Painting robot

Abstract

The invention belongs to the technical field of intelligent painting equipment, and particularly relates to a painting robot which comprises a robot body, a roller brush, a liquid squeezing and conveying unit, a feature collecting unit, a posture and position adjusting unit and an intelligent control system. The intelligent control system comprises a main control board, a path planning unit and a liquid extrusion triggering unit, and the path planning unit is used for processing the position, shape, flatness and surface features of the wall body acquired by the feature acquisition unit and obstacle detection and positioning information of the robot body in the moving direction; the three-dimensional map of the painting environment is constructed to achieve advancing path planning of the robot body, the posture position adjusting unit is used for adjusting the posture of the roller brush in real time according to the advancing path of the robot body, and the liquid squeezing triggering unit is used for controlling the liquid squeezing conveying unit to coat the roller brush with paint according to the real-time posture adjusting state of the roller brush. According to the device, the wall coating uniformity can be accurately controlled, and the wall coating efficiency and the wall coating quality are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent painting equipment, and in particular relates to a painting robot. Background Art

[0002] Painting is important in many aspects of construction. It not only improves the beauty of buildings, protects buildings from external damage, and increases the functionality of walls, but also is easy to construct, environmentally friendly and non-toxic. Therefore, it is very necessary to pay attention to the painting process during construction. In order to save time and improve construction efficiency, the emergence of painting robots has become an inevitable product in the field of construction. It can effectively replace manual labor to shorten the construction cycle and complete painting tasks that are difficult to complete manually.

[0003] At present, among the many painting robot applications, based on the query of existing papers and in-depth investigation of construction sites, for example, the Engineering Research Institute of China Construction Second Engineering Bureau Co., Ltd. proposed a design analysis of an interior wall smoothing painting robot, which gave a design scheme for an interior wall smoothing puttying robot, and realized the automated plastering and smoothing operation through the flip hopper and linkage mechanism. However, when in use, the robot is limited to the specified flat wall to apply putty in a given posture. During the scraping process, it is necessary to manually control the scraping direction and angle according to the wall structure to ensure the fit between the scraper and the wall. There is a large control error, resulting in insufficient uniformity of wall coating, low painting efficiency and quality. Another example is the research on wall painting robots based on intelligent control proposed by Shandong University of Science and Technology. The robot studied is also only aimed at large-area flat walls to achieve automatic spraying, but it is also necessary to manually participate in the control of the robot during the spraying movement to adjust the position, posture and angle of the nozzle according to the wall structure, and control the fit between the nozzle and the wall. The control accuracy is low, which affects the uniformity of wall coating, and the progress and quality of painting are difficult to guarantee. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the purpose of the present invention is to provide a painting robot that can automatically adjust the posture of the roller brush according to the construction environment and wall characteristics, accurately control the fit between the roller brush and the wall, ensure the uniformity of the wall coating, and improve the efficiency and coating quality of the wall coating.

[0005] The technical solution of the present invention is:

[0006] A painting robot, comprising a robot body and a roller brush, and further comprising:

[0007] The feature acquisition unit is arranged on the robot body and is used to obtain the position, shape, flatness and surface features of the wall in real time and to detect and locate obstacles in the moving direction of the robot body;

[0008] A liquid extrusion conveying unit is installed on the robot body, the liquid extrusion conveying unit has a liquid storage chamber, the roller brush is rotatably connected to one side of the liquid outlet of the liquid storage chamber, and the liquid extrusion conveying unit is used to evenly apply the paint on the surface of the roller brush;

[0009] A posture position adjustment unit is arranged on the robot body, and an output end of the posture position adjustment unit is connected to the liquid storage chamber, and is used to adjust the brushing posture of the roller brush;

[0010] The intelligent control system includes a main control board, a path planning unit and a liquid squeezing trigger unit. The path planning unit is used to process the wall position, shape, flatness, surface features obtained by the feature acquisition unit and the obstacle detection and positioning information of the robot body in the moving direction, and construct a three-dimensional map of the painting environment to realize the travel path planning of the robot body; the main control board is used to control the posture position adjustment unit to adjust the brushing posture of the roller brush in real time during the movement of the robot body according to the travel path of the robot body; the liquid squeezing trigger unit is used to control the operation of the liquid squeezing delivery unit in real time according to the posture adjustment state of the roller brush, so as to apply paint to the surface of the roller brush.

[0011] Preferably, the posture position adjustment unit comprises:

[0012] A first steering gear, mounted on the robot body;

[0013] A second steering gear is mounted on the output shaft of the first steering gear through a first U-shaped bracket, and the output shafts of the first steering gear and the second steering gear are perpendicular;

[0014] A first connecting arm, one end of which is connected to the output shaft of the second steering gear;

[0015] a third steering gear, fixed to the other end of the first connecting arm;

[0016] a fourth steering gear, mounted on the output shaft of the third steering gear through a second U-shaped bracket, wherein the output shafts of the fourth steering gear, the second steering gear and the third steering gear are parallel to each other;

[0017] A second connecting arm has one end connected to the output shaft of the fourth steering gear and the other end connected to the squeeze liquid delivery unit.

