A marking method and system based on a marking robot

Abstract

The embodiments of the present application provide a marking method and system based on a marking robot, relating to the field of construction technology. The marking robot includes a moving mechanism, a spraying mechanism, and a spray gun. The spraying mechanism is slidably mounted on the moving mechanism, and the spray gun is mounted on the spraying mechanism. The method includes: controlling the marking robot to search for a path laser line, and the marking robot generates a spraying start signal based on the laser line; after generating the spraying start signal, controlling the spraying mechanism of the marking robot to move along the direction of the path laser line; controlling the moving mechanism of the marking robot to follow the movement of the spraying mechanism; and controlling the spray gun of the marking robot to perform marking operations based on the spraying laser line. This method can achieve the technical effect of improving marking accuracy.

Description

Technical Field

[0001] The present application relates to the field of building construction technology, and in particular to a marking method, system, electronic device and computer-readable storage medium based on a marking robot. Background Art

[0002] At present, the construction and real estate industries are developing rapidly, requiring construction to develop in the direction of safety, efficiency and quality. At the same time, the labor cost in the construction industry is showing a continuous upward trend, especially in the parking space marking operations in underground parking space construction projects, which are still mainly based on full-process manual operations.

[0003] In existing technology, using an Automated Guided Vehicle (AGV) equipped with a spraying device to perform automated marking operations is a relatively straightforward approach. However, due to various factors, the straightness of the movement of the AGV alone is not high, and the positioning accuracy is relatively low. An existing underground parking space marking machine relies on laser radar navigation to achieve automatic chassis movement. The spraying device and chassis are connected by a horizontal XY electric displacement slide. A laser fixed to the ground illuminates a displacement sensor (PSD) on the spraying device. The electric displacement slide compensates and adjusts the spraying device based on the relative position of the laser illumination to the laser displacement sensor. This allows the spraying device to maintain a high degree of straightness based on the displacement sensor feedback and the laser position, thus ensuring the straightness of the painted parking space line. However, existing marking methods using marking robots rely on laser radar, and the AGV suffers from large angular errors when the AGV stops, resulting in a large yaw in the trajectory of the AGV at the beginning of its movement and low marking accuracy. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a marking method, system, electronic device and computer-readable storage medium based on a marking robot, which can achieve the technical effect of improving marking accuracy.

[0005] In a first aspect, an embodiment of the present application provides a marking method based on a marking robot, wherein the marking robot includes a moving mechanism, a spraying mechanism, and a spray gun, wherein the spraying mechanism is slidably mounted on the moving mechanism, and the spray gun is mounted on the spraying mechanism. The method includes:

[0006] Controlling the marking robot to search for a path laser line, wherein the marking robot generates a spraying start signal according to the laser line, wherein the path laser line is provided by a path laser emitting device, and the path laser emitting device is fixedly installed at the working site of the marking robot;

[0007] After generating the spraying start signal, controlling the spraying mechanism of the marking robot to move along the direction of the path laser line;

[0008] Controlling the moving mechanism of the marking robot to move along with the spraying mechanism;

[0009] The marking robot's spray gun is controlled to perform marking operations according to the spraying laser line, wherein the spraying laser line is provided by a spraying laser emitting device, and the spraying laser emitting device is fixedly installed on the working site of the marking robot, and the path laser line and the spraying laser line intersect at a preset angle.

[0010] In the above implementation process, the marking method based on the marking robot controls the marking robot to find the path laser line, generates a spray start signal after finding the path laser line, and enters the spray marking operation process; during the spray marking operation, the spraying mechanism of the marking robot follows the path laser line, and then the moving mechanism follows the movement of the spraying mechanism, corrects the heading, and makes the spraying mechanism return to the initial position relative to the moving mechanism; finally, during the movement of the marking robot, the spray gun is controlled according to the spray laser line to perform the marking operation, and the spray marking is completed; this method uses the laser line to guide the spraying mechanism to follow the laser line, and then the moving mechanism follows the movement of the spraying mechanism to achieve secondary following, which can achieve the technical effect of improving the marking accuracy.

[0011] Furthermore, the step of controlling the moving mechanism of the marking robot to follow the movement of the spraying mechanism includes:

[0012] The heading of the moving mechanism is controlled so that the spraying mechanism returns to an initial position relative to the moving mechanism.

