CN-121995801-A - Intelligent control method and system for wall brushing equipment

CN121995801ACN 121995801 ACN121995801 ACN 121995801ACN-121995801-A

Abstract

The invention discloses an intelligent control method and system of wall brushing equipment, which relate to the technical field of intelligent control, and are characterized in that a plurality of sub-wall brushing nodes are determined according to the identification of a wall brushing path, the wall brushing event of each sub-wall brushing node is determined based on the node positions of the sub-wall brushing nodes, the corresponding sub-wall brushing areas and the working state of the wall brushing equipment, and the intelligent control system of the wall brushing equipment is determined according to the wall brushing event of each sub-wall brushing node, the real-time image of a wall and the working parameters of a wall brushing roller, so that the accuracy of the intelligent control system of the wall brushing equipment is improved. The method comprises the steps of determining a plurality of sub-regulation items based on the identification of dynamic regulation events, determining an independent regulation event of the wall brushing equipment according to the regulation content of the plurality of sub-regulation items, the corresponding regulation priority and the working state of the wall brushing equipment, improving the accuracy of the independent regulation event of the wall brushing equipment, and dynamically balancing the class of the wall brushing surface of the wall.

Inventors

LI ZHENLU
Ying Zaien
CHEN DIFENG
DAI DINGXIN

Assignees

台州职业技术学院

Dates

Publication Date: 20260508
Application Date: 20260122

Claims (10)

