WO2021017468A1 - 喷涂控制方法、装置、喷涂机器人以及存储介质 - Google Patents

喷涂控制方法、装置、喷涂机器人以及存储介质 Download PDF

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Publication number
WO2021017468A1
WO2021017468A1 PCT/CN2020/077683 CN2020077683W WO2021017468A1 WO 2021017468 A1 WO2021017468 A1 WO 2021017468A1 CN 2020077683 W CN2020077683 W CN 2020077683W WO 2021017468 A1 WO2021017468 A1 WO 2021017468A1
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WO
WIPO (PCT)
Prior art keywords
spraying
robot
mode
target
paint
Prior art date
Application number
PCT/CN2020/077683
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English (en)
French (fr)
Inventor
谭靖喜
刘国虬
许安鹏
Original Assignee
广东博智林机器人有限公司
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Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2021017468A1 publication Critical patent/WO2021017468A1/zh

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Classifications

    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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

  • This application relates to the field of spraying control technology and the field of robots, and specifically to a spraying control method, a spraying control device, a spraying robot, and a computer-readable storage medium.
  • This application aims to solve at least one of the technical problems existing in the prior art or related technologies.
  • the first aspect of this application is to provide a spray control method.
  • the second aspect of the present application is to provide a spraying control device.
  • the third aspect of this application is to provide a spraying robot.
  • the fourth aspect of the present application is to provide a computer-readable storage medium.
  • the present application provides a spraying control method for a spraying robot, including: receiving image information of the current environment; determining a target spraying mode according to the image information; and running the target spraying mode.
  • the spraying control method provided in this application obtains the image information of the current environment and runs the target spraying mode determined according to the image information to realize the automatic determination of the spraying mode at the current position and automatic spraying, reducing manual participation and reducing the amount of manual labor. At the same time, the spraying robot is used for spraying, which improves spraying efficiency.
  • the process of determining the target spraying mode according to the image information can use the current mature artificial intelligence technology, such as determining the target spraying mode according to the characteristics of the door and window contained in the image information.
  • Each spraying mode corresponds to the posture and spraying method of the spraying robot.
  • the posture can include the spraying position and posture of the spraying robot.
  • the spraying method includes the motion state of the steering wheel of the spraying robot, the motion state of the lifting mechanism, and the motion state of the spray gun structure. It is understandable that the posture of the spraying robot refers to the relative positional relationship between the spraying robot and the working surface.
  • spraying control method in the above technical solution provided by this application may also have the following additional technical features:
  • the step of running the target spraying mode specifically includes: determining that the preset spraying mode includes the target spraying mode, and running the target spraying mode.
  • the target spray mode is operated to improve the reliability of spray control.
  • the method further includes: determining the current position information of the spraying robot according to the image information; The position information is inconsistent with the target spraying position, and the first movement instruction is output to make the spraying robot move to the target spraying position.
  • the current position information of the spray robot is determined according to the image information, and the current position information is combined with the target spray The positions are compared, and when the current position information is inconsistent with the target spraying position, the first movement instruction is output to make the spraying robot move to the target spraying position to realize the automatic movement of the spraying robot.
  • it further includes: receiving the sampling distance between the chassis structure of the spraying robot and the wall indicated by the target spraying position; determining that the chassis structure is not parallel to the wall according to the sampling distance, and outputting the second Move instructions so that the chassis structure is parallel to the wall.
  • the sampling distance between the chassis structure of the spraying robot and the wall indicated by the target spraying position is received ; According to the sampling distance, it is determined that the chassis structure is not parallel to the wall, and the second movement instruction is output to make the chassis structure parallel to the wall.
  • it further includes: determining that the sampling distance between the chassis structure of the spraying robot and the wall is outside the specified distance interval, and outputting a third movement instruction to make the distance between the chassis structure and the wall The sampling distance of is within the specified distance interval.
  • the third movement instruction is output so that the spraying robot can adjust the current position to ensure that the sampling distance between the adjusted spraying robot's chassis structure and the wall is within the specified distance interval to ensure the spraying quality.
  • the method further includes: receiving the current remaining amount of paint; determining that the current remaining amount of paint is less than or equal to the first specified threshold, and outputting a supplementary paint instruction to make the spraying robot Move to the designated position to replenish paint.
  • the remaining amount of the previous paint is compared with the first specified threshold.
  • the replenishing paint instruction is output to realize the replenishment of the paint, reduce the possibility of insufficient paint during the spraying process of the coating robot, and realize the intelligent replenishment of the paint.
  • the method further includes: recording the current spraying position as the first position; determining that the paint replenishment is complete, and outputting a fourth movement instruction , So that the spraying robot moves to the first position to continue spraying.
  • the current spraying position is recorded as the first position, and then the paint is determined After the replenishment is completed, the fourth movement instruction is output to move the spraying robot to the first position to continue spraying, thereby ensuring the spraying quality.
  • it further includes: detecting the current power value of the power supply of the spraying robot; determining that the current power value is less than or equal to the second specified threshold, and outputting a fifth movement instruction to move the spraying robot to the specified Charge at the charging position.
  • the current power value of the power supply is compared with the second specified threshold value, when the current power value is less than or equal to the second specified threshold value , Output the fifth movement instruction to move the spraying robot to the designated charging position for charging, thereby reducing the possibility of the above situation.
  • it further includes: determining that the spraying task corresponding to the target spraying mode is finished and there are no other spraying tasks, and outputting a sixth movement instruction to move the spraying robot to the designated charging position for charging; Or it is determined that the spraying task corresponding to the target spraying mode is finished and there are other spraying tasks, and the seventh movement instruction is output to make the spraying robot perform other spraying tasks.
  • the sixth movement instruction is output so that the spraying robot can be charged to the designated charging position, and when it is determined that there are other spraying tasks, the seventh is output. Move instructions so that the spraying robot can perform other spraying tasks, thereby realizing multi-task spraying and improving spraying efficiency.
  • it further includes: receiving house type information, generating a spraying route according to the house type information, and generating a seventh movement instruction according to the spraying route.
  • the spraying route is generated according to the house type information, so that the spraying robot can perform multi-task spraying according to the spraying route.
  • the house type information can be generated according to the building information model input by the user.
  • the preset spraying mode includes at least one of wall panel spraying mode, bay window spraying mode, ceiling spraying mode, internal angle spraying mode, and external angle spraying mode.
  • the preset spraying modes include, but are not limited to, wall panel spraying mode, bay window spraying mode, ceiling spraying mode, internal angle spraying mode, and external angle spraying mode, which can be based on the structure of the wall being sprayed. Make settings.
  • the bay window spraying mode is the wall containing the bay window structure, and the bay window structure can also be the door structure;
  • the ceiling spraying mode is the spraying of the indoor roof, such as the wall containing the ceiling;
  • the internal corner spraying mode is the spraying containing the shade
  • the positive angle spraying mode is to spray walls that contain external angles.
  • the present application provides a spraying control device for a spraying robot, wherein the spraying control device includes: a controller and a memory, the memory is used to store a computer program, and the controller executes the storage in The computer program in the memory realizes: receiving the image information of the current environment; determining the target spraying mode according to the image information, and running the target spraying mode.
  • the spraying control device includes: a controller and a memory, wherein the controller executes a computer program stored in the memory to achieve: by acquiring image information of the current environment, and running the target spraying mode determined according to the image information, the current
  • the automatic determination of the spraying mode of the position and automatic spraying reduce manual participation and reduce the amount of manual labor.
  • the spraying robot is used for spraying, which improves the spraying efficiency.
  • the process of determining the target spraying mode according to the image information can use the current mature artificial intelligence technology, such as determining the target spraying mode according to the characteristics of the door and window contained in the image information.
  • spraying control device in the above technical solution provided by this application may also have the following additional technical features:
  • the controller is used to execute a computer program stored in the memory to realize: determining that the preset spraying mode includes the target spraying mode, and running the target spraying mode.
  • the target spray mode is operated to improve the reliability of spray control.
  • the controller is used to execute a computer program stored in the memory to realize: determine the current position information of the spraying robot according to the image information; determine that the current position information is inconsistent with the target spraying position, and output the first movement Command to move the spray robot to the target spray position.
  • the current position information of the spray robot is determined according to the image information, and the current position information is combined with the target spray The positions are compared, and when the current position information is inconsistent with the target spraying position, the first movement instruction is output to make the spraying robot move to the target spraying position to realize the automatic movement of the spraying robot.
  • the controller is used to execute a computer program stored in the memory to realize: receiving the sampling distance between the chassis structure of the spraying robot and the wall indicated by the target spraying position; determining according to the sampling distance The chassis structure is not parallel to the wall, and the second movement command is output to make the chassis structure parallel to the wall.
  • the sampling distance between the chassis structure of the spraying robot and the wall indicated by the target spraying position is received ; According to the sampling distance, it is determined that the chassis structure is not parallel to the wall, and the second movement instruction is output to make the chassis structure parallel to the wall.
  • the controller is used to execute a computer program stored in the memory to realize: determine that the sampling distance between the chassis structure of the spraying robot and the wall is outside the specified distance interval, and output the third movement Command to make the sampling distance between the chassis structure and the wall within the specified distance interval.
  • the third movement instruction is output so that the spraying robot can adjust the current position to ensure that the sampling distance between the adjusted spraying robot's chassis structure and the wall is within the specified distance interval to ensure the spraying quality.
  • the controller is configured to execute a computer program stored in the memory to realize: receiving the current remaining amount of paint, determining that the current remaining amount of paint is less than or equal to the first specified threshold, and outputting a replenishing paint instruction to Move the spraying robot to the designated position to replenish the paint.
  • the remaining amount of the previous paint is compared with the first specified threshold.
  • the replenishing paint instruction is output to realize the replenishment of the paint, reduce the possibility of insufficient paint during the spraying process of the coating robot, and realize the intelligent replenishment of the paint.
  • the controller is used to execute a computer program stored in the memory to realize: record the current spraying position as the first position; determine that the paint replenishment is complete, and output a fourth movement instruction to make the spraying robot Move to the first position to continue spraying.
  • the current spraying position is recorded as the first position, and then the paint is determined After the replenishment is completed, the fourth movement instruction is output to move the spraying robot to the first position to continue spraying, thereby ensuring the spraying quality.
  • the controller is used to execute a computer program stored in the memory to realize: detect the current power value of the power supply of the spray robot, determine that the current power value is less than or equal to the second specified threshold, and output the first Five movement instructions to move the spraying robot to the designated charging position for charging.
  • the current power value of the power supply is compared with the second specified threshold value, when the current power value is less than or equal to the second specified threshold value , Output the fifth movement instruction to move the spraying robot to the designated charging position for charging, thereby reducing the possibility of the above situation.
  • the controller is used to execute a computer program stored in the memory to realize: determine that the spraying task corresponding to the target spraying mode is finished and there are no other spraying tasks, and output the sixth movement instruction to The spraying robot is moved to the designated charging position for charging, or it is determined that the spraying task corresponding to the target spraying mode is finished and there are other spraying tasks, and the seventh movement instruction is output to make the spraying robot perform other spraying tasks.
  • the sixth movement instruction is output so that the spraying robot can be charged to the designated charging position, and when it is determined that there are other spraying tasks, the seventh is output. Move instructions so that the spraying robot can perform other spraying tasks, thereby realizing multi-task spraying and improving spraying efficiency.
  • the controller is configured to execute a computer program stored in the memory to realize: receiving house type information, generating a spraying route according to the house type information, and generating a seventh movement instruction according to the spraying route.
  • the spraying route is generated according to the house type information so that the spraying robot can perform multi-task spraying according to the spraying route.
  • the house type information can be generated according to the building information model input by the user.
  • the preset spraying mode includes at least one of wall panel spraying mode, bay window spraying mode, ceiling spraying mode, internal angle spraying mode, and external angle spraying mode.
  • the preset spraying modes include, but are not limited to, wall panel spraying mode, bay window spraying mode, ceiling spraying mode, internal angle spraying mode, and external angle spraying mode, which can be based on the structure of the wall being sprayed. Make settings.
  • the bay window spraying mode is the wall containing the bay window structure, and the bay window structure can also be the door structure;
  • the ceiling spraying mode is the spraying of the indoor roof, such as the wall containing the ceiling;
  • the internal corner spraying mode is the spraying containing the shade
  • the positive angle spraying mode is to spray walls that contain external angles.
  • the application provides a spraying robot, including: a body and a spraying device, the spraying device is arranged on the body for performing spraying operations; the image acquisition device can be used to acquire image information of the current environment ; The control device, the control device is respectively connected with the image acquisition device and the spraying device, used for determining the target spraying mode according to the image information, and controlling the spraying device to spray according to the target spraying mode.
  • the spraying robot proposed in this application includes a body, a spraying device, an image acquisition device, and a control device.
  • the control device acquires image information of the current environment through the image acquisition device, runs the target spraying mode determined according to the image information, and controls the spraying device to spray to achieve The automatic determination of the spraying mode of the current position and automatic spraying reduce manual participation and reduce the amount of manual labor.
  • the spraying robot is used for spraying, which improves the spraying efficiency.
  • the process of determining the target spraying mode according to the image information can use the current mature artificial intelligence technology, such as determining the target spraying mode according to the characteristics of the door and window contained in the image information.
