Intelligent spraying method, device and equipment, storage medium and program product

Abstract

The invention discloses an intelligent spraying method, device and equipment, a storage medium and a program product, and belongs to the technical field of spraying. The method comprises the following steps: in response to a spraying instruction for a target area, determining a motion starting point position of a spray gun and an instruction control strategy for a spray gun motion instruction and a spray gun starting instruction according to acceleration time consumption, starting time consumption and slurry flying time consumption of the spray gun and a spraying starting position of the target area; according to the slurry flying time consumption, the closing time consumption and the deceleration time consumption of the spray gun and the spraying ending position of the target area, instruction control strategies for the spray gun closing instruction and the spray gun motion stopping instruction are determined; wherein the movement starting point position and the instruction control strategy meet the following conditions: the slurry is uniformly sprayed on the target area; and the spray gun is driven to move to the movement starting point position, and a spray gun movement instruction, a spray gun starting instruction, a spray gun closing instruction and a spray gun movement stopping instruction are sent to the spray gun according to the instruction control strategy. The spraying effect can be improved.

Description

Technical Field

[0001] The present application belongs to the field of spraying technology, and in particular, relates to an intelligent spraying method, device, equipment, storage medium and program product. Background Art

[0002] Spraying is a coating method that uses a spray gun to disperse the slurry into uniform and fine droplets and apply them to the area to be sprayed. With the development of automation technology, the use of various types of automated spraying equipment for spraying operations has become a new trend. For example, the use of putty spraying robots to achieve putty spraying operations can reduce manual labor intensity and improve work efficiency.

[0003] When using automatic spraying equipment for spraying, in the related art, the automatic spraying equipment is first controlled to move to the relative position of the spraying starting point of the area to be sprayed, and then the spray gun is controlled to perform automatic spraying. In the above scheme, it is easy to have less or more spray on the spraying edge of the area to be sprayed, resulting in uneven spraying and poor spraying effect. Summary of the invention

[0004] The embodiments of the present application provide an intelligent spraying method, device, equipment, storage medium and program product, which can solve the problem of poor spraying effect caused by uneven spraying.

[0005] In a first aspect, an embodiment of the present application provides an intelligent spraying method, comprising:

[0006] receiving spraying instructions for target areas;

[0007] In response to the spraying instruction, the acceleration time, opening time, slurry flight time, closing time and deceleration time of the spray gun are obtained; wherein the acceleration time is the time taken for the spray gun to move from rest to uniform speed in response to the spray gun movement instruction, and the spray gun movement instruction is used to instruct the spray gun to move in a straight line at uniform speed; the opening time is the time taken for the spray gun to switch from closed to open in response to the spray gun opening instruction; the slurry flight time is the time taken for the slurry to fly from the spray gun to the target area when the spray gun is separated from the target area by a spraying distance; the closing time is the time taken for the spray gun to switch from open to closed in response to the spray gun closing instruction; the deceleration time is the time taken for the spray gun to move from uniform speed to rest in response to the spray gun stop movement instruction;

[0008] Determine the movement starting point position of the spray gun, a first instruction control strategy for the spray gun movement instruction and a second instruction control strategy for the spray gun opening instruction according to the acceleration time, the opening time, the slurry flight time and the spraying starting position of the target area;

[0009] According to the slurry flight time, the closing time, the deceleration time and the spraying end position of the target area, a third instruction control strategy for the spray gun closing instruction and a fourth instruction control strategy for the spray gun stop movement instruction are determined; wherein the movement starting point position, and the first instruction control strategy to the fourth instruction control strategy meet: the slurry is evenly sprayed on the target area;

[0010] Drive the spray gun to the starting position of the movement, and send the spray gun movement instruction to the spray gun according to the first instruction control strategy, send the spray gun opening instruction to the spray gun according to the second instruction control strategy, send the spray gun closing instruction to the spray gun according to the third instruction control strategy, and send the spray gun stop movement instruction to the spray gun according to the fourth instruction control strategy.

[0011] In a second aspect, an embodiment of the present application provides an intelligent spraying device, comprising:

[0012] A receiving module, used for receiving a spraying instruction for a target area;

[0013] An acquisition module is used to obtain the acceleration time, opening time, slurry flight time, closing time and deceleration time of the spray gun in response to the spraying instruction; wherein the acceleration time is the time taken for the spray gun to move from rest to uniform speed in response to the spray gun movement instruction, and the spray gun movement instruction is used to instruct the spray gun to move in a straight line at uniform speed; the opening time is the time taken for the spray gun to switch from closed to open in response to the spray gun opening instruction; the slurry flight time is the time taken for the slurry to fly from the spray gun to the target area when the spray gun is separated from the target area by a spraying distance; the closing time is the time taken for the spray gun to switch from open to closed in response to the spray gun closing instruction; the deceleration time is the time taken for the spray gun to move from uniform speed to rest in response to the spray gun stop movement instruction;

[0014] A first determination module is used to determine the movement starting position of the spray gun, a first instruction control strategy for the spray gun movement instruction and a second instruction control strategy for the spray gun opening instruction according to the acceleration time, the opening time, the slurry flight time and the spraying starting position of the target area;

[0015] The second determination module is used to determine a third instruction control strategy for the spray gun closing instruction and a fourth instruction control strategy for the spray gun stop movement instruction according to the slurry flight time, the closing time, the deceleration time and the spraying end position of the target area; wherein the movement starting point position, and the first instruction control strategy to the fourth instruction control strategy meet: the slurry is evenly sprayed on the target area;

[0016] An operation module is used to drive the spray gun to move to the starting position of the movement, and send the spray gun movement instruction to the spray gun according to the first instruction control strategy, send the spray gun opening instruction to the spray gun according to the second instruction control strategy, send the spray gun closing instruction to the spray gun according to the third instruction control strategy, and send the spray gun stop movement instruction to the spray gun according to the fourth instruction control strategy.

[0017] In a third aspect, an embodiment of the present application provides an intelligent spraying device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the intelligent spraying method as described in the first aspect is implemented.

[0018] In a fourth aspect, an embodiment of the present application provides a computer storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the intelligent spraying method as described in the first aspect is implemented.

[0019] In a fifth aspect, an embodiment of the present application provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the intelligent spraying method as described in the first aspect.

[0020] In the embodiment of the present application, in response to the spraying instruction for the target area, when planning the path of the spray gun, the acceleration and deceleration time, the switching time and the slurry flight time of the spray gun are further considered. According to the above time, as well as the spraying start position and the spraying end position of the target area, the movement starting position of the spray gun and the command control strategy are determined, wherein the movement starting position and the command control strategy meet the following conditions: the slurry sprayed by the spray gun is evenly sprayed on the target area. In this way, by driving the spray gun to move to the movement starting position, and sending the spray gun movement instruction, the spray gun opening instruction, the spray gun closing instruction and the spray gun stop movement instruction to the spray gun according to the command control strategy, the slurry can be evenly sprayed on the target area, ensuring the uniformity of the spraying, thereby improving the spraying effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 It is one of the structural diagrams of the intelligent spraying equipment provided in the embodiment of the present application;

[0023] Figure 2 It is one of the flow charts of the intelligent spraying method provided in the embodiment of the present application;

[0024] Figure 3 This is the second structural diagram of the intelligent spraying equipment provided in the embodiment of the present application;

[0025] Figure 4a It is a side view of the intelligent spraying equipment provided in the embodiment of the present application performing vertical wall spraying;

[0026] Figure 4b It is a top view of the intelligent spraying equipment provided in the embodiment of the present application performing vertical wall spraying;

[0027] Figure 5 This is the second flow chart of the intelligent spraying method provided in the embodiment of the present application;

[0028] Figure 6 It is one of the motion schematic diagrams of the spray gun provided in the embodiment of the present application;

[0029] Figure 7a This is the third flow chart of the intelligent spraying method provided in the embodiment of the present application;

[0030] Figure 7b This is the second motion schematic diagram of the spray gun provided in the embodiment of the present application;

[0031] Figure 8 is a structural diagram of the intelligent spraying device provided in an embodiment of the present application;

[0032] Fig. 9 This is the third structural diagram of the intelligent spraying equipment provided in the embodiment of the present application. DETAILED DESCRIPTION

[0033] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0034] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0035] For ease of understanding, some contents involved in the embodiments of the present application are described below:

[0036] The intelligent spraying method of the embodiment of the present application can be applied to intelligent spraying equipment capable of automatic spraying. The intelligent spraying equipment can also be called a spraying robot, a spraying walking mechanism or a spraying machine, etc.

[0037] In an embodiment of the present application, the intelligent spraying equipment can realize automatic spraying by controlling the spray gun to move in a straight line.

[0038] For the convenience of description, the spraying area of ​​the spray gun during one linear motion is called a single-pass spraying area, the spraying range of the spray gun in the linear motion direction is called a spraying stroke, and the spraying range of the spray gun in the direction perpendicular to the linear motion direction is called a spraying width. One linear motion corresponds to a single-pass spraying area, and one single-pass spraying area corresponds to a spraying stroke (hereinafter referred to as a single-pass spraying stroke) and a spraying width.

