CN114950775A - Spraying path control method and device - Google Patents
Spraying path control method and device Download PDFInfo
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- CN114950775A CN114950775A CN202210494925.0A CN202210494925A CN114950775A CN 114950775 A CN114950775 A CN 114950775A CN 202210494925 A CN202210494925 A CN 202210494925A CN 114950775 A CN114950775 A CN 114950775A
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- 238000005507 spraying Methods 0.000 title claims abstract description 248
- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000009471 action Effects 0.000 claims abstract description 55
- 239000007921 spray Substances 0.000 claims description 57
- 238000004590 computer program Methods 0.000 claims description 16
- 239000003086 colorant Substances 0.000 claims description 13
- 230000000694 effects Effects 0.000 abstract description 7
- 238000010422 painting Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 7
- 238000005259 measurement Methods 0.000 description 7
- 230000002159 abnormal effect Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 239000003973 paint Substances 0.000 description 4
- 238000011084 recovery Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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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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- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The embodiment of the invention provides a spraying path control method and a device, wherein the method comprises the following steps: acquiring image data to be sprayed; acquiring a target object to be sprayed and ambient environment information of spraying equipment; and generating a spraying path and a spraying action according to the image data to be sprayed, the target object to be sprayed and the surrounding environment information, wherein the spraying path is a moving path of the spraying equipment, and the spraying action is a mechanical arm action of the spraying equipment. By the method and the device, the problem of complex spraying path planning and low spraying efficiency of the spraying robot is solved, and the effect of improving the spraying efficiency of the spraying robot is achieved.
Description
Technical Field
The embodiment of the invention relates to the field of spraying, in particular to a spraying path control method and device.
Background
In the field of spraying robots, the spraying robot needs to adjust a navigation position, an angle of a spraying arm and the like in front of a target wall surface to complete spraying, and the area of the wall surface to be sprayed is usually large, so that the spraying robot needs to adjust a chassis position, an arm and the like for multiple times to complete spraying.
Therefore, the problem that the spraying robot is complex in spraying path planning and low in spraying efficiency exists in the related art.
In view of the above problems in the related art, no effective solution has been proposed so far.
Disclosure of Invention
The embodiment of the invention provides a spraying path control method and a spraying path control device, which are used for at least solving the problem of complex spraying path planning and low spraying efficiency of a spraying robot in the related art.
According to an embodiment of the present invention, there is provided a spray path control method including: acquiring image data to be sprayed; acquiring a target object to be sprayed and ambient environment information of spraying equipment; and generating a spraying path and a spraying action according to the image data to be sprayed, the target object to be sprayed and the surrounding environment information, wherein the spraying path is a moving path of the spraying equipment, and the spraying action is a mechanical arm action of the spraying equipment.
Further, generating a spraying path and a spraying action according to the image data to be sprayed, the target object to be sprayed and the ambient environment information includes: generating a spraying operation point according to the image color in the image data to be sprayed, the target object to be sprayed and the ambient environment information; determining the color and the spraying sequence of a spray gun to be sprayed at each operating point according to the image color in the image data to be sprayed and the position of each spraying operating point; and determining the spraying action according to the distance between the spraying operation point and the target object.
Further, determining the spraying action according to the distance between the spraying operation point and the target object includes: and controlling the angle of each joint of a mechanical arm of the spraying equipment according to the distance between the spraying operation point and the target object so as to enable the vertical distance between a spray gun of the spraying equipment and the target object to be within a preset distance range.
Further, determining the color and the spraying sequence of the spray gun to be sprayed at each operation point according to the image color in the image data to be sprayed and the position of each spraying operation point comprises: determining the color of a spray gun to be a first color under the condition that the spraying part of the image to be sprayed at the current operating point is only the first color; and under the condition that the spraying part of the image to be sprayed at the current operating point is in a plurality of colors, determining the color of the spray gun as the spray gun of the corresponding plurality of colors, and determining the sequence of the spray guns according to the continuous or separated condition of the pictures.
