WO2023173625A1 - Marking method and system based on marking robot - Google Patents

Abstract

A marking method and system based on a marking robot. The marking robot comprises a moving mechanism (30), a spraying mechanism (10), and a spray gun (14); the spraying mechanism (10) is slidably mounted on the moving mechanism (30); the spray gun (14) is mounted on the spraying mechanism (10). The method comprises: controlling the marking robot to search for a path laser line, and the marking robot generating a spraying start signal according to the path laser line (S100); after the spraying start signal is generated, controlling the spraying mechanism (10) of the marking robot to move in the direction of the path laser line (S200); controlling the moving mechanism (30) of the marking robot to move along with the spraying mechanism (10) (S300); and controlling the spray gun (14) of the marking robot to perform marking operation according to a spraying laser line (S400).

Description

Marking method and system based on marking robot

This application claims the priority of the Chinese patent application filed with the China Patent Office on March 14, 2022, with application number 202210245258.2, and the Chinese patent application filed with the China Patent Office on March 22, 2022, with application number 202210286981.5. The entire content of the application incorporated herein by reference.

Technical field

This application relates to the field of construction technology, for example, to a marking method, system, electronic equipment, computer-readable storage media and computer program products based on a marking robot.

Background technique

At present, the construction and real estate industries are developing rapidly, requiring construction to develop in a safe, efficient, and high-quality direction. At the same time, labor costs in the construction industry are on an increasing trend, especially in the parking space marking work in basement parking construction projects. , mainly based on manual operation throughout the entire process.

In related technologies, if you want to realize automatic line marking operation, it is a relatively direct method to use an automatic guided vehicle (AGV, Automated Guided Vehicle) equipped with a spraying mechanism for spraying. However, due to the influence of many factors, it only relies on the straightness of the navigation vehicle. Not high, the positioning accuracy is relatively low. In the related technology, a basement parking space marking machine relies on laser radar navigation to realize the automatic walking function of the chassis. In addition, the spraying mechanism and the chassis are connected by an electric displacement slide in the horizontal XY direction, and a laser fixed on the ground is used to illuminate the spraying mechanism. The displacement sensor (PSD, Position Sensitive Detector) on the machine, the electric displacement slide compensates and adjusts the spraying mechanism according to the relative position of the laser irradiated on the laser displacement sensor. In this way, when the chassis yaws a little, the spraying mechanism can still maintain a high straightness based on the displacement sensor feedback and the position of the laser, thereby ensuring the straightness of the spraying parking line. However, the method of using a marking robot in the related art to perform marking operations relies on lidar, and the angle error is large when the automatic navigation car stops, resulting in a large trajectory yaw when the automatic navigation car starts moving and low marking accuracy.

Contents of the invention

This application provides a scribing method, system, electronic device, computer-readable storage medium and computer program product based on a scribing robot, which can improve the scribing accuracy.

In a first aspect, embodiments of the present application provide a marking method based on a marking robot. The marking robot includes a moving mechanism, a spraying mechanism and a spray gun. The spraying mechanism is slidably installed on the moving mechanism, so The spray gun is installed on the spraying mechanism, and the method includes:

The scribing robot is controlled to find a path laser line, and the scribing robot generates a spray start signal according to the path laser line, wherein the path laser line is provided by a path laser emitting device, and the path laser emitting device is fixedly installed on the Describe the working site of the line marking robot;

After generating the spraying start signal, control the spraying mechanism of the scribing robot to move in the direction of the path laser line;

Control the moving mechanism of the marking robot to follow the spraying mechanism;

The spray gun of the scribing robot is controlled according to the spraying laser line to perform the scribing operation, wherein the spraying laser line is provided by a spraying laser emitting device, and the spraying laser emitting device is fixedly installed at the working site of the scribing robot, and the The path laser line and the spray laser line intersect at a preset angle.

In a second aspect, embodiments of the present application provide a marking system based on a marking robot. The marking robot includes a moving mechanism, a spraying mechanism and a spray gun. The spraying mechanism is slidably installed on the moving mechanism. The spray gun is installed on the spraying mechanism, and the marking system based on the marking robot includes:

A laser search module is configured to control the scribing robot to search for a path laser line, and the scribing robot generates a spray start signal according to the path laser line, wherein the path laser line is provided by a path laser emitting device, and the path laser The launching device is fixedly installed at the working site of the marking robot;

A laser following module configured to control the spraying mechanism of the scribing robot to move in the direction of the path laser line after generating the spraying start signal;

A secondary following module is configured to control the moving mechanism of the marking robot to follow the movement of the spraying mechanism;

The spraying and marking module is configured to control the spray gun of the marking robot to perform marking operations according to the spraying laser line, wherein the spraying laser line is provided by a spraying laser emitting device, and the spraying laser emitting device is fixedly installed on the marking line. At the robot's working site, the path laser line and the spraying laser line intersect at a preset angle.

In a third aspect, an electronic device provided by an embodiment of the present application includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the computer program. When implementing the steps of the method described in any one of the first aspects.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium. Instructions are stored on the computer-readable storage medium. When the instructions are run on a computer, they cause the computer to execute any of the tasks of the first aspect. method described in one item.

