A method for a painting robot to determine the working area

Abstract

The present invention discloses a method for a painting robot to determine a working area, including: after receiving a work instruction, the painting robot starts to work, obtains point cloud data of the environment through a lidar, and then the painting robot constructs a sealed area through the obtained point cloud data; the painting robot extracts the largest inscribed rectangle from the sealed area and uses this largest inscribed rectangle as the working area of the painting robot; the painting robot obtains the ratios of the two side lengths of the working area to the two side lengths of the image to be painted respectively, and selects a reference ratio from the obtained ratios; the painting robot obtains the painting information in the image to be painted, and then the painting robot draws the painting information in the image to be painted in the working area according to the reference ratio. The painting robot constructs a suitable working area according to the current environment, and the work process is simple and easy to use.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and particularly to a method for a painting robot to determine a working area. Background Art

[0002] With the development of technology, the application fields of intelligent robots are becoming more and more extensive, and painting robots will also be popular among people. Sketching can use monochromatic lines or smeared surfaces to represent things in the intuitive world, and can also express ideas, concepts, attitudes, feelings, fantasies, symbols or even abstract forms.

[0003] Currently, when a painting robot is painting, the existing method is that the painting robot paints in the working area set by the user. However, this method requires many pre-operation steps, which is rather troublesome and reduces the user experience. Or the painting robot constructs the working area according to the walls of the room. However, when there are obstacles in other positions in the room, if the painting robot cannot recognize them, there will be unusable areas in the working area, and the painting robot cannot complete the painting. Summary of the Invention

[0004] To solve the above problems, the present invention provides a method for a painting robot to determine a working area. The specific technical solution of the present invention is as follows:

[0005] A method for a painting robot to determine a working area, the method comprising the following steps: after receiving a work instruction, the painting robot starts to work, obtains point cloud data of the environment through a lidar, and then the painting robot constructs a sealed area through the obtained point cloud data; the painting robot extracts the largest inscribed rectangle from the sealed area and uses the largest inscribed rectangle as the working area of the painting robot; the painting robot obtains the ratios of the two side lengths of the working area to the two side lengths of the image to be painted respectively, and selects a reference ratio from the obtained ratios; the painting robot obtains the painting information in the image to be painted, and then the painting robot draws the painting information in the image to be painted in the working area according to the reference ratio.

[0006] Further, the painting robot obtains the point cloud data of the environment through the lidar, including the following steps: taking the current position as the initial position, the painting robot first moves upward a set distance, then returns to the initial position, then moves downward a set distance, and then returns to the initial position; then, the painting robot moves leftward a set distance at the initial position, then returns to the initial position, and then moves rightward a set distance; during the movement, the painting robot obtains the point cloud data through the lidar and places the point cloud data in the grid map one by one; wherein, the above and the below are on the same straight line, the left and the right are on the same straight line, and the above is perpendicular to the left.

[0007] Furthermore, the painting robot constructs a closed area from the acquired point cloud data, including the following steps: The painting robot connects each point cloud in the acquired point cloud data to the two nearest point clouds respectively, where the angle between the two connecting lines of the point cloud is greater than a set angle; The painting robot obtains the largest area formed by the connecting lines of the point cloud data. If the largest area is a closed area, then the largest area is used as the sealed area. If the largest area is not a closed area, then the point clouds at both ends of the opening in the largest area are connected to make the largest area closed, and then the closed largest area is used as the sealed area.

[0008] Furthermore, the painting robot extracts the largest inscribed rectangle from the sealed area, including the following steps: The painting robot randomly selects two point clouds from the sealed area, and then connects these two point clouds to obtain a rectangular line segment, where any point between the two endpoints of the rectangular line segment is within the sealed area; The painting robot draws a perpendicular line through the midpoint of the rectangular line segment, and then translates the rectangular line segment along the direction of the perpendicular line within the sealed area until any point on the rectangular line segment touches the boundary of the sealed area again; The painting robot obtains the rectangular area covered during the translation of the rectangular line segment to get the inscribed rectangle of the sealed area; By analogy, the painting robot obtains several inscribed rectangles of the sealed area through several point clouds on the sealed area; The painting robot uses the inscribed rectangle with the largest area among the several inscribed rectangles of the sealed area as the largest inscribed rectangle of the sealed area.

