the palm bending degree of a target object through the data glove, and sending the detected target palm bending degree to target equipment, wherein the target object is an object allowing control of the spraying equipment; and indicating the target equipment to control the spraying device to spray target materials to the area to be sprayed according to the target palm bending degree.

According to another aspect of the embodiment of the present invention, there is also provided a spray control system including: the control device is used for controlling the spraying equipment to move to the object to be sprayed and controlling the spraying device of the spraying equipment to be aligned to the area to be sprayed of the object to be sprayed, wherein the spraying device is positioned on the spraying equipment; the data glove is used for detecting the palm bending degree of a target object and sending the detected target palm bending degree to target equipment, wherein the target object is an object allowing control of the spraying equipment; the target device is used for sending the target palm bending degree to the spraying device; the spraying equipment is used for controlling the spraying device to spray target materials to the area to be sprayed according to the target palm bending degree.

According to a further aspect of embodiments of the present invention, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is configured to execute the above-described spray control method when run.

According to still another aspect of the embodiment of the present invention, there is also provided an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the spraying control method through the computer program.

According to the invention, the spraying device of the spraying equipment is controlled to be aligned to the region to be sprayed of the object to be sprayed by the control device, the palm bending degree of the target object is detected by the data glove, and the target equipment is instructed to control the spraying device to spray the target material to the region to be sprayed according to the target palm bending degree. And the target object (such as a spray gun) does not need to be directly sprayed on the area (such as the surface) of the object to be sprayed by a hand-held spraying device (such as a spray gun), so that the safety of the target object is ensured. And further solves the problem that the safety hidden trouble of the spray painting worker is large because the hand-held spray gun of the spray painting worker directly sprays the surface of the object to be sprayed in the spray painting room.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a schematic diagram of a hardware environment of a spray control method according to an embodiment of the present application;

FIG. 2 is a flow chart (one) of a spray control method according to an embodiment of the present invention;

FIG. 3 is an overall frame diagram of a spray control method according to an embodiment of the present invention;

FIG. 4 is a flow chart (II) of a spray control method according to an embodiment of the present invention;

FIG. 5 is a block diagram of a spray control system according to an embodiment of the invention;

fig. 6 is a block diagram of a spray control device according to an embodiment of the present invention.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

According to one aspect of an embodiment of the present application, a spray control method is provided. The spraying control method is widely applied to full-house intelligent digital control application scenes such as intelligent Home (Smart Home), intelligent Home equipment ecology, intelligent Home (Intelligence House) ecology and the like. Alternatively, in the present embodiment, the above-described spray control method may be applied to a hardware environment constituted by the terminal device 102 and the server 104 as shown in fig. 1. As shown in fig. 1, the server 104 is connected to the terminal device 102 through a network, and may be used to provide services (such as application services and the like) for a terminal or a client installed on the terminal, a database may be set on the server or independent of the server, for providing data storage services for the server 104, and cloud computing and/or edge computing services may be configured on the server or independent of the server, for providing data computing services for the server 104.

The network may include, but is not limited to, at least one of: wired network, wireless network. The wired network may include, but is not limited to, at least one of: a wide area network, a metropolitan area network, a local area network, and the wireless network may include, but is not limited to, at least one of: WIFI (Wireless Fidelity ), bluetooth. The terminal device 102 may not be limited to a PC, a mobile phone, a tablet computer, an intelligent air conditioner, an intelligent smoke machine, an intelligent refrigerator, an intelligent oven, an intelligent cooking range, an intelligent washing machine, an intelligent water heater, an intelligent washing device, an intelligent dish washer, an intelligent projection device, an intelligent television, an intelligent clothes hanger, an intelligent curtain, an intelligent video, an intelligent socket, an intelligent sound box, an intelligent fresh air device, an intelligent kitchen and toilet device, an intelligent bathroom device, an intelligent sweeping robot, an intelligent window cleaning robot, an intelligent mopping robot, an intelligent air purifying device, an intelligent steam box, an intelligent microwave oven, an intelligent kitchen appliance, an intelligent purifier, an intelligent water dispenser, an intelligent door lock, and the like.

