Wall surface spraying robot for power substation and intelligent control system of wall surface spraying robot

Abstract

The invention discloses a wall surface spraying robot for a power substation and an intelligent control system of the wall surface spraying robot, and belongs to the technical field of wall surface spraying. The intelligent control system comprises a base, a threaded rod used for transmission is arranged at the upper end of the base, a mechanical arm is arranged at the front end of the exterior of the threaded rod, a spraying assembly is arranged at the front end of the mechanical arm, and first supports are arranged at the upper end and the lower end of one side of the exterior of the base. The problem that according to an existing wall surface spraying robot, after spraying, equipment only moves transversely and conducts subsequent spraying, and the wall surface spraying effect is affected is solved, a second fixing plate is fixed to one side of the initial spraying position, dustproof cloth wraps the spraying position through transverse pulling of a base, foreign matter is prevented from making contact with the spraying position, and the spraying effect is improved. And the spraying solidification effect is improved.

Description

Technical Field

[0001] The invention relates to the technical field of wall spraying, and in particular to a wall spraying robot for a power substation and an intelligent control system thereof. Background Art

[0002] The wall spraying machine for power substations is a device specially used for wall painting operations in power substations. It can efficiently and evenly spray anti-corrosion, insulating or other special functional coatings on the substation walls to improve the durability and safety of the walls. The machine usually has high-pressure airless spraying technology to ensure that the paint penetrates into the tiny pores of the wall to form a solid coating. At the same time, its automated operation reduces manual intervention and improves construction efficiency and quality.

[0003] A Chinese patent with publication number CN219863864U discloses a wall spraying robot, including a mobile chassis, a lifting mechanism, a spraying adjustment mechanism and a spraying assembly. The lifting mechanism is arranged on the mobile chassis, the spraying adjustment mechanism is arranged at the front end of the lifting mechanism and can be rotated and folded relative to the lifting mechanism, and the spraying assembly is arranged on the spraying adjustment mechanism. By arranging the spraying adjustment mechanism at the front end of the lifting mechanism and making it rotatable and foldable relative to the lifting mechanism, the volume of the wall spraying robot in a non-operating state is greatly reduced without reducing the operating coverage area, which facilitates the wall spraying robot to enter and exit the room and is convenient for transportation.

[0004] During the spraying process, the wall spraying robot of the above patent has no protective structure for the wall part after spraying. After spraying, the equipment only moves horizontally and performs subsequent spraying. It does not wrap the spraying position and provide high-speed air flow, which cannot make the spraying position solidify efficiently. Without wrapping, foreign matter will stick to the spraying position, affecting the spraying effect of the wall. Summary of the invention

[0005] The object of the present invention is to provide a wall spraying robot for an electric power substation and its intelligent control system, which is fixed to one side of an initial spraying position by a second fixed plate, and the dustproof cloth is wrapped around the spraying position by lateral pulling of the base to prevent foreign matter from contacting the spraying position. At the same time, it is gradually pulled out by the fixed frame so that the gas exhausted from the inside of the fixed frame can fully contact the spraying position, thereby improving the spray solidification effect and solving the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a wall spraying robot for a power substation and an intelligent control system thereof, comprising a base, a threaded rod for transmission is arranged at the upper end of the base, a mechanical arm is arranged at the front end of the outside of the threaded rod, a spraying assembly is arranged at the front end of the mechanical arm, a first bracket is arranged at the upper and lower ends of one side of the outside of the base, a first fixed plate rotatably connected by a connecting shaft is arranged in the middle of one side of the outside of the base, a second fixed plate is vertically arranged at one end of the first fixed plate, a suction cup connected by a telescopic rod is arranged at the lower end of the second fixed plate, a fixing frame is evenly distributed longitudinally inside the first fixing plate, a guide plate is arranged at the front end of the fixing frame, after the first fixing plate and the second fixing plate are driven to rotate with the connecting shaft as the center of the circle, the direction of the wrapping plate is adjusted, and after the direction of the wrapping plate is adjusted, the suction cup is adsorbed on the ground and fixed, and subsequently does not move with the movement of the base, and the second fixing plate adsorbed by the suction cup pulls the fixing frame to gradually extend out of the first fixing plate.

