WO2020224075A1 - 喷涂机器人及控制方法和控制装置、计算机可读存储介质 - Google Patents

喷涂机器人及控制方法和控制装置、计算机可读存储介质 Download PDF

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Publication number
WO2020224075A1
WO2020224075A1 PCT/CN2019/099616 CN2019099616W WO2020224075A1 WO 2020224075 A1 WO2020224075 A1 WO 2020224075A1 CN 2019099616 W CN2019099616 W CN 2019099616W WO 2020224075 A1 WO2020224075 A1 WO 2020224075A1
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WIPO (PCT)
Prior art keywords
spraying
assembly
obstacle
component
suspension
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Application number
PCT/CN2019/099616
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English (en)
French (fr)
Inventor
赵继开
季瑞南
许安鹏
万骐连
Original Assignee
广东博智林机器人有限公司
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Publication of WO2020224075A1 publication Critical patent/WO2020224075A1/zh

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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
    • 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
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
    • E04F21/06—Implements for applying plaster, insulating material, or the like
    • E04F21/08—Mechanical implements

Definitions

  • the present disclosure relates to the field of high-altitude spraying, and more specifically, to a spraying robot, a control method and control device, and a computer-readable storage medium.
  • This spraying robot can automatically spray buildings.
  • This spraying robot can automatically spray external walls or internal walls. This method requires manual operation.
  • An object of the present disclosure is to provide a control method of a spray robot.
  • Another object of the present disclosure is to provide a control device for a spray robot.
  • Another object of the present disclosure is to provide a spraying robot including the above-mentioned control device of the spraying robot.
  • Another object of the present disclosure is to provide a computer-readable storage medium.
  • the embodiment of the first aspect of the present disclosure provides a spraying robot control method for a spraying robot.
  • the spraying robot includes a suspension assembly and a spraying assembly.
  • the spraying assembly is mounted on the On the suspension assembly, the control method of the spraying robot includes: controlling the spraying assembly to spray along the longitudinal direction of the working surface; obtaining the lateral position of the suspension assembly and obtaining the height position of the spraying assembly; and determining the suspension assembly Whether there is an obstacle in the longitudinal area corresponding to the horizontal position, and when there is an obstacle in the longitudinal area corresponding to the horizontal position, determine the height difference between the spray assembly and the obstacle according to the height of the spray assembly When the height difference is less than a preset height, the spraying robot is controlled to bypass the obstacle, and continue spraying after bypassing the obstacle.
  • the spraying robot control method provided by the embodiments of the present disclosure can be used for spraying robots, and the spraying robots can be specifically used for spraying exterior or interior walls of high-rise buildings, such as spraying paint on exterior walls of high-rise buildings or coating high-rise buildings.
  • the exterior wall of the building is sprayed for cleaning, or the interior wall of the building is painted, such as spraying latex paint.
  • the control method of the spraying robot can control the spraying component to spray along the longitudinal direction of the working surface. During the spraying process, the horizontal position of the suspension component and the height position of the spraying component can be obtained, so that the position of the spraying component can be determined.
  • the spraying component determines the position difference between the spraying component and the obstacle, and when the height difference is less than the preset height, the spraying robot is controlled to bypass the obstacle and continue spraying after bypassing the obstacle. Conversely, if it is determined that there are no obstacles in front of the spraying component, the spraying can be carried out according to the normal route.
  • This structure can determine the position of the spraying component by the horizontal position of the suspension component and the height position of the spraying component, and can determine whether there is an obstacle in front of the spraying by the position of the spraying component, and can automatically bypass when there is an obstacle Obstacles, so that the spraying robot can automatically avoid obstacles when spraying, and realize automatic obstacle avoidance, so as to realize true fully automatic spraying.
  • the obstacles here can specifically be windowsills, balconies, corners and other structures on the wall.
  • the spraying robot control method provided according to the foregoing embodiment of the present disclosure also has the following additional technical features:
  • the step of controlling the spraying robot to bypass the obstacle and continue spraying after bypassing the obstacle specifically includes: controlling the suspension assembly to move away from the obstacle. After the obstacle and the spraying component are completely misaligned in the longitudinal direction, the spraying component is controlled to move in the longitudinal direction to the area to be sprayed, and when the obstacle and the spraying component are between After being completely misplaced in the lateral direction, the suspension assembly is controlled to move to the spraying route in the direction close to the working surface to continue spraying.
  • the suspension assembly can be moved in a direction perpendicular to the working surface to a direction away from the working surface, so that the spray assembly can be staggered from the obstacle in the longitudinal direction, and then Control the spraying component to rise or drop for a certain height until the spraying component moves to the other side of the obstacle.
  • the suspension component can be moved closer to the working surface until the spraying component returns to the spraying route, where the spraying route refers to It is the normal spraying route of the spraying component, that is, the spraying route preset for the spraying component.
  • the spraying component returns to the original spraying trajectory after bypassing the obstacle. In this way, the reciprocating movement of the suspension assembly in the direction perpendicular to the work surface can realize the automatic obstacle avoidance effect of the spray assembly.
  • the step of determining whether there is an obstacle in the longitudinal area corresponding to the lateral position of the suspension assembly includes: obtaining an obstacle map on the work surface; and according to the obstacle The map and the horizontal position of the suspension component determine whether there is an obstacle in the longitudinal area corresponding to the horizontal position of the suspension component.
  • a map of the work surface can be set in the control device in advance to obtain a distribution map of obstacles on the work surface, that is, obstacle map, so that the control device can understand the window sill, balcony, and corner And other obstacles.
  • obstacle map a distribution map of obstacles on the work surface
  • barrier Specifically, for example, when the working surface is an exterior wall or an interior wall of a building, the drawing of the wall can be directly input into the robot, so that the robot can obtain the position of obstacles such as balconies and windowsills.
  • the step of obtaining the height of the spraying component is specifically: determining the height of the spraying component by means of laser distance measurement.
  • the distance measurement of the sprayed component can be carried out by means of laser distance measurement.
  • the laser ranging method is relatively mature and easy to implement, it can simplify the product cost and reduce the difficulty of ranging.
  • a laser measuring instrument can be set on the suspension assembly, and a laser reflecting plate can be arranged on the hanger, so that the laser signal can be sent out by the laser measuring instrument, and then the signal can be reflected by the laser reflecting plate, so that the laser measuring instrument is
  • the height difference between the suspension component and the spray component can be determined based on these two signals, so that the height position of the spray component can be determined through the height difference.
  • the height difference between the suspension component and the spray component can be used to directly represent the height position of the spray component, that is, the position of the spray component relative to the suspension component.
  • the position of the spray component can also be described by other references, such as the ground .
  • the control method of the spraying robot further includes: moving the suspension assembly to a laterally designated position in the transverse direction, and executing the control of the spraying assembly after moving to the transversely designated position
  • the step of controlling the spraying component to spray along the longitudinal direction of the working surface is executed after the designated position.
  • multiple horizontal designated positions can be determined along the horizontal direction of the work surface, and then the suspension assembly can be directly moved to a certain horizontal designated position by a moving trolley, and after reaching this horizontal designated position, control the spraying The components are sprayed along the longitudinal direction of the working surface. After spraying this longitudinal area, the suspension component can be moved to the next horizontal designated position by moving the trolley, and after reaching the next horizontal designated position, the spraying component can be controlled to spray along the longitudinal direction of the working surface. Then move to other horizontal designated positions in turn and finish spraying until the working surface is sprayed.
  • the working surface is first divided into multiple longitudinal areas, and then one longitudinal area and one longitudinal area are sprayed.
  • This spraying method can be sprayed to the end at one time when spraying one of the longitudinal areas.
  • the spraying robot only needs to move in the horizontal direction to the horizontal position corresponding to the multiple vertical areas. After moving to the corresponding horizontal position, it only needs to spray the vertical area from top to bottom. Need to move the robot again. With this setting, only the robot needs to move to the longitudinal area to complete the spraying in the longitudinal area. Therefore, there is no need to go back and forth and frequently move the spraying robot, which can reduce the frequency of the overall movement of the spraying robot and simplify the operation process of the spraying robot .
  • a second aspect of the present disclosure proposes a spraying robot control device, including: a memory configured to store executable instructions; a processor configured to execute the executable instructions to implement the spraying provided by any implementation of the first aspect The steps of the robot control method.
  • the spraying robot control device provided by the present disclosure can control the work of the spraying robot according to the steps of the spraying robot control method provided by any one of the first aspects, and further has the advantages of the spraying robot provided by any one of the first aspects. The beneficial effects of the control method will not be repeated here.
