Control system for building waterproof coating spraying robot applied to open flat sites

Abstract

The present invention provides a control system for a building waterproof coating spraying robot applied to open flat sites, comprising a control terminal, a local human-machine interface, a remote teleoperation unit, a motor drive unit, a robot actuator, a data acquisition unit, and an alarm unit. The motor drive unit comprises: a steering gear drive module, a first servo motor driver, a second servo motor driver, a first DC motor driver, a second DC motor driver, a third DC motor driver, and a fourth DC motor driver, respectively connected to the control terminal; the robot actuator comprises: a steering gear, a first servo motor, a second servo motor, a first DC motor, a second DC motor, a third DC motor, a fourth DC motor, a first solenoid valve, and a second solenoid valve. The present invention can enable the robot to move straight, turn, and turn in place in a work site, thereby improving the robot's movement flexibility and enhancing work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and in particular to a building waterproof coating spraying robot control system applied to open flat sites. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] Building waterproofing projects are an important guarantee for improving the service life of buildings and the living experience. There are two types of waterproof materials used in building waterproofing projects: waterproof membranes and waterproof coatings. Compared with the former, the latter has the advantages of less leakage risks, convenient post-protection and maintenance. Therefore, waterproof coatings are more and more widely used in building waterproofing projects.

[0004] In current waterproofing construction, waterproof coatings are mostly applied using traditional methods such as brushing, roller brushing, and manual spraying. These methods suffer from low efficiency, uneven thickness control, and poor spray quality consistency. Furthermore, with rising labor costs, the labor costs of spraying are placing increasing pressure on construction companies. To overcome these challenges with manual spraying, the industry is exploring the use of robotics to automate the application of waterproof coatings.

[0005] The utility model patent application number CN201620635253.0 discloses an intelligent robot for the construction of quick-setting rubber asphalt waterproof coatings. The robot is composed of a chassis system, an intelligent control system, and a spraying system. The robot's walking speed, walking trajectory, spraying speed, and spraying trajectory can be controlled to achieve rapid and uniform spraying, making the overall film thickness of the waterproof layer uniform, improving the quality of the waterproof layer, increasing the spraying efficiency, and reducing material and labor costs. However, this solution has the following drawbacks: (1) It uses a crawler chassis, which has the problem of inflexible steering; (2) It lacks positioning capability and cannot correct deviations in the route during operation, which may lead to incomplete coverage of the waterproof layer.

[0006] Patent application number CN201910975183.1 discloses a spraying robot with a navigator. The robot consists of a walking mechanism equipped with a navigator, a robotic arm, and a coating mechanism. The robot can navigate in space with the help of the navigator, guiding the walking mechanism to move, the robotic arm to move, and drive the coating device to spray, thereby achieving fully automated spraying operations, eliminating the need for manual spraying and greatly improving spraying efficiency and quality. However, this solution has the following drawbacks: the laser navigation method requires sufficient reference objects in the working environment, which is obviously not suitable for large, open flat areas such as building roofs. Summary of the Invention

[0007] In order to address the shortcomings of the existing technology, the present invention provides a building waterproof coating spraying robot control system for use in open flat sites, which has the characteristics of not relying on reference objects for positioning, flexible steering, automatic correction of the operation route, complete coverage of the waterproof layer without gaps, automatic operation and automatic alarm.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A first aspect of the present invention provides a building waterproof coating spraying robot control system for use in an open flat area.

[0010] A control system for a building waterproof coating spraying robot used in an open flat area, comprising at least:

[0011] Control terminal, motor drive unit and robot actuator;

[0012] The motor drive unit includes: a steering gear drive module, a first servo motor driver, a second servo motor driver, a first DC motor driver, a second DC motor driver, a third DC motor driver and a fourth DC motor driver respectively connected to the control terminal;

[0013] The robot actuators include: a steering gear, a first servo motor, a second servo motor, a first DC motor, a second DC motor, a third DC motor, a fourth DC motor, a first solenoid valve, and a second solenoid valve;

[0014] The servo is connected to the servo drive module to drive the spray gun to rotate around the Z axis; the first servo motor is connected to the first servo motor driver to drive the spray gun to move linearly along the X axis; the second servo motor is connected to the second servo motor driver to drive the spray gun to move linearly along the Y axis;

[0015] The first DC motor, the second DC motor, the third DC motor, and the fourth DC motor are connected to the first DC motor driver, the second DC motor driver, the third DC motor driver, and the fourth DC motor driver, respectively, and are used to drive the four wheels of the robot chassis to rotate. The robot chassis is a four-wheel four-wheel drive chassis;

[0016] The first solenoid valve is connected to the control terminal and is used to control the on-off of the paint of the first nozzle of the spray gun. The second solenoid valve is connected to the control terminal and is used to control the on-off of the paint of the second nozzle of the spray gun.

