CN109518918A - A kind of automatic spary wall device based on HSV space image procossing - Google Patents
A kind of automatic spary wall device based on HSV space image procossing Download PDFInfo
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- CN109518918A CN109518918A CN201910031585.6A CN201910031585A CN109518918A CN 109518918 A CN109518918 A CN 109518918A CN 201910031585 A CN201910031585 A CN 201910031585A CN 109518918 A CN109518918 A CN 109518918A
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- 239000000049 pigment Substances 0.000 claims abstract description 36
- 239000011248 coating agent Substances 0.000 claims abstract description 28
- 238000000576 coating method Methods 0.000 claims abstract description 28
- 239000007921 spray Substances 0.000 claims abstract description 28
- 238000012545 processing Methods 0.000 claims abstract description 24
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 11
- 239000010959 steel Substances 0.000 claims description 11
- 239000007787 solid Substances 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 239000003086 colorant Substances 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 230000036541 health Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000010422 painting Methods 0.000 description 5
- 239000011230 binding agent Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 239000004570 mortar (masonry) Substances 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Architecture (AREA)
- General Physics & Mathematics (AREA)
- Pathology (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Immunology (AREA)
- Analytical Chemistry (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Coating Apparatus (AREA)
Abstract
The present invention relates to a kind of automatic spary wall device based on HSV space image procossing, its technical characteristics is: including power walking device, lifting device, spary device, coating configuration device and image acquisition and processing device, lifting device is mounted on the upper end of power walking device, and spary device, coating configuration device and image acquisition and processing device are mounted on lifting device；Power walking device includes power walking device motor, pedestal, movement controller and wheel；Lifting device includes lifting device motor, expansion bracket；Coating configuration device includes supporting plate, pigment bucket, spary controller and pulsometer；Spary device includes fixed plate, axis support, fixed frame, spray head and spray head fixed disk；Image acquisition and processing device includes image acquiring device fixing axle and image acquiring device；The present invention automatic mixed configuration pigment color and can realize full-automatic spary function, improve the efficiency of plastering wall, reduce the chance that staff contacts coating, protection staff's health.
Description
Technical field
The invention belongs to automatic spary wall technical field, especially a kind of automatic spray based on HSV space image procossing
It whitewashes a wall wall device.
Background technique
Plastering wall is one of most important process in building trade, and main purpose seeks to paint to metope, makes wall
Face is smooth neat, and color is uniformly beautiful.The coating of painting, which is typically necessary, to be manually modulated and paints, due to belonging to of coating
Chemical product has more or less injury to human body.In addition, during painting it is possible that coating material shade not
Equal problem.
In view of the above-mentioned problems, application No. is the patent documents of CN105696778A to disclose a kind of wall automatic plastering dress
It sets, which, which is able to pass through the controller, automatically controls round brush completion painting work, but the coating painted must must shift to an earlier date manually
It mixes, it is difficult to avoid contact of the operator to coating.Application No. is the patent documents of CN201099978Y to disclose one kind
The feed screw discharge nozzle of mortar spraying type wall plastering device, the device is connected to binder cylinder, equipped with inverse in the middle part of discharge nozzle
The solid rod joint of only valve, binder cylinder and top-bearing jar is integrated, and has left and right oil pipe on the hydraulic press of with electrical automatic control equipment
Top-bearing jar inner cavity both ends are respectively communicated with, top-bearing jar both ends have discharging, feed position control switch through conducting wire and electric automatic control respectively
Device is connected, and drives feed screw main shaft by the motor of electrical automatic control equipment manipulation；Binder cylinder discharge nozzle and accumulator
Connection, discharge nozzle middle part are also equipped with non-return valve, whitewashing switch and high-pressure hose, the device are equipped on the discharge nozzle of accumulator lower end
Can effectively by mortar injection on the wall, but not can guarantee coating to smear shade on the wall consistent.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, propose that one kind can prepare painting color, in real time prison automatically
It surveys and smears situation and guarantee to smear the uniformly automatic spary wall device based on HSV space image procossing.
