WO2020077662A1

WO2020077662A1 - Painting system and method for industrial building high wall surface

Info

Publication number: WO2020077662A1
Application number: PCT/CN2018/111726
Authority: WO
Inventors: 狄一山; 陈义明
Original assignee: 广东飞码机器人科技有限公司; 飞码机器人私人有限公司
Priority date: 2018-10-19
Filing date: 2018-10-24
Publication date: 2020-04-23
Also published as: CN109306794A

Abstract

Provided is a painting system for an industrial building high wall surface, the painting system comprising a moving base (100), stabilizer overhanging supporting legs (120) being arranged at the bottom of the moving base (100); a double-rod telescopic lifting mechanism (200) arranged on the moving base (100); and a mechanical arm structure (300) arranged on and driven by the double-rod telescopic lifting mechanism (200) to vertically rise and fall, a spraying gun (400) being arranged on an end effector of the mechanical arm structure (300), and the spraying gun (400) being externally connected to paint. A controller is arranged in the moving base (100); and the moving base (100), the double-rod telescopic lifting mechanism (200), the mechanical arm structure (300), the spraying gun (400) and the stabilizer overhanging supporting legs (120) are all connected to the controller and are controlled by same to operate. Further provided is a painting method for the system. The system is high in automation degree, reduces dependency on manual work and is high in spraying quality and efficiency.

Description

Surface coating system and method for high walls of industrial buildings

Technical field

The invention relates to the field of automatic coating of high-rise building walls, in particular to a system and method for coating high-wall surfaces of industrial buildings.

Background technique

The development of industry has brought about three-story height and even higher height requirements for walls and ceilings to adapt to large-scale equipment and materials. At present, the spraying task of high-rise indoor surfaces is a labor-intensive task, which uses traditional techniques to spray, which is time-consuming and laborious. Roller paint is not suitable for wall work with a height of more than 3 meters, and is slow and laborious. It needs to be coated with two or more layers of paint. Spraying is a method of quickly applying a single coating, but with this spraying method, manual spraying of industrial buildings often requires the use of scissors lifts or scaffolds to reach a higher position, which is undoubtedly a waste of time, and because of the coating The unstable position of the loader will cause uneven spraying quality and potential safety hazards. Low spraying (coating) conversion rate and changes in paint thickness are common problems in manual spraying, especially in the precise positioning of spray guns and the control of paint distribution; the low efficiency of traditional spraying industry is not The growing demand for construction and maintenance in various places is contradictory. The traditional spraying industry is facing the problem of shortage of skilled workers and increasing wages of workers in the future. Inefficient resource management and the use of unskilled workers will lead to a substantial decline in quality and productivity.

The traditional spraying robot adopts the planning method based on the CAD model, but due to the change of the spraying environment and the error of the mobile robot, the traditional spraying robot is not suitable for the interior decoration task in the building.

Therefore, the existing technology needs to be improved and developed.

Summary of the invention

The purpose of the present invention is to provide a system and method for surface coating of high walls of industrial buildings, aiming to solve that the existing high-rise indoor surface spraying is achieved by manually using a paint roller or paint sprayer, which has high manual dependence, is time-consuming, labor-intensive and efficient Low, uneven spraying quality.

The technical solution of the present invention is as follows:

A surface coating system for high walls of industrial buildings, which includes:

A mobile base that supports and drives the entire industrial building high-wall surface coating system to move, and a stabilizer outrigger outrigger is provided at the bottom of the mobile base;

Double pole telescopic lifting mechanism set on the mobile base;

A mechanical arm structure provided on the double-rod telescopic lifting mechanism and driven by the double-rod telescopic lifting mechanism to move up and down, and a spray gun is provided on the end effector of the mechanical arm structure, and the spray gun is externally coated with paint;

A controller that controls the automatic operation of the entire industrial building high-wall surface coating system, and the controller is set in a mobile base;

The mobile base, the double-bar telescopic lifting mechanism, the mechanical arm structure and the spray gun are all connected to the controller and controlled by the controller; the stabilizer outrigger is connected to the controller and the controller controls the outside of the stabilizer The length of the outrigger extension; the mobile base drives the entire industrial building high-wall surface coating system to achieve autonomous navigation movement in the work space, and the double-bar telescopic lifting mechanism drives the mechanical arm structure up and down according to the height of the spraying position to ensure the spray gun Working range, the mechanical arm structure drives the spray gun to achieve multi-degree-of-freedom movement so that the spray gun always performs the spray operation in the best working posture.

