CN114800565A - Spraying equipment motion navigation method and device - Google Patents
Spraying equipment motion navigation method and device Download PDFInfo
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- CN114800565A CN114800565A CN202210495452.6A CN202210495452A CN114800565A CN 114800565 A CN114800565 A CN 114800565A CN 202210495452 A CN202210495452 A CN 202210495452A CN 114800565 A CN114800565 A CN 114800565A
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- 238000005507 spraying Methods 0.000 title claims abstract description 169
- 238000000034 method Methods 0.000 title claims abstract description 66
- 230000033001 locomotion Effects 0.000 title claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 238000004590 computer program Methods 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 11
- 239000007921 spray Substances 0.000 claims description 10
- 238000010422 painting Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 abstract description 13
- 238000010586 diagram Methods 0.000 description 12
- 230000002159 abnormal effect Effects 0.000 description 5
- 238000011084 recovery Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- 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
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Abstract
The embodiment of the invention provides a motion navigation method and a motion navigation device for spraying equipment, wherein the method comprises the following steps: acquiring a drawing transmission instruction sent by an upper computer, wherein the drawing transmission instruction comprises a drawing to be sprayed and a scale; planning a spraying path according to a drawing and a scale to obtain a planning result, wherein the planning result at least comprises path point coordinates; and sending a grid map to the upper computer according to the path point coordinates, wherein the grid map is used for navigating the spraying equipment. By the method and the device, the problem that the spraying effect is influenced by inaccurate spraying navigation of the spraying robot is solved, and the effect of improving the navigation accuracy of the spraying equipment is achieved.
Description
Technical Field
The embodiment of the invention relates to the field of spraying robots, in particular to a motion navigation method and device for spraying equipment.
Background
In the field of spraying robots, the spraying robot needs to adjust the navigation position, the angle of a spraying arm and the like in front of a target wall surface to complete spraying, and the area of the wall surface to be sprayed is usually large, so that the spraying robot needs to adjust the position of a chassis, the angle of the spraying arm and the like for multiple times to complete spraying, and if the navigation is inaccurate, the spraying effect is seriously affected, and the problems of inaccurate color spraying positions and the like are caused.
Therefore, the problem that the spraying effect is influenced due to inaccurate spraying navigation of the spraying robot exists in the related technology.
In view of the above problems in the related art, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a motion navigation method and a motion navigation device for spraying equipment, which are used for at least solving the problem that the spraying effect is influenced by inaccurate spraying navigation of a spraying robot in the related art.
According to one embodiment of the invention, a spraying equipment motion navigation method is provided, and comprises the following steps: acquiring a drawing transmission instruction sent by an upper computer, wherein the drawing transmission instruction comprises a drawing to be sprayed and a scale; planning a spraying path according to the drawing and the scale to obtain a planning result, wherein the planning result at least comprises path point coordinates; and sending a grid map to the upper computer according to the path point coordinates, wherein the grid map is used for navigating the spraying equipment.
Further, after transmitting a grid map to the upper computer according to the waypoint coordinates, the method further comprises: receiving equipment state information of the spraying equipment, and forwarding the equipment state information to the upper computer when the equipment state information shows that the equipment state is normal, wherein the upper computer sends a script message to the navigation module based on a measurement instruction, and the message comprises navigation starting point and planning point information; receiving the script message sent by the upper computer; and resetting the navigation state based on the script message and finishing the pose initialization.
Further, after resetting the navigation state based on the script message and completing the pose initialization, the method further includes: sending information of remaining points to the spraying equipment, wherein the remaining points are positions which are not passed by the spraying equipment; and receiving a navigation request sent by the spraying equipment, and starting a navigation task according to the navigation request.
Further, after resetting the navigation state based on the script message and completing the pose initialization, the method further includes: after the navigation information of reaching a target point is sent to the spraying equipment, judging whether special point marking information exists in the target point or not, wherein the target point is a point in the rest points; under the condition that special point mark information exists, generating navigation information according to the special point mark information; and sending prompt information without the special point mark information to the spraying equipment under the condition that the special point mark information does not exist.
Further, after resetting the navigation state based on the script message and completing the pose initialization, the method further includes: after the spraying operation of the current target point is finished, acquiring the position data of the next target point and generating navigation information; and sending the navigation information to the spraying equipment.
