Wall painting method and system, storage medium and intelligent terminal

Abstract

The invention relates to a wall painting method and system, a storage medium and an intelligent terminal, and relates to the field of wall construction technologies, and the method comprises the steps: obtaining a painting path and a path demand; segmenting the painting path based on the path demand to form segmented painting paths; searching a corresponding demand component from a preset paint database based on the path demand; controlling a painting device to carry out proportioning according to required components when the segmented painting paths are painted; numbering the segmented painting paths to obtain path numbers, and forming a mapping relationship between the demand components and the path numbers; according to the method and the device, the materials are prepared according to the requirements of the corresponding paths in the process of each section of the path, human intervention is not needed, and the effects of improving the pertinence of the coating and the intelligence of the matching are achieved. The method and the device have the advantages that the materials are prepared according to the requirements of the corresponding paths in the process of each section of the path.

Description

Technical Field

[0001] This application relates to the field of wall construction technologies, and particularly to a wall painting method, system, storage medium, and intelligent terminal. Background Art

[0002] Wall painting is an important task in interior decoration and maintenance. It can not only change the appearance of a room, enhance the spatial aesthetic feeling, but also protect the wall from the influence of environmental factors.

[0003] In related technologies, as introduced in the patent document with Chinese Patent No. CN109594751A, a wall painting device and operation method for home decoration are as follows: The base is moved near the wall to be painted, then the handle is held, and the connecting rod is pushed to make the push plate squeeze the paint downward. The paint flows through the infusion capillary and infusion tube into the inner cavity of the liquid outlet cylinder. Further, the paint pushes the stopper and compresses the infusion tube, increasing the instantaneous impact force, and sprays out from the liquid spraying hole, and evenly penetrates into the brush through the shunt hole. After the brush is completely infiltrated with the paint, hold the handle and operate the brush to roll on the wall to be painted to paint the wall.

[0004] There are the following problems in the prior art: The paint is of one type of component, but the requirements of different walls are different. Some walls require fire prevention functions, while some walls require dryness to prevent the growth of microorganisms. Workers need to configure it as required, and if the consecutive components are different, they need to clean and replace the paint, which is rather cumbersome and there is still room for improvement. Summary of the Invention

[0005] In order to improve the problem that due to different requirements of different walls, workers need to configure as required and if the consecutive components are different, they need to clean and replace the paint, which is rather cumbersome, this application provides a wall painting method, system, storage medium, and intelligent terminal.

[0006] In a first aspect, this application provides a wall painting method, adopting the following technical solution: A wall painting method includes: Obtain a painting path and path requirements; Segment the painting path based on the path requirements to form segmented painting paths; Find corresponding required components from a preset paint database based on the path requirements; When controlling the painting device to mix according to the required components during segmented painting paths, the painting device includes an electric trolley, a robotic arm, a painting roller, a connecting pipe, and several storage buckets storing different components. The storage buckets are fixedly connected to the electric trolley, the robotic arm is movably connected to the electric trolley, the painting roller is installed on the robotic arm, the inside of the roller has a mixing chamber, one end of the connecting pipe is arranged on the storage bucket and communicates with the inside of the storage bucket, and the other end of the connecting pipe is arranged on the roller and communicates with the mixing chamber; Number the segmented painting paths to obtain path numbers, and form a mapping relationship between the required components and the path numbers; Successively paint the segmented painting paths corresponding to the painted path numbers with the corresponding required components.

[0007] By adopting the above technical solution, the painting device automatically decomposes the path into several segments according to the requirements of the paint for different wall positions, and mixes the ingredients according to the requirements of the corresponding path during each segment of the path, without manual intervention, improving the pertinence of the paint and the intelligence of the mixing.

[0008] Optionally, the method for controlling the painting device to mix according to the required components includes: Based on adjacent path numbers, determine adjacent two required components, define the required component corresponding to the previous path number as the first required component, and define the required component corresponding to the next path number as the second required component; When the first required component and the second required component are different, open the water in the storage bucket storing pure water to clean the painting roller; Mix according to the second required component; When the first required component and the second required component are the same, no change is made.

[0009] By adopting the above technical solution, cleaning is performed when the components are different, and no cleaning is required when the components are the same, so that each component will not be mixed into the next painting area, improving the accuracy of painting.

