A method and apparatus for coating materials

Abstract

This application provides a material scraping method and apparatus, relating to the field of construction. The material scraping method includes: upon detecting a positioning signal generated by a robot, controlling the robot's robotic arm to place material according to a preset pre-laying trajectory; controlling the robotic arm to scrape the material according to a preset scraping trajectory; when the number of material scraping cycles exceeds a preset starting cycle number, controlling the robot's chassis to move; when the chassis reaches a preset ending position, stopping the material scraping and controlling the robotic arm to move to a reset point. It is evident that implementing this method can increase the overall work coverage area and make the formed surface more regular by using pre-laying and new material scraping.

Description

Technical Field

[0001] This application relates to the field of building construction, and more specifically, to a method and apparatus for applying materials. Background Technology

[0002] With the continuous advancement of robotics technology, more and more robots are replacing manual labor in the construction industry, performing most of the tasks. However, in practice, it has been found that single-discharge construction robots currently face the problem of being unable to distribute material in the starting area during the material scraping process. This results in a reduced overall work coverage area and irregular forming surfaces. Summary of the Invention

[0003] The purpose of this application is to provide a material coating method and apparatus that can increase the overall work coverage area and make the formed surface more regular by pre-laying material and using a new material coating method.

[0004] A first aspect of this application provides a material coating method, the method comprising:

[0005] When the robot detects the arrival signal generated by the robot, the robot's robotic arm is controlled to lay the material according to the preset pre-laying trajectory;

[0006] The robotic arm is controlled to scrape and coat materials according to a preset scraping trajectory;

[0007] When the number of times the material is scraped exceeds the preset starting cycle number, the robot's chassis is controlled to move.

[0008] When the chassis reaches the preset endpoint position, the material scraping stops, and the robotic arm is controlled to move to the reset point.

[0009] In the above implementation process, this method allows for pre-laying of material when the robot is in the starting position, followed by repeated scraping of the material at that position. When the number of repeated scraping operations reaches a preset number, the robot's chassis is controlled to move in a fixed direction, allowing the robot to scrape while moving until the chassis reaches the endpoint, at which point the scraping operation ends, and the robotic arm is reset. It is evident that this implementation method can complete the scraping of material at the initial position through pre-laying and initial scraping operations, thereby increasing the overall coverage area of ​​the operation; simultaneously, the moving scraping process can make the forming surface more regular.

[0010] Furthermore, the scraping trajectory is a single-cycle trajectory with the starting point and the ending point coinciding, and the scraping trajectory includes trajectory intersection points.

[0011] In the above implementation process, the scraping trajectory is a single-cycle trajectory with the starting and ending points coinciding, and the scraping trajectory includes trajectory intersections. It can be seen that by implementing this method, the robotic arm can perform cyclic scraping according to the scraping trajectory, much like drawing a single stroke in a loop, and the unique scraping trajectory with trajectory intersections helps to improve the quality of scraping.

[0012] Furthermore, before the step of controlling the robot's robotic arm to place material according to a preset pre-placement trajectory upon detecting the robot's positioning signal, the method further includes:

[0013] The robot's chassis is controlled to move to a preset starting position, and a positioning signal is generated when the chassis reaches the starting position.

[0014] In the above implementation process, this method can control the robot to move to the starting position before pre-laying the material, and generate a positioning signal when the robot reaches the starting position, so that the robot can start performing pre-laying and initial scraping operations upon detecting the positioning signal. It is evident that implementing this method allows for pre-control of the robot's movement, ensuring a fixed starting position and facilitating the continued execution of subsequent steps.

[0015] Furthermore, before the step of controlling the robot's robotic arm to place material according to a preset pre-placement trajectory upon detecting the robot's positioning signal, the method further includes:

[0016] Initialize parameters such as scraper tilt angle, scraping operation angle, scraping operation height, material discharge speed, starting cycle number, and pre-layout offset.

[0017] In the above implementation process, before the pre-laying operation, the method can also initialize a large amount of data in advance, so that subsequent steps can be processed according to the initialized parameters. This allows the method to determine the most suitable initialization data before each execution, thereby improving the execution targeting of the method and ensuring the final material coating effect.

