A control method, chip and robot for a painting robot

Abstract

The present invention discloses a control method, a chip and a robot for a painting robot, including: before the painting robot paints in a room, it first moves along the edge to obtain the inner contour of the room, then determines the ratio of the side length of the inner contour of the room to the side length of the image to be painted to determine the ratio of reality to the image, and then paints the image to be painted on the room according to the ratio of reality to the image. The painting robot can automatically adjust the painting size according to the size of the room, that is, there is no need to worry about the problem that the room is too small to paint the image to be painted completely in the room, nor the problem that the room is too large and the image to be painted is painted too small in the room, and the practicability and flexibility are relatively high.

Description

Technical Field

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

[0002] With the development of technology, the application fields of intelligent robots are becoming more and more extensive, and robots that can paint will also be welcomed by people. Sketching can be used to represent things in the intuitive world in ways such as using single-color lines or smearing into surfaces, and can also express ideas, concepts, attitudes, feelings, fantasies, symbols or even abstract forms.

[0003] Currently, when a painting robot is painting, it can only draw the image to be painted in the room according to the size set by the user. However, when the room is too small, the painting robot cannot draw the image to be painted completely; when the room is too large, the image drawn by the painting robot will be too small, and it cannot adjust the size of the image to be painted on the room according to the size of the room. Summary of the Invention

[0004] To solve the above problems, the present invention provides a control method, a chip and a robot for a painting robot. The specific technical solutions of the present invention are as follows:

[0005] A control method for a painting robot, the method includes the following steps: after the painting robot starts to work, it first walks along the edge in the room to obtain the inner contour of the room, and then the painting robot extracts the largest inscribed rectangle from the inner contour of the room; the painting robot obtains the ratio of the minimum side length of the largest inscribed rectangle to the minimum side length of the image to be painted and the ratio of the maximum side length of the largest inscribed rectangle 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 largest inscribed rectangle to the minimum side length of the image to be painted and the ratio of the maximum side length of the largest inscribed rectangle to the maximum side length of the image to be painted, and sets the smaller ratio as the reference ratio; 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 largest inscribed rectangle according to the reference ratio.

[0006] Further, the painting robot walks along the edge in the room to obtain the inner contour of the room, including the following steps: The painting robot first moves forward to find the wall of the room, and then the painting robot starts to move along the edge of the room wall until it returns to the starting point of the edge movement and then stops moving; if the total movement distance of the edge movement is less than the first set distance after the painting robot returns to the starting point of the edge movement, the painting robot abandons the inner contour of the room obtained from this edge movement, then randomly selects another direction to move forward again to find the wall of the room, and moves along the edge according to the found room wall until it returns to the starting point of the edge movement and then stops moving; during the process of moving along the edge, the painting robot obtains point cloud data through a lidar and places the point cloud data into the grid map one by one to obtain the inner contour of the room.

[0007] Further, the painting robot first moves forward to find the wall of the room, including the following steps: During the forward movement of the painting robot, it detects whether there is an obstacle in front of it through a lidar. If the painting robot detects an obstacle in front of it, the painting robot moves along the edge of the obstacle for a second set distance; if the movement trajectory of the painting robot moving along the edge of the obstacle for the second set distance is a straight line, the painting robot determines that the obstacle is the wall of the room; if the movement trajectory of the painting robot moving along the edge of the obstacle for the second set distance is not a straight line, the painting robot determines that the obstacle is not the wall of the room, then the painting robot rotates by a set angle and continues to move forward first to find the wall of the room.

[0008] Further, the painting robot extracts the largest inscribed rectangle from the inner contour of the room, including the following steps: The painting robot randomly selects the intersection points of two straight lines on the inner contour of the room, and then connects the intersection points of these two straight lines to obtain a rectangular line segment. Among them, any point between the two endpoints of the rectangular line segment is within the inner contour of the room; the painting robot makes a perpendicular line through the midpoint of the rectangular line segment, and then moves the rectangular line segment along the direction of the perpendicular line within the inner contour of the room until any endpoint of the rectangular line segment touches the inner contour of the room again; the painting robot obtains the rectangular area covered during the translation process of the rectangular line segment to obtain the inscribed rectangle of the inner contour of the room; by analogy, the painting robot obtains several inscribed rectangles of the inner contour of the room through the intersection points of several straight lines on the inner contour of the room; the painting robot takes the inscribed rectangle with the largest area among the several inscribed rectangles of the inner contour of the room as the largest inscribed rectangle of the inner contour of the room.