A fifth aspect is a computer program product provided by an embodiment of the present application. When the computer program product is run on a computer, it causes the computer to execute the method described in any one of the first aspects.

Description of the drawings

Figure 1 is a schematic flow chart of a marking method based on a marking robot provided by an embodiment of the present application;

Figure 2 is a schematic flow chart of another marking method based on a marking robot provided by an embodiment of the present application;

Figure 3 is a schematic plan view of the three-car parking space group operating environment provided by the embodiment of the present application;

Figure 4 is a schematic structural diagram of a marking robot provided by an embodiment of the present application;

Figure 5 is a structural block diagram of a marking system based on a marking robot provided by an embodiment of the present application;

Figure 6 is a schematic structural top view of the marking robot provided by the embodiment of the present application;

Figure 7 is a schematic structural diagram of the spraying mechanism provided by the embodiment of the present application;

Figure 8 is a structural block of an electronic device provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be noted that similar reference numerals and letters represent similar items in the following figures, therefore, once an item is defined in one figure, it does not need further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used to differentiate the description and cannot be understood as indicating or implying relative importance.

Embodiments of the present application provide a marking method, system, electronic device and computer-readable storage medium based on a marking robot, which can be applied to automatic marking operations, such as automatic marking operations of garage parking spaces; the based on The marking method of the marking robot is to control the marking robot to find the path laser line. After finding the path laser line, it generates a spraying start signal and enters the spraying and marking operation process; during the spraying and marking operation, the spraying mechanism of the marking robot moves along the path laser line. , then the mobile mechanism moves with the spraying mechanism, corrects the heading, and returns the spraying mechanism to the initial position of the relative moving mechanism; finally, during the movement of the marking robot, the spray gun is controlled according to the spraying laser line to perform the marking operation, and the spraying and marking is completed; The method is guided by the laser line, so that the spraying mechanism follows the movement of the laser line, and then the moving mechanism follows the movement of the spraying mechanism to achieve secondary following, which can improve the marking accuracy.

Please refer to Figures 1 and 4. Figure 1 is a schematic flow chart of a marking method based on a marking robot provided by an embodiment of the present application. Figure 4 is a schematic structural diagram of a marking robot provided by an embodiment of the present application; the marking method The robot includes a spraying mechanism 10, a robot chassis 20 and a moving mechanism 30. The spraying mechanism 10 is slidably installed on the moving mechanism 30, and the spray gun 14 is installed on the spraying mechanism 10; for example, the spraying mechanism 10 is provided with a visual identifier 13 and a laser displacement sensor. 12; The marking method based on the marking robot includes the following steps:

S100: Control the marking robot to find the path laser line. The marking robot generates a spray start signal according to the path laser line. The path laser line is provided by the path laser emitting device. The path laser emitting device is fixedly installed at the working site of the marking robot.

For example, the path laser line is a fixed guide laser set by the marking robot at the site during the marking operation; the guide laser may include multiple transverse laser emitters and multiple longitudinal laser emitters; for example, the transverse laser emitter emits path laser line, the longitudinal laser emitter emits a spray laser line; or, the transverse laser emitter emits a spray laser line, and the longitudinal laser emitter emits a path laser line. The laser beams emitted by all laser transmitters are fan-shaped lasers that are vertical to the ground. The projected floor, wall or laser reflection board is a laser line.

For example, the marking robot is equipped with a laser displacement sensor. When the laser displacement sensor detects the laser line, it indicates that the marking robot has entered a predetermined position, generates a spraying start signal, and enters the spraying and marking process.

S200: After generating the spraying start signal, control the spraying mechanism of the marking robot to move in the direction of the path laser line.

S300: Control the moving mechanism of the marking robot to follow the spraying mechanism.

For example, during the spraying and marking operation, the spraying mechanism moves along the path of the laser line, and the mobile mechanism moves with the spraying mechanism to achieve secondary following; thus, through the control method of secondary following, the correction response of the mobile mechanism will not be too large. It is fast, ensuring that the spraying mechanism can move along the path of the laser line sensitively and quickly, ensuring that the spraying line sprayed by the spraying mechanism is a straight line, and improving operating efficiency.

For example, the movement of the marking robot is guided only by path laser lines and does not use lidar navigation, thus avoiding conflicts caused by excessive deviation between the positioning method guided by the laser line and the positioning method guided by lidar navigation.

S400: Control the spray gun of the marking robot to perform marking operations according to the spraying laser line. The spraying laser line is provided by the spraying laser emitting device. The spraying laser emitting device is fixedly installed at the working site of the marking robot. The path laser line and the spraying laser line are Intersection at a preset angle.

For example, when the marking robot follows the path laser line and moves, the opening and closing of the spray gun is controlled by the guidance of the spraying laser line to realize automatic spraying and marking operations.