[0013] In the above implementation process, when the moving mechanism follows the spraying mechanism, the relative position of the spraying mechanism and the moving mechanism is kept constant by controlling the heading of the moving mechanism, thereby improving the marking accuracy during the spray marking operation.

[0014] Furthermore, the spraying laser line includes a first spraying laser line and a second spraying laser line, the first spraying laser line and the second spraying laser line are parallel, and the step of controlling the spray gun of the marking robot to perform the marking operation according to the spraying laser line includes:

[0015] Control the marking robot to pass through the first spraying laser line and generate a spray gun start signal through a photoelectric sensor;

[0016] Turning on the spray gun according to the spray gun turning on signal;

[0017] Control the marking robot to pass through the second spraying laser line and generate a spray gun closing signal through the photoelectric sensor;

[0018] The spray gun is closed according to the spray gun closing signal.

[0019] In the above implementation process, when the marking robot moves, the opening and closing of the spray gun can be controlled by guiding multiple spray laser lines to realize automated spray marking operations.

[0020] Furthermore, before the step of controlling the marking robot to pass through the second spraying laser line and generating a spray gun closing signal through the photoelectric sensor, the method further includes:

[0021] The photoelectric sensor is controlled to stop working at the moment when the spray gun start signal is generated, and then turned on again after a preset time.

[0022] In the above implementation process, after the spray gun is turned on, the photoelectric sensor is controlled to stop working for a period of time, which can prevent the non-stop laser irradiation from causing the spray gun to be closed prematurely, and can also prevent the interference of other strong stray light from causing the spray gun to be closed prematurely, avoid the influence of other light sources, and improve the efficiency of spraying and marking operations.

[0023] Furthermore, the spraying mechanism is provided with a visual identifier and a laser displacement sensor, and the step of controlling the marking robot to search for a path laser line and the marking robot generating a spraying start signal according to the laser line includes:

[0024] Controlling the spraying mechanism to return to an initial position relative to the moving mechanism;

[0025] guiding the mobile mechanism to reach an operation preparation area;

[0026] Controlling the moving mechanism to deviate along a preset direction and a preset distance;

[0027] Determining by the visual identifier whether the marking robot has found the laser line, if not, jumping to the step of controlling the moving mechanism to deviate along the preset direction and the preset distance; if so, controlling the spraying mechanism to move along the preset direction;

[0028] When the laser displacement sensor detects the path laser line, the spraying mechanism is controlled to move so that the laser displacement sensor coincides with the path laser line.

[0029] Furthermore, the step of controlling the moving mechanism of the marking robot to follow the movement of the spraying mechanism includes:

[0030] Acquiring initial position information of the motor encoder of the spraying mechanism and initial offset information of the path laser line relative to the laser displacement sensor;

[0031] Acquiring real-time position information of the motor encoder of the spraying mechanism and real-time offset information of the path laser line relative to the laser displacement sensor;

[0032] Controlling the spraying mechanism to move along the path laser line according to the initial offset information and the real-time offset information;

[0033] The moving mechanism is controlled to move following the spraying mechanism according to the initial position information of the motor encoder and the real-time position information of the motor encoder.

[0034] In a second aspect, an embodiment of the present application provides a marking system based on a marking robot, wherein the marking robot includes a moving mechanism, a spraying mechanism, and a spray gun, wherein the spraying mechanism is slidably mounted on the moving mechanism, and the spray gun is mounted on the spraying mechanism. The marking system based on the marking robot includes:

[0035] a laser search module, configured to control the marking robot to search for a path laser line, wherein the marking robot generates a spray start signal according to the laser line, wherein the path laser line is provided by a path laser emitting device, and the path laser emitting device is fixedly installed at the working site of the marking robot;

[0036] A laser following module, configured to control the spraying mechanism of the marking robot to move in the direction of the path laser line after generating the spraying start signal;

[0037] A secondary following module, used to control the moving mechanism of the marking robot to follow the movement of the spraying mechanism;

[0038] A spray marking module is used to control the spray gun of the marking robot to perform marking operations according to the spray laser line, wherein the spray laser line is provided by a spray laser emitting device, and the spray laser emitting device is fixedly installed on the working site of the marking robot, and the path laser line and the spray laser line intersect at a preset angle.

