A pressure control method and system for a wall putty pump machine

Abstract

The present invention discloses a method and system for regulating the spraying pressure of a wall putty pump, the method comprising the steps of: obtaining the world coordinates of the endpoint pixels on both sides of a row of a 2D image of the spraying area, and obtaining the spraying width according to the world coordinates; calculating the difference between the Z-axis height of the 3D boundary point corresponding to the 2D image and the Z-axis height of the adjacent unsprayed wall surface, and obtaining the spraying thickness; using the spraying width and the spraying thickness, adjusting the pump spraying pressure according to the fuzzy PID control algorithm; the system comprises an image acquisition unit and a control unit. The present invention is implemented, and by performing PID control on the pump pressure output, a suitable pump pressure output is obtained, which solves the problem that the pump pressure cannot be PID-controlled in real time, resulting in insufficient or excessive amount of putty sprayed, and uneven construction areas.

Description

Technical Field

[0001] The present invention relates to the technical field of indoor robot intelligent construction, and in particular to a pressure control method and system for a wall putty pump machine. Background Art

[0002] With the intelligentization of the construction industry, a variety of construction robots have emerged. Construction robots can replace manual labor to achieve safe and efficient construction. The interior wall treatment includes grinding the cement wall, removing burrs on the cement surface, and applying putty and putty layers on the cement wall to make the wall smoother. Grinding the putty layer wall and removing the joints of the putty layer make the putty layer smoother; spraying or brushing paint on the putty layer.

[0003] For walls with gypsum boards, the treatment process is generally as follows: After the gypsum boards are placed, the joints are first treated. In addition to the open joints, the horizontal and vertical joints of the gypsum board walls (including the joints between gypsum boards and the joints between gypsum boards and ceilings and side walls) must be caulked and joint tapes must be pasted. The treatment procedure for hidden joints is as follows: (1) Caulking joint putty: Sweep away the loose soil in the joints, and use a small knife to embed the putty into the joints and level it with the board joints. (2) Scraping the bottom layer putty: After the caulking putty is finally set, scrape about 1mm thick putty on the joints and paste glass fiber tape, and then use a knife to press and scrape it flat from top to bottom, so that the excess putty is squeezed out of the mesh of the tape. (3) Scraping the middle layer putty: When the bottom layer putty is solidified but still damp, use a large knife to scrape the putty, bury the glass fiber tape in the putty layer, and fill and level the wedge-shaped edges of the gypsum board.

[0004] Apply putty on the cement wall, and the putty layer makes the wall smoother as a whole; polish the wall of the putty layer, remove the joints of the putty layer, etc., to make the putty layer smoother; spray paint or brush paint on the putty layer. When applying putty, you need to use a pump to spray the ground putty on the wall, and then use a scraper to scrape the putty on the wall to make it smooth. In this process, if the pump pressure is too low, the amount of putty sprayed is not enough and the spray width is not long enough, the scraped putty layer will be too thin and too narrow, resulting in the wall putty layer being too shallow and a blank area without putty between the two putties. If the pump pressure is too high and too much putty is sprayed, the putty layer will be too thick and too wide, resulting in uneven thickness in the construction area. Summary of the invention

[0005] When existing construction robots are applying putty, the pump pressure cannot be controlled by PID in real time, resulting in insufficient or excessive amount of putty being sprayed, causing uneven thickness in the construction area.

[0006] In view of the above problems, a method and system for regulating the pressure of a wall putty pump is proposed. The spraying width and spraying thickness are obtained through the 2D image of the putty spraying area, and the spraying width and spraying thickness are fuzzy processed. A fuzzy rule base and fuzzy function mapping are established. Based on the fuzzy control logic, PID control parameters are obtained, and then PID control is performed on the pump pressure output to obtain a suitable pump pressure output, so as to avoid the problem that the pump pressure cannot be PID controlled in real time, resulting in insufficient or excessive putty sprayed, and uneven construction area.