[0010] Optionally, the method for numbering the segmented painting paths to obtain path numbers includes: Based on the segmented painting paths, form a preliminary painting path sequence; Arbitrarily select two segmented painting paths, define one of the segmented painting paths as the first segmented path, define the other segmented painting path as the second segmented path, define the required component corresponding to the first segmented path as the first required component, and define the required component corresponding to the second segmented path as the second required component; Determine the compatibility based on the first required component and the second required component, and the compatibility includes inclusiveness, difference, or being included; When the compatibility is inclusiveness or being inclusive, an inclusive number group is formed, and two segmented fraction paths are reselected. There is inclusiveness or being inclusive between any two first demand components and second demand components within the inclusive number group; When the compatibility is difference existence, two inclusive number groups are formed; After all segmented painting paths are selected, all inclusive number groups are integrated. There is inclusiveness or being inclusive between any two first demand components and second demand components within the integrated inclusive number group; The first segmented path and the second segmented path falling within the same inclusive number group are made adjacent to each other in pairs; When the compatibility between the first segmented path and the second segmented path within the same inclusive number group is inclusiveness, the first segmented path is adjusted after the second segmented path; When the compatibility between the first segmented path and the second segmented path within the same inclusive number group is being inclusive, the second segmented path is adjusted after the first segmented path; When no adjustment is needed, the painting path order is formed; Numbering is performed based on the painting path order to obtain the path number.

[0011] By adopting the above technical solution, since different components need to be cleaned, when sorting, those with fewer components can be arranged in the front, and those containing the previous components can be arranged in the back, so that each time the components can be satisfied and no impurities are contained, improving the purity of the mixed painting coating.

[0012] Optionally, the method for forming the preliminary painting path order based on the segmented painting path includes: Sort the segmented painting paths based on the painting path to obtain the preliminary painting path order.

[0013] By adopting the above technical solution, sorting is first performed through the painting path, so that all plans are sorted based on the painting path, preventing the painting roller from painting once on the left and once on the right, and improving the smoothness of wall painting.

[0014] Optionally, it further includes a method for trimming the painting path order, and this method includes: Arbitrarily select two inclusive number groups, define one of the inclusive number groups as the first inclusive number group, define the other inclusive number group as the second inclusive number group, define the segmented painting path at the very end of the first inclusive number group as the third segmented path, define the demand component corresponding to the third segmented path as the third demand component, define all the segmented painting paths of the second inclusive number group as the fourth segmented path, and define the demand component corresponding to the fourth segmented path as the fourth demand component; Reverse-search for the corresponding fourth path requirement from the paint database based on the fourth requirement component; Search for the corresponding influence situation from the preset influence database based on the third requirement component, the fourth requirement component, and the fourth path requirement, where the influence situation is whether mixing the third requirement component into the fourth requirement component will affect the paint's satisfaction of the fourth path requirement; When the influence situation is a preset beneficial situation or an irrelevant situation, sort the third inclusion number group before the fourth inclusion number group; When the influence situation is a preset harmful situation, no trimming is performed.

[0015] By adopting the above technical solution, when the components of a certain group do not affect the efficacy of another group, it can be ranked before this group, enabling normal use without re-cleaning and improving the painting efficiency.

[0016] Optionally, when the first requirement component and the second requirement component are different, open the water in the storage bucket containing pure water to clean the painting roller. The method of proportioning according to the second requirement component includes: When opening the water in the storage bucket containing pure water, define the segmented painting path that has been painted as the painted path, and define the component that finally paints the painted path as the painted component; Obtain the painted image of the painted path; Analyze the painted path based on the painted image to determine the coating defect path; When the coating defect path does not exist, open the water in the storage bucket containing pure water to clean the painting roller and proportion according to the second requirement component; When the coating defect path exists, determine the feedback compatibility and feedback influence situation based on the painted component and the second requirement component; When the feedback compatibility is difference or the feedback influence situation is a harmful situation, return to the coating defect path and repaint the coating defect path according to the painted component.

[0017] By adopting the above technical solution, before re-proportioning is required, check the path that has been painted. If there are defects, do not proportion but repair instead, avoiding the process of repeatedly proportioning back to the original formula during the later verification process and improving the efficiency of wall painting.

[0018] Optionally, it further includes an optimized method of returning to the coating defect path and repainting the coating defect path according to the first requirement component when the coating defect path exists. This method includes: When the coating defect path exists, determine the unpainted path with the same component as the painted component or with inclusive compatibility based on the path number determination; Determine the unbrushed end path based on the path number when there is an unbrushed path; After the unbrushed end path is updated to a brushed path, open the water in the storage bucket storing pure water to clean the painting roller. Before mixing according to the second required component, determine whether the feedback compatibility is dissimilarity and whether the feedback influence situation is harmful; When there is no unbrushed path, directly determine whether the feedback compatibility is dissimilarity and whether the influence situation is harmful.