1. An intelligent control method of a wall brushing device is characterized by comprising the following steps: the camera arranged on the wall brushing equipment dynamically shoots the wall, acquires a plurality of wall images, and determines a corresponding area to be brushed with the wall according to the identification of the wall images; Determining a plurality of sub-wall painting areas based on detection of the area to be painted, and determining a wall painting path of the wall painting roller according to the area positions of the sub-wall painting areas, the corresponding area forms and the wall painting roller configured by the wall painting equipment; Determining a plurality of sub-wall brushing nodes according to the identification of the wall brushing paths, determining the wall brushing event of each sub-wall brushing node based on the node positions of the plurality of sub-wall brushing nodes, the corresponding sub-wall brushing areas and the working state of the wall brushing equipment, and determining an intelligent control system of the wall brushing equipment according to the wall brushing event of each sub-wall brushing node, the real-time image of the wall and the working parameters of the wall brushing roller, wherein the intelligent control system object comprises a control instruction set which is adjusted according to real-time feedback; In the intelligent control system, a working parameter set of the wall brushing equipment is determined based on the intelligent control system and the real-time position of the wall brushing roller, and a dynamic regulation event of the wall brushing equipment is determined according to the working parameter set, a paint supply module of the wall brushing equipment and the wall brushing roller, wherein the dynamic regulation event comprises execution time, a path tracking adjustment instruction and a supply adjustment instruction; Determining a plurality of sub-regulation items based on the identification of the dynamic regulation event, determining an autonomous regulation event of the wall brushing equipment according to the regulation content of the plurality of sub-regulation items, the corresponding regulation priority and the working state of the wall brushing equipment, and dynamically balancing the wall brushing surface grade of the wall.
2. The intelligent control method of the wall painting device according to claim 1, wherein the camera configured by the wall painting device dynamically shoots a wall, collects a plurality of wall images, and determines a corresponding area to be painted according to the identification of the plurality of wall images, comprising: When the wall brushing equipment is arranged relative to the wall, a camera arranged on the wall brushing equipment is opposite to the wall and dynamically shoots the wall, at the moment, the camera shoots the wall along different positions so as to acquire a plurality of wall images, and the plurality of wall images are input to a control module of the wall brushing equipment; in a control module of the wall brushing equipment, a corresponding integral image is constructed based on the synthesis of a plurality of wall images, a plurality of wall surface features are determined according to the identification of the integral image, and a corresponding wall brushing area is determined according to the feature positions of the plurality of wall surface features, corresponding feature information and the conventional wall area.
3. The intelligent control method of the wall painting apparatus according to claim 1, wherein the determining the plurality of sub-wall painting areas based on the detection of the area to be painted, determining the wall painting path of the wall painting roller based on the area positions of the plurality of sub-wall painting areas, the corresponding area forms, and the wall painting roller configured by the wall painting apparatus, comprises: performing area detection on the area to be painted, determining a plurality of sub-painted areas based on the area detection of the area to be painted, marking the area position of each sub-painted area, and determining the corresponding area form according to the form detection of each sub-painted area; And monitoring the wall brushing equipment in real time, marking the wall brushing roller configured by the wall brushing equipment, and determining the wall brushing path of the wall brushing roller according to the current position of the wall brushing roller, the regional positions of the plurality of sub-wall brushing regions and the corresponding regional forms.
4. The intelligent control method of the wall brushing apparatus according to claim 1, wherein the determining a plurality of sub-wall brushing nodes according to the identification of the wall brushing path, determining a wall brushing event of each sub-wall brushing node based on the node positions of the plurality of sub-wall brushing nodes, the corresponding sub-wall brushing areas and the working state of the wall brushing apparatus, and determining an intelligent control system of the wall brushing apparatus according to the wall brushing event of each sub-wall brushing node, the real-time image of the wall and the working parameters of the wall brushing roller, comprises: acquiring the wall brushing path, determining corresponding sub-wall brushing nodes based on the wall brushing path and the plurality of sub-wall brushing areas so as to mark the node positions of the plurality of sub-wall brushing nodes; and determining the wall brushing event of each sub-wall brushing node according to the node positions of the sub-wall brushing nodes, the corresponding sub-wall brushing areas and the working state of the wall brushing equipment.
5. The intelligent control method of the wall brushing apparatus according to claim 4, wherein the determining a plurality of sub-wall brushing nodes according to the identification of the wall brushing path, determining a wall brushing event of each sub-wall brushing node based on the node positions of the plurality of sub-wall brushing nodes, the corresponding sub-wall brushing areas and the working state of the wall brushing apparatus, and determining an intelligent control system of the wall brushing apparatus according to the wall brushing event of each sub-wall brushing node, the real-time image of the wall and the working parameters of the wall brushing roller, further comprises: Acquiring a real-time image of a wall body, determining a first intelligent control content according to the real-time image of the wall body and the wall brushing events of all the sub-wall brushing nodes, determining a second intelligent control content according to the real-time image of the wall body and the working parameters of the wall brushing roller, and determining an intelligent control system of the wall brushing equipment based on the first intelligent control content and the second intelligent control content.
6. The intelligent control method of the wall painting equipment according to claim 1, wherein in the intelligent control system, the working parameter set of the wall painting equipment is determined based on the intelligent control system and the real-time position of the wall painting roller, and the dynamic regulation event of the wall painting equipment is determined according to the working parameter set, the paint supply module of the wall painting equipment and the wall painting roller, and the intelligent control method comprises the following steps: The intelligent control system is monitored in real time, the paint supply module is determined according to the intelligent control system and the overall form of the wall brushing equipment, the current working mode of the paint supply module is marked, and the working parameter set of the wall brushing equipment is determined according to the current working mode of the paint supply module, the real-time position of the wall brushing roller and the intelligent control system.
7. The intelligent control method of the wall painting equipment according to claim 6, wherein in the intelligent control system, the working parameter set of the wall painting equipment is determined based on the intelligent control system and the real-time position of the wall painting roller, and the dynamic regulation event of the wall painting equipment is determined according to the working parameter set, the paint supply module of the wall painting equipment and the wall painting roller, and further comprising: determining working parameters of the wall brushing roller and working parameters of the paint supply module based on the working parameter set and matching of the wall brushing roller and the paint supply module, and determining a first heavy dynamic regulation content according to the working parameters of the wall brushing roller and the wall brushing path; And determining a second heavy dynamic regulation content according to the working parameters of the paint supply module and the wall brushing path, and determining a dynamic regulation event of the wall brushing equipment based on the first heavy dynamic regulation content and the second heavy dynamic regulation content.
8. The intelligent control method of the wall painting device according to claim 1, wherein the determining the plurality of sub-control items based on the identification of the dynamic control event, determining the autonomous control event of the wall painting device according to the control content of the plurality of sub-control items, the corresponding control priority, and the operating state of the wall painting device, and dynamically balancing the wall painting surface level of the wall, comprises: And identifying the dynamic regulation event, determining a plurality of sub-regulation items according to the identification of the dynamic regulation event, and determining the regulation priority of the plurality of sub-regulation items based on the plurality of sub-regulation items and the current working task of the wall brushing equipment.
9. The intelligent control method of the wall painting device according to claim 8, wherein the determining the plurality of sub-control items based on the identification of the dynamic control event determines an autonomous control event of the wall painting device according to a control content of the plurality of sub-control items, a corresponding control priority, and an operation state of the wall painting device, and dynamically balances a wall painting surface level of the wall, further comprising: determining a first autonomous regulation coefficient according to the regulation priority of the plurality of sub-regulation items and the working state of the wall brushing equipment, determining a second autonomous regulation coefficient according to the regulation content of the plurality of sub-regulation items and the working state of the wall brushing equipment, and determining an autonomous regulation event of the wall brushing equipment based on the mapping relation of the first autonomous regulation coefficient, the second autonomous regulation coefficient and the autonomous regulation event; and acquiring the surface image of the wall body, determining a wall painting surface compensation measure according to the surface image of the wall body and an autonomous regulation and control event of the wall painting equipment, and optimizing the wall painting surface grade of the wall body according to the wall painting surface compensation measure, the wall painting roller and the surface image of the wall body so as to dynamically balance the wall painting surface grade of the wall body.
10. An intelligent control system of a wall brushing apparatus, characterized in that the intelligent control system of a wall brushing apparatus is applied to the intelligent control method of a wall brushing apparatus according to any one of claims 1-9.

