Intelligent spraying method, device, equipment, storage medium and program product

Abstract

The application discloses an intelligent spraying method, device, equipment, storage medium and program product, and belongs to the technical field of spraying. The method comprises the following steps: in response to a spraying instruction of a target area, determining a motion starting point position of a spray gun according to the acceleration time consumption of the spray gun, the opening time consumption of the spray gun, the slurry flight time consumption of the spray gun and the spraying starting position of the target area, and determining the instruction control strategy of a spray gun motion instruction and a spray gun opening instruction; determining the instruction control strategy of a spray gun closing instruction and a spray gun stopping motion instruction according to the slurry flight time consumption of the spray gun, the closing time consumption of the spray gun, the deceleration time consumption of the spray gun and the spraying end position of the target area; wherein the motion starting point position and the instruction control strategy satisfy the following conditions: the slurry is uniformly sprayed on the target area; the spray gun is driven to move to the motion starting point position, and the spray gun motion instruction, the spray gun opening instruction, the spray gun closing instruction and the spray gun stopping motion instruction are sent to the spray gun according to the instruction control strategy. The application can improve the spraying effect.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of spraying, and particularly relates to an intelligent spraying method, device, equipment, storage medium and program product. BACKGROUND

[0002] Spraying is a painting method for applying slurry to a to-be-sprayed area in the form of uniform and fine mist droplets through a spray gun. With the development of automation technology, spraying operations using various automatic spraying equipment have become a new trend. For example, putty spraying robots are used to implement putty spraying operations, so as to reduce manual labor intensity and improve work efficiency.

[0003] In related technologies, when spraying operations are performed using automatic spraying equipment, the automatic spraying equipment is first controlled to move to a relative position of a spraying starting point of a to-be-sprayed area, and then the spray gun is controlled to start automatic spraying. In the above scheme, the to-be-sprayed area may be sprayed less or more at the spraying edge, resulting in uneven spraying and poor spraying effect. SUMMARY

[0004] Embodiments of the application provide an intelligent spraying method, device, equipment, storage medium and program product, which can solve the problem of poor spraying effect caused by uneven spraying.

[0005] In a first aspect, an embodiment of the application provides an intelligent spraying method, comprising:

[0006] receiving a spraying instruction for a target area;

[0007] in response to the spraying instruction, acquiring an acceleration time consumption of a spray gun, an opening time consumption of the spray gun, a slurry flight time consumption, a closing time consumption of the spray gun, and a deceleration time consumption of the spray gun; wherein the acceleration time consumption is a time consumption of the spray gun from static to uniform motion in response to a spray gun motion instruction, the spray gun motion instruction being used to instruct the spray gun to move at a constant speed in a straight line; the opening time consumption is a time consumption of the spray gun from switching from closing to opening in response to a spray gun opening instruction; the slurry flight time consumption is a time consumption of slurry flying from the spray gun to the target area when the spray gun and the target area are spaced apart by a spraying distance; the closing time consumption is a time consumption of the spray gun from switching from opening to closing in response to a spray gun closing instruction; and the deceleration time consumption is a time consumption of the spray gun from the uniform motion to static in response to a spray gun stop motion instruction;

[0008] determining a motion starting point position of the spray gun according to the acceleration time consumption, the opening time consumption, the slurry flight time consumption, and a spraying starting position of the target area, and determining a first instruction control strategy for the spray gun motion instruction and a second instruction control strategy for the spray gun opening instruction;

[0009] determine a third instruction control strategy of the spray gun closing instruction and a fourth instruction control strategy of the instruction control strategy of the spray gun stopping movement instruction according to the slurry flying time, the closing time, the deceleration time and the spraying end position of the target area; wherein the movement starting point position, and the first instruction control strategy to the fourth instruction control strategy meet: the slurry is uniformly sprayed on the target area;

[0010] drive the spray gun to move to the movement starting point position, and send the spray gun movement instruction to the spray gun according to the first instruction control strategy, send the spray gun opening instruction to the spray gun according to the second instruction control strategy, send the spray gun closing instruction to the spray gun according to the third instruction control strategy, and send the spray gun stopping movement instruction to the spray gun according to the fourth instruction control strategy.

[0011] In a second aspect, an embodiment of the present application provides an intelligent spraying device, comprising:

[0012] a receiving module configured to receive a spraying instruction for a target area;

[0013] an obtaining module configured to, in response to the spraying instruction, obtain an acceleration time of a spray gun, an opening time, a slurry flying time, a closing time and a deceleration time; wherein the acceleration time is a time for the spray gun to move from static to uniform motion in response to a spray gun movement instruction; the spray gun movement instruction is used to instruct the spray gun to move at a uniform speed in a straight line; the opening time is a time for the spray gun to switch from closing to opening in response to a spray gun opening instruction; the slurry flying time is a time for slurry to fly from the spray gun to the target area when the spray gun and the target area are spaced apart by a spraying distance; the closing time is a time for the spray gun to switch from opening to closing in response to a spray gun closing instruction; and the deceleration time is a time for the spray gun to move from the uniform motion to static in response to a spray gun stopping movement instruction;

[0014] a first determining module configured to determine a movement starting point position of the spray gun, a first instruction control strategy of the spray gun movement instruction and a second instruction control strategy of the spray gun opening instruction according to the acceleration time, the opening time, the slurry flying time and a spraying start position of the target area;

[0015] a second determining module configured to determine a third instruction control strategy of the spray gun closing instruction and a fourth instruction control strategy of the instruction control strategy of the spray gun stopping movement instruction according to the slurry flying time, the closing time, the deceleration time and a spraying end position of the target area; wherein the movement starting point position, and the first instruction control strategy to the fourth instruction control strategy meet: the slurry is uniformly sprayed on the target area;

[0016] The operation module is configured to drive the spray gun to move to the movement starting position, and send the spray gun movement instruction to the spray gun according to the first instruction control strategy, send the spray gun opening instruction to the spray gun according to the second instruction control strategy, send the spray gun closing instruction to the spray gun according to the third instruction control strategy, and send the spray gun stop movement instruction to the spray gun according to the fourth instruction control strategy.

[0017] In a third aspect, an embodiment of the present application provides an intelligent spraying device, which comprises a processor and a memory storing computer program instructions; and the processor implements the intelligent spraying method according to the first aspect when executing the computer program instructions.

[0018] In a fourth aspect, an embodiment of the present application provides a computer storage medium, which stores computer program instructions, and the computer program instructions are executed by a processor to implement the intelligent spraying method according to the first aspect.

[0019] In a fifth aspect, an embodiment of the present application provides a computer program product, and instructions in the computer program product are executed by a processor of an electronic device to enable the electronic device to perform the intelligent spraying method according to the first aspect.

[0020] In the embodiment of the present application, in response to the spraying instruction of the target region, when the spray gun is path planned, the acceleration and deceleration time consumption, the opening and closing time consumption and the slurry flight time consumption of the spray gun are further considered, and the movement starting position of the spray gun and the instruction control strategy are determined according to the above time consumption and the spraying starting position and the spraying ending position of the target region, wherein the movement starting position and the instruction control strategy satisfy that the slurry sprayed by the spray gun is uniformly sprayed on the target region. In this way, by driving the spray gun to move to the movement starting position and sending the spray gun movement instruction, the spray gun opening instruction, the spray gun closing instruction and the spray gun stop movement instruction to the spray gun according to the instruction control strategy, the slurry can be uniformly sprayed on the target region, the uniformity of spraying is ensured, and the spraying effect is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced. Those skilled in the art can obtain other drawings according to these drawings without creating any creative labor.

[0022] Figure 1 is one of the structural diagrams of the intelligent spraying device provided by the embodiments of the present application;

[0023] Figure 2 is one of the flowcharts of the intelligent spraying method provided by the embodiments of the present application;

[0024] Figure 3 Figure 2 is a structural diagram of the intelligent spraying device provided by the embodiment of the present application;

[0025] Figure 4a Figure 3 is a side view of the intelligent spraying device provided by the embodiment of the present application for vertical wall spraying;

[0026] Figure 4b Figure 4 is a top view of the intelligent spraying device provided by the embodiment of the present application for vertical wall spraying;

[0027] Figure 5 Figure 5 is a flowchart of the intelligent spraying method provided by the embodiment of the present application;

[0028] Figure 6 Figure 6 is a schematic diagram of the movement of the spray gun provided by the embodiment of the present application;

[0029] Figure 7a Figure 7 is a flowchart of the intelligent spraying method provided by the embodiment of the present application;

[0030] Figure 7b Figure 8 is a schematic diagram of the movement of the spray gun provided by the embodiment of the present application;

[0031] Figure 8 Figure 9 is a structural diagram of the intelligent spraying device provided by the embodiment of the present application;

[0032] Figure 9 Figure 10 is a structural diagram of the intelligent spraying device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0033] The features and exemplary embodiments of various aspects of the present application will be described in detail below, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0034] It is to be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0035] For the convenience of understanding, some contents related to the embodiments of the present application are described as follows:

[0036] The intelligent spraying method of the embodiments of the present application can be applied to an intelligent spraying device capable of automatic spraying, which can also be referred to as a spraying robot, a spraying walking mechanism, or a spraying machine, etc.

[0037] In the embodiments of the present application, the intelligent spraying device can realize automatic spraying by controlling the linear motion of the spray gun.

[0038] For the convenience of description, the spraying area of the spray gun in one linear motion process can be referred to as a single-pass spraying area, the spraying range of the spray gun in the linear motion direction can be referred to as a spraying stroke, and the spraying range of the spray gun in the vertical direction of the linear motion direction can be referred to as a spraying width. One linear motion corresponds to one single-pass spraying area, and one single-pass spraying area corresponds to one spraying stroke (hereinafter referred to as a single-pass spraying stroke) and a spraying width.