In order to solve the above-mentioned problem, in the present embodiment, there is provided a spray control method, fig. 2 is a flowchart (one) of the spray control method according to an embodiment of the present invention, the flowchart including the steps of:

step S202: controlling the spraying equipment to move to an object to be sprayed through a control device corresponding to the spraying equipment, and controlling the spraying device of the spraying equipment to align to a region to be sprayed of the object to be sprayed, wherein the spraying device is positioned in the spraying equipment; the control means includes, but is not limited to, a joystick.

As an alternative example, the spraying apparatus includes, but is not limited to, a spraying vehicle, the spraying device includes, but is not limited to, a spraying gun, the object to be sprayed includes, but is not limited to, a sculpture, etc.

As an alternative example, the spraying includes, but is not limited to: powder spraying and paint spraying.

As an alternative example, the spraying device and the to-be-sprayed object are both in the spraying workshop, the control device corresponding to the spraying device is outside the spraying chamber, the target object can control the spraying device to move to the to-be-sprayed object outside the spraying chamber through the control device, and after the spraying device moves close to the to-be-sprayed object, the control device is controlled to align with the to-be-sprayed area of the to-be-sprayed object.

As an alternative example, the spraying device is controlled to move to the object to be sprayed by the control device corresponding to the spraying device, and the following steps S11-S12 are implemented:

step S11: acquiring a target map of a target area, and displaying the target map on a display of the target device;

as an optional example, before the spraying device is controlled to move to the object to be sprayed by the control device corresponding to the spraying device, a target image of a target area is acquired by a target camera on the spraying device; and controlling the spraying equipment to move in a target area according to the target image, and controlling a target sensor on the spraying equipment to construct a target map of the target area in the process that the spraying equipment moves in the target area, wherein the spraying equipment and the object to be sprayed are positioned in the target area. Optionally, the object sensor includes, but is not limited to, a binocular camera. Target devices include, but are not limited to, computers.

As an alternative example, the spray operator observes the target image of the target area acquired by the target camera, and controls the spray vehicle to circle around the spray booth through the control device, and observes the target map generated by SLAM technology on the display of the target device. Because the vision SLAM technology can be influenced by factors such as illumination, jolt, camera signal transmission quality and the like, the primary reconstruction can not be guaranteed to achieve a good mapping effect. And if the effect of the spray painting worker in observing the target map constructed for the first time can not meet the follow-up operation observation, the map can be reconstructed. It should be noted that, the spraying vehicle generally needs to walk around the environment repeatedly for several times to ensure good image construction effect. Meanwhile, a spray worker can observe the situations of the indoor obstacles shot by the target camera on the display of the target equipment so as to avoid the obstacles in time. The SLAM can locate the position coordinates of the spraying vehicle in real time and display the coordinates in real time in a target map constructed in advance.

As an alternative example, building a target map by SLAM may be accomplished by: calculating the distance between a target point and a camera by means of parallax between left and right eye images of the same frame shot by the binocular camera, taking the center point of the left eye camera as a coordinate origin, taking the direction parallel to the right of a camera screen as an x-axis, taking the direction vertical to the front of the camera screen as a y-axis, establishing a world coordinate system by taking the directions vertical to the x-axis and the y-axis as a z-axis, determining the coordinates of three-dimensional points calculated by the parallax in the coordinate system, and constructing a surrounding map. Alternatively, because the environment where the spraying vehicle is located is a spraying room in which the position of the object is relatively fixed, the only change is the object to be sprayed. Therefore, the spraying vehicle can be controlled to make a static map of the spraying room in a way of making a circle around the spraying room in advance, and then the object to be sprayed is marked in the SLAM map according to the size of the object to be sprayed, so that the construction of the target map is completed.

Step S12: and acquiring a first control instruction of the target object to the control device, and controlling the spraying equipment to move to the object to be sprayed according to the first control instruction, wherein the first control instruction is an instruction determined by the target object according to the target map, and the spraying equipment and the object to be sprayed are positioned in the target area.

As an alternative example, the target map may display a positional relationship between the spraying device and the object to be sprayed, and the target object may further issue a first control instruction to the control device by observing the target map on the display of the target device, so as to move the spraying device to the object to be sprayed.