  • the third aspect of the present disclosure proposes a computer-readable storage medium on which executable instructions are stored.
  • the executable instructions are executed by a processor, the steps of the spraying robot control method provided by any one of the implementations of the first aspect can be realized .
  • the computer-readable storage medium provided by the present disclosure can control the work of the spraying robot according to the steps of the control method provided by any one of the first aspects when the executable instructions stored thereon are executed, and further has any one of the first aspects
  • the beneficial effects of implementing the provided spray robot control method will not be repeated here.
  • a fourth aspect of the present disclosure proposes a spraying robot, which includes: a mobile trolley; a suspension assembly installed on the mobile trolley, and the suspension assembly is provided with; a spraying assembly installed on the suspension assembly in an elevating manner;
  • the detection device is installed on the suspension component and/or the spraying component and can detect the height position of the spraying component; the control device provided by any embodiment of the first aspect is installed on the suspension component and/or Or the spraying assembly is connected with the mobile trolley and the height detection device.
  • the spraying robot can be specifically used for spraying the exterior or interior walls of high-rise buildings, such as spraying paint on the exterior walls of high-rise buildings or spraying and cleaning the exterior walls of high-rise buildings or performing interior walls of buildings. Painting, such as spraying latex paint, etc.
  • the spraying robot includes a mobile trolley, a suspension component, a spraying component, a height detection device and a control device.
  • the suspension component can be specifically used for suspension installation at high places. For example, one end of the suspension component can be installed on the roof of a high-rise building, and the other end of the suspension component can be extended from the edge of the roof of the high-rise building.
  • the other end of the component is in a suspended state, and the spraying component can be hoisted on the suspended end of the spraying component by the wire rope of the lifting device, that is, the end of the suspension component is not installed on the high-rise building, that is, the suspension component is not used to interact with objects.
  • the spraying components can be installed on the external walls of high-rise buildings and other working surfaces. That is, the suspension component and the spraying component can be designed as a hanging basket structure in a building, so that the spray gun can be moved along the wall of a high-rise building through the device similar to the hanging basket structure.
  • the spraying components include hanging machines and spray guns for installation.
  • the spray guns are specifically used to spray working surfaces such as exterior or interior walls of high-rise buildings, and the height detection device can be used to measure the distance between the suspension components and the spraying components.
  • the height position of the spraying component can be analyzed according to the distance between the suspension component and the spraying component. In this way, the height position of the spraying component and the horizontal position of the suspension component can be used to determine whether there are obstacles in front of the spraying component. When there is an obstacle in front of the component, control the spraying component to bypass the obstacle before continuing to spray, so as to effectively avoid the obstacle.
  • the height detection device includes a light source reflector installed on the suspension assembly and a light source measuring piece installed on the suspension assembly, and the light source measuring piece can emit distance measurement. The light and the reflected light reflected back by the light source reflector are received, and the height position of the spraying assembly can be determined according to the emitted ranging light and the received reflected light.
  • the distance measurement of the spray assembly can be performed based on the propagation and reflection of light.
  • a light source measuring piece can be set on the suspension assembly, and a light source reflector can be set on the hanger, so that the light source can be measured
  • the component emits a laser signal, and then reflects the signal through the light source reflector, so that the light source measuring component can determine the height difference between the suspension component and the spray component based on these two signals, so that the height of the spray component can be determined through the height difference position.
  • the height difference between the suspension component and the spray component can be used to directly represent the height position of the spray component, that is, the position of the spray component relative to the suspension component.
  • the position of the spray component can also be described by other references, such as the ground .
  • the mobile trolley is an AGV trolley.
  • the AGV trolley may be preferable to use the AGV trolley to perform lateral movement of the suspension, such as left and right movement.
  • the AGV car can scan the map of the roof and move automatically, so that it can automatically plan the spraying route of the spray gun assembly.
  • AGV is the abbreviation of AutomatedGuidedVehicle, also known as AGV trolley
  • AGV trolley is a kind of automatic guidance device equipped with electromagnetic or optical, etc., can travel along a prescribed guidance path, with safety protection and various transfer functions
  • the transport vehicle does not require a driver in industrial applications, and can control its travel route through a computer, and can move and act through the information brought by the electromagnetic track.
  • the light source measuring part is a laser measuring instrument
  • the light source reflecting part is a laser reflecting plate
  • the distance between the suspension assembly and the spraying assembly can be measured by means of laser distance measurement.
  • the laser ranging method is relatively mature and easy to implement, it can simplify the product cost and reduce the difficulty of ranging.
  • the light source measuring part can be set as a laser measuring instrument
  • the light source reflecting part can be set as a laser reflecting plate
  • the laser measuring instrument is used to send out laser signals, receive signals reflected by the laser reflecting plate, and Based on these two signals, the distance between the spraying component and the suspension component is determined, and the laser reflector is used to reflect the signal from the laser measuring instrument back to the laser measuring instrument, so that the laser measuring instrument can be based on the laser from emitting to receiving Time and the propagation speed of the laser in the air calculate the distance traveled by the laser, so that the distance between the suspension assembly and the spraying assembly can be determined according to the distance traveled by the laser.
  • the number of the laser reflector is two, and the two laser reflectors are symmetrically installed on the hanger along the transverse direction of the working surface.
  • two laser reflection plates can be used to reflect the laser light emitted by the laser measuring instrument, which can increase the amount of reflected laser light, thereby enhancing the reflected light that the laser measuring instrument can receive.
  • the reliability of the reflected laser signal can be enhanced, and the accuracy of laser ranging can be improved, so that precise control of the position movement of the spray assembly can be realized.
  • a recessed area is provided on the bottom of the suspension, the suspension can be installed on the AGV trolley through the recessed area, and the bottom of the suspension is provided with A plurality of pulleys, when the suspension is installed on the AGV trolley, the suspension can contact the placement platform through the plurality of pulleys.
  • a recessed area can be provided at the bottom of the suspension, and then the AGV trolley can be installed in the recessed area, so that while the AGV trolley drives the suspension to move as a whole, the suspension and the AGV trolley can be lowered.
  • the overall volume to reduce the product footprint.
  • the spraying robot is an exterior wall spraying robot.
  • the spraying robot can also be a high-altitude cleaning robot such as a glass curtain wall.
  • the spraying robot can also be an interior wall spraying robot.
  • Fig. 1 is a schematic flow chart of a method for controlling a spraying robot according to an embodiment of the present disclosure
  • Fig. 2 is another schematic flow chart of a method for controlling a spraying robot according to an embodiment of the present disclosure
  • FIG. 3 is a schematic block diagram of the structure of a control device for a spraying robot provided according to an embodiment of the present disclosure
  • FIG. 4 is a schematic structural diagram of a spraying robot provided according to an embodiment of the present disclosure.
  • Fig. 5 is a partial structural diagram of a spraying robot provided according to an embodiment of the present disclosure.
  • Fig. 6 is a schematic diagram of another part of the structure of a spraying robot provided according to an embodiment of the present disclosure.
  • 100 spraying robots 1 control device, 1a first control unit, 1b second control unit, 12 memory, 14 processor, 2 suspension components, 3 spraying components, 4 mobile trolleys, 5 height detection devices, 52 laser measuring instruments, 54 Laser reflector.
  • the embodiment of the first aspect of the present disclosure provides a method for controlling a spraying robot, which is used for the spraying robot as shown in FIG. 6.
  • the spraying robot includes a suspension assembly and a spraying assembly.
  • the spraying robot can be installed on the suspension assembly so as to be lifted and lowered.
  • the control method of the spraying robot includes: step 102, controlling the spraying assembly to spray along the longitudinal direction of the working surface; step 104, obtaining the horizontal position of the suspension assembly, and obtaining The height position of the spraying component; step 106, determining whether there is an obstacle in the longitudinal area corresponding to the horizontal position of the suspension component, when there is an obstacle in the longitudinal area corresponding to the horizontal position, according to the spraying component The height determines the height difference between the spraying assembly and the obstacle, and when the height difference is less than a preset height, the spraying robot is controlled to bypass the obstacle and continue after bypassing the obstacle Spray it.
  • the spraying robot control method provided by the embodiments of the present disclosure can be used for spraying robots, and the spraying robots can be specifically used for spraying exterior or interior walls of high-rise buildings, such as spraying paint on exterior walls of high-rise buildings or coating high-rise buildings.
  • the exterior wall of the building is sprayed for cleaning, or the interior wall of the building is painted, such as spraying latex paint.
  • the control method of the spraying robot can control the spraying component to spray along the longitudinal direction of the working surface. During the spraying process, the horizontal position of the suspension component and the height position of the spraying component can be obtained, so that the position of the spraying component can be determined.