[0018] Furthermore, the step of controlling the robot's robotic arm to place material according to a preset pre-placement trajectory when the robot's positioning signal is detected includes:

[0019] Upon detecting the robot's arrival signal, the number of pre-laying operations is calculated based on the material's expansion range and the scraping operation height.

[0020] The pre-laying trajectory is obtained by calculating the number of pre-laying operations and the pre-laying offset; wherein the starting point of the pre-laying trajectory is the intersection point of the scraping trajectory.

[0021] The robotic arm controls the robot to lay the material according to the pre-laid trajectory.

[0022] In the above implementation process, this method can calculate the number of pre-laying operations based on the material's expansion range and the coating height when a positioning signal is detected. When the number of pre-laying operations is multiple, it performs multiple pre-laying trajectory planning calculations based on the pre-laying offset to obtain a suitable pre-laying trajectory. The starting point of this trajectory is the intersection point of the coating trajectory. Then, the robot's robotic arm is controlled to lay the material according to this trajectory. It is evident that implementing this method allows for the calculation of the number of pre-laying operations based on the material type, further determining the pre-laying trajectory, thus improving the pre-laying effect and ultimately enhancing the subsequent coating effect.

[0023] Furthermore, the step of controlling the robotic arm to scrape the material according to a preset scraping trajectory includes:

[0024] When the number of times the material is applied is greater than the number of times the material is pre-applied, the coating trajectory is calculated based on the blade tilt angle, the coating operation angle, and the material discharge speed.

[0025] The robotic arm is controlled to scrape and coat the material according to the scraping trajectory.

[0026] In the above implementation process, when the number of material placement operations exceeds the number of pre-placement operations, it indicates that the pre-placement operation has been completed. Therefore, at this point, the most suitable scraping trajectory is calculated based on a large amount of initialization data, and the robotic arm is controlled to scrape the material according to the scraping trajectory. It is evident that implementing this method allows for the real-time calculation of the most suitable scraping trajectory after pre-placement is completed, and material scraping is performed according to the scraping trajectory, thereby achieving material scraping in the actual area and effectively increasing the overall material scraping range.

[0027] A second aspect of this application provides a material coating device, the material coating device comprising:

[0028] The material-laying unit is used to control the robot's robotic arm to lay material according to a preset pre-laying trajectory when a positioning signal generated by the robot is detected.

[0029] The scraping unit is used to control the robotic arm to scrape and coat materials according to a preset scraping trajectory;

[0030] The moving unit is used to control the chassis of the robot to move when the number of times the material is scraped exceeds a preset starting cycle number;

[0031] The reset unit is used to stop the material scraping when the chassis reaches the preset end position and to control the robotic arm to move to the reset position.

[0032] In the above-mentioned process, the device can complete the material coating at the initial position through pre-laying and initial coating operations, thereby increasing the overall coverage area of ​​the operation; at the same time, it can also make the forming surface more regular by moving the coating.

[0033] Furthermore, the material coating device further includes:

[0034] The control unit is used to control the robot's chassis to move to a preset starting position and generate a positioning signal when the chassis reaches the starting position.

[0035] In the above implementation process, the robot's movement can be controlled in advance to ensure that the robot's starting position is fixed, which is conducive to the continued execution of subsequent steps.

[0036] Furthermore, the material coating device further includes:

[0037] The initialization unit is used to initialize parameters such as the scraper tilt angle, scraping operation angle, scraping operation height, material discharge speed, starting cycle number, and pre-laying offset.

[0038] In the above implementation process, the device can initialize a large amount of data before the pre-laying operation, so that subsequent steps can be processed according to the initialized parameters. This allows the method to determine the most suitable initialization data before each execution, thereby improving the execution targeting of the method and ensuring the final material coating effect.

[0039] A third aspect of this application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor runs the computer program to cause the electronic device to perform the material coating method described in any one of the first aspects of this application.