[0009] Furthermore, the painting robot obtains the ratios of the two side lengths of the working area to the two side lengths of the image to be painted respectively, and selects a reference ratio from the obtained ratios, including the following steps: The painting robot obtains the ratio of the minimum side length of the working area to the minimum side length of the image to be painted and the ratio of the maximum side length of the working area to the maximum side length of the image to be painted, and then the painting robot compares the ratio of the minimum side length of the working area to the minimum side length of the image to be painted and the ratio of the maximum side length of the working area to the maximum side length of the image to be painted, and sets the smaller ratio as the reference ratio.

[0010] Furthermore, the painting robot obtains the ratio of the minimum side length of the working area to the minimum side length of the image to be painted, including the following steps: After the painting robot obtains the working area, it moves from one endpoint of the minimum side length of the working area to the other endpoint of the minimum side length of the working area; The painting robot records the walking time and walking speed, and then obtains the length of the minimum side length of the working area according to the product of the walking time and the walking speed; The painting robot obtains the length of the minimum side length of the image to be painted, and then the painting robot divides the length of the minimum side length of the working area by the length of the minimum side length of the image to be painted to obtain the ratio of the minimum side length of the working area to the minimum side length of the image to be painted.

[0011] Further, the painting robot obtains the ratio of the maximum side length of the working area to the maximum side length of the image to be painted, including the following steps: After the painting robot obtains the working area, it moves from one end point of the maximum side length of the working area to the other end point of the maximum side length of the working area; The painting robot records the walking time and walking speed, and then obtains the length of the maximum side length of the working area according to the product of the walking time and the walking speed; The painting robot obtains the length of the maximum side length of the image to be painted, and then the painting robot divides the length of the maximum side length of the working area by the length of the maximum side length of the image to be painted to obtain the ratio of the maximum side length of the working area to the maximum side length of the image to be painted.

[0012] Further, the painting robot obtains the painting information in the image to be painted, including the following steps: The painting robot performs binarization processing on the image to be painted, and then the painting robot traverses the binarized image to be painted; During the traversal process, if all 8 adjacent pixels of any black pixel in the binarized image to be painted are slightly black pixels, the black pixel is deleted; The painting robot takes the remaining black pixels as the painting information in the image to be painted to obtain the contour of the image to be painted.

[0013] Further, the painting robot draws the painting information in the image to be painted in the working area according to the reference ratio, including the following steps: The painting robot moves to the midpoint of the working area, and then starting from the midpoint of the image to be painted, the painting robot uses the reference ratio as the ratio of reality to the image and moves according to the contour of the image to be painted to draw the image to be painted in the working area.

[0014] Further, the painting robot obtains the midpoint of the working area, including the following steps: The painting robot first connects the midpoints of the two minimum side lengths of the working area, and then connects the midpoints of the two maximum side lengths of the working area; The painting robot sets the intersection point of the connection line of the midpoints of the two minimum side lengths of the working area and the connection line of the midpoints of the two maximum side lengths of the working area as the midpoint of the working area.

[0015] Compared with the existing technology, the beneficial effects of the present invention are as follows: The painting robot described in this application constructs a sealed area based on the point cloud data obtained from the current environment, and then obtains the working area from the sealed area. The painting robot constructs a suitable working area according to the current environment, with a simple work process and convenient use; The working area is constructed according to the current specific environment, and the painting robot will not be affected by the environment when painting; The painting robot can automatically adjust the drawing size according to the size of the working area, that is, there is no need to worry about the problem that the working area is too small to draw the image to be painted completely in the working area, nor the problem that the working area is too large and the image to be painted is drawn too small in the working area, with high practicability and flexibility. Brief Description of the Drawings

[0016] Figure 1 This is a schematic flow chart of the control method of a painting robot in an embodiment of the present invention. Embodiment

[0017] The embodiments of the present invention will be described in detail below. The illustrated embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.

[0018] In the description of the present invention, it should be noted that for orientation terms, such as the terms "center", "horizontal", "vertical", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the orientation and positional relationships indicated are based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific protection scope of the present invention.

[0019] In addition, such terms as "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "at least" is one or more than one, unless otherwise specifically defined.