  • spraying robot in the above technical solution provided by this application may also have the following additional technical features:
  • control device is specifically configured to determine that the preset spraying mode includes the target spraying mode, and run the target spraying mode.
  • the target spray mode is operated to improve the reliability of spray control.
  • the spraying robot further includes: a chassis structure, the body is arranged on the chassis structure, the chassis structure includes walking wheels and/or steering wheels; the control device is also used to: determine the spraying robot's Current position information; determine that the current position information is inconsistent with the target spraying position indicated by the spraying route, and control the rotation of the walking wheel and/or steering wheel to move the spraying robot to the target spraying position.
  • the current position information of the spray robot is determined according to the image information, and the current position information is combined with the target spray The position is compared, and when the current position information is inconsistent with the target spraying position, the walking wheel and/or the steering wheel are controlled to rotate so that the spraying robot can move to the target spraying position to realize the automatic movement of the spraying robot.
  • the spraying robot further includes: at least two distance sensors, the at least two distance sensors are horizontally arranged on the chassis structure, wherein the at least two distance sensors are directed toward the target spraying position
  • the control device is also used to determine whether the chassis structure is parallel to the wall according to the sampling distance and control The walking wheel and/or the steering wheel rotate so that the chassis structure is parallel to the wall.
  • At least two distance sensors arranged on the chassis structure are used to obtain the chassis structure and target of the spraying robot
  • the sampling distance of the wall indicated by the spraying position where at least two distance sensors are horizontally arranged on the chassis structure and at least two distance sensors are directed toward the wall indicated by the target spraying position.
  • the sampling distance between the walls indicated by the target spraying position determine that the chassis structure is not parallel to the wall, and control the rotation of the walking wheel and/or steering wheel to make the chassis structure parallel to the wall.
  • control device is further used for determining that the sampling distance between the chassis structure of the spraying robot and the wall is outside the specified distance interval, and controlling the rotation of the walking wheel and/or the steering wheel to make The distance value between the chassis structure and the wall is within the specified distance interval.
  • it further includes: a paint detection device connected to the control device for obtaining the current remaining amount of paint, and the control device is also used for determining that the current remaining amount of paint is less than or equal to the first
  • a designated threshold is used to control the rotation of the walking wheel and/or the steering wheel to make the spraying robot move to the designated position to replenish the paint.
  • a paint detection device is set up, and the paint detection device is used to obtain the current remaining amount of paint, and compare the previous remaining amount of paint with the first specified threshold , When the current remaining amount of paint is less than or equal to the first specified threshold, it is judged that the paint is insufficient, and at this time, the replenishment instruction is output to realize the replenishment of the paint, reduce the possibility of insufficient paint during the spraying process of the coating robot, and realize intelligent replenishment coating.
  • control device is further used to: record the current spraying position as the first position; determine that the paint replenishment is complete, and control the rotation of the walking wheels and/or steering wheels to move the spraying robot to the first position. Position to continue spraying.
  • the current spraying position is recorded as the first position, and then the paint is determined After the replenishment is completed, control the rotation of the walking wheel and/or the steering wheel to move the spraying robot to the first position to continue spraying, thereby ensuring the quality of spraying.
  • it further includes: a battery management device connected to the control device, the battery management device is used to detect the current power value of the power supply of the spraying robot; the control device is also used to: determine The current power value is less than or equal to the second specified threshold, and the walking wheel and/or the steering wheel are controlled to rotate so that the spray robot moves to the specified charging position for charging.
  • a battery management device is set to detect the current power value of the power supply and compare the current power value of the power supply with the second specified threshold. When the current power value is less than or equal to the second specified threshold, control the rotation of the walking wheel and/or the steering wheel to move the spraying robot to the specified charging position for charging, thereby reducing the possibility of the above situation.
  • control device is further used to: determine that the spraying task corresponding to the target spraying mode is finished and there is no other spraying task to control the running wheel and/or steering wheel to rotate, so that the spraying robot moves to Specify the charging location for charging; determine that the spraying task corresponding to the target spraying mode is finished and there are other spraying tasks, and control the rotation of the walking wheel and/or steering wheel to make the spraying robot perform other spraying tasks.
  • the walking wheels and/or steering wheels are controlled to rotate so that the spraying robot can be charged to the designated charging position, and when it is determined that there are other spraying tasks , To control the rotation of the walking wheel and/or the steering wheel so that the spraying robot can perform other spraying tasks, thereby realizing multi-task spraying and improving spraying efficiency.
  • control device is further used to: receive house type information, generate a spraying route according to the house type information, and control the rotation of the walking wheels and/or steering wheels according to the spraying route.
  • the spraying route is generated according to the house type information so that the spraying robot can perform multi-task spraying according to the spraying route.
  • the house type information can be generated according to the building information model input by the user.
  • the spraying device includes a spray gun structure; the body includes a spraying rotating structure, the spraying gun structure is arranged on the spraying rotating structure, and the spraying gun structure is driven by the spraying rotating structure to perform spraying tasks.
  • the body is provided with a spraying rotating structure, and the spray gun structure is arranged on the spraying rotating structure.
  • the spray gun structure is driven to rotate, thereby driving the spray gun structure on the spraying device to rotate.
  • the body further includes a lifting structure, the lifting structure is arranged on the chassis structure, the spraying rotating structure is arranged on the lifting structure, and the lifting structure drives the spraying rotating structure to operate.
  • the lifting structure is used to drive the spraying rotating structure to operate, thereby increasing the spraying area of the spraying robot, and thereby realizing large-area spraying.
  • the preset spraying mode includes at least one of wall panel spraying mode, bay window spraying mode, ceiling spraying mode, internal angle spraying mode, and external angle spraying mode.
  • the preset spraying modes include, but are not limited to, wall panel spraying mode, bay window spraying mode, ceiling spraying mode, internal angle spraying mode, and external angle spraying mode, which can be based on the structure of the wall being sprayed. Make settings.
  • the bay window spraying mode is the wall containing the bay window structure, and the bay window structure can also be the door structure;
  • the ceiling spraying mode is the spraying of the indoor roof, such as the wall containing the ceiling;
  • the internal corner spraying mode is the spraying containing the shade
  • the positive angle spraying mode is to spray walls that contain external angles.
  • the present application provides a computer-readable storage medium on which a computer program is stored.
  • the computer program is executed by a processor, the steps of any one of the spraying control methods described above are realized.
  • Fig. 1 shows a schematic flow chart of a spraying control method according to an embodiment of the present application
  • Figure 2 shows a schematic flow chart of a spraying control method according to another embodiment of the present application
  • Fig. 3 shows a schematic flow chart of a spraying control method according to another embodiment of the present application
  • FIG. 4 shows a schematic flow chart of a spraying control method according to another embodiment of the present application.
  • FIG. 5 shows a schematic flow chart of a spraying control method according to another embodiment of the present application.
  • Fig. 6 shows a schematic flow chart of a spraying control method according to another embodiment of the present application.
  • FIG. 7 shows a schematic flowchart of a spraying control method according to another embodiment of the present application.
  • Fig. 8 shows a schematic flow chart of a spraying control method according to another embodiment of the present application.
  • Fig. 9 shows a schematic block diagram of a spraying control device according to an embodiment of the present application.
  • FIG. 10 shows a schematic diagram of a spraying robot according to an embodiment of the present application.
  • FIG. 11 shows a schematic diagram of the interface of a spraying robot according to an embodiment of the present application.
  • Fig. 12 shows a schematic diagram of a spraying robot according to an embodiment of the present application
  • Fig. 13 shows a schematic diagram of a spraying robot according to an embodiment of the present application.
  • the spraying control method includes:
  • S102 Receive image information of the current environment
  • S104 Determine the target spraying mode according to the image information
  • the spraying control method provided in this application obtains the image information of the current environment and runs the target spraying mode determined according to the image information to realize the automatic determination of the spraying mode at the current position and automatic spraying, reducing manual participation and reducing the amount of manual labor. At the same time, the spraying robot is used for spraying, which improves the spraying efficiency.
  • the process of determining the target spraying mode according to the image information can use the current mature artificial intelligence technology, such as determining the target spraying mode according to the characteristics of the door and window contained in the image information.
  • the spraying control method includes:
  • S202 Receive image information of the current environment
  • S206 Determine that the preset spray mode includes the target spray mode, and run the target spray mode.
  • the target spray mode is operated to improve the reliability of spray control.
  • the method further includes:
  • S302 Determine current position information of the spraying robot according to the image information
  • S304 Determine that the current position information is inconsistent with the target spraying position, and output a first movement instruction to move the spraying robot to the target spraying position.
  • the current position information of the spray robot is determined according to the image information, and the current position information is combined with the target spray The positions are compared, and when the current position information is inconsistent with the target spraying position, the first movement instruction is output to make the spraying robot move to the target spraying position to realize the automatic movement of the spraying robot.
  • the spraying control method further includes:
  • S404 Determine according to the sampling distance that the chassis structure is not parallel to the wall, and output a second movement instruction to make the chassis structure parallel to the wall.
  • the sampling distance between the chassis structure of the spraying robot and the wall indicated by the target spraying position is received . According to the sampling distance, it is determined that the chassis structure is not parallel to the wall, and the second movement instruction is output to make the chassis structure parallel to the wall.
  • the spraying control method further includes: determining that the sampling distance between the chassis structure of the spraying robot and the wall is outside the specified distance interval, and outputting a third movement instruction so that the chassis structure and the wall The sampling distance between is within the specified distance interval.
  • the third movement instruction is output so that the spraying robot can adjust the current position to ensure that the sampling distance between the adjusted spraying robot's chassis structure and the wall is within the specified distance interval to ensure the spraying quality.
  • the spraying control method further includes:
  • S504 Determine that the current remaining amount of paint is less than or equal to the first specified threshold, and output a paint replenishment instruction to move the spraying robot to a specified position to replenish paint.
  • the previous remaining amount of paint is compared with the first specified threshold.
  • the replenishing paint instruction is output to realize the replenishment of the paint, reduce the possibility of insufficient paint during the spraying process of the coating robot, and realize the intelligent replenishment of the paint.
  • the spraying control method further includes:
  • S602 Record the current spraying position as the first position
  • the current spraying position is recorded as the first position, and then the paint is determined After the replenishment is completed, the fourth movement instruction is output to move the spraying robot to the first position to continue spraying, thereby ensuring the spraying quality.
  • the spraying control method further includes:
  • S704 Determine that the current power value is less than or equal to the second specified threshold, and output a fifth movement instruction to move the spraying robot to the specified charging position for charging.
  • the current power value of the power supply is compared with the second specified threshold value, when the current power value is less than or equal to the second specified threshold value , Output the fifth movement instruction to move the spraying robot to the designated charging position for charging, thereby reducing the possibility of the above situation.
  • the spraying control method further includes: determining that the spraying task corresponding to the target spraying mode is finished and there are no other spraying tasks, and outputting a sixth movement instruction to move the spraying robot to the designated charging position for charging , Or it is determined that the spraying task corresponding to the target spraying mode is finished and there are other spraying tasks, and the seventh movement instruction is output to make the spraying robot perform other spraying tasks.
  • Each spraying mode corresponds to the posture and spraying method of the spraying robot.
  • the posture can include the spraying position and posture of the spraying robot.
  • the spraying method includes the motion state of the steering wheel of the spraying robot, the motion state of the lifting mechanism, and the motion state of the spray gun structure. It is understandable that the posture of the spraying robot refers to the relative positional relationship between the spraying robot and the working surface.
  • the sixth movement instruction is output so that the spraying robot can be charged to the designated charging position, and when it is determined that there are other spraying tasks, the seventh is output. Move instructions so that the spraying robot can perform other spraying tasks, thereby realizing multi-task spraying and improving spraying efficiency.
  • the spraying control method further includes: receiving house type information, generating a spraying route according to the house type information, and generating a seventh movement instruction according to the spraying route.
  • the spraying route is generated according to the house type information so that the spraying robot can perform multi-task spraying according to the spraying route.
  • the house type information can be generated according to the building information model input by the user.
  • the preset spraying mode includes at least one of wall panel spraying mode, bay window spraying mode, ceiling spraying mode, internal angle spraying mode, and external angle spraying mode.
  • the preset spraying modes include but are not limited to wall panel spraying mode, bay window spraying mode, ceiling spraying mode, internal angle spraying mode, and external angle spraying mode, which can be based on the structure of the wall being sprayed. Make settings.
  • the bay window spraying mode is the wall containing the bay window structure, and the bay window structure can also be the door structure;
  • the ceiling spraying mode is the spraying of the indoor roof, such as the wall containing the ceiling;
  • the internal corner spraying mode is the spraying containing the shade
  • the positive angle spraying mode is to spray walls that contain external angles.
  • the spraying control method includes:
  • the system parameter initialization includes the initial speed of the running wheels and/or steering wheels of the chassis structure and the initialization of the servo motors used to drive the running wheels and/or the steering wheels.
  • it can receive the house type information input by the user, or it can be received by the user.
  • the selection instruction determines the corresponding house type information.
  • the house type information is model information generated according to the building information model.
  • the initial position may be the starting point of the trajectory corresponding to the spraying route generated according to the house type information.