[0007] In a first aspect, a method for regulating the spraying pressure of a wall putty pump machine comprises:

[0008] Step 100, obtaining the world coordinates of the endpoint pixels on both sides of a row of the 2D image of the spraying area, and obtaining the spraying width according to the world coordinates;

[0009] Step 200, calculating the difference between the Z-axis height of the 3D boundary point corresponding to the 2D image and the Z-axis height of the adjacent unpainted wall surface to obtain the spraying thickness;

[0010] Step 300: Utilize the spraying width and spraying thickness to adjust the spraying pressure of the pump according to the fuzzy PID control algorithm.

[0011] In conjunction with the pump spraying pressure control method of the present invention, in a first possible implementation manner, step 100 includes:

[0012] Step 110, using the RGB value of the 2D image to remove the pixel matrix corresponding to the scraper area and the unsprayed area;

[0013] Step 120, using the Canny edge detection algorithm to perform edge detection on the remaining area to obtain the effective spraying area;

[0014] Step 130, obtaining the pixel coordinates of the leftmost pixel and the rightmost pixel in the 2D image row of the effective spraying area;

[0015] Step 140: Use the rotation matrix R and the translation vector T to convert the pixel coordinates into world coordinates.

[0016] In combination with the first possible implementation manner of the present invention, in a second possible implementation manner, step 110 includes:

[0017] Step 111, setting a first RGB threshold and a second RGB threshold of the 2D image;

[0018] Step 112: Compare the R value, G value, and B value of the 2D image with the first RGB threshold to obtain a first comparison result;

[0019] Step 113, respectively obtain the maximum and minimum values ​​of the R value, G value, and B value of the 2D image of the unpainted area, and calculate the RGB difference between the maximum value of the R value, G value, and B value and the minimum value of the R value, G value, and B value;

[0020] Step 114: Compare the RGB difference with the second RGB threshold to obtain a second comparison result;

[0021] Step 115: determining the type of the construction area according to the first comparison result and the second comparison result;

[0022] The first RGB threshold is the set value corresponding to R, G, and B respectively, and the second RGB threshold is the set value of the difference between the maximum value and the minimum value of RGB.

[0023] In combination with the second possible implementation manner of the present invention, in a third possible implementation manner, step 130 includes:

[0024] Step 131, keep the optical axis of the 2D image camera perpendicular to the construction wall;

[0025] Step 132: The camera acquires the 2D image at a set distance.

[0026] In combination with the pump spraying pressure control method of the present invention, in a fourth possible implementation manner, step 200 includes:

[0027] Step 210, obtaining 3D coordinates of the boundary points of the 2D image;

[0028] Step 220, obtaining the 3D coordinates of the adjacent unsprayed areas;

[0029] Step 230: Calculate the difference between the 3D coordinate Z axis of the boundary point and the 3D coordinate Z axis of the unsprayed area to obtain the putty thickness of the sprayed area.

[0030] In combination with the pump spraying pressure control method of the present invention, in a fifth possible implementation manner, step 300 includes:

[0031] Step 310, calculating the spraying width error, the spraying width error variation, the spraying thickness error, and the spraying thickness error variation;

[0032] Step 320, converting the spraying width error, the spraying width error variation, the spraying thickness error, and the spraying thickness error variation into fuzzy parameters respectively;

[0033] Step 330: Based on the fuzzy parameters, a fuzzy rule base and a fuzzy function are used to perform PID control on the pump pressure.

[0034] In combination with the fifth possible implementation manner of the present invention, in a sixth possible implementation manner, step 320 includes:

[0035] Step 321, using the Kalman algorithm to filter the spraying width error, the spraying width error variation, the spraying thickness error, and the spraying thickness error variation;

[0036] Step 322: using corresponding preset values, convert the spraying width error, the spraying width error variation, the spraying thickness error, and the spraying thickness error variation into dimensionless quantities respectively;

[0037] Step 323: Determine the fuzzy speech value and membership function corresponding to each dimensionless quantity.

[0038] In combination with the sixth possible implementation manner of the present invention, in a seventh possible implementation manner, step 320 further includes:

[0039] Step 324, establishing a fuzzy rule base based on previous construction experiences;

[0040] Step 325: Establish a fuzzy decision function, and use the fuzzy rule base to obtain PID parameters.

[0041] In combination with the seventh possible implementation manner of the present invention, in an eighth possible implementation manner, step 320 further includes:

[0042] Step 326, calculating the total amount of spraying according to the spraying width and the spraying thickness;

[0043] Step 327: Perform PID control on the putty spraying pressure according to the total spraying amount and using the PID parameters to obtain a pump pressure PID output result.

