Painting system

Abstract

An embodiment of the present disclosure discloses a painting system, which includes: a first robot and a second robot; wherein the first robot is used to generate a navigation map of a house and send the navigation map to the remaining robots in the painting system; the second robot is used to move in the house according to the navigation map to perform basic painting treatment on each wall to be painted in the house; the first robot is also used to move in the house according to the navigation map to detect the basic painting treatment effect of each wall to be painted in the house, and send the detection result to the second robot; the second robot is also used to perform optimized wall painting treatment on the house according to the detection result. In the embodiment of the present disclosure, the collaborative work of the first robot and the second robot can realize the painting treatment of the house efficiently and reliably, the whole process does not require a lot of manual participation, and the painting treatment efficiency can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of decoration, and in particular to a painting system. Background Art

[0002] When decorating a house, it is often necessary to paint the walls of the house. Currently, the painting process is generally performed manually by decorators, which requires a lot of manpower and time, is inefficient, and is difficult to meet actual needs. Summary of the Invention

[0003] In order to solve the above technical problems, the present disclosure is proposed. An embodiment of the present disclosure provides a painting system.

[0004] An embodiment of the present disclosure provides a painting system, comprising: a first robot and a second robot; wherein,

[0005] The first robot is configured to generate a navigation map of the house and send the navigation map to the remaining robots in the painting system;

[0006] The second robot is configured to move in the house according to the navigation map to perform basic painting on each wall to be painted in the house;

[0007] The first robot is further configured to move in the house according to the navigation map to detect the basic painting treatment effect of each wall to be painted in the house, and send the detection result to the second robot;

[0008] The second robot is further used to perform optimized painting on the walls of the house according to the detection results.

[0009] In an optional example, the painting system further includes: a third robot; wherein,

[0010] The first robot is further configured to obtain a target position of a current wall to be painted among the walls to be painted in the house, and move to the target position according to the navigation map;

[0011] the third robot being configured to follow the first robot as the first robot moves to the target location, obtain first local positioning information of the first robot based on a first image of the first robot captured by its own camera device, and transmit the first local positioning information to the first robot; wherein the accuracy of the camera device of the third robot is greater than a preset accuracy;

[0012] The first robot is specifically used to correct the navigation map based on the first global positioning information obtained by its own positioning device and the first local positioning information, and send the corrected navigation map to the remaining robots in the painting system.

[0013] In an optional example, the first robot is specifically used to convert the first local positioning information into second global positioning information, fuse the first global positioning information and the second global positioning information to obtain first fused positioning information, and correct the navigation map based on the first fused positioning information and the first image.

[0014] In an alternative example,

[0015] The first global positioning information includes a first position in a map coordinate system;

[0016] The first local positioning information includes a second posture of the first robot relative to the third robot, and the second global positioning information includes a third posture in the map coordinate system converted from the second posture;

[0017] The first fused positioning information includes a fused posture obtained by weighted averaging the first posture and the third posture.

[0018] In an optional example, the third robot is specifically used to move to a position where the first robot is within the field of view of its own camera device according to the corrected navigation map when the first robot is outside the field of view of its own camera device during the process of the first robot moving to the target position.

[0019] In an alternative example,

[0020] The first robot is further configured to, after moving to the target position, generate a three-dimensional model based on the point cloud data of the wall to be worked on acquired by its own point cloud acquisition device, and send the three-dimensional model to the second robot;

[0021] The second robot is specifically used to perform basic painting on the current wall surface to be worked on according to the three-dimensional model.

[0022] In an optional example, the painting system further includes: a third robot; wherein,

[0023] The third robot is configured to obtain second local positioning information of the target robot based on a second image of the target robot captured by its own camera device, and transmit the second local positioning information to the target robot; wherein the accuracy of the camera device of the third robot is greater than a preset accuracy, and the target robot is any robot in the painting system except the third robot;

[0024] The target robot is configured to move in the house according to the third global positioning information acquired by its own positioning device, the second local positioning information, and the navigation map.

[0025] In an optional example, the target robot is specifically used to convert the second local positioning information into fourth global positioning information, fuse the third global positioning information and the fourth global positioning information to obtain second fused positioning information, and move in the house according to the second fused positioning information and the navigation map.

[0026] In an optional example, the painting system further includes: a fourth robot; wherein,

[0027] The fourth robot is used to store painting materials, and during the painting operation of the second robot, follows the second robot and provides the second robot with painting materials.

[0028] In an optional example, there is a raw material supply area in the house; the painting system further includes: a fourth robot; wherein,

[0029] The fourth robot is used to store painting raw materials. When the amount of stored painting raw materials is less than the preset amount, the fourth robot moves to the raw material supply area according to the navigation map to replenish the painting raw materials. After the replenishment is completed, the fourth robot moves to the preset position range of the second robot according to the navigation map to provide the second robot with painting raw materials.