[0017] As an optional implementation method, the first servo motor driver and the second servo motor driver are connected to the pulse output port of the control terminal via a cable, and the first DC motor driver, the second DC motor driver, the third DC motor driver and the fourth DC motor driver are respectively connected to the control terminal via a CAN bus.

[0018] As an optional implementation method, the X-axis, Y-axis, and Z-axis form a right-handed rectangular coordinate system. The X-axis points from the rear end of the robot chassis to the front end, and the Z-axis points from the bottom of the robot to the top. The direction of the Y-axis is determined according to the right-hand coordinate system principle. The spray gun has three degrees of freedom during spraying operations, namely movement along the X-axis, movement along the Y-axis, and rotation around the Z-axis.

[0019] As an optional implementation, a data acquisition unit is further included, which includes at least: a first obstacle sensor and a second obstacle sensor that communicate with the control terminal, and the first obstacle sensor and the second obstacle sensor are respectively installed at the front end and the rear end of the robot mobile chassis.

[0020] As an optional implementation, the device further includes a data acquisition unit, the data acquisition unit including at least: a first ranging sensor, a second ranging sensor, a third ranging sensor, a fourth ranging sensor, and a fifth ranging sensor in communication with the control terminal;

[0021] The first distance measuring sensor, the second distance measuring sensor, the third distance measuring sensor and the fourth distance measuring sensor are respectively installed at the four corners of the robot's mobile chassis, and the fifth distance measuring sensor is installed at the end of the Y axis.

[0022] As an optional implementation, the system further includes a data acquisition unit, wherein the data acquisition unit includes at least: a satellite differential positioning and orientation sensor;

[0023] The satellite differential positioning and orientation sensor includes a mobile receiver, a reference receiver, a first GNSS antenna, a second GNSS antenna, a third GNSS antenna, a first data transmission radio station and a second data transmission radio station;

[0024] The reference receiver is connected to the first data transmission radio via a serial line; the first data transmission radio is connected to the second data transmission radio via wireless signals; the second data transmission radio is connected to the mobile receiver via a serial line; the mobile receiver is connected to the control terminal via a twisted pair cable;

[0025] The first GNSS antenna and the second GNSS antenna are respectively installed at the front end and the rear end of the robot. The first GNSS antenna and the second GNSS antenna are connected to the mobile receiver through a radio frequency cable, and the third GNSS antenna is connected to the reference receiver through a radio frequency cable.

[0026] As an optional implementation, the invention further includes a data acquisition unit, wherein the data acquisition unit includes at least: a first travel switch, a second travel switch, a third travel switch, a fourth travel switch, a fifth travel switch and a sixth travel switch;

[0027] The first and second travel switches are respectively installed at the two end limit positions of the X-axis linear motion; the third and fourth travel switches are respectively installed at the two end limit positions of the Y-axis linear motion; the fifth and sixth travel switches are respectively installed at the two end limit positions of the Z-axis rotational motion.

[0028] As an optional implementation, an alarm unit is further included. The alarm unit includes a flashing device and a sounding device. The flashing device and the sounding device are connected to the control terminal via a cable.

[0029] As an optional implementation, it further includes a remote teleoperation unit;

[0030] The remote control unit includes a remote control, a wireless transmitter, and a wireless receiver. The remote control is connected to the wireless transmitter, the wireless transmitter is connected to the wireless receiver through wireless signals, and the wireless receiver is connected to the control terminal through the CAN bus. The remote control includes an emergency stop button, a start button, a directional joystick, and a nozzle switch button.

[0031] A second aspect of the present invention provides a control method for a building waterproof coating spraying robot applied to an open flat site.

