CN115464660B - Path planning method, device and equipment of spraying robot and storage medium - Google Patents
Path planning method, device and equipment of spraying robot and storage medium Download PDFInfo
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- CN115464660B CN115464660B CN202211308712.0A CN202211308712A CN115464660B CN 115464660 B CN115464660 B CN 115464660B CN 202211308712 A CN202211308712 A CN 202211308712A CN 115464660 B CN115464660 B CN 115464660B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The application discloses a path planning method, a device, equipment and a storage medium of a spraying robot, wherein the path planning method of the spraying robot comprises the following steps: acquiring a chassis moving path through a building information model system, and controlling the spraying robot to move according to the chassis moving path; determining the distance between the spraying object and acquiring the initial state of the spraying object; acquiring the current state of the spraying object, and analyzing the current state by combining the chassis moving path; based on the analysis result, acquiring a spraying moving path of the mechanical arm and spraying a spraying object; and acquiring the spraying state of the sprayed object in real time, and adjusting a spraying moving path based on the spraying state to continuously spray the sprayed object until the sprayed object is sprayed. The method solves the problems that the spraying robot cannot perceive the spraying state and make adjustment, and the spraying efficiency and the accuracy of the spraying robot are low in the spraying process.
Description
Technical Field
The present invention relates to the field of automated spraying technologies, and in particular, to a method, an apparatus, a device, and a storage medium for path planning of a spraying robot.
Background
In the construction industry, the painting operation of the wall or ceiling of a room is usually performed manually by related workers, and this way not only has low working efficiency and poor painting effect, but also causes damage to the health of the workers to different extents.
Currently, a spraying robot can be used for assisting in realizing the spraying of the wall surface, and the spraying path planning of the spraying robot is always preset. When a painting defect occurs in the painting robot, for example: the missing coating or the lower spraying effect, etc., the spraying robot can not be perceived and adjusted mostly, which leads to the problems of low spraying efficiency and lower precision of the spraying robot in the spraying process.
Disclosure of Invention
The embodiment of the invention provides a path planning method, device, equipment and storage medium for a spraying robot, which are used for solving the problems that the spraying robot cannot detect the spraying state and make adjustment mostly, so that the spraying efficiency of the spraying robot is low and the accuracy is low in the spraying process.
In one aspect, the present application provides a path planning method for a spraying robot, the method including:
acquiring a chassis moving path through a building information model system, and controlling the spraying robot to move according to the chassis moving path;
determining the distance between the laser radar and the spraying object and acquiring the initial state of the spraying object;
acquiring the current state of the spraying object through a camera, and analyzing the current state by combining a chassis moving path;
based on the analysis result, acquiring a spraying moving path of the mechanical arm and spraying a spraying object;
and acquiring the spraying state of the sprayed object in real time, and adjusting a spraying moving path based on the spraying state to continuously spray the sprayed object until the sprayed object is sprayed.
In another aspect, the present application provides a path planning apparatus for a painting robot, the apparatus comprising:
the chassis moving path moving module is used for acquiring a chassis moving path through the building information model system and controlling the spraying robot to move according to the chassis moving path;
the initial state acquisition module is used for determining the distance between the laser radar and the spraying object and acquiring the initial state of the spraying object;
the state analysis module is used for acquiring the current state of the spraying object through the camera and analyzing the current state by combining the chassis moving path;
the spraying module is used for acquiring a spraying moving path of the mechanical arm based on the analysis result and spraying the spraying object;
the spraying moving path adjusting module is used for acquiring the spraying state of the spraying object after spraying in real time, adjusting the spraying moving path based on the spraying state and continuing to spray the spraying object until the spraying object is sprayed.
In some embodiments, the spray module is further configured to: acquiring the spraying area of a spraying object; and adjusting the spraying width and the movable radius of the mechanical arm based on the spraying area.
In some embodiments, the spray travel path adjustment module is further to: determining whether a coating missing condition occurs in a coating state according to the coating image acquired by the camera; if yes, determining the region position of the missing coating condition, and controlling the mechanical arm to return to the region position; and adjusting the spraying width and the movable radius of the mechanical arm based on the area of the missing coating condition.