  • the spraying component determines the position difference between the spraying component and the obstacle, and when the height difference is less than the preset height, the spraying robot is controlled to bypass the obstacle and continue spraying after bypassing the obstacle. Conversely, if it is determined that there are no obstacles in front of the spraying component, the spraying can be carried out according to the normal route.
  • This structure can determine the position of the spraying component by the horizontal position of the suspension component and the height position of the spraying component, and can determine whether there is an obstacle in front of the spraying by the position of the spraying component, and can automatically bypass when there is an obstacle Obstacles, so that the spraying robot can automatically avoid obstacles when spraying, and realize automatic obstacle avoidance, so as to realize true fully automatic spraying.
  • the obstacles here can specifically be windowsills, balconies, corners and other structures on the wall.
  • control method of the spraying robot provided by the embodiment of the present disclosure with reference to FIG. 2. Specifically, the control method includes the following steps:
  • Step 202 Control the spraying component to spray along the longitudinal direction of the working surface.
  • Step 204 Obtain the lateral position of the suspension assembly, and obtain the height position of the spraying assembly.
  • Step 206 Obtain an obstacle map on the work surface.
  • Step 208 Determine whether there is an obstacle in the longitudinal area corresponding to the horizontal position of the suspension component according to the obstacle map and the horizontal position of the suspension component.
  • a map of the work surface can be set in the control device in advance to obtain the distribution map of obstacles on the work surface, that is, the obstacle map, so that the control device can understand the window sill, balcony, The location of obstacles such as corners.
  • the control device can understand the window sill, balcony, The location of obstacles such as corners.
  • barrier Specifically, for example, when the working surface is an exterior wall or an interior wall of a building, the drawing of the wall can be directly input into the robot, so that the robot can obtain the position of obstacles such as balconies and windowsills.
  • Step 210 When there is an obstacle in the longitudinal region corresponding to the lateral position, determine the height difference between the spraying component and the obstacle according to the height of the spraying component.
  • Step 212 when the height difference is less than a preset height, control the suspension assembly to move away from the working surface, and control the spraying after the obstacle and the spraying assembly are completely misaligned in the longitudinal direction
  • the component moves along the longitudinal direction to the area to be sprayed, and after the obstacle and the spraying component are completely misaligned in the lateral direction, the suspension component is controlled to move to the direction of the working surface to continue spraying on the spraying route.
  • the suspension component can be moved in a direction perpendicular to the working surface to a direction away from the working surface, so that the spraying component can be staggered from the obstacle in the longitudinal direction, and then the spraying can be controlled.
  • the component rises or drops for a certain height until the spraying component moves to the other side of the obstacle.
  • the suspension component can be moved closer to the working surface until the spraying component returns to the spraying route. In this way, the reciprocating movement of the suspension assembly in the direction perpendicular to the work surface can realize the automatic obstacle avoidance effect of the spray assembly.
  • the step of obtaining the height of the spraying component is specifically: determining the height of the spraying component by means of laser distance measurement.
  • the distance measurement of the sprayed assembly can be performed by means of laser distance measurement.
  • the laser ranging method is relatively mature and easy to implement, it can simplify the product cost and reduce the difficulty of ranging.
  • a laser measuring instrument can be set on the suspension assembly, and a laser reflecting plate can be arranged on the hanger, so that the laser signal can be sent out by the laser measuring instrument, and then the signal can be reflected by the laser reflecting plate, so that the laser measuring instrument is
  • the height difference between the suspension component and the spray component can be determined based on these two signals, so that the height position of the spray component can be determined through the height difference.
  • the height difference between the suspension component and the spray component can be used to directly represent the height position of the spray component, that is, the position of the spray component relative to the suspension component.
  • the position of the spray component can also be described by other references, such as the ground .
  • the control method of the spraying robot further includes: moving the suspension component to a laterally designated position in the lateral direction, and executing the control of the spraying component after moving to the laterally designated position
  • the step of controlling the spraying component to spray along the longitudinal direction of the working surface is executed after the designated position.
  • a plurality of horizontal designated positions can be determined along the transverse direction of the working surface, and then the suspension assembly can be directly moved to a certain horizontal designated position by a moving trolley, and after reaching this horizontal designated position, the spraying can be controlled The components are sprayed along the longitudinal direction of the working surface. After spraying this longitudinal area, the suspension component can be moved to the next horizontal designated position by moving the trolley, and after reaching the next horizontal designated position, the spraying component can be controlled to spray along the longitudinal direction of the working surface. Then move to other horizontal designated positions in turn and finish spraying until the working surface is sprayed.
  • the working surface is first divided into multiple longitudinal areas, and then one longitudinal area and one longitudinal area are sprayed.
  • This spraying method can be sprayed to the end at one time when spraying one of the longitudinal areas.
  • the spraying robot only needs to move in the horizontal direction to the horizontal position corresponding to the multiple vertical areas. After moving to the corresponding horizontal position, it only needs to spray the vertical area from top to bottom. Need to move the robot again. With this setting, only the robot needs to move to the longitudinal area to complete the spraying in the longitudinal area. Therefore, there is no need to go back and forth and frequently move the spraying robot, which can reduce the frequency of the overall movement of the spraying robot and simplify the operation process of the spraying robot .
  • the second aspect of the present disclosure proposes a spraying robot control device 1, including: a memory 12 configured to store executable instructions; a processor 14 configured to execute executable instructions to implement the first aspect Any one of the steps of the method for controlling the spraying robot 100 provided is implemented.
  • the control device 1 of the spraying robot provided in the present disclosure can control the work of the spraying robot 100 according to the steps of the control method of the spraying robot 100 provided by any one of the first aspects, and further has the functions provided by any one of the first aspects.
  • the beneficial effects of the control method of the spraying robot 100 will not be repeated here.
  • the third aspect of the present disclosure proposes a computer-readable storage medium on which executable instructions are stored.
  • the control method of the spraying robot 100 provided by any one of the implementations of the first aspect can be realized. A step of.
  • the computer-readable storage medium provided by the present disclosure can control the work of the spraying robot 100 according to the steps of the control method provided in the implementation of any one of the first aspects when the executable instructions stored thereon are executed.
  • the beneficial effects of the spraying robot 100 control method provided by the item implementation are not repeated here.
  • the fourth aspect of the present disclosure proposes a spraying robot 100, including: a mobile trolley 4; a suspension assembly 2 installed on the mobile trolley 4, and the suspension assembly 2 is provided with a spraying assembly 3.
  • the height detection device 5 is installed on the suspension assembly 2 and/or the spraying assembly 3, and can detect the height position of the spraying assembly 3; the control provided by any one of the embodiments of the first aspect
  • the device 1 is installed on the suspension assembly 2 and/or the spraying assembly 3, and is connected with the mobile trolley 4 and the height detection device 5.
  • the spraying robot 100 can be specifically used for spraying the exterior or interior walls of a high-rise building, such as spraying the exterior wall of a high-rise building or spraying and cleaning the exterior wall of a high-rise building or cleaning the interior wall of a building Paint, such as spraying latex paint, etc.
  • the spraying robot 100 includes a mobile trolley 4, a suspension assembly 2, a spraying assembly 3, a height detection device 5 and a control device 1.
  • the suspension assembly 2 can be specifically used for suspension installation at a high place.
  • one end of the suspension assembly 2 can be installed on the roof of a high-rise building, and the other end of the suspension assembly 2 can be extended from the edge of the roof of the high-rise building.
  • the suspension assembly 2 When the suspension assembly 2 is suspended, the other end of the suspension assembly 2 can be suspended, and the spray assembly 3 can be hoisted on the suspended end of the painting assembly 3 by a wire rope of a lifting device, that is, the end of the suspension assembly 2 is not installed on a high-rise building, that is, The suspension assembly 2 is not used to install the end of the object, so that the spray assembly 3 can be installed on the external wall of a high-rise building. That is, the suspension assembly 2 and the spraying assembly 3 can be designed as a hanging basket structure in a building, so that the spray gun can be moved along the wall of a high-rise building through the device similar to the hanging basket structure.
  • the spraying component 3 includes a hanging machine and spray gun for installation, and the spray gun is specifically used to spray working surfaces such as exterior or interior walls of high-rise buildings, and the height detection device 5 can be used to measure the gap between the suspension component 2 and the spraying component 3. In this way, the height position of the spraying component 3 can be obtained by analyzing the distance between the suspension component 2 and the spraying component 3. In this way, the height position of the spraying component 3 and the horizontal position of the suspension component 2 can be used to determine the position of the spraying component 3 Whether there is an obstacle in front, and when there is an obstacle in front of the spray assembly 3, control the spray assembly 3 to bypass the obstacle and continue spraying, so that the effect of avoiding obstacles can be effectively avoided.
