WO2021114894A1 - Coating robot and control method therefor - Google Patents

Coating robot and control method therefor Download PDF

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Publication number
WO2021114894A1
WO2021114894A1 PCT/CN2020/123289 CN2020123289W WO2021114894A1 WO 2021114894 A1 WO2021114894 A1 WO 2021114894A1 CN 2020123289 W CN2020123289 W CN 2020123289W WO 2021114894 A1 WO2021114894 A1 WO 2021114894A1
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WO
WIPO (PCT)
Prior art keywords
distance
target body
squeegee
signal
preset value
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Application number
PCT/CN2020/123289
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French (fr)
Chinese (zh)
Inventor
陈伯扦
李昂
谢志锋
陈浩
黄宇杰
游专
潘克玉
郑丰
Original Assignee
广东博智林机器人有限公司
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Publication date
Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2021114894A1 publication Critical patent/WO2021114894A1/en

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    • 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
    • E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
    • E04F21/161—Trowels
    • 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
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/20—Implements for finishing work on buildings for laying flooring
    • E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
    • E04F21/245—Rotary power trowels, i.e. helicopter trowels

Definitions

  • This application relates to the technical field of construction aids, and in particular to a coating robot and a control method thereof.
  • the ground or wall is not absolutely flat, there will be some unevenness, although the unevenness on the ground or wall will not be particularly large and deep pits and bumps, but when coating the ground or wall Paint, these pits or bumps will affect the thickness of the coating, making it difficult to control the thickness of the coating layer.
  • the embodiments of the present application provide a coating robot and a control method thereof, so as to solve the problem that the existing coating device is difficult to control the coating thickness.
  • an embodiment of the present application provides a coating robot for coating a first target body, including a walking device, a squeegee member, an actuator, a first distance detecting member, and a control system.
  • the squeegee piece has a squeegee surface.
  • the squeegee is connected with the walking device through the actuator.
  • the first distance detecting element is used to obtain a first distance signal that characterizes the distance between the first target body and the scratched surface.
  • the control system is used for controlling the action of the actuator according to the first distance signal to adjust the distance between the squeegee surface and the first target body to a first preset value.
  • an embodiment of the present application provides a method for controlling a coating robot, which is used in the coating robot of any embodiment of the first aspect, and includes: receiving a coating surface that characterizes a coating piece and a first target body. And control the action of the actuator according to the first distance signal to adjust the distance between the squeegee surface and the first target body to a first preset value.
  • Fig. 1 is a schematic structural diagram of a coating robot provided by an embodiment of the first aspect of the application
  • Figure 2 is a schematic diagram of adjusting the distance between the coating robot in Figure 1 to adjust the distance between the scraping surface and the ground;
  • FIG. 3 is a schematic structural diagram of another coating robot provided by an embodiment of the first aspect of the application.
  • FIG. 4 is a schematic structural diagram of a coating robot provided by an embodiment of the first aspect of the application in cooperation with an inclined ground;
  • Fig. 5 is a schematic diagram of the structure of the scraping member in Fig. 1;
  • FIG. 6 is a schematic diagram of the structure of the squeegee member in other embodiments.
  • FIG. 7 is the relative positional relationship between the coating robot, the second target body and the third target body provided by the embodiment of the first aspect of the application;
  • Fig. 8 is a schematic diagram of another application of the coating robot in the embodiment of the first aspect of the application.
  • the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or is the orientation or positional relationship that is customarily placed when the application product is used, or is the original
  • the position or position relationship commonly understood by those skilled in the art, or the position or position relationship usually placed when the application product is used is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must be It has a specific orientation, is constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the application.
  • the terms “first”, “second”, “third”, etc. are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.
  • an embodiment of the first aspect of the present application provides a coating robot 100 for coating a first target body 200.
  • the coating robot 100 includes a walking device 10 and a scraper. 20.
  • the squeegee member 20 has a squeegee surface 241.
  • the squeegee member 20 is connected to the traveling device 10 through the actuator 30.
  • the first distance detecting member 40 is used to obtain a first distance signal that characterizes the distance between the first target body 200 and the scratched surface 241.
  • the control system is used for controlling the action of the actuator 30 according to the first distance signal to adjust the distance between the squeegee surface 241 and the first target body 200 to a first preset value.
  • the first distance detecting member 40 can detect the distance between the squeegee surface 241 and the first target body 200, and the control system can detect the distance between the squeegee surface 241 and the first target body 200 detected by the first distance detecting member 40.
  • the control system controls the actuator 30 to act so that the squeegee surface 241 and the first target.
  • the distance between the bodies 200 is equal to the first preset value, so that the distance between the first target body 200 and the squeegee surface 241 is always maintained at the first preset value, and the thickness of the coating on the first target body 200 is always It is the first preset value to facilitate the control of the coating thickness, so that the coating thickness of the first target body 200 remains consistent, and the coating will not be too thin or too thick due to the fluctuation of the ground.
  • the coating robot 100 is generally used for painting and painting the ground or wall, and of course it is not excluded for coating other structures that need to be coated.
  • the ground coating is exemplified, and the first target body 200 is the ground.
  • the walking device 10 is the base of the entire coating robot 100, and is used to install other components to make the coating robot 100 move.
  • the walking device 10 can refer to related technologies, which will not be repeated here.
  • the walking device 10 can be manually driven to make the walking device 10 walk or stop or turn, or it can be controlled to walk or stop or turn by a signal.
  • the walking device 10 controls its action through a control signal issued by the control system.
  • the control system compares the distance value represented by the first distance signal with the first preset value set internally. When the distance value represented by the distance signal is greater than the first preset value, the control system sends a control instruction to the actuator 30 so that the actuator 30 drives the squeegee to move closer to the ground until the distance value represented by the first distance signal is equal to the first A preset value; when the distance value represented by the first distance signal is less than the first preset value, the control system sends a control instruction to the actuator 30 so that the actuator 30 drives the squeegee to move away from the ground until the first The distance value represented by the distance signal is equal to the first preset value, so that the distance between the scratched surface 241 and the ground is always maintained at the first preset value, so that the coating thickness can be uniform.
  • the output end of the actuator 30 is connected to the squeegee 20, and the other end of the actuator 30 is connected to the walking device 10.
  • the actuator 30 can execute the control signal sent by the control system to drive the squeegee 20 to move.
  • the actuator 30 includes a first mechanical arm 31, a second mechanical arm 32, and a third mechanical arm 33.
  • One end of the first mechanical arm 31 is rotatably connected to the walking device 10, and one end of the second mechanical arm 32 is connected to The end of the first mechanical arm 31 away from the walking device 10 is rotatably connected, one end of the third mechanical arm 33 is rotatably connected to the end of the second mechanical arm 32 away from the first mechanical arm 31, and the squeegee member 20 is connected to the third mechanical arm 33 away from One end of the second robotic arm 32.
  • the control system can respectively control the rotation of the first mechanical arm 31, the second mechanical arm 32, and the third mechanical arm 33 relative to their respective rotating shafts to adjust the distance between the ground and the scraping surface 241.
  • the scraping member 20 moves to make the scraping surface 241
  • the distance to the ground increases.
  • the detection position of the first distance detecting element 40 on the ground moves from the original position M to the position M1, and the control system sends a control command to make the second mechanical arm 32 rotate in the second direction B. So that the detection position of the first distance detecting member 40 on the ground can be returned to M.
  • the movement manner of the actuator 30 is similar to the case where the distance value represented by the first distance signal is less than the first preset value.
  • the structure of the actuator 30 can also be in other structural forms.
  • the number of mechanical arms of the actuator 30 can be two, four, or more than four.
  • the actuator 30 can be a multi-axis manipulator.
  • the mechanical arm directly connected to the squeegee member 20 is configured as a telescopic structure.
  • the third mechanical arm 33 It is set as a telescopic structure.
  • the control system can control the third mechanical arm 33 to expand and contract to realize the adjustment of the distance between the squeegee surface 241 and the ground.
  • the mechanical arm 31 and the second mechanical arm 32 are rotated and adjusted.
  • the first distance detecting component 40 includes a first detecting component 41 and a second detecting component 42, and the first distance signal includes a first signal and a second signal; the first detecting component 41 is used to obtain The first signal that characterizes the distance between the first position on the squeegee surface 241 and the first target body 200; the second detection element 42 is used to obtain the characterization of the second position on the squeegee surface 241 and the first target body 200 The control system is used to determine the distance value of the distance value represented by the first signal and the distance value represented by the second signal according to the first signal and the second signal; the control system controls according to the distance average value The actuator 30 operates to adjust the distance between the squeegee surface 241 and the first target body 200 to a first preset value.
  • the first signal is obtained by the first detection element 41 and the second signal is obtained by the second detection element 42.
  • the control system then calculates the average distance between the distance represented by the first signal and the distance represented by the second signal.
  • the distance average value controls the action of the actuator 30 to adjust the distance between the squeegee surface 241 and the first target body 200 to the first preset value, which not only keeps the coating thickness consistent, but also reduces distance detection and signal feedback Times, improve coating efficiency.