[0039] It can be understood that the size of the single-pass spraying stroke h can be flexibly adjusted by controlling the linear motion distance, and in specific applications, the length of the to-be-sprayed area can be determined as the single-pass spraying stroke h. The spraying width l and the fan angle θ of the nozzle of the spray gun and the spraying distance s of the spray gun relative to the to-be-sprayed area satisfy a certain geometric relationship, so the spraying width l is fixed during the linear motion of the spray gun without replacing the nozzle, and in specific applications, the spraying width l of the spray gun can be set based on the size of the target area, such as setting the width of the target area as an integer multiple of the spraying width l of the spray gun.

[0040] Based on the above, for the to-be-sprayed region, whether it needs to be sprayed by controlling the spray gun to move multiple times in a straight line to complete the automatic spraying of the to-be-sprayed region can be determined by comparing the width of the to-be-sprayed region with the spraying width l of the spray gun, and then the number of single-spray regions included in the to-be-sprayed region is determined, and then the path of the spray gun is planned in units of single-spray regions.

[0041] In the case where the width of the to-be-sprayed region is equal to the spraying width l, since the spraying region of a single straight-line movement can cover the to-be-sprayed region, the intelligent spraying device can complete the automatic spraying of the to-be-sprayed region by controlling the spray gun to move once in a straight line. In this case, the to-be-sprayed region only includes one single-spray region.

[0042] In the case where the width of the to-be-sprayed region is greater than the spraying width l, since the spraying region of a single straight-line movement cannot cover the to-be-sprayed region, the intelligent spraying device needs to control the spray gun to move at least twice in a straight line to complete the automatic spraying of the to-be-sprayed region. In this case, the to-be-sprayed region can be first divided into multiple single-spray regions, and then sprayed in units of single-spray regions, wherein the multiple single-spray regions of the to-be-sprayed region are continuous and non-overlapping in the vertical direction of the straight-line movement direction, the length of each single-spray region is the single-spray stroke h of the single-spray region, and the width is the spraying width l of the spray gun. In specific implementation, after each control of the spray gun to move once in a straight line to complete the spraying of a certain single-spray region, the spray gun is controlled to move to the next single-spray region for spraying until the spraying of the to-be-sprayed region is completed.

[0043] The embodiments of the present application do not limit the structure of the intelligent spraying device. In one example, the intelligent spraying device can include a chassis 11, a lifting device 12, a mechanical arm 13, a spraying system 14, a spray gun 15, and a control system 16, as shown in FIG. 1. Figure 1

[0044] The chassis 11 can be provided with four groups of omni-directional wheels that can be independently steered. By controlling the direction and rotation direction of the wheels, the chassis 11 can move forward and backward, left and right, and turn in place, and is flexible in movement, thereby adapting to various narrow work spaces.

[0045] The lifting device 12 is installed on the chassis 11, and the mechanical arm 13 is installed at the front end of the lifting device 12. The lifting device 12 drives the mechanical arm 13 to move in the vertical direction, which can improve the vertical spraying range of the robot. The spray gun 15 is installed at the end of the mechanical arm 13. The spray gun 15 can change the position and posture of the spray gun 15 by moving with the chassis 11, the mechanical arm 13, and the lifting device 12, so as to realize spraying at different positions.

[0046] ​The spraying system 14 is used to pump the stored slurry under pressure to the spray gun 15, and the pressure and flow of the sprayed slurry can be adjusted by adjusting the rotating speed of the pumping motor.

[0047] The control system 16 can send instructions to each module to control the overall movement of the robot and the collaborative work.

[0048] The intelligent spraying method provided by the embodiments of the present application will be described in detail below in combination with the drawings, some embodiments and application scenarios.

[0049] Referring to Figure 2 , Figure 2 is one of the flowcharts of the intelligent spraying method provided by the embodiments of the present application. As shown in Figure 2 , the intelligent spraying method can include the following steps:

[0050] Step 201, receiving a spraying instruction for a target area.

[0051] The spraying instruction for the target area is used to instruct the intelligent spraying device to automatically spray the target area. It can be understood that the target area is the area to be sprayed.

[0052] In specific implementation, after the user determines the target area to be sprayed, in some implementation manners, the user can input the spraying instruction for the target area to the intelligent spraying device through interaction with the intelligent spraying device, and in other implementation manners, the user can send the spraying instruction for the target area to the intelligent spraying device through a user terminal. The specific implementation can be determined according to actual needs, and the embodiments of the present application do not limit the same.

[0053] Step 202, in response to the spraying instruction, obtaining an acceleration time consumption, an opening time consumption, a slurry flight time consumption, a closing time consumption and a deceleration time consumption of the spray gun.

[0054] After the intelligent spraying device receives the spraying instruction for the target area, in response to the spraying instruction, the spray gun can be first path planned based on the target area to be sprayed, the motion starting point position of the spray gun and the instruction control strategy are determined, and then the spray gun is controlled based on the above planning to realize the automatic spraying of the target area, so as to improve the spraying efficiency of the target area.

[0055] In the embodiments of the present application, when the spray gun is path planned, various factors that may affect spraying are considered in advance to improve the spraying effect. The above factors can include but are not limited to the following time consumptions of the spray gun:

[0056] Acceleration time consumption: the acceleration time consumption is the time consumption of the spray gun from static to uniform motion in response to the spray gun motion instruction, and the spray gun motion instruction is used to instruct the spray gun to move at a constant speed in a straight line;

[0057] Opening time consumption: time consumption for the spray gun to switch from off to on in response to a spray gun opening instruction;

[0058] Slurry flying time consumption: time consumption for slurry to fly from the spray gun to the target area when the spray gun is spaced apart from the target area by a spraying distance; the slurry can be putty, latex paint, real stone paint, etc.

[0059] Closing time consumption: time consumption for the spray gun to switch from on to off in response to a spray gun closing instruction;

[0060] Deceleration time consumption: time consumption for the spray gun to switch from the uniform motion to stillness in response to a spray gun stop motion instruction.

[0061] In a specific implementation, to achieve uniform spraying on the to-be-sprayed area, the intelligent spraying device needs to send a spraying motion instruction to the spray gun, instructing the spray gun to move at a spraying speed in a straight line at a uniform speed, and a spray gun opening instruction, instructing the spray gun to open; to achieve accurate spraying on the to-be-sprayed area, so that the spraying range of the slurry matches the to-be-sprayed area and does not spray outside the to-be-sprayed area, the intelligent spraying device needs to send a spray gun closing instruction, instructing the spray gun to close, and a spray gun stop motion instruction, instructing the spray gun to stop.

[0062] Generally, the spray gun is in a still state when receiving the spraying motion instruction, therefore, before the spray gun moves at a spraying speed in a straight line at a uniform speed in response to the spraying motion instruction, the spray gun needs to go through an acceleration phase in which the speed changes from 0 to the spraying speed v. In addition, before the spray gun stops moving in response to the spray gun stop motion instruction, the spray gun needs to go through a deceleration phase in which the speed changes from the spraying speed v to 0. In the acceleration phase and the deceleration phase, since the speed of the spray gun is constantly changing, if the spray gun sprays slurry at this time, the slurry will not be uniform when it reaches the to-be-sprayed area. Based on this, the acceleration time consumption corresponding to the acceleration phase and the deceleration time consumption corresponding to the deceleration phase can be regarded as factors that affect spraying.

[0063] There is a time delay between the time when the spray gun receives the spray gun opening instruction and the time when the spray gun actually opens (this time delay is referred to as opening time consumption), and there is a time delay between the time when the spray gun receives the spray gun closing instruction and the time when the spray gun actually closes (this time delay is referred to as closing time consumption). If the spray gun opening instruction is sent to the spray gun when the spray gun moves to the spraying starting position of the to-be-sprayed area, due to the opening time consumption, there will be no slurry sprayed at the edge of the to-be-sprayed area. If the spray gun closing instruction is sent to the spray gun when the spray gun moves to the spraying ending position of the to-be-sprayed area, due to the closing time consumption, slurry will be sprayed outside the to-be-sprayed area. Based on this, the opening time consumption and the closing time consumption can be regarded as factors that affect spraying.

[0064] There is a time delay between the moment the slurry is ejected from the spray gun and the moment it arrives at the area to be sprayed (this delay is called slurry flight time). If the spray gun ejects the slurry when it has moved to the starting position of the spraying area, no slurry will be sprayed at the edge of the area to be sprayed due to the slurry flight time. Therefore, slurry flight time can be considered a factor that affects spraying.

[0065] Therefore, in this embodiment of the application, in response to the spraying command, the above-mentioned time consumption of the spray gun can be obtained first, and then the path planning of the spray gun can be performed according to the above-mentioned time consumption through steps 203 and 204 to determine the starting position of the spray gun's movement and the command control strategy, so that the determined starting position of the spray gun's movement and the command control strategy can ensure the uniformity of spraying on the basis of achieving accurate spraying of the area to be sprayed, and improve the spraying effect.

[0066] The following provides a detailed explanation of how to obtain the time consumption mentioned above. However, it should be understood that the following methods are merely examples and do not limit the methods for obtaining the time consumption mentioned above.

[0067] For acceleration time t p :

[0068] In some embodiments, the acceleration time t p First, obtain the acceleration *a* during the acceleration phase and the velocity of the spray gun in its uniform linear motion (this velocity is called the spraying speed *v*), then use *t*... p = v / a is calculated.

[0069] This application does not limit the method of obtaining the spraying speed v. In some embodiments, the spraying speed v can be determined autonomously by the intelligent spraying equipment. In other embodiments, the spraying speed v can be specified by the user, such as by including the spraying speed v in the spraying command. In still other embodiments, the spraying speed v can be determined based on other spraying parameters, as detailed in the following description, which will not be described here.