In some embodiments, the state analysis module is further configured to: obtaining object textures of the spraying object through a depth camera, and analyzing the object textures by combining a chassis moving path; the current image of the spraying object is obtained through the RGB camera, and the current image is analyzed by combining the chassis moving path.
In some embodiments, the state analysis module is further configured to: sensing the surrounding environment through a sensor to acquire target parameters of the surrounding environment; adjusting the spraying parameters based on the target parameters; and spraying by adopting the adjusted spraying parameters, and obtaining and storing spraying graphic information.
In some embodiments, the state analysis module is further configured to: taking the target parameters, the spraying parameters and the spraying graphic information as input parameters of a model, training a deep learning model, and outputting optimal spraying parameters; and generating a target parameter-optimal spraying parameter data table based on the target parameter and the optimal spraying parameter.
In some embodiments, the apparatus is further to: responding to a spraying completion instruction returned by the mechanical arm, and controlling the spraying robot to continuously move along a chassis moving path; and responding to a spraying starting instruction of the mechanical arm, and controlling the spraying robot to stop moving.
An electronic device comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the path planning method of the spraying robot when executing the computer program.
A computer readable storage medium storing a computer program which when executed by a processor implements the path planning method of the painting robot.
According to the path planning method, the device, the equipment and the storage medium of the spraying robot, the chassis moving path is acquired through the building information model system, the spraying robot can move according to the chassis moving path, and the spraying information of a spraying object is determined through the laser radar and the camera in a double mode, so that the spraying information is more accurate, meanwhile, the spraying moving path is acquired in real time based on an analysis result, adjustment can be made, the spraying robot is more flexible, the spraying effect is better, the working efficiency is high, and the spraying cost is saved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of an application environment of a path planning method of a spraying robot according to an embodiment of the invention;
FIG. 2 is a first flowchart of a path planning method of the painting robot according to the first embodiment of the present invention;
FIG. 3 is a second flowchart of a path planning method of the painting robot according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of a path planning apparatus of a spraying robot according to an embodiment of the invention;
fig. 5 is a schematic diagram of an electronic device according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The path planning method of the spraying robot provided by the embodiment of the invention can be applied to an application environment as shown in fig. 1, and is applied to a path planning system of the spraying robot, wherein the path planning system of the spraying robot comprises the spraying robot and a control end, and the spraying robot communicates with the control end through a network. The control end provides a program of local service for the spraying robot. Further, the control end is a computer end program, an APP program of the intelligent device or a third party applet embedded with other APP. The control terminal can be installed on various electronic devices such as personal computers, notebook computers, smart phones, tablet computers, spraying robots, portable wearable devices and the like. The control terminal can be realized by an independent control terminal or a control terminal cluster formed by a plurality of control terminals.
In an embodiment, as shown in fig. 2, a path planning method for a spraying robot is provided, and the method is applied to the control end in fig. 1 for illustration, and specifically includes the following steps:
s10, acquiring a chassis moving path through a building information model system, and controlling the spraying robot to move according to the chassis moving path.
In this embodiment, the building information model system (BIM, building Information Modeling) is used to build a virtual three-dimensional building engineering model, and a complete building engineering information base consistent with the actual situation is provided for the model by using a digitizing technology. The spraying objects are walls, ceilings and the like in the space structure.
Specifically, the method establishes a spatial three-dimensional model through a building information model system to obtain the specific spatial structure, position and shape of the spraying object. And setting a chassis moving path in the BIM system, and acquiring and controlling the spraying robot to move according to the chassis moving path by the control end to move to the preset wall position.
S20, determining the distance between the laser radar and the spraying object and acquiring the initial state of the spraying object.
In this embodiment, the laser radar is a radar system that detects a characteristic amount of a position, a speed, or the like of a target with a laser beam emitted. The working principle is that a detection signal (laser beam) is emitted to a target, then a received signal (target echo) reflected from the target is compared with the emission signal, and after proper processing, the related information of the target can be obtained. The initial state includes texture, area, spatial structure, whether there is a window, door, etc. of the spray object.
