Multi-bucket feeding method, device, system and spraying robot

Abstract

The present application discloses a multi-barrel feeding method, device, system and spraying robot. Among them, the method includes: detecting the current attitude of a hanging basket carrying multiple barrels in an inertial coordinate system; comparing the current balance state of the hanging basket according to the current attitude, and when the current balance state is unbalanced, determining at least one barrel lacking material among the multiple barrels based on the current balance state; opening the feeding channels of at least one barrel lacking material to feed the at least one barrel, and closing the feeding channels of the at least one barrel lacking material until the current balance state is restored. The multi-barrel feeding method of the embodiments of the present application stabilizes the hanging basket by scheduling the material taking of different barrels, controls the center of gravity position of the hanging basket, and greatly improves the machine stability performance and spraying quality.

Description

Technical Field

[0001] This application relates to the field of spraying technology, and particularly relates to a multi-barrel feeding method and device. Background Art

[0002] With the continuous development of the urbanization process, the number of high-rise buildings in cities is increasing continuously; in the construction of high-rise buildings, it is necessary to suspend an external wall spraying device to spray or decorate the outer surface of the building, and these spraying and decoration works not only directly affect the appearance of the building, but also greatly affect the overall appearance of the city.

[0003] However, when the external wall spraying device of a high-rise building is working at high altitude, the paint is prone to splash, and the hanging basket platform is prone to tilt due to the change of the center of gravity when lifting and lowering along the external wall, which affects the stability performance of the machine and the spraying quality of the coating.

[0004] Application Content

[0005] To this end, the first object of the present invention is to propose a multi-barrel feeding method, which stabilizes the hanging basket by scheduling the feeding of different barrels, controls the position of the center of gravity of the hanging basket, avoids the hanging basket platform from tilting at high altitude, and greatly improves the stability performance of the machine and the spraying quality.

[0006] The second object of the present invention is to propose a multi-barrel feeding device.

[0007] The third object of the present invention is to propose a multi-barrel feeding system.

[0008] The fourth object of the present invention is to propose a spraying robot.

[0009] To achieve the above object, the first aspect embodiment of the present application provides a multi-barrel feeding method, including the following steps: detecting the current posture of a hanging basket carrying a plurality of barrels in an inertial coordinate system;

[0010] Comparing the current balance state of the hanging basket according to the current posture, and when the current balance state is unbalanced, determining at least one barrel lacking material among the plurality of barrels based on the current balance state; and

[0011] Opening the feeding channels of the at least one barrel lacking material to feed the at least one barrel, and closing the feeding channels of the at least one barrel lacking material until the current balance state is restored to balance.

[0012] In addition, the multi-barrel feeding method according to the above embodiment of the present invention may further have the following additional technical features:

[0013] Optionally, compare the current balance state of the hanging basket according to the current posture, and when the current balance state is unbalanced, determine at least one empty bucket among the multiple buckets based on the current balance state, including: collecting the pitch angle and roll angle in the current posture; identifying at least one bucket for the channel to be opened and at least one bucket for the channel to be closed according to the pitch angle and roll angle.

[0014] Optionally, when the pitch angle is greater than or equal to zero, open the feeding channel of the bucket on the corresponding side and close the feeding channel of the bucket on the opposite side;

[0015] When the roll angle is greater than or equal to zero, open the feeding channel of the bucket on the corresponding side and close the feeding channel of the bucket on the opposite side.

[0016] Optionally, the above multi-bucket feeding method further includes: if the spraying robot is in a moving state, detecting the liquid position change data of each bucket; controlling the opening or closing of the corresponding feeding channel according to the liquid position change data.

[0017] To achieve the above object, an embodiment of the second aspect of the present application provides a multi-bucket feeding device, including: a detection module for detecting the current posture of the hanging basket carrying multiple buckets in an inertial coordinate system;

[0018] a determination module for comparing the current balance state of the hanging basket according to the current posture, and when the current balance state is unbalanced, determining at least one empty bucket among the multiple buckets based on the current balance state; and

[0019] a balance module for opening the feeding channel of at least one empty bucket to feed the at least one bucket, and closing the feeding channel of at least one empty bucket until the current balance state is restored to balance.

[0020] Optionally, the determination module includes: a collection unit for collecting the pitch angle and roll angle in the current posture; an identification unit for identifying at least one bucket for the channel to be opened and at least one bucket for the channel to be closed according to the pitch angle and roll angle.