  • the height detection device 5 includes a light source reflector mounted on the suspension assembly 2 and a light source measuring piece mounted on the suspension assembly 2. It can emit ranging light and receive the reflected light reflected by the light source reflector, and can determine the height position of the spray assembly 3 according to the emitted ranging light and the received reflected light.
  • the distance measurement of the spraying assembly 3 can be performed based on the propagation and reflection of light.
  • a light source measuring piece can be set on the suspension assembly 2 and a light source reflecting piece can be set on the hanger, so that it can pass through
  • the light source measuring part emits a laser signal, and then reflects the signal through the light source reflecting part, so that the light source measuring part can determine the height difference between the suspension assembly 2 and the spraying assembly 3 based on these two signals, so that the height difference can be determined
  • the height position of spray assembly 3. Specifically, the height difference between the suspension assembly 2 and the spray assembly 3 can directly represent the height position of the spray assembly 3, that is, the position of the spray assembly 3 relative to the suspension assembly 2.
  • the position of the spray assembly 3 can also be referred to by other references. Describe objects, such as the ground.
  • the mobile trolley 4 is an AGV trolley.
  • the AGV trolley may be preferable to use the AGV trolley to perform lateral movement of the suspension, such as left and right movement.
  • the AGV car can scan the map of the roof and move automatically, so that it can automatically plan the spraying route of the spray gun assembly.
  • AGV is the abbreviation of AutomatedGuidedVehicle, also known as AGV trolley
  • AGV trolley is a kind of automatic guidance device equipped with electromagnetic or optical, etc., can travel along a prescribed guidance path, with safety protection and various transfer functions
  • the transport vehicle does not require a driver in industrial applications, and can control its travel route through a computer, and can move and act through the information brought by the electromagnetic track.
  • the light source measuring part is a laser measuring instrument 52
  • the light source reflecting part is a laser reflecting plate 54.
  • the distance between the suspension assembly 2 and the spray assembly 3 can be measured by means of laser distance measurement.
  • the laser ranging method is relatively mature and easy to implement, it can simplify the product cost and reduce the difficulty of ranging.
  • the light source measuring part may be set as the laser measuring instrument 52, and the light source reflecting part may be set as the laser reflecting plate 54.
  • the laser measuring instrument 52 is used to send out laser signals and receive the laser reflecting plate 54 reflected back.
  • the distance between the spraying assembly 3 and the suspension assembly 2 is determined, and the laser reflector 54 is used to reflect the signal from the laser measuring instrument 52 back to the laser measuring instrument 52, so that the laser measuring
  • the meter 52 can calculate the distance traveled by the laser based on the time from emission to reception of the laser and the propagation speed of the laser in the air, so that the distance between the suspension assembly 2 and the spraying assembly 3 can be determined according to the distance traveled by the laser.
  • the number of laser reflection plates 54 is two, and the two laser reflection plates 54 are symmetrically installed on the hanger along the transverse direction of the working surface.
  • the laser light emitted by the laser measuring instrument 52 can be reflected by the two laser reflecting plates 54, which can increase the amount of reflected laser light, thereby enhancing the reflected light that the laser measuring instrument 52 can receive In this way, when comparing and analyzing the emitted laser signal and the reflected laser signal, the reliability of the reflected laser signal can be enhanced, and the accuracy of laser ranging can be improved, so that precise control of the position movement of the spraying assembly can be realized.