Further, before planning a spraying path according to the drawing and the scale to obtain a planning result, the method further includes: acquiring information of obstacles around current spraying equipment, wherein the obstacles at least comprise wall surfaces; after planning a spraying path according to the drawing and the scale to obtain a planning result, the method further comprises: and adjusting the planning result according to the information of the obstacle so as to avoid the obstacle.
Further, after planning a spraying path according to the drawing and the scale to obtain a planning result, the method further includes: judging whether all path points pass through; and after all the path points are passed, confirming that the spraying is finished, and sending a notification message to the upper computer.
According to another embodiment of the present invention, there is provided a painting equipment movement navigation device including: the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a drawing transmission instruction sent by an upper computer, and the drawing transmission instruction comprises a drawing to be sprayed and a scale; the planning unit is used for planning a spraying path according to the drawing and the scale to obtain a planning result, wherein the planning result at least comprises path point coordinates; and the sending unit is used for sending a grid map to the upper computer according to the path point coordinates, wherein the grid map is used for navigating the spraying equipment.
According to a further embodiment of the present invention, there is also provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, comprising a memory in which a computer program is stored and a processor configured to run the computer program to perform the steps of any of the method embodiments described above.
According to the method and the device, the image transmission instruction sent by the upper computer is obtained, wherein the image transmission instruction comprises a drawing to be sprayed and a scale; planning a spraying path according to a drawing and a scale to obtain a planning result, wherein the planning result at least comprises path point coordinates; and sending a grid map to the upper computer according to the path point coordinates, wherein the grid map is used for navigating the spraying equipment, so that the problem that the spraying effect is influenced by inaccurate spraying navigation of the spraying robot in the related technology can be solved, and the effect of improving the navigation accuracy of the spraying equipment is achieved.
Drawings
Fig. 1 is a block diagram of a hardware structure of a mobile terminal of a motion navigation method of a spraying device according to an embodiment of the present invention;
FIG. 2 is a flow chart of a spray coating device motion navigation method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an APP connection apparatus of the present embodiment;
FIG. 4 is a schematic view of the manually controlled spray apparatus of the present embodiment;
FIG. 5 is a schematic view of the automatic mode operation of the spray coating device of the present embodiment;
FIG. 6 is a schematic view of the special point work and control measurement process of the present embodiment;
FIG. 7 is a schematic diagram of other measurement types of the present embodiment;
FIG. 8 is a schematic view of the spray coating device of the present embodiment;
fig. 9 is a block diagram of a motion navigation device of a painting apparatus according to an embodiment of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings in conjunction with the embodiments.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking the example of the application on a mobile terminal, fig. 1 is a block diagram of a hardware structure of the mobile terminal of a motion navigation method for a painting device according to an embodiment of the present invention. As shown in fig. 1, the mobile terminal may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 104 for storing data, wherein the mobile terminal may further include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program and a module of application software, such as a computer program corresponding to the motion navigation method of the spray coating device in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In the present embodiment, a spraying device motion navigation method is provided, and fig. 2 is a flowchart of a spraying device motion navigation method according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S101, obtaining a drawing transmission instruction sent by an upper computer, wherein the drawing transmission instruction comprises a drawing to be sprayed and a scale;
step S102, planning a spraying path according to a drawing and a scale to obtain a planning result, wherein the planning result at least comprises path point coordinates;
and S103, sending a grid map to the upper computer according to the path point coordinates, wherein the grid map is used for navigating the spraying equipment.
The method of the embodiment can be applied to a navigation module of the spraying device, the navigation module can be arranged on the body of the spraying device, in the embodiment, a drawing transmission instruction sent by an upper computer is obtained, the instruction carries information such as a drawing to be sprayed and a scale, such as the color, pattern, size, etc. of the painting, and the planning of the painting operation point by the navigation module according to the information, it should be noted that in addition to these results, more factors are also considered during the planning, such as the data of the spraying equipment, the length and the angle of a mechanical arm, etc., planning a proper path point position, stopping spraying operation at the path point, wherein the planning result comprises a plurality of path point coordinates, the sequence of the path points, etc., of course, the sequence is not necessary, the spraying operation can be completed as long as each path point traverses, and the spraying operation according to the optimal sequence can improve the spraying efficiency. And generating a grid map according to the path point coordinates, and sending the grid map to an upper computer, wherein the grid map can be obtained by segmenting a motion area of the spraying equipment, the grid map can be displayed on the upper computer for a user to check, and the equipment can also be navigated according to the grid map. Because this embodiment plans the spraying route through drawing and scale, therefore can solve the inaccurate problem that influences the spraying effect of spraying robot spraying navigation among the correlation technique, reach the effect that improves spraying equipment navigation accuracy.