The present invention solves its technical problem and adopts the following technical solutions to achieve:
A kind of automatic spary wall device based on HSV space image procossing, including power walking device, lifting device,
Spary device, coating configuration device and image acquisition and processing device, the lifting device are mounted on the upper end of power walking device,
The spary device, coating configuration device and image acquisition and processing device are mounted on lifting device；
The power walking device includes power walking device motor, pedestal, movement controller and wheel；Four wheels pair
Claim to be mounted on front and back end two sides below pedestal, be wherein connected with cross bar between the wheel of front end two sides, between rear end sides wheel
It is connected equipped with drive shaft and with the power walking device motor being mounted below pedestal；Pacify respectively in four sides of pedestal center
Equipped with infrared sensor, distance measuring signal is transmitted to movement controller by infrared sensor；
The lifting device include fixing seat before lifting device motor, expansion bracket, screw rod fixing seat supporting plate, screw rod, steel tank,
Pressure pin fixed frame on pressure pin and expansion bracket in expansion bracket fixed link, expansion bracket；The expansion bracket is scissor structure, lower end installation
There are two mobile connection bar, two mobile connection bars are inlaid in steel tank disposed in parallel, and the steel tank is mounted on the base；Institute
It states pressure pin on expansion bracket and is mounted on expansion bracket upper end, pressure pin fixed frame is fixed on expansion bracket on pressure pin on the expansion bracket；Institute
Expansion bracket fixed link is stated through being fixed on the inside of expansion bracket；The lifting device motor is fixedly mounted in pedestal by motor fixing plate
The screw rod in portion, the lifting device motor output end connection is fixed before the front end and screw rod of screw rod fixing seat supporting plate and screw rod
Seat is solidly installed, and the screw rod fixing seat supporting plate is together with a mobile connection bar right angle setting, and fixing seat is solid before screw rod
It is scheduled on pedestal；
The coating configuration device includes supporting plate, pigment bucket, spary controller and pulsometer；The supporting plate is packed in flexible
On frame above pressure pin, the pigment bucket, pulsometer, spary controller are packed on supporting plate, and two pigment buckets are connected by air pump
It connects road to be connected with pulsometer, pigment bucket upper surface, which is run through, hose；The spary controller is connected with pulsometer to be used for
Control pressure pump work；
The spary device includes fixed plate, axis support, fixed frame, spray head, spray head fixed disk and poise nut；The spray head is solid
Price fixing front connects spray head, and the spray head fixed disk back side connects pigment bucket, the fixed back-end disk of the spray head by two hoses
It is fixed on poise nut end, the poise nut is horizontally fixed on fixed frame end, the fixed frame and the angled connection of axis support
Fixed, the axis support is packed in fixed plate；
Described image acquisition processing device includes elongation bar, image acquiring device fixing axle and image acquiring device, image
Acquisition device snugly fits in image acquiring device fixing axle, and the elongation bar connects image acquiring device fixing axle and is fixedly mounted with
In fixed plate, the image acquiring device and movement controller are wirelessly connected, and when spray coating brush device carries out spary, obtain picture
The wall color picture that scanning obtains is passed to movement controller by acquisition.
The movement controller, spary controller are also connected with computer terminal；The movement controller receiving infrared-ray passes
The ranging information and image acquiring device of sensor acquisition acquire wall color information, and movement controller is sent to lifting device motor
Elevating control signal, movement controller send travelling control signal to power walking device motor, and movement controller is to computer
End sends status signal, and movement controller sends spary action control signal to spary controller, and computer terminal is controlled to spary
Device sends coating and configures signal；Spary controller sends spary order control spary device to spary device and carries out spary.
The movement controller, spary controller are connected using wireless mode with computer terminal.
The movement controller is connected and composed by STM32F101 single-chip computer and its peripheral circuit, the single-chip microcontroller and infrared ray
Sensor, image acquisition and processing device, spary controller, computer terminal, power walking device motor and lifting device motor phase
Connection.
The spary controller is connected and composed by STM32F101 single-chip computer and its peripheral circuit, the single-chip microcontroller and pulsometer,
Spary device, computer terminal are connected with movement controller.
Described image acquisition device uses CCD minicam.
Described image acquisition processing device carries out colour darkness analysis using HSV space image mode.
Described two pigment buckets place the pigment of different colours respectively.