As an alternative example, controlling the spraying device of the spraying apparatus to align with the area to be sprayed of the object to be sprayed is achieved by the following steps S21 to S22:

step S21: acquiring an image of the object to be sprayed acquired by a target camera on the spraying equipment, and displaying the image of the object to be sprayed on the display of the target equipment;

step S22: and acquiring a second control instruction of the target object to the control device, and controlling the spraying device to move to the to-be-sprayed area of the to-be-sprayed object according to the second control instruction, wherein the second control instruction is an instruction determined by the target object according to the image of the to-be-sprayed object.

As an alternative example, after controlling the spraying device to approach the object to be sprayed, the sprayers may issue a second control instruction to the control device by observing the image of the object to be sprayed displayed on the display of the target device, and align the spraying device to the area to be sprayed of the object to be sprayed.

Step S204: detecting the palm bending degree of a target object through the data glove, and sending the detected target palm bending degree to target equipment, wherein the target object is an object allowing control of the spraying equipment;

as an alternative example, the above step S204 may be implemented by: detecting the palm bending degree of the target object through a sensor in the data glove to obtain the target palm bending degree; and transmitting the target palm bending degree to the target equipment in the form of a digital signal.

As an alternative example, the above-mentioned sensor includes, but is not limited to, an optical fiber sensor, and when the data glove is worn by the operator to make a gripping or releasing action, the optical fiber sensor in the data glove detects the degree of palm bending of the operator, and converts the degree of palm bending into a digital signal through the data glove built-in calculation unit, and then sends the degree of palm bending to the target device in the form of the digital signal. Specifically, the optical fiber sensor firstly senses the motion change of the hand, and then generates an electric signal proportional to the grasping strength, and the electric signal is processed by the built-in logic calculation unit of the data glove to form a digital signal to be transmitted to the target equipment.

As an optional example, in detecting the palm bending degree of the target object through the data glove, determining the target force of the target object simulated fastening the spraying device according to the palm bending degree of the target object; and feeding back the target force to the target object through the data glove, so that the target object adjusts the palm bending degree according to the target force fed back by the data glove.

As an optional example, the data glove is provided with force feedback devices at 19 joint positions of the human hand, so that a spray worker can feel own force in real time, and an operator can adjust own spraying force and more accurately master the powder density of a spraying area.

Step S206: and indicating the target equipment to control the spraying device to spray target materials to the area to be sprayed according to the target palm bending degree.

It should be noted that, after the target object is controlled to move to the object to be sprayed through the control device corresponding to the spraying device and the spraying device of the spraying device is controlled to be aligned to the area to be sprayed of the object to be sprayed, the spraying operation is ready, namely, the spraying force is controlled through the data glove, the data glove detects the palm bending degree of the target object and sends the detected target palm bending degree to the target device, the target device controls the spraying device to spray target materials to the area to be sprayed according to the target palm bending degree, and further, the spraying work is completed outside the spraying chamber where the object to be sprayed is located by a spraying worker, and the object to be sprayed is directly sprayed in the spraying chamber without holding the spraying device.

As an alternative example, the above step S206 may be implemented by: indicating the target equipment to calculate the target spraying speed of the spraying device according to the target palm bending degree; and sending the target spraying speed to the spraying equipment, and controlling a spraying device of the spraying equipment to spray the target material to the area to be sprayed at the target spraying speed.

It should be noted that the target palm curvature is positively correlated with the speed at which the spray device sprays the target material, i.e., the more the palm is curved, the faster the spray device sprays the target material. And the target equipment can calculate the target spraying speed of the spraying device indicated by the spraying worker according to the target palm bending degree of the spraying worker, and control the spraying device of the spraying equipment to spray target materials to the region to be sprayed at the target spraying speed.

As an alternative example, the above step S206 may be implemented by: instructing the target device to send the target palm curvature to the spraying device; controlling a manipulator of the spraying equipment to buckle the spraying device according to the buckling degree of the manipulator so as to control the spraying device to spray the target material to the area to be sprayed, wherein the buckling degree is positively related to the speed of the spraying device to spray the target material.

As an alternative example, the spraying vehicle may have a manipulator simulating 5 fingers of a person, so that after the target device sends the target palm bending degree of the spraying worker to the spraying vehicle, the spraying vehicle instructs the manipulator to buckle the spraying device with the target palm bending degree, that is, simulates the operation mode of the spraying worker, and then the spraying device sprays the target material to the region to be sprayed according to the buckling degree of the manipulator.

