Trajectory Planning Method, Controller and Spraying Robot of Spraying Robot

Abstract

The present disclosure provides a trajectory planning method, a controller and a spraying robot for a spraying robot. The method includes selecting a corresponding spraying flow rate 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 rate; the target film thickness is the film thickness required for the object to be sprayed; setting the travel distance of the spraying robot based on a preset edge pressing rate for each spraying cycle; controlling the spraying robot to spray based on the swing arm speed and the travel distance; the present application can not only spray intermittently but also continuously, and can make the speed of the swing arm not affected by the movement of the chassis of the spraying robot, and can select a faster swing arm speed and large-flow spraying, thereby achieving a substantial improvement in spraying efficiency.

Description

Technical Field

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

[0002] A side-mounted spraying robot is a robot that adsorbs on a metal surface to achieve a spraying function. Generally, it uses a permanent magnet to adsorb on a metal surface such as the surface of a ship or a chemical tank, and the end is equipped with a spray gun. The robot is remotely controlled to walk and operate, replacing workers for high-altitude operations and reducing safety risks. The existing spraying robots adopt a side-mounted scheme, 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 a swing arm is used. The speed of the swing arm is not affected by the speed of the robot chassis, and the robot sprays while walking. During the robot operation, it generally moves forward or backward according to the orientation, and only turns by differential at the boundary, and does not perform spraying tasks during the turning process.

[0003] In the related art, due to the limited speed of the side-mounted spraying robot on the vertical surface, the flow rate of the nozzle needs to be selected to be 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 solve at least the above technical problems existing in the prior art.

[0005] According to a first aspect of the present disclosure, there is provided a trajectory planning method for a spraying robot, the method including:

[0006] Select a corresponding spraying flow rate according to the target film thickness, and determine the swing arm speed of the spraying robot according to the target film thickness and the spraying flow rate; the target film thickness is the film thickness required for the object to be sprayed;

[0007] Set the travel distance of the spraying robot based on a preset edge pressing rate for each spraying cycle;

[0008] Control 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 spraying robot is stationary. After completing the number of swing arms, the swing arm stops, and after the spraying robot moves the 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 to each other; the continuous spraying is to perform swing arm spraying while the spraying robot is moving.

[0009] In an implementable manner, the selecting a corresponding spraying flow rate according to the target film thickness includes:

[0010] Determine the corresponding target pressure according to the target film thickness;

[0011] Based on the mapping relationship table between pressure and flow rate, determine the corresponding spraying flow rate according to the target pressure.

[0012] In an implementable manner, the swing arm speed of the spraying robot is determined according to the target film thickness and the spraying flow rate by the following method

[0013]

[0014] wherein,

[0015] wherein, 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 the spraying process, Q 1 is the pressure P the flow rate corresponding to 1, P 2 is the spraying flow rate Q the pressure corresponding to 2.

[0016] In an implementable manner, after setting the travel distance of the spraying robot, it further includes:

[0017] Set the trajectory planning strategy for the coordinated cooperation between the swing arm of the spraying robot and the movement of the spraying robot; the trajectory planning strategy can make the trajectory of the end of the swing rod of the spraying robot where the nozzle is installed a straight line.

[0018] In an implementable manner, the trajectory planning strategy for the coordinated cooperation between the swing arm of the spraying robot and the movement of the spraying robot includes:

[0019] Determine the swing arm range of the swing rod of the spraying robot; the swing arm range is symmetric left and right;

[0020] Within the swing arm range, when the swing rod swings in the first preset direction or the second preset direction for one cycle, the time is equal to the time for the spraying robot to move in the third preset direction or the fourth preset direction for one cycle;

[0021] wherein, the third preset direction and the fourth preset direction are opposite to each other.

[0022] In an implementable manner, the controlling the spraying robot to perform spraying based on the swing arm speed and the travel distance includes:

[0023] Control the spraying robot to perform continuous spraying according to the swing arm speed, the travel distance of the robot chassis and the trajectory planning strategy.

[0024] In one implementable 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;

[0025] When the film thickness of the boundary area in the task area does not reach the target film thickness, a repainting operation is performed on the boundary area.

[0026] According to a second aspect of the present disclosure, a controller is provided, including:

[0027] At least one processor; and

[0028] A memory communicatively connected to the at least one processor; wherein,

[0029] The memory stores instructions executable 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 execute the method described in any of the above embodiments.

