Orbital spraying apparatus and spraying control method thereof

Abstract

This invention discloses a track-type spraying equipment and its spraying control method. The track-type spraying equipment includes a spraying device, a spraying track, and connecting parts. The spraying device includes a spraying device body, a material storage chamber, a nozzle structure, and a traveling structure. The material storage chamber is located at the top of the spraying device body and is connected to the nozzle structure in sequence via a screw pump and a spraying pipe. The traveling structure is adapted to and movably connected to the linear track of the spraying track. The spraying device body also includes a controller, at least one drive motor, and a rechargeable power supply module. A wind speed sensor is also installed on the spraying device body. In this embodiment of the invention, the track-type spraying equipment can be easily installed on scaffolding and travel along a linear track. Furthermore, it can control the screw pump to draw paint from the material storage chamber and uniformly spray the wall surface based on the detected current wind speed and the spraying control strategy.

Description

Technical Field

[0001] This invention relates to the field of intelligent spraying equipment technology, and more particularly to track-type spraying equipment and its spraying control method. Background Technology

[0002] Gable walls, often referred to as exterior transverse walls, are walls arranged along the short axis of a building, i.e., transverse exterior walls. Currently, when spraying stone-like paint (a coating with a decorative effect similar to marble and granite) onto gable walls, it is generally done manually after scaffolding is erected. Due to factors such as the position of the gable wall crossbars and wind speed, issues such as missed areas, thin sprays, and uneven particle accumulation may occur, resulting in uneven spraying. Summary of the Invention

[0003] This invention provides a track-type spraying device and its spraying control method, aiming to solve the problem that in the prior art, when spraying stone paint on gable walls, the spraying is generally carried out manually after scaffolding is erected. This method is affected by factors such as the position of the gable wall crossbars and wind speed, which can lead to uneven spraying.

[0004] In a first aspect, embodiments of the present invention provide a track-type spraying device, including a spraying device, a spraying track, and a connector; one end of the connector is used to connect to scaffolding, and the other end of the connector is connected to one end of the spraying track; the spraying device, which can move along the linear track of the spraying track, is movably connected to the other end of the spraying track; the spraying device includes a spraying device body, a material storage chamber, a nozzle structure, and a traveling structure; the material storage chamber is located at the top of the spraying device body and is connected to the nozzle structure in sequence via a screw pump and a spraying pipe; the traveling structure is adapted to and movably connected to the linear track of the spraying track; the spraying device body also includes a controller, at least one drive motor, and a rechargeable power module, and a wind speed sensor is also provided on the spraying device body. The rechargeable power module is connected to the controller, the wind speed sensor, the at least one drive motor, and the screw pump. The controller is also connected to the wind speed sensor, the at least one drive motor, and the screw pump. After detecting a power-on signal, the controller acquires the construction area information of the current construction area. If it is determined that the construction height in the construction area information meets a preset construction height range, the construction positioning information belongs to a preset construction positioning range, and the wall to be sprayed is detected, the controller controls the spraying device to move along the straight track. At the same time, based on the current wind speed detected by the wind speed sensor and the preset spraying control strategy, the controller controls the screw pump to extract paint from the storage chamber and spray it onto the wall to be sprayed directly opposite the track-type spraying equipment through the nozzle structure.

[0005] In one possible embodiment, the spraying device body is provided with a groove structure, and the height of the groove structure is greater than the maximum height of the linear track;

[0006] The walking structure includes at least a first walking wheel, a second walking wheel, and a third walking wheel; the first walking wheel is disposed through the top wall of the groove structure; the second walking wheel and the third walking wheel are disposed through the bottom wall of the groove structure; the shortest vertical distance between the first walking wheel and the second walking wheel is less than the maximum height of the straight track and greater than the minimum height of the straight track.

[0007] In one possible embodiment, the at least one drive motor includes a first drive motor, and the second or third travel wheel is sleeved on the rotating shaft of the first drive motor.

[0008] In one possible embodiment, the linear track includes a first vertical portion, a horizontal portion, and a second vertical portion; the first vertical portion and the second vertical portion are symmetrically disposed at both ends of the horizontal portion and are integrally formed with the horizontal portion; the height of the horizontal portion is the minimum height of the linear track; the height of the first vertical portion is equal to the height of the second vertical portion, and the height of the first vertical portion and the height of the second vertical portion together constitute the maximum height of the linear track.