The high wall surface coating system for industrial buildings, wherein the mobile base includes a base, a bracket provided on the base and a moving wheel provided on the bottom of the base, a walking power device is provided on the base, the walking power The device is connected with the controller, the power output end of the walking power device is connected with the mobile wheel, thereby driving the mobile wheel to realize the movement and steering of the high-wall surface coating system of the industrial building in the plane, the double-rod telescopic lifting mechanism is provided on the base, The paint storage device, circulation and pressurizing device are all set in the bracket.

The high-wall surface coating system for industrial buildings, wherein two 2D laser scanners for detecting obstacle information and feeding back obstacle information to the controller are provided on the mobile base, and the 2D laser scanner and the control器连接。 Connected.

The high wall surface coating system for industrial buildings further includes a 3D camera, which is arranged on the end effector of the mechanical arm structure, and the 3D camera is connected to the controller.

The high wall surface coating system for industrial buildings, wherein the double-mast telescopic lifting mechanism adopts a double-mast hoist and a mounting platform provided on the top of the double-mast hoist, the double-mast hoist is connected to a hydraulic telescopic cylinder, and the hydraulic telescopic cylinder Connected to the controller, the dual-mast elevator and hydraulic telescopic cylinder are both set on a moving base, and the mechanical arm structure is set on an installation platform; the dual-mast elevator drives the mechanical arm structure and the spray gun to ascend to achieve high-wall surface spraying.

The coating system for high walls of industrial buildings, wherein a double-bar telescopic lifting mechanism is integrated with a cable tube suspension structure, and the pipeline connecting the spray gun and the circulation and pressurization device is installed in the cable tube suspension structure and connected to the control The wire between the device and each structure is installed in the cable tube suspension structure, and the cable tube suspension structure drives the pipeline and the electric wire to expand or retract with the lifting of the double-bar telescopic lifting mechanism.

The high wall surface coating system for industrial buildings, wherein the mechanical arm structure includes a mechanical arm mounting seat and a mechanical arm provided on a double-rod telescopic lifting mechanism, the mechanical arm adopts a six-axis articulated mechanical arm or a seven-axis The joint mechanical arm is fixed on the mounting arm of the mechanical arm, and the spray gun is arranged on the end effector of the mechanical arm.

The high-wall surface coating system for industrial buildings further includes a paint storage device for storing paint and a circulation and pressure device for transporting the paint stored in the paint storage device to the spray gun under pressure and circulation, The paint storage device, the circulation and the pressurization device are all provided in the mobile base, and the paint storage device for storing the paint adopts a paint storage tank; the paint storage tank is provided with at least one, and the circulation and pressurization device is provided with at least one A; the circulation and pressure device and spray gun are connected to the controller, the circulation and pressure device is connected to the paint storage tank, the circulation and pressure device is connected to the spray gun, and the controller controls the circulation and pressure device to start and connect Corresponding to the paint storage tank, the controller controls the action of the spray gun to achieve spraying with different requirements.

A method for coating a high wall surface of an industrial building according to any one of the above, which specifically includes the following steps:

S1. The high-wall surface coating system for industrial buildings moves, moves to the best position relative to the wall to be painted, and parks;

S2. The double-bar telescopic lifting mechanism drives the mechanical arm structure and the spray gun to move up and down. The mechanical arm structure drives the 3D camera to move in different positions. During the movement of the 3D camera, a complete structural scan of the wall to be sprayed is performed to generate multiple positions. Scan the information and feed back the scan information to the controller;

S3. The controller processes and generates a job track according to the received data information;

S4. The controller drives the mechanical arm and spray gun according to the production trajectory to realize the spraying operation on the wall to be sprayed.

In the method of the industrial building high-wall surface coating system, the specific process of step S3 is as follows: the controller converts the local point cloud generated by the 3D camera scan in real time to the coordinate system, and converts the initial 3D camera coordinate system Go to the coordinate system of the robot arm mount, and then convert the 3D camera coordinate system coordinates obtained at different positions into the point cloud of the robot arm mount coordinate system coordinates to generate a complete point cloud of the wall to be painted; The controller divides the generated point cloud of the wall to be painted into horizontal and vertical planes, and then extracts the three-dimensional layout and geometric information at the intersection of the plane and the plane, processes the information, identifies different building features, and distinguishes different building features. Architectural features plan corresponding spraying trajectories.

Beneficial effect of the present invention: The present invention provides an industrial building high-wall surface coating system and method by setting a mobile base to drive the entire industrial building high-wall surface coating system to realize autonomous navigation movement in the work space, through a double rod The telescopic lifting mechanism drives the mechanical arm to achieve lifting, which meets the spraying of high-rise areas, and the mechanical arm drives the spray gun to achieve multi-degree of freedom angle and position adjustment to meet the requirements of different spraying positions; the entire spraying process is automatically performed by the industrial building high-wall surface coating system Completed, saving time and effort, high efficiency, and the industrial building high-wall surface coating system can achieve spraying on the top of the area up to 13 meters to meet the spraying requirements of high-rise areas; the spraying thickness is uniform and precise, the spraying surface is evenly distributed to ensure spraying quality ; Spraying using the high-wall surface coating system of this industrial building can significantly reduce the paint dust generated during the spraying process, thereby reducing the risk of human exposure to harmful paint chemicals.