[0021] Optionally, when the pitch angle or roll angle is greater than or equal to zero, open the feeding channel of the bucket on the corresponding side and close the feeding channel of the bucket on the opposite side.

[0022] Optionally, the above multi-bucket feeding device further includes: a detection module for detecting the liquid position change data of each bucket when the spraying robot is in a moving state; a control module for controlling the opening or closing of the corresponding feeding channel according to the liquid position change data.

[0023] To achieve the above object, the third embodiment of the present invention provides a multi-barrel feeding system, which includes:

[0024] A spraying machine;

[0025] A hanging basket, on which a diaphragm pump and a plurality of barrels are arranged;

[0026] The multi-barrel feeding device as described above.

[0027] To achieve the above object, the fourth embodiment of the present invention provides a spraying robot, which includes the above multi-barrel feeding system.

[0028] Thus, the current attitude of the hanging basket carrying a plurality of barrels in the inertial coordinate system can be detected; the current balance state of the hanging basket is compared according to the current attitude, and when the current balance state is unbalanced, at least one barrel lacking material among the plurality of barrels is determined based on the current balance state; the feeding channels of at least one barrel lacking material are opened to feed at least one barrel, and until the current balance state is restored to balance, the feeding channels of at least one barrel lacking material are closed. Thus, there is no need to specially customize barrels, reducing the processing cost, and the hanging basket is stabilized by scheduling the feeding of different barrels to control the center of gravity position of the hanging basket, avoiding the inclination of the hanging basket platform in the air, and adopting multi-barrel feeding can also avoid the problem of water resource pollution caused by the cleaning of barrels after use, greatly improving the stability performance of the machine and the spraying quality.

[0029] The additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present application. Description of the Drawings

[0030] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0031] Figure 1 Is a flowchart of a multi-barrel feeding method according to an embodiment of the present application;

[0032] Figure 2 Is a front view of a multi-barrel feeding system according to an embodiment of the present application;

[0033] Figure 3 Is a perspective view of a multi-barrel feeding system according to an embodiment of the present application;

[0034] Figure 4 Is a perspective view of a multi-barrel feeding system according to another embodiment of the present application;

[0035] Figure 5 Is a schematic diagram of multi-barrel automatic balance control feeding according to an embodiment of the present application;

[0036] Figure 6 Flow chart of a multi - bucket feeding method according to an embodiment of the present application;

[0037] Figure 7 Block diagram example of a multi - bucket feeding device according to an embodiment of the present application. Detailed implementation manners

[0038] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application and should not be construed as limiting the present application.

[0039] A multi - bucket feeding method and device according to an embodiment of the present invention will be described below with reference to the drawings. First, the multi - bucket feeding method according to an embodiment of the present invention will be described with reference to the drawings.

[0040] Specifically, Figure 1 is a schematic flow chart of a multi - bucket feeding method provided by an embodiment of the present application. As Figure 1 shown, the multi - bucket feeding method includes the following steps:

[0041] In step S101, detect the current attitude of the hanging basket carrying multiple buckets in an inertial coordinate system.

[0042] It can be understood that when starting the work of the exterior wall spraying robot, the embodiment of the present application can identify the attitude in the inertial coordinate system through the inclination sensor installed on the hanging basket bracket. As Figures 2 to 4 shown, the inclination sensor can be installed at the center position of the hanging basket bracket, so as to detect the static or dynamic angle of the hanging basket in real time. Among them, Figures 2 - 4 is the front view and three - dimensional view of the multi - bucket feeding system involved in the multi - bucket feeding method of the embodiment of the present application. The multi - bucket feeding system may include: a spraying machine, a diaphragm pump, and multiple buckets. The feeding method is to first suck the paint from multiple buckets into the storage tank through the diaphragm pump, and then the spraying machine directly sucks the material from the bottom of the storage tank, thereby effectively avoiding the problems of inhaling air and insufficient suction of the spraying machine.

[0043] In step S102, compare the current balance state of the hanging basket according to the current attitude, and when the current balance state is unbalanced, determine at least one bucket lacking material among the multiple buckets based on the current balance state.

