CN115741739B - Dead angle spraying method, device, equipment and medium of spraying robot - Google Patents
Dead angle spraying method, device, equipment and medium of spraying robot Download PDFInfo
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Abstract
The application discloses a dead angle spraying method, device, equipment and medium of a spraying robot, wherein the dead angle spraying method of the spraying robot comprises the following steps: acquiring wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters; inputting wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters into a building dead angle spraying model, and respectively acquiring a chassis moving path and a dead angle spraying path corresponding to each dead angle; acquiring each corresponding spraying time length according to the dead angle spraying path; when the robot chassis is controlled to move according to the chassis moving path and meets a dead angle to be sprayed, the robot arm is controlled to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed, and the robot chassis is controlled to move after staying according to the spraying duration corresponding to the dead angle to be sprayed until the chassis moving path is completed. The method can ensure that the spraying effect of the spraying robot is better during spraying, and improves the accuracy of spraying.
Description
Technical Field
The application relates to the technical field of automatic spraying, in particular to a dead angle spraying method, device, equipment and medium of a spraying robot.
Background
In the construction industry, the painting operation of the wall or ceiling of a room is usually performed manually by related workers, and this way not only has low working efficiency and poor painting effect, but also causes damage to the health of the workers to different extents.
Spraying robot can be adopted at present to assist the spraying of realizing the wall, and spraying robot often can't discern and spray with better to the wall dead angle, can often lead to the wall dead angle to appear spraying inhomogeneous, spraying too thick scheduling problem to make spraying robot's spraying effect lower.
Disclosure of Invention
The embodiment of the application provides a dead angle spraying method, device, equipment and medium of a spraying robot, which aim to solve or partially solve the problem of lower spraying effect of the spraying robot.
A dead angle spraying method of a spraying robot comprises the following steps:
acquiring wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters;
based on wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters, respectively acquiring a chassis moving path and dead angle spraying paths corresponding to each dead angle;
according to the dead angle spraying paths, the spraying duration corresponding to each dead angle is obtained;
when the robot chassis is controlled to move according to the chassis moving path and meets a dead angle to be sprayed, the robot arm is controlled to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed, and the robot chassis is controlled to move after staying according to the spraying duration corresponding to the dead angle to be sprayed until the chassis moving path is completed.
A dead angle spraying device of a spraying robot, comprising:
the parameter acquisition module is used for acquiring wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters;
the path acquisition module is used for respectively acquiring a chassis moving path and a dead angle spraying path corresponding to each dead angle based on the wall dead angle parameters, the robot chassis parameters and the mechanical arm spraying parameters;
the spraying duration obtaining module is used for obtaining each corresponding spraying duration according to the dead angle spraying path;
the control module is used for controlling the robot chassis to move according to the chassis moving path, when encountering a dead angle to be sprayed, controlling the mechanical arm to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed, and stopping to move continuously after staying according to the spraying duration corresponding to the dead angle to be sprayed until the chassis moving path is completed.
In some embodiments, the control module is further configured to: spraying dead angles to be sprayed according to dead angle spraying paths, and acquiring spraying result images through a camera in real time; and carrying out image analysis on the spraying result image, and if the analysis result is a nonstandard result, sending dead angle repair prompt information to the repair end.
In some embodiments, the control module is further configured to: and acquiring the spraying state of the dead angle of the wall surface in real time, and adjusting the chassis moving path and the dead angle spraying path based on the spraying state.
In some embodiments, the wall dead angle parameter includes a spray area of the wall dead angle, the robot arm spray parameter includes a spray width and a radius of motion of the robot arm, and the path acquisition module is further configured to: inputting wall dead angle parameters and robot chassis parameters into a building dead angle spraying model, and outputting a chassis moving path by the building dead angle spraying model; based on the chassis moving path and the spraying area of the dead angle of the wall, the spraying width and the moving radius of the mechanical arm are adjusted, and the dead angle spraying path corresponding to each dead angle is planned.