[0020] In the present invention, unless otherwise clearly specified and defined, terms such as "assembled", "connected", and "coupled" shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may also be a mechanical connection; it may be directly connected, or connected through an intermediate medium, and may be internally connected and communicated between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] In an invention, unless otherwise specified and defined, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the first and second features not being in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "below", and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "above", "below", and "beneath" the second feature includes the first feature being directly below or obliquely below the second feature, or merely indicating that the horizontal height of the first feature is lower than that of the second feature.

[0022] Combined with the accompanying drawings of the specification below, by further describing the specific embodiments of the present invention, the technical solutions and their beneficial effects of the present invention will become clearer and more definite. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0023] As Figure 1 shown, a method for a painting robot to determine a working area includes the following steps:

[0024] If the painting robot is outside the working site, the painting robot can first enter the working site according to the user's remote control instructions. The painting robot enters the working site in the way of remote control instructions and waits to receive a working instruction, which can enable the painting robot to quickly enter the working state and improve work efficiency. If the painting robot is already inside the working site, the painting robot waits to receive a working instruction. After receiving the working instruction, the painting robot starts working. The way for the painting robot to receive the working instruction can be in the form of wireless information or in the form of a physical button. After the painting robot starts working, it first obtains the point cloud data of the environment through a lidar, and then the painting robot constructs a sealed area through the obtained point cloud data.

[0025] As one of the embodiments, the painting robot obtains the point cloud data of the environment through a lidar, including the following steps: The painting robot takes the current position as the initial position, first moves upward a set distance, then returns to the initial position, then moves downward a set distance, and then returns to the initial position. Next, the painting robot moves leftward a set distance at the initial position, then returns to the initial position, and then moves rightward a set distance. During the movement of the painting robot, it obtains the point cloud data through the lidar and places the point cloud data into the grid map one by one. Among them, the above and below are on the same straight line, the left and right are on the same straight line, and the above is perpendicular to the left.

[0026] As one of the embodiments, the painting robot constructs a sealed area based on the acquired point cloud data, including the following steps: The painting robot connects each point cloud in the acquired point cloud data to the two nearest point clouds respectively, wherein the angle between the two connecting lines of the point cloud is greater than a set angle; The painting robot acquires the largest area formed by the connecting lines of the point cloud data. If the largest area is a closed area, the largest area is used as the sealed area. If the largest area is not a closed area, the point clouds at both ends of the opening of the largest area are connected to close the largest area, and then the closed largest area is used as the sealed area.

[0027] The painting robot extracts the largest inscribed rectangle from the sealed area and uses the largest inscribed rectangle as the working area of the painting robot. After the painting robot acquires the sealed area, the subsequent step is to obtain the area where painting can be performed in the sealed area. Since the image to be painted is generally rectangular, what needs to be obtained is the largest inscribed rectangle in the sealed area.

[0028] As one of the embodiments, the painting robot extracts the largest inscribed rectangle from the sealed area, including the following steps: The painting robot randomly selects two point clouds from the sealed area and then connects the two point clouds to obtain a rectangular line segment, wherein any point between the two endpoints of the rectangular line segment is within the sealed area; The painting robot draws a perpendicular line through the midpoint of the rectangular line segment and then translates the rectangular line segment along the direction of the perpendicular line within the sealed area until any point on the rectangular line segment touches the boundary of the sealed area again. There are two directions of the perpendicular line, one pointing to the outside of the sealed area and the other pointing into the sealed area. Since both endpoints of the rectangular line segment are on the boundary of the sealed area, when the rectangular line segment moves along the direction of the perpendicular line pointing to the outside of the sealed area, the rectangular line segment continuously touches the boundary of the sealed area. Starting is equivalent to ending and translation cannot be performed. Therefore, the rectangular line segment can only form a rectangular area when moving along the direction of the perpendicular line pointing into the sealed area, and only one rectangular area will be generated during the translation of the rectangular line segment; The painting robot acquires the rectangular area covered during the translation of the rectangular line segment to obtain the inscribed rectangle of the sealed area; By analogy, the painting robot obtains several inscribed rectangles of the sealed area through several point clouds on the sealed area; The painting robot uses the inscribed rectangle with the largest area among the several inscribed rectangles of the sealed area as the largest inscribed rectangle of the sealed area.