[0032] A control method for a building waterproof coating spraying robot applied to an open flat site includes the following steps:

[0033] The control system is initialized and the control actuators are controlled to complete the return to zero motion;

[0034] Read and save the task parameters and process parameters set by the local human-machine interface;

[0035] Plan the robot movement path and the spray gun movement path according to the task parameters and process parameters;

[0036] Control chassis movement, spray gun movement, task stop and start according to the control signals sent;

[0037] Control chassis movement, spray gun movement, task stop and start according to the signal sent by the remote teleoperation unit;

[0038] According to the robot's current status, historical status, and alarm information, the data is sent to the local human-machine interface for display;

[0039] Switch between automatic operation mode and manual operation mode according to the signals from the local human-machine interface and the remote teleoperation unit;

[0040] According to the obstacle data sent by the data acquisition unit, decide whether to trigger the system alarm state, control the alarm unit to alarm, control the local human-machine interface to display the alarm information, and interrupt the spraying task;

[0041] According to the distance measurement data sent by the data acquisition unit, the ground flatness is judged, and the system alarm status is determined, the alarm unit is controlled to alarm, the local human-machine interface is controlled to display the alarm information, and the spraying task is interrupted;

[0042] Correct the robot's moving path based on the positioning and orientation data sent by the data acquisition unit;

[0043] According to the positioning and orientation data sent by the data acquisition unit, the positioning and orientation signal strength is judged. When the signal is weak, the alarm unit is triggered to alarm and the spraying task is interrupted;

[0044] According to the trigger signal sent by the travel switch, it is determined whether the spray gun movement has crossed the limit, and according to the system status, it is determined whether to trigger the system alarm state, control the alarm unit to alarm, control the local human-machine interface to display the alarm information and interrupt the spraying task;

[0045] Decide whether to interrupt the current task based on the alarm status and task status;

[0046] Acceleration and deceleration of the servo motor are controlled according to process requirements to achieve smooth and jitter-free movement of the spray gun;

[0047] Control the servo to complete the rotation of the specified angle to adjust the spray angle of the spray gun;

[0048] Based on the positioning and orientation data and the planned data of the moving path, the chassis DC motor is controlled to achieve straight-line movement, turning movement, and in-situ steering movement of the chassis;

[0049] Send a signal to the solenoid valve to control the nozzle on and off;

[0050] Manage the task progress and control the alarm unit to give sound and light reminders when the task is completed.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] (1) The present invention controls the chassis with four-wheel drive, so that the robot can move straight, turn, and turn on the spot in the work area, thereby improving the robot's movement flexibility and enhancing the work efficiency; the servo motor can precisely control the movement of the spray gun, thereby ensuring the uniform thickness of the waterproof layer sprayed, and improving the consistency of the spraying quality.

[0053] (2) The present invention adopts a satellite differential positioning and orientation sensor, which can perform positioning and orientation in a large flat field without reference objects. Combined with the control terminal, it can complete automatic operations in the field, automatically alarm when encountering abnormalities, and make real-time corrections to the deviation of the route during operation, thereby ensuring that the sprayed waterproof layer is fully covered without gaps, improving the quality and efficiency of the operation, and saving material costs and labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0055] Figure 1 This is a structural schematic diagram of a building waterproof coating spraying robot control system applied to an open flat site provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0056] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0057] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0058] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0059] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0060] Example 1:

[0061] like Figure 1 As shown, embodiment 1 of the present invention provides a building waterproof coating spraying robot control system applied to an open flat site, including a control terminal, a local human-machine interface, a remote teleoperation unit, a motor drive unit, a robot actuator, a data acquisition unit and an alarm unit.

[0062] The local human-machine interface is connected to the control terminal via RS485 and communicates with the control terminal using the Modbus protocol. The control terminal serves as the master station and the local human-machine interface serves as the slave station. The local human-machine interface provides all interface functions required for human-machine interaction, including the control interface, task parameter setting interface, process parameter setting interface, operation status display interface, historical information display interface, log display interface, and alarm information display interface.

[0063] The remote control unit includes a remote control, a wireless transmitter and a wireless receiver; the remote control contains an emergency stop button, a start button, a direction joystick, and a nozzle switch button. The remote control sends the button signal to the wireless receiver through the wireless transmitter, and the wireless receiver is connected to the control terminal through the CAN bus.

