A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Automatic spraying control method of high-altitude spraying robot and related products
The invention relates to the technical field of building intellectualization, in particular to an automatic spraying control method of a high-altitude spraying robot and a related product, and the method comprises the steps: obtaining and preprocessing an original image of a wall surface needing to be sprayed, carrying out morphological processing and edge detection, and obtaining a binary image through a self-adaptive threshold binarization technology; marking connected components in the binarized image through a connected component analysis method and determining a first region; acquiring and processing three-dimensional point cloud data of the wall surface, identifying and clustering point cloud data not belonging to the wall surface, and determining a second area; a union set of the first area and the second area serves as a window area, and the spraying track of the spraying robot is determined according to the window area; according to the method, the precision and efficiency of image processing are effectively improved, the high-altitude spraying robot can accurately recognize the spraying area and the non-spraying area, spraying errors are avoided, and therefore the spraying quality is improved.
本发明建筑智能化技术领域，具体涉及一种高空喷涂机器人的自动喷涂控制方法及相关产品，包括获取并预处理需要喷涂墙面的原始图像，进行形态学处理和边缘检测，利用自适应阈值二值化技术获得二值化图像；通过连通组件分析法标记二值化图像中的连通组件并确定第一区域；获取并处理墙面的三维点云数据，识别并聚类不属于墙面的点云数据，确定第二区域；将第一区域和第二区域的并集作为窗户区域，并根据窗户区域确定喷涂机器人的喷涂轨迹；本发明有效提高了图像处理的精度和效率，使得高空喷涂机器人能够准确识别喷涂区域和非喷涂区域，避免喷涂误差，从而提高喷涂质量。
Automatic spraying control method of high-altitude spraying robot and related products
The invention relates to the technical field of building intellectualization, in particular to an automatic spraying control method of a high-altitude spraying robot and a related product, and the method comprises the steps: obtaining and preprocessing an original image of a wall surface needing to be sprayed, carrying out morphological processing and edge detection, and obtaining a binary image through a self-adaptive threshold binarization technology; marking connected components in the binarized image through a connected component analysis method and determining a first region; acquiring and processing three-dimensional point cloud data of the wall surface, identifying and clustering point cloud data not belonging to the wall surface, and determining a second area; a union set of the first area and the second area serves as a window area, and the spraying track of the spraying robot is determined according to the window area; according to the method, the precision and efficiency of image processing are effectively improved, the high-altitude spraying robot can accurately recognize the spraying area and the non-spraying area, spraying errors are avoided, and therefore the spraying quality is improved.
本发明建筑智能化技术领域，具体涉及一种高空喷涂机器人的自动喷涂控制方法及相关产品，包括获取并预处理需要喷涂墙面的原始图像，进行形态学处理和边缘检测，利用自适应阈值二值化技术获得二值化图像；通过连通组件分析法标记二值化图像中的连通组件并确定第一区域；获取并处理墙面的三维点云数据，识别并聚类不属于墙面的点云数据，确定第二区域；将第一区域和第二区域的并集作为窗户区域，并根据窗户区域确定喷涂机器人的喷涂轨迹；本发明有效提高了图像处理的精度和效率，使得高空喷涂机器人能够准确识别喷涂区域和非喷涂区域，避免喷涂误差，从而提高喷涂质量。
Automatic spraying control method of high-altitude spraying robot and related products
一种高空喷涂机器人的自动喷涂控制方法及相关产品
XU TONG (author) / LING XIUFENG (author) / WU RUI (author) / LIU TAO (author) / YAO YUAN (author)
2024-09-20
Patent
Electronic Resource
Chinese
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