[0044] Optionally, in some embodiments, the current balance state of the hanging basket is compared according to the current posture, and when the current balance state is unbalanced, at least one empty bucket among the multiple buckets is determined based on the current balance state, including: collecting the pitch angle and roll angle in the current posture; identifying at least one bucket for the channel to be opened and at least one bucket for the channel to be closed according to the pitch angle and roll angle.

[0045] Optionally, in some embodiments, when the pitch angle is greater than or equal to zero, the feeding channel of the bucket on the corresponding side is opened, and the feeding channel of the bucket on the opposite side is closed;

[0046] When the roll angle is greater than or equal to zero, the feeding channel of the bucket on the corresponding side is opened, and the feeding channel of the bucket on the opposite side is closed.

[0047] It can be understood that the automatic balance control in the embodiments of the present application adopts the method of combining the center of gravity with feedforward compensation, and adjusts the feeding of the corresponding buckets based on the direct feedback of the inclination sensor. Among them, both the pitch angle and the roll angle in the current posture can be collected by the inclination sensor, as Figure 5 shown, Figure 5 is a schematic diagram of the feeding for the automatic balance control of multiple buckets.

[0048] Among them, when the pitch angle Y≥0, the diaphragm pump sucks material from bucket 1 and closes bucket 3; when the pitch angle Y<0, the diaphragm pump sucks material from bucket 3 and closes bucket 1; when the roll angle X≥0, the diaphragm pump sucks material from bucket 4 and closes bucket 2; when the roll angle X<0, the diaphragm pump sucks material from bucket 2 and closes bucket 4.

[0049] Optionally, in some embodiments, the above-mentioned multi-bucket feeding method further includes: if the spraying robot is in a moving state, detecting the liquid position change data of each bucket; controlling the opening or closing of the corresponding feeding channel according to the liquid position change data.

[0050] That is to say, the embodiments of the present application can identify whether there is material in the corresponding bucket according to the pitch angle or roll angle in the current posture. If there is material, the channel is opened for feeding, otherwise, other buckets are used for feeding.

[0051] In step S103, the feeding channels of at least one empty bucket are opened to feed the at least one bucket, and until the current balance state is restored to balance, the feeding channels of at least one empty bucket are closed.

[0052] It can be understood that when the exterior wall spraying robot in the embodiment of the present application starts to work, the attitude in the inertial coordinate system can be recognized by the inclination sensor installed on the hanging basket bracket, and the pitch angle and roll angle in the current attitude are collected. According to the feedback of the pitch angle and roll angle, it is recognized whether the corresponding paint bucket has paint. If there is paint, this channel is opened for feeding; otherwise, feeding is provided by other paint buckets. For multi-paint bucket feeding, the corresponding paint bucket channel will be automatically opened for feeding according to the value feedback by the inclination sensor, and spraying is performed line by line in this way until the spraying operation of the entire column is completed.

[0053] For example, as Figure 6 shown, the multi-paint bucket feeding method in the embodiment of the present application may include the following steps:

[0054] S601, Start the exterior wall spraying robot to work and collect the pitch angle and roll angle in the current attitude.

[0055] S602, Determine whether the pitch angle is greater than or equal to 0. If so, execute step S603; otherwise, execute step S604.

[0056] Among them, while executing step S602, step S607 is executed.

[0057] S603, Determine whether paint bucket 1 has paint. If so, execute step S605; otherwise, execute step S604.

[0058] S604, Determine whether paint bucket 3 has paint. If so, execute step S606; otherwise, execute step S603.

[0059] S605, Open paint bucket 1 and jump to execute step S612.

[0060] S606, Open paint bucket 3 and jump to execute step S612.

[0061] S607, Determine whether the roll angle is greater than or equal to 0. If so, execute step S608; otherwise, execute step S609.

[0062] S608, Determine whether paint bucket 4 has paint. If so, execute step S610; otherwise, execute step S609.

[0063] S609, Determine whether paint bucket 2 has paint. If so, execute step S611; otherwise, execute step S608.

[0064] S610, Open paint bucket 4 and jump to execute step S612.

[0065] S611, Open paint bucket 2 and jump to execute step S612.

[0066] S612, Determine whether the spraying is completed. If yes, execute step S613; otherwise, execute step S601.

[0067] S613, End.