In some embodiments, the scribing method based on a scribing robot controls the scribing robot to find a path laser line, and after finding the path laser line, a spray start signal is generated and the spray scribing operation process is entered; during the spray scribing operation, the scribing robot The spraying mechanism follows the path of the laser line, and then the mobile mechanism follows the spraying mechanism to correct the heading and return the spraying mechanism to the initial position of the relative moving mechanism; finally, during the movement of the marking robot, the spray gun is controlled according to the spraying laser line to mark the line. operation to complete the spraying and marking; this method is guided by the laser line, so that the spraying mechanism follows the movement of the laser line, and then the moving mechanism follows the movement of the spraying mechanism to achieve secondary following, which can improve the marking accuracy.

Please refer to FIG. 2 , which is a schematic flowchart of another scribing method based on a scribing robot provided by an embodiment of the present application.

Exemplarily, S300: the step of controlling the moving mechanism of the line marking robot to follow the movement of the spraying mechanism, including:

S310: Control the heading of the moving mechanism to return the spraying mechanism to its initial position relative to the moving mechanism.

For example, when the moving mechanism follows the spraying mechanism, by controlling the heading of the moving mechanism to keep the relative position of the spraying mechanism and the moving mechanism constant, the marking accuracy during spraying and marking operations can be improved.

Exemplarily, the spraying laser line includes a first spraying laser line and a second spraying laser line. S400: The step of controlling the spray gun of the scribing robot to perform the scribing operation according to the laser line, including:

S410: Control the marking robot to pass the first spray laser line and generate a spray gun opening signal through the photoelectric sensor;

S420: Turn on the spray gun according to the spray gun opening signal;

S430: Control the marking robot to pass the second spray laser line and generate a spray gun closing signal through the photoelectric sensor;

S440: Close the spray gun according to the spray gun closing signal.

For example, when the marking robot moves, the opening and closing of the spray gun can be controlled by guiding multiple spraying laser lines to realize automated spraying and marking operations.

For example, when multiple spraying laser lines are included, the steps S410-S440 may be performed in cycles.

Exemplarily, before the step of S430: controlling the marking robot to pass the second spraying laser line and generating a spray gun closing signal through the photoelectric sensor, the method further includes:

S421: Control the photoelectric sensor to stop working from the moment when the spray gun opening signal is generated, and continue for a preset time before turning on the photoelectric sensor.

For example, after turning on the spray gun, controlling the photoelectric sensor to stop working for a period of time can prevent the irradiation of non-stop laser from shutting down the spray gun in advance, and can also prevent the interference of other strong stray light from shutting down the spray gun in advance, avoid the influence of other light sources, and improve Efficiency of spraying and marking operations.

Please refer to Figure 3. Figure 3 is a schematic plan view of a three-car parking space group operating environment provided by an embodiment of the present application; the three-car parking space group operating environment includes a marking robot 40 and six guiding lasers, each of which is two transverse laser emitters 21. , and 4 longitudinal laser emitters 22. The laser beams emitted by all laser transmitters are fan-shaped lasers that are vertical to the ground. The projected floor, wall, and laser reflection board is a laser line. For example, a line-marking robot can navigate to the starting point using lidar, or use line following or other methods.

Illustratively, with reference to Figures 1 to 3, the control flow of the marking method based on the marking robot provided by the embodiment of the present application is as follows:

Path-finding laser: After the marking robot enters the predetermined position/preparation area by laser radar or manual operation, the marking robot enters the path-finding laser process. After the laser line coincides with the center of the laser displacement sensor on the marking robot, a generated The spraying start signal enters the spraying operation process;

Laser following: During spraying and marking operations, the spraying mechanism follows the laser line and always keeps the laser line coincident with the center of the laser displacement sensor. Then the moving mechanism corrects the heading so that the spraying mechanism returns to the initial position of the relative moving mechanism;

Spray marking: The moving mechanism starts to move. When the corresponding photoelectric sensor (for example, when the moving mechanism moves forward, the corresponding photoelectric sensor is the photoelectric sensor on the side of the spraying mechanism) first passes through the corresponding first spraying laser line (for example, when the chassis moves forward, the corresponding laser is When the laser on the side is the transverse laser emitter 21) shown in Figure 3, the spray gun is turned on. At this time, the photoelectric sensor stops working for a period of time t. When the spraying time T is greater than t, the photoelectric sensor starts to work again. After the corresponding first After the second spray laser line is sprayed, the spray gun is closed and the chassis stops moving.

Exemplarily, the spraying mechanism is equipped with a visual identifier and a laser displacement sensor. S100: Control the marking robot to find the path laser line, and the steps of the marking robot generating a spraying start signal according to the path laser line include:

Control the spraying mechanism to return to its initial position relative to the moving mechanism;

Guide the mobile mechanism to the operation preparation area;

Control the moving mechanism to offset a preset distance along a preset direction;

Use the visual recognizer to determine whether the marking robot has found the path laser line. Based on the judgment result that the marking robot has not found the path laser line, execute the step of controlling the mobile mechanism to offset the preset distance along the preset direction; based on the finding of the marking robot Based on the judgment result of the path laser line, the spraying mechanism is controlled to move rapidly in the preset direction;

When the laser displacement sensor detects the path laser line, the spraying mechanism is controlled to move so that the laser displacement sensor coincides with the path laser line.

