Spraying method, spraying device, electronic equipment and medium

Abstract

The embodiment of the present invention discloses a spraying method, a spraying device, an electronic device and a medium. The method is applied to a spraying device, and the method includes: determining a target spraying angle between a spray gun and a horizontal plane, and determining a target height determination model corresponding to the target spraying angle; determining a target spraying height of the spraying device according to the target height determination model; and spraying a target operating area based on the target spraying height. The technical solution of the embodiment of the present invention enables the spraying device to perform the spraying operation in a fully automatic manner while taking into account the accuracy of the spraying.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of intelligent control technology, and in particular to a spraying method, a spraying device, an electronic device and a medium. Background Art

[0002] In the field of construction, the spraying effect of putty and paint on the wall has always been a key factor in determining the construction quality. Therefore, the spraying operation of putty and paint has also become an important link in the construction process.

[0003] In the prior art, there are usually two ways to perform spraying operations on walls. The first is the manual spraying method, that is, the staff sprays the wall with a handheld spray gun. However, long-term spraying operations have certain damage to human health. Before spraying, the company also requires the staff to undergo relevant training, which increases the cost of employment; the second method is to deploy a robotic arm at the construction site, that is, the robotic arm is used as a spraying actuator. The disadvantage of this method is that the high cost of the robotic arm increases the cost of the company, and the programming of the spraying trajectory is also very complicated and inconvenient to use. At the same time, the above two methods have errors when performing spraying operations, and cannot achieve accurate spraying.

[0004] Therefore, in the solutions provided by the related art, the spraying operation of paint and putty cannot be completed in a fully automatic and low-cost manner, and the accuracy of the spraying cannot be guaranteed. Summary of the invention

[0005] The present invention provides a spraying method, a spraying device, an electronic device and a medium, so that the spraying device can perform the spraying operation in a fully automatic manner while taking into account the accuracy of the spraying.

[0006] In a first aspect, an embodiment of the present invention provides a spraying method, which is applied to a spraying device, wherein the spraying device includes a spray gun, and the method includes:

[0007] Determine a target spraying angle between the spray gun and a horizontal plane, and determine a target height determination model corresponding to the target spraying angle;

[0008] Determining a target spraying height of the spraying equipment according to the target height determination model;

[0009] The target working area is sprayed based on the target spraying height.

[0010] In a second aspect, an embodiment of the present invention further provides a spraying device, which is configured in a spraying device, wherein the spraying device includes a spray gun, and the device includes:

[0011] A target height determination model determination module is used to determine a target spraying angle between the spray gun and a horizontal plane, and to determine a target height determination model corresponding to the target spraying angle;

[0012] A target spraying height determination module, used to determine the target spraying height of the spraying equipment according to the target height determination model;

[0013] The target working area spraying module is used to spray the target working area based on the target spraying height.

[0014] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0015] one or more processors;

[0016] a storage device for storing one or more programs,

[0017] When the one or more programs are executed by the one or more processors, the one or more processors implement the spraying method as described in any one of the embodiments of the present invention.

[0018] In a fourth aspect, an embodiment of the present invention further provides a storage medium comprising computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to execute the spraying method as described in any one of the embodiments of the present invention.

[0019] The technical solution of the embodiment of the present invention first determines the target spraying angle between the spray gun and the horizontal plane, and determines the target height determination model corresponding to the target spraying angle, and then determines the target spraying height of the spraying equipment according to the target height determination model, and sprays the target operating area based on the target spraying height, so that the spraying equipment performs the spraying operation in a fully automatic manner, without the need for staff to enter the construction site or deploy robotic arms, thereby reducing the operating cost. At the same time, there is no need to write complex programs to enable the spraying equipment to achieve precise spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required to describe the embodiments. Obviously, the drawings introduced are only drawings of a part of the embodiments to be described in the present invention, rather than all the drawings. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A schematic diagram of a spraying method provided in Embodiment 1 of the present invention;

[0022] Figure 2A schematic diagram of the structure of a spraying device for accurately controlling the spraying height provided in the first embodiment of the present invention;

[0023] Figure 3 A schematic flow chart of a spraying method provided in Embodiment 2 of the present invention;

[0024] Figure 4 A continuous and accurate spraying height calculation diagram for a spraying device provided in the second embodiment of the present invention;

[0025] Figure 5 A schematic flow chart of a spraying method provided in Embodiment 3 of the present invention;

[0026] Figure 6 This is a structural block diagram of a spraying device provided in Embodiment 4 of the present invention;

[0027] Figure 7 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0029] Embodiment 1

[0030] Figure 1 This is a flow chart of a spraying method of a spraying equipment provided in Example 1 of the present invention. This embodiment is applicable to the situation where a spraying equipment is used to perform a spraying operation of paint and putty. The method can be executed by a spraying device of the spraying equipment, which can be implemented in the form of software and / or hardware. The hardware can be an electronic device, such as a mobile terminal, a PC or a server.

[0031] In order to clearly understand the technical solution of the embodiment of the present invention, the structure of the spraying equipment in the embodiment may be described first.

