Intelligent building spraying robot based on machine vision and force control fusion

Abstract

The invention discloses an intelligent building spraying robot based on machine vision and force control fusion, and relates to the technical field of robots, a feeding module and a mechanical arm are both arranged on a base, the output end of the mechanical arm is connected with a mounting bracket, the mounting bracket is provided with a spray head and a painting roller, and the output end of the feeding module is connected with the spray head; the rotating motor is fixedly arranged on the base, a power shaft of the rotating motor is connected with a camera mounting seat, a high-definition camera is arranged on the camera mounting seat, a main controller is further arranged on the base, and an image recognition module is integrated on the main controller. According to the intelligent building spraying robot based on machine vision and force control fusion, whether a wall surface is damaged or not can be accurately recognized through the arranged visual recognition mechanism, then the spraying mechanism is controlled to conduct corresponding actions, the damaged position is repaired, and it is ensured that the flatness of the surface of a constructed coating is high.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to an intelligent building spraying robot based on the fusion of machine vision and force control. Background Technology

[0002] With the rapid development of robotics technology, robots are gradually replacing traditional human labor in various industries. The construction industry has always been a labor-intensive industry, with a large part of its production costs being labor costs. Therefore, the construction industry urgently needs to utilize robots to perform highly repetitive, low-value-added tasks.

[0003] Currently, the exterior wall spraying construction of high-rise buildings mainly adopts the method of manual operation using suspended platforms, which has low construction efficiency and poor safety. In addition, relying on human eyes to judge whether there are defects such as damage on the wall during the construction process is prone to errors, resulting in an uneven coating surface after construction. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention proposes an intelligent building spraying robot based on the fusion of machine vision and force control. Through the set visual recognition mechanism, it can accurately identify whether there is damage on the wall surface, and then control the spraying mechanism to perform corresponding actions to repair the damaged areas, ensuring a high degree of smoothness on the surface of the coating after construction.

[0005] To achieve this objective, the present invention adopts the following technical solution: This invention provides an intelligent building spraying robot based on the fusion of machine vision and force control, including a base, a spraying mechanism, and a vision recognition mechanism. The spraying mechanism includes a feeding module, a robotic arm, a mounting bracket, a nozzle, and a paint roller. The feeding module and the robotic arm are both mounted on the base. The output end of the robotic arm is connected to the mounting bracket, which holds the nozzle and paint roller. The output end of the feeding module is connected to the nozzle. The vision recognition mechanism includes a rotary motor, a camera mounting base, a high-definition camera, an image recognition module, and a main controller. The rotary motor is fixed on the base, and the camera mounting base is connected to the motor's drive shaft. The high-definition camera is mounted on the camera mounting base. The main controller is also mounted on the base and integrates the image recognition module. The feeding module, robotic arm, rotary motor, high-definition camera, image recognition module, and main controller are electrically connected.

[0006] In a preferred embodiment of the present invention, the feeding module includes a liquid storage tank, a first pump body, and a feeding hose. The liquid storage tank is fixed on the base and contains paint. The first pump body is disposed on the liquid storage tank. One end of the feeding hose is connected to the output end of the first pump body, and the other end of the feeding hose is connected to the nozzle.

[0007] In a preferred embodiment of the present invention, the liquid storage tank is provided with a stirring module, which includes a telescopic rod, a cross-shaped bracket, a filter basket, a stirring motor, a stirring shaft, stirring blades, a rolling roller, and a vacuum pump. The telescopic rod is fixed to the top of the liquid storage tank, and its output end extends into the liquid storage tank and is connected to the cross-shaped bracket. The filter basket is fixed to the bottom of the cross-shaped bracket, and a stirring motor is also provided at the center of the cross-shaped bracket. The stirring shaft is connected to the power shaft of the stirring motor, and stirring blades and a rolling roller are provided on the stirring shaft. The rolling roller is in contact with the bottom wall of the filter basket. A vacuum pump is also provided at the top of the liquid storage tank, and the air inlet of the vacuum pump is connected to the liquid storage tank.

[0008] In a preferred embodiment of the present invention, an annular scraper is further provided on the outer wall of the filter basket, and the annular scraper is in contact with the inner wall of the liquid storage tank.