Exemplarily, S300: the step of controlling the moving mechanism of the line marking robot to follow the movement of the spraying mechanism, including:

Obtain the initial position information of the motor encoder of the spraying mechanism and the initial offset information of the path laser line relative to the laser displacement sensor;

Obtain the real-time position information of the motor encoder of the spraying mechanism and the real-time offset information of the path laser line relative to the laser displacement sensor;

Control the spraying mechanism to follow the path of the laser line based on the initial offset information and real-time offset information;

The mobile mechanism is controlled to follow the spraying mechanism based on the initial position information of the motor encoder and the real-time position information of the motor encoder.

In some embodiments, with reference to FIGS. 1 to 3 , the process of controlling the scribing robot to find a path laser line in the scribing method based on the scribing robot provided by the embodiment of the present application is as follows:

Step 1.1: The spraying mechanism moves to the initial position relative to the moving mechanism, which can be the center position of the moving mechanism;

Step 1.2: Use lidar to guide the mobile mechanism chassis of the marking robot to the operation preparation area;

Step 1.3: Control the moving mechanism of the marking robot to start moving a certain distance to the left;

Step 1.4: Determine whether there is a laser line passing through the specified range through visual recognition. Based on the judgment result that no laser line passes through the specified range, jump to step 1.3; based on the judgment result that the lateral movement motor of the spraying mechanism reaches the formation limit, there is a laser If the judgment result is that the line passed, continue to the next step;

Step 1.5: Align the moving mechanism of the marking robot so that the direction of the body of the marking robot is parallel to the laser line;

Step 1.6: Control the spraying mechanism to move quickly to the left;

Step 1.7: Detect whether the lateral movement motor of the spraying mechanism has reached the stroke limit. Based on the judgment that the lateral movement motor of the spraying mechanism has reached the formation limit, the marking robot alarms and stops working; based on the judgment that the lateral movement motor of the spraying mechanism has not reached the formation limit. As a result, proceed to the next step;

Step 1.8: Determine whether the laser displacement sensor detects laser. Based on the judgment result that the laser displacement sensor does not detect laser, jump to step 1.6; based on the judgment result that the laser sensor detects laser, continue to the next step;

Step 1.9 Move the laser device at a low speed and adjust the center of the laser displacement sensor to coincide with the laser line.

In some embodiments, with reference to Figures 1 to 3, the laser following process in the marking method based on the marking robot provided by the embodiment of the present application is as follows:

Step 2.1: Record the position X of the motor encoder of the spraying mechanism participating in this spraying, and the position Y of the laser on the laser displacement sensor;

Step 2.2: Determine whether the moving mechanism is moving. Based on the judgment result that the moving mechanism is moving, the laser following control stops; based on the judgment result that the moving mechanism is not moving, continue to the next step;

Step 2.3: Detect the position A of the motor encoder participating in the control every time g, and detect the distance B between the laser and the center point of the laser displacement sensor;

Step 2.4: Control the moving mechanism to yaw slightly to the relative position (X-A), control the spraying mechanism to move the distance (Y-B), and jump to step 2.2.

In some embodiments, with reference to Figures 1 to 3, the process of switch spraying in the marking method based on the marking robot provided by the embodiment of the present application is as follows:

Step 3.1: The movement time T of the moving mechanism starts from 0;

Step 3.2: Determine whether the photoelectric sensor detects laser. Based on the judgment result that the photoelectric sensor does not detect laser, jump to step 3.1; based on the judgment result that the photoelectric sensor detects laser, turn on the spray gun and continue to the next step;

Step 3.3: Control the photoelectric sensor to be in shielding state;

Step 3.4: Determine whether the movement time T of the moving mechanism is greater than the preset time t. Based on the judgment result that the movement time T of the moving mechanism is less than or equal to the preset time t, jump to step 3.3; based on the movement time T of the moving mechanism is greater than the preset time t Assuming the judgment result at time t, continue to the next step;

Step 3.5: Control the photoelectric sensor to work normally;

Step 3.6: Determine whether the photoelectric sensor detects laser. Based on the judgment result that the photoelectric sensor does not detect laser, jump to step 3.5; based on the judgment result that the photoelectric sensor detects laser, continue to the next step;

Step 3.7: Close the spray gun, the chassis movement stops, and the spraying of this section of line is completed.

Please refer to Figure 5. Figure 5 is a structural block diagram of a marking system based on a marking robot provided by an embodiment of the present application. The marking robot includes a moving mechanism, a spraying mechanism and a spray gun. The spraying mechanism is slidably installed on the moving mechanism, and the spray gun is installed In the spraying mechanism, the marking system based on the marking robot includes:

The search laser module 100 is configured to control the marking robot to find a path laser line, and the marking robot generates a spray start signal according to the path laser line, where the path laser line is provided by a path laser emitting device, and the path laser emitting device is fixedly installed on the marking robot. work site;

The laser following module 200 is configured to control the spraying mechanism of the marking robot to move in the direction of the path laser line after generating the spraying start signal;

The secondary following module 300 is configured to control the moving mechanism of the marking robot to follow the spraying mechanism;

The spraying and marking module 400 is configured to control the spray gun of the marking robot to perform marking operations according to the spraying laser line. The spraying laser line is provided by a spraying laser emitting device. The spraying laser emitting device is fixedly installed at the working site of the scribing robot. The path laser The line and spray laser line intersect at a preset angle.