[0064] The motor drive unit includes a steering gear drive module, a first servo motor driver, a second servo motor driver, a first DC motor driver, a second DC motor driver, a third DC motor driver, and a fourth DC motor driver. The robot actuator includes a steering gear, a first servo motor, a second servo motor, a first DC motor, a second DC motor, a third DC motor, a fourth DC motor, a first solenoid valve, and a second solenoid valve.

[0065] Each component of the motor drive unit drives the corresponding motor in the robot's actuator.

[0066] The servo driver module is used to drive the servo. It connects to the control terminal via RS485 and uses the Modbus protocol to communicate with the control terminal. The servo driver module acts as a slave. The servo provides power for the spray gun to rotate around the Z axis, which points from the bottom to the top of the robot.

[0067] The first and second servo motor drivers are connected to the pulse output port of the control terminal via cables. The first servo motor driver drives the X-axis servo motor, and the second servo motor driver drives the Y-axis servo motor. The X-axis servo motor provides power for movement of the spray gun along the X-axis, while the Y-axis servo motor provides power for movement of the spray gun along the Y-axis. The X-axis runs from the rear end of the robot chassis to the front end, and the Y-axis direction is determined by the X- and Z-axis directions according to the right-hand coordinate system principle.

[0068] The first DC motor driver, the second DC motor driver, the third DC motor driver and the fourth DC motor driver are connected to the control terminal via a CAN bus.

[0069] The first DC motor driver is used to drive the first DC motor, the second DC motor driver is used to drive the second DC motor, the third DC motor driver is used to drive the third DC motor, and the fourth DC motor driver is used to drive the fourth DC motor.

[0070] The first DC motor provides power for the left front wheel of the robot chassis, the second DC motor provides power for the right front wheel of the robot chassis, the third DC motor provides power for the left rear wheel of the robot chassis, and the fourth DC motor provides power for the right rear wheel of the robot chassis.

[0071] The robot chassis is a four-wheel four-wheel drive chassis. The control terminal can drive each wheel to rotate at a specified speed through four DC motor drivers, thereby controlling the robot to complete actions such as straight driving, steering, and turning on the spot.

[0072] The first solenoid valve and the second solenoid valve are connected to different D0 (such as D0.1 and D0.2) of the control terminal, and are used to control the on and off of the paint of the first nozzle and the second nozzle of the spray gun respectively.

[0073] The data acquisition unit includes a first obstacle sensor, a second obstacle sensor, a first ranging sensor, a second ranging sensor, a third ranging sensor, a fourth ranging sensor, a fifth ranging sensor, a satellite differential positioning and orientation sensor, a first travel switch, a second travel switch, a third travel switch, a fourth travel switch, a fifth travel switch, and a sixth travel switch.

[0074] The first and second obstacle sensors are installed at the front and rear ends of the robot's mobile chassis, respectively, and are connected to the control terminal's D1 ports (e.g., D1.1 and D1.2) via cables. The first and second obstacle sensors use ultrasonic ranging probes. In automatic operation mode, when the robot is moving straight ahead, the control terminal uses the first obstacle sensor for obstacle detection; when the robot is moving straight backward, the control terminal uses the second obstacle sensor for obstacle detection; and when the robot is turning on the spot, the control terminal uses both the first and second obstacle sensors for obstacle detection.

[0075] In addition, the first obstacle sensor and the second obstacle sensor may also be millimeter wave radars.

[0076] The first ranging sensor, the second ranging sensor, the third ranging sensor, and the fourth ranging sensor are respectively installed at the left front corner, right front corner, left rear corner, and right rear corner of the robot's mobile chassis. The fifth ranging sensor is installed at the end of the Y-axis. All five ranging sensors are connected to the control terminal via RS485.

[0077] The ranging sensor uses an ultrasonic ranging probe to measure the distance between the ground and the probe. The control terminal monitors sudden changes in the distance value to determine whether the ground is undulating. When the robot is moving straight ahead, the control terminal uses the first, second, and fifth ranging sensors for detection. When the robot is moving straight backward, the control terminal uses the third, fourth, and fifth ranging sensors for detection. When the robot turns on the spot, the control terminal uses the first, second, third, fourth, and fifth ranging sensors simultaneously. When the robot is spraying, the control terminal uses the fifth ranging sensor for detection. If the ranging sensors detect any undulations in the ground, the control terminal stops the chassis and spray gun movements and generates an alarm.

