KR20230003751A - Painting robot with real-time vision sensing module - Google Patents

Abstract

The present invention relates to a painting robot with a real-time vision detection module, which paints walls of a building while detecting the condition of a wall of the building in real time, thereby ensuring the quality of painting regardless of the condition of the wall. According to the present invention, the painting robot with a real-time vision detection module comprises: a painting module spraying paint for painting a wall while moving in an upward and downward direction with respect to the wall; and the vision detection module connected to the painting module to detect the condition of the wall in real time. The painting module includes: a painting frame capable of moving along the wall; a paint spraying unit spraying the paint on the wall while moving left or right within the paint frame; and an endless winder unit mounted on the painting frame to adjust a passing position of a wire coming down the wall from a wire installation member installed on the rooftop of the building to control position movement of the painting frame in the up and down directions on the wall. The vision detection module includes: a laser emission unit emitting a laser to the wall; a vision unit photographing the laser emitted on the wall; and a vision frame mounted on the painting frame to close the laser emission unit and the vision unit so that scattered paint due to the paint sprayed by the paint spraying unit is prevented from sticking to the laser emission unit or the vision unit. The laser emission unit and the vision unit are exposed to the outside through the position movement in a state hidden by the vision frame to detect the condition of the wall surface, and are prevented from coming in contact with the scattered paint through return to an original position when detection is completed.

Description

Painting robot with real-time vision sensing module

The present invention relates to a painting robot equipped with a real-time vision sensing module, and relates to a painting robot equipped with a real-time vision sensing module capable of painting a wall of a building while sensing a state of the wall of the building in real time.

In the case of coating the wall of a building with paint, printing various images such as pictures, letters, symbols, logos, etc. on the wall with paint for the image of the building, or coating the wall of the building with a coating, conventionally, on the roof of the building A workbench is movably suspended on a rope using a gondola, etc., and a worker rides on such a workbench to directly apply, image, or coat work, or while the worker descends on a rope fixed to the rooftop, have been doing the same thing.

However, the above work method has the disadvantage that the worker has to work directly at a high position in the building, so he is always exposed to the risk of falling, and the risk of accident increases even more on days when the wind blows somewhat strongly. .

In addition, since the operator performs the application or image operation at a high place, the movement of the operator is not free, and this causes a problem in that the application or image operation is delayed, resulting in a long work period.

And, in addition to the risk of industrial accidents, due to the nature of manual work by workers, labor costs are unnecessarily increased, which has become a factor in increasing construction costs.

For the above reasons, a device for automatically applying or printing various images such as pictures, letters, symbols, logos, etc. has been developed for coating the outer wall of a building with paint or for the image of a building, but conventional coating or printing devices It is a reality that consumers are not completely satisfied in terms of quality.

This is because the conventional coating or printing apparatus proceeds the coating or printing operation in a uniform manner without considering the characteristics of the state of the outer wall of the building.

An object of the present invention is to detect the state of the wall in real time in painting the wall of a building and control the characteristics of paint spray based on the detected result to ensure the quality of painting regardless of the state of the wall Real-time vision An object of the present invention is to provide a painting robot equipped with a sensing module.

A painting robot equipped with a real-time vision sensing module according to the present invention is a painting robot for painting the wall of a building while detecting the state of the wall of the building in real time, while moving in a vertical direction with respect to the wall surface. A painting module spraying paint for painting; and a vision sensing module connected to the painting module to sense the state of the wall surface in real time, wherein the painting module includes a painting frame capable of moving along the wall surface, and a leftward or rightward direction within the painting frame. The paint spraying unit for spraying the paint on the wall surface while moving in the direction, and the passage position of the wire coming down the wall from the wire installation member installed on the roof of the building are adjusted so that the upper and lower surfaces of the painting frame on the wall surface are adjusted. An endless winder mounted on the painting frame to adjust positional movement in the direction, and the vision sensing module includes a laser irradiation unit for irradiating a laser on the wall, and a vision unit for photographing the laser irradiated on the wall. , And a vision frame mounted on the painting frame to close the laser irradiation unit and the vision unit to prevent scattering paint by the paint sprayed by the paint ejection unit from sticking to the laser irradiation unit or the vision unit. The laser irradiation unit and the vision unit are exposed to the outside through position movement in a state concealed by the vision frame to sense the state of the wall surface, and then return to the original position when the detection is completed, so that the scattering paint It may be characterized in that contact with is prevented.