[0009] In one possible embodiment, the spraying track further includes a connector fixing part that is vertically fixed to the outer wall of the first vertical part, and the connector fixing part is provided with a plurality of bolt mounting through holes, and the center points of the plurality of bolt mounting through holes are located on the same straight line.

[0010] In one possible embodiment, the connector includes at least two connecting rod assemblies; each connecting rod assembly includes a U-shaped groove structure and a connecting rod, the U-shaped groove structure being adapted to the connector fixing part and connected to the connector fixing part by a plurality of bolts passing through a corresponding number of bolt mounting through holes; one end of the connecting rod is connected to the outer wall of the U-shaped groove structure and the other end is used for connection to the scaffolding.

[0011] In one possible embodiment, the nozzle structure is a funnel-shaped nozzle, and the outer diameter of the nozzle structure gradually increases from the direction close to the body of the spraying device to the direction far away from the body of the spraying device.

[0012] In one possible embodiment, the spraying device body is further provided with a wireless communication module and a positioning module, and the spraying device body is also provided with an image acquisition device; the wireless communication module, the positioning module and the image acquisition device are all connected to the controller.

[0013] Secondly, embodiments of the present invention also provide a spraying control method for a track-type spraying device, which is applied to the track-type spraying device described in the first aspect and any possible embodiments thereof, the method comprising:

[0014] If the controller detects a power-on signal, it will obtain the construction area information of the current construction area.

[0015] If the controller determines that the construction height in the construction area information meets the preset construction height range, the construction positioning information belongs to the preset construction positioning range, and the wall to be sprayed is detected, then the controller controls the spraying device of the track-type spraying equipment to move along the straight track in the track-type spraying equipment. At the same time, based on the current wind speed detected by the wind speed sensor and the preset spraying control strategy, the controller controls the screw pump to extract paint from the storage chamber and spray it onto the wall to be sprayed through the nozzle structure.

[0016] In one possible embodiment, the spraying device body is further provided with a wireless communication module and a positioning module, and the spraying device body is also provided with an image acquisition device; the wireless communication module, the positioning module and the image acquisition device are all connected to the controller;

[0017] The step of obtaining construction area information of the current construction area includes:

[0018] The control system obtains construction positioning information and construction height through the positioning module.

[0019] The image acquisition device is controlled to acquire construction scene images within the acquisition range, and image recognition is performed on the construction scene images. When it is determined that there is a wall in the construction scene image, it is determined that a wall surface to be sprayed has been detected.

[0020] This invention provides a track-type spraying equipment and its spraying control method. The track-type spraying equipment includes a spraying device, a spraying track, and a connector. One end of the connector is used to connect to scaffolding, and the other end is connected to one end of the spraying track. A spraying device that can move along the linear track is movably connected to the other end of the spraying track. The spraying device includes a spraying device body, a material storage chamber, a nozzle structure, and a traveling structure. The material storage chamber is located at the top of the spraying device body and is connected to the nozzle structure in sequence through a screw pump and a spraying pipe. The traveling structure is adapted to and movably connected to the linear track of the spraying track. The spraying device body also includes a controller, at least one drive motor, and a rechargeable power supply module. The spraying device body also includes... Equipped with a wind speed sensor, the rechargeable power module is connected to the controller, the wind speed sensor, at least one drive motor, and the screw pump. The controller is also connected to the wind speed sensor, at least one drive motor, and the screw pump. Upon detecting a power-on signal, the controller acquires the construction area information of the current construction area. If the construction height in the construction area information meets a preset construction height range, the construction positioning information belongs to a preset construction positioning range, and the wall to be sprayed is detected, the controller controls the spraying device to move along a straight track. Simultaneously, based on the current wind speed detected by the wind speed sensor and a preset spraying control strategy, the controller controls the screw pump to extract paint from the storage chamber and spray it onto the wall surface to be sprayed through the nozzle structure. In this embodiment, the track-type spraying device can be easily installed on scaffolding and moves along a straight track. It can also control the screw pump to extract paint from the storage chamber and uniformly spray the wall surface based on the detected current wind speed and the spraying control strategy. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the track-type spraying equipment provided in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the track-type spraying equipment provided in the embodiment of the present invention in its use state;