[0007] Preferably, the guide plate is welded and fixed to both sides of the middle position of the front end of the fixed frame by connecting strips, and a second fan is horizontally arranged inside the fixed frame. The gas exhausted by the second fan is divided by the connecting strips, and the divided air flow is guided by the guide plate and then flows vertically upward and downward, fully contacting the spraying position.

[0008] Preferably, the fixing frame in the bottom row is fixedly connected to the outer wall of the second fixing plate on one side close to the second fixing plate by bolts, and the fixing frame in the top row is fixedly connected to the outer wall of the first fixing plate on one side close to the first fixing plate by bolts. The bolted connection is combined with the fixation of the second fixing plate so that the base can pull the connected fixing frame after moving horizontally.

[0009] Preferably, except for the lowermost row, the lower ends of the fixed frames are welded with protruding sliding blocks, and except for the uppermost row, the upper ends of the fixed frames are provided with recessed sliding rails, and the sliding blocks are embedded in the sliding rails and slidably connected to the sliding rails. After the connected fixed frames are pulled by the second fixed plate, the subsequent fixed frames are gradually pulled out, so that the fixed frames can be fully distributed in the spraying positions.

[0010] Preferably, a connecting rod is provided at the rear end of the base, and a pair of second brackets are longitudinally provided at the rear end of the second fixing plate, a connecting column is rotatably connected between the two second brackets, and a dustproof cloth is provided around the outside of the connecting column, with both ends fixed to the outer walls of the connecting column and the connecting rod by bolts. The lateral movement of the base pulls the dustproof cloth through the connecting rod, so that the dustproof cloth is wrapped around the spraying position to prevent external foreign matter from contacting the spraying position.

[0011] Preferably, the lower end of the connecting column passes through the second bracket, and the part of the connecting column that passes through the second bracket is spirally provided with a spring coil whose two ends are respectively welded and fixed to the second bracket and the connecting column. The resilience of the spring coil actively makes the dustproof cloth tightly wrapped around the connecting column, and the resilience of the spring coil also facilitates the storage of the dustproof cloth.

[0012] Preferably, a filter is provided at the air inlet position at the rear end of the second fan, and the filter prevents foreign matter from being contained in the gas extracted by the second fan, thereby preventing the foreign matter from being blown onto the wall of the spraying position.

[0013] The present invention provides another technical solution: an intelligent control system for a wall spraying robot for a power substation, which also includes an intelligent control system:

[0014] Sensor module: The sensor module is installed at one end of the spray assembly and is responsible for collecting various information about the robot's surroundings and providing data basis for other modules;

[0015] Path planning module: plans the robot's optimal spraying path based on the wall information obtained by the sensor module;

[0016] Spraying control module: used to control the specific operation of spraying to ensure that the spraying quality meets the requirements;

[0017] Learning module: study and analyze the previous spraying work data and continuously optimize the spraying strategy;

[0018] Paint remaining monitoring module: installed in the paint storage container, monitors the remaining amount of paint in real time, and ensures timely reminder to refill when the paint is about to run out;

[0019] Communication module: used to realize information exchange between the robot and external equipment, facilitating remote monitoring and the working status of the spraying robot.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The first fixing plate of the present invention drives the second fixing plate to rotate and be stored on one side of the outside of the base with the connecting axis as the center. When the equipment is not in use, it is folded to reduce the floor space of the equipment. When the mechanical arm drives the spraying assembly to spray, the first fixing plate and the second fixing plate are rotated and unfolded to make the wrapping plate parallel to the wall. The second fixing plate is fixed to the initial spraying position of the wall through the adsorption of the suction cup. As the roller inside the base moves, the base will pull the dustproof cloth wrapped inside the second bracket through the connecting rod, so that the dustproof cloth wraps the sprayed wall. At the same time, the lateral movement of the base continues to pull the fixing frame from the inside of the first fixing plate, so that the fixing frames evenly distributed in the longitudinal direction are continuously pulled out of the first fixing plate, and the start-up of the second fan causes the gas to be discharged from the fixing frame and quickly contact the sprayed wall, so that the spraying material is efficiently dried, and the front spraying position is gradually wrapped and protected during the spraying process, and the drying effect is improved, thereby improving the spraying efficiency of the entire wall.

