Intelligent wall painting robot fusing image processing

Abstract

This invention relates to an intelligent wall painting robot that integrates image processing, comprising a robot body and accessories. The robot body includes: a shell (1), an image capture system (2), a chassis (3), a painting device (4), a propeller (5), and a control chip (6). The robot accessories include: a tube bundle (7), an intelligent roller (8), an intelligent terminal (9), and a paint canister (10). The chassis includes a front wheel (31), a front rotating shaft (32), a steering shaft (33), a front drive shaft (34), a drive motor (35), a rear drive shaft (36), a roller brush (37), and an electromagnetic chuck (38). The two ends of the drive motor (35) are respectively connected to the front drive shaft (34) and the rear drive shaft (36). The front and rear drive shafts transmit the power of the drive motor (35) to the front wheel (31) and the roller brush (37), driving the front wheel and the roller brush to rotate.

Description

Technical Field

[0001] This invention relates to the field of building wall coating spraying, and in particular to an intelligent wall spraying robot that integrates image processing. Background Technology

[0002] In the process of rapid urbanization, there is a large demand for new construction and renovation of old buildings every year. Currently, building walls are mainly decorated by manual painting or spraying. Manual spraying of high-rise buildings is risky, inefficient, and has high labor costs; workers are also prone to occupational diseases from long-term inhalation of spray paint. Therefore, inventing a wall spraying robot can greatly improve spraying efficiency, reduce labor costs, and avoid the dangers of working at heights.

[0003] In today's society, artificial intelligence has brought tremendous impact to all walks of life. Many traditional things can be revitalized by combining with artificial intelligence. In the field of artificial intelligence, image recognition and processing technology has become increasingly mature. Applying image recognition technology to spraying robots, enabling them to automatically identify the areas to be sprayed, can greatly improve the adaptability of spraying robots in different scenarios, expand the intelligence of spraying robots, and improve work efficiency. Summary of the Invention

[0004] To address the numerous problems associated with manual spraying of walls in building structures, this invention provides an intelligent wall spraying robot that integrates image processing. This robot can intelligently recognize images of the area to be sprayed, identifying locations such as windows, balconies, and air conditioner installations, and transmit the images to a smart terminal for processing. This allows for automatic path planning, replacing manual spraying and reducing the risks to workers. Furthermore, it significantly improves spraying efficiency and saves construction costs. The solution adopted by this invention to solve the aforementioned technical problems is as follows:

[0005] A smart wall painting robot integrating image processing includes a robot body and accessories. The robot body includes: a shell 1, an image capture system 2, a chassis 3, a spraying device 4, a propeller 5, and a control chip 6. The robot accessories include: a tube bundle 7, a smart roller 8, a smart terminal 9, and a paint can 10. The robot is characterized by...

[0006] The chassis includes a front wheel 31, a front pivot 32, a steering shaft 33, a front drive shaft 34, a drive motor 35, a rear drive shaft 36, a roller brush 37, and an electromagnetic chuck 38. The two ends of the drive motor 35 are connected to the front drive shaft 34 and the rear drive shaft 36, respectively. The front and rear drive shafts transmit the power of the drive motor 35 to the front wheel 31 and the roller brush 37, driving the front wheel and the roller brush to rotate, thereby realizing the robot's walking function. The steering shaft 33 is connected to the front wheel 31 to control the steering of the front wheel. The electromagnetic chuck 38 is evenly distributed on the edge of the chassis 3 to provide suction force for the robot to move on the steel structure.

[0007] Furthermore, the spraying device includes a rotating layer 41, a telescopic rod 42, a rotating nozzle 43, and a nozzle 44. The rotating layer 41 can rotate around the robot housing 1. The telescopic rod 42 is fixed on the rotating layer 41 and can extend and retract freely. The pitch angle of the rotating nozzle 43 is adjustable. The nozzle 44 is located at the end of the nozzle 43, and its opening size can be controlled.

[0008] Furthermore, the upper surface of the robot shell has an interface 11 for connecting to the tube bundle 7; the tube bundle 7 consists of a cable 71, a data signal transmission line 72, a paint delivery tube 73, and an armor layer 74, connecting the robot to the intelligent terminal 9, the paint tank 10, and the power plug 12. The tube bundle 7 is wound around the intelligent roller 8, and the cable is wound and unwound as the intelligent roller rotates; the intelligent roller 8 is provided with a slip ring 81, and the cable 71, the data signal transmission line 72, and the paint delivery tube 73 are respectively connected to the three interfaces of the slip ring 81 on the intelligent roller 8;

[0009] Furthermore, the propeller 5 is disposed on the upper surface of the housing 1. When the propeller 5 rotates forward, it can apply back pressure to the robot, thereby enabling it to walk along the vertical wall. When the propeller 5 rotates in reverse, it can enable the robot to fly.