[0019] By adopting the above technical solution, it is judged whether to paint the coating defect path at the unbrushed path where the last piece can paint the coating defect path, reducing the steps of constantly returning for repainting in the early stage and improving the efficiency of wall painting.

[0020] In a second aspect, the present application provides a wall painting system, adopting the following technical solution: A wall painting system includes: An acquisition module for acquiring the painting path, path requirements, and painted images; A memory for storing the program of the control method of any one of the above wall painting methods; A processor, and the program in the memory can be loaded and executed by the processor and implement the control method of any one of the above wall painting methods.

[0021] By adopting the above technical solution, the painting device automatically decomposes the path into several segments according to the requirements of the paint for different wall positions, and mixes the ingredients according to the requirements of the corresponding path during the process of each segment, without manual intervention, improving the pertinence of the paint and the intelligence of the mixing ratio.

[0022] In a third aspect, the present application provides an intelligent terminal, adopting the following technical solution: An intelligent terminal includes a memory and a processor, and a computer program capable of being loaded and executed by the processor for any one of the above wall painting methods is stored on the memory.

[0023] By adopting the above technical solution, the painting device automatically decomposes the path into several segments according to the requirements of the paint for different wall positions, and mixes the ingredients according to the requirements of the corresponding path during the process of each segment, without manual intervention, improving the pertinence of the paint and the intelligence of the mixing ratio.

[0024] In a fourth aspect, the present application provides a computer storage medium, which can store the corresponding program and has the characteristics of fast interaction of large memory data.

[0025] A computer-readable storage medium, adopting the following technical solution: A computer-readable storage medium stores a computer program that can be loaded and executed by a processor to perform any of the above wall painting methods.

[0026] By adopting the above technical solution, the painting device automatically decomposes the path into several segments according to the requirements of the paint for different wall positions, and mixes the materials according to the requirements of the corresponding path during each segment of the path, without manual intervention, improving the pertinence of the paint and the intelligence of the proportioning.

[0027] In summary, the present application includes at least the following beneficial technical effects: 1. Decompose the path into several segments according to the requirements of the paint for different wall positions, and mix the materials according to the requirements of the corresponding path during each segment of the path, without manual intervention, improving the pertinence of the paint and the intelligence of the proportioning; 2. When sorting, the components with fewer components can be arranged in the front, and the components containing the previous components can be arranged in the back, so that each component can be satisfied each time and no impurities are contained, improving the purity of the mixed painting paint; 3. Before re-proportioning is required, check the paths that have been applied. If there are defects, do not perform proportioning, but perform repairs instead, avoiding the process of repeatedly proportioning back to the original formula during the later verification process, and improving the efficiency of wall painting. Description of the Drawings

[0028] Figure 1 is a flowchart of a wall painting method in an embodiment of the present application.

[0029] Figure 2 is a schematic structural diagram of a painting device in an embodiment of the present application.

[0030] Figure 3 is a flowchart of a method for controlling a painting device to perform proportioning according to required components in an embodiment of the present application.

[0031] Figure 4 is a flowchart of a method for numbering segmented painting paths to obtain path numbers in an embodiment of the present application.

[0032] Figure 5 is a flowchart of a method for forming a preliminary painting path sequence based on segmented painting paths in an embodiment of the present application.

[0033] Figure 6 is a flowchart of a method for trimming the painting path sequence in an embodiment of the present application.

[0034] Figure 7When the first demand component is different from the second demand component in the embodiments of the present application, the water in the storage bucket storing pure water is opened to clean the painting roller, which is a flowchart of the method for proportioning according to the second demand component.

[0035] Figure 8 It is a flowchart of the optimization method for returning to the coating defect path and repainting the coating defect path according to the first demand component when there is a coating defect path in the embodiments of the present application.

[0036] Figure 9 It is a system module diagram of a wall painting method in the embodiments of the present application.

[0037] Explanation of reference numerals: 1. Electric trolley; 2. Manipulator; 3. Painting roller; 4. Connecting pipe; 5. Storage bucket. Detailed implementation manners

[0038] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the attached Figures 1 - 9 drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] The embodiments of the present application disclose a wall painting method. Referring to Figure 1 , a wall painting method includes: Step 100: Obtain the painting path and path requirements.