[0039] Furthermore, the secondary following module is specifically used to control the heading of the mobile mechanism so that the spraying mechanism returns to an initial position relative to the mobile mechanism.

[0040] Furthermore, the spraying laser line includes a first spraying laser line and a second spraying laser line, and the spraying marking module includes:

[0041] An on-signal generating unit, configured to control the marking robot to pass through the first spraying laser line and generate a spray gun on-signal via a photoelectric sensor;

[0042] a spray gun opening unit, configured to open the spray gun according to the spray gun opening signal;

[0043] A closing signal generating unit, configured to control the marking robot to pass through the second spraying laser line and generate a spray gun closing signal through the photoelectric sensor;

[0044] The spray gun closing unit is used to close the spray gun according to the spray gun closing signal.

[0045] Furthermore, the spray marking module further includes:

[0046] The stopping unit is used to control the photoelectric sensor to stop working when the spray gun start signal is generated, and to start the photoelectric sensor again after a preset time.

[0047] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of the first aspects when executing the computer program.

[0048] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed on a computer, the computer executes the method as described in any one of the first aspects.

[0049] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on a computer, enables the computer to execute the method as described in any one of the first aspects.

[0050] Other features and advantages disclosed in the present application will be described in the following description, or some features and advantages can be inferred or determined without doubt from the description, or can be learned by implementing the above-mentioned technology disclosed in the present application.

[0051] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0053] Figure 1 A schematic diagram of a process flow of a marking method based on a marking robot provided in an embodiment of the present application;

[0054] Figure 2 A schematic flow chart of another marking method based on a marking robot provided in an embodiment of the present application;

[0055] Figure 3 A schematic plan view of a three-parking group working environment provided in an embodiment of the present application;

[0056] Figure 4 A schematic diagram of the structure of a marking robot provided in an embodiment of the present application;

[0057] Figure 5 A structural block diagram of a marking system based on a marking robot provided in an embodiment of the present application;

[0058] Figure 6 This is a structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0060] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0061] The embodiments of the present application provide a marking method, system, electronic device and computer-readable storage medium based on a marking robot, which can be applied to automatic marking operations, such as the automatic marking operation of garage parking spaces; the marking method based on the marking robot controls the marking robot to find a path laser line, generates a spray start signal after finding the path laser line, and enters the spray marking operation process; during the spray marking operation, the spraying mechanism of the marking robot follows the path laser line, and then the moving mechanism follows the movement of the spraying mechanism, corrects the heading, and returns the spraying mechanism to the initial position relative to the moving mechanism; finally, during the movement of the marking robot, the spray gun is controlled according to the spray laser line to perform the marking operation, and the spray marking is completed; this method uses the laser line to guide the spraying mechanism to follow the laser line, and then the moving mechanism follows the movement of the spraying mechanism to achieve two-level following, which can achieve the technical effect of improving the marking accuracy.

[0062] See Figure 1 and Figure 4 , Figure 1 A schematic flow chart of a marking method based on a marking robot provided in an embodiment of the present application is provided. Figure 4This is a schematic structural diagram of a marking robot provided in an embodiment of the present application; the marking robot includes a moving mechanism 10, a spraying mechanism 20, and a spray gun 30. The spraying mechanism 20 is slidably mounted on the moving mechanism 10, and the spray gun 30 is mounted on the spraying mechanism 20. Optionally, a visual identifier 11 and a laser displacement sensor 12 are provided on the spraying mechanism 20. The marking method based on the marking robot includes the following steps:

[0063] S100: Control the marking robot to search for a path laser line. The marking robot generates a spray start signal according to the laser line. The path laser line is provided by a path laser emitting device. The path laser emitting device is fixedly installed at the working site of the marking robot.

[0064] Exemplarily, the path laser line is a fixed guiding laser set up on the site by the marking robot during marking operations. The guiding laser may include multiple transverse laser emitters and multiple longitudinal laser emitters. Optionally, the transverse laser emitters emit the path laser line, while the longitudinal laser emitters emit the spraying laser line; alternatively, the transverse laser emitters emit the spraying laser line, while the longitudinal laser emitters emit the path laser line. All laser emitters emit fan-shaped laser beams perpendicular to the ground, and the projected laser beam on the ground, wall, or laser reflector is a single laser line.

