Spraying control method, system and equipment and readable storage medium

Abstract

The invention discloses a spraying control method, system and equipment and a readable storage medium, the method is applied to a spraying machine tool, a lifting structure group of the spraying machine tool is connected with a carrying platform, and the lifting structure group comprises a plurality of lifting modules; the height adjusting range of each lifting module is in a progressive state, and the height adjusting ranges of the adjacent lifting modules are intersected; a distance sensor and nozzles are arranged on the carrying platform, and the distance between the nozzles and the width of the nozzles are adjustable; the method comprises the following steps: determining a spraying range according to a spraying instruction; all target lifting modules matched with the spraying range are determined from the lifting structure set; generating a spraying strategy according to the height adjustment range and the spraying instruction corresponding to each target lifting module; and according to the spraying strategy and the distance sensor, the target lifting modules are controlled to drive the carrying platform to ascend and descend, and a spraying instruction is completed through the multiple nozzles on the carrying platform. Therefore, the method has the remarkable effect of improving the overall quality and efficiency of building interior wall surface spraying construction.

Description

Technical Field

[0001] The present application relates to the field of spraying technology, and more specifically, to a spraying control method, system, device, and readable storage medium. Background Art

[0002] In the construction industry, the spraying construction of interior wall surfaces is crucial, directly affecting the internal beauty of the building, wall protection, and space functions.

[0003] Currently, the manual spraying method has significant drawbacks. On the one hand, it highly depends on manpower, requiring construction workers to have rich experience and excellent skills to ensure uniform spraying and consistent thickness. However, manual operation is easily affected by individual differences and fatigue, resulting in unstable quality. On the other hand, manual spraying has a high labor intensity and low efficiency. When carrying out large-scale construction, a large amount of manpower needs to be invested, which takes a long time and has a high cost. Moreover, construction workers are exposed to the paint environment containing harmful chemicals for a long time, and their health is seriously threatened.

[0004] Therefore, providing a spraying control method is of great significance for improving construction quality and efficiency and ensuring personnel health. Summary of the Invention

[0005] In view of this, the present application provides a spraying control method, system, device, and readable storage medium for solving the drawback of manpower dependence in the existing manual spraying technology.

[0006] To achieve the above object, the following solutions are proposed:

[0007] A spraying control method, which is applied to a spraying machine. The spraying machine includes a distance sensor and a lifting structure group; the lifting structure group is connected to a load platform, and the lifting structure group includes a plurality of lifting modules for adjusting the height of the load platform; the height adjustment ranges of each lifting module are in a progressive state and the height adjustment ranges of adjacent lifting modules intersect pairwise; a distance sensor and at least two nozzles are arranged on the load platform; the distance between the nozzles on the load platform is adjustable and the width of the nozzles is adjustable;

[0008] The spraying control method includes:

[0009] When the lifting structure group returns to the initial state, in response to a spraying instruction, determine the spraying range according to the spraying instruction;

[0010] Determine all target lifting modules that match the spraying range from the lifting structure group;

[0011] Generate a spraying strategy according to the height adjustment range corresponding to each target lifting module and the spraying instruction;

[0012] According to the spraying strategy and the distance sensor, control each target lifting module to drive the load platform to lift, and use multiple nozzles on the load platform to complete the spraying instruction.

[0013] Optionally, before controlling each target lifting module to drive the load platform to lift according to the spraying strategy and the distance sensor, and using multiple nozzles on the load platform to complete the spraying instruction, it further includes:

[0014] Based on the spraying instruction, determine the spraying width, and based on the spraying width, determine the target nozzle width and the target nozzle spacing.

[0015] Optionally, the generating the spraying strategy according to the height adjustment range corresponding to each target lifting module and the spraying instruction includes:

[0016] According to the height adjustment range corresponding to each target lifting module and the spraying instruction, determine the spraying priority and the spraying interval corresponding to each target lifting module;

[0017] Generate a spraying strategy including the spraying priority and the spraying interval corresponding to each target lifting module.

[0018] Optionally, the controlling each target lifting module to drive the load platform to lift according to the spraying strategy and the distance sensor, and using multiple nozzles on the load platform to complete the spraying instruction includes:

[0019] Select, from each target lifting module, the target lifting module that has not completed the spraying operation and has the highest spraying priority as the lifting main body;

[0020] In combination with the distance sensor, control the lifting main body to drive the load platform to move upward, and during the upward movement, use multiple nozzles on the load platform to perform the spraying operation;

[0021] After the lifting main body completes the spraying operation in the corresponding spraying interval, return to execute the step of selecting, from each target lifting module, the target lifting module that has not completed the spraying operation and has the highest spraying priority as the lifting main body until the spraying instruction is completed.