  • the first preset value is compared with the average distance between the distance represented by the first signal and the distance represented by the second signal to determine whether the average distance is equal to the first preset value.
  • the first preset value is the average value of the distance from the distance represented by the first signal and the distance represented by the second signal, that is, represents the distance between the scratched surface 241 and the first target body 200.
  • the distance between the scratched surface 241 and the ground does not need to be absolutely equal to the first preset value, as long as it is controlled within a reasonable accuracy range.
  • the allowable error range of the first preset value is -0.1 mm ⁇ 0.1mm.
  • the squeegee member 20 is rotatably connected to the actuator 30, the squeegee surface 241 is perpendicular to the rotation plane of the squeegee member 20, and the first detection member 41 and the second detection member 42 are respectively located Both sides of the axis of rotation of the coating member 20.
  • the squeegee member 20 can rotate in a plane perpendicular to the squeegee surface 241 and can compensate for the inclination of the ground, so that the squeegee 20 can be well parallel to the ground.
  • the squeegee member 20 is L-shaped, and the squeegee member 20 includes a first functional portion 23 and a second functional portion 24 connected to the first functional portion 23; a first distance detecting member 40 is provided on the first functional portion 23, and the actuator 30 is connected to the first functional portion 23; the scraping surface 241 is provided on the surface of the second functional portion 24 away from the first functional portion 23.
  • the squeegee is L-shaped, wherein the first distance detection component 40 is provided on the first functional part 23, and the actuator 30 is connected to the first functional part 23; the squeegee surface 241 is provided on the second functional part 24 away from the first functional part
  • the surface of 23 not only enables the squeegee member 20 to have a wider squeegee surface 241, but also prevents the first distance detecting member 40 from affecting the performance of the first distance detection member 40 during the squeegee coating process.
  • the squeegee member 20 may also be in other forms.
  • the squeegee member 20 has a T-shaped structure.
  • the coating robot 100 further includes a second distance detecting member 50.
  • the squeegee member 20 has a first end 21 in its extending direction; the second distance detecting member 50 is used to obtain the first distance detecting member 50.
  • the second distance signal of the distance between the end 21 and the second target body 300 located in the extending direction of the squeegee member 20; the control system is used to control the actuator when the distance represented by the second distance signal is less than the second preset value 30 moves to adjust the distance between the first end 21 and the second target body 300 to be greater than or equal to the second preset value.
  • the second distance detecting member 50 can obtain a second distance signal that characterizes the distance between the first end 21 of the squeegee member 20 and the second target body 300 in the extending direction of the squeegee member 20.
  • the control system controls the action of the actuator 30 to adjust the distance between the first end 21 and the second target body 300 to be greater than or equal to the second preset value, which can control the coating robot 100 performs squeegee coating on the first target body 200 well, and the second target body 300 does not collide with the squeegee member 20 due to the undulation and deformation of the second target body 300.
  • the first target 200 is the ground
  • the second target 300 is the vertical wall corresponding to the second end 22 of the squeegee 20.
  • the coating robot 100 includes a third distance detecting member 60, and the scraping member 20 has a second end 22 opposite to the first end 21 in its extension direction; the third distance detecting member 60 is used for To obtain a third distance signal that characterizes the distance between the second end 22 and the third target body 400 in the extension direction of the squeegee member 20; the control system is used to set the distance represented by the third distance signal to be less than the third preset When the value is reached, the actuator 30 is controlled to act to adjust the distance between the second end 22 and the third target body 400 to be greater than or equal to the third preset value.
  • the third distance detecting member 60 can obtain a third distance signal that represents the distance between the second end 22 of the squeegee member 20 and the third target body 400 in the extending direction of the squeegee member 20.
  • the control system controls the actuator 30 to move to adjust the distance between the second end 22 and the third target body 400 to be greater than or equal to the third preset value, which can control the coating robot 100 performs squeegee coating on the first target body 200 well, and the third target body 400 does not collide with the squeegee member 20 due to the undulation and deformation of the third target body 400.
  • the third target 400 is a vertical wall corresponding to the second end 22 of the squeegee 20.
  • the second preset value and the third preset value are not only safe for the first end 21 and the second end 22 of the squeegee member 20 to not collide with the second target body 300 and the third target body 400, respectively.
  • the distance can also ensure that the area near the first target body 200 and the second target body 300 can be scratched and the construction effect is guaranteed.
  • the relative distance between the first end 21 of the squeegee member 20 and the second target body 300 is used for description.
  • the control system controls the action of the actuator 30 or the walking device 10 to move the squeegee 20 away from the second target body 300; when the distance between the first end 21 and the second target body 300 is greater than the second preset value At this time, there will be no collision between the squeegee 20 and the second target 300, but the distance between the first end 21 and the second target 300 may be too large, so that the area near the second target 300 is not scratched.
  • the control system controls the walking device 10 or the actuator 30 to move the squeegee 20 closer to the second target body 300, so that the distance between the first end 21 and the second target body 300 is at least the second
  • the preset value is used to ensure that the first target body 200 can be scraped in the largest range and the construction effect is ensured.
  • the adjustment of the relative distance between the second end 22 of the squeegee member 20 and the third target body 400 can refer to the adjustment method of the relative distance between the first end 21 of the squeegee member 20 and the second target body 300, here No longer.
  • the second target body 300 and the third target body 400 are the ground and ceiling at both ends of the extension direction of the squeegee member 20. surface.
  • the first distance detecting element 40 (the first detecting element 41, the second detecting element 42), the second distance detecting element 50, and the third distance detecting element 60 include, but are not limited to, a laser distance measuring sensor, an ultrasonic measuring element. Distance sensor, capacitive proximity sensor, inductive proximity sensor, vision sensor.
  • the embodiment of the second aspect of the present application provides a method for controlling the coating robot 100, which is used for the coating robot 100 in any embodiment of the first aspect, and includes the following steps:
  • S100 Receive a first distance signal that characterizes the distance between the squeegee surface 241 of the squeegee member 20 and the first target body 200;
  • S200 Control the action of the actuator 30 according to the first distance signal to adjust the distance between the squeegee surface 241 and the first target body 200 to a first preset value.
  • the coating thickness applied by the coating robot 100 can be effectively controlled to be consistent, and the coating layer will not be too thin or too thick due to the fluctuation of the surface to be coated of the first target body 200.
  • the first distance signal is acquired by the first distance detecting element 40, and receiving the first distance signal and controlling the actions of the actuator 30 according to the first distance signal are executed by the control system.
  • step S100 includes: S101: receiving a first signal characterizing the distance between the first position on the squeegee surface 241 and the first target 200; and S102: receiving a second position characterizing the squeegee surface 241 The second signal of the distance from the first target body 200;
  • the step S200 includes: determining the distance value represented by the first signal and the distance average value of the distance value represented by the second signal according to the first signal and the second signal, and controlling the action of the actuator 30 according to the distance average value to align the scratching surface 241 with The distance between the first target bodies 200 is adjusted to a first preset value.
  • the action of the actuator 30 is controlled by the average value of the distance between the distance represented by the first signal and the distance represented by the second signal, so as to adjust the distance between the squeegee surface 241 and the first target body 200 to a first preset value, Not only can the coating thickness be kept consistent, but also the number of distance detection and signal feedback can be reduced, and the coating efficiency can be improved.
  • a control instruction is sent to the actuator, and the actuator is controlled to drive the squeegee to move closer to the first target body, so as to align the squeegee surface with the first target body.
  • Adjust the distance between the two to the first preset value when the average value of the distance is smaller than the first preset value, send a control instruction to the actuator to control the actuator to drive the scraper to move away from the first target body to move
  • the distance between the squeegee surface and the first target body is adjusted to a first preset value.
  • the first target body may be the ground.
  • the first signal is obtained by the first detection element 41
  • the second signal is obtained by the second detection element 42.
  • the first distance signal is received and the distance average value is determined according to the first distance signal.
  • the action of the average value control actuator 30 is executed by the control system.
  • control method of the coating robot 100 further includes: receiving a characterizing the distance between the first end 21 of the squeegee member 20 in the extension direction thereof and the second target body 300 located in the extension direction of the squeegee member 20 The second distance signal and when the distance represented by the second distance signal is less than the second preset value, the actuation mechanism 30 is controlled to adjust the distance between the first end 21 and the second target body 300 to be greater than or equal to the second preset value. Set value.
  • the control system controls the action of the actuator 30 to adjust the distance between the first end 21 and the second target body 300 to be greater than or equal to the second preset value, which can control the coating robot 100 to do a good job on the first
  • the second target 300 will not collide with the squeegee 20 due to the undulation and deformation of the second target 300.
  • the second distance signal is acquired by the second distance detecting element 50, and receiving the second distance signal and controlling the actions of the actuator 30 according to the second distance signal are executed by the control system.
  • the control method of the coating robot 100 further includes: receiving a characterizing the distance between the second end 22 of the squeegee member 20 in the extension direction of the squeegee member 20 and the third target body 400 located in the extension direction of the squeegee member 20 The third distance signal and when the distance represented by the third distance signal is less than the third preset value, the actuator 30 is controlled to act to adjust the distance between the second end 22 and the third target body 400 to be greater than or equal to the third preset value. Set value.