In some embodiments, the control module is further configured to: spraying dead angles to be sprayed according to dead angle spraying paths, and obtaining texture images of the dead angles of the wall surfaces through the depth cameras in real time; spraying dead angles to be sprayed according to dead angle spraying paths, and acquiring current images of the dead angles of the wall surfaces through the RGB cameras in real time; and carrying out image analysis on the texture image and the current image, and if the analysis result is a nonstandard result, sending a dead angle repair prompt message to the repair end.
In some embodiments, the path acquisition module is further configured to: based on the chassis moving path, determining the area of a spraying area of dead angle spraying paths from one vertex of the wall surface to finish spraying the dead angle of the wall surface.
In some embodiments, the painting robot dead angle painting device is further configured to: acquiring parameters of a wall body; acquiring a chassis moving path, a wall spraying path corresponding to the robot and a dead angle spraying path corresponding to each dead angle based on the wall dead angle parameters, the wall body parameters, the robot chassis parameters and the mechanical arm spraying parameters; the robot chassis is controlled to move according to the chassis moving path, and the robot arm is controlled to spray the wall surface and the dead angle respectively according to the wall surface spraying path and the dead angle spraying path corresponding to each dead angle.
An electronic device comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the dead angle spraying method of the spraying robot when executing the computer program.
A computer readable medium storing a computer program which, when executed by a processor, implements the dead angle painting method of the painting robot described above.
According to the dead angle spraying method, device, equipment and medium of the spraying robot, through multi-angle analysis of the wall dead angle parameters, the robot chassis parameters and the mechanical arm spraying parameters, the corresponding chassis moving paths and the dead angle spraying paths corresponding to each dead angle are obtained, so that the spraying effect of the spraying robot in spraying is good, and the spraying accuracy is improved. Meanwhile, based on the spraying time length, the chassis moving path and the dead angle spraying path are matched well, so that the chassis moving path and the dead angle spraying path are not interfered with each other, and spraying can be realized well.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments of the present application will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of an application environment of a dead angle spraying method of a spraying robot according to an embodiment of the application;
FIG. 2 is a first flow chart of a dead angle spraying method of the spraying robot according to the first embodiment of the application;
FIG. 3 is a second flowchart of a dead angle spraying method of a spraying robot according to a second embodiment of the application;
FIG. 4 is a schematic view of a dead angle spraying apparatus of a spraying robot according to an embodiment of the application;
fig. 5 is a schematic diagram of an electronic device according to an embodiment of the application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The dead angle spraying method of the spraying robot provided by the embodiment of the application can be applied to an application environment as shown in fig. 1, and is applied to a dead angle spraying system of the spraying robot, wherein the dead angle spraying system of the spraying robot comprises the spraying robot and a control end, and the spraying robot is communicated with the control end through a network. The control end provides a program of local service for the spraying robot. Further, the control end is a computer end program, an APP program of the intelligent device or a third party applet embedded with other APP. The control terminal can be installed on various electronic devices such as personal computers, notebook computers, smart phones, tablet computers, spraying robots, portable wearable devices and the like. The control terminal can be realized by an independent control terminal or a control terminal cluster formed by a plurality of control terminals.
In an embodiment, as shown in fig. 2, a dead angle spraying method of a spraying robot is provided, and the dead angle spraying method is illustrated by taking a control end of the method in fig. 1 as an example, and specifically includes the following steps:
s10, acquiring wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters.
In this embodiment, the dead angle of the wall surface may be an included angle between the wall surfaces or a near angle between the wall surfaces, including an internal angle and an external angle. The parameters of the dead angle of the wall surface can be the spatial structure, the area range, the type of the dead angle, the condition of the dead angle and the like of the dead angle of the wall surface. The robot chassis parameters can be chassis moving speed, moving direction, moving speed threshold value and the like of the spraying robot, and the mechanical arm spraying parameters can be spraying width, moving radius, spraying speed, spraying direction and the like of the mechanical arm.
Specifically, the control end obtains parameters of dead angles of the wall surface, parameters of a robot chassis and parameters of mechanical arm spraying, which are preset by the spraying robot.
S20, based on wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters, respectively acquiring a chassis moving path and dead angle spraying paths corresponding to all dead angles.