[0009] Further, the painting robot obtains the ratio of the minimum side length of the maximum inscribed rectangle to the minimum side length of the image to be painted, including the following steps: After the painting robot obtains the maximum inscribed rectangle, it moves from one end point of the minimum side length of the maximum inscribed rectangle to the other end point of the minimum side length of the maximum inscribed rectangle; The painting robot records the walking time and walking speed, and then obtains the length of the minimum side length of the maximum inscribed rectangle 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 maximum inscribed rectangle 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 maximum inscribed rectangle to the minimum side length of the image to be painted.

[0010] Further, the painting robot obtains the ratio of the maximum side length of the maximum inscribed rectangle to the maximum side length of the image to be painted, including the following steps: After the painting robot obtains the maximum inscribed rectangle, it moves from one end point of the maximum side length of the maximum inscribed rectangle to the other end point of the maximum side length of the maximum inscribed rectangle; The painting robot records the walking time and walking speed, and then obtains the length of the maximum side length of the maximum inscribed rectangle 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 maximum inscribed rectangle 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 maximum inscribed rectangle to the maximum side length of the image to be painted.

[0011] 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 black pixels, the painting robot deletes the black pixel; The painting robot takes the remaining black pixels as the painting information in the image to be painted to obtain the outline of the image to be painted.

[0012] Further, the painting robot draws the painting information in the image to be painted in the maximum inscribed rectangle according to the reference ratio, including the following steps: The painting robot moves to the midpoint of the maximum inscribed rectangle, and then starting from the midpoint of the image to be painted, the painting robot takes the reference ratio as the ratio of the real world to the image, and moves according to the outline of the image to be painted to draw the image to be painted in the maximum inscribed rectangle.

[0013] A chip is used to store a program, and the program is configured to execute the control method of the above-mentioned painting robot.

[0014] A painting robot, the painting robot includes a main control chip, and the main control chip is the above-mentioned chip.

[0015] Compared with the existing technologies, the beneficial effects of the present invention are as follows: Before painting a room, the painting robot described in this application first moves along the edge to obtain the inner contour of the room, then determines the ratio of the real world to the image according to the ratio of the side length of the inner contour of the room to the side length of the image to be painted, and then paints the image to be painted on the room according to this ratio of the real world to the image. The painting robot can automatically adjust the painting size according to the size of the room, that is, there is no need to worry about the problem that the room is too small to completely paint the image to be painted in the room, nor the problem that the room is too large and the image to be painted is painted too small in the room, and the practicability and flexibility are relatively high. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic flow chart of the control method of the painting robot in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[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 denote 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 position relationships indicated are based on the orientation or position relationships shown in the drawings. It 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, the 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, such terms as "assembled", "connected" and "coupled" should be understood 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 or limited, 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 diagonally 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 diagonally below the second feature, or merely indicating that the horizontal height of the first feature is lower than that of the second feature.

[0022] The following further describes the specific embodiments of the present invention in conjunction with the accompanying drawings of the specification, making the technical solutions and their beneficial effects of the present invention 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 control method for a painting robot, the method comprising the following steps:

[0024] After the painting robot starts working, it first walks along the edge in the room to obtain the inner contour of the room. The door of the room or the passage leading to other rooms can be blocked by objects to prevent the painting robot from walking along the edge in unnecessary places and wasting time; alternatively, a closed space can be enclosed by things at the place where painting is required, so that the painting robot walks along the edge inside to obtain the inner contour of the painting place, and then painting can be carried out; or a virtual boundary can be set at the painting place, and the virtual boundary is directly used as the inner contour of the painting place, and the painting robot does not need to walk along the edge; or the user controls the painting robot to walk at the painting place through a mobile device, records the walking trajectory, and then uses the walking trajectory as the inner contour of the painting place. Then the painting robot extracts the largest inscribed rectangle from the inner contour of the room.

