A method for spraying paint on the inner wall of a tower tube in multiple rounds and across obstacles

Abstract

The present invention relates to the field of spraying technology, and discloses a method for spraying paint on the inner wall of a tower in multiple rounds of continuous obstacle crossing. An image on the working path of the spraying operation is obtained, and the distance between the two nearest obstacles on the working path is obtained based on the image combined with machine vision; according to the distance, combined with the spraying equipment's own data, an obstacle crossing plan for the spraying equipment is determined; according to the obstacle crossing plan, the obstacle crossing of the two nearest obstacles is completed, and during the obstacle crossing process, the spraying height and spraying angle of the spraying bracket are adjusted according to the spraying height and spraying angle; the above steps are repeated until the spraying operation of the inner wall of the tower is completed. The problem that the spraying robot cannot spray paint evenly when spraying paint on the inner wall of the wind power tower across obstacles is solved.

Description

Technical Field

[0001] The invention relates to the technical field of spraying, and in particular to a method for spraying paint on the inner wall of a tower. Background Art

[0002] Towers are widely used in wind power generation and other fields. In wind turbines, towers play an important role in supporting the entire turbine unit and blades. In addition, towers can also accommodate infrastructure such as cables and pipelines to provide necessary support for the operation of wind power generation systems. Therefore, towers play a vital role in the wind power generation industry and are a key component of the entire wind power generation system.

[0003] Since the tower is located in windy, sandy and saline-alkali areas or at sea all year round, it is very susceptible to corrosion. Therefore, the inner surface of the wind turbine tower needs to be sprayed before use. The uniformity of the spraying thickness seriously affects the anti-corrosion effect of the pipe fittings.

[0004] Spraying the inner surface of a wind tower is often performed by a spraying robot. As the spraying robot moves forward on the inner wall of the wind turbine tower, there will be many irregular obstacles on the path that need to be crossed. Changes in the robot's own posture during the obstacle crossing process will affect the uniformity of the spraying thickness, making it impossible to effectively prevent corrosion on the wind turbine tower after construction. Summary of the invention

[0005] The invention provides a method for spraying paint on the inner wall of a tower in multiple rounds in a continuous manner across obstacles, so as to solve the problem that the existing spraying robot cannot spray paint evenly when spraying paint on the inner wall of a wind power tower across obstacles.

[0006] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0007] The present invention provides a method for spraying paint on the inner wall of a tower with multiple wheels continuously crossing obstacles, which is applied to a spraying device with multiple independently moving triangular wheels. The spraying device completes the spraying operation by crossing obstacles in an unassembled tower through multiple independently moving triangular wheels. A spraying bracket capable of adjusting the spraying height and spraying angle is arranged at the top center of the spraying device.

[0008] The method for spraying paint on the inner wall of a tower tube in multiple rounds of continuous obstacle crossing comprises the following steps:

[0009] Step 1: Obtain an image of the spraying operation path, and obtain the distance between the two nearest obstacles on the work path based on the image combined with machine vision ;

[0010] Step 2: According to the spacing , determine the motion trajectory of the triangular wheel of the spraying equipment, and determine the obstacle crossing plan of the spraying equipment based on the motion trajectory; the obstacle crossing plan includes the spraying height and spraying angle that the spraying bracket needs to adjust;

[0011] The triangular wheel includes a front triangular wheel and a rear triangular wheel, and step 2 includes: according to the spacing , determine the motion trajectory of the center of the large wheel of the front triangular wheel and the rear triangular wheel of the spraying equipment in combination with the spraying equipment's own data, and determine the obstacle crossing plan based on the motion trajectory of the center of the large wheel of the front triangular wheel and the rear triangular wheel;

[0012] The obstacle crossing scheme includes at least one of a first obstacle crossing scheme, a second obstacle crossing scheme, a third obstacle crossing scheme, and a fourth obstacle crossing scheme;

[0013] In the first obstacle crossing scheme, the front triangular wheels and the rear triangular wheels successively cross the first obstacle and then successively cross the second obstacle;

[0014] In the second obstacle crossing scheme, after the front triangular wheel crosses the first obstacle, when the front triangular wheel is preparing to cross the second obstacle, the rear triangular wheel is synchronously preparing to cross the first obstacle;

[0015] In the third obstacle crossing scheme, after the front triangular wheel crosses the first obstacle, when crossing the second obstacle, the rear triangular wheel starts to cross the first obstacle;

[0016] In the fourth obstacle crossing scheme, after the front triangular wheels cross two obstacles at the same time, the rear triangular wheels cross two obstacles at the same time;

[0017] The self data includes: the distance between the center of the front triangular wheel and the center of the rear triangular wheel , Large wheel radius And the radius of the small wheel .