[0009] In a preferred embodiment of the present invention, a metering module is provided on one side of the liquid storage tank. The metering module includes a first pipe, a second pump body, a cylinder, a piston, a first spring, and a pressure sensor. The cylinder is fixed to one side of the liquid storage tank. One end of the first pipe is connected to the liquid storage tank, and the other end of the first pipe is connected to the cylinder. The second pump body is provided on the first pipe. The piston is slidably provided in the cylinder. One end of the first spring is connected to the piston, and the other end of the first spring is connected to the pressure sensor on the top wall of the cylinder. The input end of the first pump body is connected to the cylinder.

[0010] In a preferred embodiment of the present invention, a viscometer is provided on the piston, a diluent chamber is provided on the liquid storage tank, and the bottom outlet of the diluent chamber is connected to the liquid storage tank. An electrically controlled valve is also provided at the bottom outlet of the diluent chamber.

[0011] In a preferred embodiment of the present invention, both the liquid storage tank and the diluent chamber are equipped with laser liquid level sensors.

[0012] In a preferred embodiment of the present invention, a striking module is further provided on one side of the liquid storage tank. The striking module includes a power motor, a rotating block, a pin, a sliding frame, a sliding rod, a support plate, an elastic rod, and a striking ball. The power motor is fixed on the base, and the rotating block is connected to the power shaft of the power motor. A pin is eccentrically provided on the rotating block. The support plate is vertically fixed on the base, and a sliding rod is slidably connected to the support plate. The sliding frame is fixed on the sliding rod, and the pin is slidably connected to the sliding frame. Elastic rods are provided at both ends of the sliding rod, and a striking ball is connected to the free end of the elastic rod.

[0013] In a preferred embodiment of the present invention, the base is provided with wheels.

[0014] The beneficial effects of this invention are as follows: This invention proposes an intelligent building spraying robot based on the fusion of machine vision and force control. Through a visual recognition mechanism, it can accurately identify whether there is damage on the wall surface, and then control the spraying mechanism to perform corresponding actions to repair the damaged areas, ensuring a high degree of smoothness on the coated surface after construction. A stirring module not only agitates the paint in the storage tank to prevent sedimentation, but also crushes any precipitated solid particles in the paint solution, allowing them to dissolve back into the solution. A metering module enables quantitative spraying and can monitor the paint viscosity in real time. When the paint viscosity is detected to be too high, it automatically adds thinner to the storage tank to reduce the viscosity and meet the requirements of the spraying operation. Attached Figure Description

[0015] Figure 1 This is a structural schematic diagram of an intelligent building spraying robot based on the fusion of machine vision and force control, provided by a specific embodiment of the present invention. Figure 2 yes Figure 1 Cross-sectional view of the intermediate liquid storage tank; Figure 3 yes Figure 1 A sectional view of the middle cylinder block; Figure 4 yes Figure 1 A magnified view of a section at point A in the middle; Figure 5 yes Figure 4 A schematic diagram of the structure viewed from the left.

[0016] 1. Base; 11. Wheels; 2. Spraying mechanism; 21. Feeding module; 211. Liquid storage tank; 212. First pump body; 213. Feeding hose; 22. Robotic arm; 23. Mounting bracket; 24. Spray nozzle; 25. Paint roller; 26. Mixing module; 261. Telescopic rod; 262. Cross-shaped bracket; 263. Filter basket; 264. Mixing motor; 265. Mixing shaft; 266. Mixing blades; 267. Compactor roller; 268. Air pump; 269. Annular scraper; 27. Metering module; 271. First pipe; 272. Second... 273. Pump body; 274. Cylinder; 275. Piston; 276. First spring; 277. Pressure sensor; 278. Viscometer; 279. Diluent tank; 280. Laser level sensor; 281. Impact module; 282. Power motor; 283. Rotary block; 284. Pin; 285. Sliding frame; 286. Slide rod; 287. Support plate; 288. Elastic rod; 289. Impact ball; 30. Visual recognition mechanism; 31. Rotary motor; 32. Camera mounting base; 33. High-definition camera; 34. Image recognition module; 35. Main controller. Detailed Implementation