[0022] Optionally, each spraying interval includes the highest working height;

[0023] The combining the distance sensor, controlling the lifting main body to drive the load platform to move upward, and using multiple nozzles on the load platform to perform the spraying operation during the upward movement includes:

[0024] During the process of the lifting main body driving the load platform to move upward, the distance sensor is used to determine the height value of the load platform;

[0025] When the distance difference between the height value of the load platform and the maximum working height of the lifting main body is less than a preset distance threshold, based on the distance difference, the spraying flow rates of each nozzle are adjusted in real time.

[0026] Optionally, the adjusting the spraying flow rates of each nozzle in real time based on the distance difference includes:

[0027] Calculating the spraying flow rates of each nozzle based on the distance difference and the distance threshold.

[0028] Optionally, the calculating the spraying flow rates of each nozzle based on the distance difference and the distance threshold includes:

[0029] Combining with a flow rate adjustment function, calculating the spraying flow rates of each nozzle based on the distance difference and the distance threshold;

[0030] The flow rate adjustment function is as follows:

[0031]

[0032] In the formula, Q is the spraying flow rate; Q0 is the initial flow rate; D is the distance threshold; d is the distance difference.

[0033] A spraying control system includes a spraying control device and a spraying tool;

[0034] The spraying tool includes a distance sensor and a lifting structure group; the lifting structure group is connected with a load platform, and the lifting structure group includes a plurality of lifting modules for adjusting the height of the load platform; the height adjustment ranges of each lifting module are in a progressive state and the height adjustment ranges of adjacent lifting modules intersect pairwise; a distance sensor and at least two nozzles are arranged on the load platform; the distance between the nozzles on the load platform is adjustable and the width of the nozzles is adjustable;

[0035] The spraying control device includes:

[0036] A determination module, configured to, when the lifting structure group restores the initialization state, respond to a spraying instruction, and determine a spraying range according to the spraying instruction;

[0037] A matching module, configured to determine all target lifting modules matching the spraying range from the lifting structure group;

[0038] A generation module, configured to generate a spraying strategy according to the height adjustment ranges corresponding to each target lifting module and the spraying instruction;

[0039] A control module, configured to control each target lifting module to drive the load platform to lift according to the spraying strategy and the distance sensor, and complete the spraying instruction by using a plurality of nozzles on the load platform.

[0040] A spraying control device, comprising a memory and a processor;

[0041] The memory is used for storing programs;

[0042] The processor is configured to execute the program to implement each step of the above-mentioned spraying control method.

[0043] A readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, each step of the above-mentioned spraying control method is implemented.

[0044] As can be seen from the above technical solution, the spraying control method provided by the present application can be applied to a spraying machine, which includes a distance sensor and a lifting structure group; the lifting structure group is connected to a load platform, and the lifting structure group includes a plurality of lifting modules for adjusting the height of the load platform; the height adjustment ranges of the respective lifting modules are in a progressive state and the height adjustment ranges of adjacent lifting modules intersect pairwise; a distance sensor and at least two nozzles are provided on the load platform; the spacing between the nozzles on the load platform is adjustable and the width of the nozzles is adjustable; based on this, the present application can utilize the different lifting modules in the lifting structure group to work together, which can not only meet the height adjustment with a large span, but also achieve fine tuning through the intersecting ranges, ensuring that the load platform can accurately reach the required height and improving the spraying accuracy; the spacing between the nozzles on the load platform is adjustable and the width of the nozzles is adjustable, which enables the spraying machine to adapt to a variety of different spraying requirements. For example, when facing spraying areas with different shapes and sizes, the nozzle spacing and width can be flexibly adjusted to achieve uniform and efficient spraying, improving the adaptability of the equipment to diverse construction scenarios. The spraying control method may include: when the lifting structure group returns to the initial state, in response to a spraying instruction, determining a spraying range according to the spraying instruction; determining all target lifting modules in the lifting structure group that match the spraying range; based on this, the present application can refer to the spraying requirement range and the height adjustment range, and specifically select a plurality of target lifting modules that match according to different spraying requirements. This targeted screening method avoids ineffective operations on all lifting modules, improves the response speed and operation efficiency, and ensures that the equipment can quickly enter the working state. Subsequently, a spraying strategy can be generated according to the height adjustment ranges corresponding to the respective target lifting modules and the spraying instruction; based on this, when the present application generates the spraying strategy, it comprehensively refers to the height adjustment ranges of the respective target lifting modules and the spraying requirements, enabling the spraying strategy to effectively plan the lifting path of the load platform and the working mode of the nozzles, making the spraying process more planned and reasonable, and helping to improve the spraying quality and efficiency. Then, according to the spraying strategy and the distance sensor, control the respective target lifting modules to drive the load platform to lift, and use the multiple nozzles on the load platform to complete the spraying instruction; based on this, according to the spraying strategy and the distance sensor, control the target lifting modules to drive the load platform to lift and use the nozzles to complete the spraying instruction, realizing the automatic collaborative control of the entire spraying process. The distance sensor provides real-time feedback information, enabling the equipment to dynamically adjust according to the actual situation, further improving the spraying accuracy, reducing the errors caused by manual intervention, and ensuring accurate spraying at different heights and positions.Since the height adjustment ranges of adjacent lifting modules in the present application intersect with each other, the height adjustment ranges of adjacent target lifting structures in the present application also intersect with each other. In the process of controlling different target lifting modules to drive the lifting of the loading platform, the intersecting height ranges can be sprayed by two target lifting modules to ensure the consistency of the spraying effect during the relay spraying process. It can be seen that the present application can automatically control the spraying equipment to achieve efficient and accurate spraying operations. It reduces the spraying quality problems caused by the instability of manual operation, and ensures the consistency of the spraying effect through the intersecting height adjustment ranges, thereby improving the spraying quality; at the same time, the automated process speeds up the construction progress and reduces labor costs, which has a significant effect on improving the overall quality and efficiency of the spraying construction of the interior walls of buildings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0046] Figure 1 A spraying machine architecture diagram is an example of an embodiment of the present application;

