Spraying robot trajectory planning method, controller and spraying robot

Abstract

The invention provides a trajectory planning method of a spraying robot, a controller and the spraying robot, and the method comprises the steps: selecting a corresponding spraying flow according to a target film thickness, and determining the swing arm speed of the spraying robot according to the target film thickness and the spraying flow; the target film thickness is the film thickness required by the to-be-sprayed object; the advancing distance of the spraying robot is set based on the preset edge pressing rate of each spraying period; the spraying robot is controlled to conduct spraying based on the swing arm speed and the advancing distance; according to the spraying robot, intermittent spraying and continuous spraying can be achieved, the speed of the swing arm is not affected by movement of a chassis of the spraying robot, higher swing arm speed and large-flow spraying can be selected, and therefore the spraying efficiency is greatly improved.

Description

Technical Field

[0001] The present disclosure relates to the field of robots, and in particular to a trajectory planning method of a spraying robot, a controller, and a spraying robot. Background Art

[0002] A side-mounted spraying robot is a robot that can spray on metal surfaces. It is usually adsorbed on metal surfaces such as ships or chemical tanks using permanent magnets, and a spray gun is mounted on the end. The robot can be controlled to walk and work by remote control, replacing workers working at high altitudes to reduce safety risks. Existing spraying robots use a side-mounted solution, that is, the spray gun is installed on the side of the robot. The side-mounted spraying robot is limited by the speed of the robot chassis, so it uses a swing arm. The speed of the swing arm is not affected by the speed of the robot chassis, and the robot sprays while walking. In robot operation projects, the robot generally moves forward or backward according to the direction, and only turns at the boundary through differential speed. No spraying tasks are performed during the turning process.

[0003] In the related art, since the speed of the side-mounted spraying robot on the vertical surface is limited, the flow rate of the nozzle needs to be selected to be relatively small, resulting in low spraying efficiency. Summary of the invention

[0004] The present disclosure provides a trajectory planning method, a controller and a spraying robot for a spraying robot, so as to at least solve the above technical problems existing in the prior art.

[0005] According to a first aspect of the present disclosure, a trajectory planning method for a spraying robot is provided, the method comprising: Selecting a corresponding spray flow rate according to a target film thickness, and determining an arm swing speed of the spray robot according to the target film thickness and the spray flow rate; the target film thickness is the film thickness required for the object to be sprayed; Based on a preset edge holding rate of each spraying cycle, setting a travel distance of the spraying robot; The spraying robot is controlled to spray based on the swing arm speed and the travel distance; wherein, the spraying includes intermittent spraying and continuous spraying; the intermittent spraying is to perform swing arm spraying in a first preset direction when the spray robot is stationary, and after completing the number of arm swings, the swing arm stops, and after the spray robot moves a travel distance, the swing arm performs swing arm spraying in a second preset direction; the first preset direction and the second preset direction are opposite directions to each other; the continuous spraying is to perform swing arm spraying while the spray robot is moving.

[0006] In one embodiment, the step of selecting a corresponding spray flow rate according to a target film thickness includes: Determine the corresponding target pressure according to the target film thickness; Based on the mapping relationship table between pressure and flow, the corresponding spraying flow is determined according to the target pressure.

[0007] In one possible implementation, the swing arm speed of the spray robot is determined according to the target film thickness and the spray flow rate in the following manner:

[0008] in,

[0009] in, v is the swing arm speed, Q 2 is the spraying flow rate, D is the target film thickness, w 1 is the spray width, k is the loss coefficient during spraying, Q 1 is pressure P 1 corresponds to the flow rate, P 2 is the spraying flow rate Q 2 corresponds to the pressure.

[0010] In one embodiment, after setting the travel distance of the spraying robot, the method further includes: A trajectory planning strategy for the coordinated cooperation between the swing arm of the spraying robot and the movement of the spraying robot is set; the trajectory planning strategy can make the trajectory of one end of the swing arm of the spraying robot where the nozzle is installed be a straight line.

[0011] In one embodiment, the trajectory planning strategy for the coordinated cooperation between the swing arm of the spraying robot and the movement of the spraying robot includes: Determine the swing arm range of the spray robot swing arm; the swing arm range is bilaterally symmetrical; Within the swing arm range, the time for the swing arm to swing one cycle in the first preset direction or the second preset direction is equal to the time for the spray robot to move one cycle in the third preset direction or the fourth preset direction; The third preset direction and the fourth preset direction are opposite to each other.