[0040] The painting path is the painting path of the wall that needs to be painted. Here, the painting path is input manually, or an electronic map can be generated in the system, a painting area can be planned, and then the system automatically divides the painting area according to the width of the painting roller 3 and painting rules, such as painting from top to bottom and from left to right, to obtain the painting path.

[0041] The path requirements are the requirements on the corresponding painting path, that is, for example, if a certain area needs to be anti-corrosive, anti-corrosive components need to be added to the paint during the painting process.

[0042] Step 101: Segment the painting path based on the path requirements to form a segmented painting path.

[0043] The segmented painting path is the painting path with the same path requirements during the process of advancing along the painting path. The segmentation method is that along the painting path, if the path requirements are the same and uninterrupted, it is regarded as the same segmented painting path. If different path requirements appear, it is regarded as different segmented painting paths.

[0044] Step 102: Find the corresponding required components from the preset paint database based on the path requirements.

[0045] The required components are the components doped in the paint corresponding to the path requirement, so as to achieve the effect corresponding to the path requirement. For example, if a certain area needs to be anti-corrosive, anti-corrosive components need to be put into the paint during the painting process. The mapping relationship between the path requirement and the required components is stored in the database. It is obtained by the staff in this field according to the actual path requirement, combined with their own experience and common knowledge, and then using the latest solution to set the corresponding required components and recording the corresponding mapping relationship. When the system receives the corresponding path requirement, it automatically searches the database for the corresponding required components and outputs them.

[0046] Step 103: When painting the segmented painting path, control the painting device to mix according to the required components.

[0047] Refer to Figure 2 , the painting device includes an electric trolley 1, a robotic arm 2, a painting roller 3, a connecting pipe 4, and several material storage barrels 5 storing different components. The robotic arm 2 is movably connected to the electric trolley 1 to act on the painting roller. The painting roller 3 is installed on the robotic arm 2 and is used to paint the wall. The painting roller 3 has a mixing chamber inside. The material storage barrels 5 are fixedly connected to the electric trolley 1. One end of the connecting pipe 4 is fixedly connected to the material storage barrel 5 and is in communication with the inside of the material storage barrel 5. The other end of the connecting pipe 4 is fixedly connected to the painting roller 3 and is in communication with the mixing chamber. In order to facilitate the control of the flow of materials in the connecting pipe 4, valves and pumping pumps can be set here. And in order to prevent the connecting pipe 4 from contacting the wall, a fence can be set on the side of the trolley close to the wall.

[0048] The mixing method is based on the volume of the mixing chamber inside the painting roller 3. According to the required components, the required amount of materials is driven out of the required material storage barrel 5, and then fully mixed in the painting roller 3. A spiral stirring blade can be set inside the painting roller 3, and a motor is set on the other side to drive the spiral stirring blade to stir.

[0049] Step 104: Number the segmented painting paths to obtain a path number, and form a mapping relationship between the required components and the path number.

[0050] The mapping relationship is the mapping relationship between the required components and the path number, that is, when one of them is found, for example, the required components, the other path number can be automatically known. The numbering method can be numbered according to the rules set by the staff themselves, or numbered according to the subsequent steps, which will not be elaborated here.

[0051] Step 105: Paint the segmented painting paths corresponding to the painting path numbers with the corresponding required components in turn.

[0052] Refer to Figure 3, a method for controlling the proportioning of a painting device according to required components includes: Step 200: Determine two adjacent required components based on adjacent path numbers. Define the required component corresponding to the previous path number as the first required component, and define the required component corresponding to the next path number as the second required component.

[0053] The determination method is to first determine the adjacent numbers, and then automatically find the corresponding required components from the mapping relationship.

[0054] Step 201: When the first required component is different from the second required component, open the water in the storage bucket 5 storing pure water to clean the painting roller 3.

[0055] When the first required component is different from the second required component, it means that cleaning cannot be carried out simultaneously, so the components need to be changed.

[0056] It should be noted that before cleaning the painting roller 3 here, the segmented painting path of the first required component has been painted. Then it is found that the second required component is different from the first required component, so cleaning is required before painting the segmented painting path of the second required component.

[0057] Step 202: Perform proportioning according to the second required component.

[0058] At this time, the inside of the painting roller 3 has been cleaned and there are no impurities.

[0059] Step 203: Do not make any changes when the first required component is the same as the second required component.