[0010] Furthermore, the control chip 6 is used to execute the instructions transmitted by the smart terminal 9 to control various actions of the robot.

[0011] Compared with the prior art, the advantages of the present invention are:

[0012] (1) The robot shell 1 is made of plastic and does not contain batteries or paint storage boxes. Therefore, it is lightweight and can be more easily attached to the wall by the downward pressure provided by the propeller 5.

[0013] (2) The robot is equipped with an image capture system 2 and an intelligent terminal 9, which can intelligently identify the area to be sprayed through image processing, analyze the image in real time, and rationally plan the spraying path.

[0014] (3) The roller brush 37 on the chassis 3 is also the robot's tire, enabling the robot to perform secondary rolling and brushing on the sprayed wall while walking, making the spraying effect more uniform.

[0015] (4) The spraying device 4 has multiple degrees of freedom. The rotating layer 41 can rotate 360° around the shell. The nozzle 43 can rotate and extend. The opening and closing size of the nozzle 44 can be adjusted, so that the robot can take care of some corners that are difficult to spray.

[0016] (5) The robot is equipped with propeller 5, which can show crawling along the vertical inner wall. At the same time, it has the function of flying, which makes it easy to cross obstacles and return quickly.

[0017] (6) The tube bundle 7 is responsible for power, data signal, paint transmission and protection, which simplifies the circuit system and can also prevent the robot from falling from a height.

[0018] (7) The slip ring 81 on the intelligent roller 8 disconnects the tube bundle 7 and divides it into three parts: cable 71, data signal transmission line 72, and paint delivery pipe 73. The lengths of these three lines remain constant. The roller 8 only controls the cable take-up and release of the tube bundle 7.

[0019] (8) Through intelligent terminal design and robot intelligent path planning, it is possible to realize pattern spraying and spraying art creation, and the spraying quality and aesthetics are greatly improved. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a top view of the robot;

[0022] Figure 3 This is a schematic diagram of the robot's chassis structure;

[0023] Figure 4 This is a schematic diagram of the robot's painting device;

[0024] Figure 5 This is a cross-sectional view of the tube bundle;

[0025] Figure 6 This is a schematic diagram of a smart roller.

[0026] Figure 7 This is a schematic diagram of a roller brush;

[0027] 1-Housing; 11-Tube bundle interface on the upper surface of the housing; 2-Image capture system; 21-Camera No. 1; 22-Camera No. 2; 23-Camera No. 3; 3-Chassis; 31-Front wheel; 32-Front axle; 33-Steering shaft; 34-Front drive shaft; 35-Drive motor; 36-Rear drive shaft; 37-Roller brush; 38-Electromagnetic chuck; 4-Spraying device; 41-Rotating layer; 42-Telescopic rod; 43-Spray head; 44-Nozzle; 5-Propeller; 6-Control chip; 7-Tube bundle; 71-Cable; 72-Data signal transmission line; 73-Paint delivery pipe; 74-Armor layer; 8-Intelligent roller; 81-Slip ring; 9-Intelligent terminal; 10-Paint storage tank; 12-Power plug. Detailed Implementation

[0028] To address the numerous problems associated with manual spraying of walls in building structures, this invention provides an intelligent wall spraying robot that integrates image processing. This robot can intelligently recognize images of the area to be sprayed, identifying locations such as windows, balconies, and air conditioner installations, and transmit these images to a smart terminal for processing. This allows for automatic path planning, replacing manual spraying and reducing the risks associated with human labor. Furthermore, it significantly improves spraying efficiency and saves on construction costs.

[0029] The solution adopted by the present invention to solve the above-mentioned technical problems is: an intelligent wall spraying robot integrating image processing, including a robot body and accessories. The robot body includes: a shell 1, an image capture system 2, a chassis 3, a spraying device 4, a propeller 5, and a control chip 6; the robot accessories include: a tube bundle 7, an intelligent roller 8, an intelligent terminal 9, a paint can 10, and a power plug 12.

[0030] As a preferred embodiment, the upper surface of the robot housing has an interface 11 that can be connected to the tube bundle 7.