  • the control system controls the action of the actuator 30 to adjust the distance between the second end 22 and the third target body 400 to be greater than or equal to the third preset value, which can control the coating robot 100 to do a good job on the first
  • the third target body 400 will not collide with the squeegee member 20 due to the undulation and deformation of the third target body 400.
  • the third distance signal is acquired by the third distance detecting element 60, and receiving the third distance signal and controlling the actions of the actuator 30 according to the third distance signal are executed by the control system.
  • the control method in this embodiment can realize that the scraping member 20 does not collide at both ends of its extension direction to ensure the coating quality.
  • the first target body 200 can be squeegeed in the widest range, and there will be no large area that is not squeezed to ensure the construction effect.
  • the second preset value and the third preset value are not only the first end 21 and the first end of the squeegee 20
  • the safety distance value at which the two ends 22 do not collide with the second target body 300 and the third target body 400 respectively is the limit value that delineates the maximum squeegee range of the first target body 200.

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

Abstract

A coating robot (100) and a control method therefor, relating to the technical field of auxiliary construction devices. The coating robot (100) is used for coating a first target body (200) and comprises a travelling device (10), a scraping member (20), an actuator (30), a first distance measuring member (40), and a control system. The scraping member (20) has a scraping surface (241). The scraping member (20) is connected to the travelling device (10) by means of the actuator (30). The first distance measuring member (40) is used for acquiring a first distance signal that characterizes the distance between the first target body (200) and the scraping surface (241). The control system is used for controlling the action of the actuator (30) according to the first distance signal to adjust the distance between the scraping surface (241) and the first target body (200) to a first preset value. The coating robot can always keep the distance between the first target body and the scraping surface at the first preset value, so as to keep the coating thickness of the first target body at the first preset value, thus facilitating the control of the coating thickness, such that the coating thickness of the first target body is kept consistent, and the coating would not be too thin or too thick due to the uneven ground.

Description

一种涂覆机器人及其控制方法Coating robot and its control method
相关申请的交叉引用Cross-references to related applications
本申请要求于2019年12月09日提交的申请号为201911249115.3的中国申请的优先权，其在此出于所有目的通过引用将其全部内容并入本文。This application claims the priority of the Chinese application with the application number 201911249115.3 filed on December 9, 2019, which is hereby incorporated by reference in its entirety for all purposes.
技术领域Technical field
本申请涉及建筑辅助器械技术领域，具体而言，涉及一种涂覆机器人及其控制方法。This application relates to the technical field of construction aids, and in particular to a coating robot and a control method thereof.
背景技术Background technique
一般地，地面或者墙面不是绝对平面，会有一些凹凸不平的地方，虽然地面或墙面上的凹凸不平不会是特别大和特别深的凹坑和凸起，但是当对地面或者墙面涂漆，这些凹坑或者凸起会对涂覆的厚度产生影响，使得涂覆层的厚度难以控制。Generally, the ground or wall is not absolutely flat, there will be some unevenness, although the unevenness on the ground or wall will not be particularly large and deep pits and bumps, but when coating the ground or wall Paint, these pits or bumps will affect the thickness of the coating, making it difficult to control the thickness of the coating layer.
发明内容Summary of the invention
本申请实施例提供一种涂覆机器人及其控制方法，以改善现有涂覆装置难以控制涂覆厚度的问题。The embodiments of the present application provide a coating robot and a control method thereof, so as to solve the problem that the existing coating device is difficult to control the coating thickness.
第一方面，本申请实施例提供一种涂覆机器人，用于向第一目标体涂覆，包括行走装置、刮涂件、执行机构、第一距离检测件和控制***。刮涂件具有刮涂面。刮涂件通过执行机构与行走装置连接。第一距离检测件用于获取表征第一目标体与刮涂面之间的距离大小的第一距离信号。控制***用于根据第一距离信号控制执行机构动作，以将刮涂面与第一目标体之间的距离调整至第一预设值。In the first aspect, an embodiment of the present application provides a coating robot for coating a first target body, including a walking device, a squeegee member, an actuator, a first distance detecting member, and a control system. The squeegee piece has a squeegee surface. The squeegee is connected with the walking device through the actuator. The first distance detecting element is used to obtain a first distance signal that characterizes the distance between the first target body and the scratched surface. The control system is used for controlling the action of the actuator according to the first distance signal to adjust the distance between the squeegee surface and the first target body to a first preset value.
第二方面，本申请实施例提供一种涂覆机器人的控制方法，用于第一方面的任一实施例的涂覆机器人，包括：接收表征刮涂件的刮涂面与第一目标体之间的距离大小的第一距离信号；以及根据第一距离信号控制执行机构动作，以将刮涂面与第一目标体之间的距离调整至第一预设值。In a second aspect, an embodiment of the present application provides a method for controlling a coating robot, which is used in the coating robot of any embodiment of the first aspect, and includes: receiving a coating surface that characterizes a coating piece and a first target body. And control the action of the actuator according to the first distance signal to adjust the distance between the squeegee surface and the first target body to a first preset value.
附图说明Description of the drawings
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to more clearly describe the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application, and therefore do not It should be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative work.
图1为本申请第一方面实施例提供的涂覆机器人的结构示意图；Fig. 1 is a schematic structural diagram of a coating robot provided by an embodiment of the first aspect of the application;
图2为图1中的涂覆机器人调整刮涂面与地面之间距离的调整示意图；Figure 2 is a schematic diagram of adjusting the distance between the coating robot in Figure 1 to adjust the distance between the scraping surface and the ground;
图3为本申请第一方面实施例提供的另一种涂覆机器人的结构示意图；3 is a schematic structural diagram of another coating robot provided by an embodiment of the first aspect of the application;
图4为本申请第一方面实施例提供的涂覆机器人配合倾斜地面的结构示意图；4 is a schematic structural diagram of a coating robot provided by an embodiment of the first aspect of the application in cooperation with an inclined ground;
图5为图1中的刮涂件的结构示意图；Fig. 5 is a schematic diagram of the structure of the scraping member in Fig. 1;
图6为刮涂件的在其他实施例中的结构示意图；FIG. 6 is a schematic diagram of the structure of the squeegee member in other embodiments;
图7为本申请第一方面实施例提供的涂覆机器人、第二目标体和第三目标体之间的相对位置关系；FIG. 7 is the relative positional relationship between the coating robot, the second target body and the third target body provided by the embodiment of the first aspect of the application;
图8为本申请第一方面实施例中涂覆机器人的另一种应用的示意图。Fig. 8 is a schematic diagram of another application of the coating robot in the embodiment of the first aspect of the application.
具体实施方式Detailed ways
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。 通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various different configurations.
因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。Therefore, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。It should be noted that similar reference numerals and letters indicate similar items in the following figures. Therefore, once a certain item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
在本申请实施例的描述中，需要说明的是，指示方位或位置关系为基于附图所示的方位或位置关系，或者是该申请产品使用时惯常摆放的方位或位置关系，或者是本领域技术人员惯常理解的方位或位置关系，或者是该申请产品使用时惯常摆放的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。In the description of the embodiments of this application, it should be noted that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or is the orientation or positional relationship that is customarily placed when the application product is used, or is the original The position or position relationship commonly understood by those skilled in the art, or the position or position relationship usually placed when the application product is used, is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must be It has a specific orientation, is constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the application. In addition, the terms "first", "second", "third", etc. are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.
实施例Example
如图1所示，本申请第一方面实施例提供一种涂覆机器人100，该涂覆机器人100用于向第一目标体200涂覆，该涂覆机器人100包括行走装置10、刮涂件20、执行机构30、第一距离检测件40和控制***。刮涂件20具有刮涂面241。刮涂件20通过执行机构30与行走装置10连接。第一距离检测件40用于获取表征第一目标体200与刮涂面241之间的距离大小的第一距离信号。控制***用于根据第一距离信号控制执行机构30动作，以将刮涂面241与第一目标体200之间的距离调整至第一预设值。第一距离检测件40能够检测刮涂面241与第一目标体200之间的距离，控制***能 够对第一距离检测件40检测到的刮涂面241与第一目标体200之间的距离与第一预设值进行对比，当刮涂面241与第一目标体200之间的距离大于或者小于第一预设值时，控制***控制执行机构30动作使得刮涂面241与第一目标体200之间的距离等于第一预设值，从而使第一目标体200与刮涂面241之间的距离始终保持为第一预设值，对第一目标体200涂覆的厚度就始终为第一预设值，方便控制涂覆厚度，使得第一目标体200各处的涂覆厚度保持一致，不会因为地面高低起伏而造成涂层过薄或涂层过厚。As shown in FIG. 1, an embodiment of the first aspect of the present application provides a coating robot 100 for coating a first target body 200. The coating robot 100 includes a walking device 10 and a scraper. 20. The actuator 30, the first distance detecting component 40 and the control system. The squeegee member 20 has a squeegee surface 241. The squeegee member 20 is connected to the traveling device 10 through the actuator 30. The first distance detecting member 40 is used to obtain a first distance signal that characterizes the distance between the first target body 200 and the scratched surface 241. The control system is used for controlling the action of the actuator 30 according to the first distance signal to adjust the distance between the squeegee surface 241 and the first target body 200 to a first preset value. The first distance detecting member 40 can detect the distance between the squeegee surface 241 and the first target body 200, and the control system can detect the distance between the squeegee surface 241 and the first target body 200 detected by the first distance detecting member 40. Compared with the first preset value, when the distance between the squeegee surface 241 and the first target body 200 is greater than or less than the first preset value, the control system controls the actuator 30 to act so that the squeegee surface 241 and the first target The distance between the bodies 200 is equal to the first preset value, so that the distance between the first target body 200 and the squeegee surface 241 is always maintained at the first preset value, and the thickness of the coating on the first target body 200 is always It is the first preset value to facilitate the control of the coating thickness, so that the coating thickness of the first target body 200 remains consistent, and the coating will not be too thin or too thick due to the fluctuation of the ground.