[0029] The painting robot acquires the ratios of the two side lengths of the working area to the two side lengths of the image to be painted respectively, and selects a reference ratio from the acquired ratios. Although both the working area and the image to be painted are rectangles, the ratios of their lengths and widths are different. Therefore, it is necessary to determine the ratio between the working area and the image to be painted based on the ratios of the length and width of the working area to the length and width of the image to be painted respectively, to prevent the ratio from being too large and the image drawn by the painting robot exceeding the working area and unable to complete the drawing.

[0030] As one of the embodiments, the painting robot obtains the ratios of the two side lengths of the working area to the two side lengths of the image to be painted, and selects a reference ratio from the obtained ratios, including the following steps: The painting robot obtains the ratio of the minimum side length of the working area to the minimum side length of the image to be painted and the ratio of the maximum side length of the working area to the maximum side length of the image to be painted. Then, the painting robot compares the ratio of the minimum side length of the working area to the minimum side length of the image to be painted with the ratio of the maximum side length of the working area to the maximum side length of the image to be painted, and sets the smaller ratio as the reference ratio.

[0031] As one of the embodiments, the painting robot obtains the ratio of the minimum side length of the working area to the minimum side length of the image to be painted, including the following steps: After the painting robot obtains the working area, it moves from one end point of the minimum side length of the working area to the other end point of the minimum side length of the working area; The painting robot records the walking time and walking speed, and then obtains the length of the minimum side length of the working area according to the product of the walking time and the walking speed; The painting robot obtains the length of the minimum side length of the image to be painted, and then the painting robot divides the length of the minimum side length of the working area by the length of the minimum side length of the image to be painted to obtain the ratio of the minimum side length of the working area to the minimum side length of the image to be painted.

[0032] As one of the embodiments, the painting robot obtains the ratio of the maximum side length of the working area to the maximum side length of the image to be painted, including the following steps: After the painting robot obtains the working area, it moves from one end point of the maximum side length of the working area to the other end point of the maximum side length of the working area; The painting robot records the walking time and walking speed, and then obtains the length of the maximum side length of the working area according to the product of the walking time and the walking speed; The painting robot obtains the length of the maximum side length of the image to be painted, and then the painting robot divides the length of the maximum side length of the working area by the length of the maximum side length of the image to be painted to obtain the ratio of the maximum side length of the working area to the maximum side length of the image to be painted.

[0033] The painting robot obtains the painting information in the image to be painted, that is, obtains the contour information of the image to be painted. It can use methods such as the contour extraction method (extracting the contours in the image through various methods, and the method adopted in this application is the method of hollowing out internal points), the boundary tracking method (starting from a certain boundary point of the image, and then searching for the next boundary point according to a certain strategy until the search point coincides with the initial point, that is, finding the contour), the region growing method (subtracting the gray value of each pixel of the image from the seed point in turn, and judging whether the result is less than the standard deviation. If it is less than, the point and the seed point are merged, otherwise the gray value of the pixel point remains unchanged. The processed image is then the edge segmentation image processed by the region segmentation method) and the region splitting and merging method (using the hierarchical concept of the pyramid or quadtree data structure to divide the image into a set of arbitrarily non-overlapping initial regions, that is, starting from any intermediate layer of the pyramid or quadtree structure, splitting and merging these regions according to the given uniformity detection criterion. Gradually improving the performance of the region division until finally dividing the image into the fewest number of uniform regions) and other methods to obtain the contour information of the image to be painted. Then the painting robot draws the painting information in the image to be painted in the working area according to the reference ratio.

[0034] As one of the embodiments, the painting robot obtains the painting information in the image to be painted, including the following steps: The painting robot performs binarization processing on the image to be painted, and then the painting robot traverses the binarized image to be painted; during the traversal process, if all 8 adjacent pixel points of any black pixel point in the binarized image to be painted are slightly black pixel points, then the black pixel point is deleted; the painting robot takes the remaining black pixel points as the painting information in the image to be painted, and obtains the contour of the image to be painted.