[0018] Step 3: according to the obstacle crossing plan, the obstacle crossing of the two nearest obstacles is completed, and during the obstacle crossing process, the spraying height and the spraying angle of the spraying bracket are adjusted according to the spraying height and the spraying angle to perform the spraying operation;

[0019] Step 4: Repeat steps 1 to 3 until the spraying operation of the inner wall of the tower is completed.

[0020] The triangular wheel is composed of three small wheels and a triangular bracket. The triangular bracket includes three connecting shafts. The three connecting shafts are 120 degrees apart from each other. The ends of the three connecting shafts are connected to the small wheels respectively. In the present invention, the distance between the center of the front triangular wheel and the center of the rear triangular wheel is Refers to the distance from the center of the front triangular wheel triangular bracket (i.e. the center point of the three connecting axes) to the center of the rear triangular wheel triangular bracket, the large wheel radius Refers to the distance from the center of the tripod to the center of the small wheel.

[0021] Furthermore, in step 3, when the first obstacle crossing scheme or the fourth obstacle crossing scheme is determined, the spraying bracket adjusts the spraying angle toward the forward direction of the spraying equipment when the front triangular wheel crosses the obstacle, and the spraying bracket adjusts the spraying angle away from the forward direction of the spraying equipment when the rear triangular wheel crosses the obstacle, and the spraying equipment adjusts the spraying height of the spraying bracket downward when crossing the obstacle;

[0022] When the second obstacle crossing scheme is determined, when the front triangular wheel crosses the first obstacle, the spraying bracket adjusts the spraying angle toward the forward direction of the spraying equipment. When the front triangular wheel crosses the second obstacle and the rear triangular wheel crosses the first obstacle, the spraying bracket does not need to adjust the spraying angle. When the rear triangular wheel crosses the second obstacle, the spraying bracket adjusts the spraying angle away from the forward direction of the spraying equipment. The spraying equipment adjusts the spraying height of the spraying bracket downward when crossing obstacles.

[0023] When the third obstacle crossing plan is determined, the spraying bracket adjusts the spraying angle toward the forward direction of the spraying equipment when the front triangular wheel crosses the obstacle for the first time; the spraying bracket first adjusts the spraying angle toward the forward direction of the spraying equipment and then adjusts the spraying angle away from the forward direction of the spraying equipment when the front triangular wheel crosses the obstacle for the second time and the rear triangular wheel crosses the obstacle for the first time; the spraying angle is adjusted away from the forward direction of the spraying equipment when the rear triangular wheel crosses the obstacle for the second time. The spraying equipment adjusts the spraying height of the spraying bracket downward when crossing the obstacle.

[0024] Furthermore, when When the first obstacle crossing scheme is determined, the spraying bracket needs to adjust the first spraying angle when the front triangular wheel crosses the obstacle. Calculated by the following formula:

[0025] ;

[0026] in, The time required to cross the obstacle. is the angular velocity of the large wheel in the triangular wheel;

[0027] The first spraying height that the spraying bracket needs to adjust when the front triangular wheel of the spraying equipment crosses the obstacle Calculated by the following formula:

[0028] ;

[0029] in, Indicates the motion trajectory of the center of the triangular wheel in front of the spraying equipment;

[0030] Said Calculated by the following formula:

[0031] ;

[0032] The second spraying angle that the spraying bracket needs to adjust when the rear triangular wheel crosses the obstacle Calculated by the following formula:

[0033] ;

[0034] The second spraying height that the spraying bracket needs to adjust when the rear triangular wheel of the spraying equipment crosses the obstacle Calculated by the following formula:

[0035] ;

[0036] in, Indicates the motion trajectory of the center of the triangular wheel behind the spraying equipment;

[0037] Said Calculated by the following formula:

[0038] .

[0039] Furthermore, when When the front triangular wheel crosses the first obstacle, the spraying bracket adjusts the first spraying angle in the direction of the spraying equipment. , adjust the first spray height downward ;

[0040] When the rear triangular wheel crosses the second obstacle, the spraying bracket faces away from the forward direction of the spraying equipment to adjust the second spraying angle , adjust the second spraying height downward ;

[0041] When the front triangular wheel crosses the second obstacle and the rear triangular wheel crosses the first obstacle, the spraying bracket needs to be adjusted downward to the third spraying height Calculated by the following formula:

[0042] .