[0030] According to a third aspect of the present disclosure, a spraying robot is provided. The spraying robot includes a controller; and further includes: a robot chassis, a robot upper body, and a spraying device;

[0031] A driving motor is provided on the robot chassis for driving the forward, backward, and turning of the robot;

[0032] A swing rod, a swing rod motor, a nozzle, and a solenoid valve are provided on the robot upper body; one end of the swing rod is mounted on the swing rod motor, and the nozzle is mounted on the other end of the swing rod; the nozzle is a nozzle with a spraying flow rate corresponding to the target film thickness; the swing rod motor is used to drive the swing of the swing rod;

[0033] The spraying device includes an air compressor and a spraying machine. One end of the spraying machine is placed in the paint, and the other end is connected to the air compressor. The air compressor provides air source for the spraying machine to transfer the paint to the nozzle, and the solenoid valve is used to control the on-off of the air pressure of the air compressor.

[0034] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, and the computer instructions are used to cause the computer to execute the method described in the present disclosure.

[0035] Trajectory Planning Method, Controller and Spraying Robot of the Present Disclosure. First, the present application determines the spraying flow rate according to the required film thickness, then calculates the swing speed of the spraying robot's swing arm based on the film thickness and spraying flow rate, and sets the travel distance of the spraying robot according to the preset edge pressing rate of the preset spraying cycle. Thus, the spraying robot can be controlled to perform intermittent spraying based on the swing speed and travel distance. In addition, the present application can also achieve continuous spraying. For intermittent spraying, the spraying robot provided by the present application can perform swing arm spraying when the robot chassis is stationary. After a single spraying is completed, the spraying stops, and the robot chassis moves to the next position and stops before continuing to spray. For continuous spraying, the present application sets the relationship between the swing direction of the swing arm and the direction of travel of the spraying robot, thereby achieving spraying of large-area regions. 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.

[0036] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understandable through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] By referring to the drawings and reading the following detailed description, the above and other objects, features, and advantages of the exemplary embodiments of the present disclosure will become easily understandable. In the drawings, several embodiments of the present disclosure are shown in an exemplary rather than restrictive manner, where:

[0038] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0039] Figure 1 Shows a schematic structural diagram of a spraying robot according to an embodiment of the present disclosure;

[0040] Figure 2 Shows a schematic structural diagram of a nozzle of a spraying robot according to an embodiment of the present disclosure;

[0041] Figure 3 Shows a schematic flowchart of a trajectory planning method of a spraying robot according to an embodiment of the present disclosure;

[0042] Figure 4 Shows a schematic diagram of the coverage area of a single-cycle spraying of a swing arm spraying robot according to an embodiment of the present disclosure;

[0043] Figure 5 Shows a schematic trajectory diagram of the cooperation between the chassis and the swing arm of a swing arm spraying robot according to an embodiment of the present disclosure;

[0044] Figure 6 Shows a spraying effect diagram of the cooperation between the chassis and the swing arm of a swing arm spraying robot according to an embodiment of the present disclosure;

[0045] Figure 7 Shows the spraying result diagram of the coordinated cooperation of the swing arm spraying robot chassis, swing arm and nozzle in the embodiment of the present disclosure;

[0046] Figure 8 Shows the operation effect diagram of multiple spraying cycles of the swing arm spraying robot in the embodiment of the present disclosure;

[0047] Figure 9 Shows the schematic diagram of the composition structure of the controller in the embodiment of the present disclosure. Detailed implementation manners

[0048] To make the purpose, features, and advantages of the present disclosure more obvious and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present disclosure.

[0049] In the related art, in operation scenarios such as ships and chemical industries where spraying processes are required, manual spraying is used, resulting in low operation efficiency, difficult control of film thickness, and a large number of workers required in large-scene areas. Therefore, spraying robots are used to improve efficiency. However, if the spraying robot sprays while moving forward, problems such as uneven spraying may occur due to the influence of speed.

[0050] Such as Figure 1 As shown, the present application provides a spraying robot, including a controller; further including: a robot chassis 1, a robot upper assembly, and a spraying device;

[0051] A driving motor (not shown in the figure) is provided on the robot chassis 1 for driving the robot to move forward, backward, and turn;

[0052] The robot upper assembly is provided with a swing rod 3, a swing rod motor 2, a nozzle 4, and a solenoid valve (not shown in the figure); one end of the swing rod 3 is installed on the swing rod motor 2, and the nozzle 4 is installed at the other end of the swing rod 3; the nozzle 4 is a nozzle with a spraying flow rate corresponding to the target film thickness; the swing rod motor 2 is used to drive the swing of the swing rod 3;

[0053] The spraying device includes an air compressor (not shown in the figure) and a spraying machine (not shown in the figure). One end of the spraying machine is placed in the paint, and the other end is connected to the air compressor. The air compressor provides air source for the spraying machine to transfer the paint to the nozzle, and the solenoid valve is used to control the on-off of the air pressure of the air compressor.