[0030] In an optional example, the second robot is specifically used to determine the proportion of unqualified areas of any wall to be painted in the house after basic painting treatment based on the detection results, determine an optimization treatment method that matches the proportion of unqualified areas, and perform optimized painting treatment on the wall to be painted according to the optimization treatment method.

[0031] In an optional example, the painting system further includes: a central dispatcher; wherein,

[0032] The central dispatcher is used to dispatch the robots in the painting system and / or relay the communication data between any two robots in the painting system.

[0033] In the painting system provided by the embodiment of the present disclosure, the second robot can move in the house according to the navigation map shared by the first robot to perform basic painting treatment on each wall to be painted in the house. The second robot can also obtain the detection results provided by the first robot, which are obtained by detecting the basic painting treatment effect of each wall to be painted in the house, and perform optimized painting treatment on the walls of the house accordingly, thereby ensuring the painting effect of the walls of the house. It can be seen that in the embodiment of the present disclosure, the painting treatment of the house can be achieved efficiently and reliably through the collaborative work of the first robot and the second robot. The entire process does not require a large amount of manual participation, and the painting treatment efficiency can be improved. In addition, the first robot and the second robot respectively realize specific functions, which is conducive to the miniaturization and lightweighting of the first robot and the second robot. Therefore, the embodiment of the present disclosure can be applied to situations where the residential building where the house is located does not have an elevator, the residential building where the house is located has an elevator but the elevator corridor space is small, and the house itself has a small space.

[0034] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and other purposes, features, and advantages of the present disclosure will become more apparent through a more detailed description of the embodiments of the present disclosure in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and are not intended to limit the present disclosure. In the drawings, the same reference numerals generally represent the same components or steps.

[0036] Figure 1 It is a structural schematic diagram of a painting system provided by an exemplary embodiment of the present disclosure.

[0037] Figure 2 It is a schematic diagram of the workflow of a robot cluster in an exemplary embodiment of the present disclosure.

[0038] Figure 3 It is a schematic diagram of a local positioning robot following a whole-house modeling and wall scanning detection robot in an exemplary embodiment of the present disclosure.

[0039] Figure 4 It is a schematic diagram of the working principle of a robot cluster in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0040] Below, the exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the exemplary embodiments described herein.

[0041] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0042] Those skilled in the art will understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, and do not represent any specific technical meanings, nor do they indicate a necessary logical order between them.

[0043] It should also be understood that in the embodiments of the present disclosure, “a plurality of” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0044] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0045] In addition, the term "and / or" in this disclosure is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this disclosure generally indicates that the related objects are in an "or" relationship.

[0046] It should also be understood that the description of the various embodiments in this disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced with each other. For the sake of brevity, they will not be described one by one.

[0047] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0048] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0049] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0050] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0051] Figure 1 Schematic diagram of the structure of a painting system provided by an exemplary embodiment of the present disclosure. Figure 1As shown, the painting system includes: a first robot 11 and a second robot 13; wherein,

[0052] The first robot 11 is used to generate a navigation map of the house and send the navigation map to the other robots in the painting system;

[0053] The second robot 13 is used to move in the house according to the navigation map to perform basic painting on each wall to be painted in the house;

[0054] The first robot 11 is further configured to move in the house according to the navigation map to detect the basic painting treatment effect of each wall to be painted in the house, and send the detection result to the second robot 13;

[0055] The second robot 13 is also used to optimize the painting of the walls of the house according to the detection results.

[0056] Here, the first robot 11 may include an environmental data acquisition device and a mobile platform; wherein the environmental data acquisition device may include a laser radar, a high-precision structured light 3D camera, an inertial odometer (Visual-Inertial Odometry, VIO), etc.; the mobile platform can be used to realize the overall movement of the first robot 11.

[0057] During actual operation, the first robot 11 can enter the house and move autonomously within the house. During the autonomous movement, the first robot 11 can continuously collect external environmental data through the laser radar, high-precision structured light 3D camera, and VIO. By using the Simultaneous Localization And Mapping (SLAM) algorithm, the external environmental data collected by the laser radar, high-precision structured light 3D camera, and VIO are integrated to construct a three-dimensional model and navigation map of the house. The first robot 11 can also send the navigation map to the remaining robots in the painting system, such as the second robot 13, and the third robot 15 and the fourth robot 17 described below, so that all robots in the painting system can share the navigation map.

[0058] Optionally, each robot in the painting system can have 5G transmission function, and data communication can be achieved between any two robots in the painting system based on the 5G transmission function. In this way, the sharing of the navigation map in the above paragraph can be achieved based on the 5G transmission function.

[0059] Here, the second robot 13 may include a robotic arm, a tool rack and a mobile platform; wherein, the tool rack can be used to place a painting tool (such as a roller) when the second robot 13 is in a non-working state; the robotic arm can be used to clamp the painting tool and realize the movement of the painting tool within a certain range when the second robot 13 is in a working state; the mobile platform can be used to realize the overall movement of the second robot 13.