The vision frame of the coating robot equipped with the real-time vision sensing module according to the present invention is a cover frame for maintaining the laser irradiation unit and the vision unit in a concealed state, and the laser irradiation unit and the vision unit are exposed to the outside through a change in position. It may be characterized by having an opening and closing frame providing an exposure space to be exposed.

The laser irradiation unit and the vision unit of the painting robot equipped with the real-time vision sensing module according to the present invention are exposed to the outside through position movement in a state hidden by the vision frame, and then positioned in the left direction or the right direction It may be characterized in that the state of the wall is sensed in real time while being moved.

The laser irradiation unit and the vision unit of the painting robot equipped with the real-time vision sensing module according to the present invention are moved when the painting frame is fixed to a predetermined position on the wall in the vertical direction by the endless winder unit. After being exposed to the outside through the exposure space provided by the change in position of the opening and closing frame, the state of the wall surface may be sensed in real time while the position is moved in the left direction or the right direction.

The paint spraying unit of the painting robot equipped with the real-time vision sensing module according to the present invention returns to the original position after the detection of the state of the wall surface is completed while the laser irradiation unit and the vision unit are moved in the left direction or the right direction. After the laser irradiation unit and the vision unit are closed by a change in position of the opening and closing frame, the position is moved in the left direction or the right direction based on the state of the wall surface detected by the laser irradiation unit and the vision unit. It may be characterized in that the paint is sprayed on the wall surface.

The exposure space of the painting robot equipped with the real-time vision sensing module according to the present invention is provided on the lower side of the cover frame, and the laser irradiation unit and the vision unit are exposed to the outside through the exposure space in a downward direction. It may be characterized in that the location is moved to.

The paint ejection unit of the painting robot equipped with the real-time vision sensing module according to the present invention is positioned in the left direction or the right direction with a time difference from the movement of the laser irradiation unit and the vision unit in the left direction or the right direction. It may be characterized in that the paint is sprayed on the wall surface while moving.

According to the painting robot equipped with the real-time vision sensing module according to the present invention, by detecting the state of the wall of a building in real time and controlling the characteristics of paint spraying based on the detected result, the quality of painting can be improved regardless of the state of the wall. can be guaranteed

In addition, it is possible to maximize the accuracy of detecting the state of the wall by preventing scattering paint from sticking to the module for detecting the state of the wall of the building.

1 is a schematic perspective view for explaining a situation in which a wall of a building is painted by a painting robot equipped with a real-time vision sensing module according to the present invention;
Figure 2 is a schematic perspective view for explaining a painting robot equipped with a real-time vision sensing module according to the present invention.
3 to 10 are views for explaining a situation in which the wall of a building is painted while the state of the wall of the building is sensed in real time by the vision sensing module provided to the painting robot equipped with the real-time vision sensing module according to the present invention.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. However, the spirit of the present invention is not limited to the presented embodiments, and those skilled in the art who understand the spirit of the present invention may add, change, delete, etc. other elements within the scope of the same spirit, through other degenerative inventions or the present invention. Other embodiments included within the scope of the inventive idea can be easily proposed, but it will also be said to be included within the scope of the inventive concept.

In addition, components having the same function within the scope of the same idea appearing in the drawings of each embodiment are described using the same reference numerals.

1 is a schematic perspective view for explaining a situation in which a wall of a building is painted by a painting robot equipped with a real-time vision sensing module according to the present invention, and FIG. 2 is a painting robot equipped with a real-time vision sensing module according to the present invention. It is a schematic perspective view for explanation.