涂覆机器人100一般用于对地面或者墙面涂漆、粉刷等，当然也不排除用于对其他需要涂覆的结构涂覆。在本实施例中，以对地面涂覆进行示例性说明，则第一目标体200为地面。The coating robot 100 is generally used for painting and painting the ground or wall, and of course it is not excluded for coating other structures that need to be coated. In this embodiment, the ground coating is exemplified, and the first target body 200 is the ground.
在本实施例中，行走装置10为整个涂覆机器人100的基座，用于安装其他部件，使得该涂覆机器人100移动，行走装置10可参考相关技术，在此不做赘述。行走装置10可以是通过人工驾驶使得行走装置10行走或停止或转向，也可以是通过信号控制其行走或停止或转向。在本实施例中，行走装置10通过由控制***发出的控制信号控制其动作。In this embodiment, the walking device 10 is the base of the entire coating robot 100, and is used to install other components to make the coating robot 100 move. The walking device 10 can refer to related technologies, which will not be repeated here. The walking device 10 can be manually driven to make the walking device 10 walk or stop or turn, or it can be controlled to walk or stop or turn by a signal. In this embodiment, the walking device 10 controls its action through a control signal issued by the control system.
当第一距离检测件40获取到第一距离信号并将第一距离信号发送给控制***，控制***将第一距离信号表征的距离值与其内部设定的第一预设值对比，当第一距离信号表征的距离值大于第一预设值时，控制***向执行机构30发出控制指令，使得执行机构30带动刮涂板向靠近地面的方向移动，直至第一距离信号表征的距离值等于第一预设值；当第一距离信号表征的距离值小于第一预设值时，控制***向执行机构30发出控制指令，使得执行机构30带动刮涂板向远离地面的方向移动，直至第一距离信号表征的距离值等于第一预设值，使得刮涂面241与地面之间的距离始终保持在第一预设值，从而使得涂覆厚度能够均匀一致。When the first distance detecting element 40 obtains the first distance signal and sends the first distance signal to the control system, the control system compares the distance value represented by the first distance signal with the first preset value set internally. When the distance value represented by the distance signal is greater than the first preset value, the control system sends a control instruction to the actuator 30 so that the actuator 30 drives the squeegee to move closer to the ground until the distance value represented by the first distance signal is equal to the first A preset value; when the distance value represented by the first distance signal is less than the first preset value, the control system sends a control instruction to the actuator 30 so that the actuator 30 drives the squeegee to move away from the ground until the first The distance value represented by the distance signal is equal to the first preset value, so that the distance between the scratched surface 241 and the ground is always maintained at the first preset value, so that the coating thickness can be uniform.
执行机构30的输出端与刮涂件20连接，执行机构30的另一端连接于行走装置10。执行机构30能够执行控制***发出的控制信号以带动刮涂件 20移动。如图1所示，执行机构30包括第一机械臂31、第二机械臂32和第三机械臂33，第一机械臂31的一端转动连接于行走装置10，第二机械臂32的一端与第一机械臂31远离行走装置10的一端转动连接，第三机械臂33的一端与第二机械臂32远离第一机械臂31的一端转动连接，刮涂件20连接于第三机械臂33远离第二机械臂32的一端。控制***能够分别控制第一机械臂31、第二机械臂32和第三机械臂33相对各自的转动轴转动，以调整地面与刮涂面241之间的距离。The output end of the actuator 30 is connected to the squeegee 20, and the other end of the actuator 30 is connected to the walking device 10. The actuator 30 can execute the control signal sent by the control system to drive the squeegee 20 to move. As shown in Figure 1, the actuator 30 includes a first mechanical arm 31, a second mechanical arm 32, and a third mechanical arm 33. One end of the first mechanical arm 31 is rotatably connected to the walking device 10, and one end of the second mechanical arm 32 is connected to The end of the first mechanical arm 31 away from the walking device 10 is rotatably connected, one end of the third mechanical arm 33 is rotatably connected to the end of the second mechanical arm 32 away from the first mechanical arm 31, and the squeegee member 20 is connected to the third mechanical arm 33 away from One end of the second robotic arm 32. The control system can respectively control the rotation of the first mechanical arm 31, the second mechanical arm 32, and the third mechanical arm 33 relative to their respective rotating shafts to adjust the distance between the ground and the scraping surface 241.
当第一距离信号表征的距离值小于第一预设值时，如图2所示，通过是第一机械臂31沿第一方向A转动，带刮涂件20移动，以使刮涂面241与地面的距离增大，此时第一距离检测件40在地面上检测位置则由原来的M处移动至M1处，则控制***发出控制指令使得第二机械臂32向第二方向B转动，以使第一距离检测件40在地面上检测位置能够回到M处。当第一距离信号表征的距离值大于第一预设值时，其执行机构30的移动方式与第一距离信号表征的距离值小于第一预设值的情况类似。When the distance value represented by the first distance signal is less than the first preset value, as shown in FIG. 2, by rotating the first mechanical arm 31 in the first direction A, the scraping member 20 moves to make the scraping surface 241 The distance to the ground increases. At this time, the detection position of the first distance detecting element 40 on the ground moves from the original position M to the position M1, and the control system sends a control command to make the second mechanical arm 32 rotate in the second direction B. So that the detection position of the first distance detecting member 40 on the ground can be returned to M. When the distance value represented by the first distance signal is greater than the first preset value, the movement manner of the actuator 30 is similar to the case where the distance value represented by the first distance signal is less than the first preset value.
当然，执行机构30的结构也可以是其他结构形式，比如执行机构30的机械臂可以是两个、四个及四个以上的其他个数，可以理解地，执行机构30可以是多轴机械手。为方便调节刮涂面241与地面之间的距离，在本申请一些实施例中，将直接与刮涂件20连接的机械臂设置为伸缩结构，如图3所示，将第三机械臂33设置为伸缩结构，当需要调节刮涂面241与地面之间的距离时，控制***可以控制第三机械臂33伸缩以实现刮涂面241与地面之间的距离的调节，不需要如第一机械臂31、第二机械臂32再转动调整。Of course, the structure of the actuator 30 can also be in other structural forms. For example, the number of mechanical arms of the actuator 30 can be two, four, or more than four. Understandably, the actuator 30 can be a multi-axis manipulator. In order to facilitate adjustment of the distance between the squeegee surface 241 and the ground, in some embodiments of the present application, the mechanical arm directly connected to the squeegee member 20 is configured as a telescopic structure. As shown in FIG. 3, the third mechanical arm 33 It is set as a telescopic structure. When the distance between the squeegee surface 241 and the ground needs to be adjusted, the control system can control the third mechanical arm 33 to expand and contract to realize the adjustment of the distance between the squeegee surface 241 and the ground. The mechanical arm 31 and the second mechanical arm 32 are rotated and adjusted.
可选地，请继续参照图1，第一距离检测件40包括第一检测件41和第二检测件42，第一距离信号包括第一信号和第二信号；第一检测件41用于获取表征刮涂面241上的第一位置与第一目标体200之间的距离值的第一信号；第二检测件42用于获取表征刮涂面241上的第二位置与第一目标体 200之间的距离值的第二信号；控制***用于根据第一信号和第二信号确定第一信号表征的距离值和第二信号表征的距离值的距离平均值，控制***根据距离平均值控制执行机构30动作，以将刮涂面241与第一目标体200之间的距离调整至第一预设值。Optionally, please continue to refer to FIG. 1, the first distance detecting component 40 includes a first detecting component 41 and a second detecting component 42, and the first distance signal includes a first signal and a second signal; the first detecting component 41 is used to obtain The first signal that characterizes the distance between the first position on the squeegee surface 241 and the first target body 200; the second detection element 42 is used to obtain the characterization of the second position on the squeegee surface 241 and the first target body 200 The control system is used to determine the distance value of the distance value represented by the first signal and the distance value represented by the second signal according to the first signal and the second signal; the control system controls according to the distance average value The actuator 30 operates to adjust the distance between the squeegee surface 241 and the first target body 200 to a first preset value.