As an optional example, in the process of instructing the target device to control the spraying device to spray the target material to the region to be sprayed according to the target palm bending degree, a target image of the region to be sprayed may also be acquired by a target camera on the spraying device; and displaying the target image on a display of target equipment so that the target object adjusts the palm bending degree according to the target image.

That is, in the process of spraying the target material to the region to be sprayed by the spraying device, the spraying effect is displayed in real time through the display of the target equipment, and then the spraying worker adjusts the palm bending degree in real time according to the spraying effect, so as to control the force of the spraying device to spray the target material.

In the steps S202 to S204, the control device controls the spraying device of the spraying device to align with the area to be sprayed of the object to be sprayed, and then detects the palm bending degree of the target object through the data glove, and instructs the target device to control the spraying device to spray the target material to the area to be sprayed according to the target palm bending degree. And the target object (such as a spray gun) does not need to be directly sprayed on the area (such as the surface) of the object to be sprayed by a hand-held spraying device (such as a spray gun), so that the safety of the target object is ensured. And further solves the problem that the safety hidden trouble of the spray painting worker is large because the hand-held spray gun of the spray painting worker directly sprays the surface of the object to be sprayed in the spray painting room.

As an optional example, there is further provided a spray control method, specifically, implemented by the following steps one and two:

step one: controlling the spraying equipment to move to the object to be sprayed through a control device corresponding to the spraying equipment, and controlling the spraying device of the spraying equipment to be aligned to the area to be sprayed of the object to be sprayed, wherein the spraying device is positioned in the spraying equipment;

step two: and the indication target device controls the spraying device to spray the target material to the area to be sprayed according to the target palm bending degree, wherein the target palm bending degree is the palm bending degree of a target object detected through the data glove, and the target object is an object allowing the control of the spraying device.

In this embodiment, the control device controls the spraying device of the spraying device to align with the to-be-sprayed area of the to-be-sprayed object, so that the target device is instructed to control the spraying device to spray the target material to the to-be-sprayed area according to the target palm bending degree of the target object detected by the data glove, so that the target object (for example, a spraying worker) does not need to hold the spraying device (for example, a spraying gun) to directly spray the to-be-sprayed area (for example, the surface) of the to-be-sprayed object, and the safety of the target object is ensured. And further, the direct spraying of the surface of the object to be sprayed in a spraying chamber by the hand-held spraying gun of the spraying worker is avoided, and the safety of the spraying worker is ensured.

It will be apparent that the embodiments described above are merely some, but not all, embodiments of the invention. In order to better understand the above spraying control method, the following description will use spraying as a powder spraying example, and the above process is described with reference to the embodiments, but is not limited to the technical solutions of the embodiments of the present invention, specifically:

in an alternative embodiment, the embodiment of the application relates to a powder spraying vehicle for spraying powder, wherein the powder spraying vehicle is provided with a 5-finger anthropomorphic manipulator and a fisheye camera (corresponding to the target camera in the embodiment) for monitoring the powder spraying process; a control lever for controlling the powder spraying vehicle; the data glove is used for sending an instruction to the manipulator and receiving force feedback data, wherein a force sensor at the joint part of 19 persons is designed on the data glove, and an operation force channel is fed back to the powder spraying worker in real time; a display.

The powder spraying method provided by the embodiment mainly comprises two modules: a command generating end and a command receiving end positioned in the powder spraying chamber. The command generating side hardware comprises: target equipment and a display connected with a camera on the powder spraying vehicle; a data glove for sending instructions to the duster; and the control rod is only used for controlling the movement of the powder spraying vehicle. The command receiving end is a powder spraying vehicle with a 5-finger anthropomorphic manipulator, and a camera is arranged on the powder spraying vehicle for shooting the powder spraying process.

The present embodiment uses a synchronous localization and patterning technique (SLAM), and in particular, the SLAM technique is widely used for robot localization. The technology can build a physical map around the robot by means of an onboard sensor through an algorithm and accurately position the robot in the environment, and further the embodiment builds a map of the powder spraying chamber and positions of objects to be sprayed and other objects by using a SLAM technology and positions the powder spraying vehicle so that the real-time position of the powder spraying vehicle in the powder spraying chamber can be known by the powder spraying worker.