[0065] Exemplarily, the marking robot is provided with a laser displacement sensor. When the laser displacement sensor detects the laser line, it indicates that the marking robot has entered a predetermined position, generates a spray start signal, and enters the spray marking operation process.

[0066] S200: After generating a spraying start signal, controlling the spraying mechanism of the marking robot to move along the direction of the path laser line.

[0067] S300: Control the moving mechanism of the marking robot to move along with the spraying mechanism.

[0068] For example, during the spray marking operation, the spraying mechanism follows the movement of the path laser line, and the moving mechanism follows the movement of the spraying mechanism to achieve two-level following; thus, through the two-level following control method, the correction response of the moving mechanism will not be too fast, ensuring that the spraying mechanism can sensitively and quickly follow the movement of the path laser line, ensuring that the spray line sprayed by the spraying mechanism is a straight line, and improving the operation efficiency.

[0069] For example, the movement of the marking robot is guided only by the path laser line, without using laser radar navigation, thereby avoiding conflicts caused by large deviations between the positioning method guided by the laser line and the positioning method guided by the laser radar.

[0070] S400: Controlling the spray gun of the marking robot to perform marking operations according to the spraying laser line, wherein the spraying laser line is provided by a spraying laser emitting device, and the spraying laser emitting device is fixedly installed on the working site of the marking robot, and the path laser line and the spraying laser line intersect at a preset angle.

[0071] For example, when the marking robot follows the path laser line, the spray gun is opened and closed by controlling the guidance of the spray laser line to realize the automatic spray marking operation.

[0072] In some embodiments, the marking method based on the marking robot controls the marking robot to search for the path laser line, generates a spray start signal after finding the path laser line, and enters the spray marking operation process; during the spray marking operation, the spraying mechanism of the marking robot follows the path laser line, and then the moving mechanism follows the movement of the spraying mechanism, corrects the heading, and returns the spraying mechanism to the initial position relative to the moving mechanism; finally, during the movement of the marking robot, the spray gun is controlled according to the spray laser line to perform the marking operation, and the spray marking is completed; this method uses the laser line to guide the spraying mechanism to follow the laser line, and then the moving mechanism follows the movement of the spraying mechanism to achieve secondary following, which can achieve the technical effect of improving the marking accuracy.

[0073] See Figure 2 , Figure 2 A schematic flow chart of another marking method based on a marking robot provided in an embodiment of the present application.

[0074] Exemplarily, S300: the step of controlling the moving mechanism of the marking robot to follow the movement of the spraying mechanism includes:

[0075] S310: Control the heading of the moving mechanism to return the spraying mechanism to an initial position relative to the moving mechanism.

[0076] For example, when the moving mechanism follows the movement of the spraying mechanism, the marking accuracy during the spraying marking operation can be improved by controlling the heading of the moving mechanism so that the relative position of the spraying mechanism and the moving mechanism remains constant.

[0077] Exemplarily, the spraying laser line includes a first spraying laser line and a second spraying laser line. S400: the step of controlling the spray gun of the marking robot to perform a marking operation according to the laser line includes:

[0078] S410: Control the marking robot to pass through the first spraying laser line and generate a spray gun start signal through the photoelectric sensor;

[0079] S420: Turn on the spray gun according to the spray gun turn-on signal;

[0080] S430: Control the marking robot to pass through the second spraying laser line and generate a spray gun closing signal through the photoelectric sensor;

[0081] S440: Close the spray gun according to the spray gun closing signal.

[0082] For example, when the marking robot moves, the opening and closing of the spray gun can be controlled by guiding multiple spray laser lines to achieve automated spray marking operations.

[0083] Optionally, when multiple spraying laser lines are involved, steps S410 - S440 may be performed repeatedly.

[0084] Exemplarily, before the step of S430: controlling the marking robot to pass through the second spraying laser line and generating a spray gun closing signal through a photoelectric sensor, the method further includes:

[0085] S421: Control the photoelectric sensor to stop working when the spray gun start signal is generated, and then turn on the photoelectric sensor after a preset time.