通过第一检测件41获取第一信号和第二检测件42获取第二信号，控制***再计算出第一信号表征的距离和第二信号表征的距离之间的距离平均值，控制***根据该距离平均值控制执行机构30动作，以将刮涂面241与第一目标体200之间的距离调整至第一预设值，不仅能够使涂覆厚度保持一致，还能减少距离检测和信号反馈次数，提高涂覆效率。需要说明的是，在本实施例中，第一预设值是与第一信号表征的距离和第二信号表征的距离之间的距离平均值进行对比，判断距离平均值是否等于第一预设值。第一预设值是与第一信号表征的距离和第二信号表征的距离之间的距离平均值即代表刮涂面241与第一目标体200之间的距离。The first signal is obtained by the first detection element 41 and the second signal is obtained by the second detection element 42. The control system then calculates the average distance between the distance represented by the first signal and the distance represented by the second signal. The distance average value controls the action of the actuator 30 to adjust the distance between the squeegee surface 241 and the first target body 200 to the first preset value, which not only keeps the coating thickness consistent, but also reduces distance detection and signal feedback Times, improve coating efficiency. It should be noted that in this embodiment, the first preset value is compared with the average distance between the distance represented by the first signal and the distance represented by the second signal to determine whether the average distance is equal to the first preset value. The first preset value is the average value of the distance from the distance represented by the first signal and the distance represented by the second signal, that is, represents the distance between the scratched surface 241 and the first target body 200.
刮涂面241与地面之间的距离并不需要绝对等于第一预设值，只要控制在合理的精度范围即可，在本实施例中，第一预设值的允许的误差范围为-0.1mm～0.1mm。The distance between the scratched surface 241 and the ground does not need to be absolutely equal to the first preset value, as long as it is controlled within a reasonable accuracy range. In this embodiment, the allowable error range of the first preset value is -0.1 mm～0.1mm.
其中，参照图1、图4，刮涂件20可转动地连接于执行机构30，刮涂面241垂直于刮涂件20的转动平面，第一检测件41与第二检测件42分别位于刮涂件20的转动轴线的两侧。刮涂件20能够垂直刮涂面241的平面内转动，能够补偿地面的倾斜，使刮涂件20能够很好地与地面保持平行。1 and 4, the squeegee member 20 is rotatably connected to the actuator 30, the squeegee surface 241 is perpendicular to the rotation plane of the squeegee member 20, and the first detection member 41 and the second detection member 42 are respectively located Both sides of the axis of rotation of the coating member 20. The squeegee member 20 can rotate in a plane perpendicular to the squeegee surface 241 and can compensate for the inclination of the ground, so that the squeegee 20 can be well parallel to the ground.
在本实施例中，如图5所示，刮涂件20为L形，刮涂件20包括第一功能部23和与第一功能部23连接的第二功能部24；第一距离检测件40设于第一功能部23，执行机构30与第一功能部23连接；刮涂面241设于第二功能部24远离第一功能部23的表面。刮涂件呈L形，其中，第一距离检测件40设于第一功能部23，执行机构30与第一功能部23连接；刮涂面241设于第二功能部24远离第一功能部23的表面，不仅使得刮涂件20具 有较宽的刮涂面241，还能使得在刮涂过程中不影响第一距离检测件40执行功能。In this embodiment, as shown in FIG. 5, the squeegee member 20 is L-shaped, and the squeegee member 20 includes a first functional portion 23 and a second functional portion 24 connected to the first functional portion 23; a first distance detecting member 40 is provided on the first functional portion 23, and the actuator 30 is connected to the first functional portion 23; the scraping surface 241 is provided on the surface of the second functional portion 24 away from the first functional portion 23. The squeegee is L-shaped, wherein the first distance detection component 40 is provided on the first functional part 23, and the actuator 30 is connected to the first functional part 23; the squeegee surface 241 is provided on the second functional part 24 away from the first functional part The surface of 23 not only enables the squeegee member 20 to have a wider squeegee surface 241, but also prevents the first distance detecting member 40 from affecting the performance of the first distance detection member 40 during the squeegee coating process.
在其他具体实施例中，刮涂件20也可以是其他形式，比如，如图6所示，刮涂件20为T形结构。In other specific embodiments, the squeegee member 20 may also be in other forms. For example, as shown in FIG. 6, the squeegee member 20 has a T-shaped structure.
进一步地，参见图1、图7，涂覆机器人100还包括第二距离检测件50，刮涂件20在其延伸方向上具有第一端21；第二距离检测件50用于获取表征第一端21与位于刮涂件20的延伸方向上的第二目标体300之间的距离的第二距离信号；控制***用于在第二距离信号表征的距离小于第二预设值时控制执行机构30动作，以将第一端21与第二目标体300之间的距离调整至大于或等于第二预设值。第二距离检测件50能够获取表征刮涂件20的第一端21与位于刮涂件20的延伸方向上的第二目标体300之间的距离的第二距离信号，当第二距离信号表征的距离小于第二预设值时，控制***控制执行机构30动作，以将第一端21与第二目标体300之间的距离调整至大于或等于第二预设值，能够控制涂覆机器人100很好地对第一目标体200进行刮涂，不会因为第二目标体300的起伏变形而导致第二目标体300与刮涂件20发生碰撞。Further, referring to FIGS. 1 and 7, the coating robot 100 further includes a second distance detecting member 50. The squeegee member 20 has a first end 21 in its extending direction; the second distance detecting member 50 is used to obtain the first distance detecting member 50. The second distance signal of the distance between the end 21 and the second target body 300 located in the extending direction of the squeegee member 20; the control system is used to control the actuator when the distance represented by the second distance signal is less than the second preset value 30 moves to adjust the distance between the first end 21 and the second target body 300 to be greater than or equal to the second preset value. The second distance detecting member 50 can obtain a second distance signal that characterizes the distance between the first end 21 of the squeegee member 20 and the second target body 300 in the extending direction of the squeegee member 20. When the second distance signal represents When the distance is less than the second preset value, the control system controls the action of the actuator 30 to adjust the distance between the first end 21 and the second target body 300 to be greater than or equal to the second preset value, which can control the coating robot 100 performs squeegee coating on the first target body 200 well, and the second target body 300 does not collide with the squeegee member 20 due to the undulation and deformation of the second target body 300.
本实施例中，第一目标体200为地面，则第二目标体300即为刮涂件20第二端22相对应的竖直墙面。In this embodiment, the first target 200 is the ground, and the second target 300 is the vertical wall corresponding to the second end 22 of the squeegee 20.
进一步地，继续参照图7，涂覆机器人100包括还第三距离检测件60，刮涂件20在其延伸方向上具有与第一端21相对的第二端22；第三距离检测件60用于获取表征第二端22与位于刮涂件20的延伸方向上的第三目标体400之间的距离的第三距离信号；控制***用于在第三距离信号表征的距离小于第三预设值时控制执行机构30动作，以将第二端22与第三目标体400之间的距离调整至大于或等于第三预设值。第三距离检测件60能够获取表征刮涂件20的第二端22与位于刮涂件20的延伸方向上的第三目标体400之间的距离的第三距离信号，当第三距离信号表征的距离小于第三 预设值时，控制***控制执行机构30动作，以将第二端22与第三目标体400之间的距离调整至大于或等于第三预设值，能够控制涂覆机器人100很好地对第一目标体200进行刮涂，不会因为第三目标体400的起伏变形而导致第三目标体400与刮涂件20发生碰撞。Further, referring to FIG. 7 continuously, the coating robot 100 includes a third distance detecting member 60, and the scraping member 20 has a second end 22 opposite to the first end 21 in its extension direction; the third distance detecting member 60 is used for To obtain a third distance signal that characterizes the distance between the second end 22 and the third target body 400 in the extension direction of the squeegee member 20; the control system is used to set the distance represented by the third distance signal to be less than the third preset When the value is reached, the actuator 30 is controlled to act to adjust the distance between the second end 22 and the third target body 400 to be greater than or equal to the third preset value. The third distance detecting member 60 can obtain a third distance signal that represents the distance between the second end 22 of the squeegee member 20 and the third target body 400 in the extending direction of the squeegee member 20. When the third distance signal represents When the distance is less than the third preset value, the control system controls the actuator 30 to move to adjust the distance between the second end 22 and the third target body 400 to be greater than or equal to the third preset value, which can control the coating robot 100 performs squeegee coating on the first target body 200 well, and the third target body 400 does not collide with the squeegee member 20 due to the undulation and deformation of the third target body 400.
第三目标体400即为与刮涂件20的第二端22相对应的竖直墙壁。The third target 400 is a vertical wall corresponding to the second end 22 of the squeegee 20.