[0018] Preferably, the squeeze liquid delivery unit comprises:

[0019] A liquid storage part, arranged on the robot body, and used for storing paint for painting;

[0020] a housing connected to an end of the second connecting arm away from the fourth steering gear, the housing being provided with a groove, the housing being provided with a liquid storage chamber on the upper side of the groove, a card slot being provided on the side wall between the liquid storage chamber and the groove, the card slot being used to realize communication between the groove and the liquid outlet of the liquid storage chamber, and the roller brush being rotatably connected in the groove;

[0021] A roller shaft is rotatably connected in the slot, and the roller shaft is parallel to and tangent to the roller brush;

[0022] The liquid pumping and conveying part is arranged between the liquid storage chamber and the liquid storage part, and is used for pumping the paint in the liquid storage part to the liquid storage chamber.

[0023] Preferably, the squeezing trigger unit comprises:

[0024] A first infrared sensor is arranged on one side of the roller brush, and is used to measure the distance data between the roller brush and the wall in real time, and feed it back to the main control board, and the main control board controls the squeeze liquid delivery unit to do preparatory work according to the distance data response;

[0025] The touch sensor is arranged on the roller brush and is used to obtain the contact information between the roller brush and the wall and feed it back to the main control board. The main control board controls the extrusion liquid conveying unit to apply the paint to the roller brush in response to the contact information.

[0026] Preferably, the feature acquisition unit comprises:

[0027] The wall feature acquisition component includes a plurality of first distance acquisition modules, a laser scanner and a first image acquisition module distributed around the roller brush, and is used to obtain the distance from the roller brush to the wall and the shape, flatness and surface features of the wall in real time;

[0028] The environmental feature acquisition component includes a second distance acquisition module and a second image acquisition module distributed on the robot body, which are used for real-time obstacle detection and positioning in the moving direction of the robot body.

[0029] Preferably, the first distance acquisition module includes a second infrared sensor arranged on the other side of the roller brush, and the second infrared sensor and the first infrared sensor are symmetrically arranged at both ends of the roller brush, and the second infrared sensor is used to obtain the distance from the other end of the roller brush to the wall in real time and feed it back to the main control board in real time. The main control board processes the data of the second infrared sensor and the first infrared sensor to monitor the distance from the roller brush to the wall and the parallelism of the roller brush to the wall in real time.

[0030] Preferably, the first image acquisition module includes a monocular camera, which is installed on one side of the roller brush and is used to acquire the wall image in the moving direction of the roller brush in real time during its movement, so as to realize the acquisition of wall surface features.

[0031] Preferably, the second distance acquisition module includes an ultrasonic sensor, which is installed on one side of the moving direction of the robot body and is used for real-time detection of obstacle information in the moving direction of the robot body and real-time positioning of the obstacle.

[0032] Preferably, the second image acquisition module includes a binocular camera, which is mounted on the robot body and consistent with the monitoring direction of the ultrasonic sensor, and is used to obtain the shape and size of obstacles in the moving direction of the robot body.

[0033] Preferably, the liquid storage chamber is provided with a paint detector, which is electrically connected to the main control board. The paint detector is used to monitor the amount of paint in the liquid storage chamber in real time and feed back to the main control board to control the operation of the servo and the robot body.

[0034] Preferably, the path planning unit includes:

[0035] A feature collection and storage module is used to collect and store the point cloud data of the spatial three-dimensional coordinates collected by the second infrared sensor and the ultrasonic sensor and the image information collected by the monocular camera and the binocular camera;

[0036] The optimization calibration module uses the Kalman filter algorithm to perform noise reduction and calibration processing on the point cloud data of the spatial three-dimensional coordinates collected by the second infrared sensor and the ultrasonic sensor to form standard point cloud data of the spatial three-dimensional coordinates;

[0037] The three-dimensional map construction module combines the point cloud data of the standard three-dimensional spatial coordinates with the image information collected by the feature collection and storage module to form a three-dimensional coordinate point cloud image and construct a three-dimensional map of the painting environment;

[0038] The information correlation evaluation module converts the point cloud data of the standard three-dimensional spatial coordinates into observation vectors, and then associates each observation vector with the state vector through the observation matrix to obtain the contribution of the second infrared sensor or ultrasonic sensor corresponding to each point cloud data in the three-dimensional spatial coordinates;

[0039] The path generation module adopts the weighted average fusion method to fuse the contribution of the second infrared sensor or ultrasonic sensor corresponding to each point cloud data, and plans the travel path of the robot body.