BRIEF DESCRIPTION

FIG. 1 is a structural schematic diagram of a high wall surface coating system for industrial buildings in the present invention.

2 is a schematic front view of a high-wall surface coating system for industrial buildings in the present invention.

FIG. 3 is a schematic structural view of the double-rod telescopic lifting mechanism in the retracted state of the present invention.

4 is a flow chart of the steps of the spraying method of the high wall surface coating system for industrial buildings in the present invention.

detailed description

The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the drawings, in which the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary, and are only used to explain the present invention, and cannot be construed as limiting the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back, "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise" etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it cannot be understood as a limitation to the present invention. In addition, the terms “first” and “second” are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise specifically limited.

In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be fixed connection or detachable Connected, or integrally connected; it can be mechanical, electrical, or can communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediary, it can be the connection between two elements or the interaction of two elements relationship. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the present invention, unless otherwise clearly specified and defined, the first feature "above" or "below" the second feature may include the first and second features in direct contact, or may include the first and second features Contact not directly but through other features between them. Moreover, the first feature is “above”, “above” and “above” the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature is "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is less horizontal than the second feature.

The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.

As shown in Figures 1 to 3, an industrial building high-wall surface coating system is suitable for various interior decoration and cleaning tasks in building development, such as water spraying, paint spraying, degreasing coating, gypsum spraying and concrete spraying. As well as inspection and quality assessment, etc., including:

Mobile base 100 supporting and driving the entire industrial building high wall surface coating system to achieve movement;

A double-rod telescopic lifting mechanism 200 provided on the mobile base 100;

A mechanical arm structure 300 provided on the double-bar telescopic lifting mechanism 200 and driven by the double-bar telescopic lifting mechanism 200 to move up and down. A spray gun 400 is provided on the end effector of the mechanical arm structure 300;

A paint storage device for storing paint, the paint storage device being provided on the mobile base 100;

A circulation and pressurization device for pressurizing and circulating the paint stored in the paint storage device, the circulation and pressurization device being provided on the mobile base 100;

A controller that controls the automatic operation of the entire industrial building high-wall surface coating system, and the controller is provided in the mobile base 100;

The mobile base 100, the double-rod telescopic lifting mechanism 200, the mechanical arm structure 300, the spray gun 400 and the circulation and pressurizing device are all connected to the controller, and the controller controls the operation: the mobile base 100 drives the entire industrial building high wall The surface coating system realizes autonomous navigation and movement in the work space, and the circulation and pressurization device pressurizes and circulates the paint in the paint storage device to the spray gun 400, and the spray gun 400 realizes spraying.

Specifically, the mobile base 100 includes a base, a bracket provided on the base, and a moving wheel 111 provided on the bottom of the base. The two-bar telescopic lifting mechanism 200 is provided on the base, and a walking power device is provided on the base ( Such as a walking motor), the walking power device is connected to the controller, and the power output end of the walking power device is connected to the moving wheel 111, thereby driving the moving wheel 111 to realize the movement and steering of the high-wall surface coating system of the industrial building in the plane. The double-bar telescopic lifting mechanism 200 is set on the base, and the paint storage device, circulation and pressurizing device are all set in the bracket: according to the spraying requirements, the walking power device is controlled by the controller to drive the moving wheel 111 to move, so that the industrial building is high The surface coating system moves to the inner wall of the building to be sprayed, so that the high-wall surface coating system of the industrial building is parked at the optimal distance and direction relative to the wall, and then spraying is realized.

In order to ensure that the industrial building high-wall surface coating system will not encounter obstacles during the movement, two 2D laser scanners for detecting obstacle information and feeding back the obstacle information to the controller are provided on the mobile base 100 , The 2D laser scanner is connected with the controller: the 2D laser scanner detects the information of obstacles around the high-wall surface coating system of industrial buildings in real time, and feeds back information to the controller, and the controller controls the high-wall surface coating system of industrial buildings Make concessions.