1 and 2, a painting robot (10, hereinafter referred to as "painting robot") equipped with a real-time vision sensing module according to the present invention is a robot for painting the wall (W) of a building (ST), It can be a painting robot that can guarantee the quality of painting regardless of the state of the wall (W) by detecting the state of the wall (W) of the building (ST) in real time and controlling the characteristics of paint spraying based on the detected result. there is.

Here, the painting robot 10 can be used not only for painting the wall surface (W), but also for printing a specific image on the wall surface (W), and furthermore, the wall surface (W). It may also be used for spraying a coating agent for coating and spraying a cleaning agent such as water for washing the wall surface (W).

Hereinafter, a case in which the painting robot 10 is used for coating and painting the wall surface W of the building ST will be described as an example.

The painting robot 10 is connected to the painting module 100 for painting the wall surface W and the painting module 100 while moving in vertical directions D1 and D2 based on the wall surface W, It may include a vision detection module 200 for detecting the state of the wall (W) in real time.

The painting module 100 moves in the left direction (D3) or right direction (D4) within the painting frame 110, which is positionally movable along the wall surface (W), and the wall surface (W). ), the paint spraying unit 120 for spraying paint, and the passing position of the wire WR coming down the wall surface W from the wire installation member DR installed on the roof of the building ST are adjusted. In order to adjust the positional movement of the painting frame 110 in the vertical directions D1 and D2 on the wall surface W, an endless winder 130 mounted on the painting frame 110 may be included. can

The painting frame 110 may define a movement range of the paint spraying part 120 in left and right directions D3 and D4, and the paint spraying part 120 directly sprays the paint on the wall surface W. It may be a kind of injection nozzle for

Here, the paint spraying unit 120 is not limited to directly spraying the paint onto the wall surface (W), and may spray the paint onto a coating roller that rotates in contact with the wall surface (W).

That is, the painting robot 10 according to the present invention may directly spray the paint onto the wall surface (W) in order to paint the wall surface (W), or by spraying the paint onto the coating roller and then rotating the coating roller. The wall surface (W) may be coated.

When paint is sprayed on the wall surface (W) by the paint spraying unit 120, the painting frame 110 covers the paint spraying unit 120 and protects the paint spraying unit 120. 112, a lower frame 114, a left frame 116 and a right frame 118, and the like.

The painted frame 110 may have a rectangular parallelepiped shape as a whole due to the upper frame 112, the lower frame 114, the left frame 116 and the right frame 118, but is not necessarily limited thereto, It can be changed to various shapes such as a semi-cylindrical shape with an open front.

On the other hand, the painting frame 110 supports the left and right direction support rails 111 for supporting and realizing the movement of the paint spraying part 120 in the left and right directions (D3 and D4) and the forward and backward directions (D5 and D6). It may include front and rear support rails (not shown) for supporting and implementing movement.

The left-right direction support rail 111 and the front-rear direction support rail may be surrounded by the upper frame 112 , the lower frame 114 , the left frame 116 , and the right frame 118 .

The movement of the paint spraying unit 120 along the left-right direction support rail 111 or the movement along the front-back direction support rail may be implemented by a power supply unit such as a motor (not shown), and various belts and various gears Power may be transmitted and implemented through components such as the like.

Meanwhile, the movement of the paint ejection unit 120 in the left and right directions D3 and D4 and the movement in the front and rear directions D5 and D6 are not limited to the above-described rail method, and all known movement means are used. can be applied

The painting frame 110 is positioned at a predetermined position along the vertical directions D1 and D2 on the wall surface W by the wire WR whose length is controlled by the endless winder unit 130, The paint spraying unit 120 sprays the paint on the wall surface W while moving in the left and right directions D3 and D4 along the left and right direction support rails 111 within the painting frame 110 .