[0060] Refer to Figure 4 , a method for numbering segmented painting paths to obtain path numbers includes: Step 300: Form a preliminary painting path sequence based on the segmented painting paths.

[0061] Here, the preliminary painting path sequence is obtained only by sorting the segmented painting paths. It can be from left to right, from top to bottom, or formed according to a special habitual order.

[0062] Step 301: Arbitrarily select two segmented painting paths. Define one of the segmented painting paths as the first segmented path, and define the other segmented painting path as the second segmented path. Define the required component corresponding to the first segmented path as the first required component, and define the required component corresponding to the second segmented path as the second required component.

[0063] Step 302: Determine the compatibility based on the first required component and the second required component.

[0064] Compatibility includes inclusiveness, dissimilarity, or being included. Inclusiveness is the property that the first requirement component includes the second requirement component. For example, if the first requirement component is A + B and the second requirement component is A. Dissimilarity is the property that there are different components between the first requirement component and the second requirement component. For example, if the first requirement component is A + B and the second requirement component is A + C. Being included is the property that the second requirement component includes the first requirement component. For example, if the first requirement component is A and the second requirement component is A + C.

[0065] The determination method is to disassemble the components and compare them pairwise one by one.

[0066] Step 303: When the compatibility is inclusiveness or being included, form an inclusion number group and reselect two segmented score paths.

[0067] The inclusion number group is a combination of segmented painting paths. There is inclusiveness or being included between any two first requirement components and second requirement components within the inclusion number group.

[0068] Step 304: When the compatibility is dissimilarity, form two inclusion number groups.

[0069] When the compatibility is dissimilarity, it means that the two cannot be inclusive or be included, so two inclusion number groups are formed.

[0070] Step 305: After all segmented painting paths are selected, integrate all inclusion number groups.

[0071] There is inclusiveness or being included between any two first requirement components and second requirement components within the integrated inclusion number group. The purpose of integration is to avoid the situation where two inclusion number groups exist when in fact the two inclusion number groups can be merged to meet the requirements.

[0072] Step 306: Adjacent the first segmented path and the second segmented path that fall into the same inclusion number group pairwise.

[0073] The purpose of being adjacent here is to make all the segmented painting paths within the same inclusion number group connected together without another inclusion number group appearing in the middle.

[0074] Step 307: When the compatibility between the first segmented path and the second segmented path within the same inclusion number group is inclusiveness, adjust the first segmented path after the second segmented path.

[0075] When the compatibility between the first segmented path and the second segmented path within the same inclusion number group is inclusive, it indicates that the first segmented path has more components and includes the components of the second segmented path. Therefore, if the first segmented path is arranged after the second segmented path, after painting the second segmented path, only the additional components need to be added, and no additional components will be generated. However, if the second segmented path is arranged after the first segmented path, then after painting the first segmented path, since some of the components of the first segmented path are redundant compared to the second segmented path, it is necessary to clean and re - proportion. Therefore, adjusting the first segmented path after the second segmented path is the optimal choice.

[0076] Step 308: When the compatibility between the first segmented path and the second segmented path within the same inclusion number group is inclusiveness, adjust the second segmented path after the first segmented path.

[0077] Same as step 307, the difference is that the compatibility between the first segmented path and the second segmented path within the same inclusion number group is inclusiveness.

[0078] Step 309: Do not need to adjust to form the painting path sequence.

[0079] When no adjustment is needed after repeated selection and comparison, then form the sequence within the same inclusion number group according to the current order, and then form the painting path sequence according to the sorting of the inclusion number groups.

[0080] Step 310: Number based on the painting path sequence to obtain the path number.

[0081] When the painting path sequence has been formed, just number according to the sequence.

[0082] Refer to Figure 5 , the method for forming the preliminary painting path sequence based on the segmented painting path includes: Step 400: Sort the segmented painting paths based on the painting path to obtain the preliminary painting path sequence.

[0083] The sorting method here is to sort according to the direction of the painting path, that is, to make all the plans based on the painting path for sorting. Overall, it is along the direction of the painting path, so that the painting roller 3 does not paint left and then right, improving the smoothness of wall painting.

[0084] Here, it can also be sorted in the reverse direction of the painting path.

[0085] Refer to Figure 6 , and it also includes the method for trimming the painting path sequence, and this method includes: Step 500: Arbitrarily select two inclusive number groups. Define one inclusive number group as the first inclusive number group, and the other inclusive number group as the second inclusive number group. Define the segmented painting path at the end of the first inclusive number group as the third segmented path, define the required component corresponding to the third segmented path as the third required component, define all the segmented painting paths of the second inclusive number group as the fourth segmented path, and define the required component corresponding to the fourth segmented path as the fourth required component.