The operation scenario of this embodiment is as follows: the left hand of the powder spraying worker holds the control lever to control the powder spraying vehicle, the right hand wears the data glove to control the manipulator on the powder spraying vehicle, and powder spraying is completed through the cooperation of the powder spraying vehicle and the manipulator. And transmitting the picture shot by the camera loaded on the powder spraying vehicle to a display on target equipment for the powder spraying worker to observe the powder spraying condition in real time. The SLAM feeds back the current position of the powder spraying vehicle in the powder spraying chamber to the powder spraying worker in real time, so that the powder spraying worker can adjust the position of the whole vehicle. The method comprises the steps that a powder spraying worker wears a data glove to make a holding or loosening action to control the powder spraying force of a powder spraying gun, an optical fiber sensor in the data glove detects the bending degree during the action, the bending degree is converted into a digital signal through a built-in calculation unit of the glove, target equipment connected with the data glove receives the digital signal and analyzes the digital signal into a numerical value, the numerical value representing the bending degree of the glove is transmitted to a controlled end 5-finger manipulator through a network, and the manipulator makes movement with the same degree as a human hand. And finally, returning the camera carried on the powder spraying vehicle to a display of target equipment for displaying in the whole powder spraying process for real-time monitoring by a powder spraying worker.

In the embodiment, the powder spraying worker can realize the powder spraying operation remotely without entering a powder spraying chamber, so that the safety of the powder spraying worker is ensured; the novel powder spraying vehicle is used in the powder spraying chamber to realize spraying, and the synchronous positioning mechanism diagram technology is introduced into the production powder spraying operation, so that powder spraying is finished in a man-machine cooperation mode, and the defect that a machine cannot make a perfect independent decision is overcome; because the data glove is provided with the force feedback devices at 19 joint positions of the hand, an operator can adjust the powder spraying force according to the force felt by the hand, and the powder density of the powder spraying area can be mastered more accurately.

For better understanding, fig. 3 is an overall frame diagram of a powder spraying method of a powder to be sprayed according to an embodiment of the present invention; as shown in fig. 3:

the left hand of the powder spraying worker controls the control lever, data in the control lever is transmitted to the powder spraying vehicle, and the powder spraying vehicle is driven by the data to generate corresponding movement. After the powder spraying vehicle moves, the SLAM system carried on the powder spraying vehicle locates the position coordinates of the powder spraying vehicle in real time, and displays the coordinates in real time in a static powder spraying room point cloud map (equivalent to the target map in the embodiment).

The right hand of the powder spraying worker wears the data glove to make grasping and loosening movements, the optical fiber sensor firstly senses the hand movement change to generate an electric signal proportional to grasping strength, the electric signal is processed by the built-in logic calculation unit of the data glove to form a digital signal to be transmitted to target equipment (PC shown in figure 3), the target equipment analyzes the digital signal and transmits the digital signal to a manipulator control steering engine on the powder spraying vehicle, and the steering engine drives each joint of the manipulator to move.

For better understanding, fig. 4 is a flowchart (two) of a powder spraying method of a powder to be sprayed according to an embodiment of the present invention, and specific steps are as follows:

step S402: starting;

step S404: the handheld control lever controls the powder spraying vehicle to construct a map:

specifically, the hand-held operating lever of the powder spraying worker controls the powder spraying vehicle to surround the powder spraying chamber for one circle, and a site map generated by SLAM technology is observed on a display of target equipment. Usually, the environment needs to be repeatedly walked for several times to ensure good drawing effect. Meanwhile, a powder spraying worker can observe the condition of obstacles in the powder spraying chamber shot by the camera of the powder spraying vehicle on the display so as to avoid the obstacles in time.

Step S406: judging whether the mapping effect meets the standard, executing step S410 under the condition of meeting the standard, otherwise executing step S408:

step S408: reconstructing a map;

it should be noted that if the initial mapping effect of the SLAM observed by the powder sprayer can satisfy the subsequent operation observation, this step may be omitted. However, the visual SLAM technology is affected by factors such as illumination, jolt, camera signal transmission quality and the like, so that the primary reconstruction cannot be guaranteed to achieve a good mapping effect. The poor mapping effect is shown by the fact that the reconstruction points are scattered in a scattered way and have a great difference with the indoor situation. If this occurs, the graph needs to be reconstructed.