需要说明的是，第二预设值和第三预设值不仅是刮涂件20的第一端21和第二端22分别与第二目标体300和第三目标体400不发生碰撞的安全距离，还能保证第一目标体200和第二目标体300附近的区域能够得到涂刮，保证施工效果。在此，以刮涂件20的第一端21与第二目标体300之间的相对距离进行说明，当第一端21与第二目标体300之间的距离小于第二预设值时，控制***控制执行机构30或者行走装置10动作，以使刮涂件20向远离第二目标体300的方向移动；当第一端21与第二目标体300之间的距离大于第二预设值时，刮涂件20与第二目标体300之间不会产生碰撞，然而会存在第一端21与第二目标体300之间的距离过大，使得第二目标体300附近的区域没有刮涂，因此控制***控制行走装置10或者执行机构30以使刮涂件20向靠近第二目标体300的方向移动，以使第一端21与第二目标体300之间的距离最小为第二预设值，以保证第一目标体200能够被最大范围的刮涂，保证施工效果。刮涂件20的第二端22与第三目标体400之间的相对距离的调整可参照刮涂件20的第一端21与第二目标体300之间的相对距离的调整方式，在此不再赘述。It should be noted that the second preset value and the third preset value are not only safe for the first end 21 and the second end 22 of the squeegee member 20 to not collide with the second target body 300 and the third target body 400, respectively. The distance can also ensure that the area near the first target body 200 and the second target body 300 can be scratched and the construction effect is guaranteed. Here, the relative distance between the first end 21 of the squeegee member 20 and the second target body 300 is used for description. When the distance between the first end 21 and the second target body 300 is less than the second preset value, The control system controls the action of the actuator 30 or the walking device 10 to move the squeegee 20 away from the second target body 300; when the distance between the first end 21 and the second target body 300 is greater than the second preset value At this time, there will be no collision between the squeegee 20 and the second target 300, but the distance between the first end 21 and the second target 300 may be too large, so that the area near the second target 300 is not scratched. Therefore, the control system controls the walking device 10 or the actuator 30 to move the squeegee 20 closer to the second target body 300, so that the distance between the first end 21 and the second target body 300 is at least the second The preset value is used to ensure that the first target body 200 can be scraped in the largest range and the construction effect is ensured. The adjustment of the relative distance between the second end 22 of the squeegee member 20 and the third target body 400 can refer to the adjustment method of the relative distance between the first end 21 of the squeegee member 20 and the second target body 300, here No longer.
在其他具体实施例中，当第一目标体200为竖直墙面时，如图8所示，第二目标体300和第三目标体400则为刮涂件20延伸方向两端的地面和顶面。In other specific embodiments, when the first target body 200 is a vertical wall, as shown in FIG. 8, the second target body 300 and the third target body 400 are the ground and ceiling at both ends of the extension direction of the squeegee member 20. surface.
在本实施例中，第一距离检测件40(第一检测件41、第二检测件42)、第二距离检测件50和第三距离检测件60包括但不限于激光测距传感器、超声波测距传感器、电容式接近传感器、电感式接近传感器、视觉传感器。In this embodiment, the first distance detecting element 40 (the first detecting element 41, the second detecting element 42), the second distance detecting element 50, and the third distance detecting element 60 include, but are not limited to, a laser distance measuring sensor, an ultrasonic measuring element. Distance sensor, capacitive proximity sensor, inductive proximity sensor, vision sensor.
本申请第二方面实施例提供一种涂覆机器人100的控制方法，用于第一方面的任一实施例中的涂覆机器人100，包括以下步骤：The embodiment of the second aspect of the present application provides a method for controlling the coating robot 100, which is used for the coating robot 100 in any embodiment of the first aspect, and includes the following steps:
S100：接收表征刮涂件20的刮涂面241与第一目标体200之间的距离大小的第一距离信号；S100: Receive a first distance signal that characterizes the distance between the squeegee surface 241 of the squeegee member 20 and the first target body 200;
S200：根据第一距离信号控制执行机构30动作，以将刮涂面241与第一目标体200之间的距离调整至第一预设值。S200: Control the action of the actuator 30 according to the first distance signal to adjust the distance between the squeegee surface 241 and the first target body 200 to a first preset value.
通过该控制方法，能够有效地控制涂覆机器人100所涂覆的厚度保持一致，不会因为第一目标体200的待涂覆面高低起伏而造成涂层过薄或涂层过厚。Through this control method, the coating thickness applied by the coating robot 100 can be effectively controlled to be consistent, and the coating layer will not be too thin or too thick due to the fluctuation of the surface to be coated of the first target body 200.
在本实施例中，第一距离信号是由第一距离检测件40获取的，接收第一距离信号和根据第一距离信号控制执行机构30动作是由控制***执行的。In this embodiment, the first distance signal is acquired by the first distance detecting element 40, and receiving the first distance signal and controlling the actions of the actuator 30 according to the first distance signal are executed by the control system.
进一步地，S100步骤包括：S101：接收表征刮涂面241上的第一位置与第一目标体200之间的距离大小的第一信号；和S102：接收表征刮涂面241上的第二位置与第一目标体200之间的距离大小的第二信号；Further, the step S100 includes: S101: receiving a first signal characterizing the distance between the first position on the squeegee surface 241 and the first target 200; and S102: receiving a second position characterizing the squeegee surface 241 The second signal of the distance from the first target body 200;
S200步骤包括：根据第一信号和第二信号确定第一信号表征的距离值和第二信号表征的距离值的距离平均值，根据距离平均值控制执行机构30动作，以将刮涂面241与第一目标体200之间的距离调整至第一预设值。The step S200 includes: determining the distance value represented by the first signal and the distance average value of the distance value represented by the second signal according to the first signal and the second signal, and controlling the action of the actuator 30 according to the distance average value to align the scratching surface 241 with The distance between the first target bodies 200 is adjusted to a first preset value.
通过第一信号表征的距离和第二信号表征的距离之间的距离平均值控制执行机构30动作，以将刮涂面241与第一目标体200之间的距离调整至第一预设值，不仅能够使涂覆厚度保持一致，还能减少距离检测和信号反馈次数，提高涂覆效率。The action of the actuator 30 is controlled by the average value of the distance between the distance represented by the first signal and the distance represented by the second signal, so as to adjust the distance between the squeegee surface 241 and the first target body 200 to a first preset value, Not only can the coating thickness be kept consistent, but also the number of distance detection and signal feedback can be reduced, and the coating efficiency can be improved.
具体的，当距离平均值大于第一预设值时，向执行机构发送控制指令，控制执行机构带动刮涂件向靠近第一目标体的方向移动，以将刮涂面与第一目标体之间的距离调整至第一预设值；当距离平均值小大于第一预设值时，向执行机构发送控制指令，控制执行机构带动刮涂件向远离第一目标 体的方向移动，以将刮涂面与第一目标体之间的距离调整至第一预设值。其中，所述第一目标体可以为地面。Specifically, when the average value of the distance is greater than the first preset value, a control instruction is sent to the actuator, and the actuator is controlled to drive the squeegee to move closer to the first target body, so as to align the squeegee surface with the first target body. Adjust the distance between the two to the first preset value; when the average value of the distance is smaller than the first preset value, send a control instruction to the actuator to control the actuator to drive the scraper to move away from the first target body to move The distance between the squeegee surface and the first target body is adjusted to a first preset value. Wherein, the first target body may be the ground.
在本实施例中，第一信号是由第一检测件41获取的，第二信号是由第二检测件42获取的，接收第一距离信号和根据第一距离信号确定距离平均值，根据距离平均值控制执行机构30动作是由控制***执行的。In this embodiment, the first signal is obtained by the first detection element 41, and the second signal is obtained by the second detection element 42. The first distance signal is received and the distance average value is determined according to the first distance signal. The action of the average value control actuator 30 is executed by the control system.
进一步地，涂覆机器人100的控制方法还包括：接收表征刮涂件20在其延伸方向上的第一端21与位于刮涂件20的延伸方向上的第二目标体300之间的距离的第二距离信号和在第二距离信号表征的距离小于第二预设值时控制执行机构30动作，以将第一端21与第二目标体300之间的距离调整至大于或等于第二预设值。获取表征刮涂件20的第一端21与位于刮涂件20的延伸方向上的第二目标体300之间的距离的第二距离信号，当第二距离信号表征的距离小于第二预设值时，控制***控制执行机构30动作，以将第一端21与第二目标体300之间的距离调整至大于或等于第二预设值，能够控制涂覆机器人100很好地对第一目标体200进行刮涂，不会因为第二目标体300的起伏变形而导致第二目标体300与刮涂件20发生碰撞。Further, the control method of the coating robot 100 further includes: receiving a characterizing the distance between the first end 21 of the squeegee member 20 in the extension direction thereof and the second target body 300 located in the extension direction of the squeegee member 20 The second distance signal and when the distance represented by the second distance signal is less than the second preset value, the actuation mechanism 30 is controlled to adjust the distance between the first end 21 and the second target body 300 to be greater than or equal to the second preset value. Set value. Obtain a second distance signal that characterizes the distance between the first end 21 of the squeegee member 20 and the second target body 300 in the extending direction of the squeegee member 20, when the distance represented by the second distance signal is less than the second preset Value, the control system controls the action of the actuator 30 to adjust the distance between the first end 21 and the second target body 300 to be greater than or equal to the second preset value, which can control the coating robot 100 to do a good job on the first When the target 200 is squeegeed, the second target 300 will not collide with the squeegee 20 due to the undulation and deformation of the second target 300.