[0086] Step 501: Based on the fourth required component, reverse-search in the paint database to find the corresponding fourth path requirement.

[0087] The fourth path requirement is the path requirement corresponding to the fourth required component. The establishment of the database was described in Step 102 and will not be elaborated here. When the system receives the fourth required component, it automatically searches in the database for the corresponding fourth path requirement and outputs it.

[0088] Step 502: Based on the third required component, the fourth required component, and the fourth path requirement, search in the preset influence database to find the corresponding influence situation.

[0089] The influence situation is whether mixing the third required component into the fourth required component will affect the paint's satisfaction of the fourth path requirement. The database stores the mapping relationship between the third required component, the fourth required component, the fourth path requirement, and the influence situation. It is recorded by the staff in this field after observing the application of the mixture of the third required component and the fourth required component to the path corresponding to the fourth path requirement and then observing whether the corresponding wall surface meets the fourth path requirement. When the system receives the corresponding third required component, fourth required component, and fourth path requirement, it automatically searches in the database for the corresponding influence situation and outputs it.

[0090] Step 503: When the influence situation is the preset beneficial situation or irrelevant situation, sort the third inclusive number group before the fourth inclusive number group.

[0091] The beneficial situation is that mixing the third required component into the fourth required component is more in line with the fourth path requirement. The irrelevant situation is that mixing the third required component into the fourth required component will not affect the fourth path requirement. When the influence situation is the preset beneficial situation or irrelevant situation, it means that the third inclusive number group can be placed first, and then the fourth inclusive number group. In this case, even if the components of the third inclusive number group are mixed, no harm will occur and no cleaning is required.

[0092] Here, it can also be compared in reverse, that is, if the influence situation of the fourth inclusive number group on the third inclusive number group is a beneficial situation or an irrelevant situation, then the fourth inclusive number group can also be placed before the third inclusive number group.

[0093] Step 504: Do not perform trimming when the influence situation is a preset harmful situation.

[0094] The harmful situation is that the third required component is mixed into the fourth required component and does not meet the requirements of the fourth path. When the influence situation is a harmful situation, it is impossible to directly proportion and paint without cleaning, so no trimming is performed.

[0095] Refer to Figure 7 , when the first required component and the second required component are different, the water in the storage bucket 5 storing pure water is opened to clean the painting roller 3. The method of proportioning according to the second required component includes: Step 600: When the water in the storage bucket 5 storing pure water is opened, the segmented painting path that has been painted is defined as the painted path, and the component that finally paints the painted path is defined as the painted component.

[0096] Step 601: Obtain the painted image of the painted path.

[0097] The painted image is the image of the painted path. The obtaining method can be by taking pictures. The image here is the image of the segmented painting path where the coating has just been painted and the components have not been changed recently.

[0098] Step 602: Analyze the painted path based on the painted image to determine the coating defect path.

[0099] The coating defect path is the path that still has certain defects after painting. The defects here can be color difference, smoothness, and whether the edge is clear. The analysis method is color and size comparison, that is, the corresponding color is evenly applied to the unit image in the corresponding size, and then the unit image is compared along the path. If there is inconsistency, it is defined as the coating defect path.

[0100] Step 603: When the coating defect path does not exist, open the water in the storage bucket 5 storing pure water to clean the painting roller 3 and proportion according to the second required component.

[0101] When the coating defect path does not exist, it means that the segmented painting path here has been painted and meets the requirements, so the required components of the next segmented painting path can be proportioned.

[0102] Step 604: When the coating defect path exists, determine the feedback compatibility and feedback influence situation based on the painted component and the second required component.

[0103] The feedback compatibility is the compatibility between the brushed component and the second required component, which is determined in step 302 and will not be elaborated here. The feedback influence situation is the influence situation between the brushed component and the second required component, which is determined in step 502 and will not be elaborated here.

[0104] Step 605: When the feedback compatibility is difference or the feedback influence situation is harmful, return to the coating defect path and repaint the coating defect path according to the brushed component.

[0105] When the feedback compatibility is difference or the feedback influence situation is harmful, it means that if the path corresponding to the second required component is painted first and then the coating defect path is repainted, re - proportioning is required, resulting in repeated proportioning of the same content. Therefore, it is more reasonable to adopt the method of returning to the coating defect path and repainting the coating defect path according to the brushed component.