  • the control device 1 of the whole machine can be divided into two parts, namely the first control part 1a and the second control part 1b, and preferably, the first control part 1a can be installed in The suspension assembly 2 is used to control the operation of the electrical device installed on the suspension assembly 2, and the second control member 1b is installed on the spray gun assembly to control the operation of the electrical device installed on the spray gun assembly.
  • the second control part 1b is preferably connected to the first control part 1a, so that the control parts of the whole machine can communicate with each other, so that the whole machine can be linked and controlled without independent control.
  • this arrangement can control the whole machine through two separate control parts, thereby reducing the load of each control part and ensuring the safety of the control device 1.
  • a recessed area is provided on the bottom of the suspension assembly 2, the suspension can be installed on the AGV trolley through the recessed area, and a plurality of pulleys are provided on the bottom of the suspension , When the suspension is installed on the AGV trolley, the suspension can contact the placement platform through multiple pulleys.
  • a recessed area can be provided at the bottom of the suspension, and then the AGV trolley can be installed in the recessed area, so that while the AGV trolley drives the suspension to move as a whole, the suspension and the AGV trolley can be lowered.
  • the overall volume to reduce the product footprint.
  • the spraying robot 100 is an exterior wall spraying robot.
  • the spraying robot 100 may also be a high-altitude cleaning robot such as a glass curtain wall.
  • the spraying robot 100 may also be an interior wall spraying robot.
  • connection can be a fixed connection, a detachable connection, or an integral connection; Directly connected, or indirectly connected through an intermediary.
  • connection can be a fixed connection, a detachable connection, or an integral connection; Directly connected, or indirectly connected through an intermediary.
  • connection can be a fixed connection, a detachable connection, or an integral connection; Directly connected, or indirectly connected through an intermediary.
  • connection can be a fixed connection, a detachable connection, or an integral connection; Directly connected, or indirectly connected through an intermediary.
  • the description of the terms “one embodiment”, “some embodiments”, “specific embodiments”, etc. means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in the present disclosure In at least one embodiment or example.
  • the schematic representations of the above-mentioned terms do not necessarily refer to the same embodiment or example.
  • the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Automation & Control Theory (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Spray Control Apparatus (AREA)

Abstract

一种喷涂机器人（100）及控制方法和控制装置（1）、计算机可读存储介质，控制方法包括：控制喷涂组件（3）沿作业面的纵向方向进行喷涂；获取悬挂组件（2）的横向位置，获取喷涂组件（3）的高度位置；确定悬挂组件（2）的横向位置对应的纵向区域上是否有障碍物，在横向位置对应的纵向区域上有障碍物时，根据喷涂组件（3）的高度确定喷涂组件（3）与障碍物之间的高度差，在高度差小于预设高度时，控制喷涂机器人（100）绕开障碍物，并在绕开障碍物后继续进行喷涂。

Description

喷涂机器人及控制方法和控制装置、计算机可读存储介质
相关申请的交叉引用
本公开要求广东博智林机器人有限公司于2019年05月09日提交的、发明名称为“喷涂机器人及控制方法和控制装置、计算机可读存储介质”的、中国专利申请号“201910385008.7”的优先权。
技术领域
本公开涉及高空喷涂领域，更具体而言，涉及一种喷涂机器人及控制方法和控制装置、计算机可读存储介质。
背景技术
目前出现了一种能够对建筑物进行自动喷涂的喷涂机器人，这种喷涂机器人能够对外墙或内墙等进行自动喷涂，这种方式，需要人为操作。
发明内容
本公开的一个目的在于，提供一种喷涂机器人的控制方法。
本公开的另一个目的在于，提供一种喷涂机器人的控制装置。
本公开的又一个目的在于，提供一种包括上述喷涂机器人的控制装置的喷涂机器人。
本公开的再一个目的在于，提供一种计算机可读存储介质。
为实现上述目的，本公开第一方面的实施例提供了一种喷涂机器人的控制方法，用于喷涂机器人，所述喷涂机器人包括悬挂组件和喷涂组件，所述喷涂组件能够升降地安装在所述悬挂组件上，所述喷涂机器人的控制方法包括：控制所述喷涂组件沿作业面的纵向方向进行喷涂；获取所述悬挂组件的横向位置，获取所述喷涂组件的高度位置；确定所述悬挂组件的横向位置对应的纵向区域上是否有障碍物，在所述横向位置对应的纵向区域上有障碍物时，根据所述喷涂组件的高度确定所述喷涂组件与所述障碍物之间的高度差，在所述高度差小于预设高度时，控制所述喷涂机器人绕开所述障碍物，并在绕开所述障碍物后继续进行喷涂。
根据本公开的实施例提供的喷涂机器人的控制方法，可用于喷涂机器人，而喷涂机器人可具体用于对高层建筑的外墙或内墙进行喷涂，比如对高层建筑的外墙进行喷漆或者对 高层建筑的外墙进行喷水清洗，或者对建筑内墙进行粉刷，比如喷乳胶漆等。而该喷涂机器人的控制方法能够控制喷涂组件沿作业面的纵向方向进行喷涂，而在喷涂过程中，可获取悬挂组件的横向位置和喷涂组件的高度位置，这样便可确定出喷涂组件的自身位置，而在确定好喷涂组件的自身位置后，可提前确定悬挂组件的横向位置对应的纵向区域上是否有障碍物，即可提前确定喷涂组件在喷涂的前方是否有障碍物，若有，则根据喷涂组件的高度确定喷涂组件与障碍物之间的高度差，并在高度差小于预设高度时，控制喷涂机器人绕开障碍物，并在绕开所述障碍物后继续进行喷涂。反之，若确定喷涂组件在喷涂的前方没有障碍物，则可按照正常的路线进行喷涂。该种结构可通过悬挂组件的横向位置和喷涂组件的高度位置确定出喷涂组件的位置，且可通过喷涂组件的位置确定其喷涂前方是否有障碍物，并能够在有障碍物时，自动绕开障碍物，这样便使得喷涂机器人在喷涂时，能够自动绕开障碍物，实现自动避障，从而可实现真正的全自动喷涂。