[0022] 2. In the present invention, a guide plate is horizontally arranged at the front end of the fixed frame. The guide plate is fixed to the front end of the fixed frame through a connecting strip. The connecting strip not only fixes the guide plate but also separates the gas exhausted by the second fan to avoid the exhausted gas from blowing only on the wall close to the exhaust position. The gas is diverted by the connecting strip and guided by the guide plate, so that the gas can flow evenly to the upper and lower ends and blow the entire wall comprehensively, further improving the air drying efficiency and making the spray material on the entire wall solidify synchronously. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a stereoscopic diagram of the overall external structure of the present invention;

[0024] Figure 2 This is a rotational unfolded stereoscopic view of the first fixing plate of the present invention;

[0025] Figure 3 A top view of a first fixed plate of the present invention is shown in FIG.

[0026] Figure 4 It is a schematic diagram of the position relationship of the fixing frame of the present invention;

[0027] Figure 5 This is a schematic diagram of the horizontal pulling of the fixing frame of the present invention;

[0028] Figure 6 It is a cross-sectional view of the internal structure of the fixing frame of the present invention;

[0029] Figure 7 It is a schematic diagram of the intelligent control system of the present invention.

[0030] In the figure: 1. base; 2. robotic arm; 3. threaded rod; 4. spray assembly; 5. first bracket; 6. first fixed plate; 7. wrapping plate; 8. suction cup; 9. first fan; 10. fixed frame; 11. second bracket; 12. connecting rod; 13. dustproof cloth; 14. spring ring; 15. connecting shaft; 16. fixed column; 17. guide plate; 18. connecting strip; 19. second fan; 20. sliding block; 21. second fixed plate. DETAILED DESCRIPTION

[0031] The present invention is further described below in conjunction with specific embodiments.

[0032] Example 1

[0033] like Figure 1 As shown, a wall spraying robot for a power substation of the present embodiment includes a base 1, a threaded rod 3 for transmission is arranged at the upper end of the base 1, a mechanical arm 2 is arranged at the front end of the outside of the threaded rod 3, the threaded rod 3 runs through the inside of the mechanical arm 2, and the outside of the threaded rod 3 cooperates with the internal thread of the mechanical arm 2, and the relative motion is generated with the inside of the mechanical arm 2 by the rotation of the threaded rod 3, and the mechanical arm 2 is restricted by the base 1 so that the mechanical arm 2 is converted from the rotational motion to the longitudinal linear motion, and the longitudinal linear motion of the mechanical arm 2 is matched with the structural adjustment of the mechanical arm 2 itself to comprehensively spray the area of ​​the wall, and a spraying assembly 4 is arranged at the front end of the mechanical arm 2, and the position of the spraying assembly 4 is adjusted by adjusting the mechanical arm 2 and rotating the threaded rod 3 to realize the spraying of the corresponding position;

[0034] Among them, in order to facilitate the storage of equipment, such as Figure 1 and Figure 2 As shown, first brackets 5 for support are provided at the upper and lower ends of one side of the outer side of the base 1, and a first fixing plate 6 is provided in the middle of one side of the outer side of the base 1. The first fixing plate 6 and the first bracket 5 are rotatably connected by a connecting shaft 15 as the center of a circle. The motor is fixed to the upper end of one of the first brackets 5 and transmits the connecting shaft 15 through the first bracket 5. The output of the motor drives the first fixing plate 6 to rotate with the connecting shaft 15 as the center of a circle. The rotation completes the folding, so that the first fixing plate 6 and the second fixing plate 21 at one end are attached to one side of the base 1 for easy storage.

[0035] In addition, if Figure 2 and Figure 3As shown, a second fixing plate 21 is vertically arranged at one end of the first fixing plate 6, and suction cups 8 connected by telescopic rods are arranged at the front and rear of the lower end of the second fixing plate 21. The pushing of the telescopic rod makes the suction cups 8 fit the ground, which is convenient for fixing the position of the second fixing plate 21. A pair of fixing columns 16 are longitudinally distributed on the second fixing plate 21 toward the rear end of the first fixing plate 6, and the fixing columns 16 are welded and fixed to the second fixing plate 21. The fixing columns 16 pass through the rear end of the first fixing plate 6 and are slidably connected to the inside of the first fixing plate 6. When the suction cup 8 is not adsorbed to the ground, the fixing columns 16 are removed into the inside of the first fixing plate 6. A first fan 9 is sealed at the upper end between the two suction cups 8. The gas between the suction cup 8 and the ground is adsorbed by the first fan 9 to fix the second fixing plate 21. After the second fixing plate 21 is fixed, the fixing columns 16 are slid out of the first fixing plate 6.