[0106] Refer to Figure 8 , and it also includes an optimized method of returning to the coating defect path and repainting the coating defect path according to the first required component when there is a coating defect path. This method includes: Step 700: When there is a coating defect path, determine the unpainted path with the same component as the brushed component or with inclusive compatibility based on the path number.

[0107] The unpainted path is a segmented painting path with the same component as the brushed component or with inclusive compatibility. Here, this path is sorted after the brushed path according to the path number. The determination method is to determine the compatibility between the component of each segmented painting path with a path number after the brushed path and the brushed component one by one.

[0108] Step 701: When there is an unpainted path, determine the end unpainted path based on the path number.

[0109] The end unpainted path is the unpainted path with the last - numbered path in the order of the painting path. The determination method is to select all the unpainted paths and then find the one with the last - numbered path.

[0110] Step 702: After the end unpainted path is updated to a brushed path, open the water in the storage bucket 5 storing pure water to clean the painting roller 3. Before proportioning according to the second required component, judge whether the feedback compatibility is difference and whether the feedback influence situation is harmful.

[0111] After the end unpainted path is updated to a brushed path, it means that the end unpainted path has been painted at this time. If the next one is painted at this time, it will cause different components and require cleaning. Then it is necessary to judge whether to adopt the method of step 605.

[0112] If the method of step 605 is adopted here, the same required components as before can be repaired.

[0113] Step 703: When the unbrushed path does not exist, directly determine whether the feedback compatibility is the difference and whether the influence situation is harmful.

[0114] When the unbrushed path does not exist, the brushed path can be defaulted to the path of the same component at the end, and the method of step 702 can be directly used for judgment.

[0115] Based on the same inventive concept, an embodiment of the present invention provides a wall painting system.

[0116] Refer to Figure 9 , a wall painting system, including: An acquisition module, configured to acquire a painting path, path requirements, and a painted image; A memory, configured to store a program of a control method for a wall painting method; A processor, and the program in the memory can be loaded and executed by the processor and implement a control method for a wall painting method.

[0117] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example for illustration. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the system, device, and unit described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0118] An embodiment of the present invention provides a computer-readable storage medium, storing a computer program that can be loaded and executed by a processor to implement a wall painting method.

[0119] Computer storage media include, for example: various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs that can store program codes.

[0120] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, and a computer program that can be loaded and executed by the processor is stored on the memory.

[0121] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application accordingly. Any feature disclosed in this specification (including the abstract and drawings), unless specifically described, can be replaced by other equivalent or similar-purpose alternative features. That is, unless specifically described, each feature is only an example of a series of equivalent or similar features.

Claims

1. A wall painting method, characterized in that: include: Get the painting path and path requirements; Segmenting the painting path based on path requirements to form segmented painting paths; Based on the path requirements, the corresponding required components are found from the preset coating database; When painting the segmented painting path, the painting device is controlled to mix the ingredients according to the required proportions, the painting device comprising an electric trolley (1), a mechanical arm (2), a painting roller (3), a connecting pipe (4) and a plurality of material storage barrels (5) storing different ingredients, the material storage barrel (5) being fixedly connected to the electric trolley (1), the mechanical arm (2) being movably connected to the electric trolley (1), the painting roller (3) being mounted on the mechanical arm (2), the painting roller (3) having a mixing chamber inside, one end of the connecting pipe (4) being arranged on the material storage barrel (5) and being communicated with the inside of the material storage barrel (5), and the other end of the connecting pipe (4) being arranged on the painting roller (3) and being communicated with the mixing chamber; The segmented painting paths are numbered to obtain path numbers, and a mapping relationship between the demand components and the path numbers is formed; The segmented painting paths corresponding to the painting path numbers are painted using the corresponding demand components in turn.

2. A wall painting method according to claim 1, characterized in that: The method of controlling the painting device to mix the required components includes: Determine two adjacent demand components based on adjacent path numbers, define the demand component corresponding to the previous path number as a first demand component, and define the demand component corresponding to the next path number as a second demand component; When the first required component and the second required component are different, the water in the storage barrel (5) storing pure water is opened to clean the paint roller (3); Proportioning according to the second required component; When the first demand component and the second demand component are the same, no change is made.