[0039] It can be understood that the size of the single-pass spraying stroke h can be flexibly adjusted by controlling the linear motion distance. In specific applications, the length of the area to be sprayed can be determined as the single-pass spraying stroke h. The spraying width l satisfies a certain geometric relationship with the spray fan angle θ of the spray gun nozzle and the spraying distance s of the spray gun relative to the spraying area. Therefore, without changing the nozzle, the spraying width l is fixed during the linear motion of the spray gun. In specific applications, the spraying width l of the spray gun can be set based on the size of the target area, such as setting the width of the target area to be an integer multiple of the spraying width l of the spray gun.

[0040] Based on the above content, for the area to be sprayed, its width can be compared with the spraying width l of the spray gun to determine whether it is necessary to control the spray gun to perform multiple linear movements to complete the automated spraying of the area to be sprayed, and then determine the number of single-pass spraying areas included in the area to be sprayed, and then plan the path of the spray gun in units of single-pass spraying areas.

[0041] When the width of the area to be sprayed is equal to the spraying width l, since the spraying area of ​​a single linear motion can cover the area to be sprayed, the intelligent spraying equipment can complete the automatic spraying of the area to be sprayed by controlling the spray gun to perform a linear motion. In this case, the area to be sprayed only includes a single-pass spraying area.

[0042] When the width of the area to be sprayed is greater than the spraying width l, since the spraying area of ​​a single linear motion cannot cover the area to be sprayed, the intelligent spraying equipment needs to control the spray gun to perform at least two linear motions to complete the automated spraying of the area to be sprayed. In this case, the area to be sprayed can be divided into multiple single-pass spraying areas first, and then spraying is performed in units of single-pass spraying areas, wherein the multiple single-pass spraying areas of the area to be sprayed are continuous and non-overlapping in the vertical direction of the linear motion direction, and the length of each single-pass spraying area is the single-pass spraying stroke h of the single-pass spraying area, and the width is the spraying width l of the spray gun. In specific implementation, after each control of the spray gun to perform a linear motion to complete the spraying of a single-pass spraying area, the spray gun is controlled to move to the next single-pass spraying area for spraying until the spraying of the area to be sprayed is completed.

[0043] The embodiment of the present application does not limit the structure of the intelligent spraying device. In one example, the intelligent spraying device can be as follows: Figure 1 As shown, it may include a chassis 11 , a lifting device 12 , a robot arm 13 , a spraying system 14 , a spray gun 15 and a control system 16 .

[0044] The chassis 11 may be provided with four independently steerable omnidirectional wheels. By controlling the direction of the wheels and the direction of rotation, the chassis 11 can move forward, backward, left, right, and turn on the spot. The chassis 11 is flexible in movement, thus adapting to various narrow working spaces.

[0045] The lifting device 12 is mounted on the chassis 11, and the mechanical arm 13 is mounted at the front end of the lifting device 12. The lifting device 12 drives the mechanical arm 13 to move in the vertical direction, which can increase the vertical spraying range of the robot. A spray gun 15 is installed at the end of the mechanical arm 13. The spray gun 15 can change its position and posture with the movement of the chassis 11, the mechanical arm 13 and the lifting device 12 to achieve spraying at different positions.

[0046] The spraying system 14 is used to pressurize the stored slurry and pump it to the spray gun 15. The pressure and flow rate of the spraying slurry can be adjusted by adjusting the rotation speed of the pumping motor.

[0047] The control system 16 can send instructions to each module to control the overall movement and collaborative operation of the robot.

[0048] The following is a detailed description of the intelligent spraying method provided in the embodiment of the present application through some embodiments and their application scenarios in combination with the accompanying drawings.

[0049] See also Figure 2 , Figure 2 This is one of the flow charts of the intelligent spraying method provided in the embodiment of the present application. Figure 2 As shown, the intelligent spraying method may include the following steps:

[0050] Step 201: Receive a spraying instruction for a target area.

[0051] The spraying instruction for the target area is used to instruct the intelligent spraying equipment to automatically spray the target area. It can be understood that the target area is the area to be sprayed.

[0052] In specific implementations, after the user determines the target area to be sprayed, in some implementations, the user can interact with the intelligent spraying device to input spraying instructions for the target area into the intelligent spraying device; in other implementations, the user terminal can send spraying instructions for the target area to the intelligent spraying device. The specific implementation can be determined according to actual needs, and the embodiments of the present application are not limited to this.

[0053] Step 202: In response to the spraying instruction, the acceleration time, the opening time, the slurry flying time, the closing time and the deceleration time of the spray gun are obtained.

[0054] After receiving the spraying instruction for the target area, the intelligent spraying equipment can respond to the spraying instruction by first planning the path of the spray gun based on the target area to be sprayed, determining the movement starting position of the spray gun and the instruction control strategy, and then controlling the spray gun based on the above planning to realize automatic spraying of the target area, so as to improve the spraying efficiency of the target area.

[0055] In the embodiment of the present application, when planning the path of the spray gun, various factors that may affect the spraying are considered in advance to improve the spraying effect. Among them, the above factors may include but are not limited to the following time consumption of the spray gun:

[0056] Acceleration time: the acceleration time is the time taken for the spray gun to move from rest to uniform speed in response to the spray gun movement instruction, and the spray gun movement instruction is used to instruct the spray gun to move in a straight line at uniform speed;

[0057] Opening time: the time it takes for the spray gun to switch from closed to open in response to the spray gun opening instruction;

[0058] Slurry flight time: the time it takes for the slurry to fly from the spray gun to the target area when the spray gun is separated from the target area by a spraying distance; the slurry can be putty, latex paint, real stone paint, etc.;

[0059] Closing time: the time it takes for the spray gun to switch from on to off in response to the spray gun closing instruction;

[0060] Deceleration time: The deceleration time is the time taken for the spray gun to move from the uniform speed to rest in response to the spray gun stop motion instruction.

[0061] In specific implementation, in order to achieve uniform spraying of the area to be sprayed, the intelligent spraying equipment needs to send a spraying movement instruction to the spray gun to instruct it to move in a straight line at a uniform speed according to the spraying speed, and a spray gun opening instruction to instruct it to turn on; in order to achieve precise spraying of the area to be sprayed, so that the spraying range of the slurry matches the area to be sprayed and will not be sprayed outside the area to be sprayed, the intelligent spraying equipment needs to send a spray gun closing instruction to instruct it to close and a spray gun stop movement instruction to instruct it to stop.

[0062] Generally, the spray gun is in a stationary state when receiving the above-mentioned spray gun movement instruction. Therefore, before the spray gun responds to the above-mentioned spray gun movement instruction and performs a straight uniform motion at the spraying speed, it needs to first go through an acceleration stage in which the speed changes from 0 to the spraying speed v. In addition, before the spray gun stops moving in response to the above-mentioned spray gun stop movement instruction, it needs to first go through a deceleration stage in which the speed changes from the spraying speed v to 0. In the acceleration stage and the deceleration stage, since the speed of the spray gun is constantly changing, if the spray gun sprays the slurry at this time, the slurry will appear uneven when it reaches the area to be sprayed. Based on this, the acceleration time corresponding to the acceleration stage and the deceleration time corresponding to the deceleration stage can be regarded as factors that affect spraying.

[0063] There is a time delay between the moment the spray gun receives the spray gun opening command and the moment the spray gun is actually opened (this delay is called the opening time), and there is a time delay between the moment the spray gun receives the spray gun closing command and the moment the spray gun is actually closed (this delay is called the closing time). If the spray gun is sent a spray gun opening command when it moves to the spray starting position of the area to be sprayed, no slurry will be sprayed at the edge of the area to be sprayed due to the opening time. If the spray gun is sent a spray gun closing command when it moves to the spray ending position of the area to be sprayed, the slurry will be sprayed outside the area to be sprayed due to the closing time. Based on this, the opening time and closing time can be regarded as factors that affect spraying.

[0064] There is a time delay between the time when the slurry is sprayed from the spray gun and the time when the slurry reaches the area to be sprayed (this delay is called the slurry flight time). If the spray gun sprays the slurry when the spray gun moves to the spray starting position of the area to be sprayed, due to the slurry flight time, no slurry will be sprayed at the edge of the area to be sprayed. Based on this, the slurry flight time can be regarded as a factor that affects spraying.

[0065] Therefore, in an embodiment of the present application, in response to a spraying instruction, the above-mentioned time consumption of the spray gun can be obtained first, and then the path of the spray gun can be planned according to the above-mentioned time consumption through steps 203 and 204, and the starting position of the movement of the spray gun and the instruction control strategy can be determined, so that the determined starting position of the movement of the spray gun and the instruction control strategy can ensure the uniformity of spraying on the basis of achieving precise spraying of the area to be sprayed, thereby improving the spraying effect.

[0066] The time-consuming acquisition method described above is described in detail below, but it should be understood that the following acquisition method is only an example and does not limit the time-consuming acquisition method described above.