Preferably, the planning principle of the navigation path is that the navigation path is shortest under the condition that the navigation path does not touch the obstacle, so that the robot is guided to finish spraying at the fastest, and the spraying efficiency is improved. The obstacle is monitored at any time in the movement process, if the obstacle appears, the movement is stopped at a timing time, accidents are prevented, whether the obstacle exists is detected again after a preset time period, if the obstacle leaves, the movement can be continued according to the original route, and if the obstacle does not leave, the route is changed, or the waiting is carried out on site.
Optionally, after sending a grid map to the upper computer according to the path point coordinates, receiving equipment state information of the spraying equipment, and forwarding the equipment state information to the upper computer when the equipment state information shows that the equipment state is normal, wherein the upper computer sends a script message to the navigation module based on the measurement instruction, and the message includes information of a navigation starting point and a planning point; receiving a script message sent by an upper computer; and resetting the navigation state based on the script message and finishing the pose initialization.
After the raster image is sent to the upper computer, the spraying equipment sends equipment state information to the navigation module, the equipment state contains normal or abnormal, if the equipment state information is normal, the normal information is sent to the upper computer, the equipment state information can also contain specific information content, the upper computer generates a script message to the navigation module based on a measurement instruction and sends the script message to the navigation module, the message contains the information of the starting point and the planning point (navigation point) of the spraying equipment, the navigation state is reset based on the message after the script message sent by the upper computer is received, the pose initialization is completed, and the navigation spraying is ready to start.
Optionally, after the navigation state is reset based on the script message and the pose initialization is completed, information of remaining points is sent to the spraying equipment, wherein the remaining points are positions where the spraying equipment is not located; and receiving a navigation request sent by the spraying equipment, and starting a navigation task according to the navigation request.
And after the spraying is finished, the information of the remaining points is sent to the spraying equipment, so that a navigation task can be started according to a navigation request of the spraying equipment to guide the spraying equipment to move to each remaining point to continue spraying.
Optionally, after the navigation state is reset based on the script message and the pose initialization is completed, after the navigation information of reaching a target point is sent to the spraying equipment, whether special point marking information exists in the target point is judged, wherein the target point is a point in the remaining points; under the condition that the special point mark information exists, generating navigation information according to the special point mark information; and sending prompt information without the special point mark information to the spraying equipment under the condition that the special point mark information does not exist.
If the spraying equipment reaches the target point, whether special point marking information exists for the current target point is judged, and the special point marking information can be preset remark marking information, for example, the point cannot stay, or the point stays for a plurality of minutes, or the point cannot move to the right, and the like. If the special point mark information exists, the navigation information is generated according to the information, or the original navigation information is corrected, if the special point mark information does not exist, the prompt information can be directly sent to the equipment, and the prompt information does not contain the special point mark information. Therefore, the condition of the special point can be fully considered, and the integral navigation is more flexible and diversified.
Optionally, after the navigation state is reset based on the script message and the pose initialization is completed, and after the spraying operation of the current target point is completed, the position data of the next target point is acquired and navigation information is generated; and sending navigation information to the spraying equipment.
After the spraying of the spraying equipment is finished, the navigation state is reset based on the script message, and pose initialization is finished, such as arm retraction and the like, so that accidental collision in the moving process can be reduced, after the spraying operation of the current point is finished, the position data of the next target point is obtained, navigation information is generated, the navigation information is sent to the spraying equipment, and the spraying equipment is controlled to move to the next target point.
