A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
The invention provides a building spraying robot and a spraying method thereof, and the spraying method comprises the steps: obtaining an initial operation region from a video image of a depth camera, carrying out the door and window hole recognition of the initial operation region, obtaining a target operation region which does not comprise the door and window hole, carrying out the segmentation of the target operation region according to the door and window hole, and carrying out the recognition of the door and window hole. And performing path planning according to a segmentation result to obtain an initial operation path, obtaining a relative position relationship between the depth camera and the spray gun, determining a target operation path of the building spraying robot according to the relative position relationship and the initial operation path, and controlling the robot to perform spraying according to the target operation path. An operator only needs to select the initial operation area needing to be sprayed on the display device, the door and window hole can be recognized, the target operation area needing to be operated is determined and the target operation path is planned accordingly, the robot can automatically move to conduct spraying according to the target operation path, operation is convenient, and precision is high.
本发明提供了一种建筑喷涂机器人及其喷涂方法，该喷涂方法包括从深度相机的视频图像中获取初始作业区域，对该初始作业区域进行门窗洞识别，获取不包括该门窗洞的目标作业区域，根据该门窗洞对该目标作业区域进行分割，根据分割结果进行路径规划得到初始作业路径，获取该深度相机和该喷枪的相对位置关系，根据该相对位置关系和该初始作业路径，确定建筑喷涂机器人的目标作业路径，控制该机器人按照该目标作业路径进行喷涂。本发明只需操作人员在显示装置上选定需要喷涂的初始作业区域，就能够识别门窗洞，并据此确定需要操作的目标作业区域和规划目标作业路径，该机器人就可以依据该目标作业路径自行移动进行喷涂，操作方便，精确度高。
The invention provides a building spraying robot and a spraying method thereof, and the spraying method comprises the steps: obtaining an initial operation region from a video image of a depth camera, carrying out the door and window hole recognition of the initial operation region, obtaining a target operation region which does not comprise the door and window hole, carrying out the segmentation of the target operation region according to the door and window hole, and carrying out the recognition of the door and window hole. And performing path planning according to a segmentation result to obtain an initial operation path, obtaining a relative position relationship between the depth camera and the spray gun, determining a target operation path of the building spraying robot according to the relative position relationship and the initial operation path, and controlling the robot to perform spraying according to the target operation path. An operator only needs to select the initial operation area needing to be sprayed on the display device, the door and window hole can be recognized, the target operation area needing to be operated is determined and the target operation path is planned accordingly, the robot can automatically move to conduct spraying according to the target operation path, operation is convenient, and precision is high.
本发明提供了一种建筑喷涂机器人及其喷涂方法，该喷涂方法包括从深度相机的视频图像中获取初始作业区域，对该初始作业区域进行门窗洞识别，获取不包括该门窗洞的目标作业区域，根据该门窗洞对该目标作业区域进行分割，根据分割结果进行路径规划得到初始作业路径，获取该深度相机和该喷枪的相对位置关系，根据该相对位置关系和该初始作业路径，确定建筑喷涂机器人的目标作业路径，控制该机器人按照该目标作业路径进行喷涂。本发明只需操作人员在显示装置上选定需要喷涂的初始作业区域，就能够识别门窗洞，并据此确定需要操作的目标作业区域和规划目标作业路径，该机器人就可以依据该目标作业路径自行移动进行喷涂，操作方便，精确度高。
Building spraying robot and spraying method thereof
建筑喷涂机器人及其喷涂方法
LI YANAN (author)
2023-12-05
Patent
Electronic Resource
Chinese