[0040] Compared with the prior art, the painting robot of the present invention has the following beneficial effects:

[0041] When the device is painting the wall, the feature acquisition unit is used to obtain the position, shape, flatness and surface features of the wall in real time, and the obstacle positioning information of the robot body in the moving direction is obtained at the same time. The path planning unit can independently build a three-dimensional map of the painting environment and plan the robot body's travel path by processing the collected information. Then, the main control board can control the posture position adjustment unit in real time to adjust the roller brush's posture during the robot body's movement process according to the robot body's travel path generated by the path planning unit, so as to ensure that the roller brush can be painted on the wall. It can adapt to the structural characteristics of the wall, and then the extrusion trigger unit is used to control the operation of the extrusion conveying unit in real time according to the posture adjustment state of the roller brush, and coat the surface of the roller brush with paint to control the coordinated movement of the extrusion conveying unit and the roller brush, so as to control the liquid discharge speed and liquid discharge amount of the paint, and ensure the uniformity of the paint on the roller brush. Therefore, with the mutual cooperation of various components, the adaptability of the device to the environment can be effectively improved, so that the device can automatically adjust the posture of the roller brush according to the construction environment and wall characteristics, accurately control the fit between the roller brush and the wall, ensure the uniformity of the wall coating, and improve the efficiency and coating quality of the wall coating. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A top view of the overall structure in an embodiment of the present invention;

[0043] Figure 2 A three-dimensional diagram of the overall structure in an embodiment of the present invention;

[0044] Figure 3 It is a left view of the overall structure in the embodiment of the present invention;

[0045] Figure 4 Schematic diagram of the structure of the posture position adjustment unit in an embodiment of the present invention;

[0046] Figure 5 It is a structural schematic diagram of a housing in an embodiment of the present invention;

[0047] Figure 6 It is a schematic diagram of the explosion structure of the shell in an embodiment of the present invention;

[0048] Figure 7 A flowchart of environment perception and route planning of multi-sensor fusion in an embodiment of the present invention;

[0049] Figure 8 A flowchart of constructing a three-dimensional map in an embodiment of the present invention;

[0050] Fig. 9 This is an overall flow chart of the operation of the robot body in an embodiment of the present invention;

[0051] Fig.104 is an overview diagram of the Dijkstra algorithm in an embodiment of the present invention.

[0052] Description of reference numerals:

[0053] 1. Robot body; 2. Roller brush; 3. Liquid extrusion and delivery unit; 31. Liquid storage unit; 32. Liquid extraction and delivery unit; 33. Shell; 34. Roller shaft; 35. Card slot; 4. Main control board; 5. First infrared sensor; 6. Second infrared sensor; 7. Laser scanner; 8. Monocular camera; 9. Ultrasonic sensor; 10. Binocular camera; 11. First servo; 12. Second servo; 13. First U-shaped bracket; 14. First connecting arm; 15. Third servo; 16. Fourth servo; 17. Second U-shaped bracket; 18. Second connecting arm; 19. Mecanum wheel. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0055] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0056] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0057] See also Figures 1 to 6As shown, in order to better adapt to the complex construction environment and complex wall features, the coating uniformity of the roller brush 2 on the wall is accurately controlled to improve the efficiency and coating quality of the wall coating. This embodiment provides a painting robot, including a robot body 1 and a roller brush 2. The moving wheel of the robot body 1 adopts a Mecanum wheel 19, which is convenient for the overall omnidirectional mobility of the equipment and the sufficient bearing capacity of the bottom. The device also includes a liquid extrusion conveying unit 3, a feature acquisition unit, a posture position adjustment unit and an intelligent control system. The liquid extrusion conveying unit 3 is installed on the robot body 1, and the roller brush 2 is rotatably connected to the output end of the liquid extrusion conveying unit 3. The liquid extrusion conveying unit 3 is used to evenly apply the paint on the roller brush 2; the feature acquisition unit includes a wall feature acquisition component and an environmental feature acquisition component. The wall feature acquisition component includes a plurality of first distance acquisition modules, a size scanning module and a first image acquisition module distributed on the side of the roller brush 2, which are used to obtain the position, shape, flatness and surface features of the wall in real time; the environmental feature acquisition component is installed on the robot body 1, including a second distance acquisition module and a second image acquisition module, which are used to obtain obstacle detection and positioning in the moving direction of the robot body 1 in real time; the intelligent control The control system includes a main control board 4, a path planning unit and a liquid squeezing trigger unit. The path planning unit is used to process the wall position, shape, flatness, surface features obtained by the feature acquisition unit and the obstacle detection and positioning information of the robot body 1 in the moving direction, and construct a three-dimensional map of the painting environment to realize the travel path planning of the robot body 1; the main control board 4 is used to control the posture position adjustment unit to adjust the brushing posture of the roller brush 2 in real time during the movement of the robot body 1 according to the travel path of the robot body 1, and the liquid squeezing trigger unit is used to control the operation of the liquid squeezing delivery unit 3 in real time according to the posture adjustment state of the roller brush 2, so as to apply paint to the surface of the roller brush 2.

