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A positioning spraying method, device, system and storage medium

A technology of spraying equipment and positioning marks, which is applied in the direction of spraying devices, devices for coating liquid on the surface, coatings, etc., which can solve problems such as empty working space, reduced spraying efficiency and quality, and inaccurate navigation and positioning. The effect of inaccurate navigation and positioning, improving spraying efficiency and spraying quality

Active Publication Date: 2021-11-26
GUANGDONG BOZHILIN ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] When the spraying robot is working in a closed environment, due to the empty working space and weak wireless signal, the traditional BIM map navigation method is not accurate for the navigation and positioning of the spraying robot, and the continuous operation is difficult, which will reduce the spraying efficiency and spraying quality

Method used

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  • A positioning spraying method, device, system and storage medium
  • A positioning spraying method, device, system and storage medium
  • A positioning spraying method, device, system and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0057] figure 1 It is a flow chart of a positioning spraying method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where spraying equipment sprays multiple work areas. This method can be executed by a positioning spraying device, which can use software and / or hardware, the device can be configured in spraying equipment.

[0058] Specifically include the following steps:

[0059]S110. During the movement of the spraying equipment, when the detection equipment on the spraying equipment detects the positioning marker on the spraying object, control the spraying equipment to stop moving;

[0060] Among them, spraying equipment includes industrial equipment that can spray paint or spray other coatings.

[0061] Wherein, the detection device can be used to detect the positioning marker, and during the movement of the spraying device, the detection device on the spraying device moves synchronously with the spraying device. In an e...

Embodiment 2

[0076] image 3 It is a flow chart of a positioning spraying method provided in Embodiment 2 of the present invention, and the technical solution of this embodiment is further refined on the basis of the above embodiments. Optionally, the controlling the spraying gun on the spraying equipment to perform a spraying operation on the spraying object in the current operation area corresponding to the positioning marker includes: controlling the spraying gun on the spraying equipment based on a preset spraying track Spraying the current operation area; when the detection equipment on the spraying equipment detects the spraying markers set on the current operation area, it is determined to complete the spraying operation of the current operation area, and control the spraying equipment on the spraying equipment Gun stops spraying.

[0077] The specific implementation steps of this embodiment include:

[0078] S210. During the movement of the spraying equipment, when the detection ...

Embodiment 3

[0089] Figure 5 It is a flow chart of a positioning spraying method provided in Embodiment 3 of the present invention, and the technical solution of this embodiment is further refined on the basis of the above embodiments. Optionally, the spraying equipment includes at least two spraying guns; wherein, the controlling the spraying guns on the spraying equipment to perform a spraying operation on the spraying object in the current operation area corresponding to the positioning marker includes: according to the The area type of the positioning marker is used to control the spraying guns on the spraying equipment to perform spraying operations on the current working area; wherein, the number of spraying guns for spraying is determined according to the area type.

[0090] The specific implementation steps of this embodiment include:

[0091] S310. During the movement of the spraying equipment, when the detection equipment on the spraying equipment detects the positioning marker...

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Abstract

The embodiment of the invention discloses a positioning spraying method, device, system and storage medium. The method includes: during the movement of the spraying equipment, when the detection equipment on the spraying equipment detects the positioning marker on the spraying object, controlling the spraying equipment to stop moving; controlling the spraying gun on the spraying equipment to spray the object Execute the spraying operation in the current operation area corresponding to the positioning marker; when the attribute information of the positioning marker in the current operation area does not meet the preset termination condition, after the spraying operation in the current operation area is completed, control the The above-mentioned spraying equipment continues to move. In the embodiment of the present invention, the detection equipment on the spraying equipment detects the markers set on the spraying object, and determines the positioning position of the spraying equipment according to the detection results, which solves the problem of inaccurate navigation and positioning, and improves the spraying efficiency and spraying quality.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of spraying robots, and in particular to a positioning spraying method, device, system and storage medium. Background technique [0002] In the spraying process, the application of spraying robots is more and more extensive. The spraying robot is an industrial robot that can automatically spray paint or spray other coatings. It is mainly composed of a robot body, a computer and a corresponding control system. Its notable advantage is that it improves the quality and efficiency of spraying. [0003] When the spraying robot works in a closed environment, due to the empty working space and weak wireless signal, the traditional BIM map navigation method is not accurate for the navigation and positioning of the spraying robot, and continuous operation is difficult, which will reduce the spraying efficiency and spraying quality. Contents of the invention [0004] Embodiments of the present...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B05B12/12B05D1/02
CPCB05B12/122B05D1/02
Inventor 李立飞马兆彬李晓峰罗银贵
Owner GUANGDONG BOZHILIN ROBOT CO LTD