[0078] The satellite differential positioning and orientation sensor includes a mobile receiver, a reference receiver, a first GNSS antenna, a second GNSS antenna, a third GNSS antenna, a first data transmission radio, and a second data transmission radio.

[0079] The reference receiver is connected to the first data radio via a serial cable. The first data radio is connected to the second data radio via wireless signals. The second data radio is connected to the mobile receiver via a serial cable, and the mobile receiver is connected to the control terminal via a twisted pair cable. The first and second GNSS antennas are connected to the mobile receiver via RF cables, and the third GNSS antenna is connected to the reference receiver via RF cables. The mobile receiver, first GNSS antenna, second GNSS antenna, and second data radio are all mounted on the robot body. The first and second GNSS antennas must be mounted at the front and rear ends of the robot, respectively, without obstruction, and the connection between them must be parallel to the robot's direction of travel.

[0080] The reference receiver, first data radio, and third GNSS antenna are installed in an open, unobstructed, and relatively high location with good satellite signal strength. The reference receiver receives satellite positioning signals via the third GNSS antenna and transmits positioning data to the second data radio via the first data radio. The mobile receiver receives satellite positioning signals via the first and second GNSS antennas and reads positioning data from the base station via the second data radio. The mobile receiver performs a differential operation on the satellite data and the reference receiver data, allowing the control terminal to read the robot's position and orientation data via TCP communication.

[0081] Six limit switches are connected to the control terminal's D1 ports (D1.3, D1.4, D1.5, D1.6, D1.7, and D1.8) via cables. The first and second limit switches are installed at the extreme ends of the X-axis' linear motion; the third and fourth limit switches are installed at the extreme ends of the Y-axis' linear motion; and the fifth and sixth limit switches are installed at the extreme ends of the Z-axis' rotational motion. These six limit switches provide a zero return signal to the control terminal when the spray gun returns to zero and an alarm signal when the spray gun moves beyond its limits.

[0082] The alarm unit includes a flashing device and an audible device. These are connected to the control terminal's D0 port via a cable. When the control terminal receives an obstruction signal, a weak satellite signal, a spray gun moving beyond its specified range, or a violent ground undulation, it triggers an alarm through ports D0 (D0.3 and D0.4). The alarm information is then output to the local human-machine interface, interrupting the spraying task.

[0083] Example 2:

[0084] Embodiment 2 of the present invention provides a control method for a building waterproof coating spraying robot applied to an open flat site, using the control system for the building waterproof coating spraying robot applied to an open flat site described in embodiment 1, including the following process:

[0085] S1: Control system initialization, control the executive components to complete the return to zero motion;

[0086] S2: Read and save the task parameters and process parameters set by the local human-machine interface;

[0087] S3: Plan the robot movement path and the spray gun movement path according to the task parameters and process parameters;

[0088] S4: Controls chassis movement, spray gun movement, task stop and start according to the control signals sent by the local human-machine interface;

[0089] S5: Control chassis movement, spray gun movement, task stop and start according to the signal sent by the remote teleoperation unit;

[0090] S6: According to the robot's current status, historical status, and alarm information, the data is sent to the local human-machine interface for display;

[0091] S7: Implements work mode management and switches between automatic operation mode and manual operation mode according to the signals from the local human-machine interface and the remote teleoperation unit;

[0092] S8: Based on the obstacle data sent by the data acquisition unit, decide whether to trigger the system alarm state, control the alarm unit to alarm, control the local human-machine interface to display the alarm information, and interrupt the spraying task;

[0093] S9: Based on the distance measurement data sent by the data acquisition unit, determine the ground flatness, decide whether to trigger the system alarm state, control the alarm unit to alarm, control the local human-machine interface to display the alarm information, and interrupt the spraying task;

[0094] S10: Correct the robot's moving path according to the positioning and orientation data sent by the data acquisition unit;