[0024] Figure 3 This is a schematic block diagram of the spraying device in the track-type spraying equipment provided in an embodiment of the present invention;

[0025] Figure 4 This is a schematic flowchart of the spraying control method for the track-type spraying equipment provided in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of a sub-process of the spraying control method for a track-type spraying equipment provided in an embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures:

[0028] 10. Scaffolding; 20. Wall to be painted; 100. Spraying device; 110. Spraying device body; 1101. Groove structure; 111. Controller; 112. Drive motor; 113. Rechargeable power module; 114. Wind speed sensor; 115. Wireless communication module; 116. Positioning module; 117. Image acquisition device; 120. Storage chamber; 121. Screw pump; 122. Spraying pipe; 130. Nozzle structure; 140. Walking structure; 141. First walking wheel; 200. Spraying track; 210. Straight track; 211. Horizontal part; 212. First vertical part; 213. Second vertical part; 220. Connector fixing part; 221. Bolt mounting through hole; 300. Connector; 310. Connecting rod assembly; 311. U-shaped groove structure part; 312. Connecting rod; 320. Cross fastener. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0031] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0032] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0033] Please also refer to Figures 1-3 ,in Figure 1 This is a schematic diagram of the structure of the track-type spraying equipment provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the track-type spraying equipment provided in the embodiment of the present invention in its use state; Figure 3 This is a schematic block diagram of the spraying device in a track-type spraying equipment provided in an embodiment of the present invention. Figures 1-3 As shown, the track-type spraying equipment includes: a spraying device 100, a spraying track 200, and a connector 300; one end of the connector 300 is used to connect to the scaffolding 10, and the other end of the connector 300 is connected to one end of the spraying track 200; the spraying device 100, which can move along the linear track 210 of the spraying track 200, is movably connected to the other end of the spraying track 200; the spraying device 100 includes a spraying device body 110, a material storage chamber 120, and a spray nozzle. The spraying device includes an nozzle structure 130 and a traveling structure 140. The material storage chamber 120 is located at the top of the spraying device body 110 and is connected to the nozzle structure 130 sequentially via a screw pump 121 and a spraying pipe 122. The traveling structure 140 is adapted to and movably connected to the linear track 210 of the spraying track 200. The spraying device body 110 also includes a controller 111, at least one drive motor 112, and a rechargeable power module 113. The main body is also equipped with a wind speed sensor 114. The rechargeable power module 113 is connected to the controller 111, the wind speed sensor 114, the at least one drive motor 112, and the screw pump 121. The controller 111 is also connected to the wind speed sensor 114, the at least one drive motor 112, and the screw pump 121. The controller 111 is used to obtain the construction area information of the current construction area after detecting the power-on signal. If it is determined that the construction height in the construction area information meets the preset construction height range, the construction positioning information belongs to the preset construction positioning range, and the wall surface 20 to be sprayed is detected, then the spraying device 100 is controlled to move along the straight track 210. At the same time, according to the current wind speed detected by the wind speed sensor 114 and the preset spraying control strategy, the screw pump 121 is controlled to draw paint from the storage chamber 120 and spray it onto the wall surface to be sprayed directly opposite the track-type spraying equipment through the nozzle structure 130.

[0034] In this embodiment, after the scaffolding 10 is erected on the gable wall facing a building, in order to achieve a more uniform spraying of the wall surface, the track-mounted spraying equipment can be fixed to the scaffolding 10 via connector 300. At this point, the spraying device 100 cannot be started. Before this operation, the material storage chamber 120 (which also has a filling port, not shown or labeled) can be filled with paint (such as stone paint). Furthermore, the rechargeable power module 113 (it should be noted that...) Figure 3 All component connection lines that are connected to the rechargeable power module 113 are not shown, but in practice they are electrically connected to provide power. Specifically, a lithium battery module can be used. Before using the rail-type spraying equipment, the rechargeable power module 113 can be fully charged with a charging cable and then used as the power supply module for the entire equipment.