[0060] During actual operation, the second robot 13 can obtain the positions and painting order of all the walls to be painted in the house. For example, the second robot 13 can refer to the three-dimensional model of the house and the navigation map constructed by the first robot 11 through the SLAM algorithm to determine the positions of all the walls to be painted in the house. The second robot 13 can also determine the order of all the walls to be painted in the house according to a preset clockwise sequence (for example, clockwise or counterclockwise) to determine the painting order of all the walls to be painted. The second robot 13 can also use the navigation map to plan the movement route and move according to the planned movement route to reach the positions of the various walls to be painted in the house in accordance with the painting order, thereby performing basic painting treatment on each wall to be painted in the house in turn.

[0061] It should be noted that basic painting treatment on any wall surface may mean: dividing the wall surface into multiple working areas along the width direction of the wall surface, the width of each working area is consistent with the width of the roller, and for each working area, rolling the roller from top to bottom multiple times until all positions of the working area are covered with painting materials.

[0062] In addition, the first robot 11 can adopt a similar method to the second robot 13 to obtain the positions and painting order of all walls to be painted in the house, use the navigation map to plan the movement route, and move according to the planned movement route, so as to reach the positions of each wall to be painted in the house in turn according to the painting order, thereby detecting the basic painting treatment effect of each wall to be painted in the house in turn.

[0063] Optionally, after basic painting treatment is performed on any wall to be painted in the house, the first robot 11 can collect an image of the wall to be painted through its own high-precision structured light 3D camera. By analyzing the image, the flatness, color uniformity and other information of each working area of ​​the wall to be painted after basic painting treatment can be determined. This information can be used to characterize the basic painting treatment effect of the wall to be painted.

[0064] It should be noted that the basic painting treatment effects of all the walls to be painted in the house can together constitute the detection results. Based on the 5G transmission function, the detection results can be sent to the second robot 13. The second robot 13 can optimize the painting treatment of the walls of the house according to the detection results.

[0065] In a specific embodiment, the second robot 13 is specifically used to determine the proportion of unqualified areas of any wall to be painted in the house after basic painting treatment based on the detection results, determine an optimized treatment method that matches the proportion of unqualified areas, and perform optimized painting treatment on the wall to be painted according to the optimized treatment method.

[0066] Here, the second robot 13 can extract the basic painting treatment effects of each of the walls to be painted in the house from the detection results, and analyze the basic painting treatment effects of each of the walls to be painted to determine the proportion of unqualified areas of each of the walls to be painted after the basic painting treatment. Optionally, the unqualified area can refer to an area with a flatness greater than a preset flatness. For any wall to be painted, the ratio of the total area of ​​all work areas that belong to the unqualified area to the total area of ​​the wall to be painted can be used as the proportion of the unqualified area.

[0067] If the proportion of unqualified areas on any wall to be painted after basic painting is between the first preset proportion and the second preset proportion, for example, between 10% and 20%, it can be determined that the optimized treatment method that matches the proportion of unqualified areas is the wall repair treatment method. In this way, subsequent repair treatment can be performed on each operating area of ​​the wall to be painted that belongs to the unqualified area, so that the flatness of each operating area of ​​the wall to be painted that belongs to the unqualified area can be repaired to less than the preset flatness.

[0068] If the proportion of unqualified areas on any wall to be painted after basic painting is greater than a second preset ratio, the optimized treatment method that matches the proportion of unqualified areas can be determined as the wall repainting treatment method. In this way, the basic painting treatment can be re-performed on the entire wall to be painted subsequently.

[0069] In this embodiment, the second robot 13 can refer to the proportion of unqualified areas of any wall to be painted in the house after the basic painting treatment, and optimize the painting treatment of the wall to be painted with a suitable optimization treatment method. This is beneficial for ensuring the wall painting effect of the house and saving the time required for the optimization painting treatment.

[0070] Of course, the specific implementation method of the second robot 13 optimizing the wall painting treatment of the house based on the detection results is not limited to this. For example, the second robot 13 determines the proportion of unqualified areas of any wall to be painted in the house after basic painting treatment based on the detection results. If the proportion of unqualified areas is greater than the first preset ratio, the basic painting treatment can be directly re-performed on the entire wall to be painted.

[0071] In the painting system provided by the embodiment of the present disclosure, the second robot 13 can move in the house according to the navigation map shared by the first robot 11 to perform basic painting treatment on each wall to be painted in the house. The second robot 13 can also obtain the detection results provided by the first robot 11, which are obtained by detecting the basic painting treatment effect of each wall to be painted in the house, and perform optimized painting treatment on the wall of the house accordingly, thereby ensuring the wall painting effect of the house. It can be seen that in the embodiment of the present disclosure, the painting treatment of the house can be achieved efficiently and reliably through the collaborative work of the first robot 11 and the second robot 13. The entire process does not require a large amount of manual participation, and the painting treatment efficiency can be improved. In addition, the first robot 11 and the second robot 13 respectively realize specific functions, which is conducive to the miniaturization and lightweighting of the first robot 11 and the second robot 13. Therefore, the embodiment of the present disclosure can be applied to situations where the residential building where the house is located does not have an elevator, the residential building where the house is located has an elevator but the elevator corridor space is small, and the house itself has a small space.