Preferably, in order to increase the stability of the movement of the mobile base 100, the mobile wheels 111 are provided with eight, and the eight mobile wheels 111 include two driving wheels and six passive wheels, and the two driving wheels are connected to the walking power device Eight mobile wheels 111 make the mobile base 100 a heavy-duty load mechanism with zero turning maneuverability. The setting of eight mobile wheels 111 greatly improves the load capacity of the mobile base 100. In this embodiment, in order to enhance the durability of the moving wheel 111, the moving wheel 111 uses a Mecanum wheel or an omnidirectional wheel.

Further, in order to prevent the mobile base 100 from moving due to external forces during the spraying process and affecting the spraying effect, an automatic mechanical lock for locking the moving wheel 111 is provided at the bottom of the base, and the automatic mechanical lock is connected to the controller by The controller controls the automatic mechanical lock to lock or unlock the mobile wheel 111: control the industrial building high wall surface coating system to move and park at the optimal distance and direction relative to the wall, and lock the mobile wheel 111 through the automatic mechanical lock to safely Perform spray operation.

Further, in order to ensure that the double-bar telescopic lifting mechanism 200 extends to a higher height to ensure the safety and centering effect of the high-wall surface coating system for industrial buildings, four stabilizer outrigger outriggers are provided at the bottom of the base 120. The stabilizer outrigger outrigger 120 is connected to the controller, and the length of the extension is controlled by the controller.

In order for the industrial building high-wall surface coating system to automatically adjust the base tilt angle and base position and direction according to the actual environment, a dual-axis inclinometer is also provided on the mobile base 100. The dual-axis inclinometer and control Device, the dual-axis inclinometer detects environmental information and feeds the information back to the controller. The controller controls the length of the outrigger outrigger 120 to compensate for the inclination of the base due to changes in the flatness of the ground and wall The angle and the position and orientation of the base change in different environments.

Specifically, the double-mast telescopic lifting mechanism 200 adopts a double-mast elevator and a mounting platform provided on the top of the double-mast elevator. The double-mast elevator is connected to a hydraulic telescopic cylinder, and the hydraulic telescopic cylinder is connected to a controller. The mast lift and hydraulic telescopic cylinder are set on the base, and the mechanical arm structure 300 is set on the installation platform; the double mast lift can drive the mechanical arm structure 300 and the spray gun 400 to a certain height (up to 13 meters, up to three floors The height of the normal warehouse height) to achieve spraying; in the retracted state of the double mast elevator, the entire structure can be embedded in the mobile base 100, making the structure of the high wall surface coating system of industrial buildings more compact.

Further, in order to cooperate with the double-bar telescopic lifting mechanism 200 to achieve lifting, a cable tube suspension structure is integrated on the double-bar telescopic lifting mechanism 200, and the pipe connecting the spray gun 400 and the circulation and pressurization device is installed in the cable tube suspension structure and The wires between the controller and each structure are installed in the cable tube suspension structure. The cable tube suspension structure drives the pipes and wires to expand or retract with the lifting and lowering of the double-bar telescopic lifting mechanism 200.

Specifically, the mechanical arm structure 300 includes a mechanical arm mounting seat and a mechanical arm provided on an installation platform. The mechanical arm adopts a six-axis articulated mechanical arm or a seven-axis articulated mechanical arm. The mechanical arm is fixed to the mechanical arm for installation On the seat, the spray gun 400 is provided on the end effector of the robot arm.

Specifically, the paint storage device for storing paint uses a paint storage tank, and the paint storage tank is disposed on a bracket.

Wherein, the number of the paint storage tanks can be set according to actual requirements, and the number of the circulation and pressurizing devices can be set according to actual requirements. In this embodiment, in order to meet the needs of spraying, two paint storage tanks are provided, and one circulating and pressurizing device is provided. One circulating and pressurizing device is connected to a multi-chamber airless spray gun, and one circulating and The pressurizing device can be connected with different paint storage tanks according to requirements.

Further, if the paint stored in the paint storage tank is liquid paint, a liquid level sensor is provided in the paint storage tank, the liquid level sensor is connected to the controller: the liquid paint in the paint storage tank is detected in real time by the liquid level sensor And feedback information to the controller to activate the alarm or send a message to the supervisory system to notify the operator.

Among them, the circulation and pressurization device uses a booster pump, and a booster pump is connected to different paint storage tanks according to requirements; the booster pump pressurizes the paint in the paint storage tank, and then pressurized by high pressure The tube is transported to the spray gun 400, and finally released at the nozzle and sprayed to the target surface after instantaneous atomization to form a coating film layer to achieve airless spraying.

Further, in order to facilitate the installation and maintenance of the paint storage tank and the circulation and pressurization device, a rotating table is provided on the bracket, and two paint storage tanks are evenly arranged along the circumferential direction of the rotation table: during installation or maintenance of the paint storage tank and the circulation And pressurizing device, install the paint storage tank and the circulation and pressurizing device at the required position by manually rotating the rotary table, or turn the paint storage tank that needs maintenance to a suitable location for maintenance. The setting of the rotary table is beneficial to integrate all paint systems such as paint storage devices and circulation and pressurization devices into a limited space, which is convenient for installation and maintenance.