Specifically, the distance between the spraying robot and the spraying object (wall surface) is determined through a laser radar carried by the spraying robot, the initial state of the spraying object is obtained, and the general structural information of the spraying object is primarily determined.
S30, acquiring the current state of the spraying object through a camera, and analyzing the current state by combining a chassis moving path.
Specifically, in the present embodiment, the camera is located at the nozzle on the mechanical arm of the spraying robot, for further finely scanning and analyzing specific information of the spraying object. And acquiring wall surface information in the range of the scanning area at a certain path position of the chassis moving path, and further finely determining the specific position, size, wall surface smoothness, wall surface spraying area, texture and the like of a window or door on the wall surface. And the camera transmits the wall surface information to the control end for analysis.
S40, based on the analysis result, acquiring a spraying moving path of the mechanical arm and spraying the spraying object.
The change of the spraying moving path comprises overlapping and jumping of the moving path and change of the speed and direction of the moving path.
Specifically, in this embodiment, the spraying robot may take the spraying operation while acquiring the spraying moving path, that is, acquire the spraying moving path in synchronization with the spraying operation. Therefore, the wall information can be monitored and acquired in real time, so that the information acquired by the spraying robot is accurate.
S50, acquiring the spraying state of the sprayed object in real time, and adjusting a spraying moving path based on the spraying state to continue spraying the sprayed object until the sprayed object is sprayed.
In this embodiment, the spraying state may be a wall texture after spraying, a thickness of paint, whether there is missing paint, whether there is sagging, or the like.
Specifically, after spraying a certain area of the wall surface, acquiring the spraying state of the area in real time through a camera and sending the spraying state to a control end, and if the spraying defect of the area is obtained, sending an adjustment instruction to a mechanical arm, wherein the mechanical arm adjusts a spraying moving path based on the instruction. And (5) continuing to spray after adjusting the spraying moving path, and combining the chassis moving path to finish spraying the spraying object.
According to the path planning method of the spraying robot, the chassis moving path is obtained through the building information model system, the spraying robot can move according to the chassis moving path, spraying information of a spraying object is determined through the laser radar and the camera in a double mode, so that the spraying information is more accurate, meanwhile, the spraying moving path is obtained in real time based on an analysis result, adjustment can be made, the spraying robot is more flexible, the spraying effect is better, the working efficiency is high, and the spraying cost is saved.
In an embodiment, as shown in fig. 3, in step S40, that is, in the process of acquiring the spraying moving path of the mechanical arm and spraying the spraying object based on the analysis result, the method specifically further includes the following steps:
s401, acquiring the spraying area of a spraying object.
S402, adjusting the spraying width and the movable radius of the mechanical arm based on the area of the spraying area.
In this embodiment, the area of the spraying area is an area to which the radius of the mechanical arm can be sprayed, for example, the chassis moving path corresponding to the chassis of the spraying robot stops, the mechanical arm can move left and right (or move up and down) to the longest distance, meanwhile, the spraying width can enable the spraying to have a width, after spraying, a long-strip-shaped spraying pattern can be formed on the wall surface, and the obtained spraying area at least can include an area defined by the moving radius of the mechanical arm and the size of the spraying pattern with the longest length and the widest width. The area of the size of the spray pattern defined by the radius of movement of the robotic arm, the longest length and the widest width, is custom defined as the minimum spray area.
Specifically, if the area of the area to be sprayed obtained by the camera is smaller than the area of the minimum spraying area, this situation may occur because of encountering objects such as windows and doors or being located at the edge of the wall surface. The area of the area to be sprayed is calculated and the spray width and the radius of the movement are adjusted so that the area to be sprayed does not exceed the area of the area to be sprayed. The mechanical arm can be suitable for fixing a single joint, moving a single joint, fixing a double joint (the arm can be bent once), moving a double joint (the arm can be bent once and moved at the joint of the machine body), and the like. If the fixed double-joint arm can obtain the movable radius of the longest length according to the fixed distance between the spray head and the wall surface, the length of the arm and the Pythagorean theorem. And the actual radius of motion of the mechanical arm is adjusted by acquiring the moving track route of the arm bending.
