A control method for a spray device

Abstract

The application relates to the technical field of spraying equipment control and discloses a control method of spraying equipment, which comprises the following steps: initializing a plurality of modules based on a control module; unfolding a plurality of spraying rods; driving a winch module to lower a hoisted spraying rod module; sequentially opening spraying valves and spraying pumps in the valve pump module to supply materials to the spraying rod module through spraying pipelines; acquiring a first pressure value; when the first pressure value is greater than a starting pressure value, controlling a motion module to drive the spraying equipment to move along a first route; when the spraying equipment moves to the end point of the first route, sequentially closing the spraying pump and the spraying valve; opening a spraying backwater valve, then opening a cleaning pipeline pump, releasing cleaning liquid into the spraying pipeline for cleaning and continuing for a first cleaning time, and closing the cleaning pipeline pump and the spraying backwater valve; moving to the starting point of the first route; driving the winch module to lift the spraying rod module, and recovering the spraying pipeline; and resetting the spraying rod.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spraying equipment control, and in particular to a control method of spraying equipment. BACKGROUND

[0002] Concrete bucket foundations are commonly used in offshore wind power, port and other projects, and are long-term exposed to high humidity and high salt spray in harsh environments, which are prone to seawater erosion and lead to a decrease in structural strength. Silane coating can penetrate the concrete surface layer and form a hydrophobic layer, effectively blocking the intrusion of water and chloride ions, delaying the carbonation and steel corrosion process of concrete, and significantly improving the durability and service life of the foundation. Therefore, silane coating needs to be sprayed inside the foundation for protection.

[0003] The existing construction method for spraying silane coating inside the concrete bucket foundation is to first set up a temporary scaffold or use a lifting platform, and then the construction personnel enter the bucket with spraying tools and spray the inner wall from the bottom up or in sections in a certain order. In some scenarios, simple mechanical devices are used to assist in conveying the coating, but the spraying operation still relies on manual operation of the spray gun, and the spraying trajectory, speed and coating amount need to be manually controlled to ensure uniform coating coverage.

[0004] Currently, the spraying construction inside the concrete bucket foundation mostly relies on manual operation, and the construction personnel need to work in a small and closed bucket, which poses safety hazards such as high-altitude falling and inhalation of coating volatile substances. At the same time, manual spraying is affected by differences in physical strength and skills, and the coating quality is unstable. Moreover, single-bucket construction takes a long time and is inefficient, which makes it difficult to meet the batch construction needs of large-scale projects. SUMMARY

[0005] In order to realize automatic spraying of the concrete bucket foundation, the present application provides a control method of spraying equipment.

[0006] In the first aspect, the present application provides a control method of spraying equipment, which adopts the following technical solution:

[0007] A control method of spraying equipment, based on a control module, a spraying rod module, a winch module, a valve pump module, a coating module and a motion module, the control module controls the spraying rod module, the winch module, the valve pump module, the coating module and the motion module; the control module performs the following steps:

[0008] Initialize the spraying rod module, the winch module, the valve pump module, the coating module and the motion module;

[0009] controlling the spraying rod module to deploy a plurality of spraying rods, the plurality of spraying rods rotating from a first angle to a second angle; driving the winch module to lower the hoisted spraying rod module to a first height, wherein a spraying pipeline is released; sequentially opening a spraying valve and a spraying pump in the valve pump module, and the coating module supplying paint to the spraying rod module through the spraying pipeline;

[0010] acquiring a first pressure value based on a spraying pressure sensor in the valve pump module; when the first pressure value is greater than a preset starting pressure value, controlling the motion module to drive the spraying device to move along a preset first route; wherein the winch module is controlled to perform a reciprocating lifting action at a preset action speed;

[0011] when the spraying device moves to the end point of the first route, sequentially closing the spraying pump and the spraying valve; opening a spraying backwater valve in the valve pump module, and then opening a cleaning pipeline pump in the valve pump module to release cleaning liquid into the spraying pipeline for cleaning for a preset first cleaning time, and then closing the cleaning pipeline pump and the spraying backwater valve;

[0012] controlling the motion module to move the spraying device to the starting point of the first route; driving the winch module to lift the spraying rod module, and recovering the spraying pipeline; controlling the spraying rod module to reset the plurality of spraying rods, the plurality of spraying rods rotating from the second angle to the first angle.