[0047] Figure 2 A flow chart of a spraying control method disclosed in an embodiment of the present application;

[0048] Figure 3 A structural block diagram of a spray control device disclosed in an embodiment of the present application;

[0049] Figure 4 A hardware structure block diagram of a spray control device disclosed in an embodiment of the present application;

[0050] Figure 1 The corresponding relationship between the component identification and the reference numerals is as follows:

[0051] The lifting structure group 1 , the loading platform 2 , the lifting module 11 , the distance sensor 21 , and the nozzle 22 . DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] Next, the spraying machine of the present application will be introduced in detail with reference to the accompanying drawings. It should be noted that the direction of the structures shown in the drawings of the present application is set for the ease of understanding of the description, and does not impose any restrictions on the direction of the embodiments of the present disclosure during actual implementation. Moreover, the shape and size of the whole or part of the structures shown in the drawings do not limit the actual shape and size either.

[0054] Referring to Figure 1 , it can be found that the spraying machine of the present application includes a lifting structure group 1.

[0055] The lifting structure group 1 is connected to a load platform 2 and includes a plurality of lifting modules 11 for adjusting the height of the load platform 2.

[0056] The height adjustment ranges of the respective lifting modules 11 are in a progressive state and the height adjustment ranges of adjacent lifting modules 11 intersect pairwise.

[0057] A distance sensor 21 and at least two nozzles 22 are provided on the load platform 2; the spacing between the nozzles 22 on the load platform 2 is adjustable and the width of the nozzles 22 is adjustable.

[0058] The load platform 2 can move vertically in the form of wire drive within the height coverage range of the lifting structure group 1.

[0059] The lifting structure group 1 can be a structure group with a storage height.

[0060] The load platform 2 is located at the top of the lifting structure group 1.

[0061] The distance sensor 21 adopts high-precision measurement technology and can detect the height of the load platform 2 relative to the ground in real time.

[0062] A slide rail can also be provided on the load platform 2, and each nozzle 22 can be arranged on the slide rail.

[0063] In the present application, the spacing between the nozzles 22 can be adjusted by controlling the sliding of the nozzles 22 on the slide rail.

[0064] The width of the nozzles 22 can be adjusted in various ways. For example, the width of the nozzles 22 can be adjusted by controlling the relative ends of the nozzles 22 to move in opposite directions on the slide rail; the width of the nozzles 22 can also be adjusted by replacing nozzles 22 with different widths.

[0065] An embodiment of the present application provides a spraying control method, which can be applied to the above-mentioned device.

[0066] Next, in combination with Figure 2 , the spraying control method of the present application will be introduced in detail, including the following steps:

[0067] Step S1: When the lifting structure group 1 resumes its initial state, in response to a spraying instruction, determine the spraying range according to the spraying instruction.

[0068] Specifically, the lifting structure group 1 can be inspected to determine whether each lifting module 11 is reset.

[0069] When a spraying instruction is received, the spraying height range can be determined according to the spraying instruction, and the spraying time can also be determined.

[0070] Step S2: Determine all target lifting modules that match the spraying range from the lifting structure group 1.

[0071] Specifically, all target lifting modules that match the spraying height range can be determined according to each height adjustment range.

[0072] The height interval formed by the height adjustment ranges of each lifting module 11 includes the spraying height range.

[0073] Step S3: Generate a spraying strategy according to the height adjustment range corresponding to each target lifting module and the spraying instruction.

[0074] Specifically, a spraying strategy for automatically completing the spraying instruction can be generated with reference to the height adjustment range corresponding to each target lifting module and the spraying instruction.

[0075] Step S4: According to the spraying strategy and the distance sensor 21, control each target lifting module to drive the load platform 2 to lift, and use the multiple nozzles 22 on the load platform 2 to complete the spraying instruction.