In this embodiment, the building dead angle spraying model may be a three-dimensional model of building engineering in BIM (Building Information Modeling, building information model system). The core of the building information model system is to build a virtual three-dimensional building engineering model, and a complete building engineering information base consistent with the actual situation is provided for the model by utilizing a digitizing technology. In a wall, the wall dead space may include four dead space areas.
Specifically, the method establishes a space three-dimensional model through a building information model system, and inputs parameters of a wall dead angle and parameters of a robot chassis to obtain a specific space structure, a position and a shape of the wall dead angle. The chassis moving path is set in the BIM system model, and the control end can acquire the chassis moving path from the BIM system model. And the control end can acquire dead angle spraying paths corresponding to each dead angle through analyzing the dead angle parameters of the wall surface and the spraying parameters of the mechanical arm.
S30, according to the dead angle spraying paths, spraying time length corresponding to each dead angle is obtained.
Specifically, after the control end obtains the dead angle spraying path, the control end determines the spraying duration required by spraying in the area range of the dead angle, and is used for determining the reserved stopping duration required by stopping the chassis when the spraying robot sprays.
S40, controlling the robot chassis to move according to the chassis moving path, when encountering a dead angle to be sprayed, controlling the mechanical arm to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed, and stopping to move according to the spraying duration corresponding to the dead angle to be sprayed until the chassis moving path is completed.
Specifically, the control end controls the chassis of the spraying robot to move according to the chassis moving path, when encountering a dead angle to be sprayed, the chassis of the spraying robot stops moving, the stopping time is the spraying time corresponding to the dead angle to be sprayed, at this time, the control end controls the mechanical arm to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed and the corresponding spraying time, after the dead angle to be sprayed is finished, the mechanical arm does not perform spraying action, and the chassis of the spraying robot moves to the next task spraying according to the chassis moving path until the spraying task corresponding to the chassis moving path is finished.
According to the dead angle spraying method of the spraying robot, the corresponding chassis moving path and the dead angle spraying path corresponding to each dead angle are obtained through multi-angle analysis of the wall dead angle parameters, the robot chassis parameters and the mechanical arm spraying parameters, so that the spraying effect of the spraying robot during spraying is good, and the spraying accuracy is improved. Meanwhile, based on the spraying time length, the chassis moving path and the dead angle spraying path are matched well, so that the chassis moving path and the dead angle spraying path are not interfered with each other, and spraying can be realized well.
In an embodiment, as shown in fig. 3, in step S40, the control mechanical arm performs spraying according to a dead angle spraying path corresponding to a dead angle to be sprayed, which specifically includes the following steps:
s401, spraying dead angles to be sprayed according to dead angle spraying paths, and acquiring spraying result images through a camera in real time.
S402, carrying out image analysis on the spraying result image, and if the analysis result is a nonstandard result, sending a dead angle repair prompt message to the repair end.
In this embodiment, the repair end may be a repair fixture of the spraying robot, that is, a repair fixture is further disposed on the nozzle of the robot arm, besides the nozzle. The repairing nozzle responds to the dead angle repairing prompt information generated by the control end to carry out spraying repairing. For example: when the dead angle spraying area is subjected to local coating leakage, the repair jig is a small nozzle for spraying and repairing the coating leakage area. In addition, the repairing end can also be a professional, and the repairing end can be used for spraying and repairing by sending the dead angle repairing prompt information to the professional.
Specifically, when the spraying robot sprays a dead angle to be sprayed according to a dead angle spraying path, a spraying combined image is obtained through a camera and is transmitted to a control end, the control end obtains and analyzes a spraying result image, if the analysis result is obtained to be in a mark range which is not in accordance with the preset of the control end, the control end sends a dead angle repairing prompt message to a repairing end, and the repairing end performs spraying repairing on the dead angle according to the dead angle repairing prompt message.
The steps S401 to S402 have the effect that the spraying result information is obtained through the camera, so that the spraying is repaired in real time, and the spraying effect of the spraying robot is guaranteed.