[0036] In order to facilitate efficient solidification of the material at the spraying location, Figure 1 , Figure 4 and Figure 5 As shown, the fixing frames 10 are evenly distributed longitudinally inside the first fixing plate 6, the fixing frames 10 in the bottom row are fixedly connected to the outer wall of the second fixing plate 21 by bolts, and the fixing frames 10 in the top row are fixedly connected to the outer wall of the first fixing plate 6 by bolts. After the second fixing plate 21 is adsorbed and fixed by the suction cup 8, as the base 1 moves horizontally, the connected fixing frames 10 are pulled out of the first fixing plate 6;

[0037] Among them, in order to make the multi-layer fixed frames 10 distributed longitudinally evenly distributed at the spraying position, except for the lower end of the fixed frames 10 in the bottom row, a protruding sliding block 20 is provided, and the sliding block 20 is welded and fixed to the corresponding fixed frame 10, and except for the upper end of the fixed frames 10 in the top row, a recessed slide rail is provided, and the sliding block 20 is embedded in the slide rail and slidably connected to the slide rail. When one of the fixed frames 10 is pulled, the sliding block 20 will slide in the slide rail, and after the sliding block 20 slides to the end, the sliding block 20 will pull the next fixed frame 10 in the slide rail, and the fixed frames 10 are pulled out horizontally one by one by pulling the sliding block 20, so that the fixed frames 10 are distributed at the wall position sprayed by the spraying assembly 4;

[0038] In order to make the air flow reach the spraying position efficiently and comprehensively, such as Figure 5 and Figure 6As shown, a guide plate 17 is provided at the front end of the fixing frame 10, and the guide plate 17 is welded and fixed to both sides of the middle position of the front end of the fixing frame 10 by connecting strips 18. A second fan 19 is horizontally arranged inside the fixing frame 10, and the gas discharged by the second fan 19 will be directly divided by the connecting strip 18 to form two airflows. The gas divided by the connecting strip 18 will be guided by the guide plate 17, so that the gas flows toward the upper and lower ends respectively. The gas can flow comprehensively through the restriction of the guide plate 17 and the connecting strip 18, so that the gas can fully contact the spraying position, so that the spraying position is evenly dried;

[0039] A filter is provided at the air inlet at the rear end of the second fan 19 to limit foreign matter in the gas through filtering, thereby preventing particles from being blown onto the wall and contacting the spraying material, thereby preventing particles from affecting the effect of the material after air drying;

[0040] Among them, Figure 1 , Figure 2 and Figure 3 As shown, a connecting rod 12 is provided at the rear end of the base 1, and a pair of second brackets 11 are longitudinally provided at the rear end of the second fixing plate 21, a connecting column is rotatably connected between the two second brackets 11, and a dustproof cloth 13 is arranged around the outside of the connecting column, and the two ends of the dustproof cloth 13 are respectively fixedly connected to the outer wall of the connecting column and the connecting rod 12 by bolts, and the excess dustproof cloth 13 will be wound around the outside of the connecting column. In the process of lateral movement of the base 1, the connecting rod 12 will pull the dustproof cloth 13 to rotate and discharge it from the outside of the connecting column, and the wall that has been sprayed will be wrapped by the dustproof cloth 13;

[0041] In order to prevent the wrapped dust-proof cloth 13 from loosening, the lower end of the connecting column passes through the second bracket 11, and the part of the connecting column that passes through the second bracket 11 is spirally provided with a spring coil 14, and the two ends of the spring coil 14 are respectively welded and fixed to the second bracket 11 and the connecting column. The resilience of the spring coil 14 actively makes the dust-proof cloth 13 tightly wrapped around the outer wall of the connecting column, which is convenient for the storage and unfolding of the dust-proof cloth 13.