[0067] For the acceleration time t p :

[0068] In some embodiments, the acceleration time t p The acceleration a in the acceleration phase and the speed of the spray gun in the straight uniform motion (this speed is called the spraying speed v) can be obtained first, and then t p =v / a is calculated.

[0069] The embodiments of the present application do not limit the method for obtaining the spraying speed v. In some embodiments, the spraying speed v can be determined autonomously by the intelligent spraying device. In other embodiments, the spraying speed v can be specified by the user, such as: carrying the spraying speed v in the spraying instruction. In still other embodiments, the spraying speed v can be determined based on other spraying parameters, which can be specifically referred to in the following related description, which is not described here.

[0070] In some embodiments, the acceleration a can be determined autonomously by the intelligent spraying device or specified by the user. For the autonomously determined acceleration a, the acceleration a can be detected by an acceleration sensor during the acceleration test of the intelligent spraying device in advance. Figure 1 In the intelligent spraying equipment, the acceleration sensor can be set at the end of the robotic arm.

[0071] In other embodiments, the acceleration time t p It can be obtained by performing an acceleration test on the intelligent spraying equipment in advance. In this embodiment, the acceleration time t can be obtained by recording the completion time of the acceleration test. p .

[0072] The above acceleration test is a test to control the spray gun to move from a stationary state to a uniform speed of spraying speed v. It should be noted that if the acceleration test is used to determine the acceleration time t p , the parameters of the acceleration phase in the actual spraying process can be set to be consistent with the parameters of the acceleration test, so that the accuracy of the spraying can be further improved. In addition, multiple acceleration tests can be performed, and then the acceleration time t can be determined based on the parameters of multiple acceleration tests. p , thus, the test error can be reduced, thereby improving the acceleration time t p The acquisition accuracy can improve the accuracy of spraying.

[0073] For the deceleration time t m , which can be obtained in the same way as the acceleration time consumption. For details, please refer to the above related description, which will not be repeated here.

[0074] For the opening time t o (Also known as opening time), the intelligent spraying equipment can be tested for opening in advance, a spray gun opening command is sent to the spray gun, and the time difference between the sending time of the spray gun opening command and the spray gun opening time is recorded to obtain the opening time.

[0075] For closing time t c , the intelligent spraying equipment can be tested for shutdown in advance, a spray gun shutdown command can be sent to the spray gun, and the time difference between the sending time of the spray gun shutdown command and the spray gun shutdown time can be recorded to obtain the shutdown time.

[0076] The time taken for slurry flight is t s :

[0077] In some embodiments, the method of obtaining the acceleration time, opening time, slurry flight time, closing time and deceleration time of the spray gun includes:

[0078] The slurry flight time of the spray gun is determined by the first formula, which is:

[0079]

[0080] Wherein, s is the spraying distance of the spray gun relative to the target area, A is the nozzle outlet area of ​​the spray gun, and q is the spraying flow rate of the spray gun.

[0081] The embodiments of the present application do not limit the method for obtaining the spraying distance s. In some implementations, the spraying distance s can be determined autonomously by the intelligent spraying device or specified by the user. Since the spraying width l satisfies a certain geometric relationship with the spray fan angle θ of the spray gun nozzle and the spraying distance s of the spray gun relative to the spraying area, in these embodiments, the spraying width l of the spray gun can be made to meet the preset requirements by selecting the nozzle.

[0082] In some other implementations, the method may further include:

[0083] The spraying speed is determined by a third formula, which is:

[0084]

[0085] Wherein, l is the spraying width of the spray gun, and θ is the spray fan angle of the spray gun.

[0086] In this implementation, the nozzle may be selected first, and then the spraying distance may be calculated by the third formula so that the spraying width l of the spray gun meets the preset requirements, thereby improving the spraying accuracy.

[0087] The spray flow rate q can be adjusted by adjusting the motor speed of the pumping system. After the motor speed is adjusted, the spray flow rate can be controlled by the spray gun and then measured using a flow sensor.

[0088] The nozzle outlet area A of the spray gun is an inherent parameter of the nozzle of the spray gun and can be obtained in advance.

[0089] In this embodiment, the slurry flight time of the spray gun is determined by the first formula, so that the determined slurry flight time can accurately reflect the delay from the slurry being sprayed from the spray gun to being sprayed on the target area, thereby improving the accuracy of spraying.

[0090] In other embodiments, the slurry flight takes time t s The slurry flight time can be obtained by conducting a slurry flight test on the intelligent spraying equipment in advance, controlling the spraying distance between the spray gun and a certain area, then controlling the spray gun to spray the slurry, and recording the time difference between the slurry being sprayed from the spray gun to the slurry being sprayed on the area.

[0091] Step 203, determining the movement starting position of the spray gun, the first instruction control strategy for the spray gun movement instruction and the second instruction control strategy for the spray gun opening instruction according to the acceleration time, the opening time, the slurry flight time and the spraying starting position of the target area.

[0092] Step 204, determining a third instruction control strategy for the spray gun closing instruction and a fourth instruction control strategy for the spray gun stop movement instruction according to the slurry flight time, the closing time, the deceleration time and the spraying end position of the target area; wherein the movement starting point position, and the first instruction control strategy to the fourth instruction control strategy satisfy: the slurry is evenly sprayed on the target area.

[0093] Step 205, drive the spray gun to move to the starting position of the movement, and send the spray gun movement instruction to the spray gun according to the first instruction control strategy, send the spray gun opening instruction to the spray gun according to the second instruction control strategy, send the spray gun closing instruction to the spray gun according to the third instruction control strategy, and send the spray gun stop movement instruction to the spray gun according to the fourth instruction control strategy.

[0094] It can be seen from the above content that when the intelligent spraying equipment realizes automatic spraying by controlling the spray gun to perform linear motion, the intelligent spraying equipment may need to control the spray gun to perform one or more linear motions to complete the spraying of the area to be sprayed. Therefore, when planning the path of the spray gun, the single-pass spraying area included in the target area can be determined first. In specific implementation, the target area can be divided in width based on the set spraying width l of the nozzle to obtain multiple single-pass spraying areas, wherein the multiple single-pass spraying areas are continuous and non-overlapping in the width direction to ensure the uniformity of spraying of the target area.

[0095] When the number of single-pass spraying areas included in the target area is 1, spraying of the target area can be completed by executing steps 203 to 205 once.

[0096] When the number of single-pass spraying areas included in the target area is greater than 1, the spray gun can be path planned and controlled based on the single-pass spraying area. In this case:

[0097] Step 203 may be specifically performed as follows:

[0098] For each single-pass spraying area of ​​the target area, according to the acceleration time, the opening time, the slurry flight time and the spraying starting position of the single-pass spraying area, determine: the movement starting position of the spray gun, the first instruction control strategy for the spray gun movement instruction and the second instruction control strategy for the spray gun opening instruction corresponding to the single-pass spraying area;

[0099] Step 204 may be specifically performed as follows:

[0100] For each single-pass spraying area of ​​the target area, according to the slurry flight time, the closing time, the deceleration time and the spraying termination position of the single-pass spraying area, determine: a third instruction control strategy for the spray gun closing instruction and a fourth instruction control strategy for the spray gun stop movement instruction corresponding to the single-pass spraying area;

[0101] Wherein, the movement starting point position corresponding to each single-pass spraying area, and the first instruction control strategy to the fourth instruction control strategy satisfy: the slurry is sprayed uniformly in the single-pass spraying area;

[0102] Step 205 may be specifically performed as follows:

[0103] For each single-pass spraying area of ​​the target area, the spray gun is driven to move to the movement starting position corresponding to the single-pass spraying area, and the spray gun movement instruction is sent to the spray gun according to the first instruction control strategy corresponding to the single-pass spraying area, the spray gun opening instruction is sent to the spray gun according to the second instruction control strategy corresponding to the single-pass spraying area, the spray gun closing instruction is sent to the spray gun according to the third instruction control strategy corresponding to the single-pass spraying area, and the spray gun stop movement instruction is sent to the spray gun according to the fourth instruction control strategy corresponding to the single-pass spraying area.

[0104] In specific implementation, when the number of single-pass spraying areas included in the target area is greater than 1, after using the planning result of a certain single-pass spraying area to complete the spraying of a certain single-pass spraying area of ​​the target area, the spray gun can be controlled to move to the movement starting position of the next single-pass spraying area to achieve spraying of the next single-pass spraying area until the spraying of the target area is completed.

[0105] For step 203, the influence of the acceleration time, start-up time and slurry flight time of the spray gun on the spraying is taken into consideration. For a single-pass spraying area, the movement starting position of the spray gun corresponding to the single-pass spraying area and the command control strategy for the spray gun movement command and the spray gun start command can be determined according to the acceleration time, start-up time and slurry flight time of the spray gun and the spraying starting position of the single-pass spraying area.

[0106] For step 204, the influence of the slurry flight time, shutdown time and deceleration time of the spray gun on the spraying is taken into consideration. For the single-pass spraying area, the command control strategy for the spray gun stop motion instruction and the spray gun shutdown instruction corresponding to the single-pass spraying area can be determined according to the slurry flight time, shutdown time and deceleration time of the spray gun, and the spraying end position of the single-pass spraying area.