[0072] In an alternative example, Figure 1 As shown, the painting system further includes: a third robot 15; wherein,

[0073] The first robot 11 is further configured to obtain a target position of a wall to be painted among the walls to be painted in the house, and to move to the target position according to the navigation map;

[0074] The third robot 15 is configured to follow the first robot 11 as the first robot 11 moves to the target position, obtain first local positioning information of the first robot 11 based on a first image of the first robot 11 captured by its own camera device, and transmit the first local positioning information to the first robot 11; wherein the accuracy of the camera device of the third robot 15 is greater than a preset accuracy;

[0075] The first robot 11 is specifically used to correct the navigation map based on the first global positioning information and the first local positioning information obtained by its own positioning device, and send the corrected navigation map to the remaining robots in the painting system.

[0076] Here, the third robot 15 may include a camera device and a mobile platform; wherein, since the accuracy of the camera device of the third robot 15 is greater than the preset accuracy, the camera device of the third robot 15 may specifically be a high-precision color camera; the mobile platform may be used to realize the overall movement of the third robot 15.

[0077] Here, the positioning device of the first robot 11 may specifically be a laser radar in the environmental data acquisition device.

[0078] Optionally, in an embodiment of the present invention, the method for determining the current wall to be worked on among the various walls to be painted in a house can be: referring to the painting order of the various walls to be painted in the house, the wall to be painted that ranks first in the painting order can first be used as the current wall to be worked on, and after the basic painting treatment and the optimized painting treatment of the wall to be painted that ranks first in the painting order are completed, the wall to be painted that ranks second in the painting order can be used as the current wall to be worked on, and after the basic painting treatment and the optimized painting treatment of the wall to be painted that ranks second in the painting order are completed, the wall to be painted that ranks third in the painting order can be used as the current wall to be worked on, and so on. No further details will be given here.

[0079] During actual operation, the first robot 11 may use the navigation map to plan a movement route for moving to the target location, and move according to the movement route.

[0080] During the process of the first robot 11 moving to the target position, the third robot 15 can follow the first robot 11 and collect the first image of the first robot 11 through its own high-precision color camera. Based on the first image, the third robot 15 obtains the first local positioning information of the first robot 11 and sends the first local positioning information to the first robot 11 based on the 5G transmission function.

[0081] Optionally, a QR code may be affixed to the first robot 11, and the first image may include the QR code. The third robot 15 may determine the first local positioning information based on the QR code in the first image using visual recognition positioning technology (such as AprilTag). The first local positioning information may be the positioning information of the first robot 11 relative to the third robot 15.

[0082] In addition, the first robot 11 can be positioned through its own laser radar to obtain the first global positioning information. The first global positioning information is the positioning information of the first robot 11 in the entire map coordinate system. The first robot 11 can also combine the first global positioning information and the first local positioning information to correct the navigation map, and based on the 5G transmission function, send the corrected navigation map to the remaining robots in the painting system.

[0083] In a specific embodiment, the first robot 11 is specifically used to convert the first local positioning information into second global positioning information, fuse the first global positioning information and the second global positioning information to obtain first fused positioning information, and correct the navigation map according to the first fused positioning information and the first image.

[0084] Optionally, the first global positioning information includes a first pose in a map coordinate system;

[0085] The first local positioning information includes a second posture of the first robot 11 relative to the third robot 15, and the second global positioning information includes a third posture in the map coordinate system converted from the second posture;

[0086] The first fused positioning information includes a fused pose obtained by weighted averaging the first pose and the third pose.

[0087] It should be noted that each posture involved in the embodiments of the present disclosure includes a position and a posture.

[0088] Here, the first robot 11 can first obtain the transformation matrix between the coordinate system used by itself and the map coordinate system. Based on the transformation matrix, the second posture in the first local positioning information can be converted into the third posture in the map coordinate system to obtain the second global positioning information including the third posture.

[0089] Assume that the first pose in the first global positioning information is represented as P1, the third pose in the second global positioning information is represented as P2, and the fused pose obtained by weighted averaging the first and third poses is represented as P3, then:

[0090] P3=Z1×P1+(1-Z1)×P2

[0091] The values ​​of Z1 can all be pre-set values.