[0095] S11: According to the positioning and orientation data sent by the data acquisition unit, the positioning and orientation signal strength is judged. When the signal is weak, the alarm unit is triggered to alarm and the spraying task is interrupted;

[0096] S12: According to the trigger signal sent by the travel switch, determine whether the spray gun movement has crossed the limit, decide whether to trigger the system alarm state according to the system status, control the alarm unit to alarm, control the local human-machine interface to display the alarm information, and interrupt the spraying task;

[0097] S13: Determine whether to interrupt the current task based on the alarm status and task status;

[0098] S14: Acceleration and deceleration control of the servo motor is performed according to the process requirements to achieve smooth and jitter-free movement of the spray gun;

[0099] S15: Control the servo to complete the rotation of the specified angle to adjust the spray angle of the spray gun;

[0100] S16: Control the chassis DC motor based on the positioning and orientation data and the planned movement path data to achieve straight-line movement, turning, and in-situ steering of the chassis;

[0101] S17: Send a signal to the solenoid valve to control the nozzle on and off;

[0102] S18: Implement task progress management and control the alarm unit to give sound and light reminders when the task is completed.

[0103] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0104] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0105] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0106] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0107] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0108] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A building waterproof coating spraying robot control system used in open flat areas, characterized by: At least: Control terminal, motor drive unit and robot actuator; The motor drive unit includes: a steering gear drive module, a first servo motor driver, a second servo motor driver, a first DC motor driver, a second DC motor driver, a third DC motor driver and a fourth DC motor driver respectively connected to the control terminal; The robot actuators include: a steering gear, a first servo motor, a second servo motor, a first DC motor, a second DC motor, a third DC motor, a fourth DC motor, a first solenoid valve, and a second solenoid valve; The servo is connected to the servo drive module to drive the spray gun to rotate around the Z axis; the first servo motor is connected to the first servo motor driver to drive the spray gun to move linearly along the X axis; the second servo motor is connected to the second servo motor driver to drive the spray gun to move linearly along the Y axis; The first DC motor, the second DC motor, the third DC motor, and the fourth DC motor are connected to the first DC motor driver, the second DC motor driver, the third DC motor driver, and the fourth DC motor driver, respectively, and are used to drive the four wheels of the robot chassis to rotate. The robot chassis is a four-wheel four-wheel drive chassis; The first servo motor driver and the second servo motor driver are connected to the pulse output port of the control terminal through a cable, and the first DC motor driver, the second DC motor driver, the third DC motor driver and the fourth DC motor driver are respectively connected to the control terminal through a CAN bus; The first solenoid valve is connected to the control terminal and is used to control the on-off of the paint of the first nozzle of the spray gun. The second solenoid valve is connected to the control terminal and is used to control the on-off of the paint of the second nozzle of the spray gun. A data acquisition unit, the data acquisition unit at least comprising: a satellite differential positioning and orientation sensor; The satellite differential positioning and orientation sensor includes a mobile receiver, a reference receiver, a first GNSS antenna, a second GNSS antenna, a third GNSS antenna, a first data transmission radio station and a second data transmission radio station; The reference receiver is connected to the first data transmission radio via a serial line; the first data transmission radio is connected to the second data transmission radio via wireless signals; the second data transmission radio is connected to the mobile receiver via a serial line; the mobile receiver is connected to the control terminal via a twisted pair cable; The first GNSS antenna and the second GNSS antenna are respectively installed at the front end and the rear end of the robot. The first GNSS antenna and the second GNSS antenna are connected to the mobile receiver through a radio frequency cable, and the third GNSS antenna is connected to the reference receiver through a radio frequency cable.

2. The control system for a building waterproof coating spraying robot applied to an open flat site according to claim 1, characterized in that: The X-axis, Y-axis, and Z-axis form a right-handed rectangular coordinate system. The X-axis points from the rear end of the robot chassis to the front end, and the Z-axis points from the bottom of the robot to the top. The direction of the Y-axis is determined according to the right-hand coordinate system principle. The spray gun has three degrees of freedom during spraying operations, namely movement along the X-axis, movement along the Y-axis, and rotation around the Z-axis.

3. The control system for a building waterproof coating spraying robot applied to an open flat site according to claim 1, characterized in that: The data acquisition unit at least includes: a first obstacle sensor and a second obstacle sensor communicating with the control terminal, and the first obstacle sensor and the second obstacle sensor are respectively installed at the front end and the rear end of the robot mobile chassis.