Exemplarily, the secondary following module 300 is configured to control the heading of the moving mechanism so that the spraying mechanism returns to an initial position relative to the moving mechanism.

Exemplarily, the spray marking module 400 includes:

Turn on the signal generation unit and set it to control the marking robot to pass the first spray laser line and generate a spray gun opening signal through the photoelectric sensor;

The spray gun opening unit is configured to open the spray gun according to the spray gun opening signal;

The shutdown signal generation unit is configured to control the marking robot to pass through the second spray laser line and generate a spray gun shutdown signal through the photoelectric sensor;

The spray gun shut-off unit is configured to shut down the spray gun in response to the spray gun shut-off signal.

By way of example, the spray marking module also includes:

The stop unit is configured to control the photoelectric sensor to stop working from the moment when the spray gun opening signal is generated, and to continue for a preset time before turning on the photoelectric sensor.

Please refer to FIG. 4 , which is a schematic structural diagram of a line marking robot provided by an embodiment of the present application. The line marking robot includes a spraying mechanism 10 , a robot chassis 20 and a moving mechanism 30 .

Exemplarily, the mobile mechanism 30 includes a mobile navigation mechanism 31, a vision camera assembly 32, a laser reflection plate assembly 33 and a base 34.

Exemplarily, the mobile navigation mechanism 31 is installed on the base 34, and the mobile navigation mechanism 31 is provided with a laser radar.

For example, LiDAR (Laser Radar) is a radar system that emits a laser beam to detect characteristics such as the position and speed of a target. The mobile mechanism 30 is equipped with a laser radar to realize an automatic navigation function and can travel along a prescribed navigation path. It is called a transport vehicle with safety protection and multiple transfer functions, that is, an AGV.

Illustratively, the vision camera assembly 32 is installed on the mobile navigation mechanism 31 .

For example, a visual camera is added to the moving mechanism 30 and configured to identify the laser line; thus, after the moving mechanism 30 is navigated to a predetermined position through the lidar and the navigation of the lidar is blocked, the moving mechanism 30 can be adjusted through the visual camera. The overall angle of the moving mechanism 30 is straightened. The laser line is provided by a laser emitting device, which is fixedly installed on the working site of the moving mechanism 30; by setting the laser line, the moving mechanism 30 can be moved in the direction of the laser line.

For example, in the process of correcting the overall angle of the moving mechanism through a visual camera, the laser line is identified through the visual camera on the moving mechanism, and the deflection angle of the central axis of the moving mechanism relative to the laser line is obtained, and then the deflection angle of the central axis of the moving mechanism relative to the laser line is obtained before the spraying operation starts. Correct the overall angle of the moving mechanism, that is, adjust the central axis of the moving mechanism and the laser line to be parallel or perpendicular to each other.

For example, the laser reflection plate assembly 33 is installed on the mobile navigation mechanism 31 at a preset tilt angle, and the laser reflection plate assembly 33 is disposed below the vision camera assembly 32 .

For example, adding a laser reflective plate below the vision camera assembly 32 can eliminate the differences caused by different ground colors or reflective characteristics and stabilize the visual recognition environment; the angle and surface of the laser reflective plate can be tilted at a certain angle to improve the laser reflection effect. , making the laser line more obvious. By adding the laser emitting plate assembly 33, the recognition efficiency of the vision camera is improved.

In some embodiments, the mobile navigation mechanism 31 may be a lidar navigation mechanism, which is provided with a lidar. The mobile mechanism 30 uses the lidar in the mobile navigation mechanism 31 to navigate to a predetermined location, and a visual camera is added to the mobile navigation mechanism 31 , is set to identify the laser line, so that after shielding the laser radar navigation, the overall angle of the moving mechanism 30 can be corrected through the visual camera; a laser reflective plate is added below the visual camera to eliminate errors caused by different ground colors or reflective characteristics. The gap stabilizes the visual recognition environment; the angle and surface of the laser reflecting plate and the laser tilting at a certain angle can improve the laser reflection effect and make the laser line more obvious; thus, through this moving mechanism, the accuracy and efficiency of the automatic marking operation can be improved.

It should be noted that the mobile navigation mechanism 31 using laser radar is only an embodiment. The mobile navigation mechanism 31 can also choose other navigation methods, which are not limited here.

Please refer to FIG. 6 , which is a schematic structural top view of a marking robot provided by an embodiment of the present application.

Exemplarily, the vision camera assembly 32 includes a first vision camera 321 and a second vision camera 322. The first vision camera 321 and the second vision camera 322 are respectively installed on both sides of the mobile navigation mechanism 31.