Optionally, before planning a spraying path according to a drawing and a scale and obtaining a planning result, obtaining information of obstacles around the current spraying equipment, wherein the obstacles at least comprise a wall surface; and after a planning result is obtained by planning the spraying path according to the drawing and the scale, adjusting the planning result according to the information of the obstacle so as to avoid the obstacle.
When the route is planned according to the drawing and the scale, the route is planned according to surrounding obstacles, the obstacles are avoided, collision, equipment damage and the like are reduced, the obstacles can comprise wall surfaces and other nearby obstacles, tables, people, other tools and the like, the route can be integrally planned according to all the information, and the route can be corrected according to the obstacles after the route is planned according to the drawing and the scale.
Optionally, after planning the spraying path according to the drawing and the scale and obtaining a planning result, judging whether all path points pass through; and after all the path points are passed, confirming that the spraying is finished, and sending a notification message to the upper computer.
And in the process of moving the spraying according to the planning result, judging whether all the path points pass through, if so, confirming that the spraying is finished, and sending a notification message to an upper computer to prompt that the spraying is finished.
This embodiment also provides a specific implementation manner, and the following describes the technical solution of the present invention with reference to the specific implementation manner.
Fig. 3 is a schematic diagram of the APP connection device in this embodiment, as shown in fig. 3, after a user powers on the device, a lower computer enters device initialization to complete spraying navigation, main control initializes and docks respectively, and each end (user end, upper computer, lower computer) completes network connection, where the user end may be an APP, the user can send an instruction to the upper computer by operating the APP, the upper computer accesses a default AP, the APP enters a manual operation page, the upper computer obtains device information, the lower computer reports a status message to the upper computer, and the upper computer displays current device basic information; the connection process is completed and may be used as a device binding pairing process.
Fig. 4 is a schematic diagram of the manual control spraying equipment of this embodiment, and the user passes through the APP operation and gets into the remote control mode, selects the remote control mode after, and the host computer sends "button direction instruction" and gives the next machine, and the next machine carries out the removal instruction to feed back the equipment state to the host computer, and the host computer passes through rocker instruction control next machine and carries out the removal instruction, and the next machine feeds back the equipment state to the host computer, and the host computer feeds back to the APP side and shows the state, and the user can see the state.
Fig. 5 is a schematic diagram of the automatic mode operation of the spraying equipment in this embodiment, as shown in fig. 5, after a user enters an automatic mode scene from APP control, a spraying project name is set, after a drawing is selected and inputted into a scale, an upper computer sends a drawing transmission instruction to a navigation module, after the navigation module executes a tie-in, a drawing format dwg is converted into a png format according to the scale, a path point coordinate is planned, after a raster image is sent to an upper computer, a raster image is displayed on the APP, a planning point is planned, an upper computer generates an operation point script, the spraying main control equipment completes initialization and sends a request for navigation and an equipment state to the navigation module, the navigation module forwards the received an equipment normal state to the upper computer, the upper computer returns to the APP end to display equipment to be in a standby normal state, after the user clicks to start measurement, the upper computer sends a revealing point planning point script message to the navigation module, and the navigation module resets the navigation state, after the pose initialization is completed, the spraying main control device (namely the spraying device) enters a normal point operation process after detecting a navigation state, a navigation module sends a residual point message to the spraying main control device and sends a navigation state of successful positioning, the spraying main control device sends a navigation request instruction to a navigation module, the navigation module sends a navigation state of 'navigation in progress' to the spraying device, the spraying device sends a known navigation instruction to the navigation module, the navigation module starts a single-point automatic navigation task and sends a target point reaching target point to the spraying device, no special point mark exists, the spraying device returns an unrequested navigation instruction, the spraying device executes the spraying operation, the navigation module sends a device state to an upper computer and then executes the navigation task of the next target point, the operation completion state is returned to the upper computer until the spraying device judges that the residual point is 0, the upper computer records the operation and displays the operation completion state information in the APP.
Fig. 6 is a schematic diagram of the special point operation and the control measurement process of this embodiment, as shown in fig. 6, in some special point operations, the navigation module sends a successfully positioned navigable state to the spray equipment, the spray equipment returns a navigation request instruction, after the navigation module sends the navigation state, a single-point automatic navigation task is performed, the spray equipment returns to send a known navigation instruction, the navigation module sends a target point again, after the special point mark, the spray equipment returns a navigation unrequest instruction, the spray equipment performs vehicle body moving, spray operation, vehicle body moving, and spray operation, and after the navigation module sends the equipment state to the upper computer, the next target point navigation task is performed.