4. The control system for a building waterproof coating spraying robot applied to an open flat site according to claim 1, characterized in that: The data acquisition unit includes at least: a first ranging sensor, a second ranging sensor, a third ranging sensor, a fourth ranging sensor and a fifth ranging sensor in communication with the control terminal; The first distance measuring sensor, the second distance measuring sensor, the third distance measuring sensor and the fourth distance measuring sensor are respectively installed at the four corners of the robot's mobile chassis, and the fifth distance measuring sensor is installed at the end of the Y axis.

5. The control system for a building waterproof coating spraying robot applied to an open flat site according to claim 1, characterized in that: The data acquisition unit at least includes: a first travel switch, a second travel switch, a third travel switch, a fourth travel switch, a fifth travel switch and a sixth travel switch; The first and second travel switches are respectively installed at the two end limit positions of the X-axis linear motion; the third and fourth travel switches are respectively installed at the two end limit positions of the Y-axis linear motion; the fifth and sixth travel switches are respectively installed at the two end limit positions of the Z-axis rotational motion.

6. The control system for a building waterproof coating spraying robot applied to an open flat site according to claim 1, characterized in that: It also includes an alarm unit, which includes a flashing device and a sounding device, and the flashing device and the sounding device are connected to the control terminal through a cable.

7. The control system for a building waterproof coating spraying robot applied to an open flat site according to claim 1, characterized in that: Also included is a remote teleoperation unit; The remote control unit includes a remote control, a wireless transmitter, and a wireless receiver. The remote control is connected to the wireless transmitter, the wireless transmitter is connected to the wireless receiver through wireless signals, and the wireless receiver is connected to the control terminal through the CAN bus. The remote control includes an emergency stop button, a start button, a directional joystick, and a nozzle switch button.

8. A control method for a building waterproof coating spraying robot applied to an open flat site, characterized in that: Applicable to the control system of a building waterproof coating spraying robot applied to an open flat site as described in any one of claims 1 to 7, The following processes are included: The control system is initialized and the control actuators are controlled to complete the return to zero motion; Read and save the task parameters and process parameters set by the local human-machine interface; Plan the robot movement path and the spray gun movement path according to the task parameters and process parameters; Control chassis movement, spray gun movement, task stop and start according to the control signals sent; Control chassis movement, spray gun movement, task stop and start according to the signal sent by the remote teleoperation unit; According to the robot's current status, historical status, and alarm information, the data is sent to the local human-machine interface for display; Switch between automatic operation mode and manual operation mode according to the signals from the local human-machine interface and the remote teleoperation unit; According to the obstacle data sent by the data acquisition unit, decide whether to trigger the system alarm state, control the alarm unit to alarm, control the local human-machine interface to display the alarm information, and interrupt the spraying task; According to the distance measurement data sent by the data acquisition unit, the ground flatness is judged, and the system alarm status is determined, the alarm unit is controlled to alarm, the local human-machine interface is controlled to display the alarm information, and the spraying task is interrupted; Correct the robot's moving path based on the positioning and orientation data sent by the data acquisition unit; According to the positioning and orientation data sent by the data acquisition unit, the positioning and orientation signal strength is judged. When the signal is weak, the alarm unit is triggered to alarm and the spraying task is interrupted; According to the trigger signal sent by the travel switch, it is determined whether the spray gun movement has crossed the limit, and according to the system status, it is determined whether to trigger the system alarm state, control the alarm unit to alarm, control the local human-machine interface to display the alarm information and interrupt the spraying task; Decide whether to interrupt the current task based on the alarm status and task status; Acceleration and deceleration of the servo motor are controlled according to process requirements to achieve smooth and jitter-free movement of the spray gun; Control the servo to complete the rotation of the specified angle to adjust the spray angle of the spray gun; Based on the positioning and orientation data and the planned data of the moving path, the chassis DC motor is controlled to achieve straight-line movement, turning movement, and in-situ steering movement of the chassis; Send a signal to the solenoid valve to control the nozzle on and off; Manage the task progress and control the alarm unit to give sound and light reminders when the task is completed.

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