[0032] See also Figure 2 , Figure 2This is a schematic diagram of the structure of a spraying device for accurately controlling the spraying height provided in the first embodiment of the present invention. As can be seen from the figure, the spraying device is composed of a DC battery system 1, a chassis moving system 2, a feeding system 3, a lifting system 4, a spray gun system 5, a flat plate system 6, an electrical control system 7 and other auxiliary components for installation and fixing. Among them, the DC battery system 1 is used to power the spraying equipment; the chassis movement system is used to control the movement of the spraying equipment at the construction site and detect the parameters of the site, including a laser navigation system 201 and a laser ranging sensor 202; the feeding system 3 is used to store the materials required for the operation, and is connected to the spray gun system 5, including a laser ranging sensor 301 installed on the barrel cover, a barrel cover system 302 and a barrel body 303. In actual application, in order to make the spraying equipment meet the multi-functional spraying, at least paint and putty can be stored in an independent form in the feeding system; the lifting system 4 is used to adjust the height of various spray guns, including a first-level lifting system 401, a second-level lifting system 402, a pitch system 403 and a sensor detection system 404. It can be understood that by deploying the first-level lifting system 401 and the second-level lifting system 402, at least the spraying height of the spraying equipment can be increased. , by deploying the pitch system 403, at least the spraying angles of multiple spray guns can be adjusted; the spray gun system 5 includes a paint spray gun 502, a putty spray gun 504 and a reflux spray gun 505, and is connected to the feeding system 3 through a paint pipeline 501 and a putty pipeline 503. Those skilled in the art should understand that the spray gun in the spray system 5 is a device that uses liquid or compressed air to quickly release as power, which is divided into two types: general pressure type and pressurized type, which will not be repeated here; the tablet system 6 can be a portable computer device, with a touch screen or physical buttons as the basic input device, and communicate with external devices based on wired or wireless methods, at least for transmitting data to the spray equipment or issuing operation instructions; the electrical equipment control system 7 is composed of a combination of several electrical components, which is used to control the spray equipment and the above-mentioned objects, so as to ensure that the spray equipment performs the spraying operation stably, safely and reliably. It should be noted that whether the spray equipment uses a paint spray gun 502 or a putty spray gun 504, high-precision spraying operations can be achieved based on the solution of this embodiment.

[0033] like Figure 1 As shown, the method specifically comprises the following steps:

[0034] S110, determining a target spraying angle between the spray gun and the horizontal plane, and determining a target height determination model corresponding to the target spraying angle.

[0035] Among them, after the spraying equipment moves to the working point on the construction site, the target spraying angle is the angle between the direction of the spray gun at the current moment and the horizontal plane. This angle can be detected by a detector or sensor installed on the spray gun system. In actual application, the positive and negative values ​​of the target spraying angle can be defined in advance. For example, when the spray gun is detected to be directed above the horizontal plane, the target spraying angle is positive, and when the spray gun is detected to be directed below the horizontal plane, the target spraying angle is negative. It should be noted that the spraying equipment can use the pitch system to continuously adjust the direction of the spray gun during the spraying operation, that is, continuously change the target spraying angle, so that the spray gun produces an upward or downward swing effect when spraying.

[0036] In this embodiment, in order to enable the spraying equipment to achieve fully automatic and precise spraying, it is also necessary to adjust the height of the spray gun in real time during the spraying operation, such as adjusting the height of the primary lifting system and the secondary lifting system in the spraying equipment lifting system. Based on this, after determining the angle between the spray gun and the horizontal plane, it is also necessary to further determine a pre-written target height determination model corresponding to the target spraying angle.

[0037] Continuing with the above example, two target height determination models are pre-written and stored in the flat panel system of the spraying equipment, and the models are corresponded to the positive and negative target spraying angles (i.e., the spray gun swinging up or down) in the form of a mapping table. When the target spraying angle is detected to be positive or negative, the corresponding target height determination model can be determined by looking up the table.

[0038] S120, determining a target spraying height of the spraying equipment according to a target height determination model.

[0039] During the spraying operation performed by the spraying equipment, the target height determination model can take the detected or collected parameters (such as the target spraying angle, the distance between the spray gun and the wall) as input. After processing these parameters through a specific algorithm, the real-time height of the spray gun system can be determined.

[0040] Based on this, in this embodiment, after determining the target height determination model corresponding to the target spraying angle, the new target spraying height can be continuously obtained during the spraying operation based on the determined model, and then the height of the spray gun system of the spraying equipment can be adjusted in real time. In actual application, the relative position of the mechanical structure in the first-level lifting system and / or the second-level lifting system can be changed by the slide rail, thereby changing the height of the spray gun system.

[0041] Those skilled in the art should understand that, during the height adjustment process, whether adjusting the primary lifting system or the secondary lifting system individually, or making the two lifting systems work together at the same time, as long as the adjusted spraying height meets the target spraying height requirement, the specific adjustment method should be selected according to the actual situation, and the embodiments of the present disclosure are not specifically limited here.

[0042] S130: spraying the target working area based on the target spraying height.

[0043] The target operation area refers to the area on the wall to be sprayed. For example, for a certain wall, the target operation area can be an area 3m high and 1.2m wide from the horizontal plane. In actual application, the target operation area is determined by the spraying equipment based on the construction operation information issued by the flat panel system.

[0044] Specifically, a three-dimensional spatial coordinate system of the construction site can be constructed in an electronic map first, and the construction work content can be defined in the form of specific parameters and coordinate values. After the flat panel system deployed on the spraying equipment directly extracts the location information and target spraying area corresponding to this construction work from the electronic map, the above information can be sent to the electrical control system as construction work information. After receiving the information, the electrical control system can send specific control instructions to the chassis moving system so that the chassis moving system drives the spraying equipment to move to the corresponding construction work position. When the sensor detection device and the servo position judgment device determine that the spraying equipment has moved to the position, the paint spray gun or putty spray gun can be selected according to the requirements of this construction work. At the same time, the pitch angle of the spray gun in the spray gun system is adjusted to determine the target spraying angle. Further, after the corresponding target height determination model is determined by looking up the table based on the target spraying angle, the height of the first-level lifting system and the second-level lifting system in the lifting system can be adjusted based on the target spraying height output by the model, so that the spraying equipment performs the spraying operation on the wall.