[0017] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0018] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0019] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0020] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0021] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0022] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0023] like Figure 1 As shown, this embodiment provides an intelligent building spraying robot based on the fusion of machine vision and force control, including a base 1, a spraying mechanism 2, and a vision recognition mechanism 3. The spraying mechanism 2 includes a feeding module 21, a robotic arm 22, a mounting bracket 23, a nozzle 24, and a paint roller 25. The feeding module 21 and the robotic arm 22 are both mounted on the base 1. The output end of the robotic arm 22 is connected to the mounting bracket 23. The nozzle 24 and the paint roller 25 are mounted on the mounting bracket 23, and the output end of the feeding module 21 is connected to the nozzle 24. The vision recognition mechanism 3 includes... The system includes a rotary motor 31, a camera mounting base 32, a high-definition camera 33, an image recognition module 34, and a main controller 35. The rotary motor 31 is fixed on the base 1. The camera mounting base 32 is connected to the drive shaft of the rotary motor 31. The high-definition camera 33 is installed on the camera mounting base 32. The main controller 35 is also installed on the base 1. The image recognition module 34 is integrated on the main controller 35. The feeding module 21, the robotic arm 22, the rotary motor 31, the high-definition camera 33, the image recognition module 34, and the main controller 35 are electrically connected.

[0024] In this embodiment, the spraying mechanism 2 is located on the top of the base 1 and is used to spray paint onto the exterior wall of the building to form a protective coating on the wall surface. The feeding module 21 is used to supply paint, which is then sprayed onto the wall surface through the nozzle 24. The robotic arm 22 is prior art, disclosed in, for example, Chinese utility model patent with publication number CN210875935U, and will not be described in detail here. The robotic arm 22 can move the nozzle 24 and the painting roller 25 closer to or away from the wall surface. The nozzle 24 is located above the painting roller 25, and the nozzle of the nozzle 24 faces the wall surface. The painting roller 25 is rotatably connected to the mounting bracket 23. After the nozzle 24 sprays paint, the painting roller 25 immediately rolls over it, thereby ensuring that the wall is painted smoothly. The robotic arm 22 can also control the rolling pressure of the painting roller 25. A visual recognition mechanism 3 is also located on top of the base 1. It can capture images of the building wall and identify defects such as holes and dents, as well as their locations. This allows it to control the synchronous movement of components like the robotic arm 22. For example, when a hole is detected, the robotic arm 22 will control the spray nozzle 24 to avoid it. When a dent is detected, the robotic arm 22 will spray more paint when driving the spray nozzle 24 to the dent to repair it, ensuring a smooth final coating. The rotary motor 31 has its power shaft facing upwards, and the rotary motor 31 can... The camera mounting base 32 is driven to rotate in the horizontal plane, thereby causing the high-definition camera 33 to rotate synchronously, enabling the high-definition camera 33 to capture images of the building wall from multiple angles. The high-definition camera 33 is existing technology and will not be described in detail here. The image information captured by the high-definition camera 33 is transmitted to the main controller 35, where the image recognition module 34 identifies and analyzes the images to determine whether defects exist on the building wall and the type of defects. The main controller 35 can be a microcontroller, a PLC, or other digital processor, used to control the collaborative operation of the spraying mechanism 2 and the vision recognition mechanism 3. Furthermore, all components used in this embodiment are commercially available.

[0025] Specifically, such as Figure 1 As shown, the feeding module 21 includes a liquid storage tank 211, a first pump body 212, and a feeding hose 213. The liquid storage tank 211 is fixed on the base 1 and contains paint. The first pump body 212 is mounted on the liquid storage tank 211. One end of the feeding hose 213 is connected to the output end of the first pump body 212, and the other end of the feeding hose 213 is connected to the nozzle 24.

[0026] In this embodiment, the coating can be latex paint or oil paint, etc., and can be selected according to actual construction needs. The first pump body 212 is existing technology, used to pump the coating in the storage tank 211 through the delivery hose 213 to the nozzle 24 for spraying. The delivery hose 213 is made of flexible materials such as rubber, which can be bent arbitrarily to meet the needs of the nozzle 24 for movement.