[0012] In one embodiment, controlling the spraying robot to spray based on the swing arm speed and the travel distance includes: The spraying robot is controlled to perform continuous spraying according to the swing arm speed, the travel distance of the robot chassis and the trajectory planning strategy.

[0013] In one possible implementation manner, the nozzle of the spraying robot is arranged parallel to the vertical line where the center point of the circumscribed rectangle of the spraying robot is located; When the film thickness of the boundary area in the task area does not reach the target film thickness, a touch-up operation is performed on the boundary area.

[0014] According to a second aspect of the present disclosure, there is provided a controller, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in any one of the above embodiments.

[0015] According to a third aspect of the present disclosure, a spraying robot is provided, the spraying robot comprising a controller; and further comprising: a robot chassis, a robot upper body and a spraying device; The robot chassis is provided with a driving motor for driving the robot to move forward, backward and turn; The robot is equipped with a swing arm, a swing arm motor, a nozzle and a solenoid valve; one end of the swing arm is mounted on the swing arm motor, and the nozzle is mounted on the other end of the swing arm; the nozzle is a nozzle with a spray flow rate corresponding to the target film thickness; the swing arm motor is used to drive the swing of the swing arm; The spraying device includes an air compressor and a sprayer. One end of the sprayer is placed in the paint, and the other end is connected to the air compressor. The air compressor provides an air source for the sprayer to transfer the paint to the nozzle. The solenoid valve is used to control the on and off of the air pressure of the air compressor.

[0016] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to execute the method described in the present disclosure.

[0017] The trajectory planning method, controller and spraying robot of the spraying robot disclosed in the present invention first determine the spraying flow rate according to the required film thickness, then calculate the swing arm speed of the spraying robot according to the film thickness and the spraying flow rate, and set the travel distance of the spraying robot according to the preset pressure margin rate of the preset spraying cycle, so that the spraying robot can be controlled to perform intermittent spraying according to the swing arm speed and the travel distance. In addition, the present application can also achieve continuous spraying. For intermittent spraying, the spraying robot provided by the present application can swing its arm to spray when the robot chassis is stationary, stop spraying after a single spraying is completed, and continue spraying after the robot chassis moves to the next position and stops; for continuous spraying, the present application sets the relationship between the swing arm of the robot and the direction of travel of the spraying robot, so as to achieve spraying of a large area. Since the speed of the swing arm is not affected by the robot chassis, a faster swing speed and a nozzle with a large flow rate can be selected to achieve a significant improvement in spraying efficiency.

[0018] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, in which: In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0020] Figure 1 A schematic diagram of the structure of a spraying robot according to an embodiment of the present disclosure is shown; Figure 2 A schematic diagram showing the structure of a nozzle of a spraying robot according to an embodiment of the present disclosure is shown; Figure 3 A schematic diagram showing a flow chart of a trajectory planning method for a painting robot according to an embodiment of the present disclosure is shown; Figure 4 A schematic diagram showing the coverage area of ​​a single spraying cycle of the swing-arm spraying robot according to an embodiment of the present disclosure is shown; Figure 5 A schematic diagram of the trajectory of the swing-arm spray robot chassis and the swing arm in coordination with each other according to an embodiment of the present disclosure is shown; Figure 6 A spraying effect diagram of the swing-arm spraying robot chassis and the swing arm in coordination with each other according to an embodiment of the present disclosure is shown; Figure 7 A diagram showing the spraying result of the swing arm spraying robot chassis, swing arm and nozzle coordinated with each other according to the embodiment of the present disclosure is shown; Figure 8 The working effect diagram of the swing arm spraying robot in multiple spraying cycles according to the embodiment of the present disclosure is shown; Fig. 9 A schematic diagram of the structure of the controller according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0021] In order to make the purpose, features, and advantages of the present disclosure more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0022] In the related technology, spraying is required in shipbuilding, chemical industry and other operation scenes. Manual spraying has low operation efficiency, difficult to control film thickness, and requires more manpower in large scenes. Therefore, spraying robots are used to improve efficiency. However, if the spraying robot sprays at the same time during the movement, it will cause problems such as uneven spraying due to the influence of speed.