[0044] In a second aspect, a wall putty pump spraying pressure control system, using the control method of the first aspect, comprises:

[0045] Image acquisition unit;

[0046] Control unit;

[0047] The image acquisition unit is used to acquire a 2D image of the construction area and transmit it to the control unit;

[0048] The control unit is used for:

[0049] The area of ​​the effective spraying area is obtained according to the 2D image, and the spraying width is obtained using the pixel world coordinates of the left and right end points of the 2D image of the effective spraying area. The spraying thickness is obtained according to the difference in Z-axis height between the 3D boundary point corresponding to the 2D image of the effective spraying area and the Z-axis height of the adjacent unsprayed wall. According to the spraying width and spraying thickness, the pump pressure PID output is obtained using a fuzzy PID control algorithm.

[0050] The wall putty pump spraying pressure control method and system described in the present invention are implemented to obtain the spraying width and spraying thickness through the 2D image of the putty spraying area, perform fuzzy processing on the spraying width and spraying thickness, establish a fuzzy rule library and fuzzy function mapping, and obtain PID control parameters based on the fuzzy control logic, and then perform PID control on the pump pressure output to obtain a suitable pump pressure output, so as to avoid the pump pressure not being able to be PID controlled in real time, resulting in insufficient or excessive putty sprayed, and the occurrence of uneven construction areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 It is a schematic diagram of a first embodiment of a method for regulating the spraying pressure of a wall putty pump machine in the present invention;

[0053] Figure 2 It is a schematic diagram of a second embodiment of a method for regulating and controlling the spraying pressure of a wall putty pump machine in the present invention;

[0054] Figure 3 It is a schematic diagram of a third embodiment of a method for regulating and controlling the spraying pressure of a wall putty pump machine in the present invention;

[0055] Figure 4 It is a schematic diagram of a fourth embodiment of a method for regulating and controlling the spraying pressure of a wall putty pump machine in the present invention;

[0056] Figure 5 It is a schematic diagram of a fifth embodiment of a method for regulating and controlling the spraying pressure of a wall putty pump machine in the present invention;

[0057] Figure 6 It is a schematic diagram of a sixth embodiment of a method for regulating and controlling the spraying pressure of a wall putty pump machine in the present invention;

[0058] Figure 7 It is a schematic diagram of a seventh embodiment of a method for regulating and controlling the spraying pressure of a wall putty pump machine in the present invention;

[0059] Figure 8 It is a schematic diagram of an eighth embodiment of a method for regulating and controlling the spraying pressure of a wall putty pump machine in the present invention;

[0060] Fig. 9 It is a schematic diagram of a ninth embodiment of a method for regulating and controlling the spraying pressure of a wall putty pump machine in the present invention;

[0061] Fig.10 It is a schematic diagram of a first embodiment of a wall putty pump spraying pressure control system of the present invention;

[0062] Fig.11 It is a schematic diagram of a fuzzy PID control block diagram of a wall putty pump spraying pressure control method in the present invention;

[0063] Description of the coding of the accompanying drawings: 10 - image acquisition unit, 20 - control unit. DETAILED DESCRIPTION

[0064] The following will be combined with the accompanying drawings in the invention to clearly and completely describe the technical solutions in the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the scope of protection of the present invention.

[0065] The existing construction robot pump pressure cannot be controlled by PID in real time, resulting in insufficient or excessive amount of putty being sprayed and uneven construction areas.

[0066] In view of the above problems, a pressure control method and system for a wall putty pump machine are proposed.