[0027] Specifically, such as Figures 1-2 As shown, a stirring module 26 is provided on the storage tank 211. The stirring module 26 includes a telescopic rod 261, a cross-shaped bracket 262, a filter basket 263, a stirring motor 264, a stirring shaft 265, stirring blades 266, a rolling roller 267, and a vacuum pump 268. The telescopic rod 261 is fixed to the top of the storage tank 211, and the output end of the telescopic rod 261 extends into the storage tank 211 and is connected to the cross-shaped bracket 262. The filter basket 263 is fixed to the bottom of the cross-shaped bracket 262, and the stirring motor 264 is also provided at the center of the cross-shaped bracket 262. The stirring shaft 265 is connected to the power shaft of the stirring motor 264. The stirring blades 266 and the rolling roller 267 are provided on the stirring shaft 265, and the rolling roller 267 is in contact with the inner bottom wall of the filter basket 263. The vacuum pump 268 is also provided on the top of the storage tank 211, and the air inlet of the vacuum pump 268 is connected to the storage tank 211.

[0028] In this embodiment, during long-term static storage, the solid components of the paint in the storage tank 211 tend to settle to the bottom of the container, forming clumps or sediment. This not only affects the quality of the paint film but also easily leads to clogging of the spray nozzle 24, affecting the construction progress. This device, through its stirring module 26, can stir the paint in the storage tank 211 to prevent sedimentation. The telescopic rod 261 is preferably an electric push rod, and it is vertically arranged. The telescopic rod 261 can drive the cross-shaped support 262 to move up and down. For example, when the cross-shaped support 262 moves down, the filter basket 263 is immersed in the paint, and any sediment produced by the paint falls into the filter basket 263. Conversely, when the cross-shaped support 262 moves up, the filter basket 263 leaves the paint solution and is positioned above the paint level. The stirring blades 266 and the roller 267 are both located inside the filter basket 263, and the roller 267 is rotatably connected to the bottom end of the stirring shaft 265. The drive shaft of the stirring motor 264 is arranged downwards, and the stirring motor 264 is used to drive the stirring blades 266 and the grinding roller 267 to rotate. When the stirring blades 266 rotate, they can agitate the paint to make it flow, thereby reducing the formation of sediment. When the grinding roller 267 rotates, it can crush the sediment particles at the bottom of the filter basket 263, allowing them to redissolve in the paint solution. The provided air pump 268 can extract the air from the storage tank 211 to ensure that the inside of the storage tank 211 is in a negative pressure state, thereby preventing the generation of air bubbles in the paint solution during the stirring process of the stirring blades 266.

[0029] Specifically, such as Figure 2 As shown, an annular scraper 269 is also provided on the outer wall of the filter basket 263, and the annular scraper 269 is in contact with the inner wall of the liquid storage tank 211.

[0030] In this embodiment, annular scrapers 269 are coaxially provided at both the upper and lower ends of the outer wall of the filter basket 263. When the filter basket 263 moves up and down, the annular scrapers 269 can scrape off the coating adhering to the inner wall of the liquid storage tank 211.

[0031] Specifically, such as Figure 1 , Figure 3As shown, a metering module 27 is provided on one side of the liquid storage tank 211. The metering module 27 includes a first pipe 271, a second pump body 272, a cylinder 273, a piston 274, a first spring 275, and a pressure sensor 276. The cylinder 273 is fixed to one side of the liquid storage tank 211. One end of the first pipe 271 is connected to the liquid storage tank 211, and the other end of the first pipe 271 is connected to the cylinder 273. The second pump body 272 is provided on the first pipe 271. The piston 274 is slidably provided inside the cylinder 273. One end of the first spring 275 is connected to the piston 274, and the other end of the first spring 275 is connected to the pressure sensor 276 on the top wall inside the cylinder 273. The input end of the first pump body 212 is connected to the cylinder 273.