[0043] Furthermore, when and When the front triangular wheel crosses the obstacle for the first time, the spraying bracket adjusts the first spraying angle in the forward direction of the spraying equipment. , adjust the first spray height downward ;

[0044] When the rear triangular wheel crosses the obstacle for the second time, adjust the second spraying angle by facing away from the forward direction of the spraying equipment , adjust the first spray height downward ;

[0045] The third spraying angle that the spraying bracket needs to adjust when the front triangular wheel crosses the obstacle for the second time and the rear triangular wheel starts to cross the obstacle for the first time Calculated by the following formula:

[0046] ;

[0047] in, Indicates the angle value between the center of the front triangular wheel and the horizontal line that changes with time; Indicates the angle value between the center of the front triangular wheel and the horizontal line that changes with time;

[0048] Said Calculated by the following formula:

[0049] ;

[0050] Said Calculated by the following formula:

[0051] ;

[0052] When the front triangular wheel crosses the obstacle for the second time and the rear triangular wheel starts to cross the obstacle for the first time, the fourth spraying height that the spraying bracket needs to adjust is calculated by the following formula:

[0053] ;

[0054] in, Indicates the height change of the spray bracket, ;

[0055] in, Indicates the motion trajectory of the center of the front triangular wheel, Indicates the motion trajectory of the center of the rear triangular wheel;

[0056] Said Calculated by the following formula:

[0057] ;

[0058] Said Calculated by the following formula:

[0059] .

[0060] Furthermore, when When the front triangular wheel crosses the obstacle, the spraying bracket needs to adjust the sixth spraying angle. Calculated by the following formula:

[0061] ;

[0062] The fifth spraying height that the spraying bracket needs to adjust when the front triangular wheel crosses the obstacle Calculated by the following formula:

[0063] ;

[0064] in, Represents the motion trajectory of the center of the front triangular wheel; Calculated by the following formula:

[0065] ;

[0066] The seventh spraying angle that the spraying bracket needs to adjust when the rear triangular wheel crosses the obstacle Calculated by the following formula:

[0067] ;

[0068] The sixth spraying height that the spraying bracket needs to adjust when the rear triangular wheel crosses the obstacle Calculated by the following formula:

[0069] ;

[0070] in, Represents the motion trajectory of the center of the front triangular wheel; Calculated by the following formula:

[0071] .

[0072] Beneficial effects:

[0073] The present invention provides a method for spraying paint on the inner wall of a tower in multiple rounds of continuous obstacle crossing. The method determines an obstacle crossing plan according to the distance of the obstacle in the tower and the data of the spraying equipment itself, and adjusts the spraying height and spraying angle of the spraying bracket according to the spraying height and spraying angle of the obstacle crossing plan, thereby solving the problem that the spraying robot cannot spray paint evenly when spraying paint on the inner wall of a wind turbine tower in multiple rounds of continuous obstacle crossing. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 It is a schematic diagram of the overall structure of a tower inner wall multi-wheel continuous obstacle-crossing paint spraying device of the present invention;

[0075] Figure 2 It is a schematic structural diagram of a spraying bracket of the overall structure of a multi-wheel continuous barrier-crossing paint spraying device for the inner wall of a tower cylinder according to the present invention;

[0076] Figure 3 It is a flow chart of a method for spraying paint on the inner wall of a tower in multiple rounds in a continuous manner across obstacles according to the present invention;

[0077] Figure 4It is a schematic diagram of the front triangular wheel starting to cross obstacles in a tower inner wall multi-wheel continuous cross-obstacle paint spraying method of the present invention;

[0078] Figure 5 A schematic diagram of a tower inner wall multi-wheel continuous obstacle-crossing paint spraying method according to the present invention in which the front triangular wheel completes the obstacle crossing;

[0079] Figure 6 It is a schematic diagram of the rear triangular wheel starting to cross obstacles in a method for spraying paint on the inner wall of a tower cylinder with multiple wheels continuously crossing obstacles according to the present invention;

[0080] Figure 7 This is a schematic diagram of the rear triangular wheel completing obstacle crossing in a method for continuous obstacle crossing paint spraying on the inner wall of a tower cylinder using multiple wheels according to the present invention.