[0031] As a preferred embodiment, the image capture system 2 includes several cameras evenly distributed on the surface of the housing. The image capture system 2 can capture the position, structure, and spraying quality of the wall surface to be sprayed in real time, and transmit the images to the smart terminal 9 in real time. The smart terminal 9 analyzes and plans the optimal spraying path based on the real-time images, combined with the wall structure and spraying requirements.

[0032] As a preferred embodiment, the chassis includes a front wheel 31, a front pivot 32, a steering shaft 33, a front drive shaft 34, a drive motor 35, a rear drive shaft 36, a roller brush 37, and an electromagnetic chuck 38. The upper and lower ends of the drive motor 35 are respectively connected to the front drive shaft 34 and the rear drive shaft 36. The front and rear drive shafts transmit the power of the drive motor 35 to the front wheel 31 and the roller brush 37, driving the front wheel and the roller brush to rotate, thereby realizing the robot's walking function. The steering shaft 33 is connected to the front wheel 31 to control the steering of the front wheel. The electromagnetic chuck 38 is evenly distributed on the edge of the chassis 3 to provide suction force for the robot to move on the steel structure.

[0033] As a preferred embodiment, the spraying device includes a rotating layer 41, a telescopic rod 42, a rotating nozzle 43, and a nozzle 44. The rotating layer 41 can rotate around the robot housing 1. The telescopic rod 42 is fixed on the rotating layer 41 and can extend and retract freely. The pitch angle of the rotating nozzle 43 is adjustable. The nozzle 44 is located at the end of the nozzle 43, and its opening size can be controlled.

[0034] As a preferred embodiment, the propeller 5 is disposed on the upper surface of the housing 1. When the propeller 5 rotates forward, it can apply back pressure to the robot, thereby enabling it to walk along the vertical wall. When the propeller 5 rotates in reverse, it can enable the robot to fly, allowing the robot to cross obstacles such as guardrails and air conditioner outdoor units. After completing the painting task, it can return in flight mode, which greatly improves work efficiency.

[0035] As a preferred embodiment, the control chip 6 is used to execute the instructions transmitted by the smart terminal 9 to control various actions of the robot, including but not limited to walking, rotating, and spraying.

[0036] As a preferred embodiment, the tube bundle 7 consists of a cable 71, a data signal transmission line 72, a paint delivery tube 73, and an armor layer 74, connecting the robot, the intelligent terminal 9, the paint tank 10, and the power plug 12. The tube bundle 7 is wound around the intelligent roller 8, and the cable is wound and unwound as the roller rotates. The intelligent roller 8 is equipped with a slip ring 81.

[0037] As a preferred embodiment, the intelligent terminal 9 analyzes images in real time, can identify obstacles, judge the spraying quality, plan the spraying path, and then oversee the entire robot's actions, including controlling the robot's movement, the operation of the spraying device, and the winding and unwinding of the roller cable, etc.

[0038] Compared with the prior art, the advantages of the present invention are:

[0039] (1) The robot shell 1 is made of plastic and does not contain batteries or paint storage boxes. Therefore, it is lightweight and can be more easily attached to the wall by the downward pressure provided by the propeller 5.

[0040] (2) The robot is equipped with an image capture system 2 and an intelligent terminal 9, which can intelligently identify the area to be sprayed through image processing, analyze the image in real time, and rationally plan the spraying path.

[0041] (3) The roller brush 37 on the chassis 3 is also the robot's tire, enabling the robot to perform secondary rolling and brushing on the sprayed wall while walking, making the spraying effect more uniform.

[0042] (4) The spraying device 4 has multiple degrees of freedom. The rotating layer 41 can rotate 360° around the shell. The nozzle 43 can rotate and extend. The opening and closing size of the nozzle 44 can be adjusted, so that the robot can take care of some corners that are difficult to spray.

[0043] (5) The robot is equipped with propeller 5, which can show crawling along the vertical inner wall. At the same time, it has the function of flying, which makes it easy to cross obstacles and return quickly.

[0044] (6) The tube bundle 7 is responsible for power, data signal, paint transmission and protection, which simplifies the circuit system and can also prevent the robot from falling from a height.

[0045] (7) The slip ring 81 on the intelligent roller 8 disconnects the tube bundle 7 and divides it into three parts: cable 71, data signal transmission line 72, and paint delivery pipe 73. The lengths of these three lines remain constant. The roller 8 only controls the cable take-up and release of the tube bundle 7.

[0046] (8) Through intelligent terminal design and robot intelligent path planning, it is possible to realize pattern spraying and spraying art creation, and the spraying quality and aesthetics are greatly improved.