[0070] In some embodiments, acceleration 'a' can be determined autonomously by the intelligent spraying equipment or specified by the user. For the autonomously determined acceleration 'a', it can be detected by an acceleration sensor during a pre-conducting acceleration test of the intelligent spraying equipment. Figure 1 In intelligent spraying equipment, an acceleration sensor can be installed at the end of the robotic arm.

[0071] In other embodiments, the acceleration time t p The acceleration time t can be obtained by conducting accelerated tests on the intelligent spraying equipment in advance. In this embodiment, the acceleration time t can be obtained by recording the completion time of the accelerated test. p .

[0072] The above acceleration test is a test of controlling the uniform motion of the spray gun from static to the spray speed v. It should be noted that if the acceleration test is used to determine the acceleration time consumption t p The parameters of the acceleration phase in the actual spraying process can be set to be consistent with the parameters of the acceleration test, so that the spraying accuracy can be further improved. In addition, multiple acceleration tests can be performed, and then the acceleration time consumption t p is determined based on the parameters of the multiple acceleration tests. In this way, the test error can be reduced, thereby improving the accuracy of obtaining the acceleration time consumption t p and further improving the accuracy of spraying.

[0073] The deceleration time consumption t m can be obtained in the same way as the acceleration time consumption, and specific details can be referred to the above description.

[0074] The opening time consumption t o (also referred to as opening time consumption) can be obtained by pre-testing the intelligent spraying device, sending a spray gun opening instruction to the spray gun, and recording the time difference between the sending time of the spray gun opening instruction and the opening time of the spray gun.

[0075] The closing time consumption t c can be obtained by pre-testing the intelligent spraying device, sending a spray gun closing instruction to the spray gun, and recording the time difference between the sending time of the spray gun closing instruction and the closing time of the spray gun.

[0076] The slurry flight time consumption t s :

[0077] In some embodiments, the obtaining of the acceleration time consumption, the opening time consumption, the slurry flight time consumption, the closing time consumption and the deceleration time consumption of the spray gun comprises:

[0078] The slurry flight time consumption of the spray gun is determined by a first formula, and the first formula is:

[0079]

[0080] wherein s is the spraying distance of the spray gun relative to the target area, A is the nozzle outlet area of the spray gun, and q is the spraying flow of the spray gun.

[0081] The embodiments of the present application do not limit the obtaining method of the spraying distance s, and in some implementations, the spraying distance s can be determined by the intelligent spraying device or specified by the user. Since the spraying width l, the nozzle fan angle θ of the spray gun and the spraying distance s of the spray gun relative to the target area satisfy a certain geometric relationship, in these embodiments, the spraying width l of the spray gun can be selected to meet the preset requirements.

[0082] In some other implementations, the method can further include:

[0083] The spraying speed is determined by a third formula, which is:

[0084]

[0085] wherein, l is the spraying width of the spray gun, and θ is the fan angle of the spray gun.

[0086] In this implementation, the nozzle can be selected first, and then the spraying distance is calculated by the third formula, so that the spraying width l of the spray gun meets the preset requirements, thereby improving the spraying accuracy.

[0087] The spraying flow q can be adjusted by adjusting the motor speed of the pumping system. After the adjustment of the motor speed is completed, the flow of the spray gun can be controlled, and then measured by using the flow sensor.

[0088] The nozzle outlet area A of the spray gun is an inherent parameter of the nozzle of the spray gun, which can be obtained in advance.

[0089] In this embodiment, the slurry flight time of the spray gun is determined by the first formula, so that the determined slurry flight time accurately reflects the delay from the spraying of the slurry from the spray gun to the target area, thereby improving the accuracy of the spraying.

[0090] In some other embodiments, the slurry flight time t s The slurry flight time can be obtained by pre-testing the slurry flight of the intelligent spraying device, controlling the interval spraying distance between the spray gun and a certain area, and then controlling the spray gun to spray the slurry, and recording the time difference between the spraying of the slurry from the spray gun to the area to obtain the slurry flight time.

[0091] Step 203, determining the motion starting point position of the spray gun, the first instruction control strategy of the spray gun motion instruction, and the second instruction control strategy of the spray gun opening instruction according to the acceleration time, the opening time, the slurry flight time, and the spraying starting position of the target area.

[0092] Step 204, determining the third instruction control strategy of the spray gun closing instruction and the fourth instruction control strategy of the instruction control strategy of the spray gun stopping motion instruction according to the slurry flight time, the closing time, the deceleration time, and the spraying end position of the target area; wherein, the motion starting point position, and the first instruction control strategy to the fourth instruction control strategy meet: the slurry is uniformly sprayed on the target area.

[0093] Step 205, driving the spray gun to move to the motion starting position, and sending the spray gun motion instruction to the spray gun according to the first instruction control strategy, sending the spray gun opening instruction to the spray gun according to the second instruction control strategy, sending the spray gun closing instruction to the spray gun according to the third instruction control strategy, and sending the spray gun stop motion instruction to the spray gun according to the fourth instruction control strategy.

[0094] From the foregoing, it can be known that when the intelligent spraying device controls the spray gun to move linearly to realize automatic spraying, the intelligent spraying device may need to control the spray gun to move linearly one or more times to complete the spraying of the to-be-sprayed region. Therefore, when planning the path of the spray gun, the target region can be divided into single-channel spraying regions. In specific implementation, the target region can be divided into a plurality of single-channel spraying regions based on the set spraying width l of the nozzle in the width direction, and the plurality of single-channel spraying regions are continuous and non-overlapping in the width direction, so as to ensure the uniformity of the spraying of the target region.

[0095] In the case where the number of single-channel spraying regions included in the target region is 1, the spraying of the target region can be completed by executing steps 203 to 205 once.

[0096] In the case where the number of single-channel spraying regions included in the target region is greater than 1, the path of the spray gun can be planned and controlled in units of single-channel spraying regions. In this case:

[0097] Step 203 can specifically be performed as follows:

[0098] For each single-channel spraying region of the target region, the motion starting position of the spray gun corresponding to the single-channel spraying region, the first instruction control strategy of the spray gun motion instruction, and the second instruction control strategy of the spray gun opening instruction are determined according to the acceleration time consumption, the opening time consumption, the slurry flight time consumption, and the spraying starting position of the single-channel spraying region.

[0099] Step 204 can specifically be performed as follows:

[0100] For each single-channel spraying region of the target region, the third instruction control strategy of the spray gun closing instruction and the fourth instruction control strategy of the instruction control strategy of the spray gun stop motion instruction are determined according to the slurry flight time consumption, the closing time consumption, the deceleration time consumption, and the spraying termination position of the single-channel spraying region.

[0101] The motion starting position corresponding to each single-channel spraying region and the first instruction control strategy to the fourth instruction control strategy satisfy that the slurry is uniformly sprayed on the single-channel spraying region.

[0102] Step 205 can be specifically manifested as:

[0103] For each single-pass spraying region of the target region, the movement of the spray gun is driven to the movement starting position corresponding to the single-pass spraying region, the spray gun movement instruction is sent to the spray gun according to the first instruction control strategy corresponding to the single-pass spraying region, the spray gun opening instruction is sent to the spray gun according to the second instruction control strategy corresponding to the single-pass spraying region, the spray gun closing instruction is sent to the spray gun according to the third instruction control strategy corresponding to the single-pass spraying region, and the spray gun stop movement instruction is sent to the spray gun according to the fourth instruction control strategy corresponding to the single-pass spraying region.

[0104] In actual implementation, when the number of single-pass spraying regions included in the target region is greater than 1, after the spraying of each single-pass spraying region of the target region is completed by using the planning result of the single-pass spraying region, the spray gun can be controlled to move to the movement starting position of the next single-pass spraying region to implement the spraying of the next single-pass spraying region, until the spraying of the target region is completed.

[0105] For step 203, considering the influence of the acceleration time consumption, the opening time consumption and the slurry flight time consumption of the spray gun on spraying, for a single-pass spraying region, the movement starting position of the spray gun corresponding to the single-pass spraying region and the instruction control strategies of the spray gun movement instruction and the spray gun opening instruction can be determined according to the acceleration time consumption, the opening time consumption and the slurry flight time consumption of the spray gun, and the spraying starting position of the single-pass spraying region.

[0106] For step 204, considering the influence of the slurry flight time consumption, the closing time consumption and the deceleration time consumption of the spray gun on spraying, for a single-pass spraying region, the instruction control strategies of the spray gun stop movement instruction and the spray gun closing instruction corresponding to the single-pass spraying region can be determined according to the slurry flight time consumption, the closing time consumption and the deceleration time consumption of the spray gun, and the spraying ending position of the single-pass spraying region.

[0107] Notably, the information determined by step 203 satisfies that: a difference between the spraying start point of the slurry and a start point position of the single spraying stroke of the single spraying area is less than a preset value, and the slurry flies to the spraying start point in a uniform motion state; the information determined by step 204 satisfies that: a difference between the spraying end point of the slurry and an end point position of the single spraying stroke of the single spraying area is less than a preset value, and the slurry flies to the spraying end point in a uniform motion state, wherein the preset value is an allowable spraying error range, that is, the difference between the spraying start point of the slurry and the start point position is less than the preset value, which can be regarded as that the spraying start point of the slurry is exactly the start point position; the difference between the spraying end point of the slurry and the end point position is less than the preset value, which can be regarded as that the spraying end point of the slurry is exactly the end point position. In this way, the information determined by steps 203 and 204 jointly satisfies that the slurry is uniformly sprayed on the single spraying area and will not be sprayed outside the single spraying area, thereby satisfying that the slurry is uniformly sprayed on the target area and will not be sprayed outside the target area.