[0081] In the figure:

[0082] 1. triangular wheel; 11. front triangular wheel; 12. rear triangular wheel; 2. spraying equipment; 3. spraying bracket; 31. angle adjuster; 32. telescopic support rod; 33. transverse rod; 34. first rotating motor; 4. spraying mechanism; 41. connecting rod; 42. second rotating motor; 43. spraying rod. DETAILED DESCRIPTION

[0083] The technical solution of the present invention is described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0084] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate quantity restrictions, but indicate the existence of at least one. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0085] See also Figure 1-2The present embodiment provides a tower inner wall multi-wheel continuous obstacle-crossing paint spraying device, comprising a spraying device 2 having a plurality of independently movable triangular wheels 1, a spraying bracket 3 and a spraying mechanism 4, wherein the spraying bracket 3 comprises an angle adjuster 31, a telescopic support rod 32 and a transverse rod 33, wherein the angle adjuster 31 is arranged at the top center of the spraying device 2, the fixed end of the telescopic support rod 32 is connected to the angle adjuster 31, and the movable end of the telescopic support rod 32 is connected to the horizontally arranged transverse rod 33;

[0086] A first rotating motor 34 is horizontally arranged at the top of the telescopic support rod 32 , one end of the transverse rod 33 is connected to the rotating end of the first rotating motor 34 , and the fixed end of the first rotating motor 34 is connected to the movable end of the telescopic support rod 32 .

[0087] One end of the transverse rod 33 is connected to the rotating end of the first rotating motor 34, and the other end of the transverse rod 33 is connected to the spraying mechanism 4; the spraying mechanism 4 includes four connecting rods 41, four second rotating motors 42 and four spraying rods 43, one end of the four connecting rods 41 are connected to the transverse rod 33, and are symmetrically arranged in a cross shape with the connection point of the transverse rod 33 as the center, the other ends of the four connecting rods 41 are respectively connected to the fixed ends of the second rotating motors 42, and the rotating ends of the four second rotating motors 42 are connected to the spraying rods 43.

[0088] See also Figure 3-7 This embodiment also provides a method for spraying paint on the inner wall of a tower in multiple rounds in a continuous manner across obstacles, which is applied to the above-mentioned device for spraying paint on the inner wall of a tower in multiple rounds in a continuous manner across obstacles;

[0089] A method for spraying paint on the inner wall of a tower tube in multiple rounds of continuous obstacle crossing comprises the following steps:

[0090] Step 1: Obtain an image of the spraying operation path, and obtain the distance between the two nearest obstacles on the work path based on the image combined with machine vision ;

[0091] Step 2: According to the spacing , determine the motion trajectory of the triangular wheel 1 of the spraying equipment 2, and determine the obstacle crossing plan of the spraying equipment 2 based on the motion trajectory; the obstacle crossing plan includes the spraying height and spraying angle that need to be adjusted by the spraying bracket 3;

[0092] Specifically, according to the spacing , determine the motion trajectory of the large wheel center of the front triangular wheel 11 and the rear triangular wheel 12 of the spraying equipment 2 in combination with its own data, and determine the obstacle crossing plan based on the motion trajectory of the large wheel center of the front triangular wheel 11 and the rear triangular wheel 12;

[0093] The obstacle crossing scheme includes at least one of a first obstacle crossing scheme, a second obstacle crossing scheme, a third obstacle crossing scheme, and a fourth obstacle crossing scheme;

[0094] The first obstacle crossing scheme is the scheme selected when the distance between single obstacles on the path of the spraying equipment 2 is large. The height of the center of the front triangular wheel 11 is Change to , that is, in the first obstacle crossing scheme, the front triangular wheel 11 and the rear triangular wheel 12 successively cross the first obstacle and then the second obstacle; when the front triangular wheel 11 crosses the obstacle, the spraying bracket 3 adjusts the spraying angle toward the forward direction of the spraying equipment 2, and when the rear triangular wheel 12 crosses the obstacle, the spraying bracket 3 adjusts the spraying angle away from the forward direction of the spraying equipment 2, and the spraying equipment 2 adjusts the spraying height of the spraying bracket 3 downward when crossing the obstacle;

[0095] when When , it is determined as the first obstacle crossing plan;

[0096] In the first obstacle crossing scheme, the motion trajectory of the center of the circle of the front triangular wheel 11 is Calculated by the following formula:

[0097] ;

[0098] The tilt angle of the spray center, i.e. the required spray angle, can be obtained by the change in height. ;

[0099] Spraying angle of the front triangular wheel 11 of the spraying device 2 Calculated by the following formula:

[0100] ;