Further, the circulation and pressurization device is connected to the corresponding paint storage tank, and the circulation and pressurization device is connected to the spray gun 400 through a pipeline; the spray gun 400, the circulation and pressurization device are all connected to the controller: the controller controls the cycle And the pressurization device is activated, so that the spray gun 400 is connected to the paint of the corresponding paint storage tank, and the spray gun 400 is controlled to operate, thereby realizing the paint spraying operation. By setting a circulation and pressurizing device and 2 paint storage tanks, each paint storage tank stores different paints as needed, and cooperates with the spray gun 400, so that the spray gun 400 can be easily connected with different paints and realize the spraying of multiple paints operating.

Further, the paint storage tank can store paints of different colors, and can also store clean water. The clean water can be used as one of the paints, and can also be used to clean the spray head of the spray gun 400 to prevent the paint from clogging the spray gun 400.

In order to facilitate the cleaning of the spray gun 400, a second cleaning tank is provided on the mobile base 100: before the spray gun 400 realizes spraying, the mechanical arm structure 300 is controlled to drive the spray gun 400 to extend into the second cleaning tank, circulate and add The pressure device causes the clean water stored in the storage tank to reach the spray gun 400 to clean the inside of the spray gun 400, and the cleaned wastewater is collected by the second cleaning tank. Under normal circumstances, the spray gun 400 will perform the above cleaning process before spraying. After the spraying is completed, the spray gun 400 will also perform the above cleaning process to avoid the mutual contamination of different paints between the two sprays and affect the spraying effect. The spray gun 400 is prevented from being blocked by the sprayed material.

In order to enable the industrial building high-wall surface coating system to automatically spray the designated wall surface, the industrial building high-wall surface coating system further includes a 3D camera, which is provided on the end effector of the robot arm. The connection between the 3D camera and the controller: the 3D camera follows the double mast lift to achieve different heights. The mechanical arm drives the 3D camera to move in different positions. The 3D camera scans the structure of the area to be sprayed during the movement. The local point cloud generated by the camera scan is transformed into a coordinate system. The initial 3D camera coordinate system is converted into the coordinate system of the robot arm mount, and then the 3D camera coordinate system coordinates obtained at different positions are converted into the robot arm mount coordinate. The point clouds after the coordinate coordinates are fused to generate a complete point cloud of the wall to be painted; the controller divides the generated point cloud of the wall to be painted into horizontal and vertical planes, and then extracts the three-dimensional layout and intersection of the plane and the plane Geometric information, process this information, identify different architectural features, and Characteristic of Planning and the corresponding spray trajectory. This technical solution scans by actively moving the 3D camera to multiple positions, capturing and merging local point clouds to expand the scannable area; detecting (or calculating) the geometric and architectural features of the wall to be painted, such as surface normals, by the controller And cross line, used to adjust the position of the spray gun 400, and pay attention to the wall flatness at each position and the change of the position of the high-wall surface coating system of the industrial building; Scan a relatively large area at close range.

In order to improve the endurance of the high-wall surface coating system of the industrial building, the high-wall surface coating system of the industrial building further includes two rechargeable batteries, which are provided in the mobile base 100 and are rechargeable The battery provides power for the entire industrial building high wall surface coating system; the rechargeable battery can be used for on-site charging, or a rechargeable battery can be charged, and a rechargeable battery can be used to ensure the industrial building high wall surface coating system Normal spray operation.

Further, the industrial building high-wall surface coating system can also use a computer-aided control system to check the use of rechargeable batteries, to activate an alarm or send a message to the supervisory system to notify the operator.

Specifically, the controller is an industrial computer, and the controller and each structure are connected through an Ethernet or a device bus to implement data transmission and command control.

In order to improve the human-computer interaction capability of the industrial building high-wall surface coating system, the industrial building high-wall surface coating system further includes a touch screen provided on the mobile base 100, the touch screen is connected to the controller, and the operator passes the touch screen Various commands can be input to the controller, and the execution status and various information of the high-wall surface coating system for industrial buildings can be displayed to the operator through the touch screen.

Further, a man-machine interaction structure for controlling is provided on the mobile base 100, and the man-machine interaction structure for controlling includes a joystick and a plurality of manipulation buttons. The joystick and the manipulation buttons are connected to the controller. The joystick manually controls the high-wall surface coating system of industrial buildings to move to a specified position, and the operator inputs commands to the controller through the control button.