[0035] Once it is confirmed that the currently aligned wall is the wall to be sprayed and the spraying height corresponds to the actual spraying requirements, the spraying device 100 can be turned on. After the controller 111 of the spraying device 100 detects the start-up signal, it first obtains the construction area information of the current construction area (such as construction positioning information, construction height, and construction scene image, etc.); then, after the controller 111 has determined that the construction height in the construction area information meets the preset construction height range, the construction positioning information belongs to the preset construction positioning range, and the wall to be sprayed has been detected, it controls the spraying device 100 to move along the straight track 210. At the same time, according to the current wind speed detected by the wind speed sensor 114 and the preset spraying control strategy, it controls the screw pump 121 to draw paint from the storage chamber 120 and spray it onto the wall to be sprayed directly in front of the track-type spraying equipment through the nozzle structure 130.

[0036] The spraying control strategy is specifically V = k * V0, where V is the actual spraying speed of the spraying device, V0 is the base spraying speed, and k is a correction coefficient. k is based on a preset mapping table of actual wind speed and correction coefficients. More specifically, the mapping table presets multiple sets of actual wind speed and correction coefficient mapping data. For example, the correction coefficient is 1 when the wind speed is less than or equal to 3 m / s, 1.4 when the wind speed is greater than 3 m / s and less than or equal to 5.5 m / s, 2 when the wind speed is greater than 5.5 m / s and less than or equal to 8 m / s, and 2.3 when the wind speed is greater than 8 m / s and less than or equal to 11 m / s. If the current wind speed is greater than 11 m / s, the spraying device can be prevented from starting spraying. Therefore, through the above settings, flexible adjustment of the spraying speed under different wind speeds is achieved. It should be noted that the spraying speed here refers to the distance the spraying device travels along a straight track.

[0037] Another spraying parameter to note is the spraying pressure provided by the screw pump 121. Taking a base spraying pressure of 10-20 MPa (corresponding to a current wind speed of 0 m / s) as an example, for every 1 m / s increase in the current wind speed from 0 m / s, the base spraying pressure will increase by 2-3 MPa accordingly. By controlling this spraying pressure, the paint particles of the stone-like paint have sufficient force to overcome wind resistance and adhere to the wall surface.

[0038] In one embodiment, such as Figures 1-3 As shown, the spraying device body 110 is provided with a groove structure 1101, and the height of the groove structure 1101 is greater than the maximum height of the linear track 210.

[0039] The walking structure 140 includes at least a first walking wheel 141, a second walking wheel (not shown due to perspective) and a third walking wheel (not shown due to perspective); the first walking wheel 141 is disposed through the top wall of the groove structure 1101; the second walking wheel and the third walking wheel are disposed through the bottom wall of the groove structure 1101; the shortest vertical distance between the first walking wheel 141 and the second walking wheel is less than the maximum height of the straight track 210 and greater than the minimum height of the straight track 210.

[0040] In this embodiment, to allow the spraying device body 110 to be installed on the linear track 210 more quickly, it can slide in from the currently unsealed side of the linear track 210, so that all three traveling wheels are within the groove-shaped track of the linear track 210. Then, both ends of the linear track 210 can be sealed with sealing block structures, ensuring that the spraying device 100 can only move within the travel range formed by the sealing block structures at both ends of the linear track 210.

[0041] The shortest vertical distance between the first traveling wheel 141 and the second traveling wheel refers to the height difference between the horizontal height of the bottom of the first traveling wheel 141 and the horizontal height of the top of the second traveling wheel. If the shortest vertical distance between the first traveling wheel 141 and the second traveling wheel is less than the maximum height of the straight track 210 and greater than the minimum height of the straight track 210, then the traveling structure 140 can be movably connected to the straight track 210 and perform smooth linear motion.

[0042] In one embodiment, such as Figures 1-3 As shown, the at least one drive motor 112 includes a first drive motor, and the second or third travel wheel is sleeved on the rotating shaft of the first drive motor.

[0043] In this embodiment, to simplify the driving method of the spraying device 100, the second or third traveling wheel located below the first traveling wheel 141 in the traveling structure 140 can be sleeved on the rotating shaft of the first drive motor. In this way, the wheel sleeved on the first drive motor serves as the driving wheel, and the remaining traveling wheels in the traveling structure 140 serve as driven wheels.

[0044] Of course, in practice, each traveling wheel can be connected to the rotating shaft of a corresponding drive motor. With this multi-drive motor configuration, it is important to precisely control the rotation direction and speed of each traveling wheel in the traveling structure to ensure stable movement of the traveling structure 140 on the linear track 210.