[0013] By adopting the above technical solutions, a plurality of functional modules work collaboratively to realize full-process automation of spraying operation, and automatic spraying of a concrete barrel foundation can be realized. The plurality of spraying rods are deployed by rotating and are lifted by the winch, which is suitable for complex spraying scenarios on the surface of the concrete barrel foundation, and improves coverage and uniformity. The pressure-triggered movement mechanism ensures that the spraying operation is started only when the paint material supply is stable, avoiding defects such as empty spraying or insufficient pressure. After spraying, the spraying pipeline is automatically cleaned to effectively prevent pipeline blockage and prolong the service life of the equipment.

[0014] Optionally, the method further comprises the following steps:

[0015] acquiring length data of the spraying rod;

[0016] calculating an angle action absolute value of an angle difference between the second angle and the first angle, and calculating a first temporary ratio value based on the length data and preset reference length data;

[0017] calculating a second temporary ratio value based on the angle action absolute value and a preset angle reference value, and calculating a comprehensive temporary ratio value based on the first temporary ratio value and the second temporary ratio value;

[0018] According to the comprehensive temporary ratio, the speed of the spraying rod swinging is adjusted, the greater the comprehensive temporary ratio is, the slower the speed of the spraying rod swinging is, and the smaller the comprehensive temporary ratio is, the faster the speed of the spraying rod swinging is.

[0019] By adopting the technical scheme, the comprehensive temporary ratio is calculated according to the length data of the spraying rod and the angle change of the swinging, and the swinging speed is dynamically adjusted according to the comprehensive temporary ratio; the swinging speed is reduced when the length of the spraying rod or the angle is large, so that the safety of the spraying rod is ensured; and the swinging speed is accelerated when the length of the spraying rod or the angle is small, so that the opening efficiency of the spraying rod is improved.

[0020] Optionally, the method further comprises the following steps:

[0021] Based on the preset multiple wind sensors, multiple wind data are acquired;

[0022] According to the multiple wind data, a comprehensive wind speed value is calculated;

[0023] According to the comprehensive wind speed value and a preset wind speed reference value, a wind speed ratio value is calculated;

[0024] According to the wind speed ratio value, the action speed is inversely relatedly adjusted, the greater the wind speed ratio value is, the slower the action speed is, and the smaller the wind speed ratio value is, the faster the action speed is.

[0025] By adopting the technical scheme, the wind data of the environmental wind speed are acquired by the multiple wind sensors, the wind speed ratio value is calculated, and the action speed of the hoist is dynamically adjusted. The speed is reduced when the wind speed is high, the interference of the wind on the posture of the hoisted object is reduced, the speed is accelerated when the wind speed is low, and the working efficiency of the hoist is improved. The shaking amplitude of the hoisted object caused by the fluctuation of the wind is reduced, and the anti-interference ability of the spraying equipment is enhanced.

[0026] Optionally, the method further comprises the following steps:

[0027] According to the wind speed ratio value, the starting pressure value is positively relatedly adjusted, the greater the wind speed ratio value is, the higher the starting pressure value is, and the smaller the wind speed ratio value is, the lower the starting pressure value is;

[0028] The moving speed of the spraying equipment is acquired;

[0029] According to the moving speed and a preset speed reference value, a moving speed ratio value is calculated;

[0030] According to the moving speed ratio value, the spraying pressure of the spraying pipeline is positively relatedly adjusted, the greater the moving speed ratio value is, the higher the spraying pressure is, and the smaller the moving speed ratio value is, the lower the spraying pressure is.