[0101] in, The time required to cross the obstacle. is the angular velocity of the large wheel in triangular wheel 1;

[0102] At this time, the height of the spray rod 43 on the spray support 3 is Therefore, if the spray rod 43 is to be lowered to the height before the obstacle crossing, the height should be adjusted downward. The first spray height of the spray bracket 3 in the first obstacle crossing scheme is Calculated by the following formula:

[0103] ;

[0104] There is a time difference between the front triangular wheel 11 and the rear triangular wheel 12 during the obstacle crossing process, and the time difference is , so the trajectory of the center height change of the rear triangular wheel 12 during obstacle crossing is Calculated by the following formula:

[0105] ;

[0106] The connection between the spray rod 43 and the trolley is located on the plane where the midpoint of the center line of the front triangular wheel 11 and the rear triangular wheel 12 of the trolley is located. Therefore, when the front triangular wheel 11 and the rear triangular wheel 12 are flipped over separately, the height of the spray rod 43 on the trolley changes to the same. When the rear triangular wheel 12 turns over an obstacle, the inclination angle of the spray rod 43 is equal to that of the front triangular wheel 11, but in the opposite direction. Therefore, when the rear triangular wheel 12 turns over over an obstacle, the required spraying angle Calculated by the following formula:

[0107] ;

[0108] At this time, the height of the spray rod 43 on the spray support 3 is Therefore, if the spray rod 43 is to be lowered to the height before overcoming the obstacle, the height should be adjusted downward. The second spray height of the spray bracket 3 in the first obstacle overcoming scheme is calculated by the following formula:

[0109] ;

[0110] The second obstacle crossing scheme is that when the two obstacles are at an equal distance from the center of the front triangular wheel 11 and the rear triangular wheel 12, after the front triangular wheel 11 crosses the first obstacle, when the front triangular wheel 11 is ready to cross the second obstacle, the rear triangular wheel 12 is synchronously ready to cross the first obstacle. Then, when the front triangular wheel 11 crosses the first obstacle, the spraying bracket 3 adjusts the spraying angle toward the forward direction of the spraying equipment 2. When the front triangular wheel 11 crosses the second obstacle and the rear triangular wheel 12 crosses the first obstacle, the spraying bracket 3 does not need to adjust the spraying angle. When the rear triangular wheel 12 crosses the second obstacle, the spraying bracket 3 adjusts the spraying angle away from the forward direction of the spraying equipment 2. The spraying equipment 2 adjusts the spraying height of the spraying bracket 3 downward when crossing obstacles.

[0111] Specifically, when the front triangular wheel 11 crosses the first obstacle, the spraying bracket 3 adjusts the first spraying angle in the forward direction of the spraying equipment 2. , adjust the first spray height downward ;

[0112] When the rear triangular wheel 12 crosses the second obstacle, the spraying bracket 3 faces away from the forward direction of the spraying equipment 2 and adjusts the second spraying angle. , adjust the second spraying height downward ;

[0113] when When the second obstacle crossing plan is determined;

[0114] When the front triangular wheel 11 crosses the second obstacle and the rear triangular wheel 12 crosses the first obstacle, the vehicle body tilt angle is 0°, and the vehicle body is lifted upward. The height change trajectory is the height change trajectory of the center of the front triangular wheel 11, that is, the spray rod 43 rises , calculated by the following formula:

[0115] ;

[0116] At this time, the height raised by the spraying rod 43 is Therefore, if the spraying rod 43 is to be lowered to the height before the obstacle, the height should be adjusted downward. , the spray rod 43 does not need to adjust the angle.

[0117] The third obstacle crossing scheme is that after the front triangular wheel 11 crosses the first obstacle, when crossing the obstacle for the second time, the rear triangular wheel 12 starts to cross the first obstacle;

[0118] Specifically, when the front triangular wheel 11 crosses the obstacle for the first time, the spraying bracket 3 adjusts the spraying angle toward the forward direction of the spraying equipment 2; when the front triangular wheel 11 crosses the obstacle for the second time and the rear triangular wheel 12 crosses the obstacle for the first time, the spraying bracket 3 first adjusts the spraying angle toward the forward direction of the spraying equipment 2 and then adjusts the spraying angle away from the forward direction of the spraying equipment 2; when the rear triangular wheel 12 crosses the obstacle for the second time, the spraying angle is adjusted away from the forward direction of the spraying equipment 2; and the spraying equipment 2 adjusts the spraying height of the spraying bracket 3 downward when crossing the obstacle;