[0107] It is worth noting that the information determined by step 203 satisfies: the difference between the spraying start point of the slurry and the stroke start point position of the single-pass spraying stroke of the single-pass spraying area is less than the preset value, and the slurry flies to the spraying start point in a uniform motion state; the information determined by step 204 satisfies: the difference between the spraying end point of the slurry and the stroke end point position of the single-pass spraying stroke of the single-pass spraying area is less than the preset value, and the slurry flies to the spraying end point in a uniform motion state, wherein the preset value is the allowable spraying error range, that is, the difference between the spraying start point of the slurry and the stroke start point position is less than the preset value, which can be regarded as: the spraying start point of the slurry is exactly the stroke start point position; the difference between the spraying end point of the slurry and the stroke end point position is less than the preset value, which can be regarded as: the spraying end point of the slurry is exactly the stroke end point position. In this way, the information determined by the combined steps 203 and 204 can satisfy: the slurry is evenly applied to the single-pass spraying area, and will not be sprayed outside the single-pass spraying area, and further satisfy: the slurry is evenly applied to the target area, and will not be sprayed outside the target area.

[0108] It should be noted that in the embodiments of the present application, the starting position of the target area for spraying and the starting position of the single-pass spraying stroke are two different concepts, and the ending position of the target area for spraying and the end position of the single-pass spraying stroke are two different concepts. When the spray gun sprays the target area, it can be understood that the spray gun is separated from the target area by the spraying distance, the spraying trajectory is parallel to the target area, and the starting position and the ending position of the spraying of the target area are both positions in the spraying trajectory. The starting position of the target area for spraying can be understood as: the position in the spray gun's trajectory that is separated from the starting position of the single-pass spraying stroke of the target area by the spraying distance; the ending position of the target area for spraying can be understood as: the position in the spray gun's trajectory that is separated from the end position of the single-pass spraying stroke of the target area by the spraying distance.

[0109] The intelligent spraying method of the embodiment of the present application, in response to the spraying instruction for the target area, further considers the acceleration and deceleration time, the switching time and the slurry flight time of the spray gun when planning the path of the spray gun, and determines the movement starting position of the spray gun and the command control strategy according to the above time, as well as the spraying start position and the spraying end position of the area to be sprayed, wherein the movement starting position and the command control strategy meet the following conditions: the slurry sprayed by the spray gun is evenly sprayed on the target area. In this way, by driving the spray gun to move to the movement starting position, and sending the spray gun movement instruction, the spray gun opening instruction, the spray gun closing instruction and the spray gun stop movement instruction to the spray gun according to the command control strategy, the slurry can be evenly sprayed on the target area, ensuring the uniformity of the spraying, thereby improving the spraying effect.

[0110] The implementation of step 203 is described in detail below.

[0111] In some embodiments, the determination of the movement starting position of the spray gun, the first instruction control strategy for the spray gun movement instruction and the second instruction control strategy for the spray gun opening instruction according to the acceleration time, the opening time, the slurry flight time and the spraying starting position of the target area may include:

[0112] Obtaining a first time processing strategy for the acceleration time and the start time;

[0113] According to the first time processing strategy, determining a first time consumed by the spray gun in a uniform motion state before the spray gun moves to a spraying start position of the target area;

[0114] Determine the sum of the accelerated moving distance of the spray gun in the accelerated time and the uniform moving distance in the first time as the first moving distance of the spray gun;

[0115] Determine a position separated from the spraying start position by the first moving distance in the negative direction as the movement starting position of the spray gun, wherein the negative direction is the direction opposite to the spraying direction of the spray gun, and the spraying direction of the spray gun is the linear movement direction of the spray gun;

[0116] According to the movement starting point position and the first time processing strategy, a first instruction control strategy for the spray gun movement instruction and a second instruction control strategy for the spray gun opening instruction are determined.

[0117] In this embodiment, the acceleration time y p and start time t o , there are two time processing strategies:

[0118] Decouple the acceleration time and the opening time, that is, control the acceleration time and the opening time not to overlap. Furthermore, the acceleration time and the opening time can be continuous or discontinuous. Under this time processing strategy, the spray gun device sends a spray gun opening instruction to the spray gun while waiting for the spray gun to enter the uniform speed stage or after that, and the spray gun is opened during the uniform speed stage of the spray gun.

[0119] The acceleration time and the opening time are coupled, that is, the acceleration time and the opening time are controlled to overlap. Furthermore, the acceleration time and the opening time can be in a relationship of inclusion and being included. Under this time processing strategy, the spray gun equipment can send a spray gun opening instruction to the spray gun during its acceleration process, or send a spray gun movement instruction to the spray gun during its opening process. The opening of the spray gun occurs during the acceleration stage of the spray gun.

[0120] In specific implementation, a time processing strategy (i.e., the first time processing strategy) can be selected from the above to plan the path corresponding to the single-pass spraying area for the spray gun. The first time processing strategy can be determined autonomously by the intelligent spraying device or specified by the user. It can be determined according to actual conditions and is not limited in the embodiments of the present application.

[0121] In order to ensure that the starting point of slurry spraying is exactly at the starting point of the stroke, and the slurry flies to the starting point of spraying at a uniform speed, the spray gun should enter a uniform speed stage when spraying the slurry, and when the spray gun moves to the starting position of spraying, the slurry just reaches the starting point of the stroke.

[0122] Based on this, it can be understood that the spray gun needs to enter a uniform motion state before moving to the spraying starting position, and the time the spray gun is in a uniform motion state before moving to the spraying starting position (i.e., the first time consumption) at least includes the slurry flight time t s Before the spray gun moves to the spray starting position, the spray gun needs to complete the acceleration phase and perform the first time-consuming uniform motion. Therefore, before the spray gun moves to the spray starting position, the movement distance of the spray gun (i.e., the first movement distance x1) is the acceleration movement distance x1 of the spray gun during the acceleration time. p The sum of the uniform moving distance in the first time consumption, therefore, the position which is x1 away from the spraying starting position in the negative direction can be used as the movement starting position of the spray gun in the single-pass spraying area.

[0123] For the time processing strategy of decoupling the acceleration time and the opening time, since the opening of the spray gun occurs in the uniform speed stage of the spray gun, the first time further includes the opening time t o , the first time consumption can be expressed as: t o +t s , that is, the first time consumption is the sum of the opening time consumption and the slurry flight time consumption. Under this time processing strategy, x1 = x p +v(t o +t s ).

[0124] For the time processing strategy of coupling acceleration time and opening time, since the opening of the spray gun occurs during the acceleration phase of the spray gun, the first time does not include the opening time t o , the first time consumption is t s , that is, the first time consumption is the slurry flight time consumption. Under this time processing strategy, x1 = x p +vt s .

[0125] After the movement starting point position is determined, the command control strategy for the spray gun movement command and the spray gun opening command can be determined based on the movement starting point position and the first time processing strategy.

[0126] Further, in the case where the first time processing strategy is to decouple the acceleration time and the opening time, the first instruction control strategy for the spray gun movement instruction and the second instruction control strategy for the spray gun opening instruction are determined according to the movement starting point position and the first time processing strategy, including:

[0127] The first command control strategy for the spray gun movement command is determined as: sending the spray gun movement command at the movement starting point;

[0128] The second instruction control strategy for the spray gun opening instruction is determined as: sending the spray gun opening instruction at a first moment; wherein the first moment is located after the second moment and is separated from the second moment by the opening time; the second moment is the sending moment of the spray gun movement instruction.

[0129] In this case, when spraying a single-pass spraying area, the intelligent spraying device can send a spray gun movement instruction to the spray gun at the movement starting point. In response to the spray movement instruction, the spray gun starts to move in the spraying direction; after t p After t, the spray gun enters the uniform motion stage, and a spray gun start command is sent to the spray gun; after t o After time, the spray gun is opened, and then after t s After a certain time, the slurry reaches the single-pass spraying area. Since the slurry has inertia, it will keep the spraying speed along the direction of the spray gun after being sprayed. Therefore, when the slurry reaches the single-pass spraying area, it will be exactly at the starting point of the single-pass spraying stroke of the single-pass spraying area, and the slurry will fly to the spraying starting point at a uniform speed.

[0130] It can be seen that the command control strategy for the spray gun movement command and the spray gun opening command determined in the above manner can meet the following requirements: the spraying starting point of the slurry is exactly the starting point of the stroke, and the slurry flies to the spraying starting point at a uniform speed, thereby ensuring the uniformity of the spraying.