Step S410: controlling the powder spraying vehicle and the manipulator to move;

specifically, after the right hand of the powder spraying worker wears the data glove, if the spraying is started, the holding action is performed, and the 5-finger manipulator can synchronously grasp and pull the trigger of the powder spraying gun along with the hand, so that the powder spraying gun sprays the coating. The powder spraying worker controls the movement of the powder spraying vehicle and the spraying speed of the powder spraying gun to spray the coating through the cooperation of the left hand and the right hand. In this stage, the force of the manipulator gripping the powder gun can be fed back to the force feedback sensor of the data glove, and the powder spraying worker adjusts the gripping force according to the force feedback, so that the aim of uniform spraying is fulfilled. The powder spraying worker controls the spraying process in the control mode until the object to be sprayed is completely sprayed.

Step S412: detecting whether the spraying effect meets the standard, if so, executing step S414, otherwise, executing step S416;

step S414: ending;

step S416; supplementing and spraying;

specifically, the powder spraying worker controls the powder spraying vehicle to move around the powder to be sprayed, the powder spraying condition of the powder to be sprayed is observed through the display, and if the powder spraying worker feels that the powder spraying effect of certain areas is not ideal, the areas can be subjected to supplementary spraying.

It should be noted that, because the traditional powder spraying operation requires the powder spraying worker to enter the powder spraying chamber to spray by using the handheld scanning gun, the mode has a plurality of potential safety hazards, and further, the embodiment of the application can realize powder spraying by using the zero contact method without entering the powder spraying chamber, thereby ensuring the safety of the powder spraying worker; meanwhile, the embodiment of the application integrates the synchronous positioning and composition technology into the production process. So that the powder spraying worker can know the relative position relationship between the object to be sprayed and the powder spraying vehicle in real time; in addition, the embodiment of the application combines the force feedback sensor with the data glove to realize real-time feedback of the gripping force of the powder gun, provides force feedback touch for the powder spraying worker, is convenient for the powder spraying worker to judge the powder spraying degree, simulates the on-site powder spraying condition as much as possible, ensures that the powder spraying worker sequentially adjusts the operation force of the powder spraying worker, and realizes more uniform and more reasonable powder spraying operation.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method of the various embodiments of the present invention.

The embodiment also provides a spraying control system, which is used for realizing the embodiment and the preferred implementation, and the description is omitted.

Fig. 5 is a block diagram of a spray control system according to an embodiment of the invention, the apparatus comprising:

control means 52 for controlling the movement of the spraying device 58 to the object to be sprayed and for controlling the spraying device of the spraying device 58 to be aligned with the area to be sprayed of the object to be sprayed, wherein the spraying device is located in the spraying device;

A data glove 54 for detecting a degree of palm curvature of a target object, which is an object allowing control of the spraying apparatus 58, and transmitting the detected degree of palm curvature to the target apparatus 56;

the target device 56 for transmitting the target palm curvature to the spraying device 58;

the spraying device 58 is used for controlling the spraying device to spray target materials to the area to be sprayed according to the target palm bending degree.

In the above system, the control device 52 controls the spraying device of the spraying device 58 to be aligned to the to-be-sprayed area of the to-be-sprayed object, and then the data glove 54 detects the palm bending degree of the target object, so as to instruct the target device 56 to control the spraying device to spray the target material to the to-be-sprayed area according to the target palm bending degree. And the target object (such as a spray gun) does not need to be directly sprayed on the area (such as the surface) of the object to be sprayed by a hand-held spraying device (such as a spray gun), so that the safety of the target object is ensured. And further solves the problem that the safety hidden trouble of the spray painting worker is large because the hand-held spray gun of the spray painting worker directly sprays the surface of the object to be sprayed in the spray painting room.

Optionally, the target device 56 is further configured to acquire a target map of the target area, and display the target map through a display; the control device 52 is further configured to obtain a first control instruction issued by the target object, and send the first control instruction to the spraying apparatus 58; the spraying device 58 is further configured to move to the object to be sprayed according to the first control instruction, where the first control instruction is an instruction determined by the target object according to the target map, and the spraying device 58 and the object to be sprayed are located in the target area;

optionally, the target device 56 is further configured to acquire an image of the object to be sprayed acquired by the target camera on the spraying device 58, and display the image of the object to be sprayed through a display; the control device 52 is further configured to obtain a second control instruction issued by the target object, and send the second control instruction to the spraying device 58 according to the second control instruction; the spraying device 58 is further configured to control the spraying apparatus to move to a region to be sprayed of the object to be sprayed, where the second control instruction is an instruction determined by the target object according to an image of the object to be sprayed.