[0045] It can be understood that the spray gun emits fan-shaped spray during operation, and each spray of paint or putty can cover a certain width of the wall. Therefore, according to the spray width corresponding to the spray gun, the moving distance required for the spray equipment to move to the next area after spraying the current area can be determined. For example, if the spray gun spray width is 1.2m, after the spray equipment finishes spraying the current area, it can move 1.2m to the right and continue the spraying operation.

[0046] At the same time, after the spraying equipment finishes spraying at a certain position, the lifting system can automatically return to the initial position to reset the system. When the sensor detection system detects that the lifting system returns to the initial position, the chassis movement system can drive the spraying equipment to the next working position according to the construction operation information and continue the subsequent spraying operation.

[0047] It should be noted that when the spray gun system has finished spraying at a certain work position, whether it is spraying paint or spraying putty, the corresponding spray gun needs to be closed and the reflux spray gun needs to be opened at the same time to achieve reflux pressure relief of the material and ensure the safety of construction.

[0048] The technical solution of this embodiment first determines the target spraying angle between the spray gun and the horizontal plane, and determines the target height determination model corresponding to the target spraying angle, and then determines the target spraying height of the spraying equipment according to the target height determination model, and sprays the target operating area based on the target spraying height, so that the spraying equipment can perform the spraying operation in a fully automatic manner, without the need for staff to enter the construction site or deploy robotic arms, thereby reducing operating costs. At the same time, there is no need to write complex programs to enable the spraying equipment to achieve precise spraying.

[0049] Embodiment 2

[0050] Figure 3 A schematic flow chart of a spraying method of a spraying equipment provided in the second embodiment of the present invention, based on the above-mentioned embodiment, first determine the top-view angle, top-view angle and spraying angle range of the spray gun, and then determine the corresponding first target height determination model or second target height determination model according to the target spraying angle, so as to determine the spraying height in real time during the spraying process, so that the pitch system and the lifting system are linked to jointly achieve precise spraying; by setting a sensor on the feeding system, the spraying equipment can achieve continuous spraying during the operation. The specific implementation method can refer to the technical solution of this embodiment. Among them, the technical terms that are the same as or corresponding to the above-mentioned embodiments are not repeated here.

[0051] like Figure 3 As shown, the method specifically comprises the following steps:

[0052] S210, determining the downward angle, upward angle, and spraying angle range of the spray gun.

[0053] Optionally, the top-view angle is determined based on a first distance between a center point of a bottom surface of the spray gun nozzle and a horizontal plane, a vertical distance and a horizontal distance between the center point and a connecting axis, and a second distance between the center point and a wall of a target working area.

[0054] For a detailed description of the process of determining the top-down angle, see Figure 4 , Figure 4A continuous and accurate spraying height calculation diagram of a spraying equipment provided in the second embodiment of the present invention. As can be seen from the figure, when the spraying equipment moves to the target construction operation position, the height H0 of the spray gun from the ground can be determined, that is, the first distance between the center point of the bottom surface of the spray gun nozzle and the horizontal plane. At the same time, it is also possible to determine the vertical distance S1 of the center point of the spray gun from the pitch axis of the pitch system, and the horizontal distance S2 from the pitch axis of the pitch system, that is, the vertical distance and horizontal distance between the center point and the connecting axis, wherein the connecting axis refers to a mechanical device that connects two solids and allows relative rotation between the two. In this embodiment, the connecting axis is at least used to connect the spray gun and the main body of the spraying equipment. It can be understood that the main body of the spraying equipment is an integral mechanical device that includes multiple systems (such as chassis mobile system, lifting system, etc.), and the spray gun can produce relative rotation with the main body of the spraying equipment based on the connecting axis, and then adjust its own spraying angle. Further, the second distance S3 between the center point of the spray gun and the wall of the target operation area can be determined using a laser ranging sensor. When the spraying equipment needs to perform the spraying operation from bottom to top according to the construction operation information, the top-down angle α0 can be determined based on the above four parameters. It can be understood that α0 is the pitch angle when the pitch axis is downward.

[0055] Specifically, the top-down angle α0 can be based on the formula We can get (H0+S1)*cosα0=(S2+S3)*sinα0+S1 by rearranging the above formula. Further, based on trigonometric transformation and taking the square of both sides of the equation, we can get At this time, in the definition equation, A=[(H0+S1) 2 +(S3+S1) 2 ], B = 2*(S3+S2)*S1, It is stipulated that the pitch angle is downward as the negative direction. According to the root formula of the quadratic equation, the value of sinα0 can be determined, and then the downward viewing angle α0 when the pitch axis is downward can be obtained through the inverse sine calculation.

[0056] Optionally, the upward viewing angle between the spray gun and the wall is determined according to the highest position of the target working area, the lifting height value of the lifting system and the first distance.

[0057] It should be noted that the lifting system is arranged on the main body of the spraying equipment and is used to adjust the height of the spray gun. In actual application, the lifting system can be associated with various types of spray guns and can include a primary lifting system and a secondary lifting system. It can be understood that deploying a multi-stage lifting system can at least increase the spraying height of the spraying equipment. Furthermore, the sum of the lengths of the multi-stage lifting system is the lifting height value of the lifting system. For example, when the lifting system includes two stages, the length of the primary lifting system is L1, and the length of the secondary lifting system is L2, then the lifting height value of the lifting system is (L1+L2).