[0131] Further, in the case where the first time processing strategy is to couple the acceleration time and the opening time, the first instruction control strategy for the spray gun movement instruction and the second instruction control strategy for the spray gun opening instruction are determined according to the movement starting point position and the first time processing strategy, including:

[0132] The first command control strategy for the spray gun movement command is determined as follows: sending a command corresponding to a second time consumption at the movement starting point; wherein the second time consumption is the larger of the acceleration time consumption and the opening time consumption; the command corresponding to the acceleration time consumption is the spray gun movement command, and the command corresponding to the opening time consumption is the spray gun opening command;

[0133] The second instruction control strategy for the spray gun opening instruction is determined as: sending an instruction corresponding to the third time consumption at a third moment; wherein the third time consumption is the smaller of the acceleration time consumption and the opening time consumption; the third moment is located after the fourth moment, and is spaced from the fourth moment by a first value, and the first value is the absolute value of the difference between the acceleration time consumption and the opening time consumption; the fourth moment is the sending moment of the instruction corresponding to the second time consumption.

[0134] In this case, for t p and t o For coupling, in specific implementation, it can be achieved by comparing t p and t o The size of the spray gun determines the order of the spray gun movement command and the spray gun opening command.

[0135] If t p >t o When spraying a single-pass spraying area, the intelligent spraying equipment can first send a spray gun movement instruction at the movement starting point; in response to the spray movement instruction, the spray gun starts to move along the spraying direction; after t p -t o After time, send the spray gun open command; after t o After t, the spray gun is turned on and enters a uniform motion state. s After a certain time, the slurry reaches the single-pass spraying area. Since the slurry has inertia, it will keep the spraying speed along the direction of the spray gun after being sprayed. Therefore, when the slurry reaches the single-pass spraying area, it will be exactly at the starting point of the single-pass spraying stroke of the single-pass spraying area, and the slurry will fly to the spraying starting point at a uniform speed.

[0136] If t p <t o When spraying a single-pass spraying area, the intelligent spraying equipment can first send a spray gun start command at the starting point of the movement, and then o -t p After t, the spray gun movement command is sent at the starting point of the movement; in response to the spray movement command, the spray gun starts to move in the spray direction; after t p After t, the spray gun is turned on and enters a uniform motion state. s After a certain time, the slurry reaches the single-pass spraying area. Since the slurry has inertia, it will keep the spraying speed along the direction of the spray gun after being sprayed. Therefore, when the slurry reaches the single-pass spraying area, it will be exactly at the starting point of the single-pass spraying stroke of the single-pass spraying area, and the slurry will fly to the spraying starting point at a uniform speed.

[0137] It can be seen that the command control strategy for the spray gun movement command and the spray gun opening command determined in the above manner can meet the following requirements: the spraying starting point of the slurry is exactly at the starting point of the stroke, and the slurry flies to the spraying starting point at a uniform speed, thereby ensuring the uniformity of the spraying. In addition, by coupling t p and t o , can reduce the uniform moving distance of the spray gun before it moves to the spraying starting position, thereby reducing the spraying time of the target area and improving the spraying efficiency.

[0138] In the above embodiment, the time processing strategy for acceleration time and start-up time can be obtained to realize the starting point position of the movement of the spray gun and the flexible determination of the command control strategy for the spray gun movement instruction and the spray gun start-up instruction of the spray stroke. In this way, the starting point position of the movement of the spray gun and the determination method of the command control strategy for the spray gun movement instruction and the spray gun start-up instruction of the spray stroke can be enriched.

[0139] It should be noted that in other embodiments, the intelligent spraying equipment may, by default, adopt a decoupling or coupling acceleration time and start-up time to determine the starting point position of the spray gun's movement, as well as the command control strategy for the spray gun's movement instructions for the spray stroke and the spray gun's start-up instructions for the spray stroke. In this way, the starting point position of the spray gun's movement, as well as the command control strategy for the spray gun's movement instructions for the spray stroke and the spray gun's start-up instructions for the spray stroke can be simplified.

[0140] The implementation of step 204 is described in detail below.

[0141] In some embodiments, the third instruction control strategy for the spray gun closing instruction and the fourth instruction control strategy for the spray gun stop movement instruction are determined according to the slurry flight time, the closing time, the deceleration time and the spraying end position of the target area, and may include:

[0142] Determine the uniform moving distance of the slurry during the closing time and the slurry flying time as the second moving distance;

[0143] Acquire a second time processing strategy for the slurry flight time and the deceleration time;

[0144] According to the target position and the second time processing strategy, a third instruction control strategy for the spray gun closing instruction and a fourth instruction control strategy for the spray gun stop movement instruction are determined; wherein the target position is a position that is separated from the spraying end position of the target area by the second moving distance in the negative direction, and the negative direction is the direction opposite to the spraying direction of the spray gun.

[0145] In order to ensure that the spraying end point of the slurry is exactly at the end point of the stroke, and the slurry flies to the spraying end point at a uniform speed, considering the closing time t c And the slurry flight time t s , it is necessary to send a spray gun closing command to the spray gun in advance before the spray gun moves to the spraying end position, and control the spray gun to keep moving at a uniform speed before the spray gun is closed. In this way, it can be ensured that the slurry sprayed from the spray gun is in a uniform motion state.

[0146] The time after the spray gun receives the spray gun closing command is t c After that, the slurry is closed and sprayed. Due to the inertia of the slurry, the last slurry sprayed by the spray gun will be at t s After that, it reaches the single-pass spraying area. Based on this, it can be understood that in order to ensure that the spraying end point of the slurry is exactly at the end point of the stroke, it is necessary to advance t c +t s Send a spray gun close command to the spray gun, record the slurry at t c +t s The uniform moving distance is the second moving distance x2, x2 = v(t c +t s ), therefore, the position x2 away from the spraying end position in the negative direction can be used as the target position, and a spraying closing command is sent to the spray gun when the spray gun moves to the target position. In this way, it can be satisfied that: the spraying end point of the slurry is exactly the end point of the stroke, and the slurry flies to the spraying end point at a uniform speed. Assuming that the spraying start position of the target area is taken as the origin, then the spraying end position of the target area is h, and the target position of the target area is h-x2.

[0147] In this embodiment, the slurry flight time t s and deceleration time t m , there can be two time processing strategies:

[0148] Decouple the slurry flight time and deceleration time, that is, control the slurry flight time and deceleration time not to overlap. Furthermore, the slurry flight time and deceleration time can be continuous or discontinuous. Under this time processing strategy, the spray gun equipment can send a spray gun stop movement instruction to the spray gun while waiting for the slurry to fly to the end position of the stroke.

[0149] The slurry flight time and deceleration time are coupled, that is, the slurry flight time and deceleration time are controlled to overlap. Furthermore, the slurry flight time and deceleration time can be in a relationship of inclusion and being included. Under this time processing strategy, the spray gun equipment can send a spray gun stop motion instruction to the spray gun when the spray gun is closed. In this way, the spraying time of a single-pass spraying area can be reduced.

[0150] In specific implementation, a time processing strategy (i.e., the second time processing strategy) can be selected from the time processing strategy to plan the path corresponding to the single-pass spraying area for the spray gun. The second time processing strategy can be determined autonomously by the intelligent spraying device or specified by the user, and can be determined according to actual conditions, and the embodiments of the present application do not limit this.

[0151] After the target position and the second time processing strategy are determined, the command control strategy for the spray gun stop movement command and the spray gun closing command can be determined according to the target position and the second time processing strategy.

[0152] Further, in the case where the second time processing strategy is to decouple the slurry flight time and the deceleration time, the third instruction control strategy for the spray gun closing instruction and the fourth instruction control strategy for the instruction control strategy for the spray gun stop movement instruction are determined according to the target position and the second time processing strategy, including:

[0153] The third instruction control strategy for the spray gun closing instruction is determined as: sending the spray gun closing instruction at the target position;

[0154] The fourth command control strategy for stopping the movement of the spray gun is determined as: sending the spray gun stop movement command at the spraying end position.

[0155] In this case, when spraying a single-pass spraying area, the intelligent spraying equipment can send a spray gun closing instruction to the spray gun when it detects that the spray gun moves to the target position; after t c After that, the spray gun is closed; after time t s After that, the spray gun will just reach the spraying end position of the target area. Due to the inertia of the slurry, the slurry will also just reach the end position of the stroke. At this time, a stop movement command is sent to the spray gun.

[0156] It can be seen that the command control strategy for the spray gun movement command and the spray gun opening command determined in the above manner can meet the following requirements: the spraying end point of the slurry is exactly the end point of the stroke, and the slurry flies to the spraying end point at a uniform speed, thereby ensuring the uniformity of the spraying.

[0157] Further, in the case where the second time processing strategy is to couple the slurry flight time and the deceleration time, the third instruction control strategy for the spray gun closing instruction and the fourth instruction control strategy for the spray gun stop movement instruction are determined according to the target position and the second time processing strategy, including:

[0158] The third instruction control strategy for the spray gun closing instruction is determined as: sending the spray gun closing instruction at the target position;

[0159] The fourth command control strategy for stopping the movement of the spray gun is determined as: sending the spray gun stop movement command at the fifth moment; wherein the fifth moment is after the sixth moment and is separated from the sixth moment by the closing time; the sixth moment is the moment of sending the spray gun closing command.