[0023] like Figure 1 As shown, the present application provides a spraying robot, including a controller; and also including: a robot chassis 1, a robot upper body and a spraying device; The robot chassis 1 is provided with a driving motor (not shown in the figure) for driving the robot forward, backward and turning; The robot is equipped with a swing arm 3, a swing arm motor 2, a nozzle 4 and a solenoid valve (not shown in the figure); one end of the swing arm 3 is installed on the swing arm motor 2, and the nozzle 4 is installed on the other end of the swing arm 3; the nozzle 4 is a nozzle with a spray flow rate corresponding to the target film thickness; the swing arm motor 2 is used to drive the swing of the swing arm 3; The spraying device includes an air compressor (not shown in the figure) and a sprayer (not shown in the figure). One end of the sprayer is placed in the paint, and the other end is connected to the air compressor. The air compressor provides an air source for the sprayer to transfer the paint to the nozzle. The solenoid valve is used to control the on and off of the air pressure of the air compressor.

[0024] In some embodiments, a plurality of wheels 5 are provided on the robot chassis 1 .

[0025] The spraying robot provided in the present application can be used in scenes such as ships and chemical industries. The robot chassis 1 of the spraying robot in the present application is a magnetic adsorption robot chassis, which can be adsorbed on the metal surface of ships and chemical tanks. The robot chassis 1 of the spraying robot is also provided with wheels 5. For example, there can be four wheels 5, which can be set on both sides of the robot chassis 1. The spraying robot moves in the task area through the wheels 5. The task area is the area that needs to be sprayed. The present application drives the wheels 5 through a driving motor, and realizes the rotation and posture control of the robot by differential means. Among them, the pendulum 3 is installed on the pendulum motor 2, and the nozzle 4 is installed at the end of the pendulum 3. The pendulum motor 2 controls the pendulum 3 to swing periodically to achieve spraying. Exemplarily, the pendulum motor 2 is installed on the spraying robot, and the rotation of the pendulum motor 2 controls the pendulum 3 to realize the swing function. As Figure 2 As shown, the nozzle 4 is installed at the end of the swing rod 3. The nozzle 4 is essentially a small opening that controls the flow rate of the spray. The principle of spraying is: the paint is placed on the spraying device, pressurized by the air compressor, and the solenoid valve controls the on and off of the air pressure. When the solenoid valve is opened, the paint passes through the spraying device and is sprayed out through the high-pressure pipe.

[0026] Before spraying, the nozzle 4 must be selected first. Nozzles 4 with different parameters can achieve different spraying flow rates. Different spraying flow rates can achieve different spraying film thicknesses. Therefore, in this application, according to the target film thickness required for the object to be sprayed, a nozzle 4 with a corresponding spraying flow rate is selected, and the nozzle 4 is installed on the swing rod 3 to achieve spraying. The target film thickness of the object to be sprayed is generally set according to customer needs, and the customer can be, for example, a shipyard, a chemical tank, or a bridge.

[0027] The spraying robot provided by the present application adopts an airless spraying method. The spraying process relies on the instantaneous spraying of the paint itself into a mist state by hydraulic pressure. The atomized paint does not contain compressed air, so it is called high-pressure airless spraying. Airless spraying has a wide range of applications and can be adapted to paints of various viscosities. The spraying surface quality is good, the coating is smooth and dense, and there is no color difference. The paint can penetrate into the pores of the substrate, and the coating film forms a mechanical bite with the substrate, with good adhesion, and can be widely used by intelligent automatic spraying equipment.

[0028] like Figure 3 As shown, the trajectory planning method of the spraying robot provided in the present application comprises: S301, selecting a corresponding spray flow rate according to a target film thickness, and determining an arm swing speed of a spray robot according to the target film thickness and the spray flow rate; the target film thickness is a film thickness required for the object to be sprayed; In this application, the target film thickness is determined according to the film thickness required by the object to be sprayed. According to the preset mapping relationship between the film thickness and the flow rate, the corresponding spray flow rate is found according to the target film thickness, and then the swing arm speed of the spray robot can be calculated according to the target film thickness and the spray flow rate.

[0029] S302, setting a travel distance of the spraying robot based on a preset edge holding rate of each spraying cycle; It should be noted that, since the straight flow rate sprayed by the nozzle 4 is the same at a certain moment, the flow rate of each arc in the fan-shaped ring is equal, the larger the radius, the longer the arc length, and the thinner the film thickness at the corresponding position. In order to consider the consistency of film thickness, it is necessary to consider the edge pressure rate of each spraying cycle and determine the stepping distance of the spray robot chassis 1. Figure 4 The figure shows the coverage area of ​​a single spraying cycle of the swing-arm spray robot.