The advantages and positive effects of the present invention are:
1, the present invention installs spary device, coating configuration device and image acquisition and processing device on power walking device,
Can automatic mixed configuration pigment color, real-time monitoring wall spary effect and can realize full-automatic spary function, improve powder
It whitewashes a wall the efficiency of wall, reduces the chance that staff contacts coating, protection staff's health.
2, the method that spary controller of the invention uses HSV space image procossing, can analyze the wall of current region in real time
Whether wall color category and the shade of smearing are consistent, and take timely measure so that spary effect is good, and suitable popularize pushes away
Extensively arrive market.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of power walking device；
Fig. 3 is the structural schematic diagram of lifting device；
Fig. 4 is the structural schematic diagram of coating configuration device；
Fig. 5 is the structural schematic diagram of spary device and image collecting device；
Fig. 6 is automatically controlled processing flow schematic diagram of the invention；
In figure, 1- power walking device motor, 2- pedestal, 3- movement controller, 4- wheel, 5- infrared sensor, 6-
It is solid before lifting device motor, 7- motor fixing plate, 8- expansion bracket, 9- screw rod fixing seat supporting plate, 10- mobile connection bar, 11- screw rod
Reservation, 12- steel tank, 13- expansion bracket fixed link, pressure pin on 14- expansion bracket, pressure pin fixed frame on 15- expansion bracket, 16- supporting plate,
17- pigment bucket, 18- hose, 19- spary controller, 20- pulsometer interface channel, 21- pulsometer, 22- fixed plate, 23- axis
Support, 24- fixed frame, 25- spray head, 26- spray head fixed disk, 27- poise nut, 28- elongation bar, 29- image acquiring device fixing axle,
30- image acquiring device.
Specific embodiment
The embodiment of the present invention is further described below in conjunction with attached drawing.
A kind of automatic spary wall device based on HSV space image procossing, including power walking device, lifting device,
Spary device, coating configuration device and image acquisition and processing device, the lifting device are mounted on the upper end of power walking device,
The spary device, coating configuration device and image acquisition and processing device are mounted on lifting device.Below to various pieces point
It is not illustrated:
As shown in Figures 1 and 2, the power walking device includes power walking device motor (1), pedestal (2), movement
Controller (3), wheel (4) and infrared sensor (5).The wheel (4) is four and is packed in below the angle of four ends of pedestal,
Cross bar wherein is connected between front end two sides wheel (4) and is threadably secured, and is equipped with drive shaft simultaneously between rear end sides wheel
It is connected with power walking device motor (1).The infrared sensor (5) is at least four and is separately mounted to pedestal (2)
Center, i.e., each pedestal (2) outer side edges at least install an infrared sensor (5), infrared sensor (5) on the outside of four sides
It is responsible for ranging and avoids roadblock, sends a signal to movement controller (3).The power walking device motor (1) is packed in bottom
Seat (2) lower end is for driving vehicle wheel rotation.The movement controller (3) is packed in the side rail of power walking device, should
Movement controller (3) can receive the distance measuring signal of infrared sensor (5) and to power walking device motor (1) signal into
And wheel (4) movement is controlled, while avoiding the travelling route of roadblock control whole device.In the present embodiment, movement controller
(3) it is connected and composed by STM32F101 single-chip computer and its peripheral circuit, single-chip microcontroller is connected with infrared sensor (5), single-chip microcontroller
By motor-driven mechanism driving power walking device motor (1) work, so that power walking device is walked.
As shown in Figures 1 and 3, on power walking device, which includes rising for the lifting device integral installation
Before falling unit motor (6), motor fixing plate (7), expansion bracket (8), screw rod fixing seat supporting plate (9), mobile connection bar (10), screw rod
Fixing seat (11), steel tank (12), expansion bracket fixed link (13), pressure pin (14) on expansion bracket, pressure pin fixed frame (15) on expansion bracket.