In an embodiment, as shown in fig. 3, after step S40, that is, after the control mechanical arm performs spraying according to the dead angle spraying path corresponding to the dead angle to be sprayed, the method specifically includes the following steps:
s41, acquiring the spraying state of the dead angle of the wall surface in real time, and adjusting the chassis moving path and the dead angle spraying path based on the spraying state.
In this embodiment, the spraying state may be actual dead angle information before the spraying by the spraying robot or an actual spraying state after the spraying by the spraying robot.
Specifically, before the spraying robot sprays, the position relation between the dead angle of the wall surface and the spraying robot can be obtained through a laser radar, whether the spraying robot moves to the position appointed by the chassis moving path is determined, information is sent through the laser radar, and a control end receives the information and controls the chassis to move to the appointed position; after the spraying robot sprays, the spraying state is obtained through the camera, whether the spraying state accords with a preset labeling state is determined, if not, the spraying duration, the spraying speed and the spraying position in a dead angle spraying path can be adjusted subsequently, and meanwhile, the stopping duration and the designated position in a chassis moving path are correspondingly adjusted, so that the spraying effect is ensured.
For example: when the coating is leaked, the mechanical arm is returned to the position of the coating leakage for re-coating to adjust; when the actual spraying thickness is higher than the set thickness during spraying, the spraying speed of the spraying robot is increased to adjust the spraying speed.
The step S41 has the effect of adjusting the chassis moving path and the dead angle spraying path based on the spraying state, so as to ensure the spraying effect.
In one embodiment, as shown in fig. 3, in step S401, a dead angle to be sprayed is sprayed according to a dead angle spraying path, and in obtaining a spraying result image through a camera in real time, the method specifically includes the following steps:
s4011, spraying dead angles to be sprayed according to dead angle spraying paths, and obtaining texture images of the dead angles of the wall surfaces in real time through a depth camera.
S4012, spraying dead angles to be sprayed according to dead angle spraying paths, and acquiring current images of the dead angles of the wall surfaces through the RGB cameras in real time.
In step S402, that is, performing image analysis on the spraying result image, if the analysis result is a nonstandard result, sending a dead angle repair prompt message to the repair end, which specifically includes the following steps:
s4021, performing image analysis on the texture image and the current image, and if the analysis result is a nonstandard result, sending a dead angle repair prompt message to the repair end.
In this embodiment, the texture may be smoothness of the wall surface before spraying, uniformity, smoothness, thickness, etc. of the pattern and the motif and the paint left on the wall surface after spraying. The current image can be an image and space of the wall surface before spraying, an image and space structure formed on the wall surface after spraying, and the like. The depth camera and the RGB camera may be located at a spray head of the robotic arm.
Specifically, due to the relation of the chassis moving path, the dead angle spraying path, the wall surface area, the depth camera, the RGB camera, the wall surface distance and the like, the depth camera and the RGB camera can scan and acquire partial areas of the wall surface, and after moving according to the chassis moving path, other areas are scanned and acquired. When the spraying robot sprays the dead angle to be sprayed according to the dead angle spraying path, the depth camera and the RGB camera are mutually assisted, the texture image and the current influence are transmitted to the control end, the control end can acquire and analyze wall information more accurately, if the analysis result is not in the preset labeling range of the control end, the control end sends dead angle repair prompt information to the repair end, and the repair end sprays and repairs the dead angle according to the dead angle repair prompt information.
The steps S4011 to S4021 have the function of obtaining the spraying result information through the depth camera and the RGB camera, repairing the spraying in real time, and guaranteeing the spraying effect of the spraying robot.
In one embodiment, as shown in fig. 3, the wall dead angle parameter includes a spraying area of the wall dead angle, and the mechanical arm spraying parameter includes a spraying width and a moving radius of the mechanical arm; in step S20, that is, based on the wall surface dead angle parameter, the robot chassis parameter and the mechanical arm spraying parameter, the dead angle spraying paths corresponding to the chassis moving path and each dead angle are respectively obtained, which specifically includes the following steps:
s201, inputting wall dead angle parameters and robot chassis parameters into a building dead angle spraying model, and outputting a chassis moving path by the building dead angle spraying model.