[0092] After obtaining the first fused positioning information including the fused posture, the navigation map can be corrected according to the first fused positioning information and the first image. For example, according to the first image, it can be determined that in the actual scene, there is an obstacle (such as the first obstacle) at a certain distance (such as the first distance) from the first robot 11, and the posture of the first obstacle in the map coordinate system (assuming it is the first posture). From this, the difference between the first posture and the posture of the first robot 11 (assuming it is the target posture difference) can be calculated. By correcting the navigation map, the distance between the first obstacle in the navigation map and the position in the fused posture can be made the first distance, and the difference between the posture of the first obstacle in the navigation map and the posture in the fused posture can be made the target posture difference.

[0093] In this embodiment, the posture fusion can be achieved conveniently and reliably through weighted averaging of the postures, thereby obtaining accurate and reliable first fused positioning information, so that the first fused positioning information can be used to correct the navigation map.

[0094] It should be noted that the weighted average method is used in the above embodiment to achieve the fusion of global positioning information. During specific implementation, those skilled in the art may also use other methods to achieve the fusion of global positioning information according to actual conditions.

[0095] In the embodiment of the present disclosure, during the process of the first robot 11 moving to the target position, the third robot 15 can provide the first robot 11 with high-precision local positioning information, so that the first robot 11 can combine the high-precision local positioning information and the global positioning information obtained by itself through positioning to effectively realize the correction of the navigation map. The corrected navigation map can be shared with the remaining robots in the painting system. In this way, all robots in the painting system can plan the movement route based on the corrected navigation map, which is conducive to ensuring the rationality of the planned movement route.

[0096] In an optional example, the third robot 15 is specifically used to move to a position where the first robot 11 is within the field of view of its own camera device according to a corrected navigation map when the first robot 11 is outside the field of view of its own camera device during the process of the first robot 11 moving to the target position.

[0097] Here, in the initial state, the first robot 11 can be located within the field of view of the camera device of the third robot 15. During the process of the first robot 11 moving to the target position, as the first robot 11 moves, the first robot 11 may still be within the field of view of the camera device of the third robot 15, or may be outside the field of view of the camera device of the third robot 15.

[0098] When the first robot 11 is still within the field of view of the camera device of the third robot 15, the third robot 15 can acquire a first image and provide the first local positioning information obtained based on the first image to the first robot 11, so that the first robot 11 can correct the navigation map accordingly.

[0099] When the first robot 11 is outside the field of view of the camera of the third robot 15, the third robot 15 can communicate data with the first robot 11 based on the 5G transmission function to obtain the current position of the first robot 11, and plan the movement route according to the current position of the first robot 11 using the corrected navigation map, and move according to the movement route until the first robot 11 is back in the field of view of its own camera, thereby realizing the third robot 15 following the first robot 11.

[0100] It can be seen that in the embodiment of the present disclosure, through the mutual cooperation between the first robot 11 and the third robot 15, the third robot 15 can follow the movement of the first robot 11 to collect the first image, thereby providing the first robot 11 with high-precision local positioning information based on the first image.

[0101] In an alternative example,

[0102] The first robot 11 is further configured to generate a three-dimensional model based on the point cloud data of the wall to be worked on acquired by its own point cloud acquisition device after moving to the target position, and send the three-dimensional model to the second robot;

[0103] The second robot 13 is specifically used to perform basic painting on the wall to be worked on according to the three-dimensional model.

[0104] Here, the point cloud acquisition device of the first robot 11 may be a laser radar in the environmental data acquisition device.

[0105] In the embodiment of the present disclosure, after moving to the target location, the first robot 11 can use its own point cloud acquisition device to scan the wall surface to be worked on to obtain point cloud data of the wall surface to be worked on. Using the obtained point cloud data, the first robot 11 can perform three-dimensional modeling to obtain a three-dimensional model (specifically, a three-dimensional model of the wall surface to be worked on). The first robot 11 can then transmit the obtained three-dimensional model to the second robot 13 based on the 5G transmission function.

[0106] It should be noted that the three-dimensional model may contain various characteristic information of the current wall to be worked on, including but not limited to height information, width information, shape information, etc. The second robot 13 can perform basic painting processing on the current wall to be worked on based on these characteristic information. For example, according to the width information in these characteristic information, the second robot 13 can determine the number of working areas (for example, X) into which the current wall to be worked on needs to be divided. During the actual painting operation, it is necessary to ensure that each of the X working areas is brushed from top to bottom by the roller multiple times. For another example, according to the height information in these characteristic information, the second robot 13 can determine the highest height to which the roller needs to be brushed during the actual painting operation.

[0107] It can be seen that in the embodiment of the present disclosure, the first robot 11 can provide the three-dimensional model of the current wall to be worked on to the second robot 13, so that the second robot 13 can perform painting operations with reference to the feature information obtained based on the three-dimensional model, which is conducive to ensuring the painting processing effect.

[0108] In an optional example, the painting system further includes: a third robot 15; wherein,

[0109] The third robot 15 is configured to obtain second local positioning information of the target robot based on a second image of the target robot captured by its own camera device, and transmit the second local positioning information to the target robot; wherein the accuracy of the camera device of the third robot 15 is greater than a preset accuracy, and the target robot is any robot in the painting system other than the third robot 15;

[0110] The target robot is configured to move in the house according to the third global positioning information obtained by its own positioning device, as well as the second local positioning information and the navigation map.