[0119] when When the third obstacle crossing plan is determined;

[0120] When the front triangular wheel 11 crosses the obstacle for the first time, the spraying bracket 3 adjusts the first spraying angle in the forward direction of the spraying equipment 2 , adjust the first spray height downward ;

[0121] When the rear triangular wheel 12 crosses the obstacle for the second time, it adjusts the second spraying angle in the direction opposite to the forward direction of the spraying equipment 2. , adjust the first spray height downward ;

[0122] The height change track of the center of the front triangular wheel 11 Calculated by the following formula:

[0123] ;

[0124] The tilt angle of the spraying rod 43, i.e. the required spraying angle, can be obtained by the change in the height of the front triangular wheel 11. for:

[0125] ;

[0126] The height change of the center of the rear triangular wheel 12 is:

[0127] ;

[0128] The connection between the spray rod 43 and the trolley is located on the plane where the midpoint of the center line of the front triangular wheel 11 and the rear triangular wheel 12 of the trolley is located. Therefore, when the front and rear wheels are flipped over separately, the height of the spray rod 43 on the trolley changes to the same. When the rear triangular wheel 12 turns over an obstacle, the inclination angle of the spray rod 43 is equal to that of the front triangular wheel 11, but in the opposite direction. Therefore, when the rear triangular wheel 12 turns over an obstacle, the required spray angle Calculated by the following formula:

[0129] ;

[0130] At this time, the height of the spray rod 43 changes to , control the spray rod 43 to adjust the height downward along the spray bracket 3 ; Angle change means spraying angle is , control the spraying rod 43 to rotate the spraying angle in the horizontal direction .

[0131] The fourth obstacle crossing scheme is that the front triangular wheel 11 and the rear triangular wheel 12 both cross two obstacles at a time, and when the rear triangular wheel 12 crosses the first obstacle, it also crosses the second obstacle at the same time;

[0132] Specifically, when the front triangular wheel 11 crosses the obstacle, the spraying bracket 3 adjusts the spraying angle toward the forward direction of the spraying equipment 2, and when the rear triangular wheel 12 crosses the obstacle, the spraying bracket 3 adjusts the spraying angle away from the forward direction of the spraying equipment 2. The spraying equipment 2 adjusts the spraying height of the spraying bracket 3 downward when crossing the obstacle;

[0133] when When the fourth obstacle crossing plan is determined;

[0134] The trajectory of the center height change of the front triangular wheel 11 is:

[0135] ;

[0136] The tilt angle of the spraying rod 43, i.e. the required spraying angle, can be obtained by the change in the height of the front triangular wheel 11. for:

[0137] ;

[0138] At this time, the height raised by the spraying rod 43 is Therefore, if the spray rod 43 is to be lowered to the height before crossing the obstacle, the height should be adjusted downward on the spray support 3;

[0139] ;

[0140] There is a time difference between the front triangular wheel 11 and the rear triangular wheel 12 during the obstacle crossing process, and the time difference is , so the trajectory of the center height change of the rear triangular wheel 12 during obstacle crossing is Calculated by the following formula:

[0141] ;

[0142] The connection between the spray rod 43 and the trolley is located on the plane where the midpoint of the center line of the front triangular wheel 11 and the rear triangular wheel 12 of the trolley is located. Therefore, when the front and rear wheels flip over separately, the height of the spray rod 43 on the trolley changes to the same. When the rear triangular wheel 12 turns over an obstacle, the inclination angle of the spray rod 43 is equal to that of the front triangular wheel 11, but in the opposite direction. Therefore, when the rear triangular wheel 12 turns over an obstacle, the required compensation angle is:

[0143] ;

[0144] At this time, the height raised by the spraying rod 43 is Therefore, if the spray rod 43 is to be lowered to the height before crossing the obstacle, the height should be adjusted downward on the spray support 3:

[0145] ;

[0146] Step 3: according to the obstacle crossing plan, the obstacle crossing of the two nearest obstacles is completed, and during the obstacle crossing process, the spraying height and the spraying angle of the spraying bracket 3 are adjusted according to the spraying height and the spraying angle to perform the spraying operation;

[0147] When the obstacle is crossed, the spraying height and the spraying angle of the spraying bracket 3 are adjusted according to the spraying height and the spraying angle to be consistent with when the obstacle is not crossed.

[0148] Step 4: Repeat steps 1 to 3 until the spraying operation of the inner wall of the tower is completed.