[0030] For example, Figure 2 As shown, the spray width of the nozzle 4 is w 1, that is, the width of the fan ring is w1. Since the straight flow rate sprayed by nozzle 4 is the same at a certain moment, the flow rate of each arc in the fan-shaped ring is equal. The larger the radius and the longer the arc length, the smaller the flow rate at the corresponding position, that is, the thinner the film thickness. In order to minimize the overall film thickness error, the edge holding rate is selected to be 50%, that is, after a single swing arm spraying is completed, the robot chassis 1 walks down along the center line of the robot for a step distance of w 1 / 2.

[0031] S303, controlling the spraying robot to spray based on the swing arm speed and the travel distance; wherein, the spraying includes intermittent spraying and continuous spraying; the intermittent spraying is to perform swing arm spraying in a first preset direction when the spray robot is stationary, and after completing the number of arm swings, the swing arm stops, and after the spray robot moves a travel distance, the swing arm performs swing arm spraying in a second preset direction; the first preset direction and the second preset direction are opposite directions to each other; the continuous spraying is to perform swing arm spraying while the spray robot is moving.

[0032] The spraying robot can be controlled to spray according to the swing arm speed and the travel distance, wherein the spraying methods include intermittent spraying and continuous spraying. Specifically, intermittent spraying is to swing the arm from left to right to spray when the spray robot is stationary. After one swing, the swing arm stops. After the spray robot moves the travel distance, the swing arm performs swing arm spraying from right to left. Continuous spraying is to swing the arm to spray while the spray robot is moving. Specifically, in intermittent spraying, the spraying trajectory is to spray in columns. When one column is sprayed, the spraying stops, the robot turns to the initial position of the next column, and repeats the spraying operation.

[0033] In some embodiments, selecting a corresponding spray flow rate according to a target film thickness includes: Determine the corresponding target pressure according to the target film thickness; Based on the mapping relationship table between pressure and flow, the corresponding spraying flow is determined according to the target pressure.

[0034] It is understandable that the flow parameters of the nozzle 4 are obtained from the manufacturer, and the parameters are pressure P Flow rate under 1 Q 1. In the actual operation process, the flow parameter of nozzle 4 is the actual pressure P 2 spray flow Q 2. Calculate according to the following formula:

[0035] In this application, the spraying robot adopts airless spraying and continuous mode. When the nozzle 4 is working, it is generally necessary to maintain a constant target distance H. The spray width is the spray width formed from the nozzle 4 to the coating surface under the rated pressure and medium. It is a flat ellipse. During the spraying process, the nozzle 4 moves continuously. When calculating, the major axis of the ellipse is equivalent to a line segment. The spray width is generally in a range of ( w 1, w 2), w 1, w The difference between 2 is 50mm, you can choose w 1 or w 2. During the spraying process, since the paint is sprayed in the form of paint mist, there will usually be a certain amount of loss. Calculate the speed of the robot according to the following formula:

[0036] in, v is the swing arm speed, Q 2 is the spraying flow rate, D is the target film thickness, w 1 is the spray width, k is the loss coefficient during spraying, Q 1 is pressure P 1 corresponding to the flow rate. The speed is controlled by the swing arm motor 2. The target speed can be set according to the actual operation scene and the film thickness requirements. Intermittent motion is adopted. Specifically, when the swing arm 3 swings (when the solenoid valve is turned on) and spraying is performed, the base is stationary. When the base moves, the swing arm 3 stops swinging (when the solenoid valve is closed) and no spraying is performed.

[0037] It is not affected by the speed of the robot chassis 1, which greatly improves the efficiency of spraying.

[0038] In some embodiments, after setting the travel distance of the spraying robot, the method further includes: A trajectory planning strategy for the coordinated cooperation between the swing arm of the spraying robot and the movement of the spraying robot is set; the trajectory planning strategy can make the trajectory of one end of the swing arm 3 of the spraying robot where the nozzle 4 is installed be a straight line.

[0039] In some embodiments, the trajectory planning strategy for the coordinated cooperation between the swing arm of the spraying robot and the movement of the spraying robot includes: Determine the swing arm range of the spray robot swing arm 3; the swing arm range is bilaterally symmetrical; Within the swing arm range, the time for the swing rod 3 to swing in the first preset direction or the second preset direction for one cycle is equal to the time for the spray robot to move in the third preset direction or the fourth preset direction for one cycle; The third preset direction and the fourth preset direction are opposite to each other.

[0040] Specifically, Figure 5 As shown in the figure, it is a trajectory planning scheme for the swing arm spray robot chassis 1 and the swing arm to cooperate. This scheme makes the end motion trajectory of the swing rod 3 always in a straight line. When the swing rod 3 is on the left side of the robot center line, the end of the swing rod 3 P 1Move to the right P 2, the robot chassis 1 is O 1Move down to O 2; Similarly, when the pendulum 3 is on the right side of the center line of the robot, when the end of the pendulum 3 moves to the right, the robot chassis 1 moves upward; completing a swing arm cycle of spraying.