[0045] In one embodiment, such as Figures 1-3 As shown, the linear track 210 includes a first vertical portion 212, a horizontal portion 211, and a second vertical portion 213; the first vertical portion 212 and the second vertical portion 213 are symmetrically disposed at both ends of the horizontal portion 211 and are integrally formed with the horizontal portion 211; the height of the horizontal portion 211 is the minimum height of the linear track 210; the height of the first vertical portion 212 is equal to the height of the second vertical portion 213, and the height of the first vertical portion 212 and the height of the second vertical portion 213 are the maximum height of the linear track 210.

[0046] In this embodiment, when the linear track 210 is configured as described above, it is considered as a track structure with an H-shaped cross-section. When the first vertical part 212 and the second vertical part 213 are symmetrically arranged at both ends of the horizontal part 211, and are parallel to each other (i.e., both are perpendicular to the horizontal part 211) and set at the same height, the height of the horizontal part 211 is the minimum height of the linear track 210, and the height of the first vertical part 212 and the height of the second vertical part 213 are the maximum height of the linear track 210. Of course, in specific implementation, the linear track 210 can be slid in from the currently unsealed side, so that the three wheels are all in the groove structure above the top end and below the bottom end of the horizontal part 211 in the linear track 210. Then, both ends of the linear track 210 are sealed by the sealing block structure (not shown), thereby forming a linear track with a limiting structure.

[0047] The straight track in the example above is a single, continuous track. In practice, it can also be constructed by splicing multiple sub-tracks along its length (similar to the splicing method of railway tracks). The total length of the straight track needs to be determined based on the width of the wall to be painted. Generally, the total length of the straight track should be greater than the width of the wall to be painted, but the excess should not exceed 50cm.

[0048] In one embodiment, such as Figures 1-3 As shown, the spraying track 200 also includes a connector fixing part 220 that is vertically fixed on the outer wall of the first vertical part 212, and the connector fixing part 220 is provided with a plurality of bolt mounting through holes 221, and the center points of the plurality of bolt mounting through holes 221 are located on the same straight line.

[0049] In this embodiment, to facilitate a more stable connection of the spraying track 200 to the scaffolding, a connecting member fixing part 220 integrally formed with the first vertical part 212 is provided on the outer wall of the first vertical part 212 away from the horizontal part 211. Simultaneously, to facilitate the connection of the connecting member 300 to the connecting member fixing part 220, multiple bolt mounting through holes 221 arranged in a straight line are also provided on the connecting member fixing part 220, that is, the center points of the multiple bolt mounting through holes 221 are located on the same straight line.

[0050] In one embodiment, such as Figures 1-3 As shown, the connector 300 includes at least two connecting rod assemblies 310; each connecting rod assembly 310 includes a U-shaped groove structure 311 and a connecting rod 312. The U-shaped groove structure 311 is adapted to the connector fixing part 220 and is connected to the connector fixing part 220 by a number of bolts passing through a corresponding number of bolt mounting through holes 221. One end of the connecting rod 312 is connected to the outer wall of the U-shaped groove structure 311 and the other end is used to connect to the scaffold 10.

[0051] In this embodiment, the connector 300 with the above structure requires first fitting the U-shaped groove structure 311 onto the connector fixing part 220. Specifically, the opening of the U-shaped groove structure 311 is aligned with the connector fixing part 220, and then pushed inward until it abuts against the connector fixing part 220. Next, several bolts are inserted through the mounting holes on the U-shaped groove structure 311, and then several bolts continue through the bolt mounting through holes 221 on the connector fixing part 220. Finally, the screws are tightened at the bottom of the bolts to securely connect the connecting rod assembly 310 to the connector fixing part 220. The above process secures the U-shaped groove structure 311 of the connector 300 to the connector fixing part 220. Afterward, the end of the connecting rod 312 furthest from the U-shaped groove structure 311 is secured to the scaffold 10 using a cross-shaped fastener 320. As can be seen, by using the above-mentioned fixing method of the connectors, the track-type spraying equipment can be fixed to the corresponding height of the scaffold according to the area of ​​the wall to be sprayed and the current spraying height requirements.

[0052] In one embodiment, such as Figures 1-3As shown, the nozzle structure 130 is a funnel-shaped nozzle, and the outer diameter of the nozzle structure gradually increases from the direction close to the body of the spraying device to the direction far away from the body of the spraying device.