[0031] By adopting the technical scheme, the starting pressure value is adjusted by the wind speed ratio, the starting pressure value is increased when the wind speed ratio is high, the adverse effect of wind on spraying is reduced, and the coating coverage effect is ensured; the spraying pressure is adjusted according to the moving speed, and the spraying pressure is increased when the moving speed is high, and the coating thickness is uniform. The double-pressure dynamic adjustment mechanism effectively reduces the influence of wind and speed fluctuation on the spraying quality.

[0032] Optionally, the method further comprises the following steps:

[0033] The moving speed of the spraying device is adjusted according to the wind speed ratio, the greater the wind speed ratio, the slower the moving speed, and the smaller the wind speed ratio, the faster the moving speed.

[0034] By adopting the technical scheme, the moving speed of the spraying device is adjusted according to the wind speed ratio, the moving speed is reduced when the wind speed is high, and the interference of wind on spraying is reduced; the moving speed is increased when the wind speed is low, and the work efficiency is improved, and the quality of spraying is not affected.

[0035] Optionally, the method further comprises the following steps:

[0036] The spraying environment reference value is calculated by weighted average according to the wind speed ratio and the moving speed ratio, the weight value of the wind speed ratio is positive, and the weight value of the moving speed ratio is negative;

[0037] The spraying module is provided with a rotation driving module for driving the spraying rod to rotate along the length direction, and the speed of the spraying rod rotating along the length direction is adjusted inversely according to the spraying environment reference value, the greater the spraying environment reference value, the slower the speed of the spraying rod rotating, and the smaller the spraying environment reference value, the faster the speed of the spraying rod rotating.

[0038] By adopting the technical scheme, the spraying environment reference value is calculated by weighted average according to the wind speed ratio and the moving speed ratio, the speed of the spraying rod rotating is dynamically adjusted. The rotating speed is reduced when the wind speed is high or the moving speed is slow, and the wind interference is reduced; the rotating speed is increased when the wind speed is low or the moving speed is fast, the coating dispersion is enhanced, and the spraying uniformity and quality stability in complex environment are improved.

[0039] Optionally, the method further comprises the following steps:

[0040] The type of the coating in the coating module is obtained;

[0041] The coating viscosity data is matched from the preset coating database according to the type of the coating;

[0042] The viscosity ratio is calculated according to the coating viscosity data and the preset reference viscosity data;

[0043] According to the positive correlation adjustment of the viscosity ratio, the greater the viscosity ratio, the higher the cleaning pressure, and the smaller the viscosity ratio, the lower the cleaning pressure;

[0044] Record the driving time of the spraying equipment on the first route;

[0045] Record the spraying time of the spraying pipeline in the driving time;

[0046] According to the spraying time and the driving time, the working hour proportion is calculated;

[0047] According to the positive correlation adjustment of the working hour proportion, the greater the working hour proportion, the longer the working time of the cleaning pipeline pump, and the smaller the working hour proportion, the shorter the working time of the cleaning pipeline pump.

[0048] By adopting the above technical scheme, the cleaning pressure is dynamically adjusted according to the viscosity ratio, the pressure is increased for high-viscosity paint to ensure the cleaning effect; the cleaning time is adjusted according to the spraying working hour proportion to avoid residue by prolonging the cleaning time for long-time operation; the cleaning process is optimized by precise control of the two parameters, the pipeline cleanliness and the equipment service life are improved, and the maintenance cost is reduced.

[0049] Optionally, the method further comprises the following steps:

[0050] The spraying pressure sensor is provided with a plurality of spraying pressure sensors arranged at different positions of the spraying pipeline;

[0051] A plurality of real-time pressure values are obtained, and discrete pressure data of the plurality of real-time pressure values are calculated;

[0052] If the discrete pressure data is greater than the preset discrete reference data, a pipeline pressure abnormality alarm is performed; otherwise, the average value of the plurality of real-time pressure values is taken as the first pressure value.