In order to improve the interaction of the industrial building high-wall surface coating system, the industrial building high-wall surface coating system can also be connected to a handheld terminal (such as a tablet computer, mobile phone, etc.) for communication connection. Specifically, the controller and the handheld terminal are connected via Ethernet (wired or wireless) communication. The operator can input commands to the controller through the handheld terminal, and the controller feeds back information and instructions to the handheld terminal.

As shown in FIG. 4, a spraying method for a high-wall surface coating system for industrial buildings as described above specifically includes the following steps:

S2. The double-bar telescopic lifting mechanism 200 drives the mechanical arm structure 300 and the spray gun 400 to move up and down. The mechanical arm structure 300 drives the 3D camera to move in different positions. During the movement of the 3D camera, a complete structural scan of the wall to be sprayed is generated and generated. Scanning information at multiple locations and feeding back the scanning information to the controller;

S4. The controller drives the mechanical arm 300 and the spray gun 400 to realize the spraying operation according to the production trajectory.

In some embodiments, the specific process of step S3 is as follows: the controller converts the local point cloud generated by the 3D camera scan in real time to the coordinate system, and converts the initial 3D camera coordinate system to the coordinate system of the robot arm mount , And then convert the 3D camera coordinate system coordinates obtained at different positions into the point cloud of the robot arm mount coordinate system coordinates to generate a complete point cloud of the wall to be painted; the controller uses a random sample consensus algorithm (RANdom SAmple Consensus (RANSAC) divides the generated point cloud of the wall surface to be painted into horizontal and vertical planes, and then extracts the three-dimensional layout and geometric information at the intersection of the plane and the plane, processes the information, identifies different architectural features, and Plan corresponding spraying trajectories for different building features.

Further, the different building characteristics include wall surface, corner, wall edge and other characteristics.

Among them, the point cloud obtained by the 3D camera is converted from the 3D camera coordinate system to the coordinate system of the robot arm mount through forward kinematics, and then the 3D camera coordinate system coordinates obtained at different positions are converted into the robot arm mount coordinate The point cloud after the coordinate is fused. This algorithm allows the position of the 3D camera to be represented by the angle of all joints in each scene acquisition instance; when the wall has more detailed information or is composed of non-coplanar surfaces At this time, the icp (Iterative Nearest Point) algorithm can also be used to convert and merge the point cloud fed back by the 3D camera.

This technical solution controls the 3D camera to perform close-range scanning to obtain the maximum spraying range of the manipulator structure 300; the 3D camera installed on the end effector of the manipulator structure 300 performs a complete structural scan of the wall to be sprayed and scans the information Feedback to the controller, the controller calculates or detects geometric features and building features such as surface normals and cross lines of the wall to be sprayed, so as to correspond to the wall to be sprayed according to the change in the flatness of the wall to be sprayed and the high wall surface coating system of industrial buildings Relative position to adjust the position and posture of spray gun 400.

According to the spraying requirements, the high-wall surface coating system for industrial buildings can achieve the following modes of spraying: Mode 1: Full-room spraying: This is the default setting (if there are no special requirements, the high-wall surface coating system for industrial buildings generally follows the default Set up for spraying), the industrial building high-wall surface coating system sprays each wall in the room one by one from the corner of a room, until the industrial building high-wall surface coating system returns to the starting point after all the walls in the room are circulated and sprayed; After spraying one room on the high-wall surface coating system of the building, move to another room and continue to achieve full-room spraying until all the rooms that need to be sprayed have completed the spraying task. Mode 2: Part of the wall paint (meaning that in a room, only part of the wall needs to be sprayed): Once the operator selects this spray mode, the operator can choose the wall that needs to be sprayed and does not need to be sprayed or must be painted in a different color Spray the walls, otherwise the default setting of the high wall surface coating system for industrial buildings is to spray all the walls in the room. Mode 3: Partial wall paint (meaning that on one wall, there is no need to spray the entire wall, only some areas need to be sprayed): After selecting this spraying mode, after displaying the 3D model of the surface of the detected area on the display, The high-wall surface coating system for industrial buildings waits for the operator to select which part of the detected wall surface is required, but does not need to paint which part of the wall; after the selection, the high-wall surface coating system for industrial buildings carries out coverage paint planning and selects Spray on a specific area. In general, the high-wall surface coating system for industrial buildings implements the default spraying method (that is, mode 1), only in special cases (for example, it is necessary to spray part of the area within a wall, or it needs to be implemented on the same wall. Multi-color spraying, etc.) will select mode 2 and mode 3 spraying, but this special situation rarely occurs.