3. A wall painting method according to claim 2, characterized in that: Methods for numbering segmented painting paths to obtain path numbers include: Forming a preliminary painting path sequence based on the segmented painting paths; Arbitrarily select two segmented painting paths, define one of the segmented painting paths as a first segmented path, define the other segmented painting path as a second segmented path, define the demand component corresponding to the first segmented path as a first demand component, and define the demand component corresponding to the second segmented path as a second demand component; Determining compatibility based on the first requirement component and the second requirement component, wherein the compatibility includes inclusion, difference, or inclusion; When the compatibility is inclusive or inclusive, an inclusive number group is formed, and two segmented score paths are reselected, and any two first demand components and second demand components in the inclusive number group are inclusive or inclusive; When the compatibility is different, two inclusive number groups are formed; After all the segmented painting paths are selected, all inclusive number groups are integrated, and any two first demand components and second demand components in the integrated inclusive number groups are inclusive or included; Place the first segment path and the second segment path that fall into the same inclusion number group adjacent to each other; When the compatibility of the first segment path and the second segment path in the same inclusive number group is inclusive, the first segment path is adjusted to be after the second segment path; When the compatibility of the first segment path and the second segment path in the same inclusion number group is inclusive, the second segment path is adjusted to be after the first segment path; The painting path sequence is formed without the need for adjustment; The paths are numbered based on the order in which they are painted.

4. A wall painting method according to claim 3, characterized in that: The method of forming a preliminary painting path sequence based on the segmented painting path includes: The segmented painting paths are sorted based on the painting paths to obtain a preliminary painting path sequence.

5. A wall painting method according to claim 4, characterized in that: Also included is a method for finishing the painting path sequence, the method comprising: Randomly select two inclusion number groups, define one of the inclusion number groups as the first inclusion number group, define the other inclusion number group as the second inclusion number group, define the segmented painting path at the end of the first inclusion number group as the third segmented path, define the demand component corresponding to the third segmented path as the third demand component, define all the segmented painting paths of the second inclusion number group as the fourth segmented path, and define the demand component corresponding to the fourth segmented path as the fourth demand component; Based on the fourth requirement component, reverse search from the coating database to find the corresponding fourth path requirement; Based on the third requirement component, the fourth requirement component and the fourth path requirement, a corresponding influence condition is searched from a preset influence database, wherein the influence condition is whether the mixing of the third requirement component into the fourth requirement component will affect the coating in satisfying the fourth path requirement; When the impact situation is a preset beneficial situation or an irrelevant situation, the third inclusive number group is sorted before the fourth inclusive number group; No repairs will be made when the impact is the default harmful situation.

6. A wall painting method according to claim 5, characterized in that: When the first required component and the second required component are different, the water in the storage barrel (5) storing pure water is opened to clean the paint roller (3), and the method of proportioning according to the second required component includes: When the water in the storage barrel (5) storing pure water is opened, the segmented painting path that has been painted is defined as a painted path, and the component that is finally painted on the painted path is defined as a painted component; Get the brushed image of the brushed path; analyzing the brushed path based on the brushed image to determine the coating defect path; When the coating defect path does not exist, the water in the storage barrel (5) storing pure water is opened to clean the paint roller (3), and the proportion is adjusted according to the second required component; Determine feedback compatibility and feedback impact based on the brushed component and the second required component when a coating defect path exists; When the feedback compatibility is different or the feedback influence is harmful, the coating defect path is returned to be repainted according to the already painted components.

7. A wall painting method according to claim 6, characterized in that: It also includes an optimization method for returning to the coating defect path and repainting the coating defect path according to the first demand component when the coating defect path exists, the method comprising: When a coating defect path exists, determine the unbrushed path with the same composition or compatibility as the brushed component based on the path number; When an unbrushed path exists, determining the terminal unbrushed path based on the path number; After the unbrushed path at the end is updated to the brushed path, the water in the storage barrel (5) storing pure water is opened to clean the brush roller (3), and before the second required component is mixed, it is determined whether the feedback compatibility is different and whether the feedback influence is harmful; When the unbrushed path does not exist, it is directly determined whether the feedback compatibility is different and whether the impact situation is harmful.

8. A wall painting system, characterized in that: include: An acquisition module is used to obtain the painting path, path requirements and painted images; A memory, used to store a program of a control method for a wall painting method according to any one of claims 1 to 7; The program in the processor memory can be loaded and executed by the processor to implement a control method for a wall painting method as described in any one of claims 1 to 7.

9. Intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a wall painting method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that A computer program is stored which can be loaded by a processor and executes a wall painting method as claimed in any one of claims 1 to 7.

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