[0041] Exemplarily, when the first preset direction is from left to right, the second preset direction is from right to left, the third preset direction is from top to bottom, and the fourth preset direction is from bottom to top.

[0042] The swing arm range is symmetrical, and the swing arm 3 (nozzle 4) swings from left to right for one cycle and the robot chassis 1 moves up and down for one cycle. The positional relationship between the nozzle 4 and the robot chassis 1 is calculated based on the geometric relationship.

[0043]

[0044]

[0045] like Figure 6 As shown, the painting effect diagram of the swing arm spray robot chassis 1 and the swing arm cooperates. This solution can make the end trajectory of the swing rod 3 a straight line, and the edge line of the spraying is an arc with a small curvature, which can be approximately equivalent to a straight line. The spraying arc boundary is reduced, which is more conducive to the overall trajectory planning.

[0046] In some embodiments, controlling the spraying robot to spray based on the swing arm speed and the travel distance includes: The spraying robot is controlled to perform continuous spraying according to the swing arm speed, the travel distance of the robot chassis 1 and the trajectory planning strategy.

[0047] It is understandable that in the embodiment of the present application, it is necessary to add a mechanical structure or a swing arm motor 2 to the nozzle 4 so that the direction of the nozzle 4 is always parallel to the vertical center line of the robot, and the area surrounded by the upper and lower and left and right boundaries of the single spraying area is a rectangle, and the film thickness control of the spraying area is optimal. The posture of the nozzle 4 relative to the swing arm 3 remains unchanged in the first two solutions, and the nozzle 4 has one more degree of freedom relative to the swing arm 3 in the third solution.

[0048] For example, Figure 7The figure shows the spraying result of the swing arm spray robot chassis 1, swing arm and nozzle 4. This solution can make the end trajectory of the swing arm 3 a straight line. Compared with the previous solution, this solution needs to add an additional mechanical or swing arm motor 2 to the robot, so that the nozzle 4 always keeps the same posture during the operation and maintains the relative posture with the robot, that is, always keeps parallel with the center line of the robot. The spraying area of ​​this solution is rectangular, and the film thickness is uniform.

[0049] In some embodiments, the nozzle 4 of the spraying robot is arranged parallel to the vertical line where the center point of the circumscribed rectangle of the spraying robot is located; When the film thickness of the boundary area in the task area does not reach the target film thickness, a touch-up operation is performed on the boundary area.

[0050] In this application, the area with the smallest film thickness difference is selected as the final target film thickness. The target film thickness requirement cannot be met at the boundary of the task area, and manual re-spraying is required in the boundary area. The first and last spraying of each column cannot achieve the edge pressure rate, so the film thickness is thinner. The width that needs to be manually re-sprayed is approximately half of the spray width of nozzle 4. w 1 / 2. Figure 8 Shown are the operating effects of multiple spraying cycles of the swing-arm spray robot.

[0051] As a specific embodiment, the spraying robot provided in this application has three spraying modes, specifically including: The first is intermittent spraying, which can improve efficiency while controlling film thickness. There are cases where the upper and lower boundaries of the spraying are arcs and the left and right boundaries are sawtooth shapes. Its control method is relatively simple.

[0052] The second solution is an upgrade based on the first solution. The swing arm and the robot chassis 1 move simultaneously, so that the movement of the nozzle 4 is a straight line, the upper and lower boundaries are approximately horizontal lines, and the left and right boundaries are serrated, and the control is relatively complex.

[0053] The third solution is based on the optimization of the second solution. The movement mode is the same as the second solution. It is necessary to add a mechanical structure or a swing arm motor 2 to the nozzle 4 so that the direction of the nozzle 4 is always parallel to the vertical center line of the robot. The area surrounded by the upper and lower and left and right boundaries of the single spraying area is a rectangle, and the film thickness control of the spraying area is optimal. In the first two solutions, the posture of the nozzle 4 relative to the swing arm 3 remains unchanged. In the third solution, the nozzle 4 has one more degree of freedom relative to the swing arm 3.

[0054] like Fig. 9 As shown, an embodiment of the present application provides a controller, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in any one of the above embodiments.

[0055] An embodiment of the present application provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the method described in any of the above embodiments.