[0053] In this embodiment, the nozzle structure 130 with the above structure is specifically an expansion structure, which can ensure that the stone paint is sprayed out smoothly and that the paint particles of the stone paint have enough force to overcome the wind resistance and adhere to the wall surface.

[0054] In one embodiment, such as Figures 1-3 As shown, the spraying device body 110 is also equipped with a wireless communication module 115 and a positioning module 116, and an image acquisition device 117 is also provided on the spraying device body 110; the wireless communication module 115, the positioning module 116 and the image acquisition device 117 are all connected to the controller.

[0055] In this embodiment, when a wireless communication module 115 and a positioning module 116 are also provided in the spraying device body 110, and an image acquisition device 117 is also provided on the spraying device body 110, the image acquisition device 117 can acquire images of the wall surface to be sprayed facing the track-type spraying equipment to determine whether it is in the construction area; the positioning module 116 (such as a Beidou positioning module) can obtain the current construction positioning information and construction height of the track-type spraying equipment; the wireless communication module (such as a 4G module, 5G module, etc.) can receive control signals (such as power-on start signal, spraying device movement signal, and spraying signal, etc.) sent by other devices (such as servers or cloud servers, etc.) or other terminals (such as smartphones, tablets, etc.) to realize remote control of the track-type spraying equipment.

[0056] As can be seen, the track-type spraying equipment in this embodiment of the invention can be conveniently installed on scaffolding and travel along a straight track. It can also control the screw pump to draw paint from the storage chamber and spray the wall surface evenly based on the detected current wind speed and spraying control strategy.

[0057] This invention also provides a spraying control method for a track-type spraying equipment, such as... Figure 4 As shown, the spraying control method of the track-type spraying equipment includes steps S110 to S120.

[0058] Step S110: If the controller detects a power-on start signal, it obtains the construction area information of the current construction area.

[0059] Step S120: If the controller determines that the construction height in the construction area information meets the preset construction height range, the construction positioning information belongs to the preset construction positioning range, and the wall to be sprayed is detected, then the controller controls the spraying device of the track-type spraying equipment to move along the straight track in the track-type spraying equipment, and at the same time controls the screw pump to extract paint from the storage chamber and spray it onto the wall to be sprayed through the nozzle structure according to the current wind speed detected by the wind speed sensor and the preset spraying control strategy.

[0060] In this embodiment, please also refer to Figures 1-3 If scaffolding 10 is erected on the gable wall facing a building, and to achieve more uniform spraying of the wall surface, the track-mounted spraying equipment can be fixed to the scaffolding 10 via connector 300. At this point, the spraying device 100 cannot be started. Before this operation, the storage chamber 120 (which also has a filling port, not shown or labeled) can be filled with paint (such as stone paint). Furthermore, the rechargeable power module 113 can specifically be a lithium battery module. Before using the track-mounted spraying equipment, the rechargeable power module 113 can be fully charged via a charging cable before serving as the power supply module for the entire equipment.

[0061] Once it is confirmed that the currently aligned wall is the wall to be sprayed and the spraying height corresponds to the actual spraying requirements, the spraying device 100 can be turned on. After the controller 111 of the spraying device 100 detects the start-up signal, it first obtains the construction area information of the current construction area (such as construction positioning information, construction height, and construction scene image, etc.); then, after the controller 111 has determined that the construction height in the construction area information meets the preset construction height range, the construction positioning information belongs to the preset construction positioning range, and the wall to be sprayed has been detected, it controls the spraying device 100 to move along the straight track 210. At the same time, according to the current wind speed detected by the wind speed sensor 114 and the preset spraying control strategy, it controls the screw pump 121 to draw paint from the storage chamber 120 and spray it onto the wall to be sprayed directly in front of the track-type spraying equipment through the nozzle structure 130.

[0062] The spraying control strategy is specifically V = k * V0, where V is the actual spraying speed of the spraying device, V0 is the base spraying speed, and k is a correction coefficient. k is based on a preset mapping table of actual wind speed and correction coefficients. More specifically, the mapping table presets multiple sets of actual wind speed and correction coefficient mapping data. For example, the correction coefficient is 1 when the wind speed is less than or equal to 3 m / s, 1.4 when the wind speed is greater than 3 m / s and less than or equal to 5.5 m / s, 2 when the wind speed is greater than 5.5 m / s and less than or equal to 8 m / s, and 2.3 when the wind speed is greater than 8 m / s and less than or equal to 11 m / s. If the current wind speed is greater than 11 m / s, the spraying device can be prevented from starting spraying. Therefore, through the above settings, flexible adjustment of the spraying speed under different wind speeds is achieved. It should be noted that the spraying speed here refers to the distance the spraying device travels along a straight track.