Further, generating a spraying path and a spraying action according to the image data to be sprayed, the target object to be sprayed and the ambient environment information includes: and generating a spraying operation point according to the image color in the image data to be sprayed, the target object to be sprayed and the ambient environment information, wherein a spraying path formed by connecting the spraying operation points does not have a repeated path.
Further, after generating a spraying path and a spraying action according to the image data to be sprayed, the target object to be sprayed and the ambient environment information, the method further includes: judging whether each spraying operation point has special point mark information or not; and if the special point mark information exists, adjusting the spraying path and the spraying action according to the special point mark information.
According to another embodiment of the present invention, there is provided a spray path control device including: the first acquisition unit is used for acquiring image data to be sprayed; the second acquisition unit is used for acquiring a target object to be sprayed and the ambient environment information of the spraying equipment; the generating unit is used for generating a spraying path and a spraying action according to the image data to be sprayed, the target object to be sprayed and the surrounding environment information, wherein the spraying path is a moving path of the spraying equipment, and the spraying action is a mechanical arm action of the spraying equipment.
According to a further embodiment of the present invention, there is also provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, comprising a memory in which a computer program is stored and a processor configured to run the computer program to perform the steps of any of the method embodiments described above.
According to the invention, image data to be sprayed are obtained; acquiring a target object to be sprayed and ambient environment information of spraying equipment; according to the image data to be sprayed, the target object to be sprayed and the surrounding environment information, a spraying path and a spraying action are generated, wherein the spraying path is a moving path of the spraying equipment, and the spraying action is a mechanical arm action of the spraying equipment, so that the problem that the spraying path planning of the spraying robot is complex and the spraying efficiency is low in the related technology can be solved, and the effect of improving the spraying efficiency of the spraying robot is achieved.
Drawings
Fig. 1 is a block diagram of a hardware structure of a mobile terminal of a method for controlling a spray path according to an embodiment of the present invention;
FIG. 2 is a flow chart of a spray path control method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an APP connection apparatus of the present embodiment;
FIG. 4 is a schematic view of the manually controlled spray apparatus of the present embodiment;
FIG. 5 is a schematic view of the automatic mode operation of the spray coating device of the present embodiment;
FIG. 6 is a schematic view of the special point work and control measurement process of the present embodiment;
FIG. 7 is a schematic diagram of other measurement types of the present embodiment;
FIG. 8 is a schematic view of the spray coating device of the present embodiment;
fig. 9 is a block diagram showing the configuration of a coating path control device according to an embodiment of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings in conjunction with the embodiments.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking the operation on a mobile terminal as an example, fig. 1 is a hardware structure block diagram of the mobile terminal of a spraying path control method according to an embodiment of the present invention. As shown in fig. 1, the mobile terminal may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 104 for storing data, wherein the mobile terminal may further include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program and a module of application software, such as a computer program corresponding to the spray path control method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In the present embodiment, a spraying path control method is provided, and fig. 2 is a flowchart of the spraying path control method according to the embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S101, acquiring image data to be sprayed;
step S102, acquiring a target object to be sprayed and surrounding environment information of spraying equipment;
step S103, generating a spraying path and a spraying action according to the image data to be sprayed, the target object to be sprayed and the surrounding environment information, wherein the spraying path is a moving path of the spraying equipment, and the spraying action is a mechanical arm action of the spraying equipment.
In the above embodiment, image data to be sprayed is acquired; acquiring a target object to be sprayed and ambient environment information of spraying equipment; according to the image data to be sprayed, the target object to be sprayed and the surrounding environment information, a spraying path and a spraying action are generated, wherein the spraying path is a moving path of the spraying equipment, and the spraying action is a mechanical arm action of the spraying equipment, so that the problem that the spraying path planning of the spraying robot is complex and the spraying efficiency is low in the related technology can be solved, and the effect of improving the spraying efficiency of the spraying robot is achieved.