There are two mobile connection bar (10) for expansion bracket (8) the lower end installation, and two mobile connection bars (10) are inlaid in disposed in parallel
On steel tank (12), the steel tank (12) is mounted on pedestal (2)；Pressure pin (14) is mounted on expansion bracket (8) on the expansion bracket
It holds, pressure pin fixed frame (15) is threadedly fixed on pressure pin on expansion bracket (14) on the expansion bracket；The expansion bracket
Fixed link (13), which runs through, to be fixed on the inside of expansion bracket (8).The motor fixing plate (7) is fixedly mounted in the middle part of pedestal (2) by screw, institute
It states lifting device motor (6) to be mounted on motor fixing plate (7), the screw rod of lifting device motor (6) the output end connection is worn
The front end for crossing screw rod fixing seat supporting plate (9) and screw rod is mounted on before screw rod in fixing seat (11), the screw rod fixing seat supporting plate (9)
Together with mobile connection bar (10) right angle setting, fixing seat (11) is fixed on bottom plate (2) before screw rod.Lifting device is rising
Under the driving of falling unit motor (6), screw rod fixing seat supporting plate (9) moves on screw rod and drives mobile connection bar (10) in steel tank
Interior movement finally makes expansion bracket flexible.The lifting device motor (6) receives the signal from movement controller (3) and carries out
It works and provides power for lifting device.
As shown in Fig. 1 and Fig. 4, the coating configuration device includes supporting plate (16), pigment bucket (17), hose (18), spary
Controller (19), pulsometer interface channel (20) and pulsometer (21).The supporting plate (16) is welded on pressure pin on expansion bracket (14)
Above, the pigment bucket (17) and pulsometer (21) are welded on supporting plate (16), and two pigment buckets (17) are connected by air pump
Channel (20) is connected with pulsometer (21), and the hose (18) runs through pigment bucket (17) upper surface.The spary controller
(19) control pressure pump (21) pigment inner to pigment bucket (17) applies pressure, by hose that pigment bucket (17) is inner by pressure
The pigment of extrusion is mixed and delivered to spary device, while the spray head (25) of the also controllable spary device of spary controller (19) is dynamic
Make.Two pigment buckets (17) respectively place a kind of pigment, and there are two types of pigment altogether, former using pinkish red, yellow and cyan subtractive process three
Color carries out the color of configuration needs, such as: the available green of cyan plus yellow, blueness plus pinkish red available blue, and magenta plus Huang can be with
Obtain red.The spary controller (19) is that the box equipped with controller is welded on supporting plate (16), spary control
Device (19) uses STM32F101 single-chip microcontroller, and single-chip microcontroller is connected with pulsometer (21) and control pressure pump (21) work.
As shown in Figures 1 and 5, the spary device includes fixed plate (22), axis support (23), fixed frame (24), spray head
(25), spray head fixed disk (26) and poise nut (27).Spray head fixed disk (26) front connection spray head (25), the spray head are solid
Price fixing (26) back side connects pigment bucket (17) by two hoses (18), and configured good coating will be by soft in pigment bucket (17)
(18) are managed to spray from spray head (25).Spray head fixed disk (26) rear end is fixed on poise nut (27) end, the poise nut
(27) be horizontally fixed on fixed frame (24) end, the fixed frame (24) with axis support (23) is angled is connected and fixed, the axis
Support (23) is welded on fixed plate (22).Receive the instruction of movement controller (3) between the spary device and is directly controlled by spary
The control of device (19) carries out spary operation, when the region of spary has reached the requirement of spary, image acquisition and processing device feedback
Metope picture color and colour darkness meet the requirement being previously set, then movement controller (3) issues the instruction for stopping spary
It is controlled to spary controller (19).
As shown in Figures 1 and 5, the image acquisition and processing device includes that elongation bar (28), image acquiring device are fixed
Axis (29) and image acquiring device (30).Image acquiring device (30) snugly fits on image acquiring device fixing axle (29),
The elongation bar (28) connects image acquiring device fixing axle (29) and is welded on fixed plate (22).Described image acquisition device
It is CDD minicam, the image acquiring device (30) and spary controller (19) are wirelessly connected, and image acquiring device (30) can
Scanning collection wall color picture, and pass data to spary controller (19) and carry out wall color identification and shade
Degree identification, know method for distinguishing be that picture is transformed into hsv color space, then one by one judge each pixel whether in certain model
In enclosing, color category is thus identified, H represents form and aspect, coloration, color in HSV, that is, our colors for usually saying.In HSV
It in model, is described with degree, wherein red, for 0 degree, for green for 120 degree, blue is 240 degree corresponding.S: saturation degree, color
Weight (0-100%) V: tone, purity, the brightness (0-100%) of color carry out color to the picture for being converted into HSV space
Weight analysis, that is, can determine whether the colour darkness that front is smeared is consistent, as inconsistent, signal to movement controller
It controls spary and material spray is carried out until weight is consistent to the part of light color, while image acquiring device (30) is monitored in real time.