  • S806 Control the spraying robot to run according to the spraying route.
  • the spraying trajectory can be a spraying route corresponding to a single spraying mode, or a spraying route composed of multiple spraying modes.
  • the method for judging whether it is parallel may be to measure the sampling distance between the chassis structure and the wall through a plurality of laser ranging sensors provided, and the multiple laser ranging sensors are provided on both sides of the chassis structure.
  • the chassis structure is parallel to the wall.
  • the image acquisition device is activated to take pictures to obtain image information, and the target spraying mode is determined according to the image information.
  • spraying is performed, such as: when the target spraying mode is the wallboard spraying mode, the spraying robot is controlled to spray according to the action logic required by the process, optionally, spraying from top to bottom After one row, move horizontally to the right, and spray another row from bottom to top to complete the spraying task.
  • the spraying control device 900 includes: a controller 902 and a memory 904, the memory 904 can be used to store a computer program; the controller 902 executes the computer program stored in the memory 904 to Realize and receive the image information of the current environment, determine the target spray mode according to the image information; run the target spray mode.
  • the spraying control device 900 provided in the present application includes: a controller 902 and a memory 904.
  • the controller 902 executes a computer program stored in the memory 904 to achieve: by acquiring image information of the current environment, and running a target determined according to the image information
  • the spraying mode realizes the automatic determination of the spraying mode at the current position and automatic spraying, reducing manual participation and reducing the amount of manual labor.
  • the spraying robot is used for spraying, which improves the spraying efficiency.
  • the process of determining the target spraying mode according to the image information can use the current mature artificial intelligence technology, such as determining the target spraying mode according to the characteristics of the door and window contained in the image information.
  • the controller 902 is configured to execute a computer program stored in the memory 904 to realize: determine that the preset spraying mode includes the target spraying mode, and run the target spraying mode.
  • the target spray mode is operated to improve the reliability of spray control.
  • the controller 902 is used to execute a computer program stored in the memory 904 to: determine the current position information of the spray robot according to the image information; determine the current position information and the target spray If the positions are inconsistent, output the first movement instruction to move the spraying robot to the target spraying position.
  • the current position information of the spray robot is determined according to the image information, and the current position information is combined with the target spray The positions are compared, and when the current position information is inconsistent with the target spraying position, the first movement instruction is output to make the spraying robot move to the target spraying position to realize the automatic movement of the spraying robot.
  • the controller 902 is used to execute a computer program stored in the memory 904 to realize: receiving the difference between the chassis structure of the spraying robot and the wall indicated by the target spraying position Sampling distance: According to the sampling distance, it is determined that the chassis structure is not parallel to the wall, and the second movement instruction is output to make the chassis structure parallel to the wall.
  • the sampling distance between the chassis structure of the spraying robot and the wall indicated by the target spraying position is received ; According to the sampling distance, it is determined that the chassis structure is not parallel to the wall, and the second movement instruction is output to make the chassis structure parallel to the wall.
  • the controller 902 is used to execute a computer program stored in the memory 904 to realize: determining that the sampling distance between the chassis structure of the spraying robot and the wall is within a specified distance interval
  • the third movement instruction is output so that the sampling distance between the chassis structure and the wall is within the specified distance interval.
  • the third movement instruction is output so that the spraying robot can adjust the current position to ensure that the sampling distance between the adjusted spraying robot's chassis structure and the wall is within the specified distance interval to ensure the spraying quality.
  • the controller 902 is configured to execute a computer program stored in the memory 904 to: receive the current remaining amount of paint; determine that the current remaining amount of paint is less than or equal to the first specified threshold , Output the replenishing paint instruction to make the spraying robot move to the specified position to replenish the paint.
  • the previous remaining amount of paint is compared with the first specified threshold.
  • the replenishing paint instruction is output to realize the replenishment of the paint, reduce the possibility of insufficient paint during the spraying process of the coating robot, and realize the intelligent replenishment of the paint.
  • the controller 902 is used to execute a computer program stored in the memory 904 to realize: record the current spraying position as the first position; determine that the paint replenishment is complete, and output the fourth Move instructions to move the spraying robot to the first position to continue spraying.
  • the current spraying position is recorded as the first position, and then the paint is determined After the replenishment is completed, the fourth movement instruction is output to move the spraying robot to the first position to continue spraying, thereby ensuring the spraying quality.
  • the controller 902 is used to execute a computer program stored in the memory 904 to realize: detecting the current power value of the power supply of the spraying robot; determining that the current power value is less than or equal to The second designated threshold, the fifth movement instruction is output, so that the spraying robot moves to the designated charging position for charging.
  • the current power value of the power supply is compared with the second specified threshold value, when the current power value is less than or equal to the second specified threshold value , Output the fifth movement instruction to move the spraying robot to the designated charging position for charging, thereby reducing the possibility of the above situation.
  • the controller 902 is used to execute a computer program stored in the memory 904 to realize: determining that the spraying task corresponding to the target spraying mode is finished and there are no other spraying tasks, Output the sixth movement instruction to move the spraying robot to the designated charging position for charging, or determine that the spraying task corresponding to the target spraying mode is finished and there are other spraying tasks, and output the seventh movement instruction to make the spraying robot perform other spraying tasks .
  • the sixth movement instruction is output so that the spraying robot can be charged to the designated charging position, and when it is determined that there are other spraying tasks, the seventh is output. Move instructions so that the spraying robot can perform other spraying tasks, thereby realizing multi-task spraying and improving spraying efficiency.
  • the sixth movement instruction may be the same as the fifth movement instruction.
  • the controller 902 is configured to execute a computer program stored in the memory 904 to realize: receive house type information, generate a spraying route according to the house type information, and generate a seventh movement according to the spraying route. instruction.
  • the spraying route is generated according to the house type information so that the spraying robot can perform multi-task spraying according to the spraying route.
  • the house type information can be generated according to the building information model input by the user.
  • the preset spraying modes include: at least one of wall panel spraying mode, bay window spraying mode, ceiling spraying mode, internal angle spraying mode, and external angle spraying mode .
  • the preset spraying modes include but are not limited to wall panel spraying mode, bay window spraying mode, ceiling spraying mode, internal angle spraying mode, and external angle spraying mode, which can be based on the structure of the wall being sprayed. Make settings.
  • the bay window spraying mode is the wall containing the bay window structure, and the bay window structure can also be the door structure;
  • the ceiling spraying mode is the spraying of the indoor roof, such as the wall containing the ceiling;
  • the internal corner spraying mode is the spraying containing the shade
  • the positive angle spraying mode is to spray walls that contain external angles.
  • the spraying robot includes: a body and a spraying device.
  • the spraying device is arranged on the body and is used to perform spraying operations;
  • the image acquisition device is used to acquire image information of the current environment;
  • the control device and the image acquisition device are respectively Connected with the spraying device, used to determine the target spraying mode according to the image information, and control the spraying device to spray according to the target spraying mode.
  • the spraying robot proposed in this application includes a body, a spraying device, an image acquisition device, and a control device.
  • the control device acquires image information of the current environment through the image acquisition device, runs the target spraying mode determined according to the image information, and controls the spraying device to spray to achieve The automatic determination of the spraying mode of the current position and automatic spraying reduce manual participation and reduce the amount of manual labor.
  • the spraying robot is used for spraying, which improves the spraying efficiency.
  • the process of determining the target spraying mode according to the image information can use the current mature artificial intelligence technology, such as determining the target spraying mode according to the characteristics of doors and windows contained in the image information.
  • the image acquisition device includes software such as an industrial camera, a camera mounting structure, and a vision processing algorithm for image information processing.
  • the image acquisition device and the control device perform data transmission through an Ethernet interface.
  • control device is set in the electric control cabinet 9, and the control device includes a controller, wherein the controller controls the switching value through a DI (Digital In Digital Input)/DO (Digital Out) module, and also through AI (Analog signal input)/AO (Analog signal output) module performs analog control.
  • DI Digital In Digital Input
  • DO Digital Out
  • AI Analog signal input
  • AO Analog signal output
  • control device is specifically configured to determine that the preset spraying mode includes the target spraying mode, and run the target spraying mode.
  • the target spray mode is operated to improve the reliability of spray control.
  • the spraying robot further includes a chassis structure, the body is arranged on the chassis structure, the chassis structure includes walking wheels and/or steering wheels 1, and the control device is also used to:
  • the information determines the current position information of the spraying robot; it is determined that the current position information is inconsistent with the target spraying position indicated by the spraying route, and the walking wheel and/or the steering wheel 1 are controlled to rotate to move the spraying robot to the target spraying position.
  • the current position information of the spray robot is determined according to the image information, and the current position information is combined with the target spray The position is compared, and when the current position information is inconsistent with the target spraying position, the walking wheel and/or the steering wheel 1 are controlled to rotate to move the spraying robot to the target spraying position to realize the automatic movement of the spraying robot.
  • controlling the rotation of the walking wheel and/or the steering wheel 1 is achieved by a servo driver and a corresponding servo motor 7, and the servo driver and the control device exchange data through a bus or through a pulse signal.
  • the servo motor 7 includes servo motor one, servo motor two, servo motor three, servo motor four, servo motor five, servo motor six, servo motor seven, servo motor eight, and corresponding servo driver one.
  • Servo driver two servo driver three, servo driver four, servo driver five, servo driver six, servo driver seven, servo driver eight.
  • the chassis structure is further provided with a steering wheel 5 and a universal wheel, wherein the steering wheel 5 and the universal wheel are used to control the moving direction.
  • the spraying robot further includes: at least two distance sensors 2, which are arranged on the chassis structure in a horizontal direction, wherein the at least two distance sensors 2 are directed toward the target spraying position At least two distance sensors 2 are used to obtain the sampling distance between the chassis structure of the spraying robot and the wall indicated by the target spraying position; the control device is also used to determine that the chassis structure is not parallel to the wall according to the sampling distance , Control the rotation of the walking wheel and/or the steering wheel 1 so that the chassis structure is parallel to the wall.
  • At least two distance sensors 2 arranged on the chassis structure are used to obtain the chassis structure and The sampling distance of the wall indicated by the target spraying position, where at least two distance sensors 2 are arranged on the chassis structure in the horizontal direction and at least two distance sensors 2 are facing the wall indicated by the target spraying position by receiving the spraying robot.
  • At least two distance sensors 2 exchange data through a bus or pulse signal.
  • control device is further used to: determine that the sampling distance between the chassis structure of the spraying robot and the wall is outside the specified distance interval, and control the running wheel and/or the steering wheel 1 to rotate to make the chassis The distance value between the structure and the wall is within the specified distance interval.
  • the sampling distance between the spraying robot's chassis structure and the wall is outside the specified distance interval Control the rotation of the walking wheel and/or steering wheel 1 so that the spraying robot can adjust the current position to ensure that the sampling distance between the adjusted spraying robot's chassis structure and the wall is within the specified distance interval to ensure the spraying quality.
  • the chassis structure is composed of a frame 15.
  • it further includes: a paint detection device, which is connected to the control device and used to obtain the current remaining amount of paint.
  • the control device is also used for determining that the current remaining amount of paint is less than or equal to the first designated threshold, and controlling the rotation of the walking wheel and/or the steering wheel 1 so that the spraying robot moves to a designated position to replenish the paint.
  • a paint detection device is provided, and the paint detection device is used to obtain the current remaining amount of paint, and compare the previous remaining amount of paint with the first specified threshold , When the current remaining amount of paint is less than or equal to the first specified threshold, it is judged that the paint is insufficient, and at this time, the replenishment instruction is output to realize the replenishment of the paint, reduce the possibility of insufficient paint during the spraying process of the coating robot, and realize intelligent replenishment coating.
  • control device is further used to: record the current spraying position as the first position; determine the end of paint replenishment, and control the rotation of the walking wheel and/or the steering wheel 1 to move the spraying robot to the first position Continue spraying.
  • the current spraying position is recorded as the first position, and then the paint is determined After the replenishment is completed, control the rotation of the walking wheel and/or the steering wheel 1 so that the spraying robot moves to the first position to continue spraying, thereby ensuring the spraying quality.
  • it further includes: a battery management device connected to the control device, and the battery management device is used to detect the current power value of the power supply of the spray robot.
  • the control device is also used for determining that the current power value is less than or equal to the second specified threshold, and controlling the rotation of the walking wheel and/or the steering wheel 1 so that the spraying robot moves to the specified charging position for charging.
  • a battery management device is set to detect the current power value of the power supply, and compare the current power value of the power supply with the second specified threshold. When the current power value is less than or equal to the second specified threshold value, the walking wheel and/or the steering wheel 1 are controlled to rotate, so that the spraying robot moves to the specified charging position for charging, thereby reducing the possibility of the above situation.
  • the battery management device communicates through the RS485 serial bus standard.
  • it also includes a charging device and a discharging device connected to the power supply, so as to realize the charging and discharging of the power supply.
  • the power supply is a lithium battery 6.
  • control device is also used to: determine that the spraying task corresponding to the target spraying mode is finished and there are no other spraying tasks to control the running wheel and/or the steering wheel 1 to rotate, so that the spraying robot moves to the designated The charging position is charged; it is determined that the spraying task corresponding to the target spraying mode is finished and there are other spraying tasks, and the walking wheel and/or the steering wheel 1 are controlled to rotate so that the spraying robot can perform other spraying tasks.