In this embodiment, the image data to be painted may be a pattern to be painted on a wall, such as a blue sky white cloud pattern, the target object to be painted is a wall surface or other plane, or even an external vertical surface of another object that is not so flat, the painted material may be paint or other types of paint, and the information of the target object to be painted and the surrounding links of the painting equipment is obtained, so that the image data may be used to plan a painting path of the painting equipment and a painting action of the painting equipment, in order to ensure that the painting equipment performs painting according to the planned painting path and painting action, it should be noted that the painting action includes actions of a mechanical arm, including an angle between joints, a position of a spray gun, and the like, the planned path is generally a single line, so that the target object to be painted moves from one side to the other side to complete overall painting, and each point paints multiple colors, the integral spraying is completed at one time, repeated movement for many times is reduced, and the spraying efficiency is improved.
As an optional implementation, generating a spraying path and a spraying action according to the image data to be sprayed, the target object to be sprayed, and the ambient environment information includes: generating a spraying operation point according to the image color in the image data to be sprayed, the target object to be sprayed and the surrounding environment information; determining the color and the spraying sequence of a spray gun to be sprayed at each operating point according to the image color in the image data to be sprayed and the position of each spraying operating point; and determining the spraying action according to the distance between the spraying operation point and the target object.
The painting operation points are generated by colors in the image to be painted and target objects (such as walls) and surrounding environment information, for example, the target object to be painted is a flat wall, and if there is no obstruction or obstacle around, the painting operation points are a plurality of points with similar distances (depending on patterns) dispersed, if the painting object is not flat or has an obstacle or a wall beside, the painting operation points are other types of points, by which the overall painting can be completed at each operation point in the shortest path.
As an alternative embodiment, the determining the spraying action according to the distance between the spraying operation point and the target object comprises: and controlling the angle of each joint of a mechanical arm of the spraying equipment according to the distance between the spraying operation point and the target object so as to enable the vertical distance between a spray gun of the spraying equipment and the target object to be within a preset distance range.
The angle of the mechanical arm can be controlled according to the distance between the spraying operation point and the target object, so that as many areas as possible can be sprayed in the range which can be reached by the current operation point, the time for route traveling and navigation can be reduced, the spraying efficiency is improved, and as many areas as possible can be sprayed at one point.
As an alternative embodiment, determining the color of the spray gun to be sprayed and the spraying sequence of each operation point according to the color of the image in the image data to be sprayed and the position of each spraying operation point comprises: determining the color of the spray gun to be a first color under the condition that the spraying part of the image to be sprayed at the current operating point is only the first color; and under the condition that the spraying part of the image to be sprayed at the current operating point is in a plurality of colors, determining the color of the spray gun as the spray gun of the corresponding plurality of colors, and determining the sequence of the spray guns according to the continuous or separated condition of the pictures.
The spraying equipment is usually provided with a plurality of spray guns, each spray gun corresponds to different colors, if the color to be sprayed on the current operation point of the image to be sprayed is only one color, the spraying can be finished only by using the spray gun with the corresponding color, if the spraying part at the operation point is a plurality of colors, the spray guns with the corresponding colors are determined according to the picture condition, the sequence of the spray guns is determined according to the continuous or discrete condition of the picture, for example, the sequence of firstly spraying blue, then spraying white part, then spraying red part and the like is determined.
As an optional implementation, generating a spraying path and a spraying action according to the image data to be sprayed, the target object to be sprayed, and the ambient environment information includes: and generating a spraying operation point according to the image color in the image data to be sprayed, the target object to be sprayed and the surrounding environment information, wherein a spraying path formed by connecting the spraying operation points does not have a repeated path.
In order to save navigation time to the maximum extent, improve spraying efficiency and simplify spraying paths, the spraying paths formed by spraying operation points generated according to image colors in image data to be sprayed, target objects to be sprayed and surrounding environment information are not repeated and are sequentially moved from one direction to the other direction, so that all pictures to be sprayed are sprayed at each spraying point without repeatedly spraying different colors.
As an optional implementation manner, after a spraying path and a spraying action are generated according to image data to be sprayed, a target object to be sprayed and surrounding environment information, whether special point marking information exists at each spraying operation point is judged; and if so, adjusting the spraying path and the spraying action according to the special point mark information.