[0108] It should be noted that, in the embodiments of the present application, the spraying start position of the target area and the start point position of the single spraying stroke are two different concepts, and the spraying end position of the target area and the end point position of the single spraying stroke are two different concepts. When the spray gun sprays the target area, it can be understood that the spray gun is spaced apart from the target area by a spraying distance, the spraying track is parallel to the target area, and the spraying start position and the spraying end position of the target area are both positions in the spraying track. The spraying start position of the target area can be understood as a position in the spraying track of the spray gun which is spaced apart from the start point position of the single spraying stroke of the target area by the spraying distance; and the spraying end position of the target area can be understood as a position in the spraying track of the spray gun which is spaced apart from the end point position of the single spraying stroke of the target area by the spraying distance.

[0109] The intelligent spraying method of the embodiments of the present application responds to the spraying instruction of the target area, further considers the acceleration and deceleration time consumption, the on-off time consumption and the slurry flying time consumption of the spray gun when planning the path of the spray gun, and determines the motion start point position and the instruction control strategy of the spray gun according to the above time consumptions and the spraying start position and the spraying end position of the target area to be sprayed, wherein the motion start point position and the instruction control strategy satisfy that the slurry sprayed by the spray gun is uniformly sprayed on the target area. In this way, by driving the spray gun to move to the motion start point position and sending the spray gun motion instruction, the spray gun opening instruction, the spray gun closing instruction and the spray gun stopping motion instruction to the spray gun according to the instruction control strategy, the slurry can be uniformly sprayed on the target area, the uniformity of spraying is ensured, and the spraying effect is improved.

[0110] The implementation of step 203 is described below.

[0111] In some embodiments, the determining the movement starting position of the spray gun, the first instruction control strategy of the spray gun movement instruction and the second instruction control strategy of the spray gun opening instruction according to the acceleration time consumption, the opening time consumption, the slurry flight time consumption and the spraying starting position of the target region can include:

[0112] obtaining a first time processing strategy for the acceleration time consumption and the opening time consumption;

[0113] determining a first time consumption of the spray gun in a uniform motion state before moving to the spraying starting position of the target region according to the first time processing strategy;

[0114] determining the sum of the acceleration movement distance of the spray gun in the acceleration time consumption and the uniform movement distance of the spray gun in the first time consumption as the first movement distance of the spray gun;

[0115] determining the position spaced from the spraying starting position by the first movement distance in a negative direction as the movement starting position of the spray gun, wherein the negative direction is the direction opposite to the spraying direction of the spray gun, i.e. the straight line movement direction of the spray gun;

[0116] determining the first instruction control strategy of the spray gun movement instruction and the second instruction control strategy of the spray gun opening instruction according to the movement starting position and the first time processing strategy.

[0117] In this embodiment, for the acceleration time consumption y p and the opening time consumption t o , there can be two time processing strategies:

[0118] decoupling the acceleration time consumption and the opening time consumption, i.e. controlling the acceleration time consumption and the opening time consumption not to overlap, further, the acceleration time consumption and the opening time consumption can be continuous or discontinuous, under this time processing strategy, the spray gun device sends the spray gun opening instruction to the spray gun when or after waiting for the spray gun to enter the uniform speed stage, and the opening of the spray gun occurs in the uniform speed stage of the spray gun;

[0119] coupling the acceleration time consumption and the opening time consumption, i.e. controlling the acceleration time consumption and the opening time consumption to overlap, further, the acceleration time consumption and the opening time consumption can be a containing and contained relationship, under this time processing strategy, the spray gun device can send the spray gun opening instruction to the spray gun during the acceleration of the spray gun, or send the spray gun movement instruction to the spray gun during the opening of the spray gun, and the opening of the spray gun occurs in the acceleration stage of the spray gun.

[0120] In a specific implementation, one of the time processing strategies (i.e., a first time processing strategy) can be selected to plan a path for the spray gun corresponding to the single-pass spraying area. The first time processing strategy can be determined by the intelligent spraying device autonomously or specified by a user, and can be determined according to actual conditions, which is not limited in the embodiments of the present application.

[0121] To meet the condition that the spraying starting point of the slurry is exactly the starting position of the stroke and the slurry flies to the spraying starting point in a uniform motion state, the spray gun should enter the uniform motion state when spraying the slurry, and the slurry should exactly reach the starting position of the stroke when the spray gun moves to the spraying starting position.

[0122] Based on this, it can be understood that the spray gun needs to enter the uniform motion state before moving to the spraying starting position, and the time (i.e., a first time consumption) during which the spray gun is in the uniform motion state before moving to the spraying starting position at least includes the slurry flight time consumption t s Before the spray gun moves to the spraying starting position, the spray gun needs to complete the acceleration phase and perform the first time consumption uniform motion, so the moving distance (i.e., a first moving distance x1) of the spray gun before moving to the spraying starting position is the acceleration moving distance x p of the spray gun during the acceleration time consumption and the uniform motion moving distance of the spray gun during the first time consumption, so the position spaced by x1 in the negative direction from the spraying starting position can be regarded as the starting position of the spray gun in the single-pass spraying area.

[0123] For the time processing strategy of decoupling the acceleration time consumption and the opening time consumption, since the opening of the spray gun occurs in the uniform motion phase of the spray gun, the first time consumption further includes the opening time consumption t o , and the first time consumption can be expressed as: t o +t s , i.e., the first time consumption is the sum of the opening time consumption and the slurry flight time consumption. Under this time processing strategy, x1=x p +v(t o +t s ).

[0124] For the time processing strategy of coupling the acceleration time consumption and the opening time consumption, since the opening of the spray gun occurs in the acceleration phase of the spray gun, the first time consumption does not include the opening time consumption t o , and the first time consumption is t s , i.e., the first time consumption is the slurry flight time consumption. Under this time processing strategy, x1=x p +vt s .

[0125] After the starting position of the motion is determined, the instruction control strategy of the spray gun motion instruction and the spray gun opening instruction can be determined based on the starting position of the motion and the first time processing strategy.

[0126] Further, in the case that the first time processing strategy is decoupling the acceleration time consumption and the opening time consumption, the determining the first instruction control strategy for the spray gun movement instruction and the second instruction control strategy for the spray gun opening instruction according to the movement starting point position and the first time processing strategy comprises:

[0127] determining the first instruction control strategy for the spray gun movement instruction as: sending the spray gun movement instruction at the movement starting point position;

[0128] determining the second instruction control strategy for the spray gun opening instruction as: sending the spray gun opening instruction at a first time; wherein the first time is after a second time and is separated from the second time by the opening time consumption; the second time is the sending time of the spray gun movement instruction.

[0129] In this case, when spraying a single pass spraying area, the intelligent spraying device can send the spray gun movement instruction to the spray gun at the movement starting point position. In response to the spraying movement instruction, the spray gun starts to move in the spraying direction; after t p time, the spray gun enters the uniform speed movement stage, the spray gun opening instruction is sent to the spray gun; after t o time, the spray gun completes the opening, and after t s time, the slurry reaches the single pass spraying area. Since the slurry has inertia, it will maintain the spraying speed in the movement direction of the spray gun after being sprayed, so when the slurry reaches the single pass spraying area, it will be exactly the starting point position of the single pass spraying stroke of the single pass spraying area, and the slurry flies to the spraying starting point in a uniform speed movement state.

[0130] It can be seen that the instruction control strategies for the spray gun movement instruction and the spray gun opening instruction determined by the above method can meet the requirements that the spraying starting point of the slurry is exactly the starting point position of the stroke, and the slurry flies to the spraying starting point in a uniform speed movement state, thereby ensuring the uniformity of spraying.

[0131] Further, in the case that the first time processing strategy is decoupling the acceleration time consumption and the opening time consumption, the determining the first instruction control strategy for the spray gun movement instruction and the second instruction control strategy for the spray gun opening instruction according to the movement starting point position and the first time processing strategy comprises:

[0132] determining the first instruction control strategy for the spray gun movement instruction as: sending the second time consumption corresponding instruction at the movement starting point position; wherein the second time consumption is the larger one of the acceleration time consumption and the opening time consumption; the acceleration time consumption corresponding instruction is the spray gun movement instruction, and the opening time consumption corresponding instruction is the spray gun opening instruction;

[0133] The second instruction control strategy of the opening instruction of the spray gun is determined as: sending an instruction corresponding to a third time consumption at a third time; wherein the third time consumption is the smaller one of the acceleration time consumption and the opening time consumption; the third time is after a fourth time and is spaced from the fourth time by a first value, the first value is the absolute value of the difference between the acceleration time consumption and the opening time consumption; and the fourth time is the sending time of the instruction corresponding to the second time consumption.

[0134] In this case, t p and t o are coupled, and in actual implementation, the order of the spray gun movement instruction and the spray gun opening instruction can be determined by comparing the sizes of t p and t o .

[0135] If t p > t o , when spraying the single-pass spraying area, the intelligent spraying device can first send the spray gun movement instruction at the movement starting point position; in response to the spraying movement instruction, the spray gun starts to move along the spraying direction; after t p -t o , the spray gun opening instruction is sent; after t o , the spray gun completes opening and enters the uniform speed movement state; after t s , the slurry reaches the single-pass spraying area. Since the slurry has inertia and will keep the spraying speed after being sprayed, the slurry will reach the single-pass spraying area at the stroke starting point position of the single-pass spraying stroke of the single-pass spraying area, and the slurry flies to the spraying starting point at the uniform speed.