[0035] As one of the embodiments, the painting robot draws the painting information in the to-be-painted image in the working area according to a reference ratio, including the following steps: The painting robot moves to the midpoint of the working area, and then starts from the midpoint of the to-be-painted image. Taking the reference ratio as the ratio between the real world and the image, it moves according to the contour of the to-be-painted image and draws the to-be-painted image in the working area. When the painting robot draws the to-be-painted image on the ground, a certain drawing size is required. Just like a mobile robot converts its moving trajectory in the real world to a moving map according to a certain ratio, or the mobile robot moves in the real world according to the trajectory on the moving map, the moving trajectory of the mobile robot in the real world and the trajectory on the moving map also follow a certain proportional relationship. The drawing size of existing painting robots is generally fixed, with poor flexibility and unable to meet the needs of users. Therefore, in this application, the drawing size is flexibly adjusted according to the size of the room, enabling the painting robot to paint in rooms or enclosed areas of different sizes. When the painting robot draws the to-be-painted image in the working area, it only needs to move according to the contour of the to-be-painted image, and the ratio between the contour of the to-be-painted image and the current walking is the reference ratio. When the painting robot needs to move to the midpoint of the working area, it first selects to move to one of the endpoints of the shortest side length of the working area, then moves to the midpoint of this shortest side length, then rotates 90 degrees clockwise to face the inside of the working area, and then moves half of the length of the longest side of the working area to reach the center of the working area.

[0036] As one of the embodiments, the painting robot obtains the midpoint of the working area, including the following steps: The painting robot first connects the midpoints of the two shortest side lengths of the working area, and then connects the midpoints of the two longest side lengths of the working area; the painting robot sets the intersection point of the connection line of the midpoints of the two shortest side lengths of the working area and the connection line of the midpoints of the two longest side lengths of the working area as the midpoint of the working area.

[0037] Compared with the existing technology, the beneficial effects of the present invention are as follows: The painting robot described in this application constructs a sealed area based on the point cloud data obtained from the current environment, and then obtains the working area from the sealed area. The painting robot constructs a suitable working area according to the current environment, with a simple work process and convenient use; the working area is constructed according to the current specific environment, and the painting of the painting robot will not be affected by the environment; the painting robot can automatically adjust the drawing size according to the size of the working area, that is, there is no need to worry about the problem that the working area is too small to completely draw the to-be-painted image in the working area, nor the problem that the working area is too large and the to-be-painted image is drawn too small in the working area, with high practicability and flexibility.

[0038] In the description of the specification, the descriptions referring to terms such as "in one embodiment", "preferably", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. The schematic expressions of the above terms in this specification do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. The connection methods described in the description of the specification have obvious effects and practical effectiveness.

[0039] Through the description of the above structures and principles, those skilled in the art should understand that the present invention is not limited to the above specific embodiments, and the improvements and substitutions using the well-known technologies in the art based on the present invention fall within the protection scope of the present invention, which should be defined by each claim.

Claims

1. A method for a painting robot to determine a working area, characterized in that The method includes the following steps: After receiving a work instruction, the painting robot starts to work, obtains the point cloud data of the environment through a lidar, and then the painting robot constructs a sealed area based on the obtained point cloud data; The painting robot extracts the maximum inscribed rectangle from the sealed area and uses this maximum inscribed rectangle as the working area of the painting robot; The painting robot obtains the ratios of the two side lengths of the working area to the two side lengths of the image to be painted respectively, and selects a reference ratio from the obtained ratios; The painting robot obtains the painting information in the image to be painted, and then the painting robot draws the painting information in the image to be painted in the working area according to the reference ratio; Among them, the painting robot obtains the point cloud data of the environment through a lidar, including the following steps: Taking the current position as the initial position, the painting robot first moves upward by a set distance, then returns to the initial position, then moves downward by a set distance, and then returns to the initial position; Next, the painting robot moves leftward by a set distance at the initial position, then returns to the initial position, and then moves rightward by a set distance; During the movement, the painting robot obtains point cloud data through a lidar and places the point cloud data into a grid map one by one; Among them, the above and below are on the same straight line, the left and right are on the same straight line, and the above is perpendicular to the left; Among them, the painting robot constructs a closed area based on the obtained point cloud data, including the following steps: The painting robot connects each point cloud in the obtained point cloud data to the two nearest point clouds respectively, where the angle between the two connecting lines of the point cloud is greater than a set angle; The painting robot obtains the largest area formed by the connecting lines of the point cloud data. If the largest area is a closed area, then this largest area is used as the sealed area. If the largest area is not a closed area, then the point clouds at both ends of the opening in this largest area are connected to make the largest area closed, and then the closed largest area is used as the sealed area.