And if the area of the area to be sprayed, which is acquired by the camera, is larger than or equal to the area of the minimum spraying area, planning a spraying moving path according to the acquired area sequence.
The steps S401 to S402 have the effect of adjusting the spraying width and the movable radius of the mechanical arm to prevent objects such as windows, doors and the like from being sprayed or the spraying distance at the edge of the wall surface from exceeding during spraying
The wall surface ensures the accuracy and the working efficiency of spraying.
In some embodiments, as shown in fig. 3, in step S50, the spraying state of the sprayed object is obtained in real time, and the spraying moving path is adjusted based on the spraying state, which specifically further includes the following steps:
s501, determining whether a missing coating condition occurs in a spraying state according to a spraying image acquired by a camera.
S502, if yes, determining the region position of the missing coating condition, and controlling the mechanical arm to return to the region position.
S503, adjusting the spraying width and the movable radius of the mechanical arm based on the area of the missing coating condition, and adjusting the spraying moving path.
Specifically, in this embodiment, if a missing coating situation occurs in a spray image collected by a camera, a control end obtains spray image information, sends a return instruction to a mechanical arm, controls the mechanical arm to return to a region position, obtains a specific missing coating region area based on the obtained spray image information, and adjusts a spray width and a radius of movement of the mechanical arm.
The steps S501 to S403 are used for detecting the missing coating condition of the spraying state, so as to ensure the working effect of the spraying robot and reduce the working strength of the staff.
In some embodiments, as shown in fig. 3, in step S30, that is, the current state of the spraying object is obtained by the camera, and the current state is analyzed in combination with the chassis moving path, the method specifically further includes the following steps:
s301, obtaining object textures of the spraying object through a depth camera, and analyzing the object textures by combining a chassis moving path.
S302, acquiring a current image of the spraying object through the RGB camera, and analyzing the current image by combining a chassis moving path.
In this embodiment, the object texture may be smoothness of the wall surface before spraying, uniformity, smoothness, thickness, etc. of the pattern and the motif and the paint left on the wall surface after spraying. The current image can be an image and space of the wall surface before spraying, an image and space structure formed on the wall surface after spraying, and the like. The depth camera and the RGB camera may be located at a spray head of the robotic arm.
Specifically, due to the relation of the chassis moving path, the wall surface area, the distance between the depth camera and the RGB camera and the wall surface, the depth camera and the RGB camera can scan and acquire partial areas of the wall surface, and after moving according to the chassis moving path, other areas are scanned and acquired. The depth camera and the RGB camera are mutually assisted, and based on the depth camera and the RGB camera, the control end can acquire wall information more accurately.
The steps S301 to S302 have the effect that the method can obtain wall information more accurately by using the depth camera and the RGB camera.
In some embodiments, as shown in fig. 3, after step S30, that is, after the current state of the spraying object is obtained by the camera and the current state is analyzed in combination with the chassis moving path, the method specifically further includes the following steps:
s303, sensing the surrounding environment through a sensor to acquire target parameters of the surrounding environment.
S304, adjusting spraying parameters based on the target parameters.
S305, spraying by adopting the adjusted spraying parameters, and obtaining and storing spraying graphic information.
In this embodiment, the target parameters include humidity and temperature in the air. The spraying parameters comprise spraying pressure, spraying dosage, spray head size, spraying speed and the like. The target parameters will have a certain impact on the spray effect. For example: when the humidity in the air is high, the paint with a certain spraying amount can be longer than the drying time when the humidity is normal at ordinary times, and even sagging can be caused.
Specifically, the sensor senses the surrounding environment to obtain the temperature, humidity and the like in the surrounding environment. And obtaining a target parameter-optimal spraying parameter data table, and adjusting the spraying parameters, wherein the spraying parameters can enable the spraying effect after spraying to be good. And spraying by adopting the adjusted spraying parameters, obtaining and storing spraying graphic information for subsequent updating.
The steps S303 to S305 are effective in combining the target parameter and the spraying parameter to make the spraying effect better.