[0054] In some embodiments, a plurality of wheels 5 are provided on the robot chassis 1.

[0055] The spraying robot provided by the present application can be used in scenarios 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 adsorb on the metal surfaces of ships and chemical tanks. A plurality of wheels 5 are also provided on the robot chassis 1 of the spraying robot. For example, there can be four wheels 5, which can be arranged on both sides of the robot chassis 1. The spraying robot moves within the task area through the wheels 5. The task area is the area that needs to be sprayed. In the present application, the wheels 5 are driven by a drive motor, and the rotation and attitude control of the robot are achieved through differential speed. Among them, the swing rod 3 is installed on the swing rod motor 2, and the nozzle 4 is installed at the end of the swing rod 3. The swing rod motor 2 controls the swing rod 3 to perform periodic swinging to achieve spraying. Exemplarily, the swing rod motor 2 is installed on the spraying robot, and the swing rod motor 2 rotates to control the swing rod 3 to achieve the swinging function. As Figure 2 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 spraying flow rate. The principle of spraying is as follows: The paint is placed on the spraying device, pressurized by an air compressor, and the solenoid valve controls the on-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.

[0056] Among them, before performing the spraying operation, first select the nozzle 4. Nozzles 4 with different parameters can achieve different spraying flow rates. Different spraying flow rates can achieve different spraying film thicknesses. Therefore, in the present 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 requirements. The customer can be, for example, a customer of a shipyard, a chemical tank, or a bridge.

[0057] The spraying robot provided by the present application adopts the airless spraying method. Its spraying process relies on the instantaneous injection of the paint itself under hydraulic pressure to form a mist. The atomized paint does not contain compressed air, so it is called high-pressure airless spraying. Airless spraying has a wide application range, can adapt to various viscosities of paints, has good spraying surface quality, the coating is smooth, dense, and has no color difference. The paint can penetrate into the pores of the substrate, and the coating film forms a mechanical bite with the substrate, and the adhesion is relatively good, and it can be widely used by intelligent automated spraying equipment.

[0058] As Figure 3 shown, for the trajectory planning method of the spraying robot provided by the present application, the method includes:

[0059] S301, select the corresponding spraying flow rate according to the target film thickness, and determine the swing arm speed of the spraying robot according to the target film thickness and the spraying flow rate; the target film thickness is the film thickness required for the object to be sprayed;

[0060] In this application, the target film thickness is determined according to the film thickness required for the object to be sprayed. According to the preset mapping relationship between the film thickness and the flow rate, the corresponding spraying flow rate is found based on the target film thickness, and then the swing arm speed of the spraying robot can be calculated based on the target film thickness and the spraying flow rate.

[0061] S302. Set the travel distance of the spraying robot based on the preset edge pressing rate for each spraying cycle.

[0062] It should be noted that since the linear flow rate ejected by the nozzle 4 at a certain moment is the same, 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. To consider the consistency of the film thickness, it is necessary to consider the edge pressing rate for each spraying cycle to determine the step distance of the chassis 1 of the spraying robot. As Figure 4 shown, it is the coverage area sprayed by the swing arm spraying robot in a single cycle.

[0063] Exemplarily, as Figure 2 shown, the spray width of the nozzle 4 is w 1, that is, the width of the fan-shaped ring is w 1. Since the linear flow rate ejected by the nozzle 4 at a certain moment is the same, the flow rate of each arc in the fan-shaped ring is equal. The larger the radius, the longer the arc length, and the smaller the flow rate at the corresponding position, that is, the thinner the film thickness. To make the overall film thickness error as small as possible, the edge pressing rate is selected as 50%. That is, after a single swing arm spraying is completed, the chassis 1 of the robot walks downward along the center line of the robot by a step distance of w 1 / 2.

[0064] S303. Control the spraying robot to perform spraying 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 spraying robot is stationary. After completing the number of swing arms, the swing arm stops. After the spraying robot moves the 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 to each other; the continuous spraying is to perform swing arm spraying while the spraying robot is moving.