[0032] In this embodiment, the metering module 27 enables the device to perform quantitative spraying. The cylinder 273 is vertically arranged. One end of the first pipe 271 is connected to the bottom side of the storage tank 211, and the other end is connected to the bottom of the cylinder 273. The second pump 272 pumps the paint from the storage tank 211 into the cylinder 273 through the first pipe 271. The piston 274 can slide up and down within the cylinder 273. The first spring 275 is located above the piston 274. When the first spring 275 is relaxed, the piston 274 is at the bottom of the cylinder 273. When the second pump 272 pumps the paint into the cylinder 273, the paint pushes the piston 274 upwards, compressing the first spring 275. The pressure sensor 276 detects the pressure exerted by the first spring 275 to determine the amount of compression of the first spring 275, thus determining the position of the piston 274 and monitoring the amount of paint applied. The first pump body 212 can pump the paint in the cylinder 273 to the nozzle 24 for spraying. In addition, an electrically controlled valve is installed on the first pipe 271 to control the opening and closing of the first pipe 271.

[0033] Specifically, such as Figure 3 As shown, a viscometer 277 is installed on the piston 274, and a diluent chamber 278 is installed on the liquid storage tank 211. The bottom outlet of the diluent chamber 278 is connected to the liquid storage tank 211, and an electrically controlled valve is also installed at the bottom outlet of the diluent chamber 278.

[0034] In this embodiment, the viscometer 277 is preferably a rotary viscometer, which is existing technology, for example, disclosed in Chinese Utility Model Patent No. CN215525427U. The diluent chamber 278 is located at the top of the storage tank 211, and contains a diluent for diluting the coating. The diluent can be methanol, ethanol, acetone, etc. The viscometer 277 is used to detect the viscosity of the coating in the cylinder 273. When the viscosity of the coating is detected to be too high, the main controller 35 will control the electrically controlled valve at the bottom outlet of the diluent chamber 278 to open, thereby adding diluent to the storage tank 211 to reduce the viscosity of the coating.

[0035] Specifically, such as Figure 2 As shown, both the liquid storage tank 211 and the diluent tank 278 are equipped with laser liquid level sensors 279.

[0036] In this embodiment, the laser level sensor 279 is existing technology and will not be described in detail here. The laser level sensor 279 is used to detect the liquid level in the storage tank 211 and the diluent tank 278. Based on the liquid level, the mass of the coating in the storage tank 211 can be obtained, which facilitates the main controller 35 in calculating the amount of diluent to be added. When the liquid level in the storage tank 211 and the diluent tank 278 reaches the bottom, the alarm on the main controller 35 will sound an alarm to notify the staff to add materials in time.

[0037] Specifically, such as Figure 1 , Figure 4 , Figure 5 As shown, a striking module 28 is also provided on one side of the liquid storage tank 211. The striking module 28 includes a power motor 281, a rotating block 282, a pin 283, a sliding frame 284, a sliding rod 285, a support plate 286, an elastic rod 287, and a striking ball 288. The power motor 281 is fixed on the base 1. The rotating block 282 is connected to the power shaft of the power motor 281. The pin 283 is eccentrically arranged on the rotating block 282. The support plate 286 is vertically fixed on the base 1. The sliding rod 285 is slidably connected to the support plate 286. The sliding frame 284 is fixed on the sliding rod 285, and the pin 283 is slidably connected to the sliding frame 284. Elastic rods 287 are provided at both ends of the sliding rod 285. The free end of the elastic rod 287 is connected to the striking ball 288.

[0038] In this embodiment, the striking module 28 can strike the side wall of the liquid storage tank 211, causing the coating solution inside the liquid storage tank 211 to vibrate, thereby helping to expel air bubbles from the solution. The power motor 281 drives the rotating block 282 to rotate; the support plate 286 is located on one side of the liquid storage tank 211, and the sliding rod 285 is horizontally arranged and can slide left and right on the support plate 286; the sliding frame 284 is a rectangular frame and is vertically arranged. During the rotation of the rotating block 282, the sliding frame 284 can be moved left and right by the pin 283, thereby causing the sliding rod 285 to move synchronously; two elastic rods 287 are symmetrically arranged on both sides of the liquid storage tank 211, and when the sliding rod 285 moves left and right, the striking ball 288 strikes the outer wall of the liquid storage tank 211; the elastic rods 287 are made of elastic steel and have a certain degree of elasticity, and the elastic rods 287 are arranged perpendicularly to the sliding rod 285.

