Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Spraying robot attitude compensation prediction system and spraying robot
The invention provides a spraying robot attitude compensation prediction system and a spraying robot, and the system comprises an inclination angle obtaining module which is used for obtaining a rolling angle and a pitch angle of equipment at an operation ground position; the wall surface environment acquisition module is used for acquiring wall surface space information opposite to the equipment; the track planning module is used for carrying out path planning on an executing mechanism of the spraying robot to obtain an executing mechanism track; the track compensation module is used for compensating the track of the executing mechanism according to the rolling angle and the pitch angle of the equipment at the working ground position to obtain the compensated track of the executing mechanism; and the collision prediction module is used for predicting whether the compensated track interferes with the wall surface or not according to the space information of the wall surface opposite to the equipment and the compensated track of the execution mechanism, and reducing the working stroke to obtain updated operation task information when the interference is predicted to occur. The device can cope with uncertain ground and wall surface environments, and the spraying operation quality, efficiency and operation coverage rate are improved under the condition that safety is guaranteed.
本发明提供一种喷涂机器人姿态补偿预测系统及喷涂机器人，系统包括：倾角获取模块，用于获取作业地面位置处设备的翻滚角与俯仰角；墙面环境获取模块，用于获取与设备相对的墙面空间信息；轨迹规划模块，用于对喷涂机器人执行机构进行路径规划，得到执行机构轨迹；轨迹补偿模块，根据作业地面位置处设备的翻滚角与俯仰角，对执行机构轨迹进行补偿，得到补偿后的执行机构轨迹；碰撞预测模块，根据与设备相对的墙面空间信息和补偿后的执行机构轨迹，预测补偿后轨迹是否与墙面发生干涉，当预测发生干涉时，缩减工作行程，得到更新后的作业任务信息。本发明可以应对不确定的地面和墙面环境，在保证安全的情况下，提高喷涂作业质量、效率及作业覆盖率。
Spraying robot attitude compensation prediction system and spraying robot
The invention provides a spraying robot attitude compensation prediction system and a spraying robot, and the system comprises an inclination angle obtaining module which is used for obtaining a rolling angle and a pitch angle of equipment at an operation ground position; the wall surface environment acquisition module is used for acquiring wall surface space information opposite to the equipment; the track planning module is used for carrying out path planning on an executing mechanism of the spraying robot to obtain an executing mechanism track; the track compensation module is used for compensating the track of the executing mechanism according to the rolling angle and the pitch angle of the equipment at the working ground position to obtain the compensated track of the executing mechanism; and the collision prediction module is used for predicting whether the compensated track interferes with the wall surface or not according to the space information of the wall surface opposite to the equipment and the compensated track of the execution mechanism, and reducing the working stroke to obtain updated operation task information when the interference is predicted to occur. The device can cope with uncertain ground and wall surface environments, and the spraying operation quality, efficiency and operation coverage rate are improved under the condition that safety is guaranteed.
本发明提供一种喷涂机器人姿态补偿预测系统及喷涂机器人，系统包括：倾角获取模块，用于获取作业地面位置处设备的翻滚角与俯仰角；墙面环境获取模块，用于获取与设备相对的墙面空间信息；轨迹规划模块，用于对喷涂机器人执行机构进行路径规划，得到执行机构轨迹；轨迹补偿模块，根据作业地面位置处设备的翻滚角与俯仰角，对执行机构轨迹进行补偿，得到补偿后的执行机构轨迹；碰撞预测模块，根据与设备相对的墙面空间信息和补偿后的执行机构轨迹，预测补偿后轨迹是否与墙面发生干涉，当预测发生干涉时，缩减工作行程，得到更新后的作业任务信息。本发明可以应对不确定的地面和墙面环境，在保证安全的情况下，提高喷涂作业质量、效率及作业覆盖率。
Spraying robot attitude compensation prediction system and spraying robot
喷涂机器人姿态补偿预测系统及喷涂机器人
ZHANG CAIFU (Autor:in) / LIN WENBIAO (Autor:in) / XIAO WEISI (Autor:in) / LIANG YANXUE (Autor:in) / ZHANG WEIPENG (Autor:in) / GU HAO (Autor:in) / XU QINLEI (Autor:in) / TIAN PENGXIAO (Autor:in) / NIE JINGE (Autor:in) / SHEN PENG (Autor:in)
03.12.2024
Patent
Elektronische Ressource
Chinesisch