[0160] In this case, when spraying a single-pass spraying area, the intelligent spraying equipment can send a spray gun closing instruction to the spray gun when it detects that the spray gun moves to the target position; after a time t c After that, the spray gun is closed. At this time, a stop movement command can be sent to the spray gun. However, due to the inertia of the slurry, the sprayed slurry will continue to move along the spraying direction at a speed of v. After a time t s Finally, the slurry just reaches the end of the stroke.

[0161] It can be seen that the command control strategy for the spray gun movement command and the spray gun opening command determined in the above manner can meet the following requirements: the spraying end point of the slurry is exactly at the end point of the stroke, and the slurry flies to the spraying end point at a uniform speed, thereby ensuring the uniformity of the spraying. In addition, by coupling t s and t m , can reduce the uniform moving distance of the spray gun before it moves to the spraying end position, thereby reducing the spraying time of the target area and improving the spraying efficiency.

[0162] In the above embodiment, the command control strategy for the spray gun stop movement instruction and the spray gun closing instruction can be flexibly determined by obtaining the time processing strategy for the slurry flight time and the deceleration time. In this way, the determination method of the command control strategy for the spray gun stop movement instruction and the spray gun closing instruction can be enriched.

[0163] It should be noted that in other embodiments, the intelligent spraying equipment may, by default, adopt a method of decoupling or coupling the slurry flight time and deceleration time to determine the command control strategy for the spray gun stop movement instruction and the spray gun closing instruction. In this way, the determination of the command control strategy for the spray gun stop movement instruction and the spray gun closing instruction can be simplified.

[0164] It should be noted that in the embodiments of the present application, when indicating the automatic spraying of the target area, the spraying thickness of the target area may be indicated, or the spraying thickness of the target area may not be indicated. For the scheme of indicating the spraying thickness of the target area, in some embodiments, the acceleration time, opening time, slurry flight time, closing time and deceleration time of the spray gun are obtained, including:

[0165] Determine the spraying speed of the spray gun by a second formula;

[0166] Determining the acceleration time and deceleration time of the spray gun according to the spraying speed;

[0167] Wherein, the second formula is:

[0168]

[0169] v is the spraying speed, q is the spraying flow rate of the spray gun, d is the spraying thickness of the target area, s is the spraying distance of the spray gun relative to the target area, and θ is the spray fan angle of the spray gun.

[0170] In this embodiment, the spraying speed v is determined based on other spraying parameters. Thus, when the spray gun sprays slurry at a spraying distance s from the target area at the spraying speed v, the thickness of the slurry sprayed on the target area can meet the spraying thickness d of the target area, thereby achieving precise control of the spraying thickness.

[0171] It can be understood that the embodiment of determining the spraying speed v by the second formula can be applicable to the scheme of specifying the spraying thickness of the target area, and the above-mentioned embodiment of autonomously determining the spraying speed v by the intelligent spraying device can be applicable to the scheme of the spraying thickness of the unspecified target area. In addition, for the embodiment in which the spraying speed v is specified by the user, the user can randomly specify the spraying speed v, or calculate the spraying speed v by the second formula. For the former, it can be understood as the spraying thickness of the unspecified target area, and for the latter, it can be understood as the spraying thickness of the specified target area.

[0172] It should be noted that the various optional implementation modes introduced in the embodiments of the present application can be implemented in combination with each other or separately if they do not conflict with each other, and the embodiments of the present application are not limited to this.

[0173] For ease of understanding, a specific embodiment is used for example:

[0174] In one example, the intelligent spraying equipment may include a spraying thickness control system, which can calculate the spraying parameters during the spraying process based on the spraying thickness requirements and preset parameters, thereby improving the accuracy of the robot's spraying thickness control.

[0175] like Figure 3 As shown, the spray thickness control system may include a flow sensor of the spray system, a distance sensor and an acceleration sensor at the end of the robotic arm, a time acquisition module for the acceleration and deceleration stages of the spray gun movement, a time acquisition module for the spray gun switch, a time acquisition module for the slurry on the wall, and a control system.

[0176] The flow sensor can detect the slurry flow of the spraying system in real time and transmit the flow data to the control system;

[0177] The distance sensor can detect the distance from the spray gun to the target spray wall in real time and transmit the distance data to the control system;

[0178] The acceleration sensor can detect the acceleration of the spray gun movement in real time and transmit the acceleration data to the control system;

[0179] The time-consuming acquisition module of the acceleration and deceleration stage of the spray gun movement can obtain the time consumed by the spray gun from static to uniform motion and from uniform motion to static during the spraying process through the data of the acceleration sensor, and transmit the time-consuming data to the control system;

[0180] The spray gun switch time acquisition module can obtain the time consumed for opening the spray gun and the time consumed for closing the spray gun, and transmit the time consumption data to the control system;

[0181] The slurry wall-mounting time acquisition module can calculate the time taken for the slurry to be sprayed from the spray gun to the wall based on the distance data measured by the distance sensor, the flow data measured by the flow sensor, and the preset nozzle parameters, and transmit the time-consuming data to the control system;

[0182] The control system can receive and process data information from each sensor and module. It can also set corresponding spraying parameters and spraying strategies according to the processing results, and control the various modules of the robot to work together.

[0183] The logic of spray thickness control is as follows:

[0184] 1. For the robot spraying process, the main spraying parameters are as follows: spraying thickness d, spraying width l, distance between spray gun and wall s, spraying speed v, single-pass spraying stroke h, spraying flow rate q, nozzle inherent parameters (spraying fan angle θ, nozzle outlet area A), such as Figure 4a and Figure 4b An embodiment of a robot spraying wall process is shown, wherein: Figure 4a This is the spray side view. Figure 4b It is a top view of spraying. It should be noted that the embodiment of the present application can be applied to spraying operations in the fields of furniture, military industry, ships, etc. Further, when used for spraying operations of furniture, it can be used for wall spraying or ceiling spraying but is not limited to it.

[0185] 2. Among them, the spraying thickness d and the single-pass spraying stroke h can be determined according to the specific requirements of the operation, the nozzle inherent parameters can be obtained through the installed nozzle model, and these three parameters are the basic operation parameters; the spraying width l can be set according to the size of the actual spraying wall; the distance s between the spray gun and the wall, the nozzle spray fan angle θ and the spraying width l should satisfy a certain geometric relationship, so the required distance s between the spray gun and the wall can be calculated and adjusted through the position of the robot and the robotic arm; / / The spraying speed v can be adjusted by changing the movement speed of the lifting device and the robotic arm (or the movement speed of the robot chassis); the spraying flow rate q can be adjusted by changing the speed of the pumping motor; therefore, the spraying width l, the distance s between the spray gun and the wall, the spraying speed v, and the spraying flow rate q are adjustable parameters.

[0186] 3. According to the geometric and mathematical relationships between the spraying parameters, the functional relationship between the spraying thickness d and other spraying parameters can be derived, so that the appropriate spraying parameters can be matched when the robot is spraying to meet the set spraying thickness requirements.

[0187] 4. For the time acquisition module of the acceleration and deceleration phase of the spray gun movement, the developer can test the spray robot in advance and calculate the acceleration time t of the spray gun based on the preset spray speed v and the data of the acceleration sensor. p With deceleration time t m After multiple tests, the average value can be taken to determine the acceleration and deceleration time of the spray gun. Based on the acquired acceleration and deceleration time of the spray gun and the acceleration data of the acceleration sensor, the control system calculates the moving distance x of the spray gun during the acceleration and deceleration stage. p and x m .

[0188] 5. For the spray gun switch time acquisition module, the developer can test the spray robot in advance and determine the spray gun opening time t by the time difference between the spray gun opening (or closing) command sending time and the spray gun opening (or closing) time. o (Time taken to close the spray gun t c ), after multiple tests, the average value can be taken to determine the spray gun switch time. According to the obtained spray gun switch time and the preset spraying speed of the robot, the moving distance of the spray gun opening and closing process during uniform motion can be calculated. The spray gun opening instruction is the aforementioned spray gun opening instruction.

[0189] 6. For the module for obtaining the time consumption of slurry on the wall, the control system can calculate it according to the spraying flow rate q, the distance between the spray gun and the wall s and the nozzle outlet area A, and determine it as the time consumption of slurry on the wall under the spraying parameters t s .

[0190] 7. If the control system sends a spray gun opening (or closing) command and controls the spray gun to start (or stop) moving at the same time, due to the influence of the spray gun movement acceleration and deceleration stage, the time consumed by the spray gun switch and the time consumed by the slurry on the wall, there will be multiple sprays or missed sprays at the edge of the spraying area, affecting the spraying accuracy and uniformity. Therefore, in order to avoid the influence of the above factors as much as possible, the control system needs to determine the appropriate movement start and stop position and spray gun start and stop time according to the spraying parameters and the acquired data, so as to improve the spraying accuracy and the uniformity of the spraying thickness as much as possible.