  • the walking wheel and/or steering wheel 1 are controlled to rotate so that the spraying robot can be charged to the designated charging position, and when it is determined that there are other spraying tasks At the same time, the traveling wheel and/or the steering wheel 1 are controlled to rotate, so that the spraying robot can perform other spraying tasks, thereby realizing multi-task spraying, thereby improving the spraying efficiency.
  • control device is also used to: receive house type information, generate a spraying route according to the house type information, and control the rotation of the walking wheel and/or the steering wheel 1 according to the spraying route.
  • the spraying route is generated according to the house type information so that the spraying robot can perform multi-task spraying according to the spraying route.
  • the house type information can be generated according to the building information model input by the user.
  • the spraying robot further includes: an input device, wherein the input device is connected with the control device for inputting or setting house type information and displaying it.
  • the input device is a device including a UI (User Interface), where the input device is connected to the control device through an Ethernet interface.
  • UI User Interface
  • the spraying device includes a spray gun structure 3, the body includes a spraying rotating structure, the spraying gun structure 3 is arranged on the spraying rotating structure, and the spraying gun structure is driven by the spraying rotating structure to perform spraying tasks.
  • the body is provided with a spraying rotating structure, and the spray gun structure 3 is arranged on the spraying rotating structure.
  • the spray gun structure 3 is driven to rotate, thereby driving the spray gun structure 3 on the spraying device to rotate. operation.
  • the spraying device is a spraying machine 8, where the spraying machine includes: a paint storage device 10, a switch valve block, and a spray gun structure 3.
  • the body further includes a lifting structure 4, the lifting structure 4 is arranged on the chassis structure, the spraying rotating structure is arranged on the lifting structure 4, and the lifting structure 4 drives the spraying rotating structure to operate.
  • the lifting structure 4 is used to drive the spraying rotating structure to operate, thereby increasing the spraying area of the spraying robot, thereby realizing large-area spraying.
  • the lifting structure 4 is a two-level lifting structure, wherein the two-level lifting structure includes a first-level lifting structure and a second-level lifting structure, the spraying rotating structure is arranged on the first-level lifting structure, and the first-level lifting structure is During operation, the spraying rotating structure is driven to move, and the second-level lifting structure drives the first-level lifting structure to move.
  • the spraying robot further includes: a horizontal moving structure and a spray gun rotating structure, wherein the spraying rotating structure is connected to the first-stage lifting structure through the horizontal moving structure for driving the spraying rotating structure to move in the horizontal direction, and the spray gun rotating structure is arranged On the spraying rotating structure, the spray gun rotating structure is driven to move.
  • the spraying robot further includes a right shell sheet metal 11, a left shell sheet metal 12, a cover plate 13, and a box door 14 for covering the surface of the spraying robot.
  • FIG. 12 and FIG. 13 show schematic diagrams of FIG. 10 from different angles.
  • the preset spraying modes include at least one of wall panel spraying mode, bay window spraying mode, ceiling spraying mode, internal angle spraying mode, and external angle spraying mode.
  • the preset spraying modes include but are not limited to wall panel spraying mode, bay window spraying mode, ceiling spraying mode, internal angle spraying mode, and external angle spraying mode, which can be based on the structure of the wall being sprayed. Make settings.
  • the bay window spraying mode is the wall containing the bay window structure, and the bay window structure can also be the door structure;
  • the ceiling spraying mode is the spraying of the indoor roof, such as the wall containing the ceiling;
  • the internal corner spraying mode is the spraying containing the shade
  • the positive angle spraying mode is to spray walls that contain external angles.
  • a computer-readable storage medium is provided, and a computer program is stored thereon, and the computer program is executed by a processor to realize the steps of any of the above-mentioned spraying control methods.
  • the term “plurality” refers to two or more than two, unless clearly defined otherwise, the orientation or positional relationship indicated by the terms “upper” and “lower” are based on the drawings shown The orientation or positional relationship is only for the convenience of describing the application 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, and therefore cannot be construed as a limitation of the application;
  • the terms “connected”, “installed”, “fixed”, etc. should be understood in a broad sense. For example, “connected” can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or through an intermediate connection. The medium is indirectly connected.
  • the specific meanings of the above terms in this application can be understood according to specific circumstances.

Abstract

一种用于喷涂机器人的喷涂控制方法，包括：接收当前环境的图像信息（S102）；根据图像信息确定目标喷涂模式（S104）；确定预先设定的喷涂模式中包含目标喷涂模式，运行目标喷涂模式（S106）；其中，预先设定的喷涂模式包括：墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式中的至少一种。此外还提供了一种喷涂控制装置、喷涂机器人以及存储介质。这种喷涂控制方法可实现当前位置的喷涂模式的自动确定和自动喷涂，从而减少人工参与、提高喷涂效率。

Description

喷涂控制方法、装置、喷涂机器人以及存储介质
相关申请的交叉引用
本申请基于申请号为：201910695152.0，申请日为2019年7月30日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及喷涂控制技术领域和机器人领域，具体而言，涉及一种喷涂控制方法、一种喷涂控制装置、一种喷涂机器人和一种计算机可读存储介质。
背景技术
相关技术方案中，由于现有喷涂系统的喷涂模式单一，无法实现自动确定喷涂位置，进而实现自动喷涂，对室内的墙体、天花板、飘窗等位置进行喷涂主要依赖人工操作，进而增加了人工劳动量，降低了喷涂效率。