[0058] Specifically, in the present solution, the painting robot can, under the action of the main control board 4, realize information interaction among the liquid squeezing and conveying unit 3, the wall feature acquisition component, the environmental feature acquisition component, the path planning unit, the posture position adjustment unit and the liquid squeezing trigger unit during the wall coating work, and utilize the multiple first distance acquisition modules, the size scanning module and the first image acquisition module of the wall feature acquisition component to obtain the position, shape and surface features of the wall in real time, and the obstacle positioning information feedback of the robot body 1 in the moving direction obtained in real time by the second distance acquisition module and the second image acquisition module of the environmental feature acquisition component, so that the path planning unit can autonomously realize A three-dimensional map of the painting environment is constructed and the robot body's travel path is planned. Then, the main control board can use the posture position adjustment unit to control the roller brush 2 to adjust its posture in real time during the wall coating process according to the robot body's travel path generated by the path planning unit, to ensure that the roller brush 2 can adapt to the structural characteristics of the wall during the wall coating process. Then, the liquid extrusion trigger unit uses the movement information of the robot body 1 and the wall feature information to control the coordinated movement of the liquid extrusion delivery unit 3 and the roller brush 2, so as to control the liquid discharge speed and liquid discharge amount of the paint, to ensure the uniformity of the paint on the roller brush 2, so as to accurately control the uniform coating of the wall and effectively improve the efficiency and coating quality of the wall coating.

[0059] See also Figure 2 , Figure 5 and Figure 6As shown, further, in order to improve the uniformity of the painting coating. The extrusion and delivery unit 3 includes a liquid storage part 31, a liquid extraction and delivery part 32, a shell 33, and a roller 34. Specifically, the liquid storage part 31 is installed on the robot body 1. The liquid storage part 31 is mainly composed of a mixing barrel and an automatic stirring structure arranged inside the mixing barrel. The mixing barrel can store the paint required in the painting process, and the automatic stirring structure can continuously stir the paint in the mixing barrel, so that the various raw materials in the mixing barrel are fully mixed. The core component structure of the liquid extraction and delivery part 32 is a pump body and a delivery pipe, and the control end of the pump body is electrically connected to the main control board 4. The main body of the housing 33 is a box with a groove, which is matched with the length of the roller brush 2. The roller brush 2 is rotatably installed in the groove and one side of the roller brush 2 protrudes the groove, and a liquid storage chamber is arranged on the upper side of the groove. The feed port of the pump body is connected with the mixing barrel, and the discharge port of the pump body is connected with the liquid storage chamber through the delivery pipe. A card slot 35 is opened on the side wall between the liquid storage chamber and the groove, and the card slot 35 is connected with the liquid outlet of the liquid storage chamber, and a roller shaft 34 is arranged in the card slot 35, and the roller shaft 34 is parallel to and tangent to the roller brush 2, and the roller shaft 34 rotates in the card slot 35. The length of the card slot 35, the length of the liquid outlet of the liquid storage chamber and the length of the roller shaft 34 are matched, and the actual length of the roller shaft 34 is slightly larger than the length of the roller brush 2. When in use, the pump body injects the paint in the mixing barrel into the liquid storage chamber through the delivery pipe. Under the action of gravity, the paint in the liquid storage chamber passes through the card slot 35 to initially coat the paint on the roller shaft 34. During the rotation of the roller brush 2, the roller shaft 34 is subjected to friction and rotates together with the roller brush 2, so that the paint on the roller shaft 34 is transferred and evenly coated on the roller brush 2. Preferably, in order to enable the roller shaft 34 and the roller brush 2 to maintain stable synchronous rotation, the two can also be connected by a gear set. Furthermore, a paint detector is also provided in the liquid storage chamber, and the paint detector is electrically connected to the main control board 4. The paint detector is used to monitor the amount of paint in the liquid storage chamber in real time, and feed back to the main control board 4 to control the operation of the servo and the robot body 1.

[0060] See also Figure 1 and Figure 2 As shown, further, in order to ensure the uniformity of the painting. The liquid squeezing trigger unit includes a first infrared sensor 5 and a touch sensor. The first infrared sensor 5 is arranged on one side of the roller brush 2 and fixedly installed with the shell 33, and is used to measure the distance data between the roller brush 2 and the wall in real time, and feed it back to the main control board 4. The main control board 4 controls the liquid squeezing delivery unit 3 to do preparatory work through the distance data response; the touch sensor is arranged on the roller brush 2, and is used to obtain the contact information between the roller brush 2 and the wall, and feed it back to the main control board 4. The main control board 4 controls the liquid squeezing delivery unit 3 to apply the paint to the roller brush 2 through the contact information response.