[0149] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A method for spraying paint on the inner wall of a tower in multiple rounds in a continuous manner across obstacles, characterized in that: A spraying device (2) having a plurality of independently movable triangular wheels (1) is used, wherein the spraying device (2) completes a spraying operation by crossing obstacles in an unassembled tower through the plurality of independently movable triangular wheels (1), and a spraying bracket (3) capable of adjusting a spraying height and a spraying angle is arranged at the top center of the spraying device (2); The method for spraying paint on the inner wall of a tower tube in multiple rounds of continuous obstacle crossing comprises the following steps: Step 1: Obtain an image of the spraying operation path, and obtain the distance between the two nearest obstacles on the work path based on the image combined with machine vision ; Step 2: According to the spacing , determining a motion trajectory of a triangular wheel (1) of a spraying device (2), and determining an obstacle crossing plan of the spraying device (2) based on the motion trajectory; the obstacle crossing plan includes a spraying height and a spraying angle that the spraying bracket (3) needs to adjust; The triangular wheel (1) comprises a front triangular wheel (11) and a rear triangular wheel (12), and step 2 comprises: , combining the spraying equipment (2) with its own data to determine the movement trajectory of the large wheel centers of the front triangular wheels (11) and the rear triangular wheels (12) of the spraying equipment (2), and determining the obstacle crossing plan based on the movement trajectory of the large wheel centers of the front triangular wheels (11) and the rear triangular wheels (12); The obstacle crossing scheme includes at least one of a first obstacle crossing scheme, a second obstacle crossing scheme, a third obstacle crossing scheme, and a fourth obstacle crossing scheme; In the first obstacle crossing scheme, the front triangular wheel (11) and the rear triangular wheel (12) successively cross the first obstacle and then successively cross the second obstacle; In the second obstacle crossing scheme, after the front triangular wheel (11) crosses the first obstacle, when the front triangular wheel (11) is preparing to cross the second obstacle, the rear triangular wheel (12) is synchronously preparing to cross the first obstacle; In the third obstacle crossing scheme, after the front triangular wheel (11) crosses the first obstacle, when crossing the second obstacle, the rear triangular wheel (12) starts to cross the first obstacle; In the fourth obstacle crossing scheme, after the front triangular wheel (11) crosses over two obstacles at the same time, the rear triangular wheel (12) crosses over two obstacles at the same time; The self data includes: the distance between the center of the front triangular wheel (11) and the center of the rear triangular wheel (12); , Large wheel radius And the radius of the small wheel ; Step 3: according to the obstacle crossing plan, the obstacle crossing of the two nearest obstacles is completed, and during the obstacle crossing process, the spraying height and the spraying angle of the spraying bracket (3) are adjusted according to the spraying height and the spraying angle to perform the spraying operation; Step 4: Repeat steps 1 to 3 until the spraying operation of the inner wall of the tower is completed.

2. The tower inner wall multi-round continuous barrier-crossing paint spraying method according to claim 1 is characterized in that: In step 3, when the first obstacle crossing scheme or the fourth obstacle crossing scheme is determined, the spraying support (3) adjusts the spraying angle in the direction of the forward movement of the spraying device (2) when the front triangular wheel (11) crosses the obstacle, and the spraying support (3) adjusts the spraying angle away from the forward movement of the spraying device (2) when the rear triangular wheel (12) crosses the obstacle, and the spraying device (2) adjusts the spraying height of the spraying support (3) downward when crossing the obstacle; When the second obstacle crossing scheme is determined, when the front triangular wheel (11) crosses the first obstacle, the spraying support (3) adjusts the spraying angle in the direction of the spraying device (2). When the front triangular wheel (11) crosses the second obstacle and the rear triangular wheel (12) crosses the first obstacle, the spraying support (3) does not need to adjust the spraying angle. When the rear triangular wheel (12) crosses the second obstacle, the spraying support (3) adjusts the spraying angle in the direction away from the spraying device (2). When crossing the obstacle, the spraying device (2) adjusts the spraying height of the spraying support (3) downward. When the third obstacle crossing scheme is determined, the spraying support (3) adjusts the spraying angle in the forward direction of the spraying device (2) when the front triangular wheel (11) crosses the obstacle for the first time; when the front triangular wheel (11) crosses the obstacle for the second time and the rear triangular wheel (12) crosses the obstacle for the first time, the spraying support (3) first adjusts the spraying angle in the forward direction of the spraying device (2) and then adjusts the spraying angle away from the forward direction of the spraying device (2); when the rear triangular wheel (12) crosses the obstacle for the second time, the spraying angle is adjusted away from the forward direction of the spraying device (2); and when the spraying device (2) crosses the obstacle, the spraying height of the spraying support (3) is adjusted downward.