[0053] By adopting the above technical scheme, the pressure in the spraying pipeline is comprehensively monitored by the pressure sensors at a plurality of different positions, the discrete data is calculated to determine whether the spraying pipeline is abnormal, and if an abnormality is found, an alarm is given in time; the average value as the first pressure value can reduce the single-point error and improve the accuracy of pressure monitoring.

[0054] In summary, the present application includes at least one of the following beneficial technical effects: automatic spraying of concrete barrel foundations is achieved through the coordinated control of multiple modules. The modular coordinated architecture integrates control modules, spraying rod modules, hoist modules, valve pump modules, paint modules, and motion modules, achieving full-process automation from equipment deployment, spraying operations, to cleaning and resetting, significantly improving construction efficiency and quality stability. The multi-angle adjustment of the spraying rod in the spraying rod module and the lifting cooperation of the hoist module can adapt to the complex curved surface of the concrete barrel foundation, expand the spraying coverage, and ensure the uniformity of the coating. The pressure trigger mechanism and the dual-pressure dynamic adjustment system adjust the spraying parameters in real time in combination with wind speed and moving speed, effectively resist environmental interference, and ensure the consistency of coating thickness. The cleaning system optimizes the cleaning pressure and time according to the paint viscosity and operation time, prolongs the service life of the spraying equipment, and reduces maintenance costs. The multi-position pressure sensor monitors the spraying pipeline state in real time, and the abnormal alarm and mean pressure calculation improve system safety and data accuracy. The wind speed self-adaptive control system adjusts the speed of the hoist module, the self-rotation of the spraying rod, and the moving speed of the spraying equipment to comprehensively cope with wind influence and enhance the anti-interference ability of the system. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 is a method flowchart of the control method of the spraying equipment. DETAILED DESCRIPTION

[0056] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings.

[0057] In the description of the present specification, the description of the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the described embodiments or examples are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0058] The present application discloses a control method of a spraying equipment, referring to Figure 1 , based on control modules, spraying rod modules, hoist modules, valve pump modules, paint modules and motion modules, the control modules control the connection of the spraying rod modules, the hoist modules, the valve pump modules, the paint modules and the motion modules. The control module adopts a PLC module, which is connected with a button control panel, a control box and a touch screen, and can also be connected with a wireless operation terminal through a wireless module, and the wireless operation terminal adopts a smart tablet. The control module performs the following steps:

[0059] Initialize the spraying rod module, the hoist module, the valve pump module, the paint module and the motion module. The spraying device has a battery pack for power supply. Press the power switch on the control cabinet of the battery pack, push the DC air switch, open the inverter, and push the circuit air switch of the electrical control cabinet to close. Check the paint tank and water tank in the paint module, whether the liquid level in the paint tank and the liquid level in the water tank are normal.

[0060] Control the spraying rod module to deploy a plurality of spraying rods, and rotate the plurality of spraying rods from a first angle to a second angle. The spraying rods are connected in the spraying rod module through an electrically controlled rotating structure, and the spraying rods have nozzles for spraying paint. In the standby state, the spraying rods are in a vertical position, and when entering the working state, the spraying rods are rotated to a horizontal position. That is, the first angle is 90°, and the second angle is 0°.