As shown in fig. 6, control section of the invention mainly includes movement controller (3), spary controller (19) and calculates
Can be used between generator terminal, computer terminal and movement controller (3), spary controller (19) wireless mode (such as WIFI mode) into
Row communication.The ranging information and image acquiring device (30) of movement controller (3) receiving infrared-ray sensor (5) acquisition are adopted
Collect wall color information, movement controller (3) to lifting device motor (6) send elevating control signal, movement controller (3) to
Power walking device motor (1) sends travelling control signal, and movement controller (3) sends status signal, movement to computer terminal
Controller (3) sends spary action control signal to spary controller (19), and computer terminal sends to spary controller (19) and applies
Material configuration signal.Spary controller (19) sends spary order control spary device to spary device and carries out spary, spary device
During spary, image acquiring device (30) receives picture collection order and then obtains metope picture in real time and be sent to dynamic
Make controller (3).
The course of work of the invention are as follows:
(1) opening action controller switches input the picture for needing the color to be configured in computer terminal, by computer terminal
HSV processing is carried out to picture, on the other hand, opens painting color configuration device and image acquisition and processing device, coating configuration dress
It sets and is initially configured hybrid pigment, pumped from spary controller control pressure and pressed into pigment bucket, so that pigment is under pressure
It is mixed in hose, constantly detection is carried out until pigment color to the hybrid pigment to gush out by the detection of image acquisition and processing device
It meets the requirements.
(2) plastering wall process.After having configured coating, image acquisition and processing device uninterrupted sampling metope picture,
Image data is fed back into control terminal by signal projector, computer terminal is sent information to by movement controller and is analyzed
Picture is handled, and by spary controller and motor control spary device and lifting device, coating spary device carries out metope
Spary, during spary, image acquisition and processing device monitors metope face color effect in real time, guarantees the metope smeared everywhere
Shade is uniform, beautiful.
(3) infrared sensor on power walking device, movement controller and power and running gear motor control are moved
The travelling route of dynamic whole device.
Above-described embodiment is only preferable example of the invention, is not the restriction to embodiment of the present invention, right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes, there is no necessity and possibility to exhaust all the enbodiments, done within the spirit and principles of the present invention
Any modifications, equivalent replacements, and improvements etc. should be included within claims of the invention.
The present invention does not address place and is suitable for the prior art.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore packet of the present invention
Include and be not limited to embodiment described in specific embodiment, it is all by those skilled in the art according to the technique and scheme of the present invention
The other embodiments obtained, also belong to the scope of protection of the invention.