In some embodiments, as shown in fig. 3, before step S304, that is, before adjusting the spraying parameters based on the target parameters, the method specifically further includes the following steps:
s3041, training a deep learning model by taking target parameters, spraying parameters and spraying graphic information as input parameters of the model, and outputting optimal spraying parameters.
S3042, generating a target parameter-optimal spraying parameter data table based on the target parameter and the optimal spraying parameter.
In this embodiment, deep learning is the inherent law and expression hierarchy of learning sample data, and information obtained in the learning process is to data such as text, image and sound, so that the machine can have the ability to analyze learning like a person, and can recognize and analyze the data such as text, image and sound. The spraying graphic information can be images and image data information with good spraying effect of the spraying robot.
Specifically, a large number of target parameters, spraying parameters and corresponding spraying graphic information are obtained from a database, training is carried out on the target parameters and the spraying parameters, the middle spraying graphic information is iteratively updated, and error loss values of the middle spraying graphic information and the corresponding spraying graphic information are obtained. And when the error loss value is converged to a certain degree, namely the middle spraying graphic information is approximately the same as the corresponding spraying graphic information, acquiring the corresponding optimal spraying parameters. And generating a target parameter-optimal spraying parameter data table for subsequent data acquisition and storage according to the target parameter and the optimal spraying parameter.
The steps S3041 to S3042 serve to reduce the influence of the target parameters on the spraying effect, and learn the target parameters through a deep learning model, so that the spraying effect is better.
In some embodiments, as shown in fig. 3, the method of the present application specifically includes the following steps:
s60, responding to a spraying completion instruction returned by the mechanical arm, and controlling the spraying robot to continue to move along the chassis moving path.
And S70, responding to a spraying starting instruction of the mechanical arm, and controlling the spraying robot to stop moving.
Specifically, in the present embodiment, two control modes are provided.
Firstly, responding to a spraying completion instruction returned by the mechanical arm, controlling the spraying robot to continuously move to a certain area range in the wall along a chassis moving path, at the moment, acquiring wall surface image information through a laser radar, a camera and the like and planning a spraying moving path, sending the pre-starting instruction to the spraying robot by the mechanical arm, controlling the spraying robot to stop moving by a control end at the moment, stabilizing a machine body and moving the mechanical arm after a period of time, and sending the starting instruction to the spraying robot by the mechanical arm, wherein the control end controls the mechanical arm to spray.
Secondly, in response to a spraying completion instruction returned by the mechanical arm, the spraying robot is controlled to continuously move to a designated position along a chassis moving path, the spraying robot is controlled to stop moving, the mechanical arm is controlled to spray, and the mechanical arm of the spraying robot is controlled to spray by the control end.
Steps S60 to S70 function in controlling the painting robot painting in conjunction with the chassis moving path.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
In an embodiment, a path planning device of a spraying robot is provided, where the path planning device of the spraying robot corresponds to the path planning method of the spraying robot in the above embodiment one by one. As shown in fig. 4, the path planning apparatus of the painting robot includes a chassis moving path moving module 10, an initial state acquiring module 20, a state analyzing module 30, a painting module 40, and a painting moving path adjusting module 50. The functional modules are described in detail as follows:
the chassis moving path moving module 10 is used for acquiring a chassis moving path through the building information model system and controlling the spraying robot to move according to the chassis moving path;
an initial state acquisition module 20, configured to determine a distance from a spraying object by using a laser radar and acquire an initial state of the spraying object;
the state analysis module 30 is used for acquiring the current state of the spraying object through the camera and analyzing the current state by combining the chassis moving path;
the spraying module 40 is used for acquiring a spraying moving path of the mechanical arm and spraying a spraying object based on the analysis result;
the spraying moving path adjusting module 50 is configured to obtain a spraying state of the sprayed object in real time, and adjust a spraying moving path based on the spraying state, so as to continue spraying the sprayed object until the sprayed object is finished.
The specific definition of the path planning apparatus of the painting robot may be referred to as the definition of the path planning method of the painting robot, which is not described herein. The various modules in the path planning apparatus of the spraying robot described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or independent of a processor in the electronic device, or may be stored in software in a memory in the electronic device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, an electronic device is provided, which may be a control terminal, and an internal structure diagram thereof may be as shown in fig. 5. The electronic device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic device includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the electronic equipment is used for spraying the data related to the path planning method of the robot. The network interface of the electronic device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements a path planning method for a painting robot.