For example, a visual camera is installed on both sides of the mobile navigation mechanism 31, so that both sides of the mobile navigation mechanism 31 can identify the laser line, thereby increasing the identification efficiency of the laser line.

Exemplarily, the laser reflecting plate assembly 33 includes a first laser reflecting plate 331 and a second laser reflecting plate 332. The first laser reflecting plate 331 is installed below the first vision camera 321, and the second laser reflecting plate 332 is installed under the second vision camera 321. Below the vision camera 322.

For example, the first laser reflection plate 331 corresponds to the first vision camera 321 , and the second laser reflection plate 332 corresponds to the second vision camera 322 .

Illustratively, with reference to Figures 4 and 6, the marking robot provided by the embodiment of the present application includes a spraying mechanism 10, a robot chassis 20 and a moving mechanism 30; the moving mechanism 30 also includes a guide rail 35, which is fixedly installed on the mobile navigation mechanism 31 .

Exemplarily, the spraying mechanism 10 includes a body mechanism 11, a laser displacement sensor 12 and a visual identifier 13. The body mechanism 11 is installed on the guide rail 35. The spray gun 14 is fixedly installed with the body mechanism 11. The laser displacement sensor 12 and the visual identifier 13 are installed respectively. In the body mechanism 11; the moving mechanism 30 is installed on the robot chassis 20.

For example, the automatic line marking and spraying operation is realized through the spraying mechanism 10, the moving function is realized through the robot chassis 20, and the line marking robot can be navigated to a predetermined position through the moving mechanism 30; during the line marking operation of the line marking robot, the moving mechanism 30 lidar navigation does not participate in the work, the lidar only guides the marking robot to the designated position; during the operation, the spraying mechanism 10 of the marking robot realizes mobile spraying through the laser displacement sensor 12, that is, the spraying mechanism 10 follows the laser line and the robot moves The chassis 20/moving mechanism 30 moves with the spraying mechanism 10, so that the marking robot only relies on laser line guidance to move, and there will be no conflict between the two positioning methods of laser radar and laser line positioning due to excessive deviation.

For example, a photoelectric sensor is a device that converts optical signals into electrical signals. Its working principle is based on the photoelectric effect. The photoelectric effect refers to the phenomenon that when light shines on certain substances, the electrons of the substance absorb the energy of the photons and a corresponding electrical effect occurs. According to the different photoelectric effect phenomena, the photoelectric effect is divided into three categories: external photoelectric effect, internal photoelectric effect and photovoltaic effect. Optoelectronic devices include photoelectric tubes, photomultiplier tubes, photoresistors, photodiodes, phototransistors, photovoltaic cells, etc. The performance and characteristic curves of optoelectronic devices were analyzed.

Please refer to FIG. 7 , which is a schematic structural diagram of a spraying mechanism provided by an embodiment of the present application.

Exemplarily, the laser displacement sensor 12 includes a first laser displacement sensor 121 and a second laser displacement sensor 122. The first laser displacement sensor 121 is installed at the front end of the body mechanism 11, and the second laser displacement sensor 122 is installed at the side of the body mechanism 11. end.

For example, the first laser displacement sensor 121 and the second laser displacement sensor 122 are installed at the front end and side end of the body mechanism 11 respectively, so that the spraying mechanism can receive the laser line from the front or the square to realize laser line guidance.

Illustratively, the visual identifier 13 includes a first visual identifier 131 and a second visual identifier 132. The first visual identifier 131 and the first laser displacement sensor 121 are fixedly installed on the front end of the body mechanism 11. The second visual identifier 132 and the second laser displacement sensor 122 are fixedly installed on the side end of the body mechanism 11 .

Exemplarily, the first visual identifier 131 and the second visual identifier 132 respectively include two photoelectric sensors.

For example, photoelectric sensors are installed in groups of two on the front and side of the spraying mechanism 10 respectively. The two photoelectric sensors in a group form an "OR gate" signal output mode, that is, as long as one of the photoelectric sensors is irradiated by the laser, the photoelectric sensor in the group will The sensor can output a signal, which is used to control the opening and closing of the spray gun 14; for example, two photoelectric sensors in the same group can be installed horizontally side by side or vertically side by side, or other installation methods can be selected, which will not be discussed here. limited.

Illustratively, the moving mechanism 30 is installed on the robot chassis 20 through the base 34 .

It should be understood that the scribing system based on the scribing robot shown in Figure 5 corresponds to the method embodiments shown in Figures 1 to 4. To avoid duplication, they will not be described again here.

The present application also provides an electronic device. Please refer to FIG. 8 . FIG. 8 is a structural block diagram of an electronic device provided by an embodiment of the present application. The electronic device may include a processor 510, a communication interface 520, a memory 530, and at least one communication bus 540. Among them, the communication bus 540 is configured to realize direct connection communication between these components. Among them, the communication interface 520 of the electronic device in the embodiment of the present application is configured to communicate with other node devices for signaling or data. The processor 510 may be an integrated circuit chip with signal processing capabilities.