[0076] Specifically, with reference to the spraying strategy and the height of the load platform 2 feedback by the distance sensor 21, each target lifting module can be controlled in sequence to drive the load platform 2 to lift, and the load platform 2 can be controlled to perform spraying operations during the lifting process to complete the spraying instruction.

[0077] Among them, the driving motor can be used to control the lifting body to drive the load platform 2 to move upward.

[0078] As can be seen from the above technical solution, the spraying control method provided in this application can be applied to a spraying machine. The spraying machine includes a distance sensor 21 and a lifting structure group 1; the lifting structure group 1 is connected to a load platform 2, and the lifting structure group 1 includes a plurality of lifting modules 11 for adjusting the height of the load platform 2; the height adjustment ranges of the respective lifting modules 11 are in a progressive state and the height adjustment ranges of adjacent lifting modules 11 intersect pairwise; a distance sensor 21 and at least two nozzles 22 are provided on the load platform 2; the spacing between the nozzles 22 on the load platform 2 is adjustable and the width of the nozzles 22 is adjustable; based on this, this application can utilize the different lifting modules 11 in the lifting structure group 1 to work together, which can not only meet the height adjustment with a large span, but also achieve fine adjustment through the intersecting ranges, ensuring that the load platform 2 can accurately reach the required height and improving the spraying accuracy; the spacing between the nozzles 22 on the load platform 2 is adjustable and the width of the nozzles 22 is adjustable, which enables the spraying machine to adapt to a variety of different spraying requirements. For example, when facing spraying areas with different shapes and sizes, the spacing and width of the nozzles 22 can be flexibly adjusted to achieve uniform and efficient spraying, improving the adaptability of the equipment to diverse construction scenarios. The spraying control method may include: when the lifting structure group 1 resumes the initialization state, in response to a spraying instruction, determining a spraying range according to the spraying instruction; determining all target lifting modules matching the spraying range from the lifting structure group 1; based on this, this application can refer to the spraying requirement range and the height adjustment range, and specifically select a plurality of matching target lifting modules according to different spraying requirements. This targeted screening method avoids ineffective operations on all the lifting modules 11, improves the response speed and operation efficiency, and ensures that the equipment can quickly enter the working state. Subsequently, a spraying strategy can be generated according to the height adjustment ranges corresponding to the respective target lifting modules and the spraying instruction; based on this, when generating the spraying strategy in this application, comprehensively referring to the height adjustment ranges of the respective target lifting modules and the spraying requirements, the spraying strategy can effectively plan the lifting path of the load platform 2 and the working mode of the nozzles 22, making the spraying process more planned and reasonable, and helping to improve the spraying quality and efficiency. Then, according to the spraying strategy and the distance sensor 21, controlling the respective target lifting modules to drive the load platform 2 to lift and using the plurality of nozzles 22 on the load platform 2 to complete the spraying instruction; based on this, according to the spraying strategy and the distance sensor 21, controlling the target lifting modules to drive the load platform 2 to lift and using the nozzles 22 to complete the spraying instruction, realizing the automatic cooperative control of the entire spraying process. The distance sensor 21 provides real-time feedback information, enabling the equipment to dynamically adjust according to the actual situation, further improving the spraying accuracy, reducing the errors caused by manual intervention, and ensuring accurate spraying at different heights and positions.Since the height adjustment ranges of adjacent lifting modules 11 in the present application intersect with each other, the height adjustment ranges of adjacent target lifting structures in the present application also intersect with each other. In the process of controlling different target lifting modules to drive the loading platform 2 to rise and fall, the intersecting height ranges can be sprayed by two target lifting modules to ensure the consistency of the spraying effect during the relay spraying process. It can be seen that the present application can automatically control the spraying equipment to achieve efficient and accurate spraying operations. It reduces the spraying quality problems caused by the instability of manual operation, and ensures the consistency of the spraying effect through the intersecting height adjustment ranges, thereby improving the spraying quality; at the same time, the automated process speeds up the construction progress and reduces labor costs, which has a significant effect on improving the overall quality and efficiency of the spraying construction of the interior walls of buildings.

[0079] In some embodiments of the present application, it is considered that the spraying instruction includes a height requirement and may also include a spraying width requirement. At this time, in order to meet the width requirement, the nozzle 22 needs to be adjusted, and before the adjustment, the requirements of the spraying instruction for the nozzle 22 need to be determined. Therefore, a determination process can be added before step S4. Next, the process will be described in detail. The steps are as follows:

[0080] S40, determining a spraying width based on the spraying instruction, and determining a target nozzle width and a target nozzle spacing based on the spraying width.

[0081] Specifically, the spraying instruction may be analyzed to determine the spraying width range, and the target nozzle width and the target nozzle spacing may be calculated based on the spraying width range and the target correspondence.

[0082] The target corresponding relationship may be that the spraying width range is equal to the difference between the sum of the spraying ranges of all nozzles and the spraying coverage range of all nozzles caused by the target nozzle spacing and the target nozzle width.