[0056] According to an embodiment of the present application, the present application also provides an electronic device and a readable storage medium.

[0057] like Fig. 9 As shown, the controller 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 to a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the controller 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0058] A number of components in the controller 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the controller 800 to exchange information / data with other controllers through a computer network such as the Internet and / or various telecommunication networks.

[0059] The computing unit 801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 801 performs the various methods and processes described above, such as the trajectory planning method of the painting robot. For example, in some embodiments, the trajectory planning method of the painting robot may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the controller 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the trajectory planning method of the painting robot described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to execute the trajectory planning method of the painting robot in any other appropriate manner (for example, by means of firmware).

[0060] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic controllers (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0061] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0062] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or controller. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or controller, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0063] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0064] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0065] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0066] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0067] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0068] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A trajectory planning method for a spraying robot, characterized in that: The method comprises: Selecting a corresponding spray flow rate according to a target film thickness, and determining an arm swing speed of the spray robot according to the target film thickness and the spray flow rate; the target film thickness is the film thickness required for the object to be sprayed; Based on a preset edge holding rate of each spraying cycle, setting a travel distance of the spraying robot; The spraying robot is controlled to spray based on the swing arm speed and the travel distance; wherein, the spraying includes intermittent spraying and continuous spraying; the intermittent spraying is to perform swing arm spraying in a first preset direction when the spray robot is stationary, and after completing the number of arm swings, the swing arm stops, and after the spray robot moves a travel distance, the swing arm performs swing arm spraying in a second preset direction; the first preset direction and the second preset direction are opposite directions to each other; the continuous spraying is to perform swing arm spraying while the spray robot is moving.

2. The method according to claim 1, characterized in that The method of selecting a corresponding spray flow rate according to a target film thickness includes: Determine the corresponding target pressure according to the target film thickness; Based on the mapping relationship table between pressure and flow, the corresponding spraying flow is determined according to the target pressure.

3. The method according to claim 1, characterized in that The swing arm speed of the spray robot is determined according to the target film thickness and spray flow rate in the following way: in, in, v is the swing arm speed, Q 2 is the spraying flow rate, D is the target film thickness, w 1 is the spray width, k is the loss coefficient during spraying, Q 1 is pressure P 1 corresponds to the flow rate, P 2 is the spraying flow rate Q 2 corresponds to the pressure.

4. The method according to claim 1, characterized in that After setting the travel distance of the spraying robot, the method further includes: A trajectory planning strategy for the coordinated cooperation between the swing arm of the spraying robot and the movement of the spraying robot is set; the trajectory planning strategy can make the trajectory of one end of the swing arm of the spraying robot where the nozzle is installed be a straight line.

5. The method according to claim 4, characterized in that The trajectory planning strategy for the coordinated cooperation between the swing arm of the spraying robot and the movement of the spraying robot includes: Determine the swing arm range of the spray robot swing arm; the swing arm range is bilaterally symmetrical; Within the swing arm range, the time for the swing arm to swing one cycle in the first preset direction or the second preset direction is equal to the time for the spray robot to move one cycle in the third preset direction or the fourth preset direction; The third preset direction and the fourth preset direction are opposite to each other.

6. The method according to claim 4, characterized in that The controlling the spraying robot to spray based on the swing arm speed and the travel distance comprises: The spraying robot is controlled to perform continuous spraying according to the swing arm speed, the travel distance of the robot chassis and the trajectory planning strategy.

7. The method according to claim 6, characterized in that The nozzle of the spraying robot is arranged parallel to the vertical line where the center point of the circumscribed rectangle of the spraying robot is located; When the film thickness of the boundary area in the task area does not reach the target film thickness, a touch-up operation is performed on the boundary area.

8. A controller, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

9. A spraying robot, characterized in that: The spraying robot comprises the controller according to claim 8; and further comprises: a robot chassis, a robot upper body and a spraying device; The robot chassis is provided with a driving motor for driving the robot to move forward, backward and turn; The robot is equipped with a swing arm, a swing arm motor, a nozzle and a solenoid valve; one end of the swing arm is mounted on the swing arm motor, and the nozzle is mounted on the other end of the swing arm; the nozzle is a nozzle with a spray flow rate corresponding to the target film thickness; the swing arm motor is used to drive the swing of the swing arm; The spraying device includes an air compressor and a sprayer. One end of the sprayer is placed in the paint, and the other end is connected to the air compressor. The air compressor provides an air source for the sprayer to transfer the paint to the nozzle. The solenoid valve is used to control the on and off of the air pressure of the air compressor.

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