The above-mentioned processor 510 can be a general-purpose processor, including a central processing unit (CPU, Central Processing Unit), a network processor (NP, Network Processor), etc.; it can also be a digital signal processor (DSP), application specific integrated circuit (ASIC) ), off-the-shelf programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. The multiple methods, steps and logical block diagrams disclosed in the embodiments of this application can be implemented or executed. A general-purpose processor may be a microprocessor or the processor 510 may be any conventional processor or the like.

The memory 530 may be, but is not limited to, random access memory (RAM, Random Access Memory), read-only memory (ROM, Read Only Memory), programmable read-only memory (PROM, Programmable Read-Only Memory), erasable Read-only memory (EPROM, Erasable Programmable Read-Only Memory), electrically erasable read-only memory (EEPROM, Electric Erasable Programmable Read-Only Memory), etc. Computer-readable instructions are stored in the memory 530. When the computer-readable instructions are executed by the processor 510, the electronic device can perform multiple steps involved in the method embodiments of FIGS. 1 to 4 described above.

For example, the electronic device may further include a memory controller and an input-output unit.

The memory 530, storage controller, processor 510, peripheral interface, and multiple components of the input and output unit are directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, these components may be electrically connected to each other through one or more communication buses 540 . The processor 510 is configured to execute executable modules stored in the memory 530, such as software function modules or computer programs included in the electronic device.

The input and output unit is configured to provide the user with the ability to create a task and create a startup optional period or a preset execution time for the task to enable interaction between the user and the server. The input and output unit may be, but is not limited to, a mouse and a keyboard.

It can be understood that the structure shown in FIG. 8 is only illustrative, and the electronic device may also include more or less components than shown in FIG. 8 , or have a different configuration than that shown in FIG. 8 . The various components shown in Figure 8 may be implemented in hardware, software, or a combination thereof.

Embodiments of the present application also provide a computer-readable storage medium. Instructions are stored on the computer-readable storage medium. When the instructions are run on a computer, the computer program is executed by a processor to implement the method embodiments. To avoid repetition, the methods described above will not be described again here. The computer-readable storage medium may be a non-transitory computer-readable storage medium.

This application also provides a computer program product. When the computer program product is run on a computer, it causes the computer to execute the method described in the method embodiment.

In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions and functions of the devices, methods and computer program products according to multiple embodiments of the present application. operate. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more components for implementing the specified logical function(s). Executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two consecutive blocks may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagram and/or flowchart illustration, and combinations of blocks in the block diagram and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts. , or can be implemented using a combination of specialized hardware and computer instructions.

In addition, various functional modules in multiple embodiments of the present application can be integrated together to form an independent part, multiple modules can exist alone, or two or more modules can be integrated to form an independent part.

If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in multiple embodiments of this application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code. .

It should be noted that similar reference numerals and letters represent similar items in the following figures, therefore, once an item is defined in one figure, it does not need further definition and explanation in subsequent figures.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. Furthermore, the terms "comprises," "comprises," or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or apparatus that includes the stated element.

Claims (19)

