A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
The invention provides a self-adaptive spraying method, spraying system and spraying robot for a working face, and the self-adaptive spraying method comprises the following steps: obtaining a model of the working face to be sprayed, and calculating spraying parameters according to the model and spraying requirements; planning a spraying path according to the model and the spraying parameters; after the robot chassis and the operation arm move to a preset position according to the spraying path, the actual parking position of the robot chassis and the actual arm parking position of the operation arm measured by a sensor are obtained, and the deviation value between the actual parking position and the parking position in the spraying path is calculated; the deviation value of the actual arm stopping position and the arm stopping position in the spraying path is obtained; the actual distance and angle between a spraying mechanism and the working face to be sprayed are obtained, and an adjusted spraying path position point is calculated by combining the deviation value of the stopping position and the error value of the arm stopping position; and a spraying mechanism is controlled to conduct spraying according to the adjusted spraying path position points.
本发明提供了一种作业面的自适应喷涂方法、喷涂系统及喷涂机器人，该自适应喷涂方法包括以下步骤：获取待喷涂作业面的模型，根据所述模型和喷涂要求计算喷涂参数；根据所述模型和所述喷涂参数，规划喷涂路径；机器人底盘和操作臂按所述喷涂路径运动到预设位置后，获取传感器测量到的所述机器人底盘的实际停车位置、操作臂的实际停臂位置，计算实际停车位置与所述喷涂路径中的停车位置的偏差值，以及实际停臂位置与所述喷涂路径中的停臂位置的偏差值；获取喷涂机构与所述待喷涂作业面的实际距离和角度，并结合所述停车位置的偏差值、所述停臂位置的误差值计算得到调整后的喷涂路径位置点；控制喷涂机构按所述调整后的喷涂路径位置点进行喷涂。
The invention provides a self-adaptive spraying method, spraying system and spraying robot for a working face, and the self-adaptive spraying method comprises the following steps: obtaining a model of the working face to be sprayed, and calculating spraying parameters according to the model and spraying requirements; planning a spraying path according to the model and the spraying parameters; after the robot chassis and the operation arm move to a preset position according to the spraying path, the actual parking position of the robot chassis and the actual arm parking position of the operation arm measured by a sensor are obtained, and the deviation value between the actual parking position and the parking position in the spraying path is calculated; the deviation value of the actual arm stopping position and the arm stopping position in the spraying path is obtained; the actual distance and angle between a spraying mechanism and the working face to be sprayed are obtained, and an adjusted spraying path position point is calculated by combining the deviation value of the stopping position and the error value of the arm stopping position; and a spraying mechanism is controlled to conduct spraying according to the adjusted spraying path position points.
本发明提供了一种作业面的自适应喷涂方法、喷涂系统及喷涂机器人，该自适应喷涂方法包括以下步骤：获取待喷涂作业面的模型，根据所述模型和喷涂要求计算喷涂参数；根据所述模型和所述喷涂参数，规划喷涂路径；机器人底盘和操作臂按所述喷涂路径运动到预设位置后，获取传感器测量到的所述机器人底盘的实际停车位置、操作臂的实际停臂位置，计算实际停车位置与所述喷涂路径中的停车位置的偏差值，以及实际停臂位置与所述喷涂路径中的停臂位置的偏差值；获取喷涂机构与所述待喷涂作业面的实际距离和角度，并结合所述停车位置的偏差值、所述停臂位置的误差值计算得到调整后的喷涂路径位置点；控制喷涂机构按所述调整后的喷涂路径位置点进行喷涂。
Self-adaptive spraying method, spraying system and spraying robot for working face
一种作业面的自适应喷涂方法、喷涂系统及喷涂机器人
LI YANAN (author)
2023-12-01
Patent
Electronic Resource
Chinese
Spraying control system, spraying robot with spraying control system and spraying method
| European Patent Office | 2022