[0061] See also Figure 1 and Figure 2As shown, further, in order to ensure the uniformity of painting. The first distance acquisition module includes a second infrared sensor 6 arranged on one side of the roller brush 2, and the second infrared sensor 6 and the first infrared sensor 5 are symmetrically arranged at both ends of the roller brush 2, for real-time acquisition of the distance from the roller brush 2 to the wall and the parallel state of the roller brush 2 and the wall. Then, the main control board 4 uses the detection data of the first infrared sensor 5 and the second infrared sensor 6 to facilitate real-time monitoring of the distance from the roller brush 2 to the wall and the parallelism of the roller brush 2 and the wall, so as to facilitate the control of the parallelism of the roller brush 2 and the wall during the painting process, maintain the fit between the roller brush 2 and the wall in accordance with the painting requirements, ensure the stability of the thickness of the paint, and maintain a uniform coating effect.

[0062] See also Figure 2 and Figure 3 As shown, further, the size scanning module includes a laser scanner 7, which is installed on one side of the roller brush 2 and fixed to the shell 33, and is used to scan the wall in real time to monitor the shape and flatness of the wall.

[0063] See also Figure 2 As shown, further, the first image acquisition module includes a monocular camera 8, which is installed on one side of the roller brush 2 and is used to acquire the wall image in the moving direction of the roller brush 2 in real time during its movement, so as to realize the acquisition of wall surface features.

[0064] See also Figure 2 and Figure 3 As shown, further, the second distance acquisition module includes an ultrasonic sensor 9, which is installed on one side of the moving direction of the robot body 1 and is used for real-time detection of obstacle information in the moving direction of the robot body 1 and real-time positioning of the obstacle.

[0065] See also Figure 2 and Figure 3 As shown, further, the second image acquisition module includes a binocular camera 10, which is installed on the robot body 1 and is consistent with the monitoring direction of the ultrasonic sensor 9. The binocular camera 10 is used to obtain the shape and size of obstacles in the moving direction of the robot body 1.

[0066] See also Figure 3 and Figure 4As shown, further, the attitude position adjustment unit includes a first servo 11, a second servo 12, a first connecting arm 14, a third servo 15, a fourth servo 16 and a second connecting arm 18. The first servo 11 is fixedly mounted on the robot body 1 through a servo seat; the second servo 12 is mounted at the output end of the first servo 11 through a first U-shaped bracket 13, and the rotation directions of the first servo 11 and the second servo 12 are perpendicular; one end of the first connecting arm 14 is connected to the output end of the second servo 12, and the other end is mounted with the third servo 15. The fourth servo 16 is mounted at the output end of the third servo 15 through a second U-shaped bracket 17, and the rotation directions of the fourth servo 16, the second servo 12 and the third servo 15 are parallel; one end of the second connecting arm 18 is connected to the output end of the fourth servo 16, and the other end is fixedly connected to the housing 33. Preferably, the first connecting arm 14 and the second connecting arm 18 are both composed of two parallel and oppositely arranged metal rods.

[0067] See also Figures 7 and 8 As shown, in practical applications, the binocular camera 10 and the ultrasonic sensor 9, as the currently widely used environmental perception sensors, can cooperate well with the robot body 1 and provide rich environmental information for the operation of the robot body 1. The ultrasonic sensor 9 has a high measurement accuracy, can realize high-precision measurement perception of the environment, and can accurately obtain the specific distance and position information of objects in the environment; the binocular camera 10 can obtain the depth information and texture of the object, and can provide the robot with more accurate, detailed and comprehensive visual information. Therefore, the deep fusion of the binocular camera 10 and the ultrasonic sensor 9 can make full use of the advantages of the two devices to achieve comprehensive depth recognition perception of the environment. Thus, the point cloud data of the spatial three-dimensional coordinates of the construction environment can be obtained through the ultrasonic sensor 9 and the second infrared sensor 6 matched therewith, and the image information of the construction environment can be obtained through the binocular camera 10 and the monocular camera 8 and its corresponding laser scanner 7. The point cloud data of the spatial three-dimensional coordinates and the image information are combined to form a high-precision three-dimensional coordinate point cloud image, which can achieve high-precision positioning of the construction environment and the wall environment. The image can not only show the shape of the object but also the position of the object and the depth information of the object, which enables the robot to quickly perceive and identify the environment and objects in the environment, so that the robot body 1 can build a map and autonomously plan the route based on the existing information. When performing environmental perception, the Kalman filter algorithm is used for the collaborative work of multiple sensors to convert the measurement values ​​of each sensor into an observation vector, and then the observation vector of each sensor is associated with the state vector through the observation matrix to obtain the contribution of each sensor. Finally, the contribution of each sensor is fused through the weighted fusion average method, so as to perform deep perception of the environment, ensure that the robot body moves on the planned path, and enable the roller brush 2 to better fit the wall during adjustment, thereby improving the painting accuracy.