When the spraying of the paint is completed, the length of the wire WR is changed by the endless winder part 130, and the painting frame 110 is in a state where the wheel part 140 is in close contact with the wall surface W. It moves in the vertical directions D1 and D2 and is positioned at another predetermined position.

After that, the paint spraying by the paint spraying unit 120 proceeds repeatedly.

As described above, when a certain area along the vertical direction (D1, D2) of the wall surface (W) is coated, the wire installation member (DR) can be moved along the left and right directions (D3, D4), and thereby the painting frame ( 110) also moves along the left and right directions D3 and D4.

When the painting frame 110 moves along the left and right directions D3 and D4, the painting frame 110 moves in the vertical directions D1 and D2 according to the change in the length of the wire WR, The painting of the wall surface W is completed by movement of the paint sprayer 120 in the left and right directions D3 and D4 within the painting frame 110 and spraying of the paint by the paint sprayer 120 .

The vision detection module 200 may be a component connected to the painting module 100 to sense the state of the wall surface W in real time.

Here, the state of the wall surface (W) may mean a state of the surface of the wall surface (W), and specifically may include whether or not a protruding portion exists on the wall surface (W).

One of the criteria for evaluating the quality of painting of the wall surface W may be a uniform film thickness, and the film thickness is the amount of paint sprayed by the paint sprayer 120, the spray pressure of the paint, or the paint sprayer ( 120) and the wall (W).

For example, if there is a protruding part in the process of painting the wall surface (W), the distance between the protruding part and the paint spraying unit 120 must be closer than other parts, and in this case, the amount of sprayed paint or the spraying pressure of the paint must be reduced to achieve the same coating thickness as that of other parts.

Alternatively, the paint spraying unit 120 should be moved along the forward and backward directions (D5, D6) so that the distance between the paint spraying unit 120 and the protruding part is increased so that the coating film thickness equal to that of the other parts can be painted. There is.

As described above, in order to realize a uniform film thickness regardless of the state of the wall surface (W), it is necessary to accurately detect the state of the wall surface (W) and control the characteristics of the paint spraying unit 120 based on the detected result. , In the present invention, this is solved by the vision sensing module 200.

The vision sensing module 200 includes a laser irradiation unit 210 that irradiates laser onto the wall surface (W), a vision unit 220 that photographs the laser irradiated onto the wall surface (W), and the paint ejection unit 120 ) is mounted on the painting frame 110 to prevent scattering paint from the paint sprayed by the laser irradiation unit 210 or the vision unit 220 from sticking to the laser irradiation unit 210 and the vision unit 210 A vision frame 230 may be included to close the portion 220 .

In the drawings, the laser irradiation unit 210 and the vision unit 220 are shown as one component, but are not necessarily limited thereto.

The laser irradiation unit 210 may irradiate a laser to a predetermined area along the vertical directions D2 and D2 on the wall surface W, and the vision unit 220 may irradiate the wall surface W to which the laser is irradiated. It may be a camera, which is a kind of recording device that takes pictures.

The state of the wall surface (W), that is, the degree of protrusion of the wall surface (W) can be detected through the image of the laser irradiated onto the wall surface (W) photographed by the vision unit 220, and the detected Based on the result, the paint spraying unit 120 is controlled by a control unit (not shown).

The laser irradiation unit 210 and the vision unit 220 may exist in a state hidden by the vision frame 230, and for this, the vision frame 230 is a cover having a predetermined inner space S1 It may include an opening/closing frame 234 providing an exposure space (S2, see FIG. 4) for exposing the laser irradiation unit 210 and the vision unit 220 to the outside through the frame 232 and position change. .

The laser irradiation unit 210 and the vision unit 220 are exposed to the outside through position movement in a state concealed by the vision frame 230 to detect the state of the wall surface W, and the detection is complete When it is returned to the original position, contact with the scattering paint can be prevented.

A process of detecting the state of the wall surface W by the vision sensing module 200 will be described in detail with reference to FIGS. 3 to 10 .