其中，这里的障碍物可具体是墙体上的窗台、阳台、拐角等结构。
另外，根据本公开上述实施例提供的喷涂机器人的控制方法还具有如下附加技术特征：
在上述任一技术方案中，优选地，所述控制所述喷涂机器人绕开所述障碍物，并在绕开所述障碍物后继续进行喷涂的步骤具体包括：控制所述悬挂组件向远离作业面的方向移动，并在所述障碍物与所述喷涂组件在纵向方向上完全错位后，控制所述喷涂组件沿纵向方向向待喷涂区域移动，并在所述障碍物与所述喷涂组件在横向方向上完全错位后，控制所述悬挂组件向靠近作业面的方向移动到喷涂路线上继续进行喷涂。
在该些技术方案中，在喷涂组件遇到障碍物后，可将悬挂组件沿垂直作业面的方向向远离作业面的方向移动，以使喷涂组件能够在纵向方向上与障碍物错开，然后可控制喷涂组件上升或下降一段高度，直到喷涂组件移动到障碍物的另一方，此后，可将悬挂组件向靠近作业面的方向移动，直到喷涂组件回归到喷涂路线上，其中，这里的喷涂路线指的是喷涂组件的正常喷涂路线，即为喷涂组件预先设定的喷涂路线，换句话说，就是喷涂组件绕开障碍物后又回到原来的喷涂轨迹上进行喷涂。这样通过悬挂组件沿垂直作业面的方向的往返运动，便能够实现喷涂组件的自动避障效果。
在上述任一技术方案中，优选地，所述确定所述悬挂组件的横向位置对应的纵向区域上是否有障碍物的步骤包括：获取所述作业面上的障碍物地图；根据所述障碍物地图和所述悬挂组件的横向位置确定所述悬挂组件的横向位置对应的纵向区域上是否有障碍物。
在该些技术方案中，可提前在控制装置内设置作业面的地图，以便能够得到障碍物在作业面上的分布地图，即障碍物地图，这样就使得控制装置能够了解到窗台、阳台、拐角等障碍物的位置。而在知道了窗台、阳台、拐角等障碍物的位置后，便可根据喷涂组件的 时时位置，来确定喷涂组件的预设行进方向上是否有障碍物，并在有障碍物时，实现自动避障。具体地，比如在作业面为建筑外墙或内墙时，可将墙体的图纸直接输入到机器人内部，以便机器人能够获取到阳台、窗台等障碍物的位置。当然，也可人为输入障碍物的坐标位置，以形成障碍物地图。
在上述任一技术方案中，优选地，所述获取所述喷涂组件的高度的步骤具体为：通过激光测距的方式确定所述喷涂组件的高度。
在该些技术方案中，可通过激光测距的方式来进行喷涂组件的距离测算。因为激光测距的方式比较成熟且易实现，因而可简化产品的成本，降低测距难度。具体地，比如，可在悬挂组件上设置激光测量仪，而在挂架上设置激光反射板，这样便可通过激光测量仪发出激光信号、然后通过激光反射板来反射信号，这样激光测量仪便可根据这两种信号确定出悬挂组件与喷涂组件之间的高度差，从而通过高度差便可确定出喷涂组件的高度位置。具体地，可通过出悬挂组件与喷涂组件之间的高度差直接代表喷涂组件的高度位置，即喷涂组件相对悬挂组件的位置，当然，喷涂组件的位置也可通过其它参照物进行描述，比如地面。
在上述任一技术方案中，优选地，喷涂机器人的控制方法还包括：将所述悬挂组件沿横向方向移动到一横向指定位置，并在移动到横向指定位置后执行所述控制所述喷涂组件沿作业面的纵向方向进行喷涂的步骤；在所述横向指定位置对应的纵向区域喷涂合格后，将所述悬挂组件沿横向方向移动到下一个横向指定位置，并在移动到所述下一个横向指定位置后执行所述控制所述喷涂组件沿作业面的纵向方向进行喷涂的步骤。
在该些技术方案中，可先沿作业面的横向方向确定出多个横向指定位置，然后通过移动小车将悬挂组件直接移动到某一个横向指定位置，并在到达这个横向指定位置后，控制喷涂组件沿作业面的纵向方向进行喷涂。而在喷涂完这个纵向区域后，可通过移动小车将悬挂组件移动到下一个横向指定位置，并在到达下一个横向指定位置后，控制喷涂组件沿作业面的纵向方向进行喷涂。然后依次移动到其它横向指定位置，并完成喷涂，直到作业面都喷涂完成。该种结构在喷涂时，先将作业面划分成了多个纵向区域，然后一个纵向区域一个纵向区域的喷涂，而这种喷涂方式在对其中一个纵向区域喷涂时能够一次性喷涂到底，这样在喷涂过程中，喷涂机器人只需要沿横向方向依次移动到与多个纵向区域对应的横向位置便可，而在移动到对应的横向位置后，只需要从上到下地对纵向区域进行喷涂，而不需要再移动机器人。而这种设置，只需要将机器人移动到纵向区域便可完成该纵向区域的喷涂，因此，不需要往返、频繁移动喷涂机器人，这样便能够减少喷涂机器人整体移动的频率，简化喷涂机器人的操作流程。
本公开的第二方面提出了一种喷涂机器人的控制装置，包括：存储器，配置为存储可 执行指令；处理器，配置为执行所述可执行指令以实现第一方面任一项实施提供的喷涂机器人的控制方法的步骤。
本公开提供的喷涂机器人的控制装置，由于其能够按照第一方面任一项实施提供的喷涂机器人的控制方法的步骤控制喷涂机器人的工作，进而具有第一方面任一项实施提供的喷涂机器人的控制方法的有益效果，在此不一一赘述。
本公开的第三方面提出了一种计算机可读存储介质，其上存储有可执行指令，可执行指令被处理器执行时能够实现第一方面任一项实施提供的喷涂机器人的控制方法的步骤。
本公开提供的计算机可读存储介质，由于其上存储的可执行指令被执行时能够按照第一方面任一项实施提供的控制方法的步骤控制喷涂机器人的工作，进而具有第一方面任一项实施提供的喷涂机器人的控制方法的有益效果，在此不一一赘述。
本公开的第四方面提出了一种喷涂机器人，包括：移动小车；悬挂组件，安装在移动小车上，且所述悬挂组件上设置有；喷涂组件，升降地安装在所述悬挂组件上；高度检测装置，安装在所述悬挂组件和/或所述喷涂组件上，能够检测出所述喷涂组件的高度位置；第一方面任一项实施例提供的控制装置，安装在所述悬挂组件和/或所述喷涂组件，与所述移动小车和所述高度检测装置连接。
根据本公开提供的喷涂机器人，可具体用于对高层建筑的外墙或内墙进行喷涂，比如对高层建筑的外墙进行喷漆或者对高层建筑的外墙进行喷水清洗或者对建筑内墙进行粉刷，比如喷乳胶漆等。具体地，喷涂机器人包括移动小车、悬挂组件、喷涂组件、高度检测装置和控制装置。其中，悬挂组件可具体用于悬挂安装在高处，比如可将悬挂组件的一端安装在高层建筑的屋顶上，而将悬挂组件的另一端从高层建筑的屋顶的边缘伸出，此时，悬挂组件的另一端处于悬空状态，而喷涂组件可通过提升装置的钢丝绳等吊装在喷涂组件的悬空的一端上，即悬挂组件没有安装在高层建筑等上的一端，也即悬挂组件不用于与物体进行安装的一端，这样就能够将喷涂组件安装在高层建筑的外墙等作业面上。即这里悬挂组件和喷涂组件可设计成一个类似建筑中的吊篮结构，这样通过该类似吊篮结构的装置便可实现喷枪沿高层建筑的墙面等的运动。而喷涂组件包括安装用的挂机和喷枪，而喷枪具体用于对高层建筑的外墙或内墙等作业面进行喷涂，而高度检测装置可用于测量悬挂组件与喷涂组件之间的距离，这样便能够根据悬挂组件与喷涂组件之间的距离分析得出喷涂组件的高度位置，这样便可通过喷涂组件的高度位置以及悬挂组件的横向位置来确定喷涂组件的前方是否会有障碍物，并在喷涂组件的前方有障碍物时，控制喷涂组件绕开障碍物后再继续喷涂，这样便能够有效避障的效果。
在上述任一技术方案中，优选地，所述高度检测装置包括安装在所述悬挂组件上的光源反射件和安装在所述悬挂组件上的光源测量件，所述光源测量件能够发射测距光线和接 收所述光源反射件反射回的反射光线，并能够根据发射的所述测距光线和接收的所述反射光线确定出所述喷涂组件的高度位置。
在该些技术方案中，可基于光的传播和反射来进行喷涂组件的距离测量，比如，可在悬挂组件上设置光源测量件，而在挂架上设置光源反射件，这样便可通过光源测量件发出激光信号、然后通过光源反射件来反射信号，这样光源测量件便可根据这两种信号确定出悬挂组件与喷涂组件之间的高度差，从而通过高度差便可确定出喷涂组件的高度位置。具体地，可通过出悬挂组件与喷涂组件之间的高度差直接代表喷涂组件的高度位置，即喷涂组件相对悬挂组件的位置，当然，喷涂组件的位置也可通过其它参照物进行描述，比如地面。
其中，优选地，所述移动小车为AGV小车。
在该些技术方案中，可优选通过AGV小车来进行悬架的横向移动，比如左右移动。而AGV小车能够对屋面情况进行地图扫描并自动移动，从而可自动规划喷枪组件的喷涂路线。
具体地，AGV为AutomatedGuidedVehicle的缩写，也称为AGV小车，而AGV小车为一种装配有电磁或光学等自动引导装置，能够沿规定的导引路径行驶，具有安全保护以及各种移载功能的运输车，其在工业应用中不需要驾驶员，可通过电脑控制其行进路线，可通过电磁轨道带来的讯息进行移动和动作。
其中，优选地，光源测量件为激光测量仪，光源反射件为激光反射板。
在该些技术方案中，可通过激光测距的方式来进行悬挂组件与喷涂组件之间的距离测算。因为激光测距的方式比较成熟且易实现，因而可简化产品的成本，降低测距难度。具体地，可将光源测量件设置为激光测量仪，而将光源反射件设置为激光反射板，而在该结构中，激光测量仪用于发出激光信号、接收激光反射板反射回的信号，并根据这两种信号确定出喷涂组件与悬挂组件之间的距离，而激光反射板用于将激光测量仪发出的信号反射回激光测量仪，这样便使得激光测量仪能够根据激光从发出到接收的时间以及激光在空气中的传播速度计算出激光走过的路程，从而便能够根据激光走过的路程确定出悬挂组件与喷涂组件之间的距离。
在上述任一技术方案中，优选地，所述激光反射板的数量为两个，两个所述激光反射板沿作业面的横向方向对称地安装在所述挂架上。
在该些技术方案中，能够通过两个激光反射板来对激光测量仪发出的激光进行反射，这样能够增强反射回的激光的量，从而能够增强激光测量仪能够接收到的反射光线，这样便能够在通过发出的激光信号与反射的激光信号进行对比分析时，增强反射的激光信号的可靠性，提高激光测距的准确性，从而能够实现对喷涂组件的位置移动的精确控制。