[0068] See also Figures 7 to 9 As shown, based on the above path planning principle, the path planning unit is effectively designed in the intelligent control system. Specifically, the path planning unit includes: a feature collection and storage module, an optimization and calibration module, a three-dimensional map construction module, an information correlation evaluation module and a path generation module. The feature collection and storage module is used to collect and store the point cloud data of the spatial three-dimensional coordinates collected by the second infrared sensor 6 and the ultrasonic sensor 9 and the image information collected by the monocular camera 8 and the binocular camera 10; the optimization and calibration module uses the Kalman filter algorithm to perform noise reduction and calibration processing on the point cloud data of the spatial three-dimensional coordinates collected by the second infrared sensor 6 and the ultrasonic sensor 9 collected by the feature collection and storage module to form standard point cloud data of spatial three-dimensional coordinates; the three-dimensional map construction module combines the point cloud data of the standard spatial three-dimensional coordinates after noise reduction and calibration processing with the image information collected by the feature collection and storage module to form a three-dimensional coordinate point cloud image, and constructs a three-dimensional map of the painting environment; the information correlation evaluation module converts the point cloud data of the standard spatial three-dimensional coordinates after noise reduction and calibration processing into observation vectors in the Kalman filter algorithm, and then associates each observation vector with the state vector through the observation matrix to obtain the contribution of the second infrared sensor 6 or ultrasonic sensor 9 corresponding to each point cloud data in the standard spatial three-dimensional coordinates; the path generation module adopts the weighted average fusion method to fuse the contribution of the second infrared sensor 6 or ultrasonic sensor 9 corresponding to each point cloud data, and plans the travel path of the robot body 1.

[0069] Specifically, the following describes the three-dimensional modeling and path planning of the environment by combining the imaging of the binocular camera 10 and the ranging of the ultrasonic sensor 9.

[0070] like Figure 8 As shown, first, the binocular camera 10 uses the parallax of the left and right images to calculate the depth information and obtain three-dimensional information based on the triangulation principle. Its working principle is to shoot the same scene with two cameras and use the parallax to calculate the depth information of the target object. The formula is as follows:

[0071] Z=B*f / d

[0072] Where: Z is the actual distance between the target object and the binocular camera, B is the baseline length between the left and right lenses of the binocular camera, f is the focal length of the lens of the binocular camera, and d is the pixel displacement difference of the corresponding points of the target object in the two images.

[0073] Secondly, the ultrasonic sensor 9 measures the distance to the obstacle by transmitting and receiving ultrasonic pulses using the sound speed and time difference formula. Its working principle is based on the propagation characteristics of sound waves and calculates the time difference from the transmission to the reception of the sound waves. The formula is as follows:

[0074] T=S / V

[0075] Wherein: S is the distance from the ultrasonic sensor 9 to the target object, V is the speed of sound (about 340 m / s), and T is the round-trip time.

[0076] Subsequently, the system uses the Kalman filter algorithm to fuse the data of the binocular camera 10 and the ultrasonic sensor 9 to eliminate noise and errors and improve the accuracy of the position information. The Kalman filter algorithm is a linear optimal estimation algorithm that continuously optimizes the state estimation through a two-step cycle of prediction and update. The relevant formula is as follows:

[0077] Status prediction: ,

[0079] in, is the predicted value of the state at time k (given the state at time k-1); A is the state transition matrix, which describes how the state of the system is transferred from time k-1 to time k; is the state estimate at time k-1; B is the control input matrix, u k-1 It is the control input quantity, such as external signal.

[0080] Covariance prediction: P k|k-1 =AP k-1|k-1 A T +Q,

[0081] Among them, P k|k-1 is the covariance matrix of the state prediction at time k (indicating the uncertainty of the estimate); P k-1|k-1 is the state estimation covariance matrix at time k-1; A T is the transpose of the state matrix A; Q is the process noise covariance matrix, representing the uncertainty or error in the system dynamics.

[0082] Kalman gain: K k =P k|k-1 H T (HP k|k-1 H T +R) -1 ,

[0083] Among them, K k is the Kalman gain, which determines the weights of the predicted and measured values; H is the observation matrix, which maps the system state to the observation space; H T The measurement matrix H is transformed to, R is the covariance matrix of the observation noise, which represents the uncertainty in the measurement process.

[0084] Update status:

[0085] in, is the updated state estimate at time k; zk is the observed value (measurement result) at time k; is the expected observed value based on the predicted state and the observed model.

[0086] Update covariance: P k|k =(IK k H)P k|k-1 ,

[0087] Among them, P k|k is the updated state covariance matrix, which represents the uncertainty of the current state estimate, and I is the identity matrix, which ensures that the covariance matrix is ​​updated correctly.

[0088] After data fusion, the system converts spatial information into a three-dimensional coordinate point cloud image to display a high-precision three-dimensional environment model. Point cloud data describes spatial objects through three-dimensional coordinates (X, Y, Z) and attribute information (such as color, intensity).