Optionally, the data glove 54 is further configured to detect, by using a sensor, a palm bending degree of the target object, so as to obtain a target palm bending degree; the target palm curvature is transmitted to the target device 56 in the form of a digital signal.

Optionally, the target device 56 is further configured to calculate a target spraying speed of the spraying apparatus according to the target palm bending degree; sending the target spray velocity to the spray device 58; the spraying device 58 is further configured to control the spraying apparatus to spray the target material to the area to be sprayed at the target spraying speed.

Optionally, a target device 56, further configured to send the target palm curvature to the spraying device 58; the spraying device 58 is further configured to control the manipulator to buckle the spraying device with a target palm bending degree, so as to control the spraying device to spray the target material to the to-be-sprayed area according to the buckling degree of the manipulator, where the buckling degree is directly related to the speed of the spraying device to spray the target material.

Optionally, the data glove 54 is further configured to determine a target force for the target object to simulate snapping the spraying device according to a palm curvature of the target object; the target force is fed back to the target object so that the target object adjusts the degree of palm curvature according to the target force fed back by the data glove 54.

Optionally, the spraying device 58 is further configured to collect, by using a target camera, a target image of the area to be sprayed; the target image is sent to the target device 56.

Optionally, the spraying device 58 is further configured to construct a target map of the target area through a target sensor during the moving process of the target area, where the spraying device 58 and the object to be sprayed are located in the target area.

The embodiment also provides a spraying control device, which is used for realizing the embodiment and the preferred implementation, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware, are also possible and contemplated.

Fig. 6 is a block diagram showing the construction of a spray control device according to an embodiment of the present invention, the device including:

a first control module 62, configured to control, by using a control device corresponding to a spraying device, the spraying device to move to an object to be sprayed, and control a spraying device of the spraying device to align with a region to be sprayed of the object to be sprayed, where the spraying device is located in the spraying device;

a processing module 64, configured to detect a palm curvature of a target object through the data glove, and send the detected target palm curvature to a target device, where the target object is an object that allows control of the spraying device;

A second control module 66, configured to instruct the target device to control the spraying device to spray the target material to the area to be sprayed according to the target palm curvature.

According to the device, the spraying device of the spraying equipment is controlled to be aligned to the to-be-sprayed area of the to-be-sprayed object through the control device, the palm bending degree of the target object is detected through the data glove, and the target equipment is instructed to control the spraying device to spray the target material to the to-be-sprayed area according to the target palm bending degree. And the target object (such as a spray gun) does not need to be directly sprayed on the area (such as the surface) of the object to be sprayed by a hand-held spraying device (such as a spray gun), so that the safety of the target object is ensured. And further solves the problem that the safety hidden trouble of the spray painting worker is large because the hand-held spray gun of the spray painting worker directly sprays the surface of the object to be sprayed in the spray painting room.

Embodiments of the present invention also provide a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.

Alternatively, in the present embodiment, the above-described storage medium may be configured to store a computer program for performing the steps of:

s1, controlling the spraying equipment to move to an object to be sprayed through a control device corresponding to the spraying equipment, and controlling the spraying device of the spraying equipment to align to a region to be sprayed of the object to be sprayed, wherein the spraying device is positioned in the spraying equipment;

s2, detecting the palm bending degree of a target object through the data glove, and sending the detected target palm bending degree to target equipment, wherein the target object is an object allowing control of the spraying equipment;

and S3, indicating the target equipment to control the spraying device to spray target materials to the to-be-sprayed area according to the target palm bending degree.

In one exemplary embodiment, the computer readable storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.

Specific examples in this embodiment may refer to the examples described in the foregoing embodiments and the exemplary implementation, and this embodiment is not described herein.

An embodiment of the invention also provides an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.

Alternatively, in the present embodiment, the above-described processor may be configured to execute the following steps by a computer program:

In an exemplary embodiment, the electronic apparatus may further include a transmission device connected to the processor, and an input/output device connected to the processor.

It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.