[0058] Continue to see Figure 4 Since the pitch angle of the spraying equipment is constantly adjusted during the spraying operation, the spraying equipment also needs to determine the upward angle β0 corresponding to the spray gun and the wall according to specific parameters in a similar way to determining the downward angle.

[0059] Among them, the vertical distance between the center point of the spray gun and the pitch axis of the pitch system is S1, and the horizontal distance from the pitch axis of the pitch system is S2, that is, the vertical distance and horizontal distance between the center point and the connecting axis. Further, the laser ranging sensor can be used to determine the second distance S3 between the center point of the spray gun and the wall of the target working area. Different from the process of determining the overlooking angle α0, the height parameter H′0 used to determine the upward angle β0 is determined based on the highest position W of the target working area, the lifting height value (L1+L2) of the lifting system, and the first distance H0. Specifically, H′0=W-(L1+L2)-H0, L1 is the actual position height of the lifting axis in the primary lifting system, and L2 is the actual position height of the lifting axis in the secondary lifting system.

[0060] After determining the above four parameters, the upward viewing angle β0 can be obtained based on the formula [H′0-(S1-S1*cosβ0)]*cotβ0+S1*sinβ0=S2+S3. The above formula can be rearranged to obtain (H′0-S1)*cosβ0 / sinβ0+S1*cos 2 β0 / sinβ0+S1*sinβ0=S2+S3, further, multiply both sides of the equation by sinβ0 and take the square to get At this time, in the definition equation, A=[(H0 ′ -S1) 2 +(S3+S1) 2 ], B = 2*(S3+S2)*S1, It is stipulated that the upward pitch angle is the positive direction. According to the root formula of the quadratic equation, the value of sinβ0 can be determined, and then the upward viewing angle β0 when the pitch axis is upward can be obtained through the inverse sine calculation.

[0061] Optionally, based on the downward-looking angle and the upward-looking angle, a spraying angle range of the spray gun is determined, so as to adjust a target spraying angle between the spray gun and the horizontal plane based on the spraying angle range.

[0062] Among them, after determining the top-view angle and the top-view angle of the spray gun, the spray angle range of the spraying equipment at the current working position is determined. It can be understood that the spray angle range directly determines the spray range of the spray gun in the target working area. At the same time, according to the spray angle range, the spray gun can be adjusted to the target spray angle and start the spraying operation. Exemplarily, when the upward pitch angle is specified as the positive direction, and it is determined that the top-view angle α0 is -5° and the top-view angle β0 is 25°, the spray angle range of the spray gun can be determined to be [-5°, 25°]. Furthermore, according to the operating requirements, the target spray angle of the spray gun can be adjusted to -5° so that the spray equipment performs the spraying operation from bottom to top.

[0063] S220, determining the target spraying angle between the spray gun and the horizontal plane at the current moment according to the previous moment when the target spraying angle was determined last time, the current moment, the spraying cycle, and the angle adjustment step.

[0064] In this embodiment, during the operation of the spraying equipment, in order to achieve fully automatic precision spraying, the spraying angle between the spray gun and the horizontal plane is constantly changing, that is, the pitch axis in the pitch system can rotate at a certain frequency, thereby changing the spraying angle of the spray gun. Therefore, the target spraying angle of the spray gun during the operation is determined based on the previous moment, current moment, spraying cycle and angle adjustment step of the target spraying angle. It should be noted that the previous moment and the current moment in this embodiment are both the moments corresponding to the spraying equipment during the spraying operation, wherein, when the moment corresponding to the spray gun performing the spraying operation based on a certain spraying angle is taken as the previous moment, the current moment is the moment after the previous moment and there is a certain time interval with the previous moment, and the time interval between the two moments can determine whether the spray gun needs to adjust the spraying angle at the current moment, which is described in detail below.

[0065] Specifically, the actual interval duration is determined based on the previous moment and the current moment; if the actual interval duration reaches the duration of the spraying cycle, the target spraying angle and the angle adjustment step size at the previous moment are used to determine the target spraying angle between the spray gun and the horizontal plane at the current moment, wherein the spraying cycle is the duration that the spray gun performs the spraying operation at a certain spraying angle. The value of the spraying cycle can be the default value of the spraying equipment, and can also be set according to the operation requirements. The embodiments of the present disclosure do not make specific limitations on this.

[0066] Continuing with the above example, the preset angle adjustment step is 1°, and the spraying cycle is two seconds. When the spraying angle range of the spray gun is determined to be [-5°, 25°], and the initial spraying angle is -5°, the spraying equipment can determine the time interval between the two moments based on the previous moment and the current moment. If it is determined that the actual interval time reaches two seconds, the spraying angle of the spray gun needs to be adjusted, that is, the pitch axis in the pitch system is used to adjust the spraying angle of the spray gun to -4° (so that the spray gun has an upward swing effect). At this time, -4° is the spraying angle of the spray gun at the current moment. It can be understood that two seconds after the spraying operation is performed, the pitch axis will rotate again, that is, the spraying angle of the spray gun will be adjusted again until the angle is adjusted to 25° to complete the spraying operation.

[0067] S230, determining a target height determination model corresponding to the target spraying angle.

[0068] Optionally, if the target spraying angle is less than the preset angle, the target height determination model corresponding to the target spraying angle is determined to be the first target height determination model. If the target spraying angle is greater than or equal to the preset angle, the target height determination model corresponding to the target spraying angle is determined to be the second target height determination model.