In the control measurement process, a user can manually control the spraying equipment at an APP client, if the user clicks pause in the APP, the upper computer sends a pause instruction to the navigation module, the navigation module forwards the pause instruction to the spraying equipment and processes the navigation pause instruction, after the spraying equipment processes the pause operation instruction, pause operation is executed, the pause state of the equipment is sent to the navigation module, the navigation module forwards the pause instruction to the upper computer, the pause button of the upper computer is changed into continuation, if the user clicks continuation, the upper computer sends a recovery instruction to the navigation module, the navigation module forwards the 'navigation recovery' process after the spraying equipment, the spraying equipment processes the recovery operation and sends the equipment state to the navigation module, the navigation module feeds back 'busy/operation recovery' to the upper computer, the upper computer changes the 'continuation' button into 'pause', and the navigation module continues to execute navigation.
Fig. 7 is a schematic diagram of another measurement type in this embodiment, in the active stop measurement process, after the user clicks stop, the upper computer prompts the user whether to stop the operation process, after the user clicks to confirm the stop, the upper computer sends a stop instruction to the navigation module, the navigation module forwards the stop instruction to the spraying device, and processes "navigation stop", the spraying device processes "operation stop", the navigation module resets, the spraying device resets and sends a device state to the navigation module, the navigation module forwards "device standby idle" to the upper computer, and the upper computer interface control button restores the state to be measured.
In the normal flow of finishing measuring, after navigation module confirms that all spraying points are accomplished, send "reset instruction" to spraying equipment, navigation module accomplishes and resets, after spraying equipment accomplishes and resets, navigation module resets again after the completion of the last computer feedback automatic measure, feeds back "equipment standby is idle" to the last computer, and program control button resumes the state of awaiting measuring, resumes initial state, and APP goes up the button and switches the demonstration.
When the navigation abnormal conditions, the navigation module detects the navigation failure, send the navigation failure state to spraying equipment, spraying equipment returns the equipment fault state, the navigation module forwards the equipment fault state for the host computer, the navigation module record resets, the host computer shows the trouble to APP, show the trouble warning on the APP, convenience of customers in time learns the abnormal conditions, specifically, this abnormal conditions can be that the characters are reminded also can be the suggestion message of types such as picture, sound, the host computer resumes initial state after that.
When the spraying appears unusually, spraying equipment detects to be unusual to navigation module send equipment trouble state message, and navigation module forwards the host computer, spraying equipment record and reset device, and the host computer shows the prompt message on APP, and the suggestion trouble, host computer resume initial state, through such scheme, when appearing unusually, in time send the prompt message, can convenience of customers know the abnormal conditions, the troubleshooting is unusual, improves spraying efficiency.
Fig. 8 is a schematic diagram of the spraying apparatus of this embodiment, as shown in fig. 8, wheels are disposed at the bottom of the apparatus, the apparatus can move in all directions according to a navigation instruction, a navigation module is disposed on the spraying apparatus, which can be at a chassis or at other positions on the apparatus, the navigation module can achieve self-positioning and navigation of a motion chassis through a laser radar, the motion chassis is driven to perform unmanned motion and operation in a spraying scene, surrounding obstacles can be detected in the navigation and spraying processes, and touch is prevented, and the position of a target point can be accurately controlled according to the content and effect requirements of spraying, so as to control the distance from a spray head to a wall surface, meet the requirement of the amount of paint sprayed, and achieve the best painting effect.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a motion navigation device for a spraying apparatus is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, which have already been described and are not described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 9 is a block diagram of a motion navigation device of a painting apparatus according to an embodiment of the present invention, as shown in fig. 9, the device includes:
the device comprises an acquisition unit 10, a processing unit and a control unit, wherein the acquisition unit is used for acquiring a drawing transmission instruction sent by an upper computer, and the drawing transmission instruction comprises a drawing to be sprayed and a scale;
the planning unit 20 is configured to plan a spraying path according to a drawing and a scale to obtain a planning result, where the planning result at least includes path point coordinates;
and the sending unit 30 is used for sending a grid map to the upper computer according to the path point coordinates, wherein the grid map is used for navigating the spraying equipment.