[0083] Each nozzle 22 on the carrier platform 2 may be adjusted according to the target nozzle width and the target nozzle spacing.

[0084] It can be seen from the above technical solution that compared with the previous embodiment, this embodiment adds an optional process for determining the requirements of the spraying instruction for the nozzle 22. Through the above process, the requirements of the spraying instruction for the spraying width range can be achieved by adjusting the nozzle 22, so that the present application can adapt to the needs of different scenarios.

[0085] In some embodiments of the present application, step S3, the process of generating a spraying strategy according to the height adjustment range corresponding to each target lifting module and the spraying instruction is described in detail, and the steps are as follows:

[0086] S30. Determine the spraying priorities and spraying intervals corresponding to each target lifting module according to the height adjustment range corresponding to each target lifting module and the spraying instruction.

[0087] Specifically, the spraying priorities of each target lifting module can be determined in the order of the height adjustment range from low to high.

[0088] The spraying interval of each target lifting module can be determined according to the height adjustment range and the spraying height range of each target lifting module.

[0089] S31. Generate a spraying strategy including the spraying priorities and spraying intervals corresponding to each target lifting module.

[0090] Specifically, the spraying strategy can be generated with reference to the spraying priorities and spraying intervals corresponding to each target lifting module.

[0091] As can be seen from the above technical solution, this embodiment provides an optional way to generate a spraying strategy according to the height adjustment range corresponding to each target lifting module and the spraying instruction. Through the above method, the present application can control each target lifting module to move within the corresponding spraying interval in sequence through the spraying strategy, and complete the spraying instruction by relay.

[0092] In some embodiments of the present application, the process of step S4: controlling each target lifting module to drive the load platform 2 to lift according to the spraying strategy and the distance sensor 21, and using the multiple nozzles 22 on the load platform 2 to complete the spraying instruction is described in detail. The steps are as follows:

[0093] S40. Select the target lifting module that has not completed the spraying operation and has the highest spraying priority among each target lifting module as the lifting main body.

[0094] Specifically, the target lifting module with the highest spraying priority can be selected from the target lifting modules that have not completed the spraying operation as the lifting main body.

[0095] S41. In combination with the distance sensor 21, control the lifting main body to drive the load platform 2 to move upward, and during the upward movement, perform the spraying operation using the multiple nozzles 22 on the load platform 2; after the lifting main body completes the spraying operation in the corresponding spraying interval, return to execute step S40 until the spraying instruction is completed.

[0096] Specifically, the height of the load platform 2 can be determined in real time in combination with the distance sensor 21. The variable-speed control lifting body drives the load platform 2 to move upward, and during the upward movement of the load platform 2, spraying operations are performed using multiple nozzles 22 on the load platform 2. After the lifting body completes the spraying operation in the corresponding spraying interval, return to execute step S40 until the spraying instruction is completed.

[0097] Among them, when the spraying flow rate of the load platform 2 drops to 0, the height difference between the height of the load platform 2 and the highest working height indicated by the spraying interval is lower than the distance threshold, or the load platform 2 reaches the highest working height, it can be determined that the corresponding lifting body has completed the spraying operation.

[0098] It can be seen from the above technical solutions that this embodiment provides an optional method for controlling each target lifting module to drive the load platform 2 to lift according to the spraying strategy and the distance sensor 21, and using multiple nozzles 22 on the load platform 2 to complete the spraying instruction. In the above manner, each target lifting module is arranged in sequence in the order of priority to drive the load platform 2 to move upward in a relay manner, and further avoid errors in the automated movement process through the spraying priority, improving the reliability of this application.

[0099] In some embodiments of the present application, step S41, combining the distance sensor 21, controlling the lifting body to drive the load platform 2 to move upward, and during the upward movement, using multiple nozzles 22 on the load platform 2 to perform spraying operations is described in detail as follows:

[0100] S410. During the process of the lifting body driving the load platform 2 to move upward, use the distance sensor 21 to determine the height value of the load platform 2.

[0101] Specifically, during the movement of the load platform 2, the distance sensor 21 can be used in real time to determine the height value of the load platform 2.

[0102] Each spraying interval includes a highest working height and a lowest working height.

[0103] This height value can be used to indicate the height of the load platform 2 relative to the ground.

[0104] S411. When the distance difference between the height value of the load platform 2 and the highest working height of the lifting body is less than the preset distance threshold, based on the distance difference, the spraying flow rate of each nozzle 22 is adjusted in real time.

[0105] Specifically, the distance threshold can be less than the vertical range covered by the nozzle 22 in one spray of the coating material.

[0106] The distance difference between the height value and the maximum working height can be calculated, and when the distance difference is less than the distance threshold, the spraying flow rate can be adjusted with reference to the distance difference.

[0107] Meanwhile, when the distance difference is less than the distance threshold, the lifting body can be controlled to drive the load platform 2 to perform a uniformly decelerated motion.