发明内容
本申请旨在至少解决现有技术或相关技术中存在的技术问题之一。
为此，本申请的第一个方面在于，提供了一种喷涂控制方法。
本申请的第二个方面在于，提供了一种喷涂控制装置。
本申请的第三个方面在于，提供了一种喷涂机器人。
本申请的第四个方面在于，提供了一种计算机可读存储介质。
有鉴于此，根据本申请的第一个方面，本申请提供了一种喷涂控制方法，用于喷涂机器人，包括：接收当前环境的图像信息；根据图像信息确定目标喷涂模式；运行目标喷涂模式。
本申请提供的喷涂控制方法，通过获取当前环境的图像信息，并运行根据图像信息确定的目标喷涂模式，实现当前位置的喷涂模式的自动确定和自动喷涂，减少人工参与，降低了人工劳动量，同时使用喷涂机器人进行喷涂，提高了喷涂效率。
其中，根据图像信息确定目标喷涂模式的过程，可以使用目前技术成熟的人工智能技术，如根据图像信息中包含的门、窗等特征确定目标喷涂模式。
每种喷涂模式对应喷涂机器人的姿势以及喷涂方法，其中姿势可以包括喷涂机器人的喷涂位置和姿态，喷涂方法包括喷涂机器人的舵轮的运动状态、提升机构的运动状态、 喷枪结构的运动状态。可以理解的是，喷涂机器人的姿态指的是喷涂机器人与作业面的相对位置关系。
另外，本申请提供的上述技术方案中的喷涂控制方法还可以具有如下附加技术特征：
在上述技术方案中，进一步地，运行目标喷涂模式的步骤，具体包括：确定预先设定的喷涂模式中包含目标喷涂模式，运行目标喷涂模式。
在该技术方案中，由图像信息确定目标喷涂模式过程中可能存在识别错误，进而出现确定的目标喷涂模式与当前环境不匹配，造成喷涂错误，为了避免上述情况的出现，通过判断预先设定的喷涂模式中包含目标喷涂模式的情况下，运行目标喷涂模式，进而提高喷涂控制的可靠性。
在上述任一技术方案中，进一步地，在接收当前环境的图像信息的步骤之后，在根据图像信息确定目标喷涂模式的步骤之前，还包括：根据图像信息确定喷涂机器人的当前位置信息；确定当前位置信息与目标喷涂位置不一致，输出第一移动指令，以使喷涂机器人移动至目标喷涂位置。
在该技术方案中，为了降低人工的参与度，提高喷涂机器人的运行效率，在接收当前环境的图像信息的步骤之后，根据图像信息确定喷涂机器人的当前位置信息，并将当前位置信息与目标喷涂位置进行比对，在当前位置信息与目标喷涂位置不一致的情况下，输出第一移动指令，以使喷涂机器人移动至目标喷涂位置，实现喷涂机器人自动移动。
在上述任一技术方案中，进一步地，还包括：接收喷涂机器人的底盘结构与目标喷涂位置所指示的墙体之间的采样距离；根据采样距离确定底盘结构与墙体不平行，输出第二移动指令，以使底盘结构与墙体平行。
在该技术方案中，为了降低因为喷涂机器人与目标喷涂位置所指示的墙体相对位置对喷涂效果产生的影响，通过接收喷涂机器人的底盘结构与目标喷涂位置所指示的墙体之间的采样距离；根据采样距离确定底盘结构与墙体不平行，输出第二移动指令，以使底盘结构与墙体平行。
在上述任一技术方案中，进一步地，还包括：确定喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间之外，输出第三移动指令，以使底盘结构与墙体之间的采样距离处于指定距离区间内。
在该技术方案中，为了降低由于喷涂机器人与墙体距离过近或者过远造成喷涂厚度不均等情况的出现，在判定喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间之外时，输出第三移动指令，以便喷涂机器人调整当前位置，确保调整后的喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间内，以确保喷涂质量。
在上述任一技术方案中，进一步地，运行目标喷涂模式的步骤之后，还包括：接收当前涂料剩余量；确定当前涂料剩余量小于或等于第一指定阈值，输出补充涂料指令，以使喷涂机器人运动至指定位置补充涂料。
在该技术方案中，为了减少喷涂机器人在喷涂过程中出现涂料不足的情况，通过将前涂料剩余量与第一指定阈值进行比较，在当前涂料剩余量小于或等于第一指定阈值的情况下，判定涂料不足，此时输出补充涂料指令，进而实现涂料的补充，降低涂机器人在喷涂过程涂料不足的可能性，进而实现智能补充涂料。
在上述任一技术方案中，进一步地，确定当前涂料剩余量小于或等于第一指定阈值的步骤之后，还包括：将当前喷涂位置记录为第一位置；确定涂料补充结束，输出第四移动指令，以使喷涂机器人移动至第一位置继续进行喷涂。
在该技术方案中，为了减少涂料补充结束后重复喷涂等情况的出现，在确定当前涂料剩余量小于或等于第一指定阈值的情况下，将当前喷涂位置记录为第一位置，进而在确定涂料补充结束后，输出第四移动指令，以使喷涂机器人移动至第一位置继续进行喷涂，进而确保喷涂质量。
在上述任一技术方案中，进一步地，还包括：检测喷涂机器人的供电电源的当前电量值；确定当前电量值小于或等于第二指定阈值，输出第五移动指令，以使喷涂机器人移动至指定充电位置进行充电。
在该技术方案中，为了减少喷涂机器人在喷涂过程中出现电量不足的情况，通过将供电电源的当前电量值与第二指定阈值进行比较，在当前电量值小于或等于第二指定阈值的情况下，输出第五移动指令，以使喷涂机器人移动至指定充电位置进行充电，进而降低上述情况出现的可能。
在上述任一技术方案中，进一步地，还包括：确定目标喷涂模式所对应的喷涂任务运行结束且不存在其它喷涂任务，输出第六移动指令，以使喷涂机器人移动至指定充电位置进行充电；或确定目标喷涂模式所对应的喷涂任务运行结束且存在其它喷涂任务，输出第七移动指令，以使喷涂机器人执行其它喷涂任务。
在该技术方案中，通过判断是否存在其它喷涂任务，当不存在其它喷涂任务时，输出第六移动指令，以便喷涂机器人至指定充电位置进行充电，而当判定存在其它喷涂任务时，输出第七移动指令，以使喷涂机器人执行其它喷涂任务，进而实现多任务喷涂，进而提高喷涂效率。
在上述任一技术方案中，进一步地，还包括：接收户型信息，根据户型信息生成喷涂路线，根据喷涂路线生成第七移动指令。
在该技术方案中，为了实现喷涂路线的自动规划，实现高效率喷涂，在接收到户型 信息后，根据户型信息生成喷涂路线，以便喷涂机器人按照喷涂路线进行多任务喷涂。
其中，户型信息可以根据用户输入的建筑信息模型生成。
在上述任一技术方案中，进一步地，预先设定的喷涂模式包括：墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式中至少一种。
在该技术方案中，预先设定的喷涂模式包括但不局限于墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式，可以根据被喷涂的墙体的结构进行设定。
其中，飘窗喷涂模式是包含飘窗结构的墙体，飘窗结构还可以是门体结构等；天花板喷涂模式是室内屋顶的喷涂，如包含天花板的墙体；阴角喷涂模式是喷涂包含阴角的墙体，阳角喷涂模式是喷涂包含阳角的墙体。
根据本申请的第二个方面，本申请提供了一种喷涂控制装置，用于喷涂机器人，其中，喷涂控制装置包括：控制器和存储器，所述存储器用于存储计算机程序，控制器执行存储在存储器中的计算机程序以实现：接收当前环境的图像信息；根据图像信息确定目标喷涂模式，运行目标喷涂模式。
本申请提供的喷涂控制装置包括：控制器和存储器，其中，控制器执行存储在存储器中的计算机程序以实现：通过获取当前环境的图像信息，并运行根据图像信息确定的目标喷涂模式，实现当前位置的喷涂模式的自动确定和自动喷涂，减少人工参与，降低了人工劳动量，同时使用喷涂机器人进行喷涂，提高了喷涂效率。
其中，根据图像信息确定目标喷涂模式的过程，可以使用目前技术成熟的人工智能技术，如根据图像信息中包含的门、窗等特征确定目标喷涂模式。
另外，本申请提供的上述技术方案中的喷涂控制装置还可以具有如下附加技术特征：
在上述技术方案中，进一步地，控制器用于执行存储在存储器中的计算机程序以实现：确定预先设定的喷涂模式中包含目标喷涂模式，运行目标喷涂模式。
在该技术方案中，由图像信息确定目标喷涂模式过程中可能存在识别错误，进而出现确定的目标喷涂模式与当前环境不匹配，造成喷涂错误，为了避免上述情况的出现，通过判断预先设定的喷涂模式中包含目标喷涂模式的情况下，运行目标喷涂模式，进而提高喷涂控制的可靠性。
在上述任一技术方案中，进一步地，控制器用于执行存储在存储器中的计算机程序以实现：根据图像信息确定喷涂机器人的当前位置信息；确定当前位置信息与目标喷涂位置不一致，输出第一移动指令，以使喷涂机器人移动至目标喷涂位置。
在该技术方案中，为了降低人工的参与度，提高喷涂机器人的运行效率，在接收当前环境的图像信息的步骤之后，根据图像信息确定喷涂机器人的当前位置信息，并将当 前位置信息与目标喷涂位置进行比对，在当前位置信息与目标喷涂位置不一致的情况下，输出第一移动指令，以使喷涂机器人移动至目标喷涂位置，实现喷涂机器人自动移动。
在上述任一技术方案中，进一步地，控制器用于执行存储在存储器中的计算机程序以实现：接收喷涂机器人的底盘结构与目标喷涂位置所指示的墙体之间的采样距离；根据采样距离确定底盘结构与墙体不平行，输出第二移动指令，以使底盘结构与墙体平行。
在该技术方案中，为了降低因为喷涂机器人与目标喷涂位置所指示的墙体相对位置对喷涂效果产生的影响，通过接收喷涂机器人的底盘结构与目标喷涂位置所指示的墙体之间的采样距离；根据采样距离确定底盘结构与墙体不平行，输出第二移动指令，以使底盘结构与墙体平行。
在上述任一技术方案中，进一步地，控制器用于执行存储在存储器中的计算机程序以实现：确定喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间之外，输出第三移动指令，以使底盘结构与墙体之间的采样距离处于指定距离区间内。
在该技术方案中，为了降低由于喷涂机器人与墙体距离过近或者过远造成喷涂厚度不均等情况的出现，在判定喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间之外时，输出第三移动指令，以便喷涂机器人调整当前位置，确保调整后的喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间内，以确保喷涂质量。
在上述任一技术方案中，进一步地，控制器用于执行存储在存储器中的计算机程序以实现：接收当前涂料剩余量，确定当前涂料剩余量小于或等于第一指定阈值，输出补充涂料指令，以使喷涂机器人运动至指定位置补充涂料。
在该技术方案中，为了减少喷涂机器人在喷涂过程中出现涂料不足的情况，通过将前涂料剩余量与第一指定阈值进行比较，在当前涂料剩余量小于或等于第一指定阈值的情况下，判定涂料不足，此时输出补充涂料指令，进而实现涂料的补充，降低涂机器人在喷涂过程涂料不足的可能性，进而实现智能补充涂料。
在上述任一技术方案中，进一步地，控制器用于执行存储在存储器中的计算机程序以实现：将当前喷涂位置记录为第一位置；确定涂料补充结束，输出第四移动指令，以使喷涂机器人移动至第一位置继续进行喷涂。
在该技术方案中，为了减少涂料补充结束后重复喷涂等情况的出现，在确定当前涂料剩余量小于或等于第一指定阈值的情况下，将当前喷涂位置记录为第一位置，进而在确定涂料补充结束后，输出第四移动指令，以使喷涂机器人移动至第一位置继续进行喷涂，进而确保喷涂质量。
在上述任一技术方案中，进一步地，控制器用于执行存储在存储器中的计算机程序 以实现：检测喷涂机器人的供电电源的当前电量值，确定当前电量值小于或等于第二指定阈值，输出第五移动指令，以使喷涂机器人移动至指定充电位置进行充电。
在该技术方案中，为了减少喷涂机器人在喷涂过程中出现电量不足的情况，通过将供电电源的当前电量值与第二指定阈值进行比较，在当前电量值小于或等于第二指定阈值的情况下，输出第五移动指令，以使喷涂机器人移动至指定充电位置进行充电，进而降低上述情况出现的可能。
在上述任一技术方案中，进一步地，控制器用于执行存储在存储器中的计算机程序以实现：确定目标喷涂模式所对应的喷涂任务运行结束且不存在其它喷涂任务，输出第六移动指令，以使喷涂机器人移动至指定充电位置进行充电，或确定目标喷涂模式所对应的喷涂任务运行结束且存在其它喷涂任务，输出第七移动指令，以使喷涂机器人执行其它喷涂任务。
在该技术方案中，通过判断是否存在其它喷涂任务，当不存在其它喷涂任务时，输出第六移动指令，以便喷涂机器人至指定充电位置进行充电，而当判定存在其它喷涂任务时，输出第七移动指令，以使喷涂机器人执行其它喷涂任务，进而实现多任务喷涂，进而提高喷涂效率。
在上述任一技术方案中，进一步地，控制器用于执行存储在存储器中的计算机程序以实现：接收户型信息，根据户型信息生成喷涂路线，根据喷涂路线生成第七移动指令。
在该技术方案中，为了实现喷涂路线的自动规划，实现高效率喷涂，在接收到户型信息后，根据户型信息生成喷涂路线，以便喷涂机器人按照喷涂路线进行多任务喷涂。
其中，户型信息可以根据用户输入的建筑信息模型生成。
在上述任一技术方案中，进一步地，预先设定的喷涂模式包括：墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式中至少一种。
在该技术方案中，预先设定的喷涂模式包括但不局限于墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式，可以根据被喷涂的墙体的结构进行设定。
其中，飘窗喷涂模式是包含飘窗结构的墙体，飘窗结构还可以是门体结构等；天花板喷涂模式是室内屋顶的喷涂，如包含天花板的墙体；阴角喷涂模式是喷涂包含阴角的墙体，阳角喷涂模式是喷涂包含阳角的墙体。
根据本申请的第三个方面，本申请提供了一种喷涂机器人，包括：本体和喷涂装置，喷涂装置设置在本体上，用于执行喷涂作业；图像获取装置可以用于获取当前环境的图像信息；控制装置，控制装置分别与图像获取装置和喷涂装置相连接，用于根据图像信息确定目标喷涂模式，控制喷涂装置按照目标喷涂模式进行喷涂。
本申请提出的喷涂机器人包括本体、喷涂装置、图像获取装置和控制装置，控制装置通过图像获取装置获取当前环境的图像信息，并运行根据图像信息确定的目标喷涂模式，控制喷涂装置进行喷涂，实现当前位置的喷涂模式的自动确定和自动喷涂，减少人工参与，降低了人工劳动量，同时使用喷涂机器人进行喷涂，提高了喷涂效率。
其中，根据图像信息确定目标喷涂模式的过程，可以使用目前技术成熟的人工智能技术，如根据图像信息中包含的门、窗等特征确定目标喷涂模式。
另外，本申请提供的上述技术方案中的喷涂机器人还可以具有如下附加技术特征：