[0086] For example, after turning on the spray gun, controlling the photoelectric sensor to stop working for a period of time can prevent the non-stop laser irradiation from causing the spray gun to shut down prematurely, and can also prevent the interference of other strong stray light from causing the spray gun to shut down prematurely, avoid the influence of other light sources, and improve the efficiency of spraying and marking operations.

[0087] See Figure 3 , Figure 3 A schematic plan view of a three-bay working environment provided in an embodiment of the present application; this environment includes a marking robot 40 and six guiding lasers: two transverse laser emitters 21 and four longitudinal laser emitters 22. All laser emitters emit fan-shaped laser beams perpendicular to the ground, projecting a single laser line onto the ground, wall, or laser reflector. Optionally, the marking robot can be navigated to its starting point using a lidar system, line patrol, or other methods.

[0088] For example, in combination Figures 1 to 3 The control flow of the marking method based on the marking robot provided in the embodiment of the present application is shown as follows:

[0089] Laser search: After the marking robot enters the predetermined position / preparation area by means of laser radar or manual operation, it enters the laser search process. When the laser line coincides with the center of the laser displacement sensor on the marking robot, a spray start signal is generated and the spray operation process begins;

[0090] Laser following: During spray marking operation, the spray mechanism follows the movement of the laser line, always keeping the laser line coincident with the center of the laser displacement sensor. The moving mechanism then corrects the course and returns the spray mechanism to its initial position relative to the moving mechanism.

[0091] Spray marking: The moving mechanism starts to move, when the corresponding photoelectric sensor (such as the photoelectric sensor on the side when the moving mechanism moves forward) first passes through the corresponding first spray laser line (such as the laser on the side when the chassis moves forward, Figure 3 When the horizontal laser emitter 21 is shown, the spray gun is turned on, and the photoelectric sensor stops working for a period of time t. When the spraying time T is greater than t, the photoelectric sensor starts working again. After the corresponding second spraying laser line, the spray gun is closed and the chassis stops moving.

[0092] Exemplarily, the spraying mechanism is provided with a visual identifier and a laser displacement sensor. S100: controlling the marking robot to search for a path laser line, and the marking robot generating a spraying start signal according to the laser line, includes:

[0093] Controlling the spraying mechanism to reset to an initial position relative to the moving mechanism;

[0094] Guide the mobile mechanism to the work preparation area;

[0095] Control the moving mechanism to deviate along a preset direction and a preset distance;

[0096] The visual identifier is used to determine whether the marking robot has found the laser line. If not, the process jumps to the step of controlling the moving mechanism to deviate along the preset direction and the preset distance; if so, the spraying mechanism is controlled to move rapidly along the preset direction;

[0097] When the laser displacement sensor detects the path laser line, the spraying mechanism is controlled to move so that the laser displacement sensor coincides with the path laser line.

[0098] Exemplarily, S300: the step of controlling the moving mechanism of the marking robot to follow the movement of the spraying mechanism includes:

[0099] Obtaining the initial position information of the motor encoder of the spraying mechanism and the initial offset information of the path laser line relative to the laser displacement sensor;

[0100] Obtaining the real-time position information of the motor encoder of the spraying mechanism and the real-time offset information of the path laser line relative to the laser displacement sensor;

[0101] Control the spraying mechanism to move along the path laser line according to the initial offset information and the real-time offset information;

[0102] The moving mechanism is controlled to move following the spraying mechanism according to the initial position information of the motor encoder and the real-time position information of the motor encoder.