[0047] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams illustrating the basic structure of the invention. Any configurational changes that do not alter the basic principles of the invention are within the scope of protection of the intellectual property rights of the present invention.

[0048] Reference Figure 1-7 A smart wall painting robot integrating image processing includes a robot body and accessories. The robot body includes: a shell 1, an image capture system 2, a chassis 3, a spraying device 4, a propeller 5, and a control chip 6. The robot accessories include: a tube bundle 7, a smart roller 8, a smart terminal 9, a paint can 10, and a power plug 12.

[0049] Specifically, the robot shell 1 is made of plastic and has an image capture system 2 arranged circumferentially. The image capture system 2 includes a first camera 21, a second camera 22, and a third camera 23 evenly distributed on the shell 1; the three cameras enable image capture of the surrounding scene.

[0050] At the bottom of the robot housing 1 is a chassis 3. The chassis 3 supports the housing 1 and enables the robot to move and turn. It consists of a front wheel 31, a front rotating shaft 32, a steering shaft 33, a front drive shaft 34, a drive motor 35, a rear drive shaft 36, a roller brush 37, and electromagnetic chucks 38. The drive motor 35 is connected to the front drive shaft 34 and the rear drive shaft 36 at its front and rear ends, respectively, to transmit power. The front drive shaft 34 is connected to the front rotating shaft 32, and the front rotating shaft 32 is connected to the front wheel 31, enabling the robot to rotate and walk. The steering shaft 33 is connected to the front wheel 31 and is used to control the robot's steering. The rear drive shaft 36 is connected to the roller brush 37, which drives the roller brush to rotate, enabling the robot to perform a secondary roller coating on the sprayed wall surface while walking, thereby improving the quality of the wall coating. The electromagnetic chucks 38 are evenly distributed at the edge of the chassis 3 and are used to provide a certain amount of adsorption force when walking on magnetic structural surfaces.

[0051] The spraying device 4 is mounted on the chassis 3 and includes a rotating layer 41, a telescopic rod 42, a spray head 43, and a nozzle 44. The rotating layer 41 can rotate around the robot housing 1. The telescopic rod 42 is connected to the rotating layer 41 and can extend or retract. The spray head 43 is fixed to the telescopic rod 42, and the pitch angle of the spray head is adjustable. The nozzle 44 is located at the end of the spray head 43, and its opening size can be controlled. Through the basic structure of the spraying device 4, the robot can flexibly and freely spray the wall surface.

[0052] The upper surface of the robot housing 1 is provided with a propeller 5. The propeller 5 can apply back pressure to the robot body, allowing the robot to adhere to the wall surface, especially when spraying vertical walls, it can move freely along the vertical walls; when the propeller 5 reverses, it can enable the robot to fly to cross obstacles, and after completing the task, it can fly back quickly.

[0053] The control chip 6 is installed inside the robot and is the brain of the entire robot. It is used to realize intelligent control of various actions of the image capture system 2, the chassis 3, the spraying device 4, and the propeller 5, including but not limited to walking, flying, rotating, and spraying.

[0054] One end of the tube bundle 7 is connected to the robot housing 1, and the other end is wrapped around the intelligent roller 8, realizing the connection between the robot body and the intelligent terminal 9, the paint tank 10, and the power plug 12; the tube bundle 7 is composed of a cable 71, a data signal transmission line 72, a paint delivery pipe 73, and an armor layer 74; the cable 71, the data signal transmission line 72, and the paint delivery pipe 73 are respectively connected to the three interfaces of the slip ring 81 on the intelligent roller 8.

[0055] The intelligent roller 8 can rotate around its center, automatically releasing and retracting cables to match the robot's movement; the cable 71, data signal transmission line 72, and paint delivery pipe 73 are connected to the intelligent terminal 9, paint tank 10, and power plug 12 respectively via slip ring 81; the armor layer 74 is used to enhance the strength of the tube bundle 7.