The special point mark information of each spraying operation point can be manually input in advance or acquired in the spraying process, for example, special point mark information formed by attention items such as obstacle avoidance and the like generated by other spraying equipment in the operation process, if the special point mark information exists, the spraying path and the spraying action are adjusted according to the mark information, it needs to be noted that the spraying action relates to the matching among all joints of the mechanical arm, the angles and the positions of all joints need to be accurately determined, so that the spray gun is at a proper position away from the wall surface, and the spray gun is not too close or too far away, and the optimal spraying effect is ensured.
This embodiment also provides a specific implementation manner, and the following describes the technical solution of the present invention with reference to the specific implementation manner.
Fig. 3 is a schematic diagram of the APP connection device in this embodiment, as shown in fig. 3, after a user powers on the device, a lower computer enters device initialization to complete spraying navigation, main control initializes and docks respectively, and each end (user end, upper computer, lower computer) completes network connection, where the user end may be an APP, the user can send an instruction to the upper computer by operating the APP, the upper computer accesses a default AP, the APP enters a manual operation page, the upper computer obtains device information, the lower computer reports a status message to the upper computer, and the upper computer displays current device basic information; the connection process is completed and may be used as a device binding pairing process.
Fig. 4 is a schematic diagram of manual control spraying equipment of this embodiment, and the user gets into the remote control mode through the APP operation, selects the remote control mode after, and the host computer sends "button direction instruction" for the host computer, and the host computer carries out removal instruction to feed back the equipment state to the host computer, and the host computer passes through rocker instruction control host computer and carries out removal instruction, and the host computer feeds back the equipment state to the host computer, and the host computer feeds back to the APP side and shows the state, and the user can see the state.
Fig. 5 is a schematic diagram of the automatic mode operation of the spraying equipment in this embodiment, as shown in fig. 5, after a user enters an automatic mode scene from APP control, a spraying project name is set, after a drawing is selected and inputted into a scale, an upper computer sends a drawing transmission instruction to a navigation module, after the navigation module executes a tie-in, a drawing format dwg is converted into a png format according to the scale, a path point coordinate is planned, after a raster image is sent to an upper computer, a raster image is displayed on the APP, a planning point is planned, an upper computer generates an operation point script, the spraying main control equipment completes initialization and sends a request for navigation and an equipment state to the navigation module, the navigation module forwards the received an equipment normal state to the upper computer, the upper computer returns to the APP end to display equipment to be in a standby normal state, after the user clicks to start measurement, the upper computer sends a revealing point planning point script message to the navigation module, and the navigation module resets the navigation state, after the pose initialization is completed, the spraying main control device (namely the spraying device) enters a normal point operation process after detecting a navigation state, a navigation module sends a residual point message to the spraying main control device and sends a navigation state of successful positioning, the spraying main control device sends a navigation request instruction to a navigation module, the navigation module sends a navigation state of 'navigation in progress' to the spraying device, the spraying device sends a known navigation instruction to the navigation module, the navigation module starts a single-point automatic navigation task and sends a target point reaching target point to the spraying device, no special point mark exists, the spraying device returns an unrequested navigation instruction, the spraying device executes the spraying operation, the navigation module sends a device state to an upper computer and then executes the navigation task of the next target point, the operation completion state is returned to the upper computer until the spraying device judges that the residual point is 0, the upper computer records the operation and displays the operation completion state information in the APP.
Fig. 6 is a schematic diagram of the special point operation and the control measurement process of this embodiment, as shown in fig. 6, in some special point operations, the navigation module sends a successfully positioned navigable state to the spray equipment, the spray equipment returns a navigation request instruction, after the navigation module sends the navigation state, a single-point automatic navigation task is performed, the spray equipment returns to send a known navigation instruction, the navigation module sends a target point again, after the special point mark, the spray equipment returns a navigation unrequest instruction, the spray equipment performs vehicle body moving, spray operation, vehicle body moving, and spray operation, and after the navigation module sends the equipment state to the upper computer, the next target point navigation task is performed.