[0069] Among them, the preset angle can be 0°, that is to say, when the target spraying angle is the preset angle, the spray gun is parallel to the horizontal plane. In order to realize the linkage between the pitch axis and the lifting system during the spraying process and further enhance the accuracy of the spraying operation of the spraying equipment, corresponding target height determination models can be set for the cases where the spraying angle is less than or greater than the preset angle. In this embodiment, the height determination model corresponding to the target spraying angle is less than the preset angle is used as the first target height determination model, and the height determination model corresponding to the target spraying angle is greater than the preset angle is used as the second target height determination model. It can be understood that the target height determination model directly determines the position height of the lifting system, and at the same time, the lifting system can only adjust the height according to one height determination model.

[0070] S240, determining a target spraying height of the spraying equipment according to a target height determination model.

[0071] Optionally, if the target height determination model is the first target height determination model, the target spraying height of the spray equipment is determined based on the distance between the center point of the bottom surface of the nozzle of the spray gun and the horizontal plane at the current moment, the current lifting height of the slide rail in the lifting system at the current moment, the vertical distance and horizontal distance between the spray gun and the connecting shaft connected to the spray gun, the target spraying angle and the spraying error corresponding to the spraying equipment.

[0072] Specifically, when the pitch axis is downward and the specified overlooking angle α0 is negative, the distance between the center point of the bottom surface of the spray gun nozzle and the horizontal plane at the current moment is H0, the current lifting height of the slide rail in the lifting system is (L1+L2), the vertical distance and horizontal distance between the spray gun and the connecting shaft connected to the spray gun are S1 and S2 respectively, and the second distance between the center point of the spray gun and the wall of the target operation area is S3. On this basis, the first target height determination model is H=[H0+L1+L2+S1-S1*cosα0+(S2+S3-S1*sinα0)*tanα0]*D, where D is the error caused by the firing time of the paint spray gun, putty spray gun and reflux spray gun to the spray height.

[0073] Based on the first target height determination model, the target spraying height corresponding to the current spraying angle when the downward-swinging spray gun performs the spraying operation can be determined, and then the movement of the mechanical mechanism in the lifting system is controlled to adjust the operating point of the spray gun to the determined spraying height.

[0074] Optionally, if the target height determination model is the second target height determination model, the target spraying height of the spraying equipment is determined according to the distance between the center point of the bottom surface of the nozzle of the spray gun and the horizontal plane at the current moment, the current lifting height of the slide rail in the lifting system at the current moment, the vertical distance and horizontal distance between the spray gun and the connecting shaft connected to the spray gun, and the target spraying angle.

[0075] Specifically, when the pitch axis is downward and the elevation angle β0 is set to be positive, the distance between the center point of the bottom surface of the spray gun nozzle and the horizontal plane at the current moment is H0, the current lifting height of the slide rail in the lifting system is (L1+L2), the vertical distance and horizontal distance between the spray gun and the connecting shaft connected to the spray gun are S1 and S2 respectively, and the second distance between the center point of the spray gun and the wall of the target operation area is S3. On this basis, the second target height determination model is H=H0+L1+L2+S1-S1*cosβ0+(S2+S3-S1*sinβ0)*tanβ0.

[0076] Based on the second target height determination model, the target spraying height corresponding to the current spraying angle when the upward swing spray gun is performing the spraying operation can be determined, and then the movement of the mechanical mechanism in the lifting system is controlled to adjust the operating point of the spray gun to the determined spraying height.

[0077] During the spraying operation of the spraying equipment, no matter what target spraying angle the spray gun is at, a unique height value corresponding to it can be determined using the first target height determination model or the second target height determination model, so that the pitch system and the lifting system can be linked to jointly achieve precise spraying of the spraying equipment.

[0078] S250. Spray the target working area based on the target spraying height.

[0079] S260. If the target spraying height is consistent with the highest position of the target working area, and it is detected that the current spraying height is consistent with the highest position based on the ranging sensor, then after the spraying based on the target spraying height is completed, turn off the spray gun system and move the slide rail in the lifting system to the initial position.

[0080] In this embodiment, when it is determined by using the first target height determination model or the second target height determination model that the target spraying height is consistent with the highest position of the target working area, and it is detected that the current spraying height also reaches this position, it indicates that a round of spraying operation of the spraying equipment at the current construction point has been completed. At this time, not only the paint spray gun or putty spray gun needs to be turned off, and the reflux spray gun is opened to release the pressure of the material to ensure operation safety, but also the slide rail in the lifting system needs to be moved to the initial position to reset the equipment, so as to re-determine the spraying angle and spraying height in the subsequent operation process.

[0081] After a round of spraying operation is completed, the spraying equipment can either re-perform the next round of spraying operation at the existing operation point or go to the next operation point according to the requirements of the construction operation. For example, in the actual application process, the paint only needs to be sprayed once, while the putty needs to be sprayed twice.

[0082] In this embodiment, a distance sensor can also be pre-set on the lid of the material tank. During the whole process of the spraying equipment performing the spraying operation, when the distance sensor detects that the height of the target material in the material tank is lower than the preset material height, an alarm prompt is given. Or, a gravity sensor is pre-set at the bottom of the material tank. When the gravity sensor detects that the actual gravity of the material tank is less than the preset gravity threshold, an alarm prompt is given, so as to enable the spraying equipment to achieve continuous spraying during the operation process.