[0061] Obtain the length data of the spraying rod, calculate the absolute value of the angle difference between the second angle and the first angle, and calculate the first temporary ratio according to the length data and the preset reference length data. Calculate the second temporary ratio according to the absolute value of the angle action and the preset angle reference value, and calculate the comprehensive temporary ratio using the weighted average algorithm according to the first temporary ratio and the second temporary ratio, and the corresponding weight is preset. According to the comprehensive temporary ratio, the speed of the spraying rod swing is inversely related to the speed of the spraying rod swing, that is, the rotating speed of the rotating structure. The larger the comprehensive temporary ratio is, the slower the spraying rod swing speed is, and the smaller the comprehensive temporary ratio is, the faster the spraying rod swing speed is. The comprehensive temporary ratio is calculated by the length data of the spraying rod and the angle change of the swing, and the swing speed is dynamically adjusted according to the comprehensive temporary ratio; the swing speed is reduced when the length is long or the angle is large, to ensure the safety of the spraying rod opening; the swing speed is increased when the length is short or the angle is small, to improve the opening efficiency of the spraying rod.

[0062] The spraying rod module is hoisted on the hoist module, and the control module drives the hoist module to lower the spraying rod module to a first height. The hoist module lowers the spraying rod module while releasing the spraying pipeline. The hoist module, the valve pump module, the paint module and the control module are all installed on the motion module, and the motion module drives the spraying device to move. The spraying rod module at the first height can spray the surface of the concrete barrel foundation. When spraying is needed, the spraying valve and the spraying pump in the valve pump module are opened in sequence, and the paint module provides paint to the spraying rod module through the valve pump module and the spraying pipeline.

[0063] The first pressure value is obtained based on a spraying pressure sensor in the valve pump module, and the spraying pressure sensor is a fluid pressure sensor such as a strain gauge pressure sensor, a piezoelectric pressure sensor, or a piezoresistive pressure sensor. The spraying pressure sensor is provided in multiple numbers and is located at different positions of the spraying pipeline, and the positions correspond to different fluid control components in the valve pump module. Multiple real-time pressure values are obtained, and the discrete pressure data of the multiple real-time pressure values is calculated using an average absolute deviation algorithm or a standard deviation algorithm. If the discrete pressure data is greater than a preset discrete reference data, a pipeline pressure abnormality alarm is performed. If the discrete pressure data is not greater than the preset discrete reference data, the average value of the multiple real-time pressure values is taken as the first pressure value. The pressure in the spraying pipeline is comprehensively monitored by the pressure sensors at multiple different positions, the discrete data is calculated to determine whether the spraying pipeline is abnormal, and if an abnormality is found, an alarm is given in a timely manner; the average value as the first pressure value can reduce single-point error and improve the accuracy of pressure monitoring.

[0064] When the first pressure value is greater than a preset starting pressure value, the motion module is controlled to drive the spraying device to move along a preset first route, and the first route is a route around the concrete barrel foundation once, and the shape of the first route corresponds to the shape of the concrete barrel foundation.

[0065] Multiple wind force data are obtained based on multiple preset wind force sensors, and the wind force sensors are cup-type wind speed sensors or wing-type wind speed sensors. A comprehensive wind speed value is calculated from the multiple wind force data using a weighted average algorithm, and a wind speed ratio value is calculated from the comprehensive wind speed value and a preset wind speed reference value. The wind speed ratio value is positively correlated with the adjustment of the starting pressure value, that is, the greater the wind speed ratio value, the higher the starting pressure value, and the smaller the wind speed ratio value, the lower the starting pressure value.

[0066] During the movement of the spraying device along the first path and the spraying process, the winch module is controlled to perform reciprocating lifting actions at a preset action speed. The action speed is inversely correlated with the wind speed ratio value, that is, the greater the wind speed ratio value, the slower the action speed, and the smaller the wind speed ratio value, the faster the action speed. The wind force data of the environmental wind speed are obtained by the multiple wind force sensors, and the winch action speed is dynamically adjusted by calculating the wind speed ratio value. When the wind speed is high, the speed is reduced to reduce the interference of wind force on the attitude of the hoisted object by the winch; when the wind speed is low, the speed is increased to improve the work efficiency of the winch. The amplitude of the shaking of the hoisted object caused by the fluctuation of the wind force is enhanced, and the anti-interference ability of the spraying device is enhanced.