[0040] The fourth aspect of this application provides a computer-readable storage medium storing computer program instructions, which, when read and executed by a processor, perform the material coating method described in any one of the first aspects of this application. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1A schematic flowchart of a material coating method provided in an embodiment of this application;

[0043] Figure 2 A schematic flowchart of another material coating method provided in an embodiment of this application;

[0044] Figure 3 This is a schematic diagram of the structure of a material coating device provided in an embodiment of this application;

[0045] Figure 4 This is a schematic diagram of another material coating device provided in an embodiment of this application;

[0046] Figure 5 This is a schematic diagram of a single-hole fabric feeding mechanism provided in an embodiment of this application;

[0047] Figure 6 In this embodiment, 'a' is a schematic diagram showing the position of a scraper and a material distributor in a pre-distribution posture according to an embodiment of this application.

[0048] Figure 6 b in this application is a schematic diagram of the position state of a scraper and a fabric spreader in a moving posture in the upper left direction according to an embodiment of this application;

[0049] Figure 6 c in this application is a schematic diagram of the position state of a scraper and a fabric spreader in a moving posture in the upper right direction according to an embodiment of this application;

[0050] Figure 7 This is a schematic diagram of a scraping application process provided in an embodiment of this application;

[0051] Figure 8 This is a schematic diagram of a pre-laying trajectory provided in an embodiment of this application.

[0052] Figure descriptions: A - Single-port fabric feeder; B - Metal composite scraper. Detailed Implementation

[0053] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0054] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0055] Example 1

[0056] Please refer to Figure 1 , Figure 1This application provides a schematic flowchart of a material coating method. The material coating method includes:

[0057] S101. When the robot's positioning signal is detected, the robot's robotic arm is controlled to lay the material according to the preset pre-laying trajectory.

[0058] In this embodiment, the single-hole fabric feeding mechanism is mounted on the robotic arm.

[0059] Please see Figure 5 , Figure 5 A schematic diagram of a single-port fabric feeding mechanism that can be used with this method is provided. Using this single-port fabric feeding mechanism can effectively reduce the risk of fabric blockage. Specifically, this single-port fabric feeding mechanism employs a single-port fabric feeder A and a metal composite scraper B, as shown in the figure.

[0060] Please see Figure 6 , Figure 6 This provides a schematic diagram illustrating the positional states of a scraper and a material distributor in various orientations. Figure 6 The diagram in section 'a' illustrates the positional state of the scraper and the material distributor in a pre-distribution posture. Figure 6 The diagram provided in section b illustrates the positional state of the scraper and the fabric distributor in a moving posture in the upper left direction. Figure 6 Figure c provides a schematic diagram of the position of the scraper and the material distributor in a moving posture in the upper right direction. It should be noted that the angle between the scraper and the vertical plane is α°.

[0061] S102. Control the robotic arm to scrape the material according to the preset scraping trajectory.

[0062] In this embodiment, the scraping trajectory is the trajectory formed with the center of the scraper (scraping tool) as the mass point.

[0063] In this embodiment, M represents the width of the scraper, and also the actual width of the corner work. N represents the actual height of the upper half of the scraping trajectory (i.e., the scraping work height).

[0064] In this embodiment, to avoid missed areas, the squeegee trajectory should be as close to the wall as possible; however, for safety, a certain distance must be maintained between the squeegee trajectory and the wall. Therefore, to ensure both no collision between the squeegee and the wall and complete coverage, the following formula must be satisfied: M>N+M*(COSα) / 2. Where M*(cosα) / 2 represents the vertical height of the squeegee when it is at angle α (M is the width of the squeegee, but...). Figure 7 It can be seen that the vertical height is calculated from M / 2, because M is divided into two parts by the center point.

[0065] In this embodiment, the scraping trajectory is a single-cycle trajectory with the starting and ending points coinciding, and the scraping trajectory includes trajectory intersections. For example, the shape of the scraping trajectory can be an "∞" shape.

[0066] Please see Figure 7 , Figure 7 A schematic diagram of a scraping application process is provided. The diagram shows five key points, one of which is the 'b' posture movement direction from the lower right to the upper left. See also... Figure 6 It can be seen that posture b is the direction of movement when the scraper is in the upper left direction; the second is the counterclockwise rotation operation at the upper left position, which can rotate the discharge port so that the scraper is in the upper right direction; the third is the posture c, which is from the lower left to the upper right. (See also...) Figure 6 It can be seen that the c-posture movement direction is the direction of movement when the scraper is in the upper right direction; the fourth is the clockwise rotation operation at the upper right position, which can rotate the discharge port so that the scraper is in the upper left direction; it can be seen that these four key points can form a complete cycle, enabling the in-situ material scraping scheme to be effectively implemented. Meanwhile, since the above content describes five key points, therefore, let's look at... Figure 7 It can be seen that the fifth key point is the direction of the operation. This key point can be moved in the above-mentioned on-site material scraping scheme, thereby realizing mobile scraping in an increased dimension and improving the overall scraping effect.