[0111] Here, the third robot 15 may include a camera device and a mobile platform; wherein, since the accuracy of the camera device of the third robot 15 is greater than the preset accuracy, the camera device of the third robot 15 may specifically be a high-precision color camera; the mobile platform may be used to realize the overall movement of the third robot 15.

[0112] It should be noted that the first robot 11, the second robot 13, and the fourth robot 17 described below can all serve as target robots, and the positioning device of the target robot can be a laser radar.

[0113] In an embodiment of the present disclosure, when the target robot is within the field of view of its own camera device, the third robot 15 can capture a second image of the target robot through its own camera device, obtain second local positioning information of the target robot based on the second image, and send the second local positioning information to the target robot. The method for obtaining the second local positioning information can refer to the description of the method for obtaining the first local positioning information above, and will not be repeated here.

[0114] The target robot can be positioned through its own positioning device to obtain the third global positioning information. The third global positioning information is the positioning information of the target robot in the entire map coordinate system. The target robot can also move in the house based on the third global positioning information, the second local positioning information and the navigation map.

[0115] In a specific embodiment, the target robot is specifically used to convert the second local positioning information into fourth global positioning information, fuse the third global positioning information and the fourth global positioning information to obtain second fused positioning information, and move in the house according to the second fused positioning information and the navigation map.

[0116] Here, the target robot can first obtain the transformation matrix between its own coordinate system and the map coordinate system. Based on this transformation matrix, it can achieve the conversion of the second local positioning information into the fourth global positioning information. Afterwards, the second fused positioning information can be obtained by fusing the third global positioning information with the fourth global positioning information. The specific fusion method can refer to the above description of the method for fusing the first global positioning information and the second global positioning information, which will not be repeated here. Afterwards, the target robot can move in the house based on the second fused positioning information and the navigation map. For example, the target robot can use the fused posture in the second fused positioning information as its current posture. Based on its current posture, it can use the navigation map to plan a movement route. The target robot can then move according to the planned movement route.

[0117] It can be seen that in the embodiment of the present disclosure, the third robot 15 can provide high-precision local positioning information for the remaining robots in the painting system. The remaining robots in the painting system can plan and move their movement routes with reference to the high-precision local positioning information provided by the third robot 15, which is conducive to ensuring that the remaining robots in the painting system move according to a reasonable movement route.

[0118] In an optional example, the painting system further includes: a fourth robot 17; wherein,

[0119] The fourth robot 17 is used to store painting materials, and to follow the second robot 13 during the painting operation of the second robot 13 and provide the second robot 13 with painting materials.

[0120] Here, the fourth robot 17 may include a storage device and a mobile platform; wherein the storage device is used to store the painting material. When the painting material is paint, the storage device may be a paint bucket; the mobile platform is used to realize the overall movement of the fourth robot 17.

[0121] In the embodiment of the present disclosure, during the painting operation performed by the second robot 13, the second robot 13 can share its current position to the fourth robot 17 in real time through the 5G transmission function. The fourth robot 17 can move with reference to the current position shared by the second robot 13 to ensure that it moves synchronously with the second robot 13. In this way, the second robot 13 can dip the painting materials in the storage device of the second robot 13 for the painting operation according to the operation requirements, thereby ensuring that the painting operation of the second robot 13 is carried out normally and orderly.

[0122] In an optional example, there is a raw material supply area in the house (which can be any preset area in the house); the painting system further includes: a fourth robot 17; wherein,

[0123] The fourth robot 17 is used to store painting raw materials. When the amount of stored painting raw materials is less than the preset material amount, it moves to the raw material supply area according to the navigation map to replenish the painting raw materials. After the replenishment is completed, it moves to the preset position range of the second robot 13 according to the navigation map to provide the second robot 13 with painting raw materials.

[0124] Here, the fourth robot 17 may include a storage device and a moving platform.

[0125] In the embodiment of the present disclosure, the fourth robot 17 can regularly or irregularly detect the amount of the painting raw material stored in its own storage device, and compare the detected amount with a preset amount.

[0126] If the comparison result is that the detected material amount is greater than or equal to the preset material amount, which indicates that the painting material stored in the storage device is sufficient, then the fourth robot 17 can continue to follow the second robot 13 to provide the second robot 13 with painting materials.

[0127] If the comparison result shows that the detected material amount is less than the preset material amount, which indicates that the painting material stored in the storage device is insufficient, then the fourth robot 17 can use the navigation map to plan its movement route based on its current position and the position of the raw material supply area in the house, move according to the planned movement route to reach the raw material supply area, and replenish the painting material after arriving at the raw material supply area to increase the material amount of the painting material stored in the storage device. After the replenishment is completed, the fourth robot 17 can use the navigation map to plan its movement route based on the position of the raw material supply area in the house and the current position of the second robot 13, and move according to the planned movement route to reach the preset position range of the second robot 13 (for example, within a range of no more than 30 cm from the second robot 13), thereby continuing to follow the second robot 13 to provide the second robot 13 with painting materials.