Claims (7)
1. a kind of automatic spary wall device based on HSV space image procossing, it is characterised in that: including power walking device,
Lifting device, spary device, coating configuration device and image acquisition and processing device, the lifting device are mounted on power walking dress
The upper end set, the spary device, coating configuration device and image acquisition and processing device are mounted on lifting device；
The power walking device includes power walking device motor, pedestal, movement controller and wheel；Four wheels are symmetrically pacified
Front and back end two sides below pedestal are wherein connected with cross bar, are equipped between rear end sides wheel between the wheel of front end two sides
Drive shaft is simultaneously connected with the power walking device motor being mounted below pedestal；It is separately installed in four sides of pedestal center
Distance measuring signal is transmitted to movement controller by infrared sensor, infrared sensor；
The lifting device includes fixing seat before lifting device motor, expansion bracket, screw rod fixing seat supporting plate, screw rod, steel tank, flexible
Pressure pin fixed frame on pressure pin and expansion bracket in frame fixed link, expansion bracket；The expansion bracket is scissor structure, and lower end is equipped with two
A mobile connection bar, two mobile connection bars are inlaid in steel tank disposed in parallel, and the steel tank is mounted on the base；It is described to stretch
Pressure pin is mounted on expansion bracket upper end on contracting frame, and pressure pin fixed frame is fixed on expansion bracket on pressure pin on the expansion bracket；It is described to stretch
Contracting frame fixed link, which runs through, to be fixed on the inside of expansion bracket；The lifting device motor is fixedly mounted with the middle of the base by motor fixing plate, institute
State the connection of lifting device motor output end screw rod pass through screw rod fixing seat supporting plate and screw rod front end and screw rod before fixing seat it is solid
It is fitted together, the screw rod fixing seat supporting plate is together with a mobile connection bar right angle setting, and fixing seat is fixed on before screw rod
On pedestal；
The coating configuration device includes supporting plate, pigment bucket, spary controller and pulsometer；The supporting plate is packed on expansion bracket
Above pressure pin, the pigment bucket, pulsometer, spary controller are packed on supporting plate, and two pigment buckets are connected logical by air pump
Road is connected with pulsometer, and pigment bucket upper surface, which is run through, hose；The spary controller is connected with pulsometer for controlling
Air pressure pump work；
The spary device includes fixed plate, axis support, fixed frame, spray head, spray head fixed disk and poise nut；The spray head fixed disk
Front connection spray head, the spray head fixed disk back side connect pigment bucket by two hoses, and the fixed back-end disk of the spray head is fixed
In poise nut end, the poise nut is horizontally fixed on fixed frame end, the fixed frame with axis support is angled is connected and fixed,
The axis support is packed in fixed plate；
Described image acquisition processing device includes elongation bar, image acquiring device fixing axle and image acquiring device, and image obtains
Device snugly fits in image acquiring device fixing axle, and the elongation bar connects image acquiring device fixing axle and is packed in
On fixed board, the image acquiring device and movement controller are wirelessly connected, and when spray coating brush device carries out spary, obtain picture collection
The wall color picture that scanning obtains is passed to movement controller by order；
The movement controller, spary controller are also connected with computer terminal；The movement controller receiving infrared-ray sensor
The ranging information and image acquiring device of acquisition acquire wall color information, and movement controller sends to lifting device motor and goes up and down
Signal is controlled, movement controller sends travelling control signal to power walking device motor, and movement controller is sent out to computer terminal
Status signal is sent, movement controller sends spary action control signal to spary controller, and computer terminal is sent out to spary controller
Coating is sent to configure signal；Spary controller sends spary order control spary device to spary device and carries out spary.
2. a kind of automatic spary wall device based on HSV space image procossing according to claim 1, feature exist
In: the movement controller, spary controller are connected using wireless mode with computer terminal.
3. a kind of automatic spary wall device based on HSV space image procossing according to claim 1 or 2, feature
Be: the movement controller is connected and composed by STM32F101 single-chip computer and its peripheral circuit, the single-chip microcontroller and infrared ray sensing
Device, image acquisition and processing device, spary controller, computer terminal, power walking device motor are connected with lifting device motor.
4. a kind of automatic spary wall device based on HSV space image procossing according to claim 1 or 2, feature
Be: the spary controller is connected and composed by STM32F101 single-chip computer and its peripheral circuit, the single-chip microcontroller and pulsometer, spray
Brush device, computer terminal are connected with movement controller.
5. a kind of automatic spary wall device based on HSV space image procossing according to claim 1 or 2, feature
Be: described image acquisition device uses CCD minicam.
6. a kind of automatic spary wall device based on HSV space image procossing according to claim 1 or 2, feature
Be: described image acquisition processing device carries out colour darkness analysis using HSV space image mode.
7. a kind of automatic spary wall device based on HSV space image procossing according to claim 1 or 2, feature
Be: described two pigment buckets place the pigment of different colours respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910031585.6A CN109518918A (en) | 2019-01-14 | 2019-01-14 | A kind of automatic spary wall device based on HSV space image procossing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN112523474A (en) * | 2020-12-07 | 2021-03-19 | 邢台职业技术学院 | Automatic wall spraying equipment for building construction and spraying method thereof |
| CN116921121A (en) * | 2023-07-13 | 2023-10-24 | 舟山市豫龙船舶工程有限公司 | Paint spraying equipment for ship manufacturing |
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