[0039] Specifically, such as Figure 1 As shown, the base 1 has wheels 11 at its bottom.

[0040] In this embodiment, the walking wheels 11 allow construction workers to move the device to any construction location for convenient use.

[0041] In use, the construction personnel first move the device to the location to be constructed. At this time, the high-definition camera 33 will capture an image of the building wall and identify whether there are any defects on the wall and the location of the defects. Then, the main controller 35 controls the robotic arm 22 to work. The robotic arm 22 drives the nozzle 24 to approach the wall and make the paint roller 25 fit against the wall. Then, the first pump body 212 will spray the paint in the storage tank 211 onto the wall through the nozzle 24. At the same time, the robotic arm 22 drives the nozzle 24 to move up and down to perform continuous spraying operations on the wall. The paint roller 25 rolls the paint on the wall to flatten it.

[0042] To prevent the coating in the storage tank 211 from settling, during the use of the device, the main controller 35 controls the stirring motor 264 to operate. The stirring motor 264 drives the stirring shaft 265 to rotate, which in turn drives the stirring blades 266 to rotate, thereby agitating the coating solution in the storage tank 211 and preventing it from settling. Meanwhile, the air pump 268 extracts air from the storage tank 211 to prevent the formation of bubbles in the solution during agitation. At the same time, the power motor 281 drives the rotating block 282 to rotate, which in turn drives the sliding rod 285 to slide left and right, causing the striking ball 288 to continuously strike the outer wall of the storage tank 211, causing the solution inside the storage tank 211 to vibrate synchronously and further eliminate bubbles. Simultaneously, the telescopic rod 261 periodically extends and retracts, pulling the filter basket 263 above the solution surface. At this point, the precipitated solid particles gather at the bottom of the filter basket 263, causing the stirring shaft 265 to crush the solid particles as it drives the crushing roller 267 to rotate, allowing them to redissolve in the solution. During operation, the second pump 272 pumps the paint solution from the storage tank 211 into the cylinder 273. The viscosity of the paint solution is then detected by the viscometer 277. If the viscosity is too high, the thinner chamber 278 adds thinner to the storage tank 211, ensuring the solution viscosity meets the spraying requirements. Simultaneously, the pumping of the solution into the cylinder 273 pushes the piston 274 upward, compressing the first spring 275. The pressure sensor 276 detects the spring force of the first spring 275 to determine the amount of solution in the cylinder 273, thus achieving quantitative spraying.

[0043] This invention has been described through preferred embodiments. Those skilled in the art will understand that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. This invention is not limited to the specific embodiments disclosed herein; other embodiments falling within the scope of the claims are also within the protection scope of this invention.

Claims

1. An intelligent building spraying robot based on the fusion of machine vision and force control, comprising a base (1), a spraying mechanism (2), and a vision recognition mechanism (3), characterized in that: The spraying mechanism (2) includes a material supply module (21), a robotic arm (22), a mounting bracket (23), a nozzle (24), and a paint roller (25). The material supply module (21) and the robotic arm (22) are both mounted on the base (1). The output end of the robotic arm (22) is connected to the mounting bracket (23). The nozzle (24) and the paint roller (25) are mounted on the mounting bracket (23). The output end of the material supply module (21) is connected to the nozzle (24). The visual recognition mechanism (3) includes a rotary motor (31), a camera mounting base (32), and a high-definition camera (33). The image recognition module (34) and the main controller (35) are fixed on the base (1). The rotating motor (31) is connected to the power shaft of the rotating motor (31) and a camera mounting base (32) is provided on the camera mounting base (32). A high-definition camera (33) is provided on the camera mounting base (32). The base (1) is also provided with the main controller (35). The main controller (35) integrates the image recognition module (34). The feeding module (21), the robotic arm (22), the rotating motor (31), the high-definition camera (33), the image recognition module (34) and the main controller (35) are electrically connected.