A marking method based on a marking robot. The marking robot includes a moving mechanism, a spraying mechanism and a spray gun. The spraying mechanism is slidably installed on the moving mechanism, and the spray gun is installed on the spraying mechanism. The methods include: The scribing robot is controlled to find a path laser line, and the scribing robot generates a spray start signal according to the path laser line, wherein the path laser line is provided by a path laser emitting device, and the path laser emitting device is fixedly installed on the Describe the working site of the line marking robot; After generating the spraying start signal, control the spraying mechanism of the scribing robot to move in the direction of the path laser line; Control the moving mechanism of the marking robot to follow the spraying mechanism; The spray gun of the scribing robot is controlled according to the spraying laser line to perform the scribing operation, wherein the spraying laser line is provided by a spraying laser emitting device, and the spraying laser emitting device is fixedly installed at the working site of the scribing robot, and the The path laser line and the spray laser line intersect at a preset angle. The method according to claim 1, wherein the moving mechanism controlling the line marking robot follows the movement of the spraying mechanism, including: The heading of the moving mechanism is controlled to return the spraying mechanism to an initial position relative to the moving mechanism. The method of claim 1, wherein the spraying mechanism includes a photoelectric sensor, the spraying laser line includes a first spraying laser line and a second spraying laser line, the first spraying laser line and the second spraying laser line The laser lines are parallel, and the spray gun of the marking robot is controlled according to the spraying laser line to perform marking operations, including: Control the scribing robot to pass through the first spray laser line and generate a spray gun opening signal through the photoelectric sensor; Turn on the spray gun according to the spray gun opening signal; Control the scribing robot to pass through the second spray laser line and generate a spray gun closing signal through the photoelectric sensor; The spray gun is closed based on the spray gun closing signal. The method according to claim 3, wherein before the step of controlling the scribing robot to pass through the second spray laser line and generating a spray gun closing signal through the photoelectric sensor, the method further includes: The photoelectric sensor is controlled to stop working from the moment when the spray gun opening signal is generated, and continues for a preset time before the photoelectric sensor is turned on. The method according to claim 1, wherein the spraying mechanism is provided with a visual identifier and a laser displacement sensor, the scribing robot is controlled to find a path laser line, and the scribing robot generates a path laser line based on the path laser line. Spraying start signals include: Control the spraying mechanism to reset to an initial position relative to the moving mechanism; Guide the mobile mechanism to the operation preparation area; Control the moving mechanism to offset a preset distance in a preset direction; The visual recognizer is used to determine whether the marking robot has found the path laser line. Based on the determination result that the marking robot has not found the path laser line, the control of the moving mechanism is performed along the preset path. The step of deviating the direction by a preset distance; controlling the spraying mechanism to move along the preset direction based on the judgment result that the marking robot has found the path laser line; In response to determining that the laser displacement sensor detects the path laser line, the spraying mechanism is controlled to move so that the laser displacement sensor coincides with the path laser line. The method according to claim 5, wherein the moving mechanism that controls the marking robot moves to follow the spraying mechanism, including: Obtain the initial position information of the motor encoder of the spraying mechanism and the initial offset information of the path laser line relative to the laser displacement sensor; Obtain real-time position information of the motor encoder of the spraying mechanism and real-time offset information of the path laser line relative to the laser displacement sensor; Control the spraying mechanism to follow the path laser line according to the initial offset information and the real-time offset information; The moving mechanism is controlled to follow the spraying mechanism according to the motor encoder initial position information and the motor encoder real-time position information. A marking system based on a marking robot. The marking robot includes a moving mechanism, a spraying mechanism and a spray gun. The spraying mechanism is slidably installed on the moving mechanism, and the spray gun is installed on the spraying mechanism. The marking systems described above include: A laser search module is configured to control the scribing robot to search for a path laser line, and the scribing robot generates a spray start signal according to the path laser line, wherein the path laser line is provided by a path laser emitting device, and the path laser The launching device is fixedly installed at the working site of the marking robot; A laser following module configured to control the spraying mechanism of the scribing robot to move in the direction of the path laser line after generating the spraying start signal; A secondary following module is configured to control the moving mechanism of the marking robot to follow the movement of the spraying mechanism; The spraying and marking module is configured to control the spray gun of the marking robot to perform marking operations according to the spraying laser line, wherein the spraying laser line is provided by a spraying laser emitting device, and the spraying laser emitting device is fixedly installed on the marking line. At the robot's working site, the path laser line and the spraying laser line intersect at a preset angle. The system of claim 7, wherein the secondary following module is configured to control the heading of the moving mechanism to return the spraying mechanism to an initial position relative to the moving mechanism. The system according to claim 7, wherein the mobile mechanism includes a mobile navigation mechanism, a visual camera assembly, a laser reflection plate assembly and a base; The mobile navigation mechanism is installed on the base; The vision camera assembly is installed on the mobile navigation mechanism; The laser reflection plate assembly is installed on the mobile navigation mechanism at a preset tilt angle, and the laser reflection plate assembly is arranged below the vision camera assembly. The system according to claim 9, wherein the vision camera assembly includes a first vision camera and a second vision camera, the first vision camera and the second vision camera are respectively installed on both sides of the mobile navigation mechanism. side. The system according to claim 9, wherein the laser reflective plate assembly includes a first laser reflective plate and a second laser reflective plate, the first laser reflective plate is installed below the first vision camera, and the second laser reflective plate A laser reflecting plate is installed below the second vision camera. The system according to claim 9, wherein the moving mechanism further includes a guide rail, the guide rail is fixedly installed on the mobile navigation mechanism; The spraying mechanism includes a body mechanism and a laser displacement sensor. The body mechanism is installed on the guide rail. The spray gun is fixedly installed on the body mechanism. The laser displacement sensor is installed on the body mechanism; The moving mechanism is installed on the robot chassis. The system according to claim 12, wherein the laser displacement sensor includes a first laser displacement sensor and a second laser displacement sensor, the first laser displacement sensor is installed at the front end of the body mechanism, and the second laser displacement sensor The displacement sensor is installed on the side end of the body mechanism. The system of claim 13, wherein the spraying mechanism further includes a visual identifier, the visual identifier includes a first visual identifier and a second visual identifier, the first visual identifier being in contact with the third visual identifier A laser displacement sensor is fixedly installed at the front end of the main body mechanism, and the second visual identifier and the second laser displacement sensor are fixedly installed at the side end of the main body mechanism. The system of claim 14, wherein the first visual identifier and the second visual identifier each include two photoelectric sensors. The system of claim 12, wherein the moving mechanism is mounted on the robot chassis through the base. An electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any one of claims 1 to 6 is implemented. The scribing method based on the scribing robot described in the item. A computer-readable storage medium having instructions stored on the computer-readable storage medium. When the instructions are run on a computer, they cause the computer to execute the line-based method described in any one of claims 1 to 6. Robotic line drawing method. A computer program product, which includes a computer program that, when executed by a processor, implements the scribing method based on a scribing robot according to any one of claims 1 to 6.

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