[0065] The spraying robot can be controlled to perform spraying according to the swing arm speed and the travel distance, and the spraying method includes intermittent spraying and continuous spraying. Specifically, the intermittent spraying is to perform swing arm spraying from left to right when the spraying robot is stationary. After one swing arm, the swing arm stops. After the spraying robot moves the travel distance, the swing arm performs swing arm spraying from right to left; the continuous spraying is to perform swing arm spraying while the spraying robot is moving. Specifically, in the intermittent spraying, the spraying trajectory is to spray by columns. When a column is sprayed, the spraying stops, and the robot turns to the initial position of the next column and repeats the spraying operation.

[0066] In some embodiments, selecting the corresponding spraying flow rate according to the target film thickness includes:

[0067] Determining the corresponding target pressure according to the target film thickness;

[0068] Based on the mapping relationship table between pressure and flow rate, determining the corresponding spraying flow rate according to the target pressure.

[0069] It can be understood that the flow rate parameters of the nozzle 4 are obtained from the manufacturer, and its parameter is the flow rate P at pressure Q 1. During the actual operation process, the flow rate parameter of the nozzle 4 is the spraying flow rate at the actual pressure P 2. The calculation is performed according to the following formula: Q 2.

[0070]

[0071] In this application, the spraying robot adopts the airless spraying and continuous method. When the nozzle 4 works, a constant target distance H generally needs to be maintained. The spray width is the spraying width formed from the nozzle 4 orifice to the coating surface under the rated pressure and medium, and it is a flat ellipse. During the spraying process, the nozzle 4 moves continuously. When calculating, the long axis of the ellipse is equivalent to a line segment. The spray width is generally in a range interval ( w 1, w 2), w 1, w and the difference between 2 is 50 mm. Within the error range, w 1 or w 2 can be selected. During the spraying process, since the paint is sprayed in the form of paint mist, certain losses usually occur. The speed of the robot is calculated according to the following formula:

[0072]

[0073] Wherein, 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 the spraying process, Q 1 is the flow rate corresponding to the pressure P 1. The speed is controlled by the swing arm swing rod motor 2, and the target speed can be set according to the actual operation scenario and the requirement of the film thickness. It adopts the intermittent movement. Specifically, when the swing rod 3 swings (when the solenoid valve is opened) for spraying, the base is stationary. When the base moves, the swing rod 3 stops swinging (when the solenoid valve is closed) and does not spray.

[0074] It is not affected by the speed of the robot chassis 1, greatly improving the spraying efficiency.

[0075] In some embodiments, after setting the travel distance of the spraying robot, the following steps are further included:

[0076] Set the trajectory planning strategy for the coordinated movement of the swing arm of the spraying robot and the movement of the spraying robot; the trajectory planning strategy can make the trajectory of the end of the swing rod 3 of the spraying robot where the nozzle 4 is installed a straight line.

[0077] In some embodiments, the trajectory planning strategy for the coordinated movement of the swing arm of the spraying robot and the movement of the spraying robot includes:

[0078] Determine the swing arm range of the swing rod 3 of the spraying robot; the swing arm range is symmetric about the left and right;

[0079] Within the swing arm range, when the swing rod 3 swings in the first preset direction or the second preset direction for one cycle, the time is equal to the time for the spraying robot to move in the third preset direction or the fourth preset direction for one cycle;

[0080] Wherein, the third preset direction and the fourth preset direction are opposite to each other.

[0081] Specifically, as Figure 5 shown, it is the trajectory planning scheme for the coordinated movement of the chassis 1 of the swing arm spraying robot and the swing arm. This scheme makes the movement trajectory of the end 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 1 moves to the right to P 2, during which the robot chassis 1 moves from O 1 down to O 2; similarly, when the swing rod 3 is on the right side of the robot center line, when the end of the swing rod 3 moves to the right, the robot chassis 1 moves upward; the spraying for one swing arm cycle is completed.

[0082] 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.

[0083] Wherein, the swing arm range is symmetric about the left and right, and the time for the swing rod 3 (nozzle 4) to swing from left to right for one cycle is equal to the time for the robot chassis 1 to move up and down for one cycle. Calculate the positional relationship between the nozzle 4 and the robot chassis 1 according to the geometric relationship.