[0025] As one of the embodiments, the painting robot walks along the edge in the room to obtain the inner contour of the room, including the following steps: The painting robot first moves forward to find the wall of the room, and then the painting robot starts to move along the edge of the room wall until it returns to the starting point of the edge movement and then stops moving; If the total movement distance of the edge movement is less than the first set distance after the painting robot returns to the starting point of the edge movement, the painting robot abandons the inner contour of the room obtained from this edge movement, then randomly selects another direction to move forward again to find the wall of the room, and performs edge movement according to the found room wall until it returns to the starting point of the edge movement and then stops moving; During the edge movement, the painting robot obtains point cloud data through a lidar and places the point cloud data into a grid map one by one to obtain the inner contour of the room.

[0026] As one of the embodiments, the painting robot first moves forward to find the wall of the room, including the following steps: During the forward movement of the painting robot, it detects whether there is an obstacle in front of it through a lidar. If the painting robot detects an obstacle in front of it, the painting robot moves along the edge of the obstacle for a second set distance; If the movement trajectory of the painting robot moving along the edge of the obstacle for the second set distance is a straight line, the painting robot determines that the obstacle is the wall of the room; If the movement trajectory of the painting robot moving along the edge of the obstacle for the second set distance is not a straight line, the painting robot determines that the obstacle is not the wall of the room, then the painting robot rotates by a set angle and continues to move forward first to find the wall of the room.

[0027] As one of the embodiments, the painting robot extracts the maximum inscribed rectangle from the inner contour of the room, including the following steps: The painting robot randomly selects the intersection points of two straight lines from the inner contour of the room. The inner contour of the room consists of countless point cloud data, and the painting robot knows the coordinates of each point cloud data. The painting robot can judge which point cloud data forms a straight line according to whether the coordinates of the point cloud data increase or decrease, or judge which point cloud data forms a straight line according to the unchanged X coordinate or Y coordinate in the coordinates of the point cloud data. Then connect the intersection points of these two straight lines to obtain a rectangular line segment. Among them, any point between the two endpoints of the rectangular line segment is within the inner contour of the room; 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 inner contour of the room until any endpoint of the rectangular line segment touches the inner contour of the room again. Since both endpoints of the rectangular line segment are on the inner contour of the room, there is only one direction for the rectangular line segment to translate along the direction of the perpendicular line within the inner contour of the room, which is to translate into the inner contour of the room. The painting robot obtains the rectangular area covered during the translation of the rectangular line segment to get the inscribed rectangle of the inner contour of the room; by analogy, the painting robot obtains several inscribed rectangles of the inner contour of the room through the intersection points of several straight lines on the inner contour of the room; the painting robot takes the inscribed rectangle with the largest area among several inscribed rectangles of the inner contour of the room as the maximum inscribed rectangle of the inner contour of the room. The painting robot can also directly obtain the maximum inscribed rectangle of the inner contour of the room through the OpenCV function after inputting the image of the inner contour of the room.

[0028] The painting robot obtains the ratio of the minimum side length of the maximum inscribed rectangle to the minimum side length of the image to be painted and the ratio of the maximum side length of the maximum inscribed rectangle 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 maximum inscribed rectangle to the minimum side length of the image to be painted and the ratio of the maximum side length of the maximum inscribed rectangle to the maximum side length of the image to be painted, and sets the smaller ratio as the reference ratio.

[0029] As one of the embodiments, the painting robot obtains the ratio of the minimum side length of the maximum inscribed rectangle to the minimum side length of the image to be painted, including the following steps: After the painting robot obtains the maximum inscribed rectangle, it moves from one endpoint of the minimum side length of the maximum inscribed rectangle to the other endpoint of the minimum side length of the maximum inscribed rectangle; the painting robot records the walking time and walking speed, and then obtains the length of the minimum side length of the maximum inscribed rectangle 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 maximum inscribed rectangle 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 maximum inscribed rectangle to the minimum side length of the image to be painted.