[0068] According to the multi-barrel feeding method proposed in the embodiments of the present application, the current posture of the hanging basket carrying multiple barrels in the inertial coordinate system can be detected; the current balance state of the hanging basket is compared according to the current posture, and when the current balance state is unbalanced, at least one barrel lacking material among the multiple barrels is determined based on the current balance state; the feeding channels of at least one barrel lacking material are opened to feed at least one barrel, and until the current balance state is restored to balance, the feeding channels of at least one barrel lacking material are closed. Thus, there is no need to specially customize the barrels, reducing the processing cost, and the hanging basket is stabilized by scheduling the material taking of different barrels to control the center of gravity position of the hanging basket. Moreover, by using multi-barrel feeding, the problem of water resource pollution caused by the cleaning of the barrels after use can be avoided, greatly improving the stability performance and spraying quality of the machine.

[0069] Next, a multi-barrel feeding device according to the embodiments of the present application will be described with reference to the accompanying drawings.

[0070] Figure 7 It is a block diagram of the multi-barrel feeding device according to the embodiments of the present application.

[0071] As Figure 7 shown, the multi-barrel feeding device 10 includes: a detection module 100, a determination module 200, and a balance module 300.

[0072] Among them, the detection module 100 is used to detect the current posture of the hanging basket carrying multiple barrels in the inertial coordinate system;

[0073] The determination module 200 is used to compare the current balance state of the hanging basket according to the current posture, and when the current balance state is unbalanced, determine at least one barrel lacking material among the multiple barrels based on the current balance state; and

[0074] The balance module 300 is used to open the feeding channels of at least one barrel lacking material to feed at least one barrel, and until the current balance state is restored to balance, close the feeding channels of at least one barrel lacking material.

[0075] Optionally, in some embodiments, the determination module 200 includes:

[0076] An acquisition unit, which is used to acquire the pitch angle and roll angle in the current posture;

[0077] An identification unit, which is used to identify at least one barrel for opening the channel and at least one barrel for closing the channel according to the pitch angle and roll angle.

[0078] Optionally, in some embodiments, when the pitch angle is greater than or equal to zero, the feeding channel of the bucket on the corresponding side is opened, and the feeding channel of the bucket on the opposite side is closed;

[0079] When the roll angle is greater than or equal to zero, the feeding channel of the bucket on the corresponding side is opened, and the feeding channel of the bucket on the opposite side is closed.

[0080] Optionally, in some embodiments, the multi-bucket feeding device 10 further includes:

[0081] a detection module, configured to detect the liquid position change data of each bucket when the spraying robot is in a moving state;

[0082] a control module, configured to control the corresponding feeding channel to be opened or closed according to the liquid position change data.

[0083] It should be noted that the foregoing explanation of the multi-bucket feeding method embodiment is also applicable to the multi-bucket feeding device of this embodiment, and will not be elaborated here.

[0084] The multi-bucket feeding device proposed according to the embodiment of the present application can detect the current attitude of the hanging basket carrying multiple buckets in the inertial coordinate system; compare the current balance state of the hanging basket according to the current attitude, and when the current balance state is unbalanced, determine at least one bucket lacking material among the multiple buckets based on the current balance state; open the feeding channels of at least one bucket lacking material to supply material to at least one bucket, and close the feeding channels of at least one bucket lacking material until the current balance state is restored to balance. Thus, there is no need to specially customize the buckets, reducing the processing cost, and stabilizing the hanging basket by scheduling different buckets to fetch materials to control the center of gravity position of the hanging basket. Moreover, by using multi-bucket feeding, the problem of water resource pollution caused by cleaning the buckets after use can be avoided, greatly improving the machine stability performance and spraying quality.

[0085] The embodiment of the present application further provides a multi-bucket feeding system, which includes: a spraying machine; a hanging basket, on which a diaphragm pump and multiple buckets are arranged; and the multi-bucket feeding device as described above.

[0086] The multi-barrel feeding system proposed according to the embodiments of the present application can detect the current attitude of the hanging basket carrying multiple barrels in an inertial coordinate system; compare the current balance state of the hanging basket according to the current attitude, and when the current balance state is unbalanced, determine at least one barrel lacking material among the multiple barrels based on the current balance state; open the feeding channels of at least one barrel lacking material to feed at least one barrel, and close the feeding channels of at least one barrel lacking material until the current balance state is restored. Thus, there is no need to specifically customize the barrels, reducing the processing cost, and stabilizing the hanging basket by scheduling the material extraction from different barrels to control the center of gravity position of the hanging basket, avoiding the inclination of the hanging basket platform in the air, and also avoiding the problem of water resource pollution caused by the cleaning of the barrels after use, greatly improving the machine stability performance and spraying quality.