In an embodiment, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor executes the computer program to implement the path planning method of the spraying robot according to the foregoing embodiment, for example, S10 to S50 shown in fig. 2. Alternatively, the processor, when executing the computer program, implements the functions of the modules/units of the path planning apparatus of the painting robot in the above embodiment, such as the functions of the modules 10 to 50 shown in fig. 4. To avoid repetition, no further description is provided here.
In an embodiment, a computer readable storage medium is provided, on which a computer program is stored, which when executed by a processor, implements the path planning method of the spraying robot of the above embodiment, for example, S10 to S50 shown in fig. 2. Alternatively, the computer program, when executed by the processor, implements the functions of the modules/units in the path planning apparatus of the painting robot in the above-described apparatus embodiment, such as the functions of the modules 10 to 50 shown in fig. 4. To avoid repetition, no further description is provided here.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments of the present application may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (8)
1. A path planning method of a painting robot, comprising:
acquiring a chassis moving path through a building information model system, and controlling the spraying robot to move according to the chassis moving path;
determining the distance between the laser radar and the spraying object and acquiring the initial state of the spraying object; the initial state comprises texture, area, space structure, window and door of the spraying object;
acquiring the current state of the spraying object through a camera, and analyzing the current state by combining the chassis moving path; the current state is the position, the size, the wall smoothness, the wall spraying area and the texture of a window or a door on the wall;
based on the analysis result, acquiring a spraying moving path of the mechanical arm and spraying the spraying object;
acquiring a spraying state of the spraying object after spraying in real time, and adjusting the spraying moving path based on the spraying state to continue spraying the spraying object until the spraying of the spraying object is completed;
based on the analysis result, the method for obtaining the spraying moving path of the mechanical arm and spraying the spraying object comprises the following steps:
acquiring the spraying area of the spraying object;
adjusting the spraying width and the movable radius of the mechanical arm based on the spraying area;
if the area of the area to be sprayed, which is obtained through the camera, is smaller than the area of the minimum spraying area, the fixed double-joint arm obtains the movable radius of the longest length according to the set fixed distance from the spray head to the wall surface, the length of the arm and the Pythagorean theorem, and adjusts the movable radius of the actual mechanical arm by obtaining the moving track route of the bending of the arm; if the area of the area to be sprayed, which is acquired by the camera, is larger than or equal to the area of the minimum spraying area, planning a spraying moving path according to the acquired area sequence;
further comprises:
determining whether a coating missing condition occurs in a coating state according to the coating image acquired by the camera;
if yes, determining the region position of the missing coating condition, and controlling the mechanical arm to return to the region position;
and adjusting the spraying width and the movable radius of the mechanical arm based on the area of the missing coating condition, and adjusting the spraying moving path.
2. The path planning method of a painting robot according to claim 1, wherein the acquiring the current state of the painting object by a camera and analyzing the current state in combination with the chassis moving path further comprises:
acquiring object textures of the spraying object through a depth camera, and analyzing the object textures by combining the chassis moving path;
and acquiring the current image of the spraying object through an RGB camera, and analyzing the current image by combining the chassis moving path.
3. The path planning method of a painting robot according to claim 1, wherein after the current state of the painting object is obtained by a camera and the current state is analyzed in combination with the chassis moving path, further comprising:
sensing the surrounding environment through a sensor to obtain target parameters of the surrounding environment;
adjusting spraying parameters based on the target parameters;
and spraying by adopting the adjusted spraying parameters, obtaining spraying graphic information and storing the spraying graphic information.
4. A path planning method of a painting robot according to claim 3, characterized in that before the adjusting of the painting parameters based on the target parameters, it further comprises:
taking the target parameters, the spraying parameters and the spraying graphic information as input parameters of a model, training a deep learning model, and outputting optimal spraying parameters;
and generating a target parameter-optimal spraying parameter data table based on the target parameter and the optimal spraying parameter.