[0030] As one of the embodiments, the painting robot obtains the ratio of the maximum side length of the maximum inscribed rectangle to the maximum side length of the image to be painted, including the following steps: After the painting robot obtains the maximum inscribed rectangle, it moves from one end point of the maximum side length of the maximum inscribed rectangle to the other end point of the maximum side length of the maximum inscribed rectangle; The painting robot records the walking time and walking speed, and then obtains the length of the maximum side length of the maximum inscribed rectangle 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 maximum inscribed rectangle 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 maximum inscribed rectangle to the maximum side length of the image to be painted.

[0031] 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. The contour information can be obtained by methods such as 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), 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), 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 the edge segmentation image processed by the region segmentation method) and region splitting and merging method (using the hierarchical concept of pyramid or quadtree data structure to divide the image into a group of arbitrary 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 region division until the image is finally divided into the fewest number of uniform regions) and so on 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 maximum inscribed rectangle according to the reference ratio.

[0032] 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 pixels of any black pixel in the binarized image to be painted are slightly black pixels, then 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.

[0033] In one embodiment, a painting robot draws the drawing information of an image to be drawn within a maximum inscribed rectangle based on a reference ratio. The process includes the following steps: the painting robot moves to the midpoint of the maximum inscribed rectangle. Then, starting from the midpoint of the image to be drawn, the painting robot uses the reference ratio as the ratio between reality and image, and moves according to the outline of the image to be drawn, drawing the image to be drawn within the maximum inscribed rectangle. When the painting robot draws the image to be drawn on the ground, a certain drawing size is required, just as a mobile robot converts its real-world movement trajectory onto a moving map according to a certain ratio, or a mobile robot moves in reality according to a trajectory on a moving map. The real-world movement trajectory and the trajectory on the moving map also follow a certain proportional relationship. Existing painting robots generally have a fixed drawing size, which is inflexible and cannot meet user needs. Therefore, the present application flexibly adjusts the drawing size based on the size of the room, allowing the painting robot to paint in rooms of different sizes or enclosed areas. When drawing the image to be drawn within the maximum inscribed rectangle, the painting robot simply moves according to the outline of the image to be drawn. The ratio between the outline of the image to be drawn and the current movement is the reference ratio. When the painting robot wants to move to the midpoint of the largest inscribed rectangle, it first chooses to move to one of the endpoints of the smallest side of the largest inscribed rectangle, then moves to the midpoint of this smallest side, then rotates 90 degrees to face the inside of the largest inscribed rectangle, and then moves half the largest side of the largest inscribed rectangle to reach the center of the largest inscribed rectangle.

[0034] A chip is used to store a program, wherein the program is configured to execute the control method of the painting robot.

[0035] A painting robot includes a main control chip, which is the chip mentioned above.

[0036] Compared with the existing technology, the beneficial effect of the present invention is that: before painting a room, the painting robot described in the present application first moves along the edge to obtain the inner contour of the room, and then determines the ratio of reality and image according to the ratio of the side length of the inner contour of the room and the side length of the image to be painted, and then paints the image to be painted on the room according to the ratio of reality and image. The painting robot can automatically adjust the drawing size according to the size of the room, that is, there is no need to worry about the problem that the room is too small and the image to be painted cannot be completely painted in the room, nor is there a need to worry about the problem that the room is too large and the image to be painted is too small in the room. It has high practicality and flexibility.

[0037] In the description of the specification, the description referring to terms such as "in one embodiment", "preferably", "example", "specific example", or "some examples" means 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.