[0136] If t p < t o , when spraying the single-pass spraying area, the intelligent spraying device can first send the spray gun opening instruction at the movement starting point position; after t o -t p , the spray gun movement instruction is sent at the movement starting point position; in response to the spraying movement instruction, the spray gun starts to move along the spraying direction; after t p , the spray gun completes opening and enters the uniform speed movement state; after t s , the slurry reaches the single-pass spraying area. Since the slurry has inertia and will keep the spraying speed after being sprayed, the slurry will reach the single-pass spraying area at the stroke starting point position of the single-pass spraying stroke of the single-pass spraying area, and the slurry flies to the spraying starting point at the uniform speed.

[0137] It can be seen that the instruction control strategy of the spray gun movement instruction and the spray gun opening instruction determined by the above manner can meet that the spray starting point of the slurry is exactly the stroke starting point position, and the slurry flies to the spray starting point in a uniform motion state, so that the uniformity of spraying can be ensured. In addition, by coupling t p and t o , the uniform speed moving distance of the spray gun before moving to the spray starting position can be reduced, so that the spraying time consumption of the target area can be reduced, and the spraying efficiency can be improved.

[0138] In the above embodiment, the movement starting point position of the spray gun and the flexible determination of the instruction control strategy of the spray gun movement instruction and the spray stroke spray gun opening instruction can be realized by the obtained time processing strategy of the acceleration time consumption and the opening time consumption, so that the determination manner of the movement starting point position of the spray gun and the instruction control strategy of the spray gun movement instruction and the spray stroke spray gun opening instruction can be enriched.

[0139] It should be noted that in other embodiments, the intelligent spraying device can default to decouple or couple the acceleration time consumption and the opening time consumption to determine the movement starting point position of the spray gun and the instruction control strategy of the spray stroke spray gun movement instruction and the spray stroke spray gun opening instruction, so that the determination of the movement starting point position of the spray gun and the instruction control strategy of the spray stroke spray gun movement instruction and the spray stroke spray gun opening instruction can be simplified.

[0140] The implementation of step 204 is specifically described below.

[0141] In some embodiments, the determination of the third instruction control strategy of the spray gun closing instruction and the fourth instruction control strategy of the instruction control strategy of the spray gun stop movement instruction according to the slurry flight time consumption, the closing time consumption, the deceleration time consumption and the spray ending position of the target area can include:

[0142] determining the uniform speed moving distance of the slurry in the closing time consumption and the slurry flight time consumption as a second moving distance;

[0143] obtaining a second time processing strategy of the slurry flight time consumption and the deceleration time consumption;

[0144] determining the third instruction control strategy of the spray gun closing instruction and the fourth instruction control strategy of the instruction control strategy of the spray gun stop movement instruction according to the target position and the second time processing strategy; wherein the target position is a position spaced apart from the spray ending position of the target area by the second moving distance in a negative direction, and the negative direction is a direction opposite to the spraying direction of the spray gun.

[0145] In order to meet the condition that the spraying end point of the slurry is just the position of the stroke end point and the slurry flies to the spraying end point in a uniform motion state, considering the closing time t c and the flying time t s of the slurry, the spraying gun needs to be sent a spraying gun closing instruction in advance before the spraying gun moves to the spraying end position, and the spraying gun needs to be controlled to keep a uniform motion before the spraying gun is closed. In this way, it can be ensured that the slurry sprayed by the spraying gun is in a uniform motion state.

[0146] The spraying gun completes the closing and stops spraying the slurry t c after receiving the spraying gun closing instruction. Due to the inertia of the slurry, the slurry sprayed by the spraying gun at the last time will reach the single-channel spraying area t s later. Based on this, it can be understood that, in order to meet the condition that the spraying end point of the slurry is just the position of the stroke end point, the spraying gun needs to be sent a spraying gun closing instruction in advance t c +t s . The uniform motion distance of the slurry at t c +t s is a second motion distance x2, x2=v(t c +t s ). Therefore, a position spaced x2 from the spraying end position in the negative direction can be taken as a target position, and the spraying gun can be sent a spraying closing instruction when the spraying gun moves to the target position. In this way, the condition that the spraying end point of the slurry is just the position of the stroke end point and the slurry flies to the spraying end point in a uniform motion state can be met. Assuming that the spraying start position of the target area is taken as the origin, the spraying end position of the target area is h, and the target position of the target area is h-x2.

[0147] In this embodiment, for the flying time t s of the slurry and the deceleration time t m , there can be two time processing strategies:

[0148] Decoupling the flying time of the slurry and the deceleration time, that is, controlling the flying time of the slurry and the deceleration time not to overlap, and further, the flying time of the slurry and the deceleration time can be continuous or discontinuous. Under this time processing strategy, the spraying gun device can send a spraying gun stop motion instruction to the spraying gun while waiting for the slurry to fly to the position of the stroke end point.

[0149] Coupling the flying time of the slurry and the deceleration time, that is, controlling the flying time of the slurry and the deceleration time to overlap, and further, the flying time of the slurry and the deceleration time can be a containing and contained relationship. Under this time processing strategy, the spraying gun device can send a spraying gun stop motion instruction to the spraying gun when the spraying gun is closed. In this way, the spraying time of the single-channel spraying area can be reduced.

[0150] In a specific implementation, one of the time processing strategies (i.e., a third time processing strategy) can be selected to plan a path for the spray gun corresponding to the single-pass spraying area. The third time processing strategy can be determined by the intelligent spraying device autonomously or specified by a user, and the specific implementation is not limited in the embodiments of the present application.

[0151] After the target position and the second time processing strategy are determined, an instruction control strategy for the spray gun stop motion instruction and the spray gun off instruction can be determined according to the target position and the second time processing strategy.

[0152] Further, in the case where the second time processing strategy is to decouple the slurry flight time consumption and the deceleration time consumption, the fourth instruction control strategy for the fourth instruction control strategy for the spray gun stop motion instruction and the third instruction control strategy for the spray gun off instruction can be determined according to the target position and the second time processing strategy, and the fourth instruction control strategy includes:

[0153] The third instruction control strategy for the spray gun off instruction is determined as follows: the spray gun off instruction is sent at the target position.

[0154] The fourth instruction control strategy for the spray gun stop motion is determined as follows: the spray gun stop motion instruction is sent at the spraying end position.

[0155] In this case, when the single-pass spraying area is sprayed, the intelligent spraying device can send the spray gun off instruction to the spray gun when it is detected that the spray gun moves to the target position; after a time t c , the spray gun is turned off; after a time t s , the spray gun will reach the spraying end position of the target area, and since the slurry has inertia, the slurry also reaches the stroke end position at this time, and the spray gun stop motion instruction is sent to the spray gun.

[0156] It can be seen that the instruction control strategy for the spray gun motion instruction and the spray gun on instruction determined by the above method can satisfy that the spraying end point of the slurry is exactly the stroke end position, and the slurry moves to the spraying end point at a uniform speed, so that the spraying uniformity can be ensured.

[0157] Further, in the case where the second time processing strategy is to decouple the slurry flight time consumption and the deceleration time consumption, the fourth instruction control strategy for the fourth instruction control strategy for the spray gun stop motion instruction and the third instruction control strategy for the spray gun off instruction can be determined according to the target position and the second time processing strategy, and the fourth instruction control strategy includes:

[0158] The third instruction control strategy for the spray gun off instruction is determined as follows: the spray gun off instruction is sent at the target position.

[0159] The fourth instruction control strategy for stopping the movement of the spray gun is determined as follows: sending the spray gun stop movement instruction at a fifth time point; the fifth time point is after a sixth time point and is separated from the sixth time point by the closing time consumption; and the sixth time point is the sending time point of the spray gun closing instruction.

[0160] In this case, when spraying the single-channel spraying area, the intelligent spraying device can send the spray gun closing instruction to the spray gun when detecting that the spray gun moves to the target position; after a time t c , the spray gun is closed, at which time the spray gun stop movement instruction can be sent to the spray gun, and because the slurry has inertia, the sprayed slurry will continue to move at a speed v in the spraying direction; after a time t s , the slurry also reaches the stroke end position.

[0161] It can be seen that the instruction control strategies of the spray gun movement instruction and the spray gun opening instruction determined in the above manner can satisfy that the spraying end point of the slurry is exactly the stroke end position, and the slurry flies to the spraying end point at a uniform speed, thereby ensuring the spraying uniformity. In addition, by coupling t s and t m , the uniform speed moving distance of the spray gun before moving to the spraying end position can be reduced, thereby the spraying time consumption of the target area can be reduced and the spraying efficiency can be improved.

[0162] In the above embodiments, the time processing strategies of the slurry flying time consumption and the deceleration time consumption obtained can be used to flexibly determine the instruction control strategies of the spray gun stop movement instruction and the spray gun closing instruction, so that the determination manner of the instruction control strategies of the spray gun stop movement instruction and the spray gun closing instruction can be enriched.

[0163] It should be noted that in other embodiments, the intelligent spraying device can default to decoupling or coupling the slurry flying time consumption and the deceleration time consumption to determine the instruction control strategies of the spray gun stop movement instruction and the spray gun closing instruction, so that the determination of the instruction control strategies of the spray gun stop movement instruction and the spray gun closing instruction can be simplified.

[0164] It should be noted that in the embodiments of the present application, when indicating to automatically spray the target area, the spraying thickness of the target area can be indicated or not. For the scheme of indicating the spraying thickness of the target area, in some embodiments, the acquisition of the acceleration time consumption, the opening time consumption, the slurry flying time consumption, the closing time consumption and the deceleration time consumption of the spray gun includes:

[0165] determining the spraying speed of the spray gun by the second formula;

[0166] determining the acceleration time consumption and the deceleration time consumption of the spray gun according to the spraying speed.