[0089] Finally, based on the generated point cloud, Fig. 9 As shown, the Xianli weighted average fusion algorithm fuses the contribution of each point cloud data, and then uses A* (heuristic search algorithm) or Dijkstra (an algorithm used to solve the shortest path from a node to all other nodes in a weighted directed graph) algorithm for path planning. Fig.10 This is an overview diagram of Dijkstra's algorithm.

[0090] Among them, the corresponding weighted average fusion algorithm formula in the weighted average fusion method is as follows:

[0091]

[0092] In the formula, x 1 、x 2 、x 3 ...x k are the contributions of the second infrared sensor 6 and the ultrasonic sensor 9, respectively. 1 、f 2 、f 3 ...f k are the weights of the contributions of the second infrared sensors 6 and the ultrasonic sensors 9, respectively. It is the sum of weights applied to each second infrared sensor 6 and ultrasonic sensor 9. The value range of k and i is 1, 2, 3, ...

[0093] Through this series of steps, the system achieves high-precision perception and intelligent path planning of complex environments.

[0094] Furthermore, when the robot body 1 moves based on the planned path, when the roller brush 2 approaches the wall, the first infrared sensor 5 responds, and the liquid squeezing and conveying unit 3 starts to squeeze and convey the liquid according to the response data. When the presence of paint liquid in the liquid storage chamber is detected, the roller brush 2 is brought into contact with the wall through the cooperation of the robot body 1 and the servo; after the roller brush 2 contacts the wall, the touch sensor responds and feeds back to the main control board 4, and the main control board 4 communicates with the liquid squeezing and conveying unit 3 to evenly apply the paint liquid to the roller brush 2; at the same time, after the touch sensor responds, it also communicates with the robot body 1 through the main control board 4. After obtaining the information feedback, the robot body 1 will move according to the specified route, so that the roller brush 2 can paint the wall; after completing the specified route, the robot body 1, the roller brush 2 and the liquid squeezing and conveying unit 3 communicate to stop moving and restore to the initial state. Therefore, through the cooperation of the path planning unit, the main control board 4 and the liquid extrusion trigger unit in the intelligent control system, the posture and position of the roller brush 2 can be accurately adjusted in real time during the movement of the robot body 1, ensuring that the roller brush 2 can maintain a high-precision and stable fit with the wall surface, thereby improving the uniformity of the wall coating and ensuring that the coating quality meets the standards.

[0095] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A painting robot, comprising a robot body (1) and a roller brush (2), characterized in that: Also includes: A feature acquisition unit is arranged on the robot body (1) and is used to obtain the position, shape, flatness and surface features of the wall in real time and to detect and locate obstacles in the moving direction of the robot body (1); A liquid extrusion conveying unit (3) is mounted on the robot body (1), the liquid extrusion conveying unit (3) having a liquid storage chamber, the roller brush (2) being rotatably connected to one side of a liquid outlet of the liquid storage chamber, and the liquid extrusion conveying unit (3) being used to evenly coat the paint on the surface of the roller brush (2); A posture position adjustment unit is arranged on the robot body (1), the output end of the posture position adjustment unit is connected to the liquid storage chamber, and is used to adjust the brushing posture of the roller brush (2); An intelligent control system comprises a main control panel (4), a path planning unit and a liquid squeezing trigger unit, wherein the path planning unit is used to process the position, shape, flatness and surface features of a wall acquired by a feature acquisition unit and the obstacle detection and positioning information acquired in the moving direction of a robot body (1), so as to construct a three-dimensional map of a painting environment to realize the travel path planning of the robot body (1); the main control panel (4) is used to control the posture position adjustment unit to adjust the painting posture of a roller brush (2) in real time during the travel of the robot body (1) according to the travel path of the robot body (1); and the liquid squeezing trigger unit is used to control the operation of the liquid squeezing delivery unit (3) in real time according to the posture adjustment state of the roller brush (2) to apply paint to the surface of the roller brush (2).

2. A painting robot according to claim 1, characterized in that: The attitude position adjustment unit includes: A first steering gear (11) is mounted on the robot body (1); A second steering gear (12) is mounted on the output shaft of the first steering gear (11) via a first U-shaped bracket (13), and the output shafts of the first steering gear (11) and the second steering gear (12) are perpendicular; A first connecting arm (14), one end of which is connected to the output shaft of the second steering gear (12); A third steering gear (15) is fixed to the other end of the first connecting arm (14); A fourth steering gear (16) is mounted on the output shaft of the third steering gear (15) through a second U-shaped bracket (17), and the output shafts of the fourth steering gear (16), the second steering gear (12) and the third steering gear (15) are parallel to each other; A second connecting arm (18) has one end connected to the output shaft of the fourth steering gear (16) and the other end connected to the squeeze liquid delivery unit (3).