[0083] Exemplarily, a laser ranging sensor is set on the lid of the material bucket to detect the height M1 of the material. It can be understood that the laser ranging sensor can determine the distance between itself and the liquid level, and M1 is determined based on subtracting the distance measured by the laser ranging sensor from the overall height of the material bucket. At the same time, a paint shortage threshold T1 is pre-set. When it is determined that M1 < T1, the lid of the material barrel will automatically open and prompt that the material needs to be replenished. After the feeding equipment has completed the feeding and the electrical control system receives the feeding completion signal, the lid of the material barrel automatically closes, and the spraying equipment continues to perform the spraying operation.

[0084] The technical solution of this embodiment first determines the top-view angle, top-view angle and spraying angle range of the spray gun, and then determines the corresponding first target height determination model or second target height determination model according to the target spraying angle, so as to determine the spraying height in real time during the spraying process, and link the pitch system with the lifting system to jointly achieve precise spraying; by setting sensors on the feeding system, the spraying equipment can achieve continuous spraying during the operation.

[0085] Embodiment 3

[0086] As an alternative embodiment of the above embodiment, Figure 5 This is a flow chart of a spraying method of a spraying device provided in the third embodiment of the present invention. In order to clearly introduce the technical solution of this embodiment, the application scenario can be described as a case where a spraying device is used to perform a spraying operation of paint and putty. However, it is not limited to the above scenario and can be applied to various scenarios that require automatic spraying of paint and putty. At the same time, in order to make the solution of this embodiment more intuitive, the following will be combined with Figure 2 and Figure 5 The specific steps of this embodiment are described. It should be noted that in the actual application process, Figure 2 The spraying equipment shown can complete the spraying task in an automated manner upon receiving the operation instruction, that is, the equipment is an intelligent machine capable of semi-automatic or fully autonomous operation. Figure 2 The spraying device shown can also be regarded as a multifunctional spraying robot.

[0087] See also Figure 5 After the spraying equipment is turned on, it enters the manual state, and the electrical control system 7 performs a global reset on the spraying equipment. After the spraying equipment is reset, it can wait for the flat system 6 to issue a construction task. Specifically, according to the instructions issued by the flat system 6, the spraying equipment can start the spraying operation in automatic movement and manual movement respectively.

[0088] Continue to see Figure 5, when the spraying equipment receives the construction operation information sent by the flat panel system 6, it can move automatically, that is, the chassis moving system 2 drives the spraying equipment to move to the target operation point in the construction site. When the sensor detection signal and the servo position judgment signal in the lifting system 4 are transmitted to the electrical control system, it indicates that the spraying equipment has moved to the position. At this time, the spraying equipment can enter the spraying adjustment stage, that is, determine the pitch angle of the pitch system 403 to obtain the spray gun's downward and upward angles of the current spraying area. At the same time, determine the target height determination model corresponding to the pitch angle, so as to adjust the actual position height of the lifting system 4 in real time during the subsequent spraying process. After the spraying adjustment is completed, the spraying equipment can select a specific spray gun (such as a paint spray gun 502 or a putty spray gun 504) to perform the spraying operation according to the construction work requirements. When a round of spraying operation is completed, the spraying equipment can turn off the spray gun system 5, reset the lifting system 4, and determine the next target operation point at the construction site according to the spraying width of the spray gun and the construction operation information, and move to the next target operation point under the drive of the chassis moving system 2 to perform subsequent spraying operations until all the target spraying areas on the wall are sprayed.

[0089] Continue to see Figure 5 After the spraying equipment receives the construction operation information sent by the flat panel system 6, it can also be moved manually, that is, the staff moves the spraying equipment to the target operation point in the construction site. When the sensor detection signal and the servo position judgment signal in the lifting system 4 are transmitted to the electrical control system 7, it indicates that the spraying equipment has moved to the position. The subsequent spraying adjustment and the specific spraying process are the same as the steps in the automatic mode, which will not be repeated here.

[0090] The beneficial effects of the above technical solution are: the spraying equipment can perform spraying operations in a fully automatic manner, without the need for workers to enter the construction site or deploy robotic arms, thereby reducing operating costs. At the same time, the spraying equipment can achieve precise spraying without the need to write complex programs.

[0091] Embodiment 4

[0092] Figure 6 This is a structural block diagram of a spraying device of a spraying equipment provided by the fourth embodiment of the present invention, which can execute the spraying method of the spraying equipment provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. Figure 6 As shown, the device includes: a target height determination model determination module 810, a target spraying height determination module 820, and a target working area spraying module 830.

[0093] The target height determination model determination module 810 is used to determine a target spraying angle between the spray gun and the horizontal plane, and to determine a target height determination model corresponding to the target spraying angle.

[0094] The target spraying height determination module 820 is used to determine the target spraying height of the spraying equipment according to the target height determination model.

[0095] The target working area spraying module 830 is used to spray the target working area based on the target spraying height.

[0096] On the basis of the above technical solutions, the spraying device of the spraying equipment further includes a spraying angle range determination module, and the spraying angle range determination module includes a downward angle determination unit, an upward angle determination unit and a spraying angle range determination unit.

[0097] A viewing angle determination unit is used to determine the top-view angle based on a first distance between a center point of a nozzle bottom surface of the spray gun and a horizontal plane, a vertical distance and a horizontal distance between the center point and a connecting axis, and a second distance between the center point and a wall of a target working area; wherein the connecting axis is used to connect the spray gun and a main body of the spraying equipment.