[0067] Implementing this method allows for a novel scraping solution that eliminates the problem of material not being able to be applied in the starting area of ​​the moving work trajectory under a single discharge port, thereby increasing the area covered by the work and making the overall forming surface more regular.

[0068] As an optional implementation, the step of controlling the robotic arm to scrape material according to a preset scraping trajectory may include:

[0069] The robotic arm is controlled to move the scraping tool from the lower right position to the upper left position for scraping.

[0070] Control the robotic arm to drive the scraping tool to rotate counterclockwise;

[0071] The robotic arm is controlled to move the scraping tool from the lower left position to the upper right position for scraping.

[0072] The robotic arm is controlled to rotate the scraping tool clockwise to complete one scraping of material and record the number of scrapings. At the same time, the robotic arm is triggered to move the scraping tool from the lower right position to the upper left position to perform scraping.

[0073] S103. When the number of times the material is scraped exceeds the preset starting cycle number, control the robot's chassis to move.

[0074] In this embodiment, the material scraping operation continues during the chassis movement.

[0075] S104. When the chassis reaches the preset endpoint position, stop the material scraping and control the robotic arm to move to the reset point.

[0076] In this embodiment, the subject executing the method can be a computing device such as a computer or server, and no limitation is made in this embodiment.

[0077] In this embodiment, the subject executing the method can also be a smart device such as a smartphone or tablet, and no limitation is made in this embodiment.

[0078] As can be seen, the material scraping method described in this embodiment allows for pre-laying of material when the robot is in the starting position, followed by repeated scraping of the material at that position. When the number of repeated scraping operations reaches a preset number, the robot's chassis is controlled to move in a fixed direction, allowing the robot to scrape while moving until the chassis reaches the endpoint, at which point the scraping operation ends, and the robotic arm is reset. This implementation method allows for the completion of material scraping at the initial position through pre-laying and initial scraping operations, thereby increasing the overall coverage area of ​​the operation; simultaneously, the moving scraping process makes the forming surface more regular.

[0079] Example 2

[0080] Please refer to Figure 2 , Figure 2 This is a schematic flowchart illustrating a material coating method provided in an embodiment of this application. Figure 2 As shown, the material coating method includes:

[0081] S201. Initialize parameters for scraper tilt angle, scraping operation angle, scraping operation height, discharge speed, starting cycle number, and pre-layout offset.

[0082] In this embodiment, the scraper tilt angle is represented by α°, the scraping operation angle is represented by β°, and the scraping operation height is represented by N.

[0083] In this embodiment, the discharge speed, the number of starting cycles, and the pre-layout offset are preset fixed parameters.

[0084] S202. Control the robot's chassis to move to the preset starting position, and generate a positioning signal when the chassis reaches the starting position.

[0085] S203. When the robot's arrival signal is detected, the number of pre-laying operations is calculated based on the material's expansion range and the scraping operation height.

[0086] S204. Calculate the pre-laying trajectory based on the number of pre-laying times and the pre-laying offset; wherein, the starting point of the pre-laying trajectory is the intersection point of the scraping trajectory.

[0087] Please participate Figure 8 , Figure 8 A pre-placement trajectory is shown, where w is the pre-placement offset. Based on the material's flowability, this method can calculate the number of times the pre-placement trajectory occurs according to demand. Figure 8 This shows two pre-laying trajectories. The intersection point of the lowest working trajectories (i.e., the straight line intersection point) is shown. Figure 7 (The intersection of the "X" shape). See also... Figure 8 Therefore, the fluidity of the material determines the number of times the material is pre-laid. This fluidity can be determined by the expansion amplitude F, which refers to the width by which the material expands upwards and downwards from its current position. Thus, if F > N, one pre-laying is sufficient; if N > 2F, two pre-layings are required, and so on. Figure 8 The middle part indicates that the material was pre-laid twice, and the trajectory is a double trajectory.