[0038] 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. Improvements and substitutions using well-known techniques 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 control method for a painting robot, characterized in that, The method includes the following steps: After the painting robot starts working, it first walks along the edge in the room to obtain the inner contour of the room, and then the painting robot extracts the largest inscribed rectangle from the inner contour of the room; The painting robot obtains the ratio of the minimum side length of the largest inscribed rectangle to the minimum side length of the image to be painted and the ratio of the maximum side length of the largest inscribed rectangle 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 largest inscribed rectangle to the minimum side length of the image to be painted and the ratio of the maximum side length of the largest inscribed rectangle to the maximum side length of the image to be painted, and sets the smaller ratio of the two ratios as the reference ratio; 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 largest inscribed rectangle according to the reference ratio; Among them, the painting robot walks along the edge in the room to obtain the inner contour of the room, including the following steps: The painting robot first moves forward to find the wall of the room, and then the painting robot starts to move along the edge of the wall of the room until it returns to the starting point of the edge movement and then stops moving; If, after the painting robot returns to the starting point of the edge movement, the entire moving distance of the edge movement is less than the first set distance, the painting robot abandons the inner contour of the room obtained by this edge movement, and then randomly selects another direction to move forward again to find the wall of the room, and moves along the edge according to the found wall of the room until it returns to the starting point of the edge movement and then stops moving; During the process of moving along the edge, the painting robot obtains point cloud data through a lidar and places the point cloud data one by one into a grid map to obtain the inner contour of the room; Among them, the painting robot first moves forward to find the wall of the room, including the following steps: During the forward movement of the painting robot, it detects whether there is an obstacle in front of itself through a lidar. If the painting robot detects an obstacle in front of itself, the painting robot moves along the edge of the obstacle for a second set distance; If the movement trajectory of the painting robot moving along the edge of the obstacle for the second set distance is a straight line, the painting robot determines that the obstacle is the wall of the room; If the movement trajectory of the painting robot moving along the edge of the obstacle for the second set distance is not a straight line, the painting robot determines that the obstacle is not the wall of the room, and then the painting robot rotates itself by a set angle and continues to first move forward to find the wall of the room.

2. The control method of a painting robot according to claim 1, characterized in that, The painting robot extracts the largest inscribed rectangle from the inner contour of the room, including the following steps: The painting robot randomly selects the intersection point of two straight lines from the inner contour of the room, and then connects the intersection points of these two straight lines to obtain a rectangular line segment. Among them, any point between the two endpoints of the rectangular line segment is within the inner contour of the room; The painting robot makes a perpendicular line through the midpoint of the rectangular line segment, and then moves the rectangular line segment along the direction of the perpendicular line within the inner contour of the room until any endpoint of the rectangular line segment touches the inner contour of the room again; The painting robot obtains the rectangular area covered during the translation process of the rectangular line segment to obtain the inscribed rectangle of the inner contour of the room; By analogy, the painting robot obtains several inscribed rectangles of the inner contours of the rooms through the intersection points of several straight lines on the inner contours of the rooms; The painting robot takes the inscribed rectangle with the largest area among the inscribed rectangles of the inner contours of several rooms as the largest inscribed rectangle of the inner contour of the room.

3. The control method of a painting robot according to claim 1, characterized in that The painting robot obtains the ratio of the minimum side length of the largest inscribed rectangle to the minimum side length of the image to be painted, including the following steps: After the painting robot obtains the largest inscribed rectangle, it moves from one end point of the minimum side length of the largest inscribed rectangle to the other end point of the minimum side length of the largest inscribed rectangle; The painting robot records the walking time and walking speed, and then obtains the length of the minimum side length of the largest inscribed rectangle 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 largest inscribed rectangle 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 largest inscribed rectangle to the minimum side length of the image to be painted.

4. The control method of a painting robot according to claim 1, characterized in that, The painting robot obtains the ratio of the maximum side length of the largest inscribed rectangle to the maximum side length of the image to be painted, including the following steps: After the painting robot obtains the largest inscribed rectangle, it moves from one end point of the maximum side length of the largest inscribed rectangle to the other end point of the maximum side length of the largest inscribed rectangle; The painting robot records the walking time and walking speed, and then obtains the length of the maximum side length of the largest inscribed rectangle 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 largest inscribed rectangle 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 largest inscribed rectangle to the maximum side length of the image to be painted.

5. The control method of a painting robot according to claim 1, 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 pixel points of any black pixel point in the binarized image to be painted are 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.

6. The control method of a painting robot according to claim 5, characterized in that, The painting robot draws the painting information in the image to be painted in the largest inscribed rectangle according to the reference ratio, including the following steps: The painting robot moves to the midpoint of the largest inscribed rectangle, and then starting from the midpoint of the image to be painted, the painting robot takes 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 largest inscribed rectangle.

7. A chip for storing programs, characterized in that, The program is configured to execute the control method of the painting robot according to any one of claims 1 to 6.

8. A painting robot, characterized in that, The painting robot includes a main control chip, and the main control chip is the chip according to claim 7.

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