S202, adjusting the spraying width and the movable radius of the mechanical arm based on the chassis moving path and the spraying area of the dead angle of the wall surface, and planning a dead angle spraying path corresponding to each dead angle.
In this embodiment, the building dead angle spraying model may be a three-dimensional model of building engineering in BIM (Building Information Modeling, building information model system). The core of the building information model system is to build a virtual three-dimensional building engineering model, and a complete building engineering information base consistent with the actual situation is provided for the model by utilizing a digitizing technology. In a wall, the wall dead space may include four dead space areas. The mechanical arm needs to swing back and forth during spraying. For example: along with the continuous reduction of the height of the mechanical arm, the mechanical arm is repeatedly sprayed from left to right for a plurality of times, and the movable radius is the actual length of the mechanical arm for spraying from left to right on the wall surface once.
Specifically, the method establishes a space three-dimensional model through a building information model system, and inputs parameters of a wall dead angle and parameters of a robot chassis to obtain a specific space structure, a position and a shape of the wall dead angle. The chassis moving path is set in the BIM system model, and the control end can acquire the chassis moving path from the BIM system model.
After the control end obtains the chassis moving path, the spraying area of the wall dead angle, the spraying width and the movable radius of the mechanical arm, the length and the width of the spraying area of the wall dead angle are analyzed, the corresponding spraying width and the movable radius are found in the spraying database, the corresponding spraying width and the movable radius are adjusted, and the dead angle spraying path corresponding to each dead angle is planned.
The steps S201 to S202 have the effects that the corresponding chassis moving path and the dead angle spraying path corresponding to each dead angle are obtained, so that the spraying effect of the spraying robot during spraying is good, and the spraying accuracy is improved.
In one embodiment, as shown in fig. 3, in step S201, a dead angle spraying path corresponding to each dead angle is planned, which specifically includes the following steps:
s2011, determining a dead angle spraying path from one vertex of the wall surface to finish spraying the area of a spraying area of the dead angle of the wall surface based on the chassis moving path.
Specifically, in the chassis moving path, the control end determines the dead angle spraying path to spray from one vertex of the wall surface until the area of a spraying area of the dead angle of the wall surface is sprayed.
In one embodiment, as shown in fig. 3, after step 10, that is, after obtaining the parameters of the dead angle of the wall, the method specifically further includes the following steps:
s101, acquiring parameters of the wall body.
S102, acquiring a chassis moving path, a wall spraying path corresponding to the robot and a dead angle spraying path corresponding to each dead angle based on wall dead angle parameters, wall body parameters, robot chassis parameters and mechanical arm spraying parameters.
S103, controlling the robot chassis to move according to the chassis moving path, and controlling the mechanical arm to integrally spray the wall surface and the dead angle according to the wall surface spraying path and the dead angle spraying path corresponding to each dead angle.
Wherein, in this embodiment, the wall includes wall body and wall dead angle, to the wall size of difference, the regional area division at wall body and wall dead angle also is different. The area division can be performed based on the maximum movable radius of the mechanical arm, so that the length (or width, the default wall is rectangular) of the area of the wall dead angle is generally smaller than the maximum movable radius of the mechanical arm, and the length (or width, the default wall is rectangular) of the area of the wall dead angle of the wall body is generally an integral multiple of the maximum movable radius of the mechanical arm. The parameters of the wall body can be the shape, size, spatial position, area and the like of the wall body.
Specifically, the control end obtains wall surface dead angle parameters, wall surface body parameters, robot chassis parameters and mechanical arm spraying parameters to obtain corresponding wall surface spraying paths and dead angle spraying paths corresponding to each dead angle. According to the method, wall dead angles can be sprayed according to dead angle spraying paths corresponding to all dead angles, and then wall bodies can be sprayed according to the wall spraying paths; or combining the wall surface spraying paths and the dead angle spraying paths to generate a total spraying path, and spraying according to the total spraying path.