[0067] First, as Figure 1 , Figure 1 The present invention is a schematic diagram of a first embodiment of a method for regulating the spraying pressure of a wall putty pump machine, a method for regulating the spraying pressure of a wall putty pump machine, comprising:

[0068] Step 100, obtain the world coordinates of the endpoint pixels on both sides of a row of the 2D image of the spraying area, and obtain the spraying width according to the world coordinates; Step 200, calculate the Z-axis height difference between the 3D boundary point corresponding to the 2D image and the adjacent unsprayed wall surface, and obtain the spraying thickness; Step 300, use the spraying width and spraying thickness to adjust the pump spraying pressure according to the fuzzy PID control algorithm. The spraying width and spraying thickness are obtained through the 2D image of the putty spraying area, and the spraying width and spraying thickness are fuzzy processed, and a fuzzy rule base and fuzzy function mapping are established. The PID control parameters are obtained based on the fuzzy control logic, and then the pump pressure output is PID controlled to obtain the appropriate pump pressure output to avoid the scraped putty layer being too thin and too narrow, or too thick and too wide.

[0069] In a preferred embodiment, Figure 2 , Figure 2 This is a schematic diagram of a second embodiment of a method for regulating the spraying pressure of a wall putty pump machine in the present invention, wherein step 100 comprises:

[0070] Step 110, use the 2D image RGB value to remove the pixel matrix corresponding to the scraper area and the unsprayed area; Step 120, use the canny edge detection algorithm to perform edge detection on the remaining area to obtain the effective spraying area; Step 130, obtain the pixel coordinates of the leftmost pixel and the rightmost pixel in the 2D image row of the effective spraying area; Step 140, use the rotation matrix R and the translation vector T to convert the pixel coordinates into world coordinates.

[0071] When spraying putty, the cement wall is above the spraying device and the scraper mechanism is below. The position of the scraper mechanism in the image is fixed. The unsprayed cement wall is on the right side of the sprayed putty. The surface of the putty just sprayed on the wall is not smooth.

[0072] In a preferred embodiment, Figure 3 , Figure 3 This is a schematic diagram of a third embodiment of a method for regulating the spraying pressure of a wall putty pump machine in the present invention, and step 110 includes:

[0073] Step 111, set the first RGB threshold and the second RGB threshold of the 2D image; Step 112, compare the R value, G value, and B value of the 2D image with the first RGB threshold to obtain a first comparison result; Step 113, respectively obtain the maximum and minimum values ​​of the R value, G value, and B value of the 2D image of the unsprayed area, and calculate the RGB difference between the maximum value of the R value, G value, and B value and the minimum value of the R value, G value, and B value; Step 114, compare the RGB difference with the second RGB threshold to obtain a second comparison result; Step 115, determine the type of the construction area according to the first comparison result and the second comparison result. The first RGB threshold is the set value corresponding to R, G, and B respectively, and the second RGB threshold is the set value of the difference between the maximum value and the minimum value in RGB.

[0074] First, we need to delete the rows corresponding to the scraper area in the image. Assuming that the 2D image of the construction area is a 640*480 image, remove the 40 rows of pixels corresponding to the scraper area below, and the 2D image becomes a 640*440 image.

[0075] Then, RGB value color distinction is performed. Assuming that the first RGB threshold is 200 and the second RGB threshold is 20, if the pixel point in the 2D image does not meet (R>200and G>200and B>200and[R,G,B]max-[R,G,B]min<20), it is regarded as a cement wall. Remove the row corresponding to the cement wall constructed above the figure, that is, delete the top 200 rows, and the 2D image becomes a 640*240 image.

[0076] For the remaining 2D images, use color to distinguish again. If the pixels in the image do not meet (R>200and G>200and B>200and[R,G,B]max-[R,G,B]min<20), it is regarded as a cement wall. Delete the column corresponding to the cement wall on the right. For example, delete 160 columns, and the 2D image becomes a 480*240 image.

[0077] Perform smoothness detection on the image. Using the canny edge detection algorithm, in the smooth surface that has been scraped, only the real edges will be detected in the actual size of 20cm*20cm area; in the area that has only been sprayed with putty and has not been scraped, more than 500 unconnected edges will be detected in the actual size of 20cm*20cm area. Based on the results of edge detection, the current spraying area can be distinguished.

[0078] In a preferred embodiment, Figure 4 , Figure 4 This is a schematic diagram of a fourth embodiment of a method for regulating the spraying pressure of a wall putty pump machine in the present invention, and step 130 includes:

[0079] Step 131, keep the optical axis of the 2D image camera perpendicular to the construction wall surface; Step 132, the camera acquires the 2D image at a set distance.