[0128] It can be seen that in the embodiment of the present disclosure, the fourth robot 17 can automatically replenish the painting materials when the stored painting materials are not sufficient, and continue to provide painting materials to the second robot 13 after the replenishment is completed, thereby ensuring that the painting operation of the second robot 13 is carried out normally and orderly.

[0129] In an optional example, the painting system further includes: a central dispatcher (not shown in the figure); wherein,

[0130] The central dispatcher is used to dispatch each robot in the painting system and / or relay the communication data between any two robots in the painting system.

[0131] In the embodiment of the present disclosure, the central dispatcher can provide scheduling instructions to the first robot 11, the second robot 13, the third robot 15, and the fourth robot 17 mentioned above, respectively, so that the first robot 11, the second robot 13, the third robot 15, and the fourth robot 17 respectively respond to the scheduling instructions provided by the central dispatcher to perform operations, thereby realizing the function of autonomously painting the walls of the entire house through the collaborative work of the first robot 11, the second robot 13, the third robot 15, and the fourth robot 17. In addition, when any two robots in the painting system need to communicate data, the central dispatcher can receive communication data from one of the two robots and forward the communication data to the other of the two robots to ensure reliable communication between the two robots.

[0132] It should be noted that since the first robot 11 is mainly used to realize the construction of three-dimensional modeling and navigation maps, as well as the detection of the effect of basic wall painting treatment, the first robot 11 can also be called a whole-house modeling and wall scanning and detection robot; since the second robot 13 is mainly used to realize the basic painting treatment and optimized painting treatment of the house, the second robot 13 can also be called a wall operation robot; since the third robot 15 is mainly used to provide local positioning information, the third robot 15 can also be called a local positioning robot; since the fourth robot 17 is mainly used to provide painting raw materials, the fourth robot 17 can also be called a raw material supply robot. The whole-house modeling and wall scanning and detection robot, the wall operation robot, the local positioning robot, and the raw material supply robot can form a robot cluster to realize the function of autonomously painting the walls of the whole house through the robot cluster. The overall process can be referred to. Figure 2 .

[0133] like Figure 2 As shown, after the robot cluster enters the house as a whole, the whole-house modeling and wall scanning detection robot can first build a preliminary navigation map of the house through autonomous movement, and then share the navigation map with the rest of the robots in the robot cluster through the 5G transmission function for use in the navigation movement of the rest of the robots.

[0134] Next, the wall-working robot can obtain the location and painting order of all the walls to be painted in the house, and take a wall to be painted in the house as the current wall to be worked on. The robot cluster can move to a position near the current wall to be worked on over a large range and with high precision.

[0135] Specifically, the local positioning robot and the whole-house modeling and wall scanning detection robot can be coordinated to move the two robots to a position near the wall to be worked on. Figure 3As shown, the whole-house modeling and wall scanning and inspection robot first moves within the field of view of the local positioning robot's camera. Based on the high-precision local positioning information provided by the local positioning robot and the global positioning information acquired by its own positioning device, the whole-house modeling and wall scanning and inspection robot can correct its navigation map and share the corrected navigation map with the other robots. When the whole-house modeling and wall scanning and inspection robot leaves the field of view of the local positioning robot's camera, the local positioning robot moves to a position where it can regain the field of view of the whole-house modeling and wall scanning and inspection robot based on the corrected navigation map. This process is then repeated until both the local positioning robot and the whole-house modeling and wall scanning and inspection robot have reached a position near the current wall to be worked on. Thereafter, the wall working robot and the material supply robot use the navigation map shared by the whole-house modeling and wall scanning and inspection robot to move to a position near the current wall to be worked on and acquire the high-precision local positioning information provided by the local positioning robot. At this point, the robot cluster achieves high-precision movement over a large area near the current wall to be worked on.

[0136] After the robot cluster moves over a large area with high precision to a position near the current wall to be worked on, the robot cluster can start the wall painting operation.

[0137] Specifically, the whole house modeling and wall scanning detection robot can first scan the wall to obtain a three-dimensional model of the wall, and then the wall operation robot will perform the painting operation according to the three-dimensional model. Figure 4 The local positioning robot remains fixed, and its field of view is always towards the other three robots, providing high-precision local positioning information for the other three robots; the whole-house modeling and wall scanning and detection robot always observes the wall, and obtains the wall painting effect in real time through the color information of the camera, and provides the wall painting effect feedback to the wall working robot; the raw material supply robot always follows the wall working robot. When the raw materials carried by the robot are running low, it moves to the raw material supply area according to the navigation map to replenish the stored raw materials and moves back to the wall painting work area, and continues to follow the wall working robot to work.