[0098] An upward viewing angle determination unit is used to determine the upward viewing angle corresponding to the spray gun and the wall according to the highest position of the target working area, the lifting height value of the lifting system and the first distance; wherein the lifting system is arranged on the main body of the spraying equipment and is used to adjust the height of the spray gun.

[0099] The spraying angle range determining unit is used to determine the spraying angle range of the spray gun based on the downward viewing angle and the upward viewing angle, so as to adjust the target spraying angle between the spray gun and the horizontal plane based on the spraying angle range.

[0100] Optionally, the target height determination model determination module 810 is also used to determine the target spraying angle between the spray gun and the horizontal plane at the current moment based on the previous moment when the target spraying angle was determined last time, the current moment, the spraying cycle and the angle adjustment step.

[0101] On the basis of the above-mentioned technical solutions, the target height determination model determination module 810 includes an actual interval duration determination unit and a target spraying angle determination unit.

[0102] The actual interval duration determining unit is used to determine the actual interval duration according to the previous moment and the current moment.

[0103] The target spraying angle determination unit is used to determine the target spraying angle between the spray gun and the horizontal plane at the current moment according to the target spraying angle and angle adjustment step at the previous moment if the actual interval duration reaches the duration of the spraying cycle.

[0104] Optionally, the target height determination model determination module 810 is also used to determine that the target height determination model corresponding to the target spraying angle is the first target height determination model if the target spraying angle is less than a preset angle; if the target spraying angle is greater than or equal to the preset angle, then determine that the target height determination model corresponding to the target spraying angle is the second target height determination model.

[0105] Optionally, the target spraying height determination module 820 is also used to determine the target spraying height of the spraying equipment according to the distance between the center point of the bottom surface of the nozzle of the spray gun and the horizontal plane at the current moment, the current lifting height of the slide rail in the lifting system at the current moment, the vertical distance and horizontal distance between the spray gun and the connecting shaft connected to the spray gun, the target spraying angle, and the spraying error corresponding to the spraying equipment if the target height determination model is the first target height determination model; if the target height determination model is the second target height determination model, the target spraying height of the spraying equipment is determined according to the distance between the center point of the bottom surface of the nozzle of the spray gun and the horizontal plane at the current moment, the current lifting height of the slide rail in the lifting system at the current moment, the vertical distance and horizontal distance between the spray gun and the connecting shaft connected to the spray gun, and the target spraying angle.

[0106] On the basis of the above technical solutions, the spraying device also includes a reset module.

[0107] A reset module is used to close the spray gun system and move the slide rail in the lifting system to an initial position after spraying is completed based on the target spraying height if the target spraying height is consistent with the highest position of the target working area and the current spraying height is detected to be consistent with the highest position based on the ranging sensor.

[0108] The technical solution provided in this embodiment first determines the target spraying angle between the spray gun and the horizontal plane, and determines the target height determination model corresponding to the target spraying angle, and then determines the target spraying height of the spraying equipment according to the target height determination model, and sprays the target operating area based on the target spraying height, so that the spraying equipment can perform the spraying operation in a fully automatic manner, without the need for staff to enter the construction site or deploy robotic arms, thereby reducing operating costs. At the same time, there is no need to write complex programs to enable the spraying equipment to achieve precise spraying.

[0109] The spraying device provided in the embodiment of the present invention can execute the spraying method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0110] It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present invention.

[0111] Embodiment 5

[0112] Figure 7 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. Figure 7 A block diagram of an exemplary electronic device 90 suitable for implementing exemplary embodiments of the present invention is shown. Figure 7 The electronic device 90 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0113] like Figure 7 As shown, the electronic device 90 is in the form of a general computing device. The components of the electronic device 90 may include but are not limited to: one or more processors or processing units 901, a system memory 902, and a bus 903 connecting different system components (including the system memory 902 and the processing unit 901).

[0114] Bus 903 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0115] The electronic device 90 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 90, including volatile and non-volatile media, removable and non-removable media.

[0116] The system memory 902 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 904 and / or cache memory 905. The electronic device 90 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 906 may be used to read and write non-removable, non-volatile magnetic media ( Figure 7 not shown, usually called a "hard drive"). Although Figure 7Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 903 via one or more data medium interfaces. Memory 902 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of various embodiments of the present invention.

[0117] A program / utility 908 having a set (at least one) of program modules 907 may be stored, for example, in the memory 902, such program modules 907 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof may include an implementation of a network environment. The program modules 907 generally perform the functions and / or methods of the embodiments described herein.

[0118] The electronic device 90 may also communicate with one or more external devices 909 (e.g., keyboards, pointing devices, displays 910, etc.), may communicate with one or more devices that enable a user to interact with the electronic device 90, and / or communicate with any device that enables the electronic device 90 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed through an input / output (I / O) interface 911. Furthermore, the electronic device 90 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 912. As shown, the network adapter 912 communicates with other modules of the electronic device 90 through the bus 903. It should be understood that although Figure 7 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 90, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0119] The processing unit 901 executes various functional applications and data processing by running the programs stored in the system memory 902, such as implementing the spraying method provided by the embodiment of the present invention.

[0120] Embodiment 6

[0121] Embodiment 6 of the present invention further provides a storage medium comprising computer executable instructions, wherein the computer executable instructions are used to execute the spraying method when executed by a computer processor.

[0122] The method is applied to a spraying device, wherein the spraying device comprises a spray gun, and the method comprises:

[0123] Determine a target spraying angle between the spray gun and a horizontal plane, and determine a target height determination model corresponding to the target spraying angle;

[0124] Determining a target spraying height of the spraying equipment according to the target height determination model;

[0125] The target working area is sprayed based on the target spraying height.