[0080] Calculate the horizontal leftmost and rightmost pixels of a row in the spraying area based on the calibrated camera internal parameters and use a high-precision laser rangefinder to ensure that the optical axis of the camera is perpendicular to the wall during construction and the camera is kept 910mm away from the wall.

[0081] Use equation (1) to convert pixel coordinates to world coordinates:

[0082]

[0083] where [u, v, 1] T is the coordinate of the point in the image in the pixel coordinate system, [x w ,y w , z w , 1] T is the coordinate of the point in the world coordinate system. The external parameters include the rotation matrix R and the translation vector T, which together describe how to transform a point from the world coordinate system to the camera coordinate system. The rotation matrix R describes the direction of the coordinate axis of the world coordinate system relative to the camera coordinate axis, and the translation vector T describes the position of the origin of the space in the camera coordinate system.

[0084] Set the world coordinate system and the camera coordinate system to completely coincide. In this case, R in the external parameter matrix is ​​the unit matrix, and T is the matrix of all zeros. r = 0 in the internal parameter matrix

[0085]

[0086] f in the matrix x 、f y 、c x 、c y Related to the camera hardware, which has been tested in advance and is a known quantity.

[0087] Calculate the spatial points corresponding to the leftmost and rightmost pixels in the same row, and use this to determine the width of the spray putty.

[0088] When spraying putty for the second time, use smoothness detection to distinguish the freshly sprayed putty from the already treated putty surface, and use the same method to calculate the spray width.

[0089] In a preferred embodiment, Figure 5 , Figure 5It is a schematic diagram of the fifth embodiment of a method for regulating the spraying pressure of a wall putty pump machine in the present invention, and step 200 includes: step 210, obtaining the 3D coordinates of the boundary points of the 2D image; step 220, obtaining the 3D coordinates of the adjacent unsprayed area; step 230, calculating the difference between the Z-axis 3D coordinates of the boundary points and the Z-axis 3D coordinates of the unsprayed area, and obtaining the putty thickness of the sprayed area.

[0090] In a preferred embodiment, Figure 6 , Figure 6 This is a schematic diagram of a sixth embodiment of a method for regulating the spraying pressure of a wall putty pump machine in the present invention, and step 300 includes:

[0091] Step 310, calculate the spray width error, the spray width error change, the spray thickness error, and the spray thickness error change; Step 320, convert the spray width error, the spray width error change, the spray thickness error, and the spray thickness error change into fuzzy parameters respectively; Step 330, perform PID control on the pump pressure based on the fuzzy parameters using the fuzzy rule base and fuzzy functions.

[0092] In a preferred embodiment, Figure 7 , Figure 7 This is a schematic diagram of a seventh embodiment of a method for regulating the spraying pressure of a wall putty pump machine in the present invention, and step 320 includes:

[0093] Step 321, use the Kalman algorithm to filter the spray width error, the spray width error change, the spray thickness error, and the spray thickness error change; Step 322, use the corresponding preset values ​​to convert the spray width error, the spray width error change, the spray thickness error, and the spray thickness error change into dimensionless quantities respectively; Step 323, determine the fuzzy speech value and membership function corresponding to each dimensionless quantity.

[0094] The specific implementation method is as follows:

[0095] First, the width error W, thickness error T, width error change ΔW, thickness error change ΔT are used as input quantities for processing to meet the requirements of fuzzy control: such as multi-frame Kalman smoothing filtering.

[0096] Second, the width error W, thickness error T, width error change ΔW, thickness error change ΔT are scaled, and each variable is converted into a dimensionless quantity according to the preset value of each variable: such as Wfuzzy = (W-Wsetting) / Wsetting.

[0097] Third, determine the fuzzy linguistic values of each input quantity and the corresponding membership functions; for example, -0.1 < Wfuzzy < -0.05 is negative small, -0.4 < Wfuzzy < -0.1 is negative medium, Wfuzzy < -0.4 is negative large, -0.05 < Wfuzzy < 0.05 is zero value, 0.05 < Wfuzzy < 0.1 is positive small, 0.1 < Wfuzzy < 0.4 is positive medium, Wfuzzy > 0.4 is positive large, and define the membership functions of all variables accordingly.