在上述任一技术方案中，优选地，所述悬架的底部上设置有凹陷区域，所述悬架能够通过所述凹陷区域安装在所述AGV小车上，所述悬架的底部上设置有多个滑轮，所述悬架安装在所述AGV小车上时，所述悬架能够通过多个所述滑轮与所述放置平台接触。
在该些技术方案中，可在悬架的底部设置凹陷区域，然后将AGV小车安装在凹陷区域内，这样便能够在通过AGV小车带动悬架整体移动的同时，降低悬架与AGV小车构成的整体的体积，以减少产品的占地面积。而通过在悬架的底部上设置滑轮，使得悬架能够与地接触，并能够在随AGV小车移动时通过滑轮滑动，这样便能够使悬架的移动更加方便。
其中，优选地，喷涂机器人为外墙喷涂机器人。当然，喷涂机器人也可为玻璃幕墙等的高空清洗机器人。此外，喷涂机器人也可为内墙喷涂机器人。
根据本公开的附加方面和优点将在下面的描述部分中给出，部分将从下面的描述中变得明显，或通过本公开的实践了解到。
附图说明
本公开的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本公开的实施例提供的喷涂机器人的控制方法的流程示意图；
图2是根据本公开的实施例提供的喷涂机器人的控制方法的另一流程示意图；
图3是根据本公开的实施例提供的喷涂机器人的控制装置的结构示意框图；
图4是根据本公开的实施例提供的喷涂机器人的结构示意图；
图5是根据本公开的实施例提供的喷涂机器人的部分结构示意图；
图6是根据本公开的实施例提供的喷涂机器人的另一部分结构示意图。
其中，图1至图6中附图标记与部件名称之间的对应关系为：
100喷涂机器人，1控制装置，1a第一控制件，1b第二控制件，12存储器，14处理器，2悬挂组件，3喷涂组件，4移动小车，5高度检测装置，52激光测量仪，54激光反射板。
具体实施方式
为了能够更清楚地理解本公开的上述目的、特征和优点，下面结合附图和具体实施方式对本公开进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本公开，但是，本公开还可以采用其他不同于在此描述的方式来实施，因此，本公开的保护范围并不受下面公开的具体实 施例的限制。
下面参照图1至图6来描述根据本公开的实施例提供的喷涂机器人及控制方法和控制装置、计算机可读存储介质。
如图1所示，本公开第一方面的实施例提供了一种喷涂机器人的控制方法，用于如图6所示的喷涂机器人，所述喷涂机器人包括悬挂组件和喷涂组件，所述喷涂组件能够升降地安装在所述悬挂组件上，所述喷涂机器人的控制方法包括：步骤102，控制所述喷涂组件沿作业面的纵向方向进行喷涂；步骤104，获取所述悬挂组件的横向位置，获取所述喷涂组件的高度位置；步骤106，确定所述悬挂组件的横向位置对应的纵向区域上是否有障碍物，在所述横向位置对应的纵向区域上有障碍物时，根据所述喷涂组件的高度确定所述喷涂组件与所述障碍物之间的高度差，在所述高度差小于预设高度时，控制所述喷涂机器人绕开所述障碍物，并在绕开所述障碍物后继续进行喷涂。
根据本公开的实施例提供的喷涂机器人的控制方法，可用于喷涂机器人，而喷涂机器人可具体用于对高层建筑的外墙或内墙进行喷涂，比如对高层建筑的外墙进行喷漆或者对高层建筑的外墙进行喷水清洗，或者对建筑内墙进行粉刷，比如喷乳胶漆等。而该喷涂机器人的控制方法能够控制喷涂组件沿作业面的纵向方向进行喷涂，而在喷涂过程中，可获取悬挂组件的横向位置和喷涂组件的高度位置，这样便可确定出喷涂组件的自身位置，而在确定好喷涂组件的自身位置后，可提前确定悬挂组件的横向位置对应的纵向区域上是否有障碍物，即可提前确定喷涂组件在喷涂的前方是否有障碍物，若有，则根据喷涂组件的高度确定喷涂组件与障碍物之间的高度差，并在高度差小于预设高度时，控制喷涂机器人绕开障碍物，并在绕开所述障碍物后继续进行喷涂。反之，若确定喷涂组件在喷涂的前方没有障碍物，则可按照正常的路线进行喷涂。该种结构可通过悬挂组件的横向位置和喷涂组件的高度位置确定出喷涂组件的位置，且可通过喷涂组件的位置确定其喷涂前方是否有障碍物，并能够在有障碍物时，自动绕开障碍物，这样便使得喷涂机器人在喷涂时，能够自动绕开障碍物，实现自动避障，从而可实现真正的全自动喷涂。
其中，这里的障碍物可具体是墙体上的窗台、阳台、拐角等结构。
下面参照图2来描述本公开的实施例提供的喷涂机器人的控制方法，具体地，该控制方法包括以下步骤：
步骤202，控制所述喷涂组件沿作业面的纵向方向进行喷涂。
步骤204，获取所述悬挂组件的横向位置，获取所述喷涂组件的高度位置。
步骤206，获取所述作业面上的障碍物地图。
步骤208，根据所述障碍物地图和所述悬挂组件的横向位置确定所述悬挂组件的横向位置对应的纵向区域上是否有障碍物。
在步骤206和步骤208中，可提前在控制装置内设置作业面的地图，以便能够得到障碍物在作业面上的分布地图，即障碍物地图，这样就使得控制装置能够了解到窗台、阳台、拐角等障碍物的位置。而在知道了窗台、阳台、拐角等障碍物的位置后，便可根据喷涂组件的时时位置，来确定喷涂组件的预设行进方向上是否有障碍物，并在有障碍物时，实现自动避障。具体地，比如在作业面为建筑外墙或内墙时，可将墙体的图纸直接输入到机器人内部，以便机器人能够获取到阳台、窗台等障碍物的位置。当然，也可人为输入障碍物的坐标位置，以形成障碍物地图。
步骤210，在所述横向位置对应的纵向区域上有障碍物时，根据所述喷涂组件的高度确定所述喷涂组件与所述障碍物之间的高度差。
步骤212，在所述高度差小于预设高度时，控制所述悬挂组件向远离作业面的方向移动，并在所述障碍物与所述喷涂组件在纵向方向上完全错位后，控制所述喷涂组件沿纵向方向向待喷涂区域移动，并在所述障碍物与所述喷涂组件在横向方向上完全错位后，控制所述悬挂组件向靠近作业面的方向移动到喷涂路线上继续进行喷涂。
在该步骤中，在喷涂组件遇到障碍物后，可将悬挂组件沿垂直作业面的方向向远离作业面的方向移动，以使喷涂组件能够在纵向方向上与障碍物错开，然后可控制喷涂组件上升或下降一段高度，直到喷涂组件移动到障碍物的另一方，此后，可将悬挂组件向靠近作业面的方向移动，直到喷涂组件回归到喷涂路线上。这样通过悬挂组件沿垂直作业面的方向的往返运动，便能够实现喷涂组件的自动避障效果。
在上述任一实施例中，优选地，所述获取所述喷涂组件的高度的步骤具体为：通过激光测距的方式确定所述喷涂组件的高度。
在该些实施例中，可通过激光测距的方式来进行喷涂组件的距离测算。因为激光测距的方式比较成熟且易实现，因而可简化产品的成本，降低测距难度。具体地，比如，可在悬挂组件上设置激光测量仪，而在挂架上设置激光反射板，这样便可通过激光测量仪发出激光信号、然后通过激光反射板来反射信号，这样激光测量仪便可根据这两种信号确定出悬挂组件与喷涂组件之间的高度差，从而通过高度差便可确定出喷涂组件的高度位置。具体地，可通过出悬挂组件与喷涂组件之间的高度差直接代表喷涂组件的高度位置，即喷涂组件相对悬挂组件的位置，当然，喷涂组件的位置也可通过其它参照物进行描述，比如地面。
在上述任一实施例中，优选地，喷涂机器人的控制方法还包括：将所述悬挂组件沿横向方向移动到一横向指定位置，并在移动到横向指定位置后执行所述控制所述喷涂组件沿作业面的纵向方向进行喷涂的步骤；在所述横向指定位置对应的纵向区域喷涂合格后，将所述悬挂组件沿横向方向移动到下一个横向指定位置，并在移动到所述下一个横向指定位 置后执行所述控制所述喷涂组件沿作业面的纵向方向进行喷涂的步骤。
在该些实施例中，可先沿作业面的横向方向确定出多个横向指定位置，然后通过移动小车将悬挂组件直接移动到某一个横向指定位置，并在到达这个横向指定位置后，控制喷涂组件沿作业面的纵向方向进行喷涂。而在喷涂完这个纵向区域后，可通过移动小车将悬挂组件移动到下一个横向指定位置，并在到达下一个横向指定位置后，控制喷涂组件沿作业面的纵向方向进行喷涂。然后依次移动到其它横向指定位置，并完成喷涂，直到作业面都喷涂完成。该种结构在喷涂时，先将作业面划分成了多个纵向区域，然后一个纵向区域一个纵向区域的喷涂，而这种喷涂方式在对其中一个纵向区域喷涂时能够一次性喷涂到底，这样在喷涂过程中，喷涂机器人只需要沿横向方向依次移动到与多个纵向区域对应的横向位置便可，而在移动到对应的横向位置后，只需要从上到下地对纵向区域进行喷涂，而不需要再移动机器人。而这种设置，只需要将机器人移动到纵向区域便可完成该纵向区域的喷涂，因此，不需要往返、频繁移动喷涂机器人，这样便能够减少喷涂机器人整体移动的频率，简化喷涂机器人的操作流程。
如图3所示，本公开的第二方面提出了一种喷涂机器人的控制装置1，包括：存储器12，配置为存储可执行指令；处理器14，配置为执行可执行指令以实现第一方面任一项实施提供的喷涂机器人100的控制方法的步骤。
本公开提供的喷涂机器人的控制装置1，由于其能够按照第一方面任一项实施提供的喷涂机器人100的控制方法的步骤控制喷涂机器人100的工作，进而具有第一方面任一项实施提供的喷涂机器人100的控制方法的有益效果，在此不一一赘述。
本公开的第三方面提出了一种计算机可读存储介质，其上存储有可执行指令，可执行指令被处理器14执行时能够实现第一方面任一项实施提供的喷涂机器人100的控制方法的步骤。
本公开提供的计算机可读存储介质，由于其上存储的可执行指令被执行时能够按照第一方面任一项实施提供的控制方法的步骤控制喷涂机器人100的工作，进而具有第一方面任一项实施提供的喷涂机器人100的控制方法的有益效果，在此不一一赘述。
如图4至图6所示，本公开的第四方面提出了一种喷涂机器人100，包括：移动小车4；悬挂组件2，安装在移动小车4上，且悬挂组件2上设置有；喷涂组件3，升降地安装在悬挂组件2上；高度检测装置5，安装在悬挂组件2和/或喷涂组件3上，能够检测出喷涂组件3的高度位置；第一方面任一项实施例提供的控制装置1，安装在悬挂组件2和/或喷涂组件3，与移动小车4和高度检测装置5连接。