[0088] S205. Control the robot's robotic arm to lay the material according to the pre-laid trajectory.

[0089] S206. When the number of times the material is applied is greater than the number of times the material is pre-applied, the coating trajectory is calculated based on the blade tilt angle, the coating operation angle, and the material discharge speed.

[0090] S207. Control the robotic arm to scrape the material according to the scraping trajectory.

[0091] S208. When the number of times the material is scraped exceeds the preset starting cycle number, control the robot's chassis to move.

[0092] S209. When the chassis reaches the preset endpoint position, stop the material scraping and control the robotic arm to move to the reset point.

[0093] This implementation method allows for the introduction of a pre-applied material path before the scraping operation begins, compensating for areas where the scraping path cannot cover the material. The pre-applied material path not only solves the problem of missed areas but also safely combines large-area operations with corner operations; furthermore, it provides a secondary treatment for corner operations while ensuring absolute safety.

[0094] Implementing this method can solve the problem that the starting area of ​​the follow-up operation trajectory under a single discharge port cannot be covered with material, resulting in a reduced operating coverage area and irregular forming surface.

[0095] As can be seen, by implementing the material coating method described in this embodiment, the material coating at the initial position can be completed through pre-laying and initial coating operations, thereby increasing the overall coverage area of ​​the operation; at the same time, the forming surface can be made more regular by moving the coating.

[0096] Example 3

[0097] Please refer to Figure 3 , Figure 3 This is a schematic diagram of a material coating device provided in an embodiment of this application. Figure 3 As shown, the material coating device includes:

[0098] The cloth-laying unit 310 is used to control the robot's robotic arm to lay cloth according to a preset pre-laying trajectory when the robot detects the arrival signal generated by the robot.

[0099] The scraping unit 320 is used to control the robotic arm to scrape materials according to a preset scraping trajectory;

[0100] The moving unit 330 is used to control the robot's chassis to move when the number of times the material is scraped exceeds the preset starting cycle number;

[0101] The reset unit 340 is used to stop the material scraping when the chassis reaches the preset end position and control the robotic arm to move to the reset point.

[0102] In this embodiment, the explanation of the material coating device can be referred to the description in Embodiment 1 or Embodiment 2, and will not be repeated here.

[0103] As can be seen, by implementing the material coating device described in this embodiment, the material coating at the initial position can be completed through the pre-laying and initial coating operations, thereby increasing the overall coverage area of ​​the operation; at the same time, the forming surface can be made more regular by moving the coating.

[0104] Example 4

[0105] Please refer to the following: Figure 4 , Figure 4 This is a schematic diagram of a material coating device provided in an embodiment of this application. Figure 4 The material coating device shown is composed of Figure 3 The material coating device shown is optimized. Figure 4 As shown, the material coating device also includes:

[0106] The control unit 350 is used to control the robot's chassis to move to a preset starting position and generate a positioning signal when the chassis reaches the starting position.

[0107] As an optional implementation, the material coating device further includes:

[0108] The initialization unit 360 is used to initialize parameters such as the scraper tilt angle, scraping operation angle, scraping operation height, material discharge speed, starting cycle number, and pre-layout offset.

[0109] As an optional implementation, the fabric unit 310 includes:

[0110] The first subunit 311 is used to calculate the number of pre-layouts based on the material's expansion range and the scraping operation height when the robot's position signal is detected.

[0111] The second subunit 312 is used to calculate the pre-laying trajectory based on the number of pre-laying times and the pre-laying offset; wherein the starting point of the pre-laying trajectory is the intersection point of the scraping trajectory.

[0112] The robotic arm controls the robot to lay the material according to a pre-set trajectory.

[0113] As an optional implementation, the coating unit 320 includes:

[0114] The third subunit 321 is used to calculate the coating trajectory based on the scraper tilt angle, coating operation angle and discharge speed when the number of times the material is applied is greater than the number of times the material is pre-applied.

[0115] The fourth subunit 322 is used to control the robotic arm to scrape the material according to the scraping trajectory.

[0116] In this embodiment, the explanation of the material coating device can be referred to the description in Embodiment 1 or Embodiment 2, and will not be repeated here.