[0167] wherein the second formula is:

[0168]

[0169] v is the spraying speed, q is the spraying flow of the spray gun, d is the spraying thickness of the target area, s is the spraying distance of the spray gun relative to the target area, and θ is the fan angle of the spray gun.

[0170] In this embodiment, the spraying speed v is determined based on other spraying parameters, so that when the spray gun sprays the slurry at the spraying speed v at a spraying distance s away from the target area, the thickness of the slurry sprayed on the target area can meet the spraying thickness d of the target area, so that the precise control of the spraying thickness can be achieved.

[0171] It can be understood that the embodiment of determining the spraying speed v by the second formula can be applied to a scheme in which the spraying thickness of the target area is specified, and the above-mentioned embodiment of autonomously determining the spraying speed v by the intelligent spraying device can be applied to a scheme in which the spraying thickness of the target area is not specified. In addition, for the embodiment in which the spraying speed v is specified by the user, the user can randomly specify the spraying speed v, or can calculate the spraying speed v by the second formula. For the former, it can be understood that the spraying thickness of the target area is not specified, and for the latter, it can be understood that the spraying thickness of the target area is specified.

[0172] It should be noted that the various optional embodiments introduced in the embodiments of the present application can be combined with each other to achieve, or can be implemented alone, and the embodiments of the present application do not limit this.

[0173] For the convenience of understanding, specific embodiments are used for example illustration:

[0174] In one example, the intelligent spraying device can include a spraying thickness control system, which can calculate the spraying parameters in the spraying process according to the requirements of the spraying thickness and the preset parameters, thereby improving the precision of the robot spraying thickness control.

[0175] As shown in Figure 3 , the spraying thickness control system can include a flow sensor of the spraying system, a distance measuring sensor and an acceleration sensor at the end of the mechanical arm, a spray gun motion acceleration and deceleration phase time acquisition module, a spray gun switch time acquisition module, a slurry wall time acquisition module and a control system.

[0176] The flow sensor can detect the slurry flow of the spraying system in real time, and transmit the flow data to the control system;

[0177] The distance sensor can detect the distance from the spray gun to the target spray wall in real time and transmit the distance data to the control system.

[0178] The acceleration sensor can detect the acceleration of the spray gun in real time and transmit the acceleration data to the control system.

[0179] The spray gun motion acceleration and deceleration phase time consumption acquisition module can acquire the time consumed by the spray gun from static to uniform motion and from uniform motion to static in the spraying process through the data of the acceleration sensor, and transmit the time consumption data to the control system.

[0180] The spray gun switch time consumption acquisition module can acquire the time consumption of the spray gun opening and the time consumption of the spray gun closing, and transmit the time consumption data to the control system.

[0181] The slurry walling time consumption acquisition module can calculate the time consumed by the slurry from being sprayed out of the spray gun to being on the wall according to the distance data measured by the distance sensor, the flow data measured by the flow sensor, and the preset nozzle parameters, and transmit the time consumption data to the control system.

[0182] The control system can receive the data information of each sensor and module, process, set corresponding spraying parameters and spraying strategies according to the processing results, and control the collaborative work of each module of the robot.

[0183] The logic of the spraying thickness control is as follows:

[0184] 1. For the robot spraying process, the following spraying parameters are mainly used: spraying thickness d, spraying width l, spray gun and wall distance s, spraying speed v, single pass stroke h, spraying flow q, and nozzle inherent parameters (spray fan angle θ, nozzle outlet area A), as shown in Figure 4a and Figure 4b The embodiment of the robot spraying vertical wall process is shown in the drawings, wherein, Figure 4a is a spraying side view, Figure 4b is a spraying top view. It should be noted that the embodiment of the present application can be applied to the spraying operation in the fields of furniture, military industry, shipbuilding, etc. Further, in the spraying operation for furniture, it can be used for vertical wall spraying or ceiling spraying, but is not limited thereto.

[0185] 2、Wherein, the spraying thickness d and the single pass spraying stroke h can be determined according to the specific requirements in the operation, the nozzle inherent parameters can be obtained by the installed nozzle model, and the three parameters are the basic parameters for the operation; the spraying width l can be set according to the actual size of the sprayed wall surface; the distance s between the spray gun and the wall surface, the fan angle θ of the nozzle and the spraying width l should meet certain geometric relations, so the required distance s between the spray gun and the wall surface can be calculated and adjusted through the position of the robot and the mechanical arm; the spraying speed v can be adjusted by changing the movement speed of the lifting device and the mechanical arm (or the movement speed of the robot chassis); the spraying flow q can be adjusted by changing the rotation speed of the pumping motor; therefore, the spraying width l, the distance s between the spray gun and the wall surface, the spraying speed v and the spraying flow q are adjustable parameters.

[0186] 3、According to the geometric relations and mathematical relations among the spraying parameters, the functional relation formula between the spraying thickness d and other spraying parameters can be derived, so that the appropriate spraying parameters can be matched when the robot sprays, to meet the set spraying thickness requirements.

[0187] 4、For the spray gun movement acceleration and deceleration phase time consumption acquisition module, the developer can test the spraying robot in advance, calculate the acceleration time t p and the deceleration time t m of the spray gun according to the preset spraying speed v and the data of the acceleration sensor, and take the average value as the time consumption of the spray gun acceleration and deceleration after multiple tests. According to the obtained time consumption of the spray gun acceleration and deceleration and the acceleration data of the acceleration sensor, the control system calculates the moving distances x p and x m of the spray gun in the acceleration and deceleration phases.

[0188] 5、For the spray gun opening and closing time consumption acquisition module, the developer can test the spraying robot in advance, determine the spray gun opening time consumption t o (spray gun closing time consumption t c ) by the time difference between the spray gun opening (or closing) instruction sending time and the spray gun opening (or closing) time, and take the average value as the spray gun opening and closing time consumption after multiple tests. According to the obtained spray gun opening and closing time consumption and the preset spraying speed of the robot, the moving distances of the spray gun opening and closing process in uniform motion can be calculated. The spray gun opening instruction is the aforementioned spray gun opening instruction.

[0189] 6、For the slurry walling time consumption acquisition module, the control system can calculate the slurry walling time consumption t s under the spraying parameters according to the spraying flow q, the distance s between the spray gun and the wall surface and the nozzle outlet area A.

[0190] 7、If the control system sends the spray gun start (or stop) command at the same time as the spray gun starts (or stops) moving, due to the influence of the spray gun movement acceleration and deceleration phase, spray gun opening and closing time, and slurry walling time, there will be multiple spraying or missed spraying at the edge of the spraying area, affecting the spraying precision and uniformity. Therefore, in order to avoid the influence of the above factors as much as possible, the control system needs to determine the appropriate movement start and stop position and spray gun start and stop time according to the spraying parameters and obtained data, and improve the spraying precision and uniformity of the spraying thickness as much as possible.

[0191] In embodiment 1, the intelligent spraying method can be as shown in Figure 5 , comprising the following steps:

[0192] Step 1: According to the actual spraying conditions and nozzle type, input the spraying thickness d, single pass spraying stroke h, spraying width l, spraying fan angle θ and nozzle outlet area A to the control system;

[0193] Step 2: Start the spraying system, adjust the motor speed of the pumping system through the knob to adjust the appropriate spraying pressure, and the flow sensor detects the actual spraying flow q;

[0194] Step 3: According to the current set parameters, calculate the distance s between the spray gun and the wall, which can be calculated by formula (1):

[0195]

[0196] Step 4: According to the current set parameters and calculated parameters, calculate the matching spraying speed v, which can be calculated by formula (2):

[0197]

[0198] Step 5: According to the current set parameters and calculated parameters, calculate the slurry walling time t s at this time, which can be calculated by formula (3):

[0199]

[0200] Step 6: Control the spray gun to move to the starting position of the spraying area of this pass, control the movement of the mechanical arm or chassis through the feedback of the distance measuring sensor to keep the distance between the spray gun and the wall as s; take this position as the origin, and the spraying direction as the positive direction, move the spray gun along the negative direction by a distance x1, which can be calculated by formula (4):

[0201] x1=x p +v(t o +t s ) (4)

[0202] Step 7: The control system sends a spray gun movement instruction, and the spray gun starts to move in the spraying direction; after t p , the spray gun enters a uniform motion stage, and a spray gun opening instruction is sent again; after t o , the spray gun completes opening, and after t s , the slurry reaches the sprayed wall surface; since the slurry has inertia, it will maintain the spraying speed after being sprayed (ignoring air resistance and gravity) along the movement direction of the spray gun, so when the slurry reaches the wall surface, it will be exactly at the starting position of the spraying area.

[0203] Step 8: The spray gun keeps uniform motion for spraying until it moves to the coordinate h-x2, the control system sends a spray gun closing instruction, where x2 satisfies:

[0204] x2=v(t c +t s ) (5)

[0205] Step 9: After t c , the spray gun is closed; after t s , the spray gun will exactly reach the end position of the spraying area, and since the slurry has inertia, the slurry also reaches the end position of the spraying area; at this time, the control system sends a spray gun stopping motion instruction, and the spray gun stops after moving at a deceleration distance x m .

[0206] Step 10: The spray gun is controlled to move to the starting position of the next spraying area, and steps 6-9 are repeated for the spraying of the next wall surface until the entire wall surface is sprayed.

[0207] For the intelligent spraying method shown in Figure 5 , the x-t graph and v-t graph of the spray gun movement can be seen in Figure 6 .