在上述技术方案中，进一步地，控制装置具体用于：确定预先设定的喷涂模式中包含目标喷涂模式，运行目标喷涂模式。
在该技术方案中，由图像信息确定目标喷涂模式过程中可能存在识别错误，进而出现确定的目标喷涂模式与当前环境不匹配，造成喷涂错误，为了避免上述情况的出现，通过判断预先设定的喷涂模式中包含目标喷涂模式的情况下，运行目标喷涂模式，进而提高喷涂控制的可靠性。
在上述任一技术方案中，进一步地，喷涂机器人还包括：底盘结构，本体设置在底盘结构上，底盘结构包括行走轮和/或转向轮；控制装置还用于：根据图像信息确定喷涂机器人的当前位置信息；确定当前位置信息与喷涂路线所指示的目标喷涂位置不一致，控制行走轮和/或转向轮转动，以使喷涂机器人移动至目标喷涂位置。
在该技术方案中，为了降低人工的参与度，提高喷涂机器人的运行效率，在接收当前环境的图像信息的步骤之后，根据图像信息确定喷涂机器人的当前位置信息，并将当前位置信息与目标喷涂位置进行比对，在当前位置信息与目标喷涂位置不一致的情况下，控制行走轮和/或转向轮转动，以使喷涂机器人移动至目标喷涂位置，实现喷涂机器人自动移动。
在上述任一技术方案中，进一步地，喷涂机器人还包括：至少两个距离传感器，至少两个距离传感器沿水平方向布设在底盘结构上，其中，至少两个距离传感器朝向目标喷涂位置所指示的墙体，至少两个距离传感器用于获取喷涂机器人的底盘结构与目标喷涂位置所指示的墙体之间的采样距离，控制装置还用于：根据采样距离确定底盘结构与墙体不平行，控制行走轮和/或转向轮转动，以使底盘结构与墙体平行。
在该技术方案中，为了降低因为喷涂机器人与目标喷涂位置所指示的墙体相对位置对喷涂效果产生的影响，利用设置在底盘结构上的至少两个距离传感器来获取喷涂机器人的底盘结构与目标喷涂位置所指示的墙体的采样距离，其中，至少两个距离传感器沿水平方向布设在底盘结构上且至少两个距离传感器朝向目标喷涂位置所指示的墙体，通过接收喷涂机器人的底盘结构与目标喷涂位置所指示的墙体之间的采样距离；根据采样 距离确定底盘结构与墙体不平行，控制行走轮和/或转向轮转动，以使底盘结构与墙体平行。
在上述任一技术方案中，进一步地，控制装置还用于：确定喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间之外，控制行走轮和/或转向轮转动，以使底盘结构与墙体之间的距离值处于指定距离区间内。
在该技术方案中，为了降低由于喷涂机器人与墙体距离过近或者过远造成喷涂厚度不均等情况的出现，在判定喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间之外时，控制行走轮和/或转向轮转动，以便喷涂机器人调整当前位置，确保调整后的喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间内，以确保喷涂质量。
在上述任一技术方案中，进一步地，还包括：涂料检测装置，涂料检测装置与控制装置相连接，用于获取当前涂料剩余量，控制装置还用于：确定当前涂料剩余量小于或等于第一指定阈值，控制行走轮和/或转向轮转动，以使喷涂机器人运动至指定位置补充涂料。
在该技术方案中，为了减少喷涂机器人在喷涂过程中出现涂料不足的情况，通过设置涂料检测装置，利用涂料检测装置来获取当前涂料剩余量，并将前涂料剩余量与第一指定阈值进行比较，在当前涂料剩余量小于或等于第一指定阈值的情况下，判定涂料不足，此时输出补充涂料指令，进而实现涂料的补充，降低涂机器人在喷涂过程涂料不足的可能性，进而实现智能补充涂料。
在上述任一技术方案中，进一步地，控制装置还用于：将当前喷涂位置记录为第一位置；确定涂料补充结束，控制行走轮和/或转向轮转动，以使喷涂机器人移动至第一位置继续进行喷涂。
在该技术方案中，为了减少涂料补充结束后重复喷涂等情况的出现，在确定当前涂料剩余量小于或等于第一指定阈值的情况下，将当前喷涂位置记录为第一位置，进而在确定涂料补充结束后，控制行走轮和/或转向轮转动，以使喷涂机器人移动至第一位置继续进行喷涂，进而确保喷涂质量。
在上述任一技术方案中，进一步地，还包括：电池管理装置，电池管理装置与控制装置相连接，电池管理装置用于检测喷涂机器人的供电电源的当前电量值；控制装置还用于：确定当前电量值小于或等于第二指定阈值，控制行走轮和/或转向轮转动，以使喷涂机器人移动至指定充电位置进行充电。
在该技术方案中，为了减少喷涂机器人在喷涂过程中出现电量不足的情况，通过设置电池管理装置来检测供电电源的当前电量值，并将供电电源的当前电量值与第二指定 阈值进行比较，在当前电量值小于或等于第二指定阈值的情况下，控制行走轮和/或转向轮转动，以使喷涂机器人移动至指定充电位置进行充电，进而降低上述情况出现的可能。
在上述任一技术方案中，进一步地，控制装置还用于：确定目标喷涂模式所对应的喷涂任务运行结束且不存在其它喷涂任务控制行走轮和/或转向轮转动，以使喷涂机器人移动至指定充电位置进行充电；确定目标喷涂模式所对应的喷涂任务运行结束且存在其它喷涂任务，控制行走轮和/或转向轮转动，以使喷涂机器人执行其它喷涂任务。
在该技术方案中，通过判断是否存在其它喷涂任务，当不存在其它喷涂任务时，控制行走轮和/或转向轮转动，以便喷涂机器人至指定充电位置进行充电，而当判定存在其它喷涂任务时，控制行走轮和/或转向轮转动，以使喷涂机器人执行其它喷涂任务，进而实现多任务喷涂，进而提高喷涂效率。
在上述任一技术方案中，进一步地，控制装置还用于：接收户型信息，根据户型信息生成喷涂路线，根据喷涂路线控制行走轮和/或转向轮转动。
在该技术方案中，为了实现喷涂路线的自动规划，实现高效率喷涂，在接收到户型信息后，根据户型信息生成喷涂路线，以便喷涂机器人按照喷涂路线进行多任务喷涂。
其中，户型信息可以根据用户输入的建筑信息模型生成。
在上述任一技术方案中，进一步地，喷涂装置包括喷枪结构；本体包括喷涂旋转结构，喷枪结构设置在喷涂旋转结构上，喷枪结构在喷涂旋转结构的带动下执行喷涂任务。
在该技术方案中，本体上设置有喷涂旋转结构，喷枪结构设置在喷涂旋转结构上，进而在喷涂旋转结构转动过程中，带动喷枪结构转动，进而实现带动喷涂装置上的喷枪结构旋转作业。
在上述任一技术方案中，进一步地，本体还包括：提升结构，提升结构设置在底盘结构上，喷涂旋转结构设置在提升结构上，提升结构带动喷涂旋转结构运行。
在该技术方案中，通过设置提升结构，利用提升结构带动喷涂旋转结构运行，进而增加了喷涂机器人的喷涂面积，进而实现大面积喷涂。
在上述任一技术方案中，进一步地，预先设定的喷涂模式包括：墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式中至少一种。
在该技术方案中，预先设定的喷涂模式包括但不局限于墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式，可以根据被喷涂的墙体的结构进行设定。
其中，飘窗喷涂模式是包含飘窗结构的墙体，飘窗结构还可以是门体结构等；天花板喷涂模式是室内屋顶的喷涂，如包含天花板的墙体；阴角喷涂模式是喷涂包含阴角的 墙体，阳角喷涂模式是喷涂包含阳角的墙体。
根据本申请的第四个方面，本申请提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现如上述任一项喷涂控制方法的步骤。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/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示出了根据本申请一个实施例的喷涂控制方法的流程示意图；
图2示出了根据本申请另一个实施例的喷涂控制方法流程示意图；
图3示出了根据本申请再一个实施例的喷涂控制方法的流程示意图；
图4示出了根据本申请又一个实施例的喷涂控制方法的流程示意图；
图5示出了根据本申请又一个实施例的喷涂控制方法的流程示意图；
图6示出了根据本申请又一个实施例的喷涂控制方法的流程示意图；
图7示出了根据本申请又一个实施例的喷涂控制方法的流程示意图；
图8示出了根据本申请又一个实施例的喷涂控制方法的流程示意图；
图9示出了根据本申请一个实施例的喷涂控制装置的示意框图；
图10示出了根据本申请一个实施例的喷涂机器人的示意图；
图11示出了根据本申请一个实施例的喷涂机器人的接口示意图；
图12示出了根据本申请一个实施例的喷涂机器人的示意图；
图13示出了根据本申请一个实施例的喷涂机器人的示意图。
其中，图10中的附图标记与部件名称之间的对应关系为：
1行走轮和/或转向轮，2距离传感器，3喷枪结构，4提升结构，5舵轮，6锂电池，7伺服电机，8喷涂机，9电控柜，10涂料存储装置，11右壳体板金，12左壳体板金，13盖板，14箱体门，15机架。
具体实施方式
为了能够更清楚地理解本申请的上述方面、特征和优点，下面结合附图和具体实施方式对本申请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申请，但是，本申请还可以采用其他不同于在此描述的其他方式来实施，因此，本申请的保护范围并不受下面公开 的具体实施例的限制。
实施例一
在本申请的一个实施例中，如图1所示，喷涂控制方法包括：
S102，接收当前环境的图像信息；
S104，根据图像信息确定目标喷涂模式；
S106，运行目标喷涂模式。
本申请提供的喷涂控制方法，通过获取当前环境的图像信息，并运行根据图像信息确定的目标喷涂模式，实现当前位置的喷涂模式的自动确定和自动喷涂，减少人工参与，降低了人工劳动量，同时使用喷涂机器人进行喷涂，提高了喷涂效率。
其中，根据图像信息确定目标喷涂模式的过程，可以使用目前技术成熟的人工智能技术，如根据图像信息中包含的门、窗等特征确定目标喷涂模式。
在本申请的一个实施例中，如图2所示，喷涂控制方法包括：
S202，接收当前环境的图像信息；
S204，根据图像信息确定目标喷涂模式；
S206，确定预先设定的喷涂模式中包含目标喷涂模式，运行目标喷涂模式。
在该实施例中，由图像信息确定目标喷涂模式过程中可能存在识别错误，进而出现确定的目标喷涂模式与当前环境不匹配，造成喷涂错误，为了避免上述情况的出现，通过判断预先设定的喷涂模式中包含目标喷涂模式的情况下，运行目标喷涂模式，进而提高喷涂控制的可靠性。
在本申请的一个实施例中，如图3所示，在接收当前环境的图像信息的步骤之后，在根据图像信息确定目标喷涂模式的步骤之前，还包括：
S302，根据图像信息确定喷涂机器人的当前位置信息；
S304，确定当前位置信息与目标喷涂位置不一致，输出第一移动指令，以使喷涂机器人移动至目标喷涂位置。
在该实施例中，为了降低人工的参与度，提高喷涂机器人的运行效率，在接收当前环境的图像信息的步骤之后，根据图像信息确定喷涂机器人的当前位置信息，并将当前位置信息与目标喷涂位置进行比对，在当前位置信息与目标喷涂位置不一致的情况下，输出第一移动指令，以使喷涂机器人移动至目标喷涂位置，实现喷涂机器人自动移动。
在本申请的一个实施例中，如图4所示，喷涂控制方法还包括：
S402，接收喷涂机器人的底盘结构与目标喷涂位置所指示的墙体之间的采样距离；
S404，根据采样距离确定底盘结构与墙体不平行，输出第二移动指令，以使底盘结构与墙体平行。
在该实施例中，为了降低因为喷涂机器人与目标喷涂位置所指示的墙体相对位置对喷涂效果产生的影响，通过接收喷涂机器人的底盘结构与目标喷涂位置所指示的墙体之间的采样距离。根据采样距离确定底盘结构与墙体不平行，输出第二移动指令，以使底盘结构与墙体平行。
在本申请的一个实施例中，喷涂控制方法还包括：确定喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间之外，输出第三移动指令，以使底盘结构与墙体之间的采样距离处于指定距离区间内。
在该实施例中，为了降低由于喷涂机器人与墙体距离过近或者过远造成喷涂厚度不均等情况的出现，在判定喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间之外时，输出第三移动指令，以便喷涂机器人调整当前位置，确保调整后的喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间内，以确保喷涂质量。
在本申请的一个实施例中，如图5所示，喷涂控制方法还包括：
S502，接收当前涂料剩余量；
S504，确定当前涂料剩余量小于或等于第一指定阈值，输出补充涂料指令，以使喷涂机器人运动至指定位置补充涂料。
在该实施例中，为了减少喷涂机器人在喷涂过程中出现涂料不足的情况，通过将前涂料剩余量与第一指定阈值进行比较，在当前涂料剩余量小于或等于第一指定阈值的情况下，判定涂料不足，此时输出补充涂料指令，进而实现涂料的补充，降低涂机器人在喷涂过程涂料不足的可能性，进而实现智能补充涂料。
在本申请的一个实施例中，如图6所示，喷涂控制方法还包括：
S602，将当前喷涂位置记录为第一位置；
S604，确定涂料补充结束，输出第四移动指令，以使喷涂机器人移动至第一位置继续进行喷涂。
在该实施例中，为了减少涂料补充结束后重复喷涂等情况的出现，在确定当前涂料剩余量小于或等于第一指定阈值的情况下，将当前喷涂位置记录为第一位置，进而在确定涂料补充结束后，输出第四移动指令，以使喷涂机器人移动至第一位置继续进行喷涂，进而确保喷涂质量。
在本申请的一个实施例中，如图7所示，喷涂控制方法还包括：
S702，检测喷涂机器人的供电电源的当前电量值；
S704，确定当前电量值小于或等于第二指定阈值，输出第五移动指令，以使喷涂机器人移动至指定充电位置进行充电。
在该实施例中，为了减少喷涂机器人在喷涂过程中出现电量不足的情况，通过将供电电源的当前电量值与第二指定阈值进行比较，在当前电量值小于或等于第二指定阈值的情况下，输出第五移动指令，以使喷涂机器人移动至指定充电位置进行充电，进而降低上述情况出现的可能。
在本申请的一个实施例中，喷涂控制方法还包括：确定目标喷涂模式所对应的喷涂任务运行结束且不存在其它喷涂任务，输出第六移动指令，以使喷涂机器人移动至指定充电位置进行充电，或确定目标喷涂模式所对应的喷涂任务运行结束且存在其它喷涂任务，输出第七移动指令，以使喷涂机器人执行其它喷涂任务。
每种喷涂模式对应喷涂机器人的姿势以及喷涂方法，其中姿势可以包括喷涂机器人 的喷涂位置和姿态，喷涂方法包括喷涂机器人的舵轮的运动状态、提升机构的运动状态、喷枪结构的运动状态。可以理解的是，喷涂机器人的姿态指的是喷涂机器人与作业面的相对位置关系。