3 to 10 are views for explaining a situation in which the wall of a building is painted while the state of the wall of the building is sensed in real time by the vision sensing module provided to the painting robot equipped with the real time vision sensing module according to the present invention.

Referring to FIG. 3 , the painting frame 110 is fixed at a predetermined position in the vertical directions D1 and D2 of the wall surface W of the building ST by the endless winder unit 130 .

At this time, the laser irradiation unit 210 and the vision unit 220 may be in a hidden state within the vision frame 230 .

Referring to FIG. 4 , the position of the opening and closing frame 234 may be changed relative to the cover frame 232, and an example of the position change may be a sliding movement.

When the opening/closing frame 234 slides with respect to the cover frame 232, an exposure space S2 for exposing the laser irradiation unit 210 and the vision unit 220 to the outside is provided.

The exposure space S2 may be provided on the lower side of the cover frame 232 .

The sliding direction of the opening/closing frame 234 is not limited to a specific direction, and a method for providing the exposure space S2 may also be variously changed.

Referring to FIG. 5 , the laser irradiation unit 210 and the vision unit 220 are in a state hidden by the vision frame 230 to the outside through the exposure space S2 provided by the positional change of the opening/closing frame 234. may be exposed.

The laser irradiation unit 210 and the vision unit 220 may be moved in a lower direction D2 so as to be exposed to the outside through the exposure space S2.

6 and 7, the laser irradiation unit 210 and the vision unit 220 exposed to the outside through the exposure space S2 are moved in a left direction D3 or a right direction D4. The state of the wall (W) can be detected in real time.

Here, the detection of the state of the wall surface (W), as described with reference to FIGS. 1 and 2, the laser is irradiated toward the wall surface (W) by the laser irradiation unit 210, and the image is captured by the vision unit 220. It can be progressed through the image of the laser irradiated on the wall surface (W).

Referring to FIGS. 8 and 9 , when the detection of the state of the wall surface W is completed while the position of the laser irradiator 210 and the vision unit 220 is moved in the left direction D3 or the right direction D4, the upward direction It can be returned to the original position by moving the position to (D1).

When the laser irradiation unit 210 and the vision unit 220 are returned to their original positions, the position of the opening/closing frame 234 may be changed by sliding with respect to the cover frame 232, and thus the laser irradiation unit 210 and The vision unit 220 may be closed.

Referring to FIG. 10, the paint spraying unit 120 sprays paint on the wall surface W while moving in the left direction D3 or right direction D4 within the painting frame 110. In this process, the control unit The characteristics of the paint spraying unit 120 are controlled based on the state of the wall surface W detected by the laser irradiation unit 210 and the vision unit 220 .

Here, the characteristics of the paint spraying unit 120 are the amount of sprayed paint, the spraying pressure of the paint, or the distance between the paint spraying unit 120 and the wall surface W, as described with reference to FIGS. 1 and 2 . etc.

In the process of painting the wall surface (W) by the paint spraying unit 120, the laser irradiation unit 210 and the vision unit 220 may be in a closed state within the vision frame 230. It is possible to prevent the adhesion of scattering paint to the laser irradiation unit 210 and the vision unit 220 in advance, thereby preventing the accuracy of detecting the state of the wall surface W from being deteriorated in advance.

As described above, when the spraying of the paint by the paint spraying unit 120 is completed, the painting frame 110 is moved in the vertical directions D1 and D2 by the endless winder unit 130, and FIGS. 3 to 10 The process described in reference will be repeated.

Meanwhile, in the above description, the paint spraying by the paint spraying unit 120 proceeds after the state of the wall surface W is detected by the laser irradiation unit 210 and the vision unit 220 and closed. The paint ejection unit 120 moves in the left direction D3 or the right direction D4 of the laser irradiation unit 210 and the vision unit 220 with a time difference and moves in the left direction D3 or the right direction D3. The paint may be sprayed on the wall surface (W) while being moved in the right direction (D4).