In some embodiments, the step S4 further includes the following process: the spray gun 400 is adjusted and positioned at an optimal distance and direction relative to the wall to be sprayed before spraying; the robot arm structure 300 performs trapezoid during spraying Movement rule, that is, before the spray gun 400 performs spraying, after the robot arm structure 300 accelerates to the preset moving speed within a set precise time, the robot arm structure 300 drives the spray gun 400 to move at a preset moving speed and start spraying at a uniform speed, so that The spray gun 400 achieves the best spray efficiency; after the spray gun 400 finishes spraying, the spray gun 400 is turned off, and the mechanical arm structure 300 starts to decelerate from a preset moving speed until the deceleration reaches zero.

The high-wall surface coating system of this industrial building can be connected to the BIM (Building Information) model or the 2D plan of the building and travel along the floor where the wall layout is completed; in addition, the high-wall surface of this industrial building The paint system can also send data feedback, such as the generated point cloud, or the task progress to update the BIM model.

Compared with the existing technology, this technical solution has the following advantages:

(1) The entire spraying process is automatically completed by the industrial building high-wall surface coating system, saving time and effort, high efficiency, and the spraying speed is four times faster than brushing or rolling.

(2) The mobile base 100 can be moved and turned in a plane, and with two 2D laser scanners, the entire industrial building high-wall surface coating system can effortlessly pass through the door and corridor of the building, making the industrial building The high-wall surface coating system moves and stops at the optimal distance and direction relative to the wall to be painted.

(3) The spray gun 400 is driven to move up and down by the double-bar telescopic lifting mechanism 200, so that the spray gun 400 can realize spraying at the top of the area up to 13 meters, which meets the normal normal warehouse height spraying.

(4) Scanning the wall to be painted through the 3D camera during the movement to capture and merge the local point cloud information of the wall to be painted, reconstructing the characteristics of the scanned wall, so that the high-wall surface coating system of industrial buildings can automatically achieve spraying according to the spraying trajectory .

(5) Through the use of 3D cameras, the high-wall surface coating system of industrial buildings can withstand the environmental conditions of the construction site (high temperature, humidity, dust) and the light changes of the construction site to adapt to different working environments.

(6) Spraying using the high-wall surface coating system of this industrial building can significantly reduce the paint dust generated during the spraying process, thereby reducing the risk of human exposure to harmful paint chemicals.

(7) Compared with manual spraying, the precise positioning of the spray gun 400 improves the paint transfer efficiency by 20%.

(8) The high-wall surface coating system for industrial buildings is suitable for spraying at various unfolding positions, such as dents / protrusions and concave / convex angles on different building surfaces.

(9) The high-wall surface coating system of the industrial building adopts a double-rod telescopic lifting mechanism 200, so that the high-wall surface coating system of the industrial building can be used at high places to ensure the stability and safety of the platform, and it is sufficient to support the height of the entire industrial building. The weight of the wall surface coating system.

(11) The application range of the high-wall surface coating system of the industrial building is wide: as long as the adaptive replacement (for example, the replacement of the spraying material) is made, the high-wall surface coating system of the industrial building can be applied to the development of the building Various interior decoration and cleaning tasks, such as water spraying, painting, degreasing coating, plaster spraying and concrete spraying, as well as inspection and quality assessment, etc.

In the description of this specification, the descriptions referring to the terms "one embodiment", "certain embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" mean that The specific features, structures, materials, or characteristics described in the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic expression of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or changes can be made according to the above description, and all such improvements and changes should fall within the protection scope of the appended claims of the present invention.

Claims

A surface coating system for high walls of industrial buildings is characterized by comprising:

A mobile base that supports and drives the entire industrial building high-wall surface coating system to move, and a stabilizer outrigger outrigger is provided at the bottom of the mobile base;

Double pole telescopic lifting mechanism set on the mobile base;

A mechanical arm structure provided on the double-rod telescopic lifting mechanism and driven by the double-rod telescopic lifting mechanism to move up and down, and a spray gun is provided on the end effector of the mechanical arm structure, and the spray gun is externally coated with paint;

A controller that controls the automatic operation of the entire industrial building high-wall surface coating system, and the controller is set in a mobile base;