在本实施例中，第二距离信号是由第二距离检测件50获取的，接收第二距离信号和根据第二距离信号控制执行机构30动作是由控制***执行的。进一步地，涂覆机器人100的控制方法还包括：接收表征刮涂件20在其延伸方向上的第二端22与位于刮涂件20的延伸方向上的第三目标体400之间的距离的第三距离信号和在第三距离信号表征的距离小于第三预设值时控制执行机构30动作，以将第二端22与第三目标体400之间的距离调整至大于或等于第三预设值。获取表征刮涂件20的第二端22与位于刮涂件20的延伸方向上的第三目标体400之间的距离的第三距离信号，当第三距离信号表征的距离小于第三预设值时，控制***控制执行机构30动作，以将第二端22与第三目标体400之间的距离调整至大于或等于第三预设 值，能够控制涂覆机器人100很好地对第一目标体200进行刮涂，不会因为第三目标体400的起伏变形而导致第三目标体400与刮涂件20发生碰撞。In this embodiment, the second distance signal is acquired by the second distance detecting element 50, and receiving the second distance signal and controlling the actions of the actuator 30 according to the second distance signal are executed by the control system. Further, the control method of the coating robot 100 further includes: receiving a characterizing the distance between the second end 22 of the squeegee member 20 in the extension direction of the squeegee member 20 and the third target body 400 located in the extension direction of the squeegee member 20 The third distance signal and when the distance represented by the third distance signal is less than the third preset value, the actuator 30 is controlled to act to adjust the distance between the second end 22 and the third target body 400 to be greater than or equal to the third preset value. Set value. Obtain a third distance signal that characterizes the distance between the second end 22 of the squeegee member 20 and the third target 400 in the extending direction of the squeegee member 20, when the distance represented by the third distance signal is less than the third preset Value, the control system controls the action of the actuator 30 to adjust the distance between the second end 22 and the third target body 400 to be greater than or equal to the third preset value, which can control the coating robot 100 to do a good job on the first When the target body 200 is squeegeed, the third target body 400 will not collide with the squeegee member 20 due to the undulation and deformation of the third target body 400.
在本实施例中，第三距离信号是由第三距离检测件60获取的，接收第三距离信号和根据第三距离信号控制执行机构30动作是由控制***执行的。In this embodiment, the third distance signal is acquired by the third distance detecting element 60, and receiving the third distance signal and controlling the actions of the actuator 30 according to the third distance signal are executed by the control system.
本实施例中的控制方法能够实现刮涂件20在其延伸方向的两端均不发生碰撞保证涂覆质量。当第一端21与第二目标体300之间的距离等于第二预设值和/或第二端22与第三目标体400之间的距离等于第三预设值，则第一目标体200能够被最大范围的刮涂，不会出现大面积不被刮涂的区域，保证施工效果，因此，第二预设值和第三预设值不仅是刮涂20的第一端21和第二端22分别与第二目标体300和第三目标体400不发生碰撞的安全距离值，还是圈定第一目标体200最大刮涂范围的界限值。The control method in this embodiment can realize that the scraping member 20 does not collide at both ends of its extension direction to ensure the coating quality. When the distance between the first end 21 and the second target body 300 is equal to the second preset value and/or the distance between the second end 22 and the third target body 400 is equal to the third preset value, the first target body 200 can be squeegeed in the widest range, and there will be no large area that is not squeezed to ensure the construction effect. Therefore, the second preset value and the third preset value are not only the first end 21 and the first end of the squeegee 20 The safety distance value at which the two ends 22 do not collide with the second target body 300 and the third target body 400 respectively is the limit value that delineates the maximum squeegee range of the first target body 200.
以上仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。The above are only preferred embodiments of the application, and are not used to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims (19)

  1. 一种涂覆机器人，用于向第一目标体涂覆，其特征在于，包括：A coating robot for coating a first target body, which is characterized in that it comprises:
    行走装置；Walking device
    刮涂件，所述刮涂件具有刮涂面；A scraping piece, the scraping piece having a scraping surface;
    执行机构，所述刮涂件通过所述执行机构与所述行走装置连接；An actuator, the scraping member is connected to the walking device through the actuator;
    第一距离检测件，所述第一距离检测件用于获取表征所述第一目标体与所述刮涂面之间的距离大小的第一距离信号；以及A first distance detecting component, the first distance detecting component is used to obtain a first distance signal that characterizes the distance between the first target body and the scratched surface; and
    控制***，所述控制***用于根据所述第一距离信号控制所述执行机构动作，以将所述刮涂面与所述第一目标体之间的距离调整至第一预设值。A control system, which is used to control the action of the actuator according to the first distance signal to adjust the distance between the squeegee surface and the first target body to a first preset value.
  2. 根据权利要求1所述的涂覆机器人，其特征在于，所述第一距离检测件包括第一检测件和第二检测件，所述第一距离信号包括第一信号和第二信号；The coating robot according to claim 1, wherein the first distance detecting member includes a first detecting member and a second detecting member, and the first distance signal includes a first signal and a second signal;
    所述第一检测件用于获取表征所述刮涂面上的第一位置与所述第一目标体之间的距离值的所述第一信号；The first detection element is used to obtain the first signal that characterizes the distance between the first position on the squeegee surface and the first target body;
    所述第二检测件用于获取表征所述刮涂面上的第二位置与所述第一目标体之间的距离值的所述第二信号；The second detection element is used to obtain the second signal that characterizes the distance between the second position on the squeegee surface and the first target body;
    所述控制***用于根据所述第一信号和所述第二信号确定所述第一信号表征的距离值和所述第二信号表征的距离值的距离平均值，所述控制***根据所述距离平均值控制所述执行机构动作，以将所述刮涂面与所述第一目标体之间的距离调整至所述第一预设值。The control system is configured to determine, according to the first signal and the second signal, an average distance value between the distance value represented by the first signal and the distance value represented by the second signal, and the control system according to the The average value of the distance controls the action of the actuator to adjust the distance between the squeegee surface and the first target body to the first preset value.
  3. 根据权利要求2所述的涂覆机器人，其特征在于，所述控制***用于当所述距离平均值大于所述第一预设值时，向所述执行机构发送控制指令，使得所述执行机构带动所述刮涂件向靠近所述第一目标体的方向移动，以将所述刮涂面与所述第一目标体之间的距离调整至所述第一预设值。The coating robot according to claim 2, wherein the control system is configured to send a control instruction to the execution mechanism when the average distance is greater than the first preset value, so that the execution The mechanism drives the squeegee to move toward the first target body to adjust the distance between the squeegee surface and the first target body to the first preset value.
  4. 根据权利要求2所述的涂覆机器人，其特征在于，所述控制***用于当所述距离平均值小于所述第一预设值时，向所述执行机构发送控制指令，使得所述执行机构带动所述刮涂件向远离所述第一目标体的方向移动，以将所述刮涂面与所述第一目标体之间的距离调整至所述第一预设值。The coating robot according to claim 2, wherein the control system is configured to send a control instruction to the execution mechanism when the distance average value is less than the first preset value, so that the execution The mechanism drives the squeegee to move away from the first target body to adjust the distance between the squeegee surface and the first target body to the first preset value.
  5. 根据权利要求2所述的涂覆机器人，其特征在于，所述刮涂件可转动地连接于所述执行机构，所述刮涂面垂直于所述刮涂件的转动平面，所述第一检测件与所述第二检测件分别位于所述刮涂件的转动轴线的两侧。The coating robot according to claim 2, wherein the squeegee is rotatably connected to the actuator, the squeegee surface is perpendicular to the rotation plane of the squeegee, and the first The detecting member and the second detecting member are respectively located on both sides of the rotation axis of the scraping member.
  6. 根据权利要求1所述的涂覆机器人，其特征在于，所述涂覆机器人包括第二距离检测件，所述刮涂件在其延伸方向上具有第一端；The coating robot according to claim 1, wherein the coating robot comprises a second distance detecting member, and the scraping member has a first end in its extending direction;
    所述第二距离检测件用于获取表征所述第一端与位于所述刮涂件的延伸方向上的第二目标体之间的距离的第二距离信号；The second distance detecting member is used to obtain a second distance signal that characterizes the distance between the first end and a second target body located in the extending direction of the squeegee member;
    所述控制***用于在所述第二距离信号表征的距离小于第二预设值时控制所述执行机构动作，以将所述第一端与所述第二目标体之间的距离调整至大于或等于第二预设值。The control system is used to control the action of the actuator when the distance represented by the second distance signal is less than a second preset value, so as to adjust the distance between the first end and the second target body to Greater than or equal to the second preset value.
  7. 根据权利要求6所述的涂覆机器人，其特征在于，所述涂覆机器人包括第三距离检测件，所述刮涂件在其延伸方向上具有与所述第一端相对的第二端；8. The coating robot according to claim 6, wherein the coating robot comprises a third distance detecting member, and the scraping member has a second end opposite to the first end in its extending direction;
    所述第三距离检测件用于获取表征所述第二端与位于所述刮涂件的延伸方向上的第三目标体之间的距离的第三距离信号；The third distance detecting member is used to obtain a third distance signal that characterizes the distance between the second end and a third target body located in the extending direction of the squeegee member;
    所述控制***用于在所述第三距离信号表征的距离小于第三预设值时控制所述执行机构动作，以将所述第二端与所述第三目标体之间的距离调整至大于或等于第三预设值。The control system is used to control the action of the actuator when the distance represented by the third distance signal is less than a third preset value, so as to adjust the distance between the second end and the third target body to Greater than or equal to the third preset value.