[0067] The moving speed of the spraying device is obtained in real time based on a speed sensor on the motion module, and the speed sensor is an optical encoder. A speed ratio value is calculated from the moving speed and a preset speed reference value. The spraying pressure of the spraying pipeline is positively correlated with the speed ratio value, that is, the greater the speed ratio value, the higher the spraying pressure, and the smaller the speed ratio value, the lower the spraying pressure.

[0068] The starting pressure value is adjusted by the wind speed ratio, and the starting pressure value is increased when the wind speed ratio is high, which is beneficial to reduce the adverse effect of wind on spraying and ensure the coating coverage effect. The spraying pressure is also adjusted according to the moving speed, and the spraying pressure is increased when the moving speed is high, which is beneficial to maintain the uniformity of the coating thickness. The double-pressure dynamic adjustment mechanism effectively reduces the influence of wind and speed fluctuations on the spraying quality.

[0069] The moving speed of the spraying equipment is inversely related to the wind speed ratio, and the greater the wind speed ratio, the slower the moving speed, and the smaller the wind speed ratio, the faster the moving speed. According to the inverse relationship between the wind speed ratio and the moving speed of the spraying equipment, the speed is reduced at high wind speed to reduce the interference of wind on spraying, and the speed is increased at low wind speed to improve the work efficiency without affecting the quality of spraying.

[0070] The spraying environment reference value is calculated by the weighted average of the wind speed ratio and the speed ratio, and the weight of the wind speed ratio is positive and the weight of the speed ratio is negative. The spraying module is provided with a self-rotation driving module for driving the spraying rod to rotate along the length direction, and the speed of the spraying rod rotating along the length direction is inversely related to the spraying environment reference value, and the greater the spraying environment reference value, the slower the speed of the spraying rod rotating, and the smaller the spraying environment reference value, the faster the speed of the spraying rod rotating.

[0071] Alternatively, the weight of the wind speed ratio is negative and the weight of the speed ratio is positive, and the speed of the spraying rod rotating is positively related to the spraying environment reference value, and the greater the spraying environment reference value, the faster the speed of the spraying rod rotating, and the smaller the spraying environment reference value, the slower the speed of the spraying rod rotating.

[0072] The spraying environment reference value is calculated by the weighted average of the wind speed ratio and the speed ratio, and the weight of the wind speed ratio is positive and the weight of the speed ratio is negative. The spraying module is provided with a self-rotation driving module for driving the spraying rod to rotate along the length direction, and the speed of the spraying rod rotating along the length direction is inversely related to the spraying environment reference value, and the greater the spraying environment reference value, the slower the speed of the spraying rod rotating, and the smaller the spraying environment reference value, the faster the speed of the spraying rod rotating.

[0073] When the spraying equipment moves to the end of the first route, the spraying pump and the spraying valve are closed in turn. The spraying backwater valve in the valve pump module is opened, and then the cleaning pipeline pump in the valve pump module is opened to release cleaning liquid into the spraying pipeline for cleaning and continue for a preset first cleaning time, and then the cleaning pipeline pump is closed, and then the spraying backwater valve is closed. Generally, the cleaning liquid is water, and the water in the water tank is directly used for cleaning.

[0074] Different types of paint have different viscosity properties. The type of paint in the paint module is obtained, and the paint viscosity data is matched from the preset paint database according to the type of paint, and the viscosity ratio is calculated according to the paint viscosity data and the preset reference viscosity data. The cleaning pressure of the cleaning pipeline pump is positively related to the viscosity ratio, and the greater the viscosity ratio, the higher the cleaning pressure, and the smaller the viscosity ratio, the lower the cleaning pressure.