[0098] In a preferred embodiment, such as Figure 8 , Figure 8 is a schematic diagram of the eighth embodiment of a method for regulating the spraying pressure of a wall putty pumping machine in the present invention, and step 320 further includes:

[0099] Step 324: Establish a fuzzy rule base based on past construction experiences multiple times; Step 325: Establish a fuzzy decision function and obtain PID parameters by using the fuzzy rule base. Establish a fuzzy rule base according to the actual construction experiences. For example, when the width is negative small but the thickness is positive medium, the total amount of putty sprayed at this time is within a reasonable range, and the pressure of the pumping machine can be unchanged, and the putty will be evenly scraped flat by the scraper.

[0100] Perform fuzzy reasoning. Mainly realize knowledge-based reasoning and decision-making, that is, establish a discrete function to realize the mapping from the fuzzified Wfuzzy, Tfuzzy, ΔWfuzzy, ΔTfuzzy to the PID control parameters, that is, f(Wfuzzy, Tfuzzy, ΔWfuzzy, ΔTfuzzy) = P, I, D. For example, when Wfuzzy is positive large, Tfuzz is zero value y, ΔWfuzzy is positive small, and ΔTfuzzy is positive small, P = 14, I = 11, D = 3.

[0101] In a preferred embodiment, such as Fig. 9 , Fig. 9 is a schematic diagram of the ninth embodiment of a method for regulating the spraying pressure of a wall putty pumping machine in the present invention, and step 320 further includes:

[0102] Step 326: Calculate the total spraying amount according to the spraying width and spraying thickness; Step 327: Perform PID control on the putty spraying pressure according to the total spraying amount and use the PID parameters to obtain the PID output result of the pumping machine pressure.

[0103] Such as Fig.11 , Fig.11It is a schematic diagram of a fuzzy PID control block diagram of a wall putty pump spraying pressure regulation method in the present invention; after obtaining the PID parameters through fuzzy control logic, the PID control of the motor pressure is performed based on the total putty spraying amount Q which is the product of the putty width W and the putty thickness T, ΔQ is the object during PID control, i.e., e(t), the pressure value output by the pump is the result of PID control, i.e., u(t), and the putty width and thickness caused by the pressure change of the pump are the final results of this scheme.

[0104] Second, as Fig.10 , Fig.10 It is a schematic diagram of the first embodiment of a wall putty pump spraying pressure control system in the present invention, a wall putty pump spraying pressure control system, using the first aspect of the control method, including an image acquisition unit 10 and a control unit 20; the image acquisition unit 10 is used to acquire a 2D image of the construction area and transmit it to the control unit 20; the control unit 20 is used to obtain the effective spraying area according to the 2D image, and obtain the spraying width by using the pixel world coordinates of the left and right end points of the 2D image of the effective spraying area, and obtain the spraying thickness according to the Z-axis height difference between the 3D boundary point corresponding to the 2D image of the effective spraying area and the adjacent unsprayed wall, and obtain the pump pressure PID output according to the spraying width and the spraying thickness by using the fuzzy PID control algorithm.

[0105] The wall putty pump spraying pressure control method and system described in the present invention are implemented to obtain the spraying width and spraying thickness through the 2D image of the putty spraying area, perform fuzzy processing on the spraying width and spraying thickness, establish a fuzzy rule library and fuzzy function mapping, and obtain PID control parameters based on the fuzzy control logic, and then perform PID control on the pump pressure output to obtain a suitable pump pressure output, so as to avoid the pump pressure not being able to be PID controlled in real time, resulting in insufficient or excessive putty sprayed, and the occurrence of uneven construction areas.