[0103] In some embodiments, combined Figures 1 to 3In the marking method based on the marking robot provided in the embodiment of the present application, a specific example of the process of controlling the marking robot to search for the laser line is as follows:

[0104] Step 1.1: The spraying mechanism moves to an initial position relative to the moving mechanism, and the initial position may be a center position of the moving mechanism;

[0105] Step 1.2: Use the laser radar to guide the mobile chassis of the marking robot to the work preparation area;

[0106] Step 1.3: Control the moving mechanism of the marking robot to start moving a certain distance to the left;

[0107] Step 1.4: Use visual recognition to determine whether a laser line passes within the specified range. If not, jump to step 1.3; if yes, proceed to the next step;

[0108] Step 1.5: Align the moving mechanism of the marking robot so that the body direction of the marking robot is parallel to the laser line;

[0109] Step 1.6: Control the spray mechanism to move quickly to the left;

[0110] Step 1.7: Check whether the lateral motion motor of the spraying mechanism has reached its travel limit. If so, the marking robot will alarm and stop working; if not, proceed to the next step;

[0111] Step 1.8: Determine whether the laser displacement sensor detects the laser. If not, jump to step 1.6; if yes, proceed to the next step.

[0112] Step 1.9: Move the laser device at a low speed and adjust the center of the laser displacement sensor to coincide with the laser line.

[0113] In some embodiments, combined Figures 1 to 3 The laser following process in the marking method based on the marking robot provided in the embodiment of the present application is specifically exemplified as follows:

[0114] Step 2.1: Record the position X of the motor encoder of the spraying mechanism during this spraying process and the position Y of the laser on the laser displacement sensor;

[0115] Step 2.2: Determine whether the moving mechanism is moving. If so, the laser following control stops; if not, proceed to the next step;

[0116] Step 2.3: Detect the position A of the motor encoder involved in the control and the distance B between the laser and the center point of the laser displacement sensor at intervals of time g;

[0117] Step 2.4: Control the moving mechanism to slightly yaw to the relative position (XA), control the spraying mechanism to move the distance (YB), and jump to step 2.2.

[0118] In some embodiments, combined Figures 1 to 3 The process of switching spraying in the marking method based on the marking robot provided in the embodiment of the present application is specifically exemplified as follows:

[0119] Step 3.1: The movement time T of the moving mechanism starts from 0;

[0120] Step 3.2: Determine whether the photoelectric sensor detects the laser. If not, jump to step 3.1. If yes, turn on the spray gun and proceed to the next step.

[0121] Step 3.3: Control the photoelectric sensor to be in the shielding state;

[0122] Step 3.4: Determine whether the movement time T of the moving mechanism is greater than the preset time t. If not, jump to step 3.3; if yes, proceed to the next step;

[0123] Step 3.5: Control the photoelectric sensor to work normally;

[0124] Step 3.6: Determine whether the photoelectric sensor detects laser light. If not, skip to step 3.5. If yes, proceed to the next step.

[0125] Step 3.7: Close the spray gun, the chassis stops moving, and the spraying of this line is completed.

[0126] See Figure 5 , Figure 5 This is a structural block diagram of a marking system based on a marking robot provided in an embodiment of the present application. The marking robot includes a moving mechanism, a spraying mechanism, and a spray gun. The spraying mechanism is slidably mounted on the moving mechanism, and the spray gun is mounted on the spraying mechanism. The marking system based on the marking robot includes:

[0127] The laser search module 100 is used to control the marking robot to search for the path laser line. The marking robot generates a spray start signal based on the laser line. The path laser line is provided by a path laser emitting device, which is fixedly installed at the working site of the marking robot.

[0128] The laser following module 200 is used to control the spraying mechanism of the marking robot to move along the direction of the path laser line after generating a spraying start signal;

[0129] The secondary following module 300 is used to control the moving mechanism of the marking robot to follow the movement of the spraying mechanism;

[0130] The spray marking module 400 is used to control the spray gun of the marking robot to perform marking operations according to the spray laser line, wherein the spray laser line is provided by a spray laser emitting device, and the spray laser emitting device is fixedly installed on the working site of the marking robot, and the path laser line and the spray laser line intersect at a preset angle.

[0131] Exemplarily, the secondary following module 300 is specifically used to control the heading of the mobile mechanism so as to return the spraying mechanism to an initial position relative to the mobile mechanism.

[0132] Exemplarily, the spray marking module 400 includes:

[0133] An on-signal generating unit is used to control the marking robot to pass through the first spraying laser line and generate a spray gun on-signal through a photoelectric sensor;

[0134] A spray gun opening unit, used for opening the spray gun according to a spray gun opening signal;

[0135] A closing signal generating unit is used to control the marking robot to pass through the second spraying laser line and generate a spray gun closing signal through a photoelectric sensor;

[0136] The gun closing unit is used to close the gun according to the gun closing signal.