Claims

1. A spray control method, characterized by comprising:

controlling the spraying equipment to move to an object to be sprayed through a control device corresponding to the spraying equipment, and controlling the spraying device of the spraying equipment to align to a region to be sprayed of the object to be sprayed, wherein the spraying device is positioned in the spraying equipment;

detecting the palm bending degree of a target object through the data glove, and sending the detected target palm bending degree to target equipment, wherein the target object is an object allowing control of the spraying equipment;

the target equipment is instructed to control the spraying device to spray target materials to the area to be sprayed according to the target palm bending degree;

wherein, in the process of detecting the palm bending degree of the target object through the data glove, the method further comprises: determining target force of the target object for simulating and buckling the spraying device according to the palm bending degree of the target object; and feeding back the target force to the target object through the data glove, so that the target object adjusts the palm bending degree according to the target force fed back by the data glove.

2. The spray control method according to claim 1, wherein,

Controlling the spraying equipment to move to the object to be sprayed through a control device corresponding to the spraying equipment, comprising:

acquiring a target map of a target area, and displaying the target map on a display of the target device; acquiring a first control instruction of the target object to the control device, and controlling the spraying equipment to move to the object to be sprayed according to the first control instruction, wherein the first control instruction is an instruction determined by the target object according to the target map, and the spraying equipment and the object to be sprayed are positioned in the target area;

controlling a spraying device of the spraying equipment to align with a to-be-sprayed area of the to-be-sprayed object, comprising:

acquiring an image of the object to be sprayed acquired by a target camera on the spraying equipment, and displaying the image of the object to be sprayed on the display of the target equipment; and acquiring a second control instruction of the target object to the control device, and controlling the spraying device to move to the to-be-sprayed area of the to-be-sprayed object according to the second control instruction, wherein the second control instruction is an instruction determined by the target object according to the image of the to-be-sprayed object.

3. The spray control method according to claim 1, wherein detecting a degree of palm curvature of the target object by the data glove and transmitting the detected degree of palm curvature to the target device, comprises:

detecting the palm bending degree of the target object through a sensor in the data glove to obtain the target palm bending degree;

and transmitting the target palm bending degree to the target equipment in the form of a digital signal.

4. The spray control method according to claim 1, characterized in that instructing the target apparatus to control the spray device to spray a target material to the area to be sprayed according to the target palm curvature degree, comprises:

indicating the target equipment to calculate the target spraying speed of the spraying device according to the target palm bending degree;

and sending the target spraying speed to the spraying equipment, and controlling a spraying device of the spraying equipment to spray the target material to the area to be sprayed at the target spraying speed.

5. The spray control method according to claim 1, characterized in that instructing the target apparatus to control the spray device to spray a target material to the area to be sprayed according to the target palm curvature degree, comprises:

Instructing the target device to send the target palm curvature to the spraying device;

controlling a manipulator of the spraying equipment to buckle the spraying device according to the buckling degree of the manipulator so as to control the spraying device to spray the target material to the area to be sprayed, wherein the buckling degree is positively related to the speed of the spraying device to spray the target material.

6. The spray control method according to claim 1, wherein the target apparatus is instructed to control the spray device to spray a target material to the region to be sprayed in accordance with the target palm curvature degree, the method further comprising:

collecting a target image of the area to be sprayed through a target camera on the spraying equipment;

and displaying the target image on a display of target equipment so that the target object adjusts the palm bending degree according to the target image.

7. A spray control system, comprising:

the control device is used for controlling the spraying equipment to move to the object to be sprayed and controlling the spraying device of the spraying equipment to be aligned to the area to be sprayed of the object to be sprayed, wherein the spraying device is positioned on the spraying equipment;

The data glove is used for detecting the palm bending degree of a target object and sending the detected target palm bending degree to target equipment, wherein the target object is an object allowing control of the spraying equipment;

the target device is used for sending the target palm bending degree to the spraying device;

the spraying equipment is used for controlling the spraying device to spray target materials to the area to be sprayed according to the target palm bending degree;

the data glove is further used for determining target force of the target object for simulating and buckling the spraying device according to the palm bending degree of the target object; and feeding back the target force to the target object so that the target object can adjust the palm bending degree according to the target force fed back by the data glove.

8. A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein the program when run performs the spray control method according to any one of claims 1 to 6.

9. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, the processor being arranged to execute the spray control method according to any one of claims 1 to 6 by means of the computer program.