[0117] As can be seen, by implementing the material coating device described in this embodiment, the material coating at the initial position can be completed through the pre-laying and initial coating operations, thereby increasing the overall coverage area of ​​the operation; at the same time, the forming surface can be made more regular by moving the coating.

[0118] This application provides an electronic device, including a memory and a processor. The memory stores a computer program, and the processor runs the computer program to cause the electronic device to perform any of the material coating methods in Embodiment 1 or Embodiment 2 of this application.

[0119] This application provides a computer-readable storage medium storing computer program instructions. When the computer program instructions are read and executed by a processor, they perform any one of the material coating methods in Embodiment 1 or Embodiment 2 of this application.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0121] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0122] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0123] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0124] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0125] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for coating materials, characterized in that, The method includes: Initialize parameters such as scraper tilt angle, scraping angle, scraping height, discharge speed, starting cycle number, and pre-layout offset; Upon detecting the robot's arrival signal, the number of pre-laying operations is calculated based on the material's expansion range and the scraping operation height. The pre-laying trajectory is calculated based on the number of pre-laying operations and the pre-laying offset; wherein, the starting point of the pre-laying trajectory is the intersection point of the scraping trajectory. The robotic arm of the robot is controlled to lay the material according to the pre-laid trajectory; When the number of times the material is applied is greater than the number of times the material is pre-applied, the scraping trajectory is calculated based on the blade tilt angle, the scraping operation angle, and the material discharge speed. The robotic arm is controlled to scrape material according to the scraping trajectory; the scraping trajectory is a single-cycle trajectory with the starting point and the ending point coinciding, and the scraping trajectory includes trajectory intersection points; When the number of times the material is scraped exceeds the preset starting cycle number, the robot's chassis is controlled to move; during the chassis movement, the material scraping operation continues. When the chassis reaches the preset endpoint position, the material scraping stops, and the robotic arm is controlled to move to the reset point.

2. The material coating method according to claim 1, characterized in that, Before the step of controlling the robot's robotic arm to place material according to a preset pre-placement trajectory upon detecting the robot's positioning signal, the method further includes: The robot's chassis is controlled to move to a preset starting position, and a positioning signal is generated when the chassis reaches the starting position.

3. A material coating device, characterized in that, The material coating device includes: The material-laying unit is used to control the robot's robotic arm to lay material according to a preset pre-laying trajectory when a positioning signal generated by the robot is detected. The scraping unit is used to control the robotic arm to scrape and coat materials according to a preset scraping trajectory; the scraping trajectory is a single-cycle trajectory with the start point and end point coinciding, and the scraping trajectory includes trajectory intersection points; The moving unit is used to control the chassis of the robot to move when the number of times the material is scraped exceeds a preset starting cycle number; the material scraping operation continues during the chassis movement. The reset unit is used to stop the material scraping when the chassis reaches the preset end position and to control the robotic arm to move to the reset point. The material coating device further includes: The initialization unit is used to initialize parameters such as scraper tilt angle, scraping operation angle, scraping operation height, discharge speed, starting cycle number and pre-layout offset. The fabric unit includes: The first subunit is used to calculate the number of pre-layouts based on the material's expansion range and the scraping operation height when the robot's position signal is detected. The second sub-unit is used to calculate the pre-laying trajectory based on the number of pre-laying times and the pre-laying offset; wherein the starting point of the pre-laying trajectory is the intersection point of the scraping trajectory. The robotic arm controls the robot to lay the material according to a pre-set trajectory; The coating unit includes: The third sub-unit is used to calculate the coating trajectory based on the blade tilt angle, coating operation angle, and discharge speed when the number of times the material is applied is greater than the pre-application number. The fourth sub-unit is used to control the robotic arm to scrape the material according to the scraping trajectory.

4. The material coating device according to claim 3, characterized in that, The material coating device further includes: The control unit is used to control the robot's chassis to move to a preset starting position and generate a positioning signal when the chassis reaches the starting position.

5. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor running the computer program to cause the electronic device to perform the material coating method according to any one of claims 1 to 2.

6. A readable storage medium, characterized in that, The readable storage medium stores computer program instructions, which, when read and executed by a processor, perform the material coating method according to any one of claims 1 to 2.

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