[0063] Another spraying parameter to note is the spraying pressure provided by the screw pump 121. Taking a base spraying pressure of 10-20 MPa (corresponding to a current wind speed of 0 m / s) as an example, for every 1 m / s increase in the current wind speed from 0 m / s, the base spraying pressure will increase by 2-3 MPa accordingly. By controlling this spraying pressure, the paint particles of the stone-like paint have sufficient force to overcome wind resistance and adhere to the wall surface.

[0064] In one embodiment, the spraying device body further includes a wireless communication module and a positioning module, and an image acquisition device is also provided on the spraying device body; the wireless communication module, the positioning module, and the image acquisition device are all connected to the controller; as shown Figure 5 As shown, step S110 includes:

[0065] S111, The control module obtains construction positioning information and construction height;

[0066] S112. Control the image acquisition device to acquire construction scene images within the acquisition range, and perform image recognition on the construction scene images. When it is determined that there is a wall in the construction scene image, it is determined that a wall surface to be sprayed has been detected.

[0067] In this embodiment, please also refer to Figures 1-3When a wireless communication module 115 and a positioning module 116 are also provided inside the spraying device body 110, and an image acquisition device 117 is also provided on the spraying device body 110, the image acquisition device 117 can acquire images of the wall surface to be sprayed facing the track-type spraying equipment to determine whether it is in the construction area; the positioning module 116 (such as a Beidou positioning module) can obtain the current construction positioning information and construction height of the track-type spraying equipment; the wireless communication module (such as a 4G module, 5G module, etc.) can receive control signals (such as power-on start signal, spraying device movement signal, and spraying signal, etc.) sent by other devices (such as servers or cloud servers, etc.) or other terminals (such as smartphones, tablets, etc.) to realize remote control of the track-type spraying equipment.

[0068] In summary, the track-type spraying equipment and its spraying control method in this embodiment of the invention include a spraying device, a spraying track, and a connector; one end of the connector is used to connect to the scaffolding, and the other end of the connector is connected to one end of the spraying track; a spraying device that can move along the linear track of the spraying track is movably connected to the other end of the spraying track; the spraying device includes a spraying device body, a storage chamber, a nozzle structure, and a traveling structure; the storage chamber is located at the top of the spraying device body and is connected to the nozzle structure in sequence through a screw pump and a spraying pipe; the traveling structure is adapted to the linear track of the spraying track and is movably connected to the linear track; the spraying device body also includes a controller, at least one drive motor, and a rechargeable power supply module; the spraying device body also includes... Equipped with a wind speed sensor, the rechargeable power module is connected to the controller, the wind speed sensor, at least one drive motor, and the screw pump. The controller is also connected to the wind speed sensor, at least one drive motor, and the screw pump. Upon detecting a power-on signal, the controller acquires the construction area information of the current construction area. If the construction height in the construction area information meets a preset construction height range, the construction positioning information belongs to a preset construction positioning range, and the wall to be sprayed is detected, the controller controls the spraying device to move along a straight track. Simultaneously, based on the current wind speed detected by the wind speed sensor and a preset spraying control strategy, the controller controls the screw pump to extract paint from the storage chamber and spray it onto the wall surface to be sprayed through the nozzle structure. In this embodiment of the invention, the track-type spraying device can be easily installed on scaffolding and moves along a straight track. It can also control the screw pump to extract paint from the storage chamber and uniformly spray the wall surface based on the detected current wind speed and the spraying control strategy.