[0042] Example 2

[0043] To facilitate wrapping of the sides of the initial spraying location, e.g. Figure 1 As shown, a wrapping plate 7 is provided at the front end of the outside of the sliding block 20, and the wrapping plate 7 is embedded in the second fixed plate 21 and is slidably connected to the inside of the second fixed plate 21. Telescopic rods are provided between the upper and lower ends of the wrapping plate 7 and the second fixed plate 21 respectively. The wrapping plate 7 is pushed close to one side of the spraying position by the extension and retraction of the telescopic rod, and the side of the spraying position is wrapped and protected by the wrapping plate 7 to prevent foreign matter from entering the wrapped position of the dustproof cloth 13 from the side of the spraying position, thereby improving the protection capability of the spraying position.

[0044] To further understand the content of the present invention, please refer to Figure 7 , this embodiment provides the following technical solutions:

[0045] The intelligent control system for the wall spraying robot of the power substation also includes an intelligent control system, which includes a sensor module, a path planning module, a spraying control module, a learning module, a paint remaining monitoring module and a communication module, wherein: the sensor module: the sensor module is installed at one end of the spraying component 4, and is responsible for collecting various information about the robot's surrounding environment, providing a data basis for other modules so that the robot can make accurate decisions. The distance sensor in the sensor module can accurately measure the distance between the robot and the wall and surrounding obstacles, and the visual sensor in the sensor module can identify the shape, size and surface condition of the wall; the path planning module: according to the sensor The robot plans the optimal spraying path based on the wall information obtained by the sensor module, improves the spraying efficiency, reduces unnecessary movement, plans a straight spraying path from one side to the other, and automatically adjusts the direction after reaching the edge to continue spraying the next line. For irregular-shaped walls, the wall is divided into multiple regular or approximately regular areas, and the spraying paths are planned separately to ensure that all areas are covered; Spraying control module: used to control the specific operation of spraying, ensure that the spraying quality meets the requirements, adjust the spraying amount according to the size and surface condition of the wall, increase the spraying amount appropriately for rough walls to ensure uniform color coverage, and reduce the spraying amount for smooth walls to avoid Prevent paint from flowing, and at the same time, dynamically adjust the spraying speed according to the moving speed of the robot to maintain uniform spraying thickness per unit area; Learning module: Learn and analyze previous spraying work data, continuously optimize spraying strategies, improve spraying efficiency and quality, collect data from each spraying work, including wall type, spraying parameters, final spraying effect, etc., and automatically recommend the parameter combination when encountering a similar wall next time. It can also automatically adjust and optimize the path planning, spraying control and other modules based on the learning results to adapt to different spraying task requirements; Paint remaining monitoring module: Installed in the paint storage container, it monitors the remaining amount of paint in real time to ensure that the remaining amount of paint is When the paint is exhausted, it can promptly remind you to replenish it to avoid interruptions in spraying. By setting a sensor in the paint storage container, it can accurately measure the remaining height or volume of the paint and send an alarm signal to the operator or console to prompt the need to replenish the paint. It can also estimate the time or area that can continue to spray based on the current spraying speed and the remaining amount of paint, so that the operator can reasonably arrange the time to replenish the paint; Communication module: used to realize information exchange between the robot and external equipment, facilitate remote monitoring and the working status of the spraying robot, and can send the robot's working status to the console in real time. At the same time, it receives instructions from the console, such as adjusting spraying parameters, pausing or continuing spraying, and other operations.

[0046] Working principle: when using the device and spraying the wall, push the device to the desired spraying position, place the paint storage container on the upper end of the base 1 and connect it to the spray assembly 4 through a pipe seal, start the mechanical arm 2, and the mechanical arm 2 drives the spray assembly 4 to spray. During the spraying process, the motor output drives the first fixed plate 6 to rotate with the connecting shaft 15 as the center, and rotates to make the wrapping plate 7 face the wall. The push of the telescopic rod makes the wrapping plate 7 face the wall and close to the wall, but not fit the wall. After the telescopic rod at the upper end of the suction cup 8 is extended and retracted, the suction cup 8 fits the ground. Start the first fan 9 and make the suction cup 8 adsorb and fix the second fixed plate 21. After the spray assembly 4 sprays an area in the longitudinal direction, the base 1 moves through the roller at the bottom to move the device When it comes to the next spraying position, the base 1 will pull the dustproof cloth 13 through the connecting rod 12 during the lateral movement. After being pulled, the dustproof cloth 13 will rotate and unfold from between the second brackets 11, and continue to wrap the spraying position. The fixed second fixing plate 21 will pull the fixing frame 10 in the lower row inside the first fixing plate 6. As the base 1 continues to move, the fixing frame 10 in the lower row will pull the fixing frame 10 in the upper row through the sliding block 20, so that the fixing frames 10 are extended from the first fixing plate 6 in turn and evenly distributed at the spraying position, and the second fan 19 inside the fixing frame 10 is started. The gas exhausted by the second fan 19 will be divided by the connecting strip 18, and the divided gas will be guided by the guide plate 17, and the gas will flow vertically upward and downward, evenly contacting the wall surface close to it.