3. A painting robot according to claim 2, characterized in that: The squeeze liquid delivery unit (3) comprises: A liquid storage portion (31) is arranged on the robot body (1), and the liquid storage portion (31) is used to store paint for painting; A shell (33) is connected to an end of the second connecting arm (18) away from the fourth steering gear (16); a groove is provided on the shell (33); the liquid storage chamber is fixed on the shell (33) and is located on the upper side of the groove; a card groove (35) is provided on the side wall between the liquid storage chamber and the groove; the card groove (35) is used to achieve communication between the groove and the liquid outlet of the liquid storage chamber; and the roller brush (2) is rotatably connected in the groove; A roller shaft (34) is rotatably connected in the slot (35), and the roller shaft (34) is parallel to and tangent to the roller brush (2); The liquid pumping and conveying part (32) is arranged between the liquid storage chamber and the liquid storage part (31) and is used to pump the paint in the liquid storage part (31) to the liquid storage chamber.

4. A painting robot according to claim 1, characterized in that: The squeezing trigger unit comprises: A first infrared sensor (5) is arranged on one side of the roller brush (2) and is used to measure the distance data between the roller brush (2) and the wall in real time and feed it back to the main control board (4). The main control board (4) controls the squeeze liquid delivery unit (3) to perform preparatory work in response to the distance data; A touch sensor is arranged on the roller brush (2) and is used to obtain contact information between the roller brush (2) and the wall and feed it back to the main control board (4). The main control board (4) controls the extrusion liquid delivery unit (3) to apply paint to the roller brush (2) in response to the contact information.

5. A painting robot according to claim 4, characterized in that: The feature acquisition unit comprises: A wall feature acquisition component, comprising a plurality of first distance acquisition modules distributed around the roller brush (2), a laser scanner (7) and a first image acquisition module, for acquiring the distance from the roller brush to the wall and the shape, flatness and surface features of the wall in real time; The environmental feature acquisition component comprises a second distance acquisition module and a second image acquisition module distributed on the robot body (1), and is used for real-time acquisition of obstacle detection and positioning in the moving direction of the robot body (1).

6. A painting robot according to claim 5, characterized in that: The first distance acquisition module comprises a second infrared sensor (6) arranged on the other side of the roller brush (2), and the second infrared sensor (6) and the first infrared sensor (5) are symmetrically arranged at the two ends of the roller brush (2), the second infrared sensor (6) is used to obtain the distance from the other end of the roller brush (2) to the wall in real time and feed it back to the main control board (4) in real time, and the main control board (4) processes the data of the second infrared sensor (6) and the first infrared sensor (5) to monitor the distance from the roller brush (2) to the wall and the parallelism between the roller brush (2) and the wall in real time.

7. A painting robot according to claim 6, characterized in that: The first image acquisition module comprises a monocular camera (8), which is mounted on one side of the roller brush (2) and is used to acquire a real-time image of the wall in the moving direction of the roller brush (2) during its movement, thereby acquiring the surface features of the wall.

8. A painting robot according to claim 7, characterized in that: The second distance acquisition module comprises an ultrasonic sensor (9), which is installed on one side of the moving direction of the robot body (1) and is used for real-time detection of obstacle information in the moving direction of the robot body (1) and real-time positioning of the obstacle.

9. A painting robot according to claim 8, characterized in that: The second image acquisition module comprises a binocular camera (10), wherein the binocular camera (10) is mounted on the robot body (1) and is consistent with the monitoring direction of the ultrasonic sensor (9), and the binocular camera (10) is used to obtain the shape and size of obstacles in the moving direction of the robot body (1).

10. A painting robot according to claim 9, characterized in that: The path planning unit comprises: A feature collection and storage module, used for collecting and storing point cloud data of spatial three-dimensional coordinates collected by the second infrared sensor (6) and the ultrasonic sensor (9) and image information collected by the monocular camera (8) and the binocular camera (10); An optimization calibration module uses a Kalman filter algorithm to perform noise reduction and calibration processing on the point cloud data of the three-dimensional spatial coordinates collected by the second infrared sensor (6) and the ultrasonic sensor (9), so as to form standard point cloud data of the three-dimensional spatial coordinates; The three-dimensional map construction module combines the point cloud data of the standard three-dimensional spatial coordinates with the image information collected by the feature collection and storage module to form a three-dimensional coordinate point cloud image and construct a three-dimensional map of the painting environment; An information correlation evaluation module converts the point cloud data of the standard three-dimensional spatial coordinates into an observation vector, and then associates each observation vector with the state vector through an observation matrix to obtain the contribution of the second infrared sensor (6) or the ultrasonic sensor (9) corresponding to each point cloud data in the three-dimensional spatial coordinates; The path generation module adopts a weighted average fusion method to fuse the contribution of the second infrared sensor (6) or the ultrasonic sensor (9) corresponding to each point cloud data, and plans the travel path of the robot body (1).

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