根据本公开提供的喷涂机器人100，可具体用于对高层建筑的外墙或内墙进行喷涂，比如对高层建筑的外墙进行喷漆或者对高层建筑的外墙进行喷水清洗或者对建筑内墙进行 粉刷，比如喷乳胶漆等。具体地，喷涂机器人100包括移动小车4、悬挂组件2、喷涂组件3、高度检测装置5和控制装置1。其中，悬挂组件2可具体用于悬挂安装在高处，比如可将悬挂组件2的一端安装在高层建筑的屋顶上，而将悬挂组件2的另一端从高层建筑的屋顶的边缘伸出，此时，悬挂组件2的另一端处于悬空状态，而喷涂组件3可通过提升装置的钢丝绳等吊装在喷涂组件3的悬空的一端上，即悬挂组件2没有安装在高层建筑等上的一端，也即悬挂组件2不用于与物体进行安装的一端，这样就能够将喷涂组件3安装在高层建筑的外墙等作业面上。即这里悬挂组件2和喷涂组件3可设计成一个类似建筑中的吊篮结构，这样通过该类似吊篮结构的装置便可实现喷枪沿高层建筑的墙面等的运动。而喷涂组件3包括安装用的挂机和喷枪，而喷枪具体用于对高层建筑的外墙或内墙等作业面进行喷涂，而高度检测装置5可用于测量悬挂组件2与喷涂组件3之间的距离，这样便能够根据悬挂组件2与喷涂组件3之间的距离分析得出喷涂组件3的高度位置，这样便可通过喷涂组件3的高度位置以及悬挂组件2的横向位置来确定喷涂组件3的前方是否会有障碍物，并在喷涂组件3的前方有障碍物时，控制喷涂组件3绕开障碍物后再继续喷涂，这样便能够有效避障的效果。
在上述任一实施例中，优选地，如图4至图6所示，高度检测装置5包括安装在悬挂组件2上的光源反射件和安装在悬挂组件2上的光源测量件，光源测量件能够发射测距光线和接收光源反射件反射回的反射光线，并能够根据发射的测距光线和接收的反射光线确定出喷涂组件3的高度位置。
在该些实施例中，可基于光的传播和反射来进行喷涂组件3的距离测量，比如，可在悬挂组件2上设置光源测量件，而在挂架上设置光源反射件，这样便可通过光源测量件发出激光信号、然后通过光源反射件来反射信号，这样光源测量件便可根据这两种信号确定出悬挂组件2与喷涂组件3之间的高度差，从而通过高度差便可确定出喷涂组件3的高度位置。具体地，可通过出悬挂组件2与喷涂组件3之间的高度差直接代表喷涂组件3的高度位置，即喷涂组件3相对悬挂组件2的位置，当然，喷涂组件3的位置也可通过其它参照物进行描述，比如地面。
其中，优选地，移动小车4为AGV小车。
在该些实施例中，可优选通过AGV小车来进行悬架的横向移动，比如左右移动。而AGV小车能够对屋面情况进行地图扫描并自动移动，从而可自动规划喷枪组件的喷涂路线。
具体地，AGV为AutomatedGuidedVehicle的缩写，也称为AGV小车，而AGV小车为一种装配有电磁或光学等自动引导装置，能够沿规定的导引路径行驶，具有安全保护以及各种移载功能的运输车，其在工业应用中不需要驾驶员，可通过电脑控制其行进路线，可 通过电磁轨道带来的讯息进行移动和动作。
其中，优选地，如图4至图6所示，光源测量件为激光测量仪52，光源反射件为激光反射板54。
在该些实施例中，可通过激光测距的方式来进行悬挂组件2与喷涂组件3之间的距离测算。因为激光测距的方式比较成熟且易实现，因而可简化产品的成本，降低测距难度。具体地，可将光源测量件设置为激光测量仪52，而将光源反射件设置为激光反射板54，而在该结构中，激光测量仪52用于发出激光信号、接收激光反射板54反射回的信号，并根据这两种信号确定出喷涂组件3与悬挂组件2之间的距离，而激光反射板54用于将激光测量仪52发出的信号反射回激光测量仪52，这样便使得激光测量仪52能够根据激光从发出到接收的时间以及激光在空气中的传播速度计算出激光走过的路程，从而便能够根据激光走过的路程确定出悬挂组件2与喷涂组件3之间的距离。
在上述任一实施例中，优选地，如图5所示，激光反射板54的数量为两个，两个激光反射板54沿作业面的横向方向对称地安装在挂架上。
在该些实施例中，能够通过两个激光反射板54来对激光测量仪52发出的激光进行反射，这样能够增强反射回的激光的量，从而能够增强激光测量仪52能够接收到的反射光线，这样便能够在通过发出的激光信号与反射的激光信号进行对比分析时，增强反射的激光信号的可靠性，提高激光测距的准确性，从而能够实现对喷涂组件的位置移动的精确控制。
其中，优选地，鉴于喷涂机器人100的控制工作量大，一个单独的控制件很难满足喷涂机器人100的负载需求。因此，可如图4至图6所示，将整机的控制装置1分成两个部分，即第一控制件1a和第二控制件1b，且优选地，可将第一控制件1a安装在悬挂组件2上，以控制安装在悬挂组件2上的电器装置的工作，而将第二控制件1b安装在喷枪组件上，以控制安装在喷枪组件上的电器装置的工作。而第二控制件1b优选与第一控制件1a连接，这样使得整机的控制部分能够互通，从而能够对整机进行联动控制，而不会存在各自独立控制的现象。而这种设置能够通过两个分开的控制件来进行整机的控制，从而能够减小每个控制件的负载，确保控制装置1的安全。
在上述任一实施例中，优选地，如图4所示，悬挂组件2的底部上设置有凹陷区域，悬架能够通过凹陷区域安装在AGV小车上，悬架的底部上设置有多个滑轮，悬架安装在AGV小车上时，悬架能够通过多个滑轮与放置平台接触。
在该些实施例中，可在悬架的底部设置凹陷区域，然后将AGV小车安装在凹陷区域内，这样便能够在通过AGV小车带动悬架整体移动的同时，降低悬架与AGV小车构成的整体的体积，以减少产品的占地面积。而通过在悬架的底部上设置滑轮，使得悬架能够与地接触，并能够在随AGV小车移动时通过滑轮滑动，这样便能够使悬架的移动更加方便。
其中，优选地，喷涂机器人100为外墙喷涂机器人。当然，喷涂机器人100也可为玻璃幕墙等的高空清洗机器人。此外，喷涂机器人100也可为内墙喷涂机器人。
在本说明书的描述中，术语“连接”、“安装”、“固定”等均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。
在本说明书的描述中，术语“连接”、“安装”、“固定”等均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。
在本说明书的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上仅为本公开的优选实施例而已，并不用于限制本公开，对于本领域的技术人员来说，本公开可以有各种更改和变化。凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (10)

  1. 一种喷涂机器人的控制方法，用于喷涂机器人，所述喷涂机器人包括悬挂组件和喷涂组件，所述喷涂组件能够升降地安装在所述悬挂组件上，其特征在于，所述喷涂机器人的控制方法包括：
    控制所述喷涂组件沿作业面的纵向方向进行喷涂；
    获取所述悬挂组件的横向位置，获取所述喷涂组件的高度位置；
    确定所述悬挂组件的横向位置对应的纵向区域上是否有障碍物，在所述横向位置对应的纵向区域上有障碍物时，根据所述喷涂组件的高度确定所述喷涂组件与所述障碍物之间的高度差，在所述高度差小于预设高度时，控制所述喷涂机器人绕开所述障碍物，并在绕开所述障碍物后继续进行喷涂。
  2. 根据权利要求1所述的喷涂机器人的控制方法，其特征在于，所述控制所述喷涂机器人绕开所述障碍物，并在绕开所述障碍物后继续进行喷涂的步骤具体包括：
    控制所述悬挂组件向远离作业面的方向移动，并在所述障碍物与所述喷涂组件在纵向方向上完全错位后，控制所述喷涂组件沿纵向方向向待喷涂区域移动，并在所述障碍物与所述喷涂组件在横向方向上完全错位后，控制所述悬挂组件向靠近作业面的方向移动到喷涂路线上继续进行喷涂。
  3. 根据权利要求2所述的喷涂机器人的控制方法，其特征在于，所述确定所述悬挂组件的横向位置对应的纵向区域上是否有障碍物的步骤包括：
    获取所述作业面上的障碍物地图；
    根据所述障碍物地图和所述悬挂组件的横向位置确定所述悬挂组件的横向位置对应的纵向区域上是否有障碍物。
  4. 根据权利要求1所述的喷涂机器人的控制方法，其特征在于，所述获取所述喷涂组件的高度的步骤具体为：
    通过激光测距的方式确定所述喷涂组件的高度。
  5. 根据权利要求1至4中任一项所述的喷涂机器人的控制方法，其特征在于，还包括：
    将所述悬挂组件沿横向方向移动到一横向指定位置，并在移动到横向指定位置后执行所述控制所述喷涂组件沿作业面的纵向方向进行喷涂的步骤；
    在所述横向指定位置对应的纵向区域喷涂合格后，将所述悬挂组件沿横向方向移动到下一个横向指定位置，并在移动到所述下一个横向指定位置后执行所述控制所述喷涂组件沿作业面的纵向方向进行喷涂的步骤。
  6. 一种喷涂机器人的控制装置(1)，其特征在于，包括：
    存储器(12)，配置为存储可执行指令；
    处理器(14)，配置为执行所述可执行指令以实现如权利要求1至5中任一项所述方法的步骤。
  7. 一种计算机可读存储介质，其特征在于，其上存储有可执行指令，所述可执行指令被处理器(14)执行时能够实现如权利要求1至5中任一项所述的喷涂机器人(100)的控制方法的步骤。
  8. 一种喷涂机器人(100)，其特征在于，包括：
    移动小车(4)；
    悬挂组件(2)，安装在移动小车(4)上，且所述悬挂组件(2)上设置有；
    喷涂组件(3)，升降地安装在所述悬挂组件(2)上；
    高度检测装置(5)，安装在所述悬挂组件(2)和/或所述喷涂组件(3)上，能够检测出所述喷涂组件(3)的高度位置；
    如权利要求6所述的控制装置(1)，安装在所述悬挂组件(2)和/或所述喷涂组件(3)，与所述移动小车(4)和所述高度检测装置(5)连接。
  9. 根据权利要求8所述的喷涂机器人(100)，其特征在于，
    所述高度检测装置(5)包括安装在所述悬挂组件(2)上的光源反射件和安装在所述悬挂组件(2)上的光源测量件，所述光源测量件能够发射测距光线和接收所述光源反射件反射回的反射光线，并能够根据发射的所述测距光线和接收的所述反射光线确定出所述喷涂组件(3)的高度位置。
  10. 根据权利要求9所述的喷涂机器人(100)，其特征在于，
    所述光源测量件为激光测量仪(52)，所述光源反射件为激光反射板(54)。
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