The steps S101 to S103 have the effect of spraying the wall body.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
In an embodiment, a dead angle spraying device of a spraying robot is provided, and the dead angle spraying device of the spraying robot corresponds to the dead angle spraying method of the spraying robot in the embodiment one by one. As shown in fig. 4, the dead angle spraying device of the spraying robot includes a parameter obtaining module 10, a path obtaining module 20, a spraying duration obtaining module 30, and a control module 40. The functional modules are described in detail as follows:
the parameter acquisition module 10 is used for acquiring wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters;
the path acquisition module 20 is used for inputting wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters into the building dead angle spraying model to respectively acquire a chassis moving path and dead angle spraying paths corresponding to each dead angle;
the spraying duration obtaining module 30 is configured to obtain each corresponding spraying duration according to the dead angle spraying path;
the control module 40 is used for controlling the robot chassis to move according to the chassis moving path, controlling the mechanical arm to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed when encountering the dead angle to be sprayed, and stopping to move according to the spraying duration corresponding to the dead angle to be sprayed until the chassis moving path is completed.
The specific limitation of the dead angle spraying device of the spraying robot can be referred to the limitation of the dead angle spraying method of the spraying robot, and the description thereof is omitted herein. All or part of each module in the dead angle spraying device of the spraying robot can be realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or independent of a processor in the electronic device, or may be stored in software in a memory in the electronic device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, an electronic device is provided, which may be a server, and the internal structure thereof may be as shown in fig. 5. The electronic device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic device includes a non-volatile medium, an internal memory. The non-volatile medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile media. The database of the electronic equipment is used for spraying the data related to the dead angle spraying method of the robot. The network interface of the electronic device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements a dead angle painting method for a painting robot.
In an embodiment, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor executes the computer program to implement the dead angle spraying method of the spraying robot according to the foregoing embodiment, for example, S10 to S40 shown in fig. 2. Alternatively, the processor, when executing the computer program, performs the functions of the modules/units of the dead angle spraying device of the spraying robot in the above embodiment, such as the functions of the modules 10 to 40 shown in fig. 4. To avoid repetition, no further description is provided here.
In an embodiment, a computer readable medium is provided, on which a computer program is stored, which when executed by a processor, implements the dead angle spraying method of the spraying robot of the above embodiment, for example, S10 to S40 shown in fig. 2. Alternatively, the computer program, when executed by the processor, implements the functions of the modules/units in the dead angle painting apparatus of the painting robot in the above apparatus embodiment, such as the functions of the modules 10 to 40 shown in fig. 4. To avoid repetition, no further description is provided here.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable medium that when executed comprises the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments of the application may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (8)
1. A dead angle spraying method of a spraying robot, comprising:
acquiring wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters, wherein the wall dead angle parameters comprise the spraying area of the wall dead angle, the robot chassis parameters comprise the chassis moving speed, moving direction and moving speed threshold of the robot, and the mechanical arm spraying parameters comprise spraying width and the moving radius of the mechanical arm;
based on the wall dead angle parameters, the robot chassis parameters and the mechanical arm spraying parameters, respectively acquiring a chassis moving path and dead angle spraying paths corresponding to each dead angle;
according to the dead angle spraying paths, spraying time length corresponding to each dead angle is obtained;
controlling a robot chassis to move according to the chassis moving path, when a dead angle to be sprayed is met, controlling a mechanical arm to spray according to a dead angle spraying path corresponding to the dead angle to be sprayed, staying according to spraying duration corresponding to the dead angle to be sprayed, and continuing to move until the chassis moving path is completed;
spraying the dead angle to be sprayed according to the dead angle spraying path, and acquiring a spraying result image through a camera in real time;
performing image analysis on the spraying result image, and if the analysis result is a nonstandard result, sending a dead angle repair prompt message to a repair end;
spraying the dead angle to be sprayed according to the dead angle spraying path, and obtaining texture images of the dead angle of the wall surface through a depth camera in real time;
spraying the dead angle to be sprayed according to the dead angle spraying path, and acquiring a current image of the dead angle of the wall surface through an RGB camera in real time;
performing image analysis on the spraying result image, and if the analysis result is a nonstandard result, sending dead angle repair prompt information to a repair end, wherein the method comprises the following steps:
and carrying out image analysis on the texture image and the current image, and if the analysis result is a nonstandard result, sending dead angle repair prompt information to a repair end.