[0087] The embodiments of the present application also provide a spraying robot, which includes the above-mentioned multi-barrel feeding system.

[0088] According to the spraying robot proposed by the embodiments of the present application, through the above-mentioned multi-barrel feeding system, not only the processing cost is reduced, but also the hanging basket is stabilized by scheduling the material extraction from different barrels to control the center of gravity position of the hanging basket, avoiding the inclination of the hanging basket platform in the air, and greatly improving the machine stability performance and spraying quality.

[0089] The present embodiment also provides a computer-readable storage medium, on which a computer program is stored, characterized in that when the program is executed by a processor, it implements the multi-barrel feeding method of the spraying robot as described above.

[0090] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or N embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0091] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0092] Any process or method description represented in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a customized logical function or process. The scope of the preferred embodiments of the present application includes additional implementations, where functions may be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed. This should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0093] Logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered as an ordered listing of executable instructions for implementing a logical function, and can be embodied specifically in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection having one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory.

[0094] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0095] Those of ordinary skill in the art can understand that all or part of the steps carried out in the methods of the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0096] In addition, in each of the embodiments of the present application, each functional unit can be integrated in a processing module, or each unit can exist physically alone, or two or more units can be integrated in a module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0097] The above-mentioned storage medium can be a read-only memory, a magnetic disk or an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present application.

Claims

1. A multi-barrel feeding method, characterized in that, Comprising the following steps: Detect the current attitude of the hanging basket carrying multiple buckets in the inertial coordinate system; Compare the current balance state of the hanging basket according to the current attitude, and when the current balance state is unbalanced, determine at least one bucket lacking material among the multiple buckets based on the current balance state; And Open the feeding channels of at least one bucket lacking material to feed the at least one bucket, and close the feeding channels of the at least one bucket lacking material until the current balance state is restored to balance; The step of comparing the current balance state of the hanging basket according to the current attitude, and when the current balance state is unbalanced, determining at least one bucket lacking material among the multiple buckets based on the current balance state includes: Collect the pitch angle and roll angle in the current attitude; Identify at least one bucket for opening the channel and at least one bucket for closing the channel according to the pitch angle and roll angle; When the pitch angle is greater than or equal to zero, open the feeding channels of the buckets on the corresponding side and close the feeding channels of the buckets on the opposite side; When the roll angle is greater than or equal to zero, open the feeding channels of the buckets on the corresponding side and close the feeding channels of the buckets on the opposite side.

2. The method according to claim 1, wherein Further comprising: If the spraying robot is in a moving state, detect the liquid position change data of each bucket; Control the opening or closing of the corresponding feeding channel according to the liquid position change data.

3. A multi-barrel feeding device, characterized in that, Comprising: A detection module for detecting the current attitude of the hanging basket carrying multiple buckets in the inertial coordinate system; A determination module for comparing the current balance state of the hanging basket according to the current attitude, and when the current balance state is unbalanced, determining at least one bucket lacking material among the multiple buckets based on the current balance state; And A balance module for opening the feeding channels of at least one bucket lacking material to feed the at least one bucket, and closing the feeding channels of the at least one bucket lacking material until the current balance state is restored to balance; The determination module includes: A collection unit for collecting the pitch angle and roll angle in the current attitude; An identification unit for identifying at least one bucket for opening the channel and at least one bucket for closing the channel according to the pitch angle and roll angle; The balance module includes: When the pitch angle is greater than or equal to zero, open the feeding channels of the buckets on the corresponding side and close the feeding channels of the buckets on the opposite side; When the roll angle is greater than or equal to zero, open the feeding channels of the buckets on the corresponding side and close the feeding channels of the buckets on the opposite side.

4. The device according to claim 3, characterized in that Further comprising: A detection module for detecting the liquid position change data of each bucket when the spraying robot is in a moving state; A control module for controlling the opening or closing of the corresponding feeding channel according to the liquid position change data.

5. A multi-hopper feeding system, characterized in that, Comprising: A spraying machine; A hanging basket, on which a diaphragm pump and multiple buckets are arranged; The multi-bucket feeding device according to any one of claims 3-4.

6. A spraying robot, characterized in that, Including the multi-bucket feeding system according to claim 5.

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