[0138] In summary, in the embodiments of the present disclosure, the robot cluster operation can be used so that each robot only carries a small number of tools or sensors to achieve specific functions, thereby realizing the function of autonomously painting walls through the cooperation of multiple robots. This can save manpower, improve painting processing efficiency, and is conducive to the miniaturization and lightweight of each robot. In addition, according to the characteristics of different tools or sensors, a robot structure that can better give full play to the characteristics of each tool or sensor can be flexibly designed, thereby enhancing the overall operation capability of the painting system.

[0139] The basic principles of the present disclosure have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this disclosure are merely illustrative and not restrictive, and should not be construed as necessarily possessed by each embodiment of the present disclosure. Furthermore, the specific details disclosed above are provided for illustrative purposes and to facilitate understanding, rather than as limitations. These details do not limit the present disclosure to necessarily being implemented using these specific details.

[0140] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0141] The block diagrams of the devices, devices, equipment, and systems involved in this disclosure are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0142] The methods and apparatus of the present disclosure may be implemented in many ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The steps of the methods of the present disclosure are not limited to the order specifically described above, unless otherwise indicated.

[0143] It should also be noted that in the apparatus, device, and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0144] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0145] The above description has been provided for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A painting system, characterized in that: Used for painting the walls of a house, comprising: a first robot, a second robot and a third robot; wherein, The first robot is configured to generate a navigation map of the house, obtain a target position of a current wall to be painted among the walls to be painted in the house, and move to the target position according to the navigation map; the third robot being configured to follow the first robot as the first robot moves to the target location, obtain first local positioning information of the first robot based on a first image of the first robot captured by its own camera device, and transmit the first local positioning information to the first robot; wherein the accuracy of the camera device of the third robot is greater than a preset accuracy; The first robot is further configured to correct the navigation map based on the first global positioning information obtained by its own positioning device and the first local positioning information, and send the corrected navigation map to the remaining robots in the painting system; The second robot is configured to move in the house according to the navigation map to perform basic painting on each wall to be painted in the house; The first robot is further configured to move in the house according to the navigation map to detect the basic painting treatment effect of each wall to be painted in the house, and send the detection result to the second robot; The second robot is further used to perform optimized painting on the walls of the house according to the detection results.

2. The painting system according to claim 1, characterized in that The first robot is specifically used to convert the first local positioning information into second global positioning information, fuse the first global positioning information and the second global positioning information to obtain first fused positioning information, and correct the navigation map according to the first fused positioning information and the first image.

3. The painting system according to claim 2, characterized in that: The first global positioning information includes a first position in a map coordinate system; The first local positioning information includes a second posture of the first robot relative to the third robot, and the second global positioning information includes a third posture in the map coordinate system converted from the second posture; The first fused positioning information includes a fused posture obtained by weighted averaging the first posture and the third posture.

4. The painting system according to claim 1, characterized in that The third robot is specifically used to move to a position where the first robot is within the field of view of its own camera device according to the corrected navigation map when the first robot is outside the field of view of its own camera device during the process of the first robot moving to the target position.

5. The painting system according to claim 1, characterized in that: The first robot is further configured to, after moving to the target position, generate a three-dimensional model based on the point cloud data of the wall to be worked on acquired by its own point cloud acquisition device, and send the three-dimensional model to the second robot; The second robot is specifically used to perform basic painting on the current wall surface to be worked on according to the three-dimensional model.

6. The painting system according to claim 1, characterized in that: The third robot is configured to obtain second local positioning information of the target robot based on a second image of the target robot captured by its own camera device, and transmit the second local positioning information to the target robot; wherein the accuracy of the camera device of the third robot is greater than a preset accuracy, and the target robot is any robot in the painting system except the third robot; The target robot is configured to move in the house according to the third global positioning information acquired by its own positioning device, the second local positioning information, and the navigation map.

7. The painting system according to claim 6, characterized in that: The target robot is specifically used to convert the second local positioning information into fourth global positioning information, fuse the third global positioning information and the fourth global positioning information to obtain second fused positioning information, and move in the house according to the second fused positioning information and the navigation map.

8. The painting system according to claim 1, characterized in that: There is a raw material supply area in the house; the painting system also includes: a fourth robot; wherein, The fourth robot is used to store painting raw materials. When the amount of stored painting raw materials is less than the preset amount, the fourth robot moves to the raw material supply area according to the navigation map to replenish the painting raw materials. After the replenishment is completed, the fourth robot moves to the preset position range of the second robot according to the navigation map to provide the second robot with painting raw materials.

9. The painting system according to claim 1, characterized in that: The second robot is specifically used to determine the proportion of unqualified areas of any wall to be painted in the house after basic painting treatment based on the detection results, determine an optimization treatment method that matches the proportion of unqualified areas, and perform optimized painting treatment on the wall to be painted according to the optimization treatment method.

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