在该实施例中，通过判断是否存在其它喷涂任务，当不存在其它喷涂任务时，输出第六移动指令，以便喷涂机器人至指定充电位置进行充电，而当判定存在其它喷涂任务时，输出第七移动指令，以使喷涂机器人执行其它喷涂任务，进而实现多任务喷涂，进而提高喷涂效率。
在本申请的一个实施例中，喷涂控制方法还包括：接收户型信息，根据户型信息生成喷涂路线，根据喷涂路线生成第七移动指令。
在该实施例中，为了实现喷涂路线的自动规划，实现高效率喷涂，在接收到户型信息后，根据户型信息生成喷涂路线，以便喷涂机器人按照喷涂路线进行多任务喷涂。
其中，户型信息可以根据用户输入的建筑信息模型生成。
在上述任一实施例中，进一步地，预先设定的喷涂模式包括：墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式中至少一种。
在该实施例中，预先设定的喷涂模式包括但不局限于墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式，可以根据被喷涂的墙体的结构进行设定。
其中，飘窗喷涂模式是包含飘窗结构的墙体，飘窗结构还可以是门体结构等；天花板喷涂模式是室内屋顶的喷涂，如包含天花板的墙体；阴角喷涂模式是喷涂包含阴角的墙体，阳角喷涂模式是喷涂包含阳角的墙体。
实施例二
在本申请的一个实施例中，如图8所示，喷涂控制方法包括：
S802，系统参数初始化。
其中，系统参数初始化包括底盘结构的行走轮和/或转向轮的初始速度和用于驱动行走轮和/或转向轮的伺服电机的初始化，同时可以接收用户输入的户型信息，也可以是接收用户选择指令确定对应的户型信息，可选地，户型信息是根据建筑信息模式生成的模型信息。
S804，控制喷涂机器人从初始位置开始工作。
其中，初始位置可以是根据户型信息生成的喷涂路线所对应的轨迹起点。
S806，控制喷涂机器人按照喷涂路线运行。
其中，喷涂轨迹可以是单一喷涂模式对应的喷涂路线，也可以是多个喷涂模式组成的喷涂路线。
S808，到达目标喷涂位置。
S810，判断底盘结构与墙体是否平行，在判断结果为否时，执行S812，否则执行S814。
其中，判断是否平行的方法可以是通过设置的多个激光测距传感器来测量底盘结构 与墙体之间的采样距离，多个激光测距传感器设置在底盘结构的两侧。
可选地，在采样距离的偏差值小于某一数值的情况下，判定底盘结构与墙体平行。
S812，根据采样距离调整当前位置，并执行S810。
其中，通过启用图像采集装置进行拍照，得到图像信息，并根据图像信息确定目标喷涂模式。
S814，喷涂模式的识别。
S816，启动喷涂系统，机器人本体运动，对应位置喷涂完成。
其中，在目标喷涂模式与设定的喷涂模式一致，执行喷涂，如：当目标喷涂模式为墙板喷涂模式，控制喷涂机器人按照工艺要求的动作逻辑进行喷涂，可选地，由上至下喷涂一列后，水平向右移动，由下之上再次喷涂一列，以完成喷涂任务。
S818，判断整体喷涂完成，在判断结果为是时，喷涂结束，否则执行S806。
实施例三
在本申请的一个实施例中，如图9所示，喷涂控制装置900包括：控制器902和存储器904，存储器904可以用于存储计算机程序；控制器902执行存储在存储器904中的计算机程序以实现、接收当前环境的图像信息、根据图像信息确定目标喷涂模式；运行目标喷涂模式。
本申请提供的喷涂控制装置900包括：控制器902和存储器904，其中，控制器902执行存储在存储器904中的计算机程序以实现：通过获取当前环境的图像信息，并运行根据图像信息确定的目标喷涂模式，实现当前位置的喷涂模式的自动确定和自动喷涂，减少人工参与，降低了人工劳动量，同时使用喷涂机器人进行喷涂，提高了喷涂效率。
其中，根据图像信息确定目标喷涂模式的过程，可以使用目前技术成熟的人工智能技术，如根据图像信息中包含的门、窗等特征确定目标喷涂模式。
在本申请的一个实施例中，如图9所示，控制器902用于执行存储在存储器904中的计算机程序以实现：确定预先设定的喷涂模式中包含目标喷涂模式，运行目标喷涂模式。
在该实施例中，由图像信息确定目标喷涂模式过程中可能存在识别错误，进而出现确定的目标喷涂模式与当前环境不匹配，造成喷涂错误，为了避免上述情况的出现，通过判断预先设定的喷涂模式中包含目标喷涂模式的情况下，运行目标喷涂模式，进而提高喷涂控制的可靠性。
在本申请的一个实施例中，如图9所示，控制器902用于执行存储在存储器904中的计算机程序以实现：根据图像信息确定喷涂机器人的当前位置信息；确定当前位置信息与目标喷涂位置不一致，输出第一移动指令，以使喷涂机器人移动至目标喷涂位置。
在该实施例中，为了降低人工的参与度，提高喷涂机器人的运行效率，在接收当前环境的图像信息的步骤之后，根据图像信息确定喷涂机器人的当前位置信息，并将当前位置信息与目标喷涂位置进行比对，在当前位置信息与目标喷涂位置不一致的情况下，输出第一移动指令，以使喷涂机器人移动至目标喷涂位置，实现喷涂机器人自动移动。
在本申请的一个实施例中，如图9所示，控制器902用于执行存储在存储器904中的计算机程序以实现：接收喷涂机器人的底盘结构与目标喷涂位置所指示的墙体之间的采样距离；根据采样距离确定底盘结构与墙体不平行，输出第二移动指令，以使底盘结构与墙体平行。
在该实施例中，为了降低因为喷涂机器人与目标喷涂位置所指示的墙体相对位置对喷涂效果产生的影响，通过接收喷涂机器人的底盘结构与目标喷涂位置所指示的墙体之间的采样距离；根据采样距离确定底盘结构与墙体不平行，输出第二移动指令，以使底盘结构与墙体平行。
在本申请的一个实施例中，如图9所示，控制器902用于执行存储在存储器904中的计算机程序以实现：确定喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间之外，输出第三移动指令，以使底盘结构与墙体之间的采样距离处于指定距离区间内。
在该实施例中，为了降低由于喷涂机器人与墙体距离过近或者过远造成喷涂厚度不均等情况的出现，在判定喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间之外时，输出第三移动指令，以便喷涂机器人调整当前位置，确保调整后的喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间内，以确保喷涂质量。
在本申请的一个实施例中，如图9所示，控制器902用于执行存储在存储器904中的计算机程序以实现：接收当前涂料剩余量；确定当前涂料剩余量小于或等于第一指定阈值，输出补充涂料指令，以使喷涂机器人运动至指定位置补充涂料。
在该实施例中，为了减少喷涂机器人在喷涂过程中出现涂料不足的情况，通过将前涂料剩余量与第一指定阈值进行比较，在当前涂料剩余量小于或等于第一指定阈值的情况下，判定涂料不足，此时输出补充涂料指令，进而实现涂料的补充，降低涂机器人在喷涂过程涂料不足的可能性，进而实现智能补充涂料。
在本申请的一个实施例中，如图9所示，控制器902用于执行存储在存储器904中的计算机程序以实现：将当前喷涂位置记录为第一位置；确定涂料补充结束，输出第四移动指令，以使喷涂机器人移动至第一位置继续进行喷涂。
在该实施例中，为了减少涂料补充结束后重复喷涂等情况的出现，在确定当前涂料剩余量小于或等于第一指定阈值的情况下，将当前喷涂位置记录为第一位置，进而在确定涂料补充结束后，输出第四移动指令，以使喷涂机器人移动至第一位置继续进行喷涂，进而确保喷涂质量。
在本申请的一个实施例中，如图9所示，控制器902用于执行存储在存储器904中的计算机程序以实现：检测喷涂机器人的供电电源的当前电量值；确定当前电量值小于或等于第二指定阈值，输出第五移动指令，以使喷涂机器人移动至指定充电位置进行充电。
在该实施例中，为了减少喷涂机器人在喷涂过程中出现电量不足的情况，通过将供电电源的当前电量值与第二指定阈值进行比较，在当前电量值小于或等于第二指定阈值 的情况下，输出第五移动指令，以使喷涂机器人移动至指定充电位置进行充电，进而降低上述情况出现的可能。
在本申请的一个实施例中，如图9所示，控制器902用于执行存储在存储器904中的计算机程序以实现：确定目标喷涂模式所对应的喷涂任务运行结束且不存在其它喷涂任务，输出第六移动指令，以使喷涂机器人移动至指定充电位置进行充电，或确定目标喷涂模式所对应的喷涂任务运行结束且存在其它喷涂任务，输出第七移动指令，以使喷涂机器人执行其它喷涂任务。
在该实施例中，通过判断是否存在其它喷涂任务，当不存在其它喷涂任务时，输出第六移动指令，以便喷涂机器人至指定充电位置进行充电，而当判定存在其它喷涂任务时，输出第七移动指令，以使喷涂机器人执行其它喷涂任务，进而实现多任务喷涂，进而提高喷涂效率。
可选地，第六移动指令可与第五移动指令相同。
在本申请的一个实施例中，如图9所示，控制器902用于执行存储在存储器904中的计算机程序以实现：接收户型信息，根据户型信息生成喷涂路线，根据喷涂路线生成第七移动指令。
在该实施例中，为了实现喷涂路线的自动规划，实现高效率喷涂，在接收到户型信息后，根据户型信息生成喷涂路线，以便喷涂机器人按照喷涂路线进行多任务喷涂。
其中，户型信息可以根据用户输入的建筑信息模型生成。
在本申请的一个实施例中，如图9所示，预先设定的喷涂模式包括：墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式中至少一种。
在该实施例中，预先设定的喷涂模式包括但不局限于墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式，可以根据被喷涂的墙体的结构进行设定。
其中，飘窗喷涂模式是包含飘窗结构的墙体，飘窗结构还可以是门体结构等；天花板喷涂模式是室内屋顶的喷涂，如包含天花板的墙体；阴角喷涂模式是喷涂包含阴角的墙体，阳角喷涂模式是喷涂包含阳角的墙体。
实施例四
在本申请的一个实施例中，喷涂机器人包括：本体和喷涂装置，喷涂装置设置在本体上，用于执行喷涂作业；图像获取装置用于获取当前环境的图像信息；控制装置分别与图像获取装置和喷涂装置相连接，用于根据图像信息确定目标喷涂模式，控制喷涂装置按照目标喷涂模式进行喷涂。
本申请提出的喷涂机器人包括本体、喷涂装置、图像获取装置和控制装置，控制装置通过图像获取装置获取当前环境的图像信息，并运行根据图像信息确定的目标喷涂模式，控制喷涂装置进行喷涂，实现当前位置的喷涂模式的自动确定和自动喷涂，减少人工参与，降低了人工劳动量，同时使用喷涂机器人进行喷涂，提高了喷涂效率。
其中，根据图像信息确定目标喷涂模式的过程，可以使用目前技术成熟的人工智能 技术，如根据图像信息中包含的门、窗等特征确定目标喷涂模式。
可选地，图像获取装置包括如工业相机、相机安装结构以及用于进行图像信息处理的视觉处理算法的软件。
可选的，如图11所示，图像获取装置与控制装置通过以太网接口进行数据传输。
可选地，控制装置设置在电控柜9中，控制装置包括控制器，其中，控制器通过DI(Digital in数字输入)/DO(Digital out数字输出)模块进行开关量的控制，还通过AI(模拟信号输入)/AO(模拟信号输出)模块进行模拟量的控制。
在本申请的一个实施例中，控制装置具体用于：确定预先设定的喷涂模式中包含目标喷涂模式，运行目标喷涂模式。
在该实施例中，由图像信息确定目标喷涂模式过程中可能存在识别错误，进而出现确定的目标喷涂模式与当前环境不匹配，造成喷涂错误，为了避免上述情况的出现，通过判断预先设定的喷涂模式中包含目标喷涂模式的情况下，运行目标喷涂模式，进而提高喷涂控制的可靠性。
在本申请的一个实施例中，如图10所示，喷涂机器人还包括：底盘结构，本体设置在底盘结构上，底盘结构包括行走轮和/或转向轮1，控制装置还用于：根据图像信息确定喷涂机器人的当前位置信息；确定当前位置信息与喷涂路线所指示的目标喷涂位置不一致，控制行走轮和/或转向轮1转动，以使喷涂机器人移动至目标喷涂位置。
在该实施例中，为了降低人工的参与度，提高喷涂机器人的运行效率，在接收当前环境的图像信息的步骤之后，根据图像信息确定喷涂机器人的当前位置信息，并将当前位置信息与目标喷涂位置进行比对，在当前位置信息与目标喷涂位置不一致的情况下，控制行走轮和/或转向轮1转动，以使喷涂机器人移动至目标喷涂位置，实现喷涂机器人自动移动。
可选地，控制行走轮和/或转向轮1转动的是通过伺服驱动器和对应的伺服电机7实现，并且伺服驱动器与控制装置通过总线进行数据交互，或者通过脉冲信号进行数据交互。
其中，如图11所示，伺服电机7包括伺服电机一、伺服电机二、伺服电机三、伺服电机四、伺服电机五、伺服电机六、伺服电机七、伺服电机八，以及对应的伺服驱动器一、伺服驱动器二、伺服驱动器三、伺服驱动器四、伺服驱动器五、伺服驱动器六、伺服驱动器七、伺服驱动器八。
可选地，底盘结构还设置有舵轮5和万向轮，其中，舵轮5和万向轮用于控制移动方向。
在本申请的一个实施例中，喷涂机器人还包括：至少两个距离传感器2，至少两个距离传感器2沿水平方向布设在底盘结构上，其中，至少两个距离传感器2朝向目标喷涂位置所指示的墙体，至少两个距离传感器2用于获取喷涂机器人的底盘结构与目标喷涂位置所指示的墙体之间的采样距离；控制装置还用于：根据采样距离确定底盘结构与墙体不平行，控制行走轮和/或转向轮1转动，以使底盘结构与墙体平行。
在该实施例中，为了降低因为喷涂机器人与目标喷涂位置所指示的墙体相对位置对喷涂效果产生的影响，利用设置在底盘结构上的至少两个距离传感器2来获取喷涂机器人的底盘结构与目标喷涂位置所指示的墙体的采样距离，其中，至少两个距离传感器2沿水平方向布设在底盘结构上且至少两个距离传感器2朝向目标喷涂位置所指示的墙体，通过接收喷涂机器人的底盘结构与目标喷涂位置所指示的墙体之间的采样距离；根据采样距离确定底盘结构与墙体不平行，控制行走轮和/或转向轮1转动，以使底盘结构与墙体平行。
可选地，至少两个距离传感器2通过总线或者脉冲信号进行数据交互。
在本申请的一个实施例中，控制装置还用于：确定喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间之外，控制行走轮和/或转向轮1转动，以使底盘结构与墙体之间的距离值处于指定距离区间内。
在该实施例中，为了降低由于喷涂机器人与墙体距离过近或者过远造成喷涂厚度不均等情况的出现，在判定喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间之外时，控制行走轮和/或转向轮1转动，以便喷涂机器人调整当前位置，确保调整后的喷涂机器人的底盘结构与墙体之间的采样距离处于指定距离区间内，以确保喷涂质量。