[0047] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0048] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A wall spraying robot for a power substation, comprising a base (1), the upper end of the base (1) being provided with a threaded rod (3) for transmission, the front end of the threaded rod (3) being provided with a mechanical arm (2), the front end of the mechanical arm (2) being provided with a spraying assembly (4), characterized in that: A first bracket (5) is arranged at the upper and lower ends of one side of the outside of the base (1); a first fixing plate (6) rotatably connected via a connecting shaft (15) is arranged in the middle of one side of the outside of the base (1); a second fixing plate (21) is vertically arranged at one end of the first fixing plate (6); a suction cup (8) connected via a telescopic rod is arranged at the lower end of the second fixing plate (21); fixing frames (10) are evenly distributed longitudinally inside the first fixing plate (6); a guide plate (17) is arranged at the front end of the fixing frame (10).

2. A wall spraying robot for a power substation according to claim 1, characterized in that: The guide plate (17) is welded and fixed to both sides of the middle position of the front end of the fixing frame (10) via connecting strips (18), and a second fan (19) is transversely arranged inside the fixing frame (10).

3. The wall spraying robot for a power substation according to claim 1 is characterized in that: A side of the fixing frame (10) in the bottom row close to the second fixing plate (21) is fixedly connected to the outer wall of the second fixing plate (21) by means of bolts, and a side of the fixing frame (10) in the top row close to the first fixing plate (6) is fixedly connected to the outer wall of the first fixing plate (6) by means of bolts.

4. The wall spraying robot for a power substation according to claim 3 is characterized in that: The lower ends of the fixed frames (10) except the bottom row are all welded with protruding sliding blocks (20), and the upper ends of the fixed frames (10) except the top row are all provided with recessed sliding rails, and the sliding blocks (20) are embedded in the sliding rails and are slidably connected to the sliding rails.

5. The wall spraying robot for a power substation according to claim 1 is characterized in that: A connecting rod (12) is provided at the rear end of the base (1), a pair of second brackets (11) are longitudinally provided at the rear end of the second fixing plate (21), a connecting column is rotatably connected between the two second brackets (11), and a dustproof cloth (13) is provided around the outside of the connecting column, with both ends fixedly connected to the outer wall of the connecting column and the connecting rod (12) by bolts.

6. The wall spraying robot for a power substation according to claim 5, characterized in that: The lower end of the connecting column passes through the second bracket (11), and the portion of the connecting column that passes through the second bracket (11) is spirally provided with a spring ring (14) whose two ends are respectively welded and fixed to the second bracket (11) and the connecting column.

7. The wall spraying robot for a power substation according to claim 2 is characterized in that: A filter screen is provided at the air intake port at the rear end of the second fan (19).

8. An intelligent control system for a wall spraying robot for a power substation based on any one of claims 1 to 7, characterized in that: Also includes intelligent control system: Sensor module: The sensor module is installed at one end of the spraying assembly (4) and is responsible for collecting various information about the robot's surrounding environment and providing data basis for other modules; Path planning module: plans the robot's optimal spraying path based on the wall information obtained by the sensor module; Spraying control module: used to control the specific operation of spraying to ensure that the spraying quality meets the requirements; Learning module: study and analyze the previous spraying work data and continuously optimize the spraying strategy; Paint remaining monitoring module: installed in the paint storage container, monitors the remaining amount of paint in real time, and ensures timely reminder to refill when the paint is about to run out; Communication module: used to realize information exchange between the robot and external equipment, facilitating remote monitoring and the working status of the spraying robot.

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