[0084]

[0085]

[0086] As Figure 6As shown, it is the spraying effect diagram of the cooperation between the swing arm spraying robot chassis 1 and the swing arm. This solution can make the trajectory of the end of the swing rod 3 a straight line, and the spraying edge line is an arc with a small curvature, which can be approximately equivalent to a straight line. It reduces the spraying arc boundary and is more conducive to the overall trajectory planning.

[0087] In some embodiments, controlling the spraying robot to spray based on the swing arm speed and the traveling distance includes:

[0088] Controlling the spraying robot to perform continuous spraying according to the swing arm speed, the traveling distance of the robot chassis 1, and the trajectory planning strategy.

[0089] It can be understood that in the embodiments of the present application, it is necessary to add a mechanical structure or a swing rod motor 2 to the nozzle 4 so that the direction of the nozzle 4 always remains parallel to the vertical center line of the robot. The area enclosed by the upper and lower, left and right boundaries of a single spraying area is a rectangle, and the film thickness control of the spraying area is optimal. In the first two solutions, the attitude of the nozzle 4 relative to the swing rod 3 remains unchanged, and in the third solution, the nozzle 4 has one more degree of freedom relative to the swing rod 3.

[0090] Exemplarily, Figure 7 As shown is the spraying result diagram of the cooperation between the swing arm spraying robot chassis 1, the swing arm, and the nozzle 4. This solution can make the trajectory of the end of the swing rod 3 a straight line. Compared with the previous solution, this solution requires adding additional machinery or a swing rod motor 2 to the robot so that the attitude of the nozzle 4 remains unchanged during operation, maintaining the relative attitude with the robot, that is, always remaining parallel to the center line of the robot. The spraying area of this solution is a rectangle, and the film thickness is uniform.

[0091] 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;

[0092] When the film thickness of the boundary area in the task area does not reach the target film thickness, perform a paint replenishment operation on the boundary area.

[0093] In the present application, the area with a smaller film thickness difference is selected as the final target film thickness. When the boundary of the task area cannot meet the requirement of the target film thickness, manual supplementary spraying of the boundary area is required. For the first spraying and the last spraying of each column, the edge pressing rate cannot be achieved, so the film thickness is thinner. The width that needs to be manually supplemented is approximately half of the spray width of the nozzle 4 w 1 / 2. Figure 8 As shown is the operation effect diagram of multiple spraying cycles of the swing arm spraying robot.

[0094] As a specific embodiment, the spraying robot provided in the present application has three spraying methods, specifically including:

[0095] The first is intermittent spraying, which can control the film thickness while improving efficiency. There are cases where the upper and lower boundaries of the spraying are circular arcs and the left and right boundaries are serrated. Its control method is relatively simple.

[0096] The second solution is an upgrade based on the first. The swing arm and the robot chassis 1 move simultaneously, making the movement of the nozzle 4 a straight line. The upper and lower boundaries are approximately horizontal lines, and the left and right boundaries are serrated. The control is relatively complex.

[0097] The third solution is an optimization based on the second solution. The movement mode is the same as the second. It is necessary to add a mechanical structure or a swing rod 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 enclosed by the upper, lower, left, and right boundaries of the single spraying area is a rectangle, and the film thickness control of the spraying area is the best. In the first two solutions, the posture of the nozzle 4 relative to the swing rod 3 remains unchanged. In the third solution, the nozzle 4 has an additional degree of freedom relative to the swing rod 3.

[0098] As Figure 9 shown, an embodiment of the present application provides a controller, including:

[0099] At least one processor; and

[0100] A memory communicatively connected to the at least one processor; wherein,

[0101] The memory stores instructions executable 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 of the above embodiments.

[0102] An embodiment of the present application provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the method described in any of the above embodiments.

[0103] According to the embodiments of the present application, the present application also provides an electronic device and a readable storage medium.

[0104] As Figure 9 shown, the controller 800 includes a computing unit 801, which can execute 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 into 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 through a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0105] Multiple 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 disc, 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 via a computer network such as the Internet and / or various telecommunication networks.

[0106] The computing unit 801 can be various general-purpose and / or special-purpose 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, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 executes the various methods and processes described above, such as the trajectory planning method of the spraying robot. For example, in some embodiments, the trajectory planning method of the spraying robot can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed onto 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 spraying robot described above can be executed. Alternatively, in other embodiments, the computing unit 801 can be configured to execute the trajectory planning method of the spraying robot in any other suitable manner (e.g., by means of firmware).