[0108] Similarly, when the distance difference between the height value and the minimum working height is less than the preset distance threshold, the spraying flow rate of each nozzle 22 is adjusted in real time based on the distance difference until the distance difference between the height value and the minimum working height is greater than the distance threshold.

[0109] Meanwhile, when the distance difference is less than the distance threshold, the lifting body can be controlled to drive the load platform 2 to perform a uniformly accelerated motion.

[0110] When the differences between the height value and the minimum working height and the maximum working height are both greater than the distance threshold, the lifting body can be controlled to drive the load platform 2 to perform a uniform motion.

[0111] It can be seen from the above technical solutions that this embodiment provides an optional method of combining the distance sensor 21 to control the lifting body to drive the load platform 2 to move upward, and during the upward movement, spraying operations are performed using multiple nozzles 22 on the load platform 2. Through the above method, with the distance threshold as a reference, a transition interval is formed in combination with the minimum working height and the maximum working height. When the load platform 2 moves in the transition interval, the spraying flow rate is controlled to better perform the transition of the lifting body and ensure the spraying effect.

[0112] In some embodiments of the present application, the process of adjusting the spraying flow rate of each nozzle 22 in real time based on the distance difference in step S411 is described in detail as follows:

[0113] S4110. Calculate the spraying flow rate of each nozzle 22 based on the distance difference and the distance threshold.

[0114] Specifically, the spraying flow rate of each nozzle 22 can be calculated by combining the distance difference and the distance threshold.

[0115] It can be seen from the above technical solutions that this embodiment provides an optional method of adjusting the spraying flow rate of each nozzle 22 in real time based on the distance difference. Through the above method, the spraying flow rate can be adjusted by the distance difference and the distance threshold.

[0116] In some embodiments of the present application, the process of calculating the spraying flow rate of each nozzle 22 based on the distance difference and the distance threshold in step S4110 is described in detail as follows:

[0117] S41100. Based on the distance difference and the distance threshold, calculate the spraying flow rate of each nozzle 22 in combination with the flow rate adjustment function.

[0118] Specifically, the flow rate adjustment function is as follows:

[0119]

[0120] In the formula, Q is the spraying flow rate; Q0 is the initial flow rate; D is the distance threshold; d is the distance difference.

[0121] When the differences between the height value and the lowest working height and the highest working height are both greater than the distance threshold, the spraying flow rate of the nozzle 22 is the initial flow rate.

[0122] As can be seen from the above technical solution, this embodiment provides an optional method for calculating the spraying flow rate of each nozzle 22 based on the distance difference and the distance threshold. Through the above method, better control of the spraying flow rate can be achieved.

[0123] Next, a specific embodiment will be used to introduce the above spraying control method in detail.

[0124] After receiving the spraying instruction, check the lifting structure group 1 to confirm whether each lifting module 11 is reset. After determining that all lifting modules 11 are reset, parse the spraying instruction to determine the spraying height range and the spraying width range;

[0125] Based on the spraying height range and the height adjustment range of each lifting module 11, screen out the matching target lifting modules;

[0126] Based on the spraying width range, calculate the target nozzle width and the target nozzle spacing, and adjust the nozzles 22 on the carrier platform 2 accordingly.

[0127] Determine the spraying priority of each target lifting module according to the height adjustment range from low to high; combine the spraying height range and the height adjustment range of each target lifting module to clarify the spraying interval of each target lifting module, and then generate a spraying strategy.

[0128] When executing the spraying strategy, select the target lifting module with the highest priority as the lifting main body from each target lifting module. Use the distance sensor 21 to monitor the height of the carrier platform 2 in real time, and variably control the lifting main body to drive the carrier platform 2 to rise, and simultaneously enable multiple nozzles 22 on the carrier platform 2 to spray. When the spraying flow rate of the carrier platform 2 drops to 0 and the difference between the height of the carrier platform 2 and the highest working height of the spraying interval is less than the distance threshold, or when the carrier platform 2 reaches the highest working height, select the target lifting module with the highest priority as the lifting main body from the remaining target lifting modules again, and loop to execute the above steps until the spraying instruction is completed.

[0129] Next, it will be combined with Figure 3 to introduce the spraying control device provided by this application in detail. The spraying control device provided below can be compared with the spraying control method provided above.

[0130] Referring to Figure 3 it can be found that the spraying control device may include:

[0131] A determination module 10, configured to, when the lifting structure group 1 resumes the initialization state, respond to a spraying instruction, and determine a spraying range according to the spraying instruction;

[0132] A matching module 20, configured to determine all target lifting modules that match the spraying range from the lifting structure group 1;

[0133] A generation module 30, configured to generate a spraying strategy according to the height adjustment range corresponding to each target lifting module and the spraying instruction;

[0134] A control module 40, configured to control each target lifting module to drive the load platform 2 to lift according to the spraying strategy and the distance sensor 21, and use a plurality of nozzles 22 on the load platform 2 to complete the spraying instruction.