[0137] Exemplarily, the spray marking module further includes:

[0138] The stop unit is used to control the photoelectric sensor to stop working when the spray gun start signal is generated, and to start the photoelectric sensor again after a preset time.

[0139] It should be understood that Figure 5 The marking system based on the marking robot shown is Figures 1 to 4 The method embodiments shown correspond to each other and will not be described again here to avoid repetition.

[0140] This application also provides an electronic device, see Figure 6 , Figure 6 This is a block diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include a processor 510, a communication interface 520, a memory 530, and at least one communication bus 540. The communication bus 540 is used to enable direct communication between these components. The communication interface 520 of the electronic device in this embodiment of the present application is used to communicate signaling or data with other node devices. The processor 510 may be an integrated circuit chip with signal processing capabilities.

[0141] The processor 510 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor, or the processor 510 can also be any conventional processor.

[0142] The memory 530 may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory 530 stores computer-readable instructions. When the computer-readable instructions are executed by the processor 510, the electronic device can perform the above-mentioned operations. Figures 1 to 4 The various steps involved in the method embodiment.

[0143] Optionally, the electronic device may further include a storage controller and an input / output unit.

[0144] The memory 530, storage controller, processor 510, peripheral interface, and input / output units are electrically connected to each other directly or indirectly to enable data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses 540. The processor 510 is used to execute executable modules stored in the memory 530, such as software function modules or computer programs included in the electronic device.

[0145] The input and output unit is used to provide users with the ability to create tasks and to create optional time periods or preset execution times for the tasks to enable interaction between the user and the server. The input and output unit can be, but is not limited to, a mouse and a keyboard.

[0146] I understand. Figure 6 The structure shown is only for illustration, and the electronic device may also include Figure 6 More or fewer components than shown, or with Figure 6 Different configurations shown. Figure 6 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0147] An embodiment of the present application further provides a storage medium having instructions stored thereon. When the instructions are run on a computer, the computer program is executed by a processor to implement the method described in the method embodiment. To avoid repetition, details are not given here.

[0148] The present application also provides a computer program product, which, when running on a computer, enables the computer to execute the method described in the method embodiment.

[0149] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0150] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0151] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0152] The foregoing is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0153] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

[0154] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

Claims

1. A marking method based on a marking robot, characterized in that: The marking robot includes a moving mechanism, a spraying mechanism, and a spray gun, wherein the spraying mechanism is slidably mounted on the moving mechanism, and the spray gun is mounted on the spraying mechanism. The method includes: Controlling the marking robot to search for a path laser line, wherein the marking robot generates a spraying start signal according to the laser line, wherein the path laser line is provided by a path laser emitting device, and the path laser emitting device is fixedly installed at the working site of the marking robot; After generating the spraying start signal, controlling the spraying mechanism of the marking robot to move along the direction of the path laser line; Controlling the moving mechanism of the marking robot to move along with the spraying mechanism; Controlling the spray gun of the marking robot to perform marking operations according to a spraying laser line, wherein the spraying laser line is provided by a spraying laser emitting device, the spraying laser emitting device is fixedly installed at the working site of the marking robot, and the path laser line and the spraying laser line intersect at a preset angle; The spraying mechanism is provided with a visual identifier and a laser displacement sensor, and the step of controlling the marking robot to search for a path laser line, and the marking robot generating a spraying start signal according to the laser line, comprises: Controlling the spraying mechanism to return to an initial position relative to the moving mechanism; guiding the mobile mechanism to reach an operation preparation area; Controlling the moving mechanism to deviate along a preset direction and a preset distance; Determining by the visual identifier whether the marking robot has found the laser line, if not, jumping to the step of controlling the moving mechanism to deviate along the preset direction and the preset distance; if so, controlling the spraying mechanism to move along the preset direction; When the laser displacement sensor detects the path laser line, controlling the spraying mechanism to move so that the laser displacement sensor coincides with the path laser line; The step of controlling the moving mechanism of the marking robot to follow the movement of the spraying mechanism includes: Acquiring initial position information of the motor encoder of the spraying mechanism and initial offset information of the path laser line relative to the laser displacement sensor; Acquiring real-time position information of the motor encoder of the spraying mechanism and real-time offset information of the path laser line relative to the laser displacement sensor; Controlling the spraying mechanism to move along the path laser line according to the initial offset information and the real-time offset information; The moving mechanism is controlled to move following the spraying mechanism according to the initial position information of the motor encoder and the real-time position information of the motor encoder.