[0106] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for regulating the spraying pressure of a wall putty pump machine, characterized in that: include: Step 100, obtaining the world coordinates of the endpoint pixels on both sides of a row of the 2D image of the spraying area, and obtaining the spraying width according to the world coordinates; Step 200, calculating the difference between the Z-axis height of the 3D boundary point corresponding to the 2D image and the Z-axis height of the adjacent unpainted wall surface to obtain the spraying thickness; Step 300, using the spraying width and spraying thickness, adjusting the spraying pressure of the pump according to the fuzzy PID control algorithm; Wherein, the step 300 includes: Step 310, calculating the spraying width error, the spraying width error variation, the spraying thickness error and the spraying thickness error variation; Step 320, converting the spraying width error, the spraying width error variation, the spraying thickness error and the spraying thickness error variation into fuzzy parameters respectively; Step 330: Based on the fuzzy parameters, the fuzzy rule base and the fuzzy function are used to perform PID control on the pump pressure; The step 320 includes: Step 321, using the Kalman algorithm to filter the spraying width error, the spraying width error variation, the spraying thickness error and the spraying thickness error variation; Step 322: using corresponding preset values, converting the spraying width error, the spraying width error variation, the spraying thickness error and the spraying thickness error variation into dimensionless quantities respectively; Step 323: Determine the fuzzy speech value and membership function corresponding to each dimensionless quantity.

2. The wall putty pump spraying pressure control method according to claim 1, characterized in that: The step 100 comprises: Step 110, using the RGB values ​​of the 2D image to remove the pixel matrix corresponding to the scraper area and the unsprayed area; Step 120, using the Canny edge detection algorithm to perform edge detection on the remaining area to obtain the effective spraying area; Step 130, obtaining the pixel coordinates of the leftmost pixel and the rightmost pixel in the 2D image row of the effective spraying area; Step 140: Use the rotation matrix R and the translation vector T to convert the pixel coordinates into world coordinates.

3. The method for controlling the spraying pressure of a wall putty pump machine as claimed in claim 2, characterized in that: The step 110 includes: Step 111, setting a first RGB threshold and a second RGB threshold of the 2D image; Step 112: Compare the R value, G value, and B value of the 2D image with the first RGB threshold to obtain a first comparison result; Step 113, respectively obtain the maximum and minimum values ​​of the R value, G value and B value of the 2D image of the unpainted area, and calculate the RGB difference between the maximum value of the R value, G value and B value and the minimum value of the R value, G value and B value; Step 114: Compare the RGB difference with the second RGB threshold to obtain a second comparison result; Step 115: determining the type of the construction area according to the first comparison result and the second comparison result; The first RGB threshold is the set value corresponding to R, G and B respectively, and the second RGB threshold is the set value of the difference between the maximum value and the minimum value of RGB.

4. The method for controlling the spraying pressure of a wall putty pump machine as claimed in claim 3, characterized in that: The step 130 includes: Step 131, keep the optical axis of the 2D image camera perpendicular to the construction wall; Step 132: The camera acquires the 2D image at a set distance.

5. The method for controlling the spraying pressure of a wall putty pump machine according to claim 1, characterized in that: The step 200 comprises: Step 210, obtaining 3D coordinates of the boundary points of the 2D image; Step 220, obtaining the 3D coordinates of the adjacent unsprayed areas; Step 230: Calculate the difference between the 3D coordinate Z axis of the boundary point and the 3D coordinate Z axis of the unsprayed area to obtain the putty thickness of the sprayed area.

6. The method for controlling the spraying pressure of a wall putty pump machine according to claim 1, characterized in that: The step 320 further includes: Step 324, establishing a fuzzy rule base based on previous construction experiences; Step 325: Establish a fuzzy decision function, and use the fuzzy rule base to obtain PID parameters.

7. The method for controlling the spraying pressure of a wall putty pump machine as claimed in claim 6, characterized in that: The step 320 further includes: Step 326, calculating the total amount of spraying according to the spraying width and the spraying thickness; Step 327: Perform PID control on the putty spraying pressure according to the total spraying amount and using the PID parameters to obtain a pump pressure PID output result.

8. A wall putty pump spraying pressure control system, using any control method in claims 1-7, comprising: Image acquisition unit; Control unit; The image acquisition unit is used to acquire a 2D image of the construction area and transmit it to the control unit; The control unit is used for: The area of ​​the effective spraying area is obtained according to the 2D image, and the spraying width is obtained using the pixel world coordinates of the left and right end points of the 2D image of the effective spraying area. The spraying thickness is obtained according to the difference in Z-axis height between the 3D boundary point corresponding to the 2D image of the effective spraying area and the Z-axis height of the adjacent unsprayed wall. According to the spraying width and spraying thickness, the pump pressure PID output is obtained using a fuzzy PID control algorithm.

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