2. The method for determining the working area of a painting robot according to claim 1, wherein The painting robot extracts the maximum inscribed rectangle from the sealed area, including the following steps: The painting robot randomly selects two point clouds from the sealed area, and then connects these two point clouds to obtain a rectangular line segment, where any point between the two endpoints of the rectangular line segment is in the sealed area; The painting robot makes a perpendicular line through the midpoint of the rectangular line segment, and then makes the rectangular line segment translate in the sealed area along the direction of the perpendicular line until any point on the rectangular line segment touches the boundary of the sealed area again; The painting robot obtains the rectangular area covered during the translation of the rectangular line segment to get the inscribed rectangle of the sealed area; By analogy, the painting robot obtains several inscribed rectangles of the sealed area through several point clouds on the sealed area; The painting robot uses the inscribed rectangle with the largest area among several inscribed rectangles of the sealed area as the maximum inscribed rectangle of the sealed area.

3. The method for determining the working area of a painting robot according to claim 1, characterized in that, The painting robot obtains the ratios of the two side lengths of the working area to the two side lengths of the image to be painted respectively, and selects a reference ratio from the obtained ratios, including the following steps: The painting robot obtains the ratio of the minimum side length of the working area to the minimum side length of the image to be painted and the ratio of the maximum side length of the working area to the maximum side length of the image to be painted. Then, the painting robot compares the ratio of the minimum side length of the working area to the minimum side length of the image to be painted and the ratio of the maximum side length of the working area to the maximum side length of the image to be painted, and sets the smaller ratio of the two ratios as the reference ratio.

4. A method for determining a working area of a painting robot according to claim 3, characterized in that The painting robot obtains the ratio of the minimum side length of the working area to the minimum side length of the image to be painted, including the following steps: After the painting robot obtains the working area, it moves from one end point of the minimum side length of the working area to the other end point of the minimum side length of the working area; The painting robot records the walking time and walking speed, and then obtains the length of the minimum side length of the working area according to the product of the walking time and the walking speed; The painting robot obtains the length of the minimum side length of the image to be painted, and then the painting robot divides the length of the minimum side length of the working area by the length of the minimum side length of the image to be painted to obtain the ratio of the minimum side length of the working area to the minimum side length of the image to be painted.

5. The method for determining the working area of a painting robot according to claim 3, characterized in that The painting robot obtains the ratio of the maximum side length of the working area to the maximum side length of the image to be painted, including the following steps: After the painting robot obtains the working area, it moves from one end point of the maximum side length of the working area to the other end point of the maximum side length of the working area; The painting robot records the walking time and walking speed, and then obtains the length of the maximum side length of the working area according to the product of the walking time and the walking speed; The painting robot obtains the length of the maximum side length of the image to be painted, and then the painting robot divides the length of the maximum side length of the working area by the length of the maximum side length of the image to be painted to obtain the ratio of the maximum side length of the working area to the maximum side length of the image to be painted.

6. A method for determining a working area of a painting robot according to claim 3, characterized in that The painting robot obtains the painting information in the image to be painted, including the following steps: The painting robot performs binarization processing on the image to be painted, and then the painting robot traverses the binarized image to be painted; During the traversal process, if all 8 adjacent pixels of any black pixel point in the binarized image to be painted are slightly black pixel points, the painting robot deletes the black pixel point; The painting robot takes the remaining black pixel points as the painting information in the image to be painted to obtain the contour of the image to be painted.

7. A method for a painting robot to determine a working area according to claim 6, characterized in that, The painting robot draws the painting information in the image to be painted in the working area according to the reference ratio, including the following steps: The painting robot moves to the midpoint of the working area, and then starting from the midpoint of the image to be painted, the painting robot uses the reference ratio as the ratio of reality to the image, moves according to the contour of the image to be painted, and draws the image to be painted in the working area.

8. A method for a painting robot to determine a working area according to claim 7, characterized in that, The painting robot obtains the midpoint of the working area, including the following steps: The painting robot first connects the midpoints of the two minimum side lengths of the working area, and then connects the midpoints of the two maximum side lengths of the working area; The painting robot sets the intersection point of the connection line of the midpoints of the two minimum side lengths of the working area and the connection line of the midpoints of the two maximum side lengths of the working area as the midpoint of the working area.

Images