In the control measurement process, a user can manually control the spraying equipment at an APP client, if the user clicks pause in the APP, the upper computer sends a pause instruction to the navigation module, the navigation module forwards the pause instruction to the spraying equipment and processes the navigation pause instruction, after the spraying equipment processes the pause operation instruction, pause operation is executed, the pause state of the equipment is sent to the navigation module, the navigation module forwards the pause instruction to the upper computer, the pause button of the upper computer is changed into continuation, if the user clicks continuation, the upper computer sends a recovery instruction to the navigation module, the navigation module forwards the ' navigation recovery ' process after the spraying equipment, the spraying equipment processes the recovery operation and sends the equipment state to the navigation module, the navigation module feeds back ' busy/operation recovery ' to the upper computer, the upper computer changes the ' continuation ' button into pause ', and the navigation module continues to execute navigation.
Fig. 7 is a schematic diagram of another measurement type in this embodiment, in the active stop measurement process, after the user clicks stop, the upper computer prompts the user whether to stop the operation process, after the user clicks to confirm the stop, the upper computer sends a stop instruction to the navigation module, the navigation module forwards the stop instruction to the spraying device, and processes "navigation stop", the spraying device processes "operation stop", the navigation module resets, the spraying device resets and sends a device state to the navigation module, the navigation module forwards "device standby idle" to the upper computer, and the upper computer interface control button restores the state to be measured.
In the normal flow of finishing measuring, after navigation module confirms that all spraying points are accomplished, send "reset instruction" to spraying equipment, navigation module accomplishes and resets, after spraying equipment accomplishes and resets, navigation module resets again after the completion of the last computer feedback automatic measure, feeds back "equipment standby is idle" to the last computer, and program control button resumes the state of awaiting measuring, resumes initial state, and APP goes up the button and switches the demonstration.
When the navigation abnormal conditions, the navigation module detects the navigation failure, send the navigation failure state to spraying equipment, spraying equipment returns the equipment fault state, the navigation module forwards the equipment fault state for the host computer, the navigation module record resets, the host computer shows the trouble to APP, show the trouble warning on the APP, convenience of customers in time learns the abnormal conditions, specifically, this abnormal conditions can be that the characters are reminded also can be the suggestion message of types such as picture, sound, the host computer resumes initial state after that.
When the spraying appears unusually, spraying equipment detects to be unusual to navigation module send equipment trouble state message, and navigation module forwards the host computer, spraying equipment record and reset device, and the host computer shows the prompt message on APP, and the suggestion trouble, host computer resume initial state, through such scheme, when appearing unusually, in time send the prompt message, can convenience of customers know the abnormal conditions, the troubleshooting is unusual, improves spraying efficiency.
Fig. 8 is a schematic diagram of the spraying apparatus of this embodiment, as shown in fig. 8, wheels are disposed at the bottom of the apparatus, the apparatus can move in all directions according to a navigation instruction, a navigation module is disposed on the spraying apparatus, which can be at a chassis or at other positions on the apparatus, the navigation module can achieve self-positioning and navigation of a motion chassis through a laser radar, the motion chassis is driven to perform unmanned motion and operation in a spraying scene, surrounding obstacles can be detected in the navigation and spraying processes, and touch is prevented, and the position of a target point can be accurately controlled according to the content and effect requirements of spraying, so as to control the distance from a spray head to a wall surface, meet the requirement of the amount of paint sprayed, and achieve the best painting effect.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a spraying path control device is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, and the description of the device is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 9 is a block diagram showing the construction of a spray path control apparatus according to an embodiment of the present invention, as shown in fig. 4, the apparatus including:
a first acquisition unit 10 configured to acquire image data to be sprayed; a second obtaining unit 20, configured to obtain a target object to be painted and ambient environment information of the painting device; the generating unit 30 is configured to generate a spraying path and a spraying action according to the image data to be sprayed, the target object to be sprayed, and the surrounding environment information, where the spraying path is a path along which the spraying apparatus moves, and the spraying action is a mechanical arm action of the spraying apparatus.