[0208] In Example 2, the intelligent spraying method can be as shown in Figure 7a , the intelligent spraying method shown in Figure 7a may be further optimized for the time of the spraying process, including the following steps:

[0209] Steps 1-5: Same as Example 1;

[0210] Step 6: Control the spray gun to move to the starting position of the spraying area, and through the feedback of the distance measuring sensor, control the movement of the mechanical arm or chassis to keep the distance between the spray gun and the wall surface as s; take this position as the origin, and the spraying direction as the positive direction, move the spray gun in the negative direction by a distance x1, which can be calculated by formula (6):

[0211] x1=x p +vt s(6)

[0212] Step 7: If t p t o , the control system first sends the spray gun movement instruction, and the spray gun starts to move along the spraying direction; after t p -t o , the spray gun opening instruction is sent; after t o , the spray gun completes opening and enters the uniform speed movement state; if t p <t o , the control system first sends the spray gun opening instruction, after t o -t p , the spray gun movement instruction is sent, and the spray gun starts to move along the spraying direction; after t p , the spray gun completes opening and enters the uniform speed movement state.

[0213] Step 8: The spray gun keeps uniform speed movement for spraying operation, until the coordinate is h-x2, the control system sends the spray gun closing instruction, wherein x2 satisfies:

[0214] x2=v(t c +t s ) (7)

[0215] Step 9: After t c , the spray gun is closed, at this time the control system sends the spray gun stop movement instruction, and since the slurry has inertia, the sprayed slurry will continue to move at a speed of v along the spraying direction; after t s , the slurry reaches the end position of the spraying area, and the spray gun stops after decelerating for a distance of x m .

[0216] Step 10: The spray gun is controlled to move to the spraying starting position of the next spraying area, and steps 6-9 are repeated for the next wall spraying until the whole wall spraying is completed.

[0217] For the intelligent spraying method shown in FIG. 8, the x-t graph and v-t graph of the spray gun movement can be seen from FIG. 9. Figure 7a Figure 7b Compared with example 1, example 2 couples the spray gun movement acceleration and deceleration time, spray gun starting time and slurry walling time, optimizes the instruction control strategy, saves the distance and time of single spraying, and effectively improves the work efficiency in large area spraying application.

[0218] Compared with example 1, example 2 couples the spray gun movement acceleration and deceleration time, spray gun starting time and slurry walling time, optimizes the instruction control strategy, saves the distance and time of single spraying, and effectively improves the work efficiency in large area spraying application.

[0219] ​In combination with the above, the embodiments of the present application can: 1) calculate and match the corresponding spraying parameters in the spraying process according to the preset parameters, and adjust the position, posture and speed of the robot to ensure that the spraying thickness of the decorative material meets the requirements, thereby improving the accuracy of the spraying thickness control of the robot; 2) simultaneously consider the influence of the acceleration and deceleration stages in the spraying process, the time consumption of the spraying gun start and stop and the time consumption of the slurry on the wall, and adopt appropriate spraying strategies to reduce the influence of these factors on the spraying thickness and accuracy of the edge area, so that the spraying uniformity is more comprehensively considered and the spraying effect is improved; and 3) optimize the control strategies of the spraying gun movement start and stop and the spraying gun start and stop time, thereby saving the single-pass spraying operation time and distance, and effectively improving the efficiency in large-area spraying operation applications.

[0220] Based on the intelligent spraying method provided in the above embodiments, the present application also provides a specific implementation mode of an intelligent spraying device. Please refer to the following embodiments.

[0221] Referring to Figure 8 The intelligent spraying device provided by the embodiments of the present application can include:

[0222] The receiving module 801 is configured to receive a spraying instruction for a target area.

[0223] The acquisition module 802 is configured to acquire, in response to the spraying instruction, an acceleration time consumption of a spraying gun, a start time consumption of the spraying gun, a slurry flight time consumption, a stop time consumption of the spraying gun and a deceleration time consumption. The acceleration time consumption is the time consumption of the spraying gun from static to uniform motion in response to a spraying gun motion instruction, the spraying gun motion instruction being used to instruct the spraying gun to move at a constant speed in a straight line. The start time consumption is the time consumption of the spraying gun from switching from stop to start in response to a spraying gun start instruction. The slurry flight time consumption is the time consumption of slurry flying from the spraying gun to the target area when the spraying gun and the target area are spaced apart by a spraying distance. The stop time consumption is the time consumption of the spraying gun from switching from start to stop in response to a spraying gun stop instruction. The deceleration time consumption is the time consumption of the spraying gun from the uniform motion to static in response to a spraying gun stop motion instruction.

[0224] The first determination module 803 is configured to determine, according to the acceleration time consumption, the start time consumption, the slurry flight time consumption and a spraying start position of the target area, a motion start position of the spraying gun, a first instruction control strategy of the spraying gun motion instruction and a second instruction control strategy of the spraying gun start instruction.

[0225] The second determining module 804 is configured to determine a third instruction control strategy of the spray gun closing instruction and a fourth instruction control strategy of the instruction control strategy of the spray gun stopping movement instruction according to the slurry flying time, the closing time, the deceleration time and the spraying end position of the target area; wherein the movement starting point position and the first instruction control strategy to the fourth instruction control strategy meet that the slurry is uniformly sprayed on the target area.

[0226] The operation module 805 is configured to drive the spray gun to move to the movement starting point position, send the spray gun movement instruction to the spray gun according to the first instruction control strategy, send the spray gun opening instruction to the spray gun according to the second instruction control strategy, send the spray gun closing instruction to the spray gun according to the third instruction control strategy, and send the spray gun stopping movement instruction to the spray gun according to the fourth instruction control strategy.

[0227] The intelligent spraying device provided by the embodiment of the application can realize each process realized by the intelligent spraying device in the method embodiment, and thus details are not repeated here.

[0228] Figure 9 A hardware structure schematic diagram of spraying provided by the embodiment of the application is shown.

[0229] The intelligent spraying device can include a processor 901 and a memory 902 in which computer program instructions are stored.

[0230] Specifically, the processor 901 can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the application.

[0231] The memory 902 can include a mass storage for data or instructions. For example, but not limited to, the memory 902 can include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disc, a magneto-optical disc, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of the above. The memory 902 can include a removable or non-removable (or fixed) medium, as appropriate. The memory 902 can be inside or outside the integrated gateway disaster recovery device, as appropriate. In a specific embodiment, the memory 902 is a non-volatile solid state memory.

[0232] The memory can include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software that, when executed (e.g., by one or more processors), is operable to perform the operations described with reference to the methods according to an aspect of the present disclosure.

[0233] The processor 901 implements any one of the intelligent spraying methods in the above embodiments by reading and executing computer program instructions stored in the memory 902.

[0234] In one example, the intelligent spraying device can further include a communication interface 909 and a bus 910. As shown, the processor 901, the memory 902, and the communication interface 909 are connected through the bus 910 and complete communication with each other. Figure 9

[0235] The communication interface 909 is mainly used to realize the communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0236] The bus 910 includes hardware, software or both to couple components of the intelligent spraying device to each other. By way of example, and without limitation, the bus can include an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front-side bus (FSB), a hypertransport (HT) interconnect, an industry standard architecture (ISA) bus, an infiniband interconnect, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standards association local (VLB) bus, or another suitable bus or combination of two or more of these. Where appropriate, the bus 910 can include one or more buses. Although the present embodiments describe and show a particular bus, the present application contemplates any suitable bus or interconnect.

[0237] In addition, in combination with the intelligent spraying method in the above embodiments, the present embodiments can provide a computer storage medium to implement. The computer storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to implement any one of the intelligent spraying methods in the above embodiments.

[0238] ​It is to be understood that the application is not limited to particular configurations and processes described herein and shown in the drawings. The detailed description is not to be taken in a limiting sense, and the scope of the present application is defined by the appended claims. In the above embodiments, several specific steps are described and illustrated in order to provide a thorough disclosure of the application. However, it can be appreciated that the method process of the present application is not limited to the specifically enumerated steps, and that various changes, modifications and additions can be made thereto by those skilled in the art without departing from the scope of the present application. Further, the scope of the present application is not intended to be limited to particular configurations and process steps described herein and shown in the drawings.

[0239] The functions shown in the block diagrams of the above described structures can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, functional cards, etc. When implemented in software, the elements of the present application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine readable medium or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. A "machine readable medium" includes any medium that can store or transfer information. Examples of machine readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. The code segments can be downloaded via computer networks such as the Internet, intranet, etc.

[0240] It is also to be understood that the example embodiments described herein are based on a series of steps or apparatuses to describe some methods or systems. However, the present application is not limited to the order of the steps described above, that is, the steps can be performed in the order mentioned in the embodiments, or in an order different from the embodiments, or several steps can be performed simultaneously.

[0241] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. Alternatively, computer program instructions can be downloaded to or transferred into a general use portable computer, other programmable data processing apparatus, or other processing devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0242] The above merely describes a specific implementation of the present application. Those skilled in the art can clearly understand the specific working processes of the system, modules and units described above for the convenience and brevity of description, and the corresponding processes in the foregoing method embodiments can be referred to, which will not be described herein again. It should be understood that the protection scope of the present application is not limited in this way, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered in the protection scope of the present application.