[0191] In Example 1, the intelligent spraying method can be as follows Figure 5 As shown, the following steps are included:

[0192] Step 1: According to the actual spraying conditions and nozzle model, input the spraying thickness d, single-pass spraying stroke h, spraying width l, spraying fan angle θ and nozzle outlet area A into the control system;

[0193] Step 2: Start the spraying system, adjust the motor speed of the pumping system by the knob, adjust to the appropriate spraying pressure, and the flow sensor detects the actual spraying flow q;

[0194] Step 3: Calculate the distance s between the spray gun and the wall according to the current setting parameters. The specific calculation can be calculated by formula (1):

[0195]

[0196] Step 4: Calculate the spraying speed v that matches the current setting parameters and calculation parameters. The specific calculation can be calculated by formula (2):

[0197]

[0198] Step 5: Calculate the time t required for the slurry to be applied to the wall based on the current setting parameters and calculation parameters. s , the specific calculation can be calculated by formula (3):

[0199]

[0200] Step 6: Control the spray gun to move to the spray starting position of the spraying area. Through the feedback of the distance sensor, control the movement of the robot arm or chassis to keep the distance between the spray gun and the wall at s; take this position as the origin, the spraying direction as the positive direction, and move the spray gun in the negative direction by a distance x1. The specific calculation can be calculated by formula (4):

[0201] x1=x p +v(t o +t s ) (4)

[0202] Step 7: The control system sends a spray gun movement command, and the spray gun starts to move in the spraying direction; after t p After t, the spray gun enters the uniform motion stage, and then sends the spray gun start command; after t o After time, the spray gun is opened, and then after t s After a period of time, the slurry reaches the spray wall; due to the inertia of the slurry, it will maintain the spraying speed along the movement direction of the spray gun after being sprayed (ignoring air resistance and gravity), so when the slurry reaches the wall, it will be exactly at the starting point of the spraying area.

[0203] Step 8: The spray gun keeps moving at a constant speed to spray until it moves to the coordinate h-x2, and the control system sends a spray gun closing command, where x2 satisfies:

[0204] x2=v(t c +t s ) (5)

[0205] Step 9: Elapsed time t c After that, the spray gun is closed; after time t s After that, the spray gun will just reach the spraying end position of the spraying area. Due to the inertia of the slurry, the slurry also just reaches the travel end position of the spraying area. At this time, the control system sends a spray gun stop movement command, and the spray gun decelerates and moves a distance x m Then stop.

[0206] Step 10: Control the spray gun to move to the starting position of the next spraying area, and repeat steps 6 to 9 to spray the next wall until the entire wall is sprayed.

[0207] for Figure 5 The intelligent spraying method shown in the figure, the xt diagram and vt diagram of the spray gun movement can be found in Figure 6 .

[0208] In Example 2, the intelligent spraying method can be as follows Figure 7a As shown, Figure 7a The intelligent spraying method shown can further optimize the time of the spraying process, including the following steps:

[0209] Steps 1 to 5: Same as in Example 1;

[0210] Step 6: Control the spray gun to move to the spray starting position of the spraying area. Through the feedback of the distance sensor, control the movement of the robot arm or chassis to keep the distance between the spray gun and the wall at s; take this position as the origin, the spraying direction as the positive direction, and move the spray gun in the negative direction by a distance x1. The specific calculation can be calculated by formula (6):

[0211] x1=x p +vt s(6)

[0212] Step 7: If t p >t o , the control system first sends a spray gun movement command, and the spray gun starts to move along the spraying direction; after t p -t o After time, send the spray gun open command; after t o After time, the spray gun is turned on and enters a uniform motion state; if t p <t o , the control system first sends the spray gun opening command, after t o -t p After t, the spray gun movement command is sent, and the spray gun starts to move in the spraying direction. p After the time has passed, the spray gun is opened and enters a uniform motion state.

[0213] Step 8: The spray gun keeps moving at a constant speed to spray until it moves to the coordinate h-x2, and the control system sends a spray gun closing command, where x2 satisfies:

[0214] x2=v(t c +t s ) (7)

[0215] Step 9: Elapsed time t c After that, the spray gun is closed. At this time, the control system sends a command for the spray gun to stop moving. However, due to the inertia of the slurry, the sprayed slurry will continue to move along the spraying direction at a speed of v. After a time t s After that, the slurry just reaches the end of the stroke in the spraying area, and the spray gun decelerates and moves a distance x m Then stop.

[0216] Step 10: Control the spray gun to move to the spray starting position of the next spraying area, and repeat steps 6 to 9 to spray the next wall until the entire wall is sprayed.

[0217] for Figure 7a The intelligent spraying method shown in the figure, the xt diagram and vt diagram of the spray gun movement can be found in Figure 7b .

[0218] Compared with Example 1, Example 2 couples the time consumed in accelerating and decelerating the spray gun, the time consumed in starting the spray gun and the time consumed in applying the slurry to the wall, optimizes the command control strategy, saves the distance and time of a single spraying, and can effectively improve work efficiency when applied in large-area spraying operations.

[0219] In combination with the above content, it can be known that the embodiments of the present application can: 1) calculate and match the corresponding spraying parameters in the spraying process according to the preset parameters, and ensure that the spraying thickness of the decorative material meets the requirements by adjusting the position, posture and speed of the robot, thereby improving the accuracy of the robot's spraying thickness control. 2) The influence of the acceleration and deceleration stages of the movement, the time consumed by starting and stopping the spray gun, and the time consumed by the slurry on the wall during the spraying process are considered at the same time, and a suitable spraying strategy is adopted to reduce the influence of these factors on the thickness and accuracy of the spraying edge area. The factors are considered more comprehensively, the uniformity of the spraying can be better guaranteed, and the spraying effect can be improved. 3) The control strategy of the start and stop of the spray gun movement and the opening and closing time of the spray gun during the spraying process can be optimized, which saves the time and distance of a single-pass spraying operation, and can effectively improve efficiency when applied to large-area spraying operations.

[0220] Based on the intelligent spraying method provided in the above embodiment, the present application also provides a specific implementation of an intelligent spraying device. Please refer to the following embodiments.

[0221] See also Figure 8 , the intelligent spraying device provided in the embodiment of the present application may include:

[0222] A receiving module 801 is used to receive a spraying instruction for a target area;

[0223] The acquisition module 802 is used to obtain the acceleration time, opening time, slurry flight time, closing time and deceleration time of the spray gun in response to the spraying instruction; wherein the acceleration time is the time taken for the spray gun to move from rest to uniform speed in response to the spray gun movement instruction, and the spray gun movement instruction is used to instruct the spray gun to move in a straight line at uniform speed; the opening time is the time taken for the spray gun to switch from closed to open in response to the spray gun opening instruction; the slurry flight time is the time taken for the slurry to fly from the spray gun to the target area when the spray gun is separated from the target area by the spraying distance; the closing time is the time taken for the spray gun to switch from open to closed in response to the spray gun closing instruction; the deceleration time is the time taken for the spray gun to move from the uniform speed to rest in response to the spray gun stop movement instruction;

[0224] A first determination module 803 is used to determine the movement starting position of the spray gun, a first instruction control strategy for the spray gun movement instruction and a second instruction control strategy for the spray gun opening instruction according to the acceleration time, the opening time, the slurry flight time and the spraying starting position of the target area;

[0225] The second determination module 804 is used to determine the third instruction control strategy for the spray gun closing instruction and the fourth instruction control strategy for the spray gun stop movement instruction according to the slurry flight time, the closing time, the deceleration time and the spraying end position of the target area; wherein the movement starting point position, and the first instruction control strategy to the fourth instruction control strategy meet: the slurry is evenly sprayed on the target area;

[0226] The operation module 805 is used to drive the spray gun to move to the starting position of the movement, and send the spray gun movement instruction to the spray gun according to the first instruction control strategy, send the spray gun opening instruction to the spray gun according to the second instruction control strategy, send the spray gun closing instruction to the spray gun according to the third instruction control strategy, and send the spray gun stop movement instruction to the spray gun according to the fourth instruction control strategy.

[0227] The intelligent spraying device provided in the embodiment of the present application can realize each process realized by the intelligent spraying device in the method embodiment, and will not be described again here to avoid repetition.

[0228] Fig. 9 A schematic diagram of the hardware structure of the spraying provided in an embodiment of the present application is shown.

[0229] The intelligent spraying device may include a processor 901 and a memory 902 storing computer program instructions.

[0230] Specifically, the processor 901 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0231] The memory 902 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 902 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 902 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 902 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 902 is a non-volatile solid-state memory.

[0232] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of the present disclosure.

[0233] The processor 901 implements any one of the intelligent spraying methods in the above embodiments by reading and executing computer program instructions stored in the memory 902 .

[0234] In one example, the intelligent spraying device may further include a communication interface 909 and a bus 910. Fig. 9 As shown, the processor 901, the memory 902, and the communication interface 909 are connected via a bus 910 and communicate with each other.

[0235] The communication interface 909 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0236] Bus 910 includes hardware, software or both, and the parts of intelligent spraying equipment are coupled to each other.For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransmission (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 910 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0237] In addition, in combination with the intelligent spraying method in the above embodiments, the embodiments of the present application may provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the intelligent spraying methods in the above embodiments is implemented.