  8. 根据权利要求6或7所述的涂覆机器人，其特征在于，所述第一距离检测件、第二距离检测件和第三距离检测件包括激光测距传感器、超声波测距传感器、电容式接近传感器、电感式接近传感器以及视觉传感器中的至少一种。The coating robot according to claim 6 or 7, wherein the first distance detection element, the second distance detection element, and the third distance detection element comprise a laser distance sensor, an ultrasonic distance sensor, and a capacitive proximity sensor. At least one of a sensor, an inductive proximity sensor, and a vision sensor.
  9. 根据权利要求1所述的涂覆机器人，其特征在于，所述刮涂件为L形，所述刮涂件包括第一功能部和与所述第一功能部连接的第二功能部；The coating robot according to claim 1, wherein the squeegee is L-shaped, and the squeegee includes a first functional part and a second functional part connected to the first functional part;
    所述第一距离检测件设于所述第一功能部，所述执行机构与所述第一功能部连接；The first distance detecting member is provided on the first functional part, and the actuator is connected to the first functional part;
    所述刮涂面设于所述第二功能部远离所述第一功能部的表面。The squeegee surface is provided on the surface of the second functional part away from the first functional part.
  10. 根据权利要求1所述的涂覆机器人，其特征在于，所述执行机构包括第一机械臂、第二机械臂和第三机械臂；The coating robot according to claim 1, wherein the execution mechanism comprises a first mechanical arm, a second mechanical arm and a third mechanical arm;
    所述第一机械臂的一端转动连接于所述行走装置，所述第二机械臂的一端与所述第一机械臂远离所述行走装置的一端转动连接，所述第三机械臂的一端与所述第二机械臂远离所述第一机械臂的一端转动连接；One end of the first mechanical arm is rotatably connected to the traveling device, one end of the second mechanical arm is rotatably connected to the end of the first mechanical arm away from the traveling device, and one end of the third mechanical arm is connected to The end of the second mechanical arm away from the first mechanical arm is rotatably connected;
    所述刮涂件连接于所述第三机械臂远离第二机械臂的一端。The squeegee is connected to an end of the third mechanical arm away from the second mechanical arm.
  11. 根据权利要求10所述的涂覆机器人，其特征在于，所述控制***控制所述第一机械臂、第二机械臂和第三机械臂相对于各自的转动轴转动，以调整所述第一目标体与所述刮涂面之间的距离。The coating robot according to claim 10, wherein the control system controls the first, second, and third robot arms to rotate relative to their respective rotation axes, so as to adjust the first robot arm, the second robot arm, and the third robot arm. The distance between the target body and the scratched surface.
  12. 根据权利要求10或11所述的涂覆机器人，其特征在于，所述第三机械臂为伸缩结构；The coating robot according to claim 10 or 11, wherein the third mechanical arm is a telescopic structure;
    当需要调节所述第一目标体与所述刮涂面之间的距离时，所述控制***控制所述第三机械臂伸缩，以实现所述第一目标体与所述刮涂面之间的距离的调节。When the distance between the first target body and the squeegee surface needs to be adjusted, the control system controls the expansion and contraction of the third mechanical arm to realize the distance between the first target body and the squeegee surface Adjustment of the distance.
  13. 根据权利要求12所述的涂覆机器人，其特征在于，所述执行机构包括至少两个机械臂。The coating robot according to claim 12, wherein the actuator includes at least two mechanical arms.
  14. 一种涂覆机器人的控制方法，用于权利要求1-13任一项所述的涂覆机器人，其特征在于，包括：A method for controlling a coating robot, used for the coating robot according to any one of claims 1-13, characterized in that it comprises:
    接收表征刮涂件的刮涂面与第一目标体之间的距离大小的第一距离信号；以及Receiving a first distance signal that characterizes the distance between the squeegee surface of the squeegee and the first target body; and
    根据所述第一距离信号控制执行机构动作，以将所述刮涂面与所述第一目标体之间的距离调整至第一预设值。The action of the actuator is controlled according to the first distance signal to adjust the distance between the squeegee surface and the first target body to a first preset value.
  15. 根据权利要求14所述的涂覆机器人的控制方法，其特征在于，所述接收表征刮涂件的刮涂面与第一目标体之间的距离大小的第一距离信号，包括：The control method of a coating robot according to claim 14, wherein the receiving a first distance signal that characterizes the distance between the squeegee surface of the squeegee and the first target body comprises:
    接收表征所述刮涂面上的第一位置与所述第一目标体之间的距离大小的第一信号；以及Receiving a first signal that characterizes the distance between the first position on the squeegee surface and the first target body; and
    接收表征所述刮涂面上的第二位置与所述第一目标体之间的距离大小的第二信号；Receiving a second signal that characterizes the distance between the second position on the squeegee surface and the first target body;
    根据所述第一距离信号控制所述执行机构动作，以将所述刮涂面与所述第一目标体之间的距离调整至第一预设值，包括：Controlling the action of the actuator according to the first distance signal to adjust the distance between the squeegee surface and the first target body to a first preset value includes:
    根据所述第一信号和所述第二信号确定所述第一信号表征的距离值和所述第二信号表征的距离值的距离平均值，根据所述距离平均值控制所述执行机构动作，以将所述刮涂面与所述第一目标体之间的距离调整至所述第一预设值。Determine the distance average value of the distance value represented by the first signal and the distance value represented by the second signal according to the first signal and the second signal, and control the action of the actuator according to the distance average value, To adjust the distance between the squeegee surface and the first target body to the first preset value.
  16. 根据权利要求15所述的涂覆机器人的控制方法，其特征在于，所述根据所述距离平均值控制所述执行机构动作，以将所述刮涂面与所述第一目标体之间的距离调整至所述第一预设值，包括：The control method of the coating robot according to claim 15, wherein the action of the actuator is controlled according to the average value of the distance, so as to reduce the distance between the squeegee surface and the first target body. Adjusting the distance to the first preset value includes:
    当所述距离平均值大于所述第一预设值时，向所述执行机构发送控制指令，使得所述执行机构带动所述刮涂件向靠近所述第一目标体的方向移动，以将所述刮涂面与所述第一目标体之间的距离调整至所述第一预设值。When the average value of the distance is greater than the first preset value, a control instruction is sent to the actuator, so that the actuator drives the squeegee to move closer to the first target body to move The distance between the squeegee surface and the first target body is adjusted to the first preset value.
  17. 根据权利要求15所述的涂覆机器人的控制方法，其特征在于，所述根据所述距离平均值控制所述执行机构动作，以将所述刮涂面与所述第一目标体之间的距离调整至所述第一预设值，包括：The control method of the coating robot according to claim 15, wherein the action of the actuator is controlled according to the average value of the distance, so as to reduce the distance between the squeegee surface and the first target body. Adjusting the distance to the first preset value includes:
    当所述距离平均值小于所述第一预设值时，向所述执行机构发送控制指令，使得所述执行机构带动所述刮涂件向远离所述第一目标体的方向移动，以将所述刮涂面与所述第一目标体之间的距离调整至所述第一预设值。When the average value of the distance is less than the first preset value, a control instruction is sent to the actuator, so that the actuator drives the squeegee to move away from the first target body to move The distance between the squeegee surface and the first target body is adjusted to the first preset value.
  18. 根据权利要求14所述的涂覆机器人的控制方法，其特征在于，所述涂覆机器人的控制方法包括：The control method of the coating robot according to claim 14, wherein the control method of the coating robot comprises:
    接收表征所述刮涂件在其延伸方向上的第一端与位于所述刮涂件的延伸方向上的第二目标体之间的距离的第二距离信号；以及Receiving a second distance signal that characterizes the distance between the first end of the squeegee member in the extension direction of the squeegee member and the second target body located in the extension direction of the squeegee member; and
    在所述第二距离信号表征的距离小于第二预设值时控制所述执行机构动作，以将所述第一端与所述第二目标体之间的距离调整至大于或等于第二预设值。When the distance represented by the second distance signal is less than a second preset value, the actuator is controlled to move to adjust the distance between the first end and the second target body to be greater than or equal to the second preset value. Set value.
  19. 根据权利要求18所述的涂覆机器人的控制方法，其特征在于，所述涂覆机器人的控制方法包括：The control method of the coating robot according to claim 18, wherein the control method of the coating robot comprises:
    接收表征所述刮涂件在其延伸方向上的第二端与位于所述刮涂件的延伸方向上的第三目标体之间的距离的第三距离信号；以及Receiving a third distance signal that characterizes the distance between the second end of the squeegee member in the extension direction of the squeegee member and the third target body located in the extension direction of the squeegee member; and
    在所述第三距离信号表征的距离小于第三预设值时控制所述执行机构动作，以将所述第二端与所述第三目标体之间的距离调整至大于或等于第三预设值。When the distance represented by the third distance signal is less than a third preset value, the actuator is controlled to move to adjust the distance between the second end and the third target body to be greater than or equal to the third preset value. Set value.
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