[0107] The various embodiments of the systems and technologies 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 a chip (SOCs), complex programmable logic controllers (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments 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 or general programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0108] The program code for implementing the methods 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 apparatus, such that the program codes, when executed by the processor or controller, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0109] In the context of the present disclosure, a machine-readable medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, 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, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or controllers, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0110] In order to provide interaction with a user, the systems and techniques described herein may 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, speech input, or tactile input).

[0111] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), and the Internet.

[0112] A computer system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, a server of a distributed system, or a server incorporating blockchain.

[0113] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added, or deleted. For example, the steps recited in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not limited herein.

[0114] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" can explicitly or implicitly include at least one of such features. In the description of this disclosure, "a plurality" means two or more, unless otherwise specifically defined.

[0115] As described above, the above are only specific implementation manners of this disclosure, but the protection scope of this disclosure is not limited thereto. Any person skilled in the art within the technical scope disclosed in this disclosure can easily think of changes or substitutions, which should all be covered within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be subject to the protection scope of the claims.

Claims

1. A trajectory planning method for a spraying robot, characterized in that, The method includes: Selecting a corresponding spraying flow rate according to the target film thickness, and determining the swing arm speed of the spraying robot according to the target film thickness and the spraying flow rate; the target film thickness is the film thickness required for the object to be sprayed; Setting the travel distance of the spraying robot based on a preset edge pressing rate for each spraying cycle; After setting the travel distance of the spraying robot, it further includes: Setting a trajectory planning strategy for the coordinated cooperation between the swing arm of the spraying robot and the movement of the spraying robot; the trajectory planning strategy can make the trajectory of the end of the swing rod of the spraying robot where the nozzle is installed a straight line; The trajectory planning strategy for the coordinated cooperation between the swing arm of the spraying robot and the movement of the spraying robot includes: Determining the swing arm range of the swing rod of the spraying robot; the swing arm range is symmetric left and right; Within the swing arm range, when the swing rod swings in a first preset direction or a second preset direction for one cycle, the time is equal to the time when the spraying robot moves in a third preset direction or a fourth preset direction for one cycle; Wherein, the third preset direction and the fourth preset direction are opposite to each other; Controlling the spraying robot to perform spraying based on the swing arm speed and the travel distance; The controlling the spraying robot to perform spraying based on the swing arm speed and the travel distance includes: Controlling the spraying robot to perform continuous spraying according to the swing arm speed, the travel distance of the robot chassis, and the trajectory planning strategy; 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 spraying robot is stationary, after completing the number of swing arms, the swing arm stops, and after the spraying robot moves the 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 to each other; the continuous spraying is to perform swing arm spraying while the spraying robot is moving.

2. The method according to claim 1, wherein The selecting a corresponding spraying flow rate according to the target film thickness includes: Determining a corresponding target pressure according to the target film thickness; Based on the mapping relationship table between pressure and flow rate, determining the corresponding spraying flow rate according to the target pressure.

3. The method according to claim 1, wherein Determine the swing arm speed of the spraying robot in the following manner according to the target film thickness and the spraying flow rate Among them, Among them, 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 the spraying process, Q 1 is the pressure P The flow rate corresponding to 1, P 2 is the spraying flow rate Q The pressure corresponding to 2.

4. The method according to claim 1, wherein The nozzle of the spraying robot is arranged parallel to the vertical line passing through the center point of the circumscribed rectangle of the spraying robot; When the film thickness in the boundary area in the task area does not reach the target film thickness, perform a paint replenishment operation on the boundary area.

5. A controller, characterized in that, It includes: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable 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 according to any one of claims 1-4.

6. A spraying robot, characterized in that, The spraying robot includes the controller according to claim 5; it further includes: a robot chassis, a robot upper mounting, and a spraying device; A driving motor is provided on the robot chassis for driving the robot to move forward, backward, and turn; A swing rod, a swing rod motor, a nozzle and a solenoid valve are installed on the robot; one end of the swing rod is mounted on the swing rod motor, and the nozzle is mounted on the other end of the swing rod; the nozzle is a nozzle with a spraying flow rate corresponding to the target film thickness; the swing rod motor is used to drive the swing of the swing rod. The spraying device includes an air compressor and a spraying machine. One end of the spraying machine is placed in the paint, and the other end is connected to the air compressor. The air compressor provides air source for the spraying machine to transfer the paint to the nozzle, and the solenoid valve is used to control the on-off of the air pressure of the air compressor.

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