[0069] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A track-type spraying device, characterized in that, The system includes a spraying device, a spraying track, and connectors. One end of the connector is used to connect to scaffolding, and the other end is connected to one end of the spraying track. The spraying device, which can move along a linear track, is movably connected to the other end of the spraying track. The spraying device includes a spraying device body, a material storage chamber, a nozzle structure, and a traveling structure. The material storage chamber is located at the top of the spraying device body and is connected to the nozzle structure in sequence via a screw pump and a spraying pipe. The traveling structure is adapted to and movably connected to the linear track of the spraying track. The spraying device body also includes a controller, at least one drive motor, and a rechargeable power module. A wind speed sensor is also installed on the spraying device body. The rechargeable power module... The controller, the wind speed sensor, the at least one drive motor, and the screw pump are all connected. The controller is also connected to the wind speed sensor, the at least one drive motor, and the screw pump. After detecting a power-on signal, the controller obtains the construction area information of the current construction area. If it is determined that the construction height in the construction area information meets the preset construction height range, the construction positioning information belongs to the preset construction positioning range, and the wall to be sprayed is detected, the controller controls the spraying device to move along the straight track. At the same time, according to the current wind speed detected by the wind speed sensor and the preset spraying control strategy, the controller controls the screw pump to extract paint from the storage chamber and spray it onto the wall to be sprayed directly in front of the track-type spraying equipment through the nozzle structure. The linear track includes a first vertical section, a horizontal section, and a second vertical section; the first vertical section and the second vertical section are symmetrically arranged at both ends of the horizontal section and are integrally formed with the horizontal section; the height of the horizontal section is the minimum height of the linear track; the height of the first vertical section is equal to the height of the second vertical section, and the height of the first vertical section and the height of the second vertical section are the maximum height of the linear track; the spraying track also includes a connector fixing part vertically fixed to the outer wall of the first vertical section, and the connector fixing part is provided with multiple bolt mounting through holes, and the center points of the multiple bolt mounting through holes are located on the same straight line; the connector includes at least two connecting rod assemblies; each connecting rod assembly includes a U-shaped groove structure and a connecting rod, the U-shaped groove structure is adapted to the connector fixing part and is connected to the connector fixing part by a number of bolts passing through the corresponding number of bolt mounting through holes; one end of the connecting rod is connected to the outer wall of the U-shaped groove structure and the other end is used to connect to the scaffolding.

2. The track-type spraying equipment according to claim 1, characterized in that, The spraying device body is provided with a groove structure, and the height of the groove structure is greater than the maximum height of the linear track; The walking structure includes at least a first walking wheel, a second walking wheel, and a third walking wheel; the first walking wheel is disposed through the top wall of the groove structure; the second walking wheel and the third walking wheel are disposed through the bottom wall of the groove structure; the shortest vertical distance between the first walking wheel and the second walking wheel is less than the maximum height of the straight track and greater than the minimum height of the straight track.

3. The track-type spraying equipment according to claim 2, characterized in that, The at least one drive motor includes a first drive motor, and the second or third travel wheel is sleeved on the rotating shaft of the first drive motor.

4. The track-type spraying equipment according to claim 1, characterized in that, The nozzle structure is a funnel-shaped nozzle, and the outer diameter of the nozzle structure gradually increases from the direction close to the body of the spraying device to the direction far away from the body of the spraying device.

5. The track-type spraying equipment according to claim 1, characterized in that, The spraying device body is also equipped with a wireless communication module and a positioning module, and an image acquisition device is also provided on the spraying device body; the wireless communication module, the positioning module and the image acquisition device are all connected to the controller.

6. A spraying control method for a track-type spraying equipment, applied to the track-type spraying equipment as described in any one of claims 1-5, characterized in that, include: If the controller detects a power-on signal, it will obtain the construction area information of the current construction area. If the controller determines that the construction height in the construction area information meets the preset construction height range, the construction positioning information belongs to the preset construction positioning range, and the wall to be sprayed is detected, then the controller controls the spraying device of the track-type spraying equipment to move along the straight track in the track-type spraying equipment. At the same time, based on the current wind speed detected by the wind speed sensor and the preset spraying control strategy, the controller controls the screw pump to extract paint from the storage chamber and spray it onto the wall to be sprayed through the nozzle structure.

7. The spraying control method for the track-type spraying equipment according to claim 6, characterized in that, The spraying device body is also equipped with a wireless communication module and a positioning module, and the spraying device body is also equipped with an image acquisition device; the wireless communication module, the positioning module and the image acquisition device are all connected to the controller; The step of obtaining construction area information of the current construction area includes: The control system obtains construction positioning information and construction height through the positioning module. The image acquisition device is controlled to acquire construction scene images within the acquisition range, and the construction scene images are image recognized. When it is determined that there is a wall in the construction scene image, the wall surface to be sprayed is detected.

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