According to the technical scheme of the embodiment, the obtaining unit 10 is used for obtaining the image transmission instruction sent by the upper computer, wherein the image transmission instruction comprises a drawing to be sprayed and a scale; the planning unit 20 is configured to plan a spraying path according to a drawing and a scale to obtain a planning result, where the planning result at least includes path point coordinates; the sending unit 30 is used for sending a grid map to the upper computer according to the path point coordinates, wherein the grid map is used for navigating the spraying equipment, so that the problem that the spraying effect is influenced by inaccurate spraying navigation of the spraying robot in the related technology can be solved, and the effect of improving the navigation accuracy of the spraying equipment is achieved.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above-mentioned method embodiments when executed.
In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
In an exemplary embodiment, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary embodiments, and details of this embodiment are not repeated herein.
It will be apparent to those skilled in the art that the various modules or steps of the invention described above may be implemented using a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and they may be implemented using program code executable by the computing devices, such that they may be stored in a memory device and executed by the computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into various integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention shall be included in the protection scope of the present invention.
Claims (10)
1. A spray coating device motion navigation method, comprising:
acquiring a drawing transmission instruction sent by an upper computer, wherein the drawing transmission instruction comprises a drawing to be sprayed and a scale;
planning a spraying path according to the drawing and the scale to obtain a planning result, wherein the planning result at least comprises path point coordinates;
and sending a grid map to the upper computer according to the path point coordinates, wherein the grid map is used for navigating the spraying equipment.
2. The method of claim 1, wherein after sending a raster map to the host computer according to the waypoint coordinates, the method further comprises:
receiving equipment state information of the spraying equipment, and forwarding the equipment state information to the upper computer when the equipment state information shows that the equipment state is normal, wherein the upper computer sends a script message to a navigation module based on a measurement instruction, and the message comprises information of a navigation starting point and a planning point;
receiving the script message sent by the upper computer;
and resetting the navigation state based on the script message and finishing the pose initialization.
3. The method of claim 2, after resetting navigation states based on the script message and completing pose initialization, the method further comprising:
sending information of remaining points to the spraying equipment, wherein the remaining points are positions of the spraying equipment which are not located;
and receiving a navigation request sent by the spraying equipment, and starting a navigation task according to the navigation request.
4. The method of claim 3, after resetting navigation states based on the script messages and completing pose initialization, the method further comprising:
after the navigation information of reaching a target point is sent to the spraying equipment, judging whether special point marking information exists in the target point or not, wherein the target point is a point in the rest points;
under the condition that special point mark information exists, generating navigation information according to the special point mark information;
and sending prompt information without the special point mark information to the spraying equipment under the condition that the special point mark information does not exist.
5. The method of claim 3, after resetting navigation states based on the script messages and completing pose initialization, the method further comprising:
after the spraying operation of the current target point is finished, acquiring the position data of the next target point and generating navigation information;
and sending the navigation information to the spraying equipment.
6. The method of claim 1,
before planning a spraying path according to the drawing and the scale and obtaining a planning result, the method further comprises the following steps: acquiring information of obstacles around current spraying equipment, wherein the obstacles at least comprise a wall surface;
after planning a spraying path according to the drawing and the scale to obtain a planning result, the method further comprises: and adjusting the planning result according to the information of the obstacle so as to avoid the obstacle.
7. The method of claim 1, wherein after planning the spray path according to the drawing and the scale to obtain a planning result, the method further comprises:
judging whether all path points pass through;
and after all the path points are passed, confirming that the spraying is finished, and sending a notification message to the upper computer.
8. A painting equipment motion navigation device, comprising:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a drawing transmission instruction sent by an upper computer, and the drawing transmission instruction comprises a drawing to be sprayed and a scale;
the planning unit is used for planning a spraying path according to the drawing and the scale to obtain a planning result, wherein the planning result at least comprises path point coordinates;
and the sending unit is used for sending a grid map to the upper computer according to the path point coordinates, wherein the grid map is used for navigating the spraying equipment.
9. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 7 when executed.
10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 7.
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