可选地，底盘结构是由机架15构成。
在本申请的一个实施例中，还包括：涂料检测装置，涂料检测装置与控制装置相连接，用于获取当前涂料剩余量。控制装置还用于：确定当前涂料剩余量小于或等于第一指定阈值，控制行走轮和/或转向轮1转动，以使喷涂机器人运动至指定位置补充涂料。
在该实施例中，为了减少喷涂机器人在喷涂过程中出现涂料不足的情况，通过设置涂料检测装置，利用涂料检测装置来获取当前涂料剩余量，并将前涂料剩余量与第一指定阈值进行比较，在当前涂料剩余量小于或等于第一指定阈值的情况下，判定涂料不足，此时输出补充涂料指令，进而实现涂料的补充，降低涂机器人在喷涂过程涂料不足的可能性，进而实现智能补充涂料。
在本申请的一个实施例中，控制装置还用于：将当前喷涂位置记录为第一位置；确定涂料补充结束，控制行走轮和/或转向轮1转动，以使喷涂机器人移动至第一位置继续进行喷涂。
在该实施例中，为了减少涂料补充结束后重复喷涂等情况的出现，在确定当前涂料剩余量小于或等于第一指定阈值的情况下，将当前喷涂位置记录为第一位置，进而在确定涂料补充结束后，控制行走轮和/或转向轮1转动，以使喷涂机器人移动至第一位置继续进行喷涂，进而确保喷涂质量。
在本申请的一个实施例中，还包括：电池管理装置，电池管理装置与控制装置相连接，电池管理装置用于检测喷涂机器人的供电电源的当前电量值。控制装置还用于：确定当前电量值小于或等于第二指定阈值，控制行走轮和/或转向轮1转动，以使喷涂机器人移动至指定充电位置进行充电。
在该实施例中，为了减少喷涂机器人在喷涂过程中出现电量不足的情况，通过设置电池管理装置来检测供电电源的当前电量值，并将供电电源的当前电量值与第二指定阈值进行比较，在当前电量值小于或等于第二指定阈值的情况下，控制行走轮和/或转向轮1转动，以使喷涂机器人移动至指定充电位置进行充电，进而降低上述情况出现的可能。
可选地，如图11所示，电池管理装置通过RS485串行总线标准进行通信。
可选地，还包括与供电电源相连接的充电装置和放电装置，进而实现供电电源的充放电。
可选地，供电电源为锂电池6。
在本申请的一个实施例中，控制装置还用于：确定目标喷涂模式所对应的喷涂任务运行结束且不存在其它喷涂任务控制行走轮和/或转向轮1转动，以使喷涂机器人移动至指定充电位置进行充电；确定目标喷涂模式所对应的喷涂任务运行结束且存在其它喷涂任务，控制行走轮和/或转向轮1转动，以使喷涂机器人执行其它喷涂任务。
在该实施例中，通过判断是否存在其它喷涂任务，当不存在其它喷涂任务时，控制行走轮和/或转向轮1转动，以便喷涂机器人至指定充电位置进行充电，而当判定存在其它喷涂任务时，控制行走轮和/或转向轮1转动，以使喷涂机器人执行其它喷涂任务，进而实现多任务喷涂，进而提高喷涂效率。
在本申请的一个实施例中，控制装置还用于：接收户型信息，根据户型信息生成喷涂路线，根据喷涂路线控制行走轮和/或转向轮1转动。
在该实施例中，为了实现喷涂路线的自动规划，实现高效率喷涂，在接收到户型信息后，根据户型信息生成喷涂路线，以便喷涂机器人按照喷涂路线进行多任务喷涂。
其中，户型信息可以根据用户输入的建筑信息模型生成。
可选地，喷涂机器人还包括：输入装置，其中，输入装置与控制装置相连接，用于输入或设定户型信息，并进行显示。
可选地，如图11所示，输入装置是包含UI(User Interface，用户界面)的装置，其中输入装置通过以太网接口与控制装置相连接。
在本申请的一个实施例中，喷涂装置包括喷枪结构3，本体包括喷涂旋转结构，喷枪结构3设置在喷涂旋转结构上，喷枪结构在喷涂旋转结构的带动下执行喷涂任务。
在该实施例中，本体上设置有喷涂旋转结构，喷枪结构3设置在喷涂旋转结构上，进而在喷涂旋转结构转动过程中，带动喷枪结构3转动，进而实现带动喷涂装置上的喷枪结构3旋转作业。
可选地，喷涂装置为喷涂机8，其中，喷涂机包括：涂料存储装置10、开关阀块和喷枪结构3。
在本申请的一个实施例中，本体还包括：提升结构4，提升结构4设置在底盘结构上，喷涂旋转结构设置在提升结构4上，提升结构4带动喷涂旋转结构运行。
在该实施例中，通过设置提升结构4，利用提升结构4带动喷涂旋转结构运行，进 而增加了喷涂机器人的喷涂面积，进而实现大面积喷涂。
可选地，提升结构4为两级提升结构，其中，两级提升结构包括第一级提升结构和第二级提升结构，喷涂旋转结构设置在第一级提升结构上，在第一级提升结构运行的过程中带动喷涂旋转结构移动，第二级提升结构带动第一级提升结构移动。
可选地，喷涂机器人还包括：水平移动结构和喷枪旋转结构，其中，喷涂旋转结构通过水平移动结构与第一级提升结构相连接，用于带动喷涂旋转结构在水平方向移动，喷枪旋转结构设置在喷涂旋转结构上，带动喷枪旋转结构运动。
可选地，喷涂机器人还包括右壳体板金11、左壳体板金12、盖板13、箱体门14，用于覆盖在喷涂机器人表面。
其中，图12和图13示出了图10的不同角度下的示意图。
在本申请的一个实施例中，预先设定的喷涂模式包括：墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式中至少一种。
在该实施例中，预先设定的喷涂模式包括但不局限于墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式，可以根据被喷涂的墙体的结构进行设定。
其中，飘窗喷涂模式是包含飘窗结构的墙体，飘窗结构还可以是门体结构等；天花板喷涂模式是室内屋顶的喷涂，如包含天花板的墙体；阴角喷涂模式是喷涂包含阴角的墙体，阳角喷涂模式是喷涂包含阳角的墙体。
实施例五
在本申请的一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现如上述任一项喷涂控制方法的步骤。
在本申请的描述中，术语“多个”则指两个或两个以上，除非另有明确的限定，术语“上”、“下”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制；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申请中的具体含义。
在本申请的描述中，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申请的至少一个实施例或示例中。在本申请中，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。
以上所述仅为本申请的实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (22)

  1. 一种喷涂控制方法，用于喷涂机器人，其特征在于，包括：
    接收当前环境的图像信息；
    根据所述图像信息确定目标喷涂模式；
    运行所述目标喷涂模式；
    所述运行所述目标喷涂模式的步骤，具体包括：
    确定预先设定的喷涂模式中包含所述目标喷涂模式，运行所述目标喷涂模式；
    其中，所述预先设定的喷涂模式包括：墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式中至少一种。
  2. 根据权利要求1所述的喷涂控制方法，其特征在于，在所述接收当前环境的图像信息的步骤之后，在所述根据所述图像信息确定目标喷涂模式的步骤之前，还包括：
    根据所述图像信息确定所述喷涂机器人的当前位置信息；
    确定所述当前位置信息与目标喷涂位置不一致，输出第一移动指令，以使所述喷涂机器人移动至所述目标喷涂位置。
  3. 根据权利要求2所述的喷涂控制方法，其特征在于，还包括：
    接收所述喷涂机器人的底盘结构与目标喷涂位置所指示的墙体之间的采样距离；
    根据所述采样距离确定所述底盘结构与所述墙体不平行，输出第二移动指令，以使所述底盘结构与所述墙体平行。
  4. 根据权利要求3所述的喷涂控制方法，其特征在于，还包括：
    确定所述喷涂机器人的底盘结构与所述墙体之间的采样距离处于指定距离区间之外，输出第三移动指令，以使所述底盘结构与所述墙体之间的采样距离处于指定距离区间内。
  5. 根据权利要求3或4所述的喷涂控制方法，其特征在于，所述运行所述目标喷涂模式的步骤之后，还包括：
    接收当前涂料剩余量；
    确定所述当前涂料剩余量小于或等于第一指定阈值，输出补充涂料指令，以使所述喷涂机器人运动至指定位置补充涂料。
  6. 根据权利要求5所述的喷涂控制方法，其特征在于，所述确定所述当前涂料剩余量小于或等于第一指定阈值的步骤之后，还包括：
    将当前喷涂位置记录为第一位置；
    确定涂料补充结束，输出第四移动指令，以使所述喷涂机器人移动至所述第一位置继续进行喷涂。
  7. 根据权利要求1或2所述的喷涂控制方法，其特征在于，还包括：
    检测所述喷涂机器人的供电电源的当前电量值；
    确定所述当前电量值小于或等于第二指定阈值，输出第五移动指令，以使所述喷涂机器人移动至指定充电位置进行充电。
  8. 根据权利要求1所述的喷涂控制方法，其特征在于，还包括：
    确定所述目标喷涂模式所对应的喷涂任务运行结束且不存在其它喷涂任务，输出第六移动指令，以使所述喷涂机器人移动至指定充电位置进行充电；或
    确定所述目标喷涂模式所对应的喷涂任务运行结束且存在其它喷涂任务，输出第七移动指令，以使所述喷涂机器人执行所述其它喷涂任务。
  9. 根据权利要求8所述的喷涂控制方法，其特征在于，还包括：
    接收户型信息，根据所述户型信息生成喷涂路线，根据所述喷涂路线生成所述第七移动指令。
  10. 一种喷涂控制装置，用于喷涂机器人，其特征在于，包括：
    控制器；
    存储器，用于存储计算机程序；
    所述控制器执行存储在所述存储器中的计算机程序以实现如权利要求1至9中任一项所述的喷涂控制方法的步骤。
  11. 一种喷涂机器人，其特征在于，包括：
    本体；
    喷涂装置，所述喷涂装置设置在所述本体上，用于执行喷涂作业；
    图像获取装置，用于获取当前环境的图像信息；
    控制装置，所述控制装置分别与所述图像获取装置和所述喷涂装置相连接，用于根据所述图像信息确定目标喷涂模式，控制所述喷涂装置按照所述目标喷涂模式进行喷涂；
    所述控制装置具体用于：
    确定预先设定的喷涂模式中包含所述目标喷涂模式，运行所述目标喷涂模式；
    其中，所述预先设定的喷涂模式包括：墙板喷涂模式、飘窗喷涂模式、天花板喷涂模式、阴角喷涂模式、阳角喷涂模式中至少一种。
  12. 根据权利要求11所述的喷涂机器人，其特征在于，所述喷涂机器人还包括：
    底盘结构，所述本体设置在所述底盘结构上，所述底盘结构包括行走轮和/或转向轮；
    所述控制装置还用于：
    根据所述图像信息确定所述喷涂机器人的当前位置信息；
    确定所述当前位置信息与喷涂路线所指示的目标喷涂位置不一致，控制所述行走轮和/ 或转向轮转动，以使所述喷涂机器人移动至所述目标喷涂位置。
  13. 根据权利要求12所述的喷涂机器人，其特征在于，所述喷涂机器人还包括：至少两个距离传感器，所述至少两个距离传感器沿水平方向布设在所述底盘结构上，其中，所述至少两个距离传感器朝向所述目标喷涂位置所指示的墙体；
    所述至少两个距离传感器用于获取所述喷涂机器人的底盘结构与所述目标喷涂位置所指示的墙体之间的采样距离；
    所述控制装置还用于：
    根据所述采样距离确定所述底盘结构与所述墙体不平行，控制所述行走轮和/或转向轮转动，以使所述底盘结构与所述墙体平行。
  14. 根据权利要求13所述的喷涂机器人，其特征在于，所述控制装置还用于：
    确定所述喷涂机器人的底盘结构与所述墙体之间的采样距离处于指定距离区间之外，控制所述行走轮和/或转向轮转动，以使所述底盘结构与所述墙体之间的距离值处于指定距离区间内。
  15. 根据权利要求14所述的喷涂机器人，其特征在于，还包括：
    涂料检测装置，所述涂料检测装置与所述控制装置相连接，用于获取当前涂料剩余量；
    所述控制装置还用于：确定所述当前涂料剩余量小于或等于第一指定阈值，控制所述行走轮和/或转向轮转动，以使所述喷涂机器人运动至指定位置补充涂料。
  16. 根据权利要求15所述的喷涂机器人，其特征在于，所述控制装置还用于：
    将当前喷涂位置记录为第一位置；
    确定涂料补充结束，控制所述行走轮和/或转向轮转动，以使所述喷涂机器人移动至所述第一位置继续进行喷涂。
  17. 根据权利要求12-16中任一项所述的喷涂机器人，其特征在于，还包括：
    电池管理装置，所述电池管理装置与所述控制装置相连接，所述电池管理装置用于检测所述喷涂机器人的供电电源的当前电量值；
    所述控制装置还用于：确定所述当前电量值小于或等于第二指定阈值，控制所述行走轮和/或转向轮转动，以使所述喷涂机器人移动至指定充电位置进行充电。
  18. 根据权利要求12-17中任一项所述的喷涂机器人，其特征在于，所述控制装置还用于：
    确定所述目标喷涂模式所对应的喷涂任务运行结束且不存在其它喷涂任务控制所述行走轮和/或转向轮转动，以使所述喷涂机器人移动至指定充电位置进行充电；
    确定所述目标喷涂模式所对应的喷涂任务运行结束且存在其它喷涂任务，控制所述行走轮和/或转向轮转动，以使所述喷涂机器人执行所述其它喷涂任务。
  19. 根据权利要求18所述的喷涂机器人，其特征在于，所述控制装置还用于：
    接收户型信息，根据所述户型信息生成喷涂路线，根据所述喷涂路线控制所述行走轮和/或转向轮转动。
  20. 根据权利要求18或19所述的喷涂机器人，其特征在于，所述喷涂装置包括喷枪结构；
    所述本体包括喷涂旋转结构，所述喷枪结构设置在所述喷涂旋转结构上，所述喷枪结构在所述喷涂旋转结构的带动下执行喷涂任务。
  21. 根据权利要求20所述的喷涂机器人，其特征在于，所述本体还包括：
    提升结构，所述提升结构设置在所述底盘结构上，所述喷涂旋转结构设置在所述提升结构上，所述提升结构带动所述喷涂旋转结构运行。
  22. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至9中任一项所述喷涂控制方法的步骤。
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