[0126] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0127] Computer-readable signal media may include a data signal propagated in baseband or as part of a carrier wave, in which computer-readable project code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0128] Project code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0129] Computer project code for performing the operation of embodiments of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The project code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0130] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A spraying method, It is characterized in that Applied in a spraying device, the spraying device includes a spray gun, and the method includes: Determine a target spraying angle between the spray gun and a horizontal plane, and determine a target height determination model corresponding to the target spraying angle; Determining a target spraying height of the spraying equipment according to the target height determination model; spraying the target working area based on the target spraying height; Wherein, before determining the target spraying angle between the spray gun and the horizontal plane, the method further includes: The top-view angle is determined according to a first distance between a center point of a nozzle bottom surface of the spray gun and a horizontal plane, a vertical distance and a horizontal distance between the center point and a connecting shaft, and a second distance between the center point and a wall of a target working area; wherein the connecting shaft is used to connect the spray gun and a main body of the spraying equipment; Determine the upward viewing angle between the spray gun and the wall according to the highest position of the target operation area, the lifting height value of the lifting system and the first distance; wherein the lifting system is arranged on the main body of the spraying equipment and is used to adjust the height of the spray gun; Based on the top-view angle and the top-view angle, a spraying angle range of the spray gun is determined, so as to adjust a target spraying angle between the spray gun and a horizontal plane based on the spraying angle range.

2. The method according to claim 1, It is characterized in that Determining a target spraying angle between the spray gun and the horizontal plane comprises: The target spraying angle between the spray gun and the horizontal plane at the current moment is determined according to the previous moment when the target spraying angle was determined last time, the current moment, the spraying cycle and the angle adjustment step.

3. The method according to claim 2, It is characterized in that Determining the target spraying angle between the spray gun and the horizontal plane at the current moment according to the previous moment when the target spraying angle was determined last time, the current moment, the spraying cycle, and the angle adjustment step length, comprises: Determine the actual interval duration according to the previous moment and the current moment; If the actual interval duration reaches the duration of the spraying cycle, the target spraying angle between the spray gun and the horizontal plane at the current moment is determined according to the target spraying angle and the angle adjustment step at the previous moment.

4. The method according to claim 3, It is characterized in that The target height determination model corresponding to the target spraying angle is determined, comprising: If the target spraying angle is less than the preset angle, determining the target height determination model corresponding to the target spraying angle as the first target height determination model; If the target spraying angle is greater than or equal to the preset angle, the target height determination model corresponding to the target spraying angle is determined to be the second target height determination model.

5. The method according to claim 4, It is characterized in that Determining the target spraying height of the spraying equipment according to the target height determination model includes: If the target height determination model is the first target height determination model, the target spraying height of the spraying equipment is determined according to the distance between the center point of the bottom surface of the nozzle of the spray gun and the horizontal plane at the current moment, the current lifting height of the slide rail in the lifting system at the current moment, the vertical distance and horizontal distance between the spray gun and the connecting shaft connected to the spray gun, the target spraying angle and the spraying error corresponding to the spraying equipment; If the target height determination model is the second target height determination model, the target spraying height of the spraying equipment is determined based on the distance between the center point of the bottom surface of the nozzle of the spray gun and the horizontal plane at the current moment, the current lifting height of the slide rail in the lifting system at the current moment, the vertical distance and horizontal distance between the spray gun and the connecting shaft connected to the spray gun, and the target spraying angle.

6. The method according to claim 1, It is characterized in that Also includes: If the target spraying height is consistent with the highest position of the target working area, and the current spraying height is detected to be consistent with the highest position based on the ranging sensor, then after spraying based on the target spraying height is completed, the spray gun system is closed and the slide rail in the lifting system is moved to the initial position.

7. A spraying device, It is characterized in that Configured in a spraying device, the spraying device includes a spray gun, and the device includes: A target height determination model determination module is used to determine a target spraying angle between the spray gun and a horizontal plane, and to determine a target height determination model corresponding to the target spraying angle; A target spraying height determination module, used to determine the target spraying height of the spraying equipment according to the target height determination model; A target working area spraying module, used for spraying the target working area based on the target spraying height; Wherein, the device further comprises: A spraying angle range determination module, the spraying angle range determination module comprising a downward angle determination unit, an upward angle determination unit and a spraying angle range determination unit; The top-view angle determination unit is used to determine the top-view angle according to a first distance between a center point of a nozzle bottom surface of the spray gun and a horizontal plane, a vertical distance and a horizontal distance between the center point and a connecting shaft, and a second distance between the center point and a wall of a target working area; wherein the connecting shaft is used to connect the spray gun and a main body of the spraying equipment; The upward viewing angle determination unit is used to determine the upward viewing angle between the spray gun and the wall according to the highest position of the target operation area, the lifting height value of the lifting system and the first distance; wherein the lifting system is arranged on the main body of the spraying equipment and is used to adjust the height of the spray gun; The spraying angle range determining unit is used to determine the spraying angle range of the spray gun based on the downward-looking angle and the upward-looking angle, so as to adjust the target spraying angle between the spray gun and the horizontal plane based on the spraying angle range.

8. An electronic device, It is characterized in that The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the spraying method as described in any one of claims 1-6.

9. A storage medium comprising computer executable instructions, wherein the computer executable instructions are used to perform the spraying method according to any one of claims 1 to 6 when executed by a computer processor.

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