In the above, the configuration and characteristics of the present invention have been described based on the embodiments according to the present invention, but the present invention is not limited thereto, and various changes or modifications can be made within the spirit and scope of the present invention. It is apparent to those skilled in the art, and therefore such changes or modifications are intended to fall within the scope of the appended claims.

For example, in the above, the laser irradiation unit 210 and the vision unit 220 have been described as components for detecting the state of the wall surface W, but are not necessarily limited thereto, and various components such as a stereo camera or an optical sensor have been described. elements can be applied.

10: Painting robot equipped with real-time vision sensing module
100: painting module
110: painting frame
120: paint injection unit
130: Endless winder part
140; wheel part
200: vision detection module
210: laser irradiation unit
220: vision department
230: vision frame
232: cover frame
234: opening and closing frame

Claims (7)

In the painting robot equipped with a real-time vision sensing module for painting the wall of the building while detecting the state of the wall of the building in real time,
a painting module spraying a paint for painting the wall while moving in a vertical direction relative to the wall; and
A vision detection module connected to the painting module to sense the state of the wall in real time; includes,
The painting module,
A painting frame capable of positioning along the wall surface, a paint spraying unit for spraying the paint onto the wall surface while moving in a leftward or rightward direction within the painting frame, and a wire installation member installed on the roof of the building to remove the surface of the wall surface. An endless winder mounted on the painting frame to adjust the position of the wire coming down to adjust the positional movement in the vertical direction on the wall surface of the painting frame,
The vision sensing module,
A laser irradiation unit that irradiates a laser onto the wall surface, a vision unit that photographs the laser irradiated onto the wall surface, and scattering paint by the paint sprayed by the paint ejection unit are prevented from sticking to the laser irradiation unit or the vision unit. To prevent this, a vision frame is mounted on the painting frame to close the laser irradiation unit and the vision unit,
The laser irradiation unit and the vision unit,
Real-time, characterized in that contact with the scattering paint is prevented by returning to the original position when the detection is completed after being exposed to the outside through positional movement in a state hidden by the vision frame to detect the state of the wall surface A painting robot equipped with a vision sensing module.
According to claim 1,
The vision frame,
A cover frame for maintaining the laser irradiation unit and the vision unit in a concealed state, and an opening and closing frame providing an exposure space for exposing the laser irradiation unit and the vision unit to the outside through a change in position Real-time vision, characterized in that A painting robot equipped with a sensing module.
According to claim 2,
The laser irradiation unit and the vision unit,
Equipped with a real-time vision detection module, characterized in that for detecting the state of the wall surface in real time while being exposed to the outside through position movement in a state hidden by the vision frame and moving in the left direction or the right direction. painting robot.
According to claim 3,
The laser irradiation unit and the vision unit,
When the painting frame is fixed to a predetermined position on the wall surface in the vertical direction by the endless winder unit, it is moved and exposed to the outside through the exposure space provided by the positional change of the opening and closing frame. A painting robot equipped with a real-time vision sensing module, characterized in that for detecting the state of the wall in real time while moving in the left direction or the right direction.
According to claim 4,
The paint spraying part,
When the laser irradiation unit and the vision unit are moved in the left direction or the right direction, and the detection of the state of the wall surface is completed and returned to the original position, the laser irradiation unit and the vision unit are closed by the positional change of the opening and closing frame. , Paint equipped with a real-time vision detection module, characterized in that spraying the paint on the wall while moving in the left direction or the right direction based on the state of the wall surface detected by the laser irradiation unit and the vision unit robot.
According to claim 4,
The exposure space,
Provided on the lower side of the cover frame,
The laser irradiation unit and the vision unit,
A painting robot equipped with a real-time vision sensing module, characterized in that the position is moved in a downward direction so as to be exposed to the outside through the exposure space.
According to claim 4,
The paint spraying part,
A real-time vision sensing module, characterized in that for injecting the paint on the wall surface while moving the position of the laser irradiation unit and the vision unit in the left direction or the right direction with a time difference to the left direction or the right direction Equipped painting robot.

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