The mobile base, the double-bar telescopic lifting mechanism, the mechanical arm structure and the spray gun are all connected to the controller and controlled by the controller; the stabilizer outrigger is connected to the controller and the controller controls the outside of the stabilizer The length of the outrigger extension; the mobile base drives the entire industrial building high-wall surface coating system to achieve autonomous navigation movement in the work space, and the double-bar telescopic lifting mechanism drives the mechanical arm structure up and down according to the height of the spraying position to ensure the spray gun Working range, the mechanical arm structure drives the spray gun to achieve multi-degree-of-freedom movement so that the spray gun always performs the spray operation in the best working posture.
The high-wall surface coating system for industrial buildings according to claim 1, wherein the mobile base includes a base, a bracket provided on the base and a moving wheel provided on the bottom of the base, and a walking power is provided on the base Device, the walking power device is connected to the controller, the power output end of the walking power device is connected to the mobile wheel, thereby driving the mobile wheel to realize the movement and steering of the high-wall surface coating system of the industrial building in the plane, and the double rod telescopic lifting The mechanism is set on the base, and the paint storage device, circulation and pressure device are all set in the bracket.
The high-wall surface coating system for industrial buildings according to claim 2, characterized in that two 2D laser scanners for detecting obstacle information and feeding back the obstacle information to the controller are provided on the mobile base, the The 2D laser scanner is connected to the controller.
The system for coating high-wall surfaces of industrial buildings according to claim 1, further comprising a 3D camera, the 3D camera is disposed on an end effector of the mechanical arm structure, and the 3D camera is connected to the controller.
The surface coating system for high walls of industrial buildings according to claim 1, characterized in that the double-mast telescopic lifting mechanism adopts a double-mast hoist and a mounting platform provided on top of the double-mast hoist, the double-mast hoist is connected to a hydraulic telescopic cylinder , The hydraulic telescopic cylinder is connected to the controller, the dual-mast elevator and the hydraulic telescopic cylinder are both set on a moving base, and the mechanical arm structure is set on an installation platform; the dual-mast elevator drives the mechanical arm structure and the spray gun to rise To achieve high wall surface spraying.
The surface coating system for high walls of industrial buildings according to claim 1, characterized in that a cable tube suspension structure is integrated on the double-rod telescopic lifting mechanism, and the pipeline connecting the spray gun and the circulation and pressurization device is installed in the cable tube In the suspension structure, the wires connecting the controller and each structure are installed in the cable tube suspension structure. The cable tube suspension structure drives the pipes and wires to expand or retract with the lifting and lowering of the double-bar telescopic lifting mechanism.
The surface coating system for high walls of industrial buildings according to claim 1, wherein the mechanical arm structure includes a mechanical arm mounting seat and a mechanical arm provided on a double-rod telescopic lifting mechanism, the mechanical arm adopts a six-axis An articulated mechanical arm or a seven-axis articulated mechanical arm, the mechanical arm is fixed on a mounting arm of the mechanical arm, and a spray gun is provided on an end effector of the mechanical arm.
The system for coating high-wall surfaces of industrial buildings according to claim 1, further comprising a paint storage device for storing paint and a pressurized circulation transportation of the paint stored in the paint storage device to the spray gun A circulation and pressurization device, the paint storage device, the circulation and pressurization device are all set in a mobile base, the paint storage device for storing paint adopts a paint storage tank; the paint storage tank is provided with at least one, circulation At least one is provided with the pressure device; the circulation and pressure device and the spray gun are connected to the controller, the circulation and pressure device is connected to the paint storage tank, the circulation and pressure device is connected to the spray gun, and the controller controls the circulation and The pressurization device is started, connected to the corresponding paint storage tank, and the controller controls the action of the spray gun to realize spraying with different requirements.
A method for coating a high-wall surface of an industrial building according to any one of claims 1-8, characterized in that it specifically includes the following steps:

S1. The high-wall surface coating system for industrial buildings moves, moves to the best position relative to the wall to be painted, and parks;

S2. The double-bar telescopic lifting mechanism drives the mechanical arm structure and the spray gun to move up and down. The mechanical arm structure drives the 3D camera to move in different positions. During the movement of the 3D camera, a complete structural scan of the wall to be sprayed is performed to generate multiple positions. Scan the information and feed back the scan information to the controller;

S3. The controller processes and generates a job track according to the received data information;

S4. The controller drives the mechanical arm and spray gun according to the production trajectory to realize the spraying operation on the wall to be sprayed.
The method for coating a high-wall surface system for industrial buildings according to claim 9, wherein the specific process of step S3 is as follows: the controller transforms the local point cloud generated by the 3D camera scan in real time to the coordinate system, which is The 3D camera coordinate system is converted into the coordinate system of the robot arm mount, and then the 3D camera coordinate system coordinates obtained at different positions are converted into a point cloud after the coordinate of the robot arm mount coordinate system to generate a complete to be painted Point cloud of the wall surface; the controller divides the generated point cloud of the wall surface to be painted into horizontal and vertical planes, and then extracts the three-dimensional layout and geometric information at the intersection of the plane and the plane, processes the information, and identifies different buildings Characteristics, and plan corresponding spraying trajectories for different building characteristics.