[0135] Furthermore, the spraying control device may further include:

[0136] A spraying width determination unit, configured to determine a spraying width based on the spraying instruction, and determine a target nozzle width and a target nozzle spacing based on the spraying width.

[0137] Furthermore, the generation module 30 may include:

[0138] A spraying interval determination unit, configured to determine the spraying priority and spraying interval corresponding to each target lifting module according to the height adjustment range corresponding to each target lifting module and the spraying instruction;

[0139] A spraying strategy generation unit, configured to generate a spraying strategy including the spraying priority and spraying interval corresponding to each target lifting module.

[0140] Furthermore, the control module 40 may include:

[0141] A lifting main body selection unit, configured to select, from each target lifting module, a target lifting module that has not completed the spraying operation and has the highest spraying priority as the lifting main body;

[0142] The lifting main body control unit is used to control the lifting main body to drive the load platform 2 to move upward in combination with the distance sensor 21, and during the upward movement, perform spraying operations using multiple nozzles 22 on the load platform 2; after the lifting main body completes the spraying operation in the corresponding spraying interval, call the lifting main body selection unit again until the spraying instruction is completed.

[0143] Furthermore, the lifting main body control unit may include:

[0144] The height value determination subunit is used to determine the height value of the load platform 2 by using the distance sensor 21 during the process of the lifting main body driving the load platform 2 to move upward;

[0145] The spraying flow rate adjustment subunit is used to, when the distance difference between the height value of the load platform 2 and the maximum working height of the lifting main body is less than a preset distance threshold, adjust the spraying flow rate of each nozzle 22 in real time based on the distance difference.

[0146] Furthermore, the spraying flow rate adjustment subunit may include:

[0147] The spraying flow rate calculation component is used to calculate the spraying flow rate of each nozzle 22 based on the distance difference and the distance threshold.

[0148] Furthermore, the spraying flow rate calculation component may include:

[0149] The flow rate adjustment function combination sub-component is used to combine the flow rate adjustment function and calculate the spraying flow rate of each nozzle 22 based on the distance difference and the distance threshold;

[0150] The flow rate adjustment function is as follows:

[0151]

[0152] In the formula, Q is the spraying flow rate; Q0 is the initial flow rate; D is the distance threshold; d is the distance difference.

[0153] The spraying control device provided by the embodiments of the present application can be applied to spraying control equipment, such as PC terminals, cloud platforms, servers, and server clusters, etc. Optionally, Figure 4 shows the hardware structure block diagram of the spraying control equipment. Referring to Figure 4 , the hardware structure of the spraying control equipment may include: at least one processor 100, at least one communication interface 200, at least one memory 300, and at least one communication bus 400;

[0154] In the embodiments of the present application, the number of the processor 100, the communication interface 200, the memory 300, and the communication bus 400 is at least one, and the processor 100, the communication interface 200, and the memory 300 complete communication with each other through the communication bus 400;

[0155] The processor 100 may be a central processing unit (CPU), or a specific integrated circuit (ASIC) (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;

[0156] The memory 300 may include a high-speed RAM memory, and may also include a non-volatile memory, etc., such as at least one disk memory;

[0157] Among them, the memory stores a program, and the processor can call the program stored in the memory. The program is used for:

[0158] When the lifting structure group 1 resumes the initialization state, in response to a spraying instruction, determine a spraying range according to the spraying instruction;

[0159] Determine all target lifting modules in the lifting structure group 1 that match the spraying range;

[0160] Generate a spraying strategy according to the height adjustment range corresponding to each target lifting module and the spraying instruction;

[0161] According to the spraying strategy and the distance sensor 21, control each target lifting module to drive the load platform 2 to lift, and use multiple nozzles 22 on the load platform 2 to complete the spraying instruction.

[0162] Optionally, the refined functions and extended functions of the program can be referred to the above description.

[0163] The embodiments of the present application further provide a readable storage medium, which can store a program suitable for execution by a processor. The program is used for:

[0164] When the lifting structure group 1 resumes the initialization state, in response to a spraying instruction, determine a spraying range according to the spraying instruction;

[0165] Determine all target lifting modules in the lifting structure group 1 that match the spraying range;

[0166] Generate a spraying strategy according to the height adjustment range corresponding to each target lifting module and the spraying instruction;

[0167] Control each target lifting module to drive the load platform 2 to lift according to the spraying strategy and the distance sensor 21, and complete the spraying instruction by using a plurality of nozzles 22 on the load platform 2.

[0168] Optionally, the refinement function and expansion function of the program can refer to the above description.