3. The tower inner wall multi-round continuous barrier-crossing paint spraying method according to claim 2 is characterized in that: when When the first obstacle crossing scheme is determined, the first spraying angle that needs to be adjusted by the spraying bracket (3) when the front triangular wheel (11) crosses the obstacle is Calculated by the following formula: ； in, The time required to cross the obstacle. is the angular velocity of the large wheel in the triangular wheel (1); Spraying equipment (2) front triangular wheel (11) spraying bracket (3) first spraying height to be adjusted when crossing obstacles Calculated by the following formula: ； in, Indicates the motion trajectory of the center of the front triangular wheel (11) of the spraying device (2); Said Calculated by the following formula: ； The second spraying angle that the spraying bracket (3) needs to adjust when the rear triangular wheel (12) crosses an obstacle Calculated by the following formula: ； Spraying equipment (2) rear triangular wheel (12) spraying bracket (3) when crossing obstacles, the second spraying height to be adjusted Calculated by the following formula: ； in, Indicates the motion trajectory of the center of the rear triangular wheel (12) of the spraying device (2); Said Calculated by the following formula: 。 4. The tower inner wall multi-round continuous barrier-crossing paint spraying method according to claim 3 is characterized in that: when When the second obstacle crossing scheme is determined, when the front triangular wheel (11) crosses the first obstacle, the spraying bracket (3) adjusts the first spraying angle in the forward direction of the spraying device (2) , adjust the first spray height downward ; When the rear triangular wheel (12) crosses the second obstacle, the spraying bracket (3) faces away from the forward direction of the spraying device (2) to adjust the second spraying angle. , adjust the second spraying height downward ; When the front triangular wheel (11) crosses the second obstacle and the rear triangular wheel (12) crosses the first obstacle, the spraying bracket (3) needs to be adjusted downward to a third spraying height. Calculated by the following formula: 。 5. The tower inner wall multi-round continuous barrier-crossing paint spraying method according to claim 3 is characterized in that: when and When the third obstacle crossing scheme is determined, the spraying bracket (3) adjusts the first spraying angle toward the forward direction of the spraying device (2) when the front triangular wheel (11) crosses the obstacle for the first time. , adjust the first spray height downward ; When the rear triangular wheel (12) crosses the obstacle for the second time, it faces away from the spraying device (2) and adjusts the second spraying angle in the forward direction. , adjust the first spray height downward ; The third spraying angle that the spraying bracket (3) needs to adjust when the front triangular wheel (11) crosses the obstacle for the second time and the rear triangular wheel (12) starts to cross the obstacle for the first time Calculated by the following formula: ； in, Indicates the angle value between the center of the front triangular wheel (11) and the horizontal line changing with time; Indicates the angle value between the center of the front triangular wheel (11) and the horizontal line changing with time; Said Calculated by the following formula: ； Said Calculated by the following formula: ； When the front triangular wheel (11) crosses the obstacle for the second time and the rear triangular wheel starts to cross the obstacle for the first time, the fourth spraying height that the spraying bracket (3) needs to adjust is calculated by the following formula: ； in, represents the height change of the spraying bracket (3), ; in, represents the motion trajectory of the center of the front triangular wheel (11), Indicates the motion trajectory of the center of the rear triangular wheel (12); Said Calculated by the following formula: ； Said Calculated by the following formula: 。 6. The tower inner wall multi-round continuous barrier-crossing paint spraying method according to claim 3 is characterized in that: when When the fourth obstacle crossing scheme is determined, the sixth spraying angle that the spraying bracket (3) needs to adjust when the front triangular wheel (11) crosses the obstacle is Calculated by the following formula: ； The fifth spraying height that the spraying bracket (3) needs to adjust when the front triangular wheel (11) crosses an obstacle Calculated by the following formula: ； in, represents the motion trajectory of the center of the front triangular wheel (11); Calculated by the following formula: ； The seventh spraying angle that the spraying bracket (3) needs to adjust when the rear triangular wheel (12) crosses an obstacle Calculated by the following formula: ； The sixth spraying height that the spraying bracket (3) needs to adjust when the rear triangular wheel (12) crosses an obstacle Calculated by the following formula: ； in, represents the motion trajectory of the center of the rear triangular wheel (12); Calculated by the following formula: 。

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