Claims

1. A smart spraying method, characterized in that, The method comprises: receiving a spraying instruction for a target area; obtaining an acceleration time consumption, an opening time consumption, a slurry flight time consumption, a closing time consumption and a deceleration time consumption of a spray gun in response to the spraying instruction; wherein the acceleration time consumption is a time consumption of the spray gun from static to uniform motion in response to a spray gun motion instruction, the spray gun motion instruction being used to instruct the spray gun to move at a constant speed in a straight line; the opening time consumption is a time consumption of the spray gun from switching from closing to opening in response to a spray gun opening instruction; the slurry flight time consumption is a time consumption of slurry flying from the spray gun to the target area when the spray gun and the target area are spaced apart by a spraying distance; the closing time consumption is a time consumption of the spray gun from switching from opening to closing in response to a spray gun closing instruction; and the deceleration time consumption is a time consumption of the spray gun from the uniform motion to static in response to a spray gun stop motion instruction; determining a motion starting point position of the spray gun, a first instruction control strategy of the spray gun motion instruction and a second instruction control strategy of the spray gun opening instruction according to the acceleration time consumption, the opening time consumption, the slurry flight time consumption and a spraying starting position of the target area; determining a third instruction control strategy of the spray gun closing instruction and a fourth instruction control strategy of the instruction control strategy of the spray gun stop motion instruction according to the slurry flight time consumption, the closing time consumption, the deceleration time consumption and a spraying ending position of the target area; wherein the motion starting point position and the first instruction control strategy to the fourth instruction control strategy satisfy that the slurry is uniformly sprayed on the target area; driving the spray gun to move to the motion starting point position, and sending the spray gun motion instruction to the spray gun according to the first instruction control strategy, sending the spray gun opening instruction to the spray gun according to the second instruction control strategy, sending the spray gun closing instruction to the spray gun according to the third instruction control strategy, and sending the spray gun stop motion instruction to the spray gun according to the fourth instruction control strategy; The method comprises: obtaining a first time processing strategy for the acceleration time consumption and the opening time consumption; determining a first time consumption of the spray gun in a uniform motion state before moving to the spraying starting position of the target area according to the first time processing strategy; determining a first moving distance of the spray gun as a sum of an acceleration moving distance of the spray gun in the acceleration time consumption and a uniform moving distance of the spray gun in the first time consumption; determining a position spaced apart from the spraying starting position by the first moving distance in a negative direction as the motion starting point position of the spray gun, wherein the negative direction is a direction opposite to a spraying direction of the spray gun; determining the first instruction control strategy of the spray gun motion instruction and the second instruction control strategy of the spray gun opening instruction according to the motion starting point position and the first time processing strategy.

2. The method of claim 1, wherein, In a case where the first time processing strategy is decoupling the acceleration time consumption and the opening time consumption, the first time consumption is a sum of the opening time consumption and the slurry flying time consumption; The determining the first instruction control strategy for the spray gun movement instruction and the second instruction control strategy for the spray gun opening instruction according to the movement starting point position and the first time processing strategy comprises: The first instruction control strategy for the spray gun movement instruction is determined as sending the spray gun movement instruction at the movement starting point position; The second instruction control strategy for the spray gun opening instruction is determined as sending the spray gun opening instruction at a first time; the first time is after a second time and is spaced from the second time by the opening time consumption; the second time is a sending time of the spray gun movement instruction.

3. The method of claim 1, wherein, In a case where the first time processing strategy is coupling the acceleration time consumption and the opening time consumption, the first time consumption is the slurry flying time consumption; The determining the first instruction control strategy for the spray gun movement instruction and the second instruction control strategy for the spray gun opening instruction according to the movement starting point position and the first time processing strategy comprises: The first instruction control strategy for the spray gun movement instruction is determined as sending a second time consumption corresponding instruction at the movement starting point position; the second time consumption is a larger one of the acceleration time consumption and the opening time consumption; the acceleration time consumption corresponding instruction is the spray gun movement instruction, and the opening time consumption corresponding instruction is the spray gun opening instruction; The second instruction control strategy for the spray gun opening instruction is determined as sending a third time consumption corresponding instruction at a third time; the third time consumption is a smaller one of the acceleration time consumption and the opening time consumption; the third time is after a fourth time and is spaced from the fourth time by a first value, the first value is an absolute value of a difference between the acceleration time consumption and the opening time consumption; the fourth time is a sending time of the second time consumption corresponding instruction.

4. The method of claim 1, wherein, The determining the third instruction control strategy for the spray gun closing instruction and the fourth instruction control strategy for the instruction control strategy of the spray gun stop movement instruction according to the slurry flying time consumption, the closing time consumption, the deceleration time consumption and the target region spraying end position comprises: The uniform speed moving distance of the slurry in the closing time consumption and the slurry flying time consumption is determined as a second moving distance; An acquisition of a second time processing strategy for the slurry flying time consumption and the deceleration time consumption is performed; The third instruction control strategy for the spray gun closing instruction and the fourth instruction control strategy for the instruction control strategy of the spray gun stop movement instruction are determined according to a target position and the second time processing strategy; the target position is a position spaced from the target region spraying end position by the second moving distance in a negative direction, the negative direction is a direction opposite to a spraying direction of the spray gun.

5. The method of claim 4, wherein, In a case where the second time processing strategy is to decouple the slurry flight time consumption and the deceleration time consumption, the determining, according to the target position and the second time processing strategy, of a third instruction control strategy for the spray gun closing instruction and a fourth instruction control strategy for the spray gun stop movement instruction, comprises: the third instruction control strategy for the spray gun closing instruction is determined as: sending the spray gun closing instruction at the target position; the fourth instruction control strategy for the spray gun stop movement instruction is determined as: sending the spray gun stop movement instruction at the spraying end position.

6. The method of claim 4, wherein, In a case where the second time processing strategy is to couple the slurry flight time consumption and the deceleration time consumption, the determining, according to the target position and the second time processing strategy, of a third instruction control strategy for the spray gun closing instruction and a fourth instruction control strategy for the spray gun stop movement instruction, comprises: the third instruction control strategy for the spray gun closing instruction is determined as: sending the spray gun closing instruction at the target position; the fourth instruction control strategy for the spray gun stop movement instruction is determined as: sending the spray gun stop movement instruction at a fifth time; wherein the fifth time is after a sixth time and is spaced from the sixth time by the closing time consumption; the sixth time is the sending time of the spray gun closing instruction.

7. The method of claim 1, wherein, The acquiring of the acceleration time consumption, the opening time consumption, the slurry flight time consumption, the closing time consumption and the deceleration time consumption of the spray gun, comprises: the slurry flight time consumption of the spray gun is determined through a first formula, the first formula being: the spraying speed of the spray gun is determined through a second formula; the acceleration time consumption and the deceleration time consumption of the spray gun are determined according to the spraying speed; the second formula being: The method further comprises: the spraying speed is determined through a third formula, the third formula being: wherein s is the spraying distance, A is the nozzle outlet area of the spray gun, q is the spraying flow of the spray gun, v is the spraying speed, d is the spraying thickness of the target area, θ is the fan angle of the spray gun, and l is the spraying width of the spray gun.

8. An intelligent spraying device, characterized in that, comprises: a receiving module configured to receive a spraying instruction for a target area; an acquiring module configured to acquire, in response to the spraying instruction, an acceleration time consumption, an opening time consumption, a slurry flight time consumption, a closing time consumption and a deceleration time consumption of a spray gun; wherein the acceleration time consumption is a time consumption of the spray gun from being stationary to moving at a constant speed in response to a spray gun movement instruction, the spray gun movement instruction being used to instruct the spray gun to move at a constant speed in a straight line; the opening time consumption is a time consumption of the spray gun from switching from being closed to being opened in response to a spray gun opening instruction; the slurry flight time consumption is a time consumption of slurry flying from the spray gun to the target area when the spray gun and the target area are spaced by a spraying distance; the closing time consumption is a time consumption of the spray gun from switching from being opened to being closed in response to a spray gun closing instruction; and the deceleration time consumption is a time consumption of the spray gun from moving at the constant speed to being stationary in response to a spray gun stop movement instruction. The first determining module is configured to determine a motion starting point position of the spray gun according to the acceleration time consumption, the opening time consumption, the slurry flight time consumption, and a spraying starting position of the target region, a first instruction control strategy of the spray gun motion instruction, and a second instruction control strategy of the spray gun opening instruction; The second determining module is configured to determine a third instruction control strategy of the spray gun closing instruction and a fourth instruction control strategy of the instruction control strategy of the spray gun stopping motion instruction according to the slurry flight time consumption, the closing time consumption, the deceleration time consumption, and a spraying ending position of the target region; wherein the motion starting point position and the first instruction control strategy to the fourth instruction control strategy satisfy that the slurry is uniformly sprayed on the target region; The operation module is configured to drive the spray gun to move to the motion starting point position, and send the spray gun motion instruction to the spray gun according to the first instruction control strategy, send the spray gun opening instruction to the spray gun according to the second instruction control strategy, send the spray gun closing instruction to the spray gun according to the third instruction control strategy, and send the spray gun stopping motion instruction to the spray gun according to the fourth instruction control strategy. The first determining module is further configured to: obtain a first time processing strategy of the acceleration time consumption and the opening time consumption; determine a first time consumption during which the spray gun is in a uniform motion state before moving to the spraying starting position of the target region according to the first time processing strategy; determine a first moving distance of the spray gun as a sum of an acceleration moving distance of the spray gun during the acceleration time consumption and a uniform moving distance of the spray gun during the first time consumption; determine a position, which is spaced from the spraying starting position by the first moving distance in a negative direction, as the motion starting point position of the spray gun, wherein the negative direction is a direction opposite to a spraying direction of the spray gun; determine the first instruction control strategy of the spray gun motion instruction and the second instruction control strategy of the spray gun opening instruction according to the motion starting point position and the first time processing strategy.

9. An intelligent spraying device, characterized in that, The device comprises a processor and a memory storing computer program instructions; the processor implements the intelligent spraying method according to any one of claims 1 to 7 when executing the computer program instructions.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer program instructions; the computer program instructions are executed by a processor to implement the intelligent spraying method according to any one of claims 1 to 7.

11. A computer program product, characterised in that, The instructions in the computer program product are executed by a processor of an electronic device, so that the electronic device executes the intelligent spraying method according to any one of claims 1 to 7.

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