[0075] The driving time of the spraying device on the first route is recorded, the spraying time of the spraying pipeline in the driving time is recorded, and the working hour ratio is calculated according to the spraying time and the driving time, for example, the working hour ratio can be 95%. The working time of the cleaning pipeline pump is adjusted according to the positive correlation of the working hour ratio, the greater the working hour ratio, the longer the working time of the cleaning pipeline pump, the smaller the working hour ratio, the shorter the working time of the cleaning pipeline pump. The cleaning pressure is dynamically adjusted according to the viscosity ratio, and the high viscosity coating increases the pressure to ensure the cleaning effect. The cleaning time is adjusted according to the spraying working hour ratio, and the long-time operation prolongs the cleaning to avoid residue. The double-parameter precise control optimizes the cleaning process, improves the pipeline cleanliness and equipment service life, and reduces the maintenance cost.

[0076] After cleaning, the motion module controls the spraying device to move to the starting point of the first route. The hoist module drives the spraying rod module to lift and recover the spraying pipeline. The spraying rod module resets the plurality of spraying rods, and the plurality of spraying rods rotate from the second angle to the first angle, i.e., from the horizontal state to the vertical state.

[0077] The concrete barrel foundation automatic spraying is realized through the collaborative control of multiple modules. The modular collaborative architecture integrates the control module, the spraying rod module, the hoist module, the valve pump module, the coating module and the motion module, realizes the full-process automation from equipment deployment, spraying operation to cleaning reset, and significantly improves the construction efficiency and quality stability. The multi-angle adjustment of the spraying rod in the spraying rod module and the lifting cooperation of the hoist module can adapt to the complex curved surface of the concrete barrel foundation, expand the spraying coverage range and ensure the uniformity of the coating. The pressure trigger mechanism and the double-pressure dynamic adjustment system adjust the spraying parameters in real time in combination with the wind speed and the moving speed, effectively resist environmental interference, and ensure the consistency of the coating thickness. The cleaning system optimizes the cleaning pressure and time according to the coating viscosity and the operation time, prolongs the service life of the spraying equipment and reduces the maintenance cost. The multi-position pressure sensor monitors the spraying pipeline state in real time, the abnormal alarm and the mean pressure calculation improve the system safety and data accuracy. The wind speed self-adaptive control system adjusts the speed of the hoist module, the self-rotation of the spraying rod and the moving speed of the spraying equipment, comprehensively deals with the wind influence, and enhances the anti-interference ability of the system.

[0078] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A control method for a spraying equipment, characterized in that, Based on a control module, a spraying rod module, a winch module, a valve pump module, a paint module, and a motion module, the control module controls and connects the spraying rod module, the winch module, the valve pump module, the paint module, and the motion module; the control module executes the following steps: Initialize the spray bar module, the winch module, the valve pump module, the paint module, and the motion module; The system controls the spraying rod module to unfold multiple spraying rods, and the multiple spraying rods rotate from a first angle to a second angle; the system drives the winch module to lower the hoisted spraying rod module to a first height, during which the spraying pipe is released; the system sequentially opens the spraying valve and the spraying pump in the valve pump module, and the paint module supplies paint to the spraying rod module through the spraying pipe; The first pressure value is obtained based on the spraying pressure sensor in the valve pump module; when the first pressure value is greater than the preset start pressure value, the motion module is controlled to drive the spraying equipment to move along the preset first route; wherein, the winch module is controlled to perform reciprocating lifting and lowering actions at a preset action speed. When the spraying equipment moves to the end of the first route, the spraying pump and the spraying valve are turned off in sequence; the spraying return water valve in the valve pump module is opened, and then the cleaning pipeline pump in the valve pump module is opened to release cleaning liquid into the spraying pipeline for cleaning and continue for a preset first cleaning time; then the cleaning pipeline pump is turned off, and then the spraying return water valve is turned off. The motion module is controlled to move the spraying equipment to the starting point of the first route; the winch module is driven to lift the spraying rod module and retract the spraying pipe; the spraying rod module is controlled to reset multiple spraying rods, and the multiple spraying rods rotate from the second angle to the first angle; The method also includes the following steps: Obtain the length data of the spray bar; Calculate the absolute value of the angle action of the angle difference between the second angle and the first angle, and calculate the first temporary ratio based on the length data and the preset reference length data; A second temporary ratio is calculated based on the absolute value of the angle action and the preset angle reference value, and a comprehensive temporary ratio is calculated based on the first temporary ratio and the second temporary ratio. The speed of the spray bar swing is adjusted according to the inverse correlation of the comprehensive temporary ratio. The larger the comprehensive temporary ratio, the slower the spray bar swings, and the smaller the comprehensive temporary ratio, the faster the spray bar swings. The method also includes the following steps: Multiple wind force data are acquired based on multiple preset wind force sensors; The overall wind speed value was calculated based on multiple wind force data. The wind speed ratio is calculated based on the combined wind speed value and the preset wind speed reference value. The action speed is adjusted inversely according to the wind speed ratio; the larger the wind speed ratio, the slower the action speed, and the smaller the wind speed ratio, the faster the action speed.