[0169] Finally, it should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0170] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0171] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. The various embodiments of the present application can be combined with each other. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A spraying control method, characterized in that, The spraying control method is applied to a spraying machine, and the spraying machine includes a distance sensor and a lifting structure group; the lifting structure group is connected to a loading platform, and the lifting structure group includes a plurality of lifting modules for adjusting the height of the loading platform; the height adjustment ranges of the respective lifting modules are in a progressive state and the height adjustment ranges of adjacent lifting modules intersect pairwise; a distance sensor and at least two nozzles are arranged on the loading platform. The distance between the nozzles on the loading platform is adjustable and the width of the nozzles is adjustable. The spraying control method includes: When the lifting structure group returns to the initial state, in response to a spraying instruction, determine a spraying range according to the spraying instruction. Determine all target lifting modules in the lifting structure group that match the spraying range. Generate a spraying strategy according to the height adjustment ranges corresponding to the respective target lifting modules and the spraying instruction. According to the spraying strategy and the distance sensor, control the respective target lifting modules to drive the loading platform to lift, and use the multiple nozzles on the loading platform to complete the spraying instruction.

2. The spraying control method according to claim 1, characterized in that, Before controlling the respective target lifting modules to drive the loading platform to lift according to the spraying strategy and the distance sensor and using the multiple nozzles on the loading platform to complete the spraying instruction, it further includes: Based on the spraying instruction, determine a spraying width, and based on the spraying width, determine a target nozzle width and a target nozzle spacing.

3. The spraying control method according to claim 1, wherein The generating a spraying strategy according to the height adjustment ranges corresponding to the respective target lifting modules and the spraying instruction includes: According to the height adjustment ranges corresponding to the respective target lifting modules and the spraying instruction, determine the spraying priorities and spraying intervals corresponding to the respective target lifting modules. Generate a spraying strategy including the spraying priorities and spraying intervals corresponding to each target lifting module.

4. The spraying control method according to claim 3, characterized in that The controlling the respective target lifting modules to drive the loading platform to lift according to the spraying strategy and the distance sensor and using the multiple nozzles on the loading platform to complete the spraying instruction includes: Select, from the respective target lifting modules, the target lifting module that has not completed the spraying operation and has the highest spraying priority as the lifting main body. In combination with the distance sensor, control the lifting main body to drive the loading platform to move upward, and during the upward movement, use the multiple nozzles on the loading platform to perform a spraying operation. After the lifting main body completes the spraying operation for the corresponding spraying interval, return to execute the step of selecting, from the respective target lifting modules, the target lifting module that has not completed the spraying operation and has the highest spraying priority as the lifting main body until the spraying instruction is completed.

5. The spraying control method according to claim 4, wherein, Each spraying interval includes a maximum working height. The in combination with the distance sensor, controlling the lifting main body to drive the loading platform to move upward and using the multiple nozzles on the loading platform to perform a spraying operation during the upward movement includes: During the process of the lifting main body driving the loading platform to move upward, use the distance sensor to determine the height value of the loading platform. When the distance difference between the height value of the load platform and the maximum working height of the lifting body is less than a preset distance threshold, the spraying flow rate of each nozzle is adjusted in real time based on the distance difference.

6. The spraying control method according to claim 5, characterized in that, The adjusting the spraying flow rate of each nozzle in real time based on the distance difference includes: Calculating the spraying flow rate of each nozzle based on the distance difference and the distance threshold.

7. The spraying control method according to claim 6, characterized in that, The calculating the spraying flow rate of each nozzle based on the distance difference and the distance threshold includes: Combining with a flow rate adjustment function, calculating the spraying flow rate of each nozzle based on the distance difference and the distance threshold; The flow rate adjustment function is as follows: In the formula, Q is the spraying flow rate; Q0 is the initial flow rate; D is the distance threshold; d is the distance difference.

8. A spraying control system, characterized in that, Including a spraying control device and a spraying machine; The spraying machine includes a distance sensor and a lifting structure group; the lifting structure group is connected with a load platform, and the lifting structure group includes a plurality of lifting modules for adjusting the height of the load platform; the height adjustment ranges of each lifting module are in a progressive state and the height adjustment ranges of adjacent lifting modules intersect pairwise; a distance sensor and at least two nozzles are arranged on the load platform; The distance between the nozzles on the load platform is adjustable and the width of the nozzles is adjustable; The spraying control device includes: A determining module, configured to, when the lifting structure group resumes the initialization state, respond to a spraying instruction, and determine a spraying range according to the spraying instruction; A matching module, configured to determine all target lifting modules matching the spraying range from the lifting structure group; A generating module, configured to generate a spraying strategy according to the height adjustment range corresponding to each target lifting module and the spraying instruction; A control module, configured to control each target lifting module to drive the load platform to lift according to the spraying strategy and the distance sensor, and use the plurality of nozzles on the load platform to complete the spraying instruction.

9. A spraying control device, characterized in that, Including a memory and a processor; The memory is used for storing a program; The processor is configured to execute the program to implement each step of the spraying control method according to any one of claims 1-7.

10. A readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by the processor, each step of the spraying control method according to any one of claims 1-7 is implemented.

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