[0238] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0239] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0240] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0241] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0242] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. An intelligent spraying method, characterized in that: include: receiving spraying instructions for target areas; In response to the spraying instruction, the acceleration time, opening time, slurry flight time, closing time and deceleration time of the spray gun are obtained; wherein the acceleration time is the time taken for the spray gun to move from rest to uniform speed in response to the spray gun movement instruction, and the spray gun movement instruction is used to instruct the spray gun to move in a straight line at uniform speed; the opening time is the time taken for the spray gun to switch from closed to open in response to the spray gun opening instruction; the slurry flight time is the time taken for the slurry to fly from the spray gun to the target area when the spray gun is separated from the target area by a spraying distance; the closing time is the time taken for the spray gun to switch from open to closed in response to the spray gun closing instruction; the deceleration time is the time taken for the spray gun to move from uniform speed to rest in response to the spray gun stop movement instruction; Determine the movement starting point position of the spray gun, a first instruction control strategy for the spray gun movement instruction and a second instruction control strategy for the spray gun opening instruction according to the acceleration time, the opening time, the slurry flight time and the spraying starting position of the target area; According to the slurry flight time, the closing time, the deceleration time and the spraying end position of the target area, a third instruction control strategy for the spray gun closing instruction and a fourth instruction control strategy for the spray gun stop movement instruction are determined; wherein the movement starting point position, and the first instruction control strategy to the fourth instruction control strategy meet: the slurry is evenly sprayed on the target area; Drive the spray gun to the starting position of the movement, and send the spray gun movement instruction to the spray gun according to the first instruction control strategy, send the spray gun opening instruction to the spray gun according to the second instruction control strategy, send the spray gun closing instruction to the spray gun according to the third instruction control strategy, and send the spray gun stop movement instruction to the spray gun according to the fourth instruction control strategy.

2. The method according to claim 1, characterized in that The method of determining the movement starting position of the spray gun according to the acceleration time, the opening time, the slurry flight time and the spraying starting position of the target area, and the first instruction control strategy for the spray gun movement instruction and the second instruction control strategy for the spray gun opening instruction include: Obtaining a first time processing strategy for the acceleration time and the start time; According to the first time processing strategy, determining a first time consumed by the spray gun in a uniform motion state before the spray gun moves to a spraying start position of the target area; Determine the sum of the accelerated moving distance of the spray gun in the accelerated time and the uniform moving distance in the first time as the first moving distance of the spray gun; Determine a position separated from the spraying start position by the first moving distance in a negative direction as a movement start position of the spray gun, wherein the negative direction is a direction opposite to the spraying direction of the spray gun; According to the movement starting point position and the first time processing strategy, a first instruction control strategy for the spray gun movement instruction and a second instruction control strategy for the spray gun opening instruction are determined.

3. The method according to claim 2, characterized in that When the first time processing strategy is to decouple the acceleration time and the opening time, the first time is the sum of the opening time and the slurry flight time; The step of determining a first instruction control strategy for the spray gun movement instruction and a second instruction control strategy for the spray gun opening instruction according to the movement starting point position and the first time processing strategy includes: The first command control strategy for the spray gun movement command is determined as: sending the spray gun movement command at the movement starting point; The second instruction control strategy for the spray gun opening instruction is determined as: sending the spray gun opening instruction at a first moment; wherein the first moment is located after the second moment and is separated from the second moment by the opening time; the second moment is the sending moment of the spray gun movement instruction.

4. The method according to claim 2, characterized in that: In the case where the first time processing strategy is to couple the acceleration time and the opening time, the first time is the slurry flight time; The step of determining a first instruction control strategy for the spray gun movement instruction and a second instruction control strategy for the spray gun opening instruction according to the movement starting point position and the first time processing strategy includes: The first command control strategy for the spray gun movement command is determined as follows: sending a command corresponding to a second time consumption at the movement starting point; wherein the second time consumption is the larger of the acceleration time consumption and the opening time consumption; the command corresponding to the acceleration time consumption is the spray gun movement command, and the command corresponding to the opening time consumption is the spray gun opening command; The second instruction control strategy for the spray gun opening instruction is determined as: sending an instruction corresponding to the third time consumption at a third moment; wherein the third time consumption is the smaller of the acceleration time consumption and the opening time consumption; the third moment is located after the fourth moment, and is spaced from the fourth moment by a first value, and the first value is the absolute value of the difference between the acceleration time consumption and the opening time consumption; the fourth moment is the sending moment of the instruction corresponding to the second time consumption.

5. The method according to claim 2, characterized in that: The method of determining a third instruction control strategy for the spray gun closing instruction and a fourth instruction control strategy for the spray gun stop movement instruction according to the slurry flight time, the closing time, the deceleration time and the spraying end position of the target area includes: Determine the uniform moving distance of the slurry during the closing time and the slurry flying time as the second moving distance; Acquire a second time processing strategy for the slurry flight time and the deceleration time; According to the target position and the second time processing strategy, a third instruction control strategy for the spray gun closing instruction and a fourth instruction control strategy for the spray gun stop movement instruction are determined; wherein the target position is a position that is separated from the spraying end position of the target area by the second moving distance in the negative direction, and the negative direction is the direction opposite to the spraying direction of the spray gun.

6. The method according to claim 5, characterized in that In the case where the second time processing strategy is to decouple the slurry flight time and the deceleration time, the third instruction control strategy for the spray gun closing instruction and the fourth instruction control strategy for the spray gun stop movement instruction are determined according to the target position and the second time processing strategy, including: The third instruction control strategy for the spray gun closing instruction is determined as: sending the spray gun closing instruction at the target position; The fourth command control strategy for stopping the movement of the spray gun is determined as: sending the spray gun stop movement command at the spraying end position.

7. The method according to claim 5, characterized in that In the case where the second time processing strategy is to couple the slurry flight time and the deceleration time, the third instruction control strategy for the spray gun closing instruction and the fourth instruction control strategy for the spray gun stop movement instruction are determined according to the target position and the second time processing strategy, including: The third instruction control strategy for the spray gun closing instruction is determined as: sending the spray gun closing instruction at the target position; The fourth command control strategy for stopping the movement of the spray gun is determined as: sending the spray gun stop movement command at the fifth moment; wherein the fifth moment is after the sixth moment and is separated from the sixth moment by the closing time; the sixth moment is the moment of sending the spray gun closing command.

8. The method according to claim 1, characterized in that The method for obtaining the acceleration time, opening time, slurry flight time, closing time and deceleration time of the spray gun includes: The slurry flight time of the spray gun is determined by the first formula, which is: The spraying speed of the spray gun is determined by a second formula; according to the spraying speed, the acceleration time and deceleration time of the spray gun are determined; the second formula is: The method further comprises: The spraying speed is determined by a third formula, which is: Wherein, s is the spraying distance, A is the nozzle outlet area of ​​the spray gun, q is the spraying flow rate of the spray gun, v is the spraying speed, d is the spraying thickness of the target area, θ is the spray fan angle of the spray gun, and l is the spraying width of the spray gun.

9. An intelligent spraying device, characterized in that: include: A receiving module, used for receiving a spraying instruction for a target area; An acquisition module is used to obtain the acceleration time, opening time, slurry flight time, closing time and deceleration time of the spray gun in response to the spraying instruction; wherein the acceleration time is the time taken for the spray gun to move from rest to uniform speed in response to the spray gun movement instruction, and the spray gun movement instruction is used to instruct the spray gun to move in a straight line at uniform speed; the opening time is the time taken for the spray gun to switch from closed to open in response to the spray gun opening instruction; the slurry flight time is the time taken for the slurry to fly from the spray gun to the target area when the spray gun is separated from the target area by a spraying distance; the closing time is the time taken for the spray gun to switch from open to closed in response to the spray gun closing instruction; the deceleration time is the time taken for the spray gun to move from uniform speed to rest in response to the spray gun stop movement instruction; A first determination module is used to determine the movement starting position of the spray gun, a first instruction control strategy for the spray gun movement instruction and a second instruction control strategy for the spray gun opening instruction according to the acceleration time, the opening time, the slurry flight time and the spraying starting position of the target area; The second determination module is used to determine a third instruction control strategy for the spray gun closing instruction and a fourth instruction control strategy for the spray gun stop movement instruction according to the slurry flight time, the closing time, the deceleration time and the spraying end position of the target area; wherein the movement starting point position, and the first instruction control strategy to the fourth instruction control strategy meet: the slurry is evenly sprayed on the target area; An operation module is used to drive the spray gun to move to the starting position of the movement, and send the spray gun movement instruction to the spray gun according to the first instruction control strategy, send the spray gun opening instruction to the spray gun according to the second instruction control strategy, send the spray gun closing instruction to the spray gun according to the third instruction control strategy, and send the spray gun stop movement instruction to the spray gun according to the fourth instruction control strategy.

10. An intelligent spraying device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the intelligent spraying method according to any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the intelligent spraying method according to any one of claims 1 to 8 is implemented.

12. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the intelligent spraying method as described in any one of claims 1 to 8.

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