2. The control method for the spraying equipment according to claim 1, characterized in that, The method also includes the following steps: The starting pressure value is adjusted in a positive correlation with the wind speed ratio. The larger the wind speed ratio, the higher the starting pressure value; the smaller the wind speed ratio, the lower the starting pressure value. Obtain the moving speed of the spraying equipment; The speed ratio is calculated based on the moving speed and the preset speed reference value; The spraying pressure of the spraying pipe is adjusted in a positive correlation with the speed ratio. The larger the speed ratio, the higher the spraying pressure, and the smaller the speed ratio, the lower the spraying pressure.

3. The control method for the spraying equipment according to claim 2, characterized in that, The method also includes the following steps: The moving speed of the spraying equipment is adjusted according to the inverse correlation of the wind speed ratio. The larger the wind speed ratio, the slower the moving speed, and the smaller the wind speed ratio, the faster the moving speed.

4. The control method for the spraying equipment according to claim 2, characterized in that, The method also includes the following steps: A reference value for the spraying environment is calculated by weighting the wind speed ratio and the movement speed ratio, where the weight of the wind speed ratio is positive and the weight of the movement speed ratio is negative. The spraying rod module is equipped with a rotation drive module that drives the spraying rod to rotate along its length. The rotation speed of the spraying rod along its length is adjusted inversely according to the spraying environment reference value. The larger the spraying environment reference value, the slower the rotation speed of the spraying rod. The smaller the spraying environment reference value, the faster the rotation speed of the spraying rod.

5. The control method for the spraying equipment according to claim 1, characterized in that, The method also includes the following steps: Obtain the types of coatings in the coating module; The viscosity data of the coating is matched from a preset coating database according to the type of coating. The viscosity ratio is calculated based on the coating viscosity data and the preset reference viscosity data; The cleaning pressure of the cleaning pipeline pump is adjusted according to the viscosity ratio. The larger the viscosity ratio, the higher the cleaning pressure, and the smaller the viscosity ratio, the lower the cleaning pressure. Record the travel time of the spraying equipment on the first route; Record the spraying time of the spraying pipe during the driving time; The percentage of working hours is calculated based on the spraying time and the driving time. The working time of the cleaning pipeline pump is adjusted according to the positive correlation between the working time ratio and the working time ratio. The larger the working time ratio, the longer the working time of the cleaning pipeline pump; the smaller the working time ratio, the shorter the working time of the cleaning pipeline pump.

6. The control method for the spraying equipment according to claim 1, characterized in that, The method also includes the following steps: Multiple spray pressure sensors are provided and located at different positions in the spray pipe; Acquire multiple real-time pressure values ​​and calculate discrete pressure data for the multiple real-time pressure values; If the discrete pressure data is greater than the preset discrete reference data, an abnormal pipeline pressure alarm will be triggered. Otherwise, the first pressure value is the average of the multiple real-time pressure values.

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