The embodiment is provided with a first acquisition unit 10 for acquiring image data to be sprayed; a second obtaining unit 20, configured to obtain a target object to be sprayed and surrounding environment information of the spraying device; the generating unit 30 is configured to generate a spraying path and a spraying action according to the image data to be sprayed, the target object to be sprayed, and the surrounding environment information, where the spraying path is a path along which the spraying device moves, and the spraying action is a mechanical arm action of the spraying device, so that the problem of complex spraying path planning and low spraying efficiency of the spraying robot in the related art can be solved, and the effect of improving the spraying efficiency of the spraying robot is achieved.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above-mentioned method embodiments when executed.
In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
In an exemplary embodiment, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary embodiments, and details of this embodiment are not repeated herein.
It will be apparent to those skilled in the art that the various modules or steps of the invention described above may be implemented using a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and they may be implemented using program code executable by the computing devices, such that they may be stored in a memory device and executed by the computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into various integrated circuit modules, or multiple ones 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 above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A spray path control method, comprising:
acquiring image data to be sprayed;
acquiring a target object to be sprayed and ambient environment information of spraying equipment;
and generating a spraying path and a spraying action according to the image data to be sprayed, the target object to be sprayed and the surrounding environment information, wherein the spraying path is a moving path of the spraying equipment, and the spraying action is a mechanical arm action of the spraying equipment.
2. The method of claim 1, wherein generating a spray path and a spray action from the image data to be sprayed, the target object to be sprayed, and the ambient environment information comprises:
generating a spraying operation point according to the image color in the image data to be sprayed, the target object to be sprayed and the ambient environment information;
determining the color and the spraying sequence of a spray gun to be sprayed at each operating point according to the image color in the image data to be sprayed and the position of each spraying operating point;
and determining the spraying action according to the distance between the spraying operation point and the target object.
3. The method of claim 2, wherein determining the spray action based on the distance of the spray operation point from the target object comprises:
and controlling the angle of each joint of a mechanical arm of the spraying equipment according to the distance between the spraying operation point and the target object so as to enable the vertical distance between a spray gun of the spraying equipment and the target object to be within a preset distance range.
4. The method of claim 2, wherein determining the spray gun color and spray order to be sprayed for each point of operation based on the image color in the image data to be sprayed and the location of each spray point comprises:
determining the color of a spray gun to be a first color under the condition that the spraying part of the image to be sprayed at the current operating point is only the first color;
and under the condition that the spraying part of the image to be sprayed at the current operating point is in a plurality of colors, determining the color of the spray gun as the spray gun of the corresponding plurality of colors, and determining the sequence of the spray guns according to the continuous or separated condition of the pictures.
5. The method of claim 2, wherein generating a spray path and a spray action from the image data to be sprayed, the target object to be sprayed, and the ambient environment information comprises:
and generating a spraying operation point according to the image color in the image data to be sprayed, the target object to be sprayed and the ambient environment information, wherein a spraying path formed by connecting the spraying operation points does not have a repeated path.
6. The method of claim 2, wherein after generating a spray path and a spray action from the image data to be sprayed, the target object to be sprayed, and the ambient environment information, the method further comprises:
judging whether each spraying operation point has special point mark information or not;
and if the special point mark information exists, adjusting the spraying path and the spraying action according to the special point mark information.
7. A spray path control device, comprising:
the first acquisition unit is used for acquiring image data to be sprayed;
the second acquisition unit is used for acquiring a target object to be sprayed and the ambient environment information of the spraying equipment;
the generating unit is used for generating a spraying path and a spraying action according to the image data to be sprayed, the target object to be sprayed and the surrounding environment information, wherein the spraying path is a moving path of the spraying equipment, and the spraying action is a mechanical arm action of the spraying equipment.
8. The apparatus of claim 7, wherein the generating unit comprises:
the generating module is used for generating a spraying operation point according to the image color in the image data to be sprayed, the target object to be sprayed and the surrounding environment information;
the first determining module is used for determining the color and the spraying sequence of a spray gun to be sprayed at each operating point according to the image color in the image data to be sprayed and the position of each spraying operating point;
and the second determining module is used for determining the spraying action according to the distance between the spraying operation point and the target object.
9. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 6 when executed.
10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 6.
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