2. The marking method based on a marking robot according to claim 1, characterized in that: The step of controlling the moving mechanism of the marking robot to follow the movement of the spraying mechanism includes: The heading of the moving mechanism is controlled so that the spraying mechanism returns to an initial position relative to the moving mechanism.

3. The marking method based on a marking robot according to claim 1, characterized in that: The spraying laser line includes a first spraying laser line and a second spraying laser line, the first spraying laser line and the second spraying laser line are parallel, and the step of controlling the spray gun of the marking robot to perform the marking operation according to the spraying laser line includes: Control the marking robot to pass through the first spraying laser line and generate a spray gun start signal through a photoelectric sensor; Turning on the spray gun according to the spray gun turning on signal; Control the marking robot to pass through the second spraying laser line and generate a spray gun closing signal through the photoelectric sensor; The spray gun is closed according to the spray gun closing signal.

4. The marking method based on a marking robot according to claim 3, characterized in that: Before the step of controlling the marking robot to pass through the second spraying laser line and generating a spray gun closing signal through the photoelectric sensor, the method further includes: The photoelectric sensor is controlled to stop working at the moment when the spray gun start signal is generated, and then turned on again after a preset time.

5. A marking system based on a marking robot, characterized in that: The marking robot includes a moving mechanism, a spraying mechanism, and a spray gun. The spraying mechanism is slidably mounted on the moving mechanism, and the spray gun is mounted on the spraying mechanism. The marking system based on the marking robot includes: a laser search module, configured to control the marking robot to search for a path laser line, wherein the marking robot generates a spray start signal according to the laser line, wherein the path laser line is provided by a path laser emitting device, and the path laser emitting device is fixedly installed at the working site of the marking robot; A laser following module, configured to control the spraying mechanism of the marking robot to move in the direction of the path laser line after generating the spraying start signal; A secondary following module, used to control the moving mechanism of the marking robot to follow the movement of the spraying mechanism; a spray marking module, configured to control the spray gun of the marking robot to perform marking operations according to a spray laser line, wherein the spray laser line is provided by a spray laser emitting device, the spray laser emitting device being fixedly mounted on the working site of the marking robot, and the path laser line and the spray laser line intersecting at a preset angle; The spraying mechanism is provided with a visual identifier and a laser displacement sensor, and the laser module is also used to: Controlling the spraying mechanism to return to an initial position relative to the moving mechanism; guiding the mobile mechanism to reach an operation preparation area; Controlling the moving mechanism to deviate along a preset direction and a preset distance; Determining by the visual identifier whether the marking robot has found the laser line, if not, jumping to the step of controlling the moving mechanism to deviate along the preset direction and the preset distance; if so, controlling the spraying mechanism to move along the preset direction; When the laser displacement sensor detects the path laser line, controlling the spraying mechanism to move so that the laser displacement sensor coincides with the path laser line; The secondary follower module is also used for: Acquiring initial position information of the motor encoder of the spraying mechanism and initial offset information of the path laser line relative to the laser displacement sensor; Acquiring real-time position information of the motor encoder of the spraying mechanism and real-time offset information of the path laser line relative to the laser displacement sensor; Controlling the spraying mechanism to move along the path laser line according to the initial offset information and the real-time offset information; The moving mechanism is controlled to move following the spraying mechanism according to the initial position information of the motor encoder and the real-time position information of the motor encoder.

6. The marking robot-based marking system according to claim 5, characterized in that: The secondary following module is specifically used to control the heading of the mobile mechanism so as to return the spraying mechanism to an initial position relative to the mobile mechanism.

7. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the marking method based on a marking robot according to any one of claims 1 to 4 are implemented.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, and when the instructions are executed on a computer, the computer is caused to execute the marking method based on a marking robot according to any one of claims 1 to 4.

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