2. The intelligent building spraying robot based on the fusion of machine vision and force control according to claim 1, characterized in that: The feeding module (21) includes a liquid storage tank (211), a first pump body (212) and a feeding hose (213). The liquid storage tank (211) is fixed on the base (1) and contains paint. The first pump body (212) is set on the liquid storage tank (211). One end of the feeding hose (213) is connected to the output end of the first pump body (212), and the other end of the feeding hose (213) is connected to the nozzle (24).

3. The intelligent building spraying robot based on the fusion of machine vision and force control according to claim 2, characterized in that: The storage tank (211) is equipped with a stirring module (26), which includes a telescopic rod (261), a cross-shaped bracket (262), a filter basket (263), a stirring motor (264), a stirring shaft (265), stirring blades (266), a rolling roller (267), and a vacuum pump (268). The telescopic rod (261) is fixed to the top of the storage tank (211), and the output end of the telescopic rod (261) extends into the storage tank (211) and is connected to the cross-shaped bracket (262). A filter basket (263) is fixed at the bottom of the support (262). A stirring motor (264) is also provided at the center of the cross-shaped support (262). A stirring shaft (265) is connected to the power shaft of the stirring motor (264). A stirring blade (266) and a rolling roller (267) are provided on the stirring shaft (265). The rolling roller (267) is in contact with the bottom wall of the filter basket (263). A vacuum pump (268) is also provided at the top of the storage tank (211). The air inlet of the vacuum pump (268) is connected to the storage tank (211).

4. The intelligent building spraying robot based on the fusion of machine vision and force control according to claim 3, characterized in that: An annular scraper (269) is also provided on the outer wall of the filter basket (263), and the annular scraper (269) is in contact with the inner wall of the liquid storage tank (211).

5. The intelligent building spraying robot based on the fusion of machine vision and force control according to claim 2, characterized in that: A metering module (27) is provided on one side of the liquid storage tank (211). The metering module (27) includes a first pipe (271), a second pump body (272), a cylinder (273), a piston (274), a first spring (275), and a pressure sensor (276). The cylinder (273) is fixed on one side of the liquid storage tank (211). One end of the first pipe (271) is connected to the liquid storage tank (211), and the other end of the first pipe (271) is connected to the cylinder (273). The second pump body (272) is provided on the first pipe (271). The piston (274) is slidably provided inside the cylinder (273). One end of the first spring (275) is connected to the piston (274), and the other end of the first spring (275) is connected to the pressure sensor (276) on the top wall inside the cylinder (273). The input end of the first pump body (212) is connected to the cylinder (273).

6. The intelligent building spraying robot based on the fusion of machine vision and force control according to claim 5, characterized in that: The piston (274) is equipped with a viscometer (277), the liquid storage tank (211) is equipped with a diluent chamber (278), and the bottom outlet of the diluent chamber (278) is connected to the liquid storage tank (211). An electrically controlled valve is also provided at the bottom outlet of the diluent chamber (278).

7. The intelligent building spraying robot based on the fusion of machine vision and force control according to claim 6, characterized in that: Both the liquid storage tank (211) and the diluent tank (278) are equipped with laser liquid level sensors (279).

8. The intelligent building spraying robot based on the fusion of machine vision and force control according to claim 3, characterized in that: A striking module (28) is also provided on one side of the liquid storage tank (211). The striking module (28) includes a power motor (281), a rotating block (282), a pin (283), a sliding frame (284), a sliding rod (285), a support plate (286), an elastic rod (287), and a striking ball (288). The power motor (281) is fixed on the base (1), and the rotating block (282) is connected to the power shaft of the power motor (281). A pivot pin (283) is eccentrically mounted on the rotating block (282). A support plate (286) is vertically fixed on the base (1). A slide rod (285) is slidably connected on the support plate (286). A sliding frame (284) is fixed on the slide rod (285), and the pivot pin (283) is slidably connected to the sliding frame (284). Both ends of the slide rod (285) are provided with elastic rods (287), and the free end of the elastic rod (287) is connected to a striking ball (288).

9. The intelligent building spraying robot based on the fusion of machine vision and force control according to claim 1, characterized in that: The base (1) is equipped with wheels (11) at its bottom.

Images