[0056] Working principle: One end of the tube bundle 7 is connected to the interface 11 on the upper surface of the robot, and the other end is connected to the power plug 12, the smart terminal 9, and the paint delivery tube 73, respectively. When there are building construction drawings, the drawings are first imported into the smart terminal 9, and the spraying path is planned according to the construction requirements. When there are no building construction drawings (such as secondary renovation painting of old communities), the robot can intelligently identify the image of the area to be sprayed. The image capture system 2 transmits the image to the smart terminal 9 for processing, identifying the locations of windows, balconies, air conditioner installation locations, etc., thereby automatically planning the travel path. The robot is slowly lowered from the rooftop to the work area using the intelligent roller 8. Paint flows from the storage tank 10 to the nozzle 43 through the tube bundle 7, ensuring an uninterrupted paint supply. The cable 71 also continuously powers the robot, guaranteeing long-term continuous operation. The armor layer 74 withstands tension to prevent the robot from falling from a height and also protects the three pipes inside the tube bundle. Once the robot is in place, it is activated via the intelligent terminal 9. The propeller 5 on the shell 1 begins to rotate, and the back pressure generated allows the robot to adhere to the wall. Simultaneously, the image capture system 2 starts working, with cameras 21, 22, and 23 capturing images in real time and transmitting them to the intelligent terminal 9 via the tube bundle 7. The intelligent terminal analyzes the images in real time to determine the spraying quality, whether there are obstacles, etc., and continuously corrects and updates the spraying path based on the real-time images. Alternatively, it can use flight mode to traverse obstacles, ensuring the robot completes the painting task quickly and with high quality. The intelligent terminal 9 intelligently controls the rotation of the roller 8 according to the robot's trajectory, realizing the retraction and extension of the tube bundle 7 to adapt to the robot's travel distance. The control chip 6 can control the robot's operation according to the instructions transmitted by the intelligent terminal 9, realizing the rotation of the front wheel 31 and the roller brush 37, so that the robot travels along a predetermined route. At the same time, the rotating layer 41, the telescopic rod 42, the spray head 43, and the nozzle 44 work together to control the direction and flow of the spraying. Through the motion matching of the chassis 3 and the spraying device 4, spraying can be carried out at any position on the building wall, as well as the creation of spraying art. After the spraying task is completed, the intelligent terminal 9 can send a command to make the robot switch to flight mode, and cooperate with the roller 8 to quickly retrieve the robot.

[0057] The above description is merely a preferred embodiment of the present invention; however, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and its improved concepts, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent wall painting robot integrating image processing, comprising a robot body and accessories, wherein the robot body includes: The system comprises a housing (1), an image capture system (2), a chassis (3), a spraying device (4), a propeller (5), and a control chip (6); the accessories include: a tube bundle (7), an intelligent roller (8), an intelligent terminal (9), and a paint tank (10). The chassis comprises a front wheel (31), a front rotating shaft (32), a steering shaft (33), a front drive shaft (34), a drive motor (35), a rear drive shaft (36), a roller brush (37), and an electromagnetic chuck (38). The drive motor (35) is connected at both ends to the front drive shaft (34) and the rear drive shaft (36). The front and rear drive shafts transmit the power of the drive motor (35) to the front wheel (31) and the roller brush (37), driving the front wheel and the roller brush to rotate, thereby realizing the robot's walking function. The steering shaft (33) is connected to the front drive shaft (34) and the rear drive shaft (36). The wheels (31) are connected to control the steering of the front wheels. The electromagnetic chucks (38) are evenly distributed on the edge of the chassis (3) to provide adsorption force for the robot to move on the steel structure. The upper surface of the shell has an interface (11) for connecting with the tube bundle (7). The tube bundle (7) includes a cable (71), a data signal transmission line (72), and a paint delivery pipe (73), which connects the robot to the smart terminal (9), the paint tank (10), and the power plug (12). The tube bundle (7) is wound on the smart roller (8) and rotates with the smart roller to realize cable winding and unwinding. The smart roller (8) is provided with a slip ring (81). The cable (71), the data signal transmission line (72), and the paint delivery pipe (73) are respectively connected to the three interfaces of the slip ring (81) on the smart roller (8).

2. The intelligent wall painting robot with integrated image processing according to claim 1, characterized in that, The spraying device includes a rotating layer (41), a telescopic rod (42), a rotating nozzle (43), and a nozzle (44). The rotating layer (41) can rotate around the robot shell (1). The telescopic rod (42) is fixed on the rotating layer (41) and can extend and retract freely. The pitch angle of the rotating nozzle (43) is adjustable. The nozzle (44) is located at the end of the rotating nozzle (43), and its opening size can be controlled.

3. The intelligent wall painting robot with integrated image processing according to claim 1, characterized in that, The propeller (5) is located on the upper surface of the housing (1). When the propeller (5) rotates forward, it can apply back pressure to the robot, thereby enabling it to walk along the vertical wall. When the propeller (5) rotates in reverse, it can enable the robot to fly.

4. The intelligent wall painting robot with integrated image processing according to claim 1, characterized in that, The control chip (6) is used to execute the instructions transmitted by the smart terminal (9) to control various actions of the robot.

Images