5. The path planning method of a painting robot according to claim 1, further comprising:
responding to a spraying completion instruction returned by the mechanical arm, and controlling the spraying robot to continue to move along the chassis moving path;
and responding to a spraying starting instruction of the mechanical arm, and controlling the spraying robot to stop moving.
6. A path planning apparatus of a painting robot, comprising:
the chassis moving path moving module is used for acquiring a chassis moving path through the building information model system and controlling the spraying robot to move according to the chassis moving path;
the initial state acquisition module is used for determining the distance between the laser radar and the spraying object and acquiring the initial state of the spraying object; the initial state comprises texture, area, space structure, window and door of the spraying object;
the state analysis module is used for acquiring the current state of the spraying object through a camera and analyzing the current state by combining the chassis moving path; the current state is the position, the size, the wall smoothness, the wall spraying area and the texture of a window or a door on the wall;
the spraying module is used for acquiring a spraying moving path of the mechanical arm based on the analysis result and spraying the spraying object;
the spraying moving path adjusting module is used for acquiring the spraying state of the spraying object after being sprayed in real time, adjusting the spraying moving path based on the spraying state and continuing to spray the spraying object until the spraying of the spraying object is completed;
the method specifically comprises the following steps: acquiring the spraying area of the spraying object, adjusting the spraying width and the movable radius of the mechanical arm based on the spraying area, if the area of the area to be sprayed, which is acquired by a camera, is smaller than the area of the minimum spraying area, fixing the movable radius of the longest length of the double-joint arm according to the set fixed distance from the spray head to the wall surface, the arm length and the Pythagorean theorem, adjusting the movable radius of the actual mechanical arm by acquiring the moving track route of arm bending, and if the area of the area to be sprayed, which is acquired by the camera, is larger than or equal to the area of the minimum spraying area, planning a spraying moving path according to the acquired area sequence;
determining whether a coating missing condition occurs in a coating state according to the coating image acquired by the camera;
if yes, determining the region position of the missing coating condition, and controlling the mechanical arm to return to the region position;
and adjusting the spraying width and the movable radius of the mechanical arm based on the area of the missing coating condition, and adjusting the spraying moving path.
7. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements a path planning method of a painting robot according to any one of claims 1 to 5 when the computer program is executed.
8. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements a path planning method of a painting robot according to any one of claims 1 to 5.
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| CN202211308712.0A CN115464660B (en) | 2022-10-25 | 2022-10-25 | Path planning method, device and equipment of spraying robot and storage medium |
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| CN116422551A (en) * | 2023-04-13 | 2023-07-14 | 盛景智能科技(嘉兴)有限公司 | Special-shaped workpiece spraying method, device, equipment, storage medium and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105214876A (en) * | 2015-09-29 | 2016-01-06 | 深圳瑞和建筑装饰股份有限公司 | From mobile spray robot |
| WO2019060920A1 (en) * | 2017-09-25 | 2019-03-28 | Canvas Construction, Inc. | Automated wall finishing system and method |
| CN108580215A (en) * | 2018-05-16 | 2018-09-28 | 延锋彼欧（沈阳）汽车外饰系统有限公司 | Spraying method and device, the storage medium and terminal of paint |
| CN110743735A (en) * | 2019-10-17 | 2020-02-04 | 佛山智能装备技术研究院 | Intelligent spraying system based on robot platform |
| CN212041152U (en) * | 2019-11-18 | 2020-12-01 | 武汉三江航天远方科技有限公司 | Automatic sand blasting and spraying system suitable for buried oil tank lining transformation |
| CN111054553A (en) * | 2020-01-02 | 2020-04-24 | 辽宁石油化工大学 | Multifunctional split type full-automatic indoor spraying robot |
| CN112780053A (en) * | 2020-12-30 | 2021-05-11 | 上海雅跃智能科技有限公司 | Self-propelled spraying robot and outer wall spraying operation system |
| CN112827705A (en) * | 2020-12-31 | 2021-05-25 | 镇江蓝舶科技股份有限公司 | High-precision crawler vertical paint spraying robot |
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