2. The dead angle spraying method of a spraying robot according to claim 1, wherein,
after the control mechanical arm sprays according to the dead angle spraying path corresponding to the dead angle to be sprayed, the method further comprises the following steps:
and acquiring the spraying state of the dead angle of the wall surface in real time, and adjusting the chassis moving path and the dead angle spraying path based on the spraying state.
3. The dead angle spraying method of a spraying robot according to claim 1, wherein the wall dead angle parameter includes a spraying area of the wall dead angle, and the mechanical arm spraying parameter includes a spraying width and a radius of movement of the mechanical arm;
based on the wall dead angle parameter, the robot chassis parameter and the mechanical arm spraying parameter, respectively obtaining a chassis moving path and a dead angle spraying path corresponding to each dead angle, comprising:
inputting the wall dead angle parameters and the robot chassis parameters into a building dead angle spraying model, and outputting a chassis moving path by the building dead angle spraying model;
based on the chassis moving path and the spraying area of the dead angle of the wall, the moving radius of the spraying width and the mechanical arm is adjusted, and a dead angle spraying path corresponding to each dead angle is planned.
4. A dead angle spraying method of a spraying robot according to claim 3, wherein the planning of the dead angle spraying path corresponding to each dead angle comprises:
and determining the dead angle spraying path to spray from one vertex of the wall surface until the spraying area of the dead angle of the wall surface is sprayed based on the chassis moving path.
5. The dead angle spraying method of a spraying robot according to claim 1, further comprising, after the acquiring the wall dead angle parameter:
acquiring parameters of a wall body;
acquiring a chassis moving path, a wall spraying path corresponding to a robot and a dead angle spraying path corresponding to each dead angle based on the wall dead angle parameters, the wall body parameters, the robot chassis parameters and the mechanical arm spraying parameters;
the robot chassis is controlled to move according to the chassis moving path, and the robot arm is controlled to spray the wall surface and the dead angle respectively according to the wall surface spraying path and the dead angle spraying path corresponding to each dead angle.
6. A spraying robot's dead angle spraying device, its characterized in that includes:
the parameter acquisition module is used for acquiring wall dead angle parameters, robot chassis parameters and mechanical arm spraying parameters, wherein the wall dead angle parameters comprise the spraying area of the wall dead angle, the robot chassis parameters comprise the chassis moving speed, moving direction and moving speed threshold of the robot, and the mechanical arm spraying parameters comprise spraying width and the moving radius of the mechanical arm;
the path acquisition module is used for respectively acquiring a chassis moving path and a dead angle spraying path corresponding to each dead angle based on the wall dead angle parameter, the robot chassis parameter and the mechanical arm spraying parameter;
the spraying duration obtaining module is used for obtaining each corresponding spraying duration according to the dead angle spraying path;
the control module is used for controlling the robot chassis to move according to the chassis moving path, controlling the mechanical arm to spray according to the dead angle spraying path corresponding to the dead angle to be sprayed when the dead angle to be sprayed is met, and continuing to move after staying according to the spraying duration corresponding to the dead angle to be sprayed until the chassis moving path is completed;
spraying the dead angle to be sprayed according to the dead angle spraying path, and acquiring a spraying result image through a camera in real time;
performing image analysis on the spraying result image, and if the analysis result is a nonstandard result, sending a dead angle repair prompt message to a repair end;
spraying the dead angle to be sprayed according to the dead angle spraying path, and obtaining texture images of the dead angle of the wall surface through a depth camera in real time;
spraying the dead angle to be sprayed according to the dead angle spraying path, and acquiring a current image of the dead angle of the wall surface through an RGB camera in real time;
performing image analysis on the spraying result image, and if the analysis result is a nonstandard result, sending dead angle repair prompt information to a repair end, wherein the method comprises the following steps:
and carrying out image analysis on the texture image and the current image, and if the analysis result is a nonstandard result, sending dead angle repair prompt information to a repair end.
7. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the dead angle painting method of the painting robot according to any one of claims 1 to 5 when the computer program is executed by the processor.
8. A computer readable medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the dead angle painting method of the painting robot according to any one of claims 1 to 5.
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