Description

Intelligent control method and system for wall brushing equipment Technical Field The invention relates to the technical field of intelligent control, in particular to an intelligent control method and system of wall brushing equipment. Background Along with the development of science and technology, the wall brushing equipment is gradually applied to the building field, the wall brushing is performed on a wall body, a wall brushing roller of the wall brushing equipment is used for brushing the wall body, in the prior art, a plurality of images of the wall body are collected, a wall brushing area to be brushed is determined according to the images, the wall brushing roller is used for brushing the wall of the area to be brushed along a first path, the wall brushing event of each sub wall brushing node and the consideration of the working parameters of the wall brushing roller are ignored, the accuracy of an intelligent control system of the wall brushing equipment is influenced, and the accuracy of an autonomous regulation and control event of the wall brushing equipment is low. Disclosure of Invention The invention aims to overcome the defects of the prior art, and provides an intelligent control method and system of wall brushing equipment. The embodiment of the invention provides an intelligent control method of wall brushing equipment, which comprises the following steps: the camera arranged on the wall brushing equipment dynamically shoots the wall, acquires a plurality of wall images, and determines a corresponding area to be brushed with the wall according to the identification of the wall images; Determining a plurality of sub-wall painting areas based on detection of the area to be painted, and determining a wall painting path of the wall painting roller according to the area positions of the sub-wall painting areas, the corresponding area forms and the wall painting roller configured by the wall painting equipment; Determining a plurality of sub-wall brushing nodes according to the identification of the wall brushing paths, determining the wall brushing event of each sub-wall brushing node based on the node positions of the plurality of sub-wall brushing nodes, the corresponding sub-wall brushing areas and the working state of the wall brushing equipment, and determining an intelligent control system of the wall brushing equipment according to the wall brushing event of each sub-wall brushing node, the real-time image of the wall and the working parameters of the wall brushing roller, wherein the intelligent control system object comprises a control instruction set which is adjusted according to real-time feedback; In the intelligent control system, a working parameter set of the wall brushing equipment is determined based on the intelligent control system and the real-time position of the wall brushing roller, and a dynamic regulation event of the wall brushing equipment is determined according to the working parameter set, a paint supply module of the wall brushing equipment and the wall brushing roller, wherein the dynamic regulation event comprises execution time, a path tracking adjustment instruction and a supply adjustment instruction; Determining a plurality of sub-regulation items based on the identification of the dynamic regulation event, determining an autonomous regulation event of the wall brushing equipment according to the regulation content of the plurality of sub-regulation items, the corresponding regulation priority and the working state of the wall brushing equipment, and dynamically balancing the wall brushing surface grade of the wall. The embodiment of the invention provides an intelligent control system of wall brushing equipment, which is applied to the intelligent control method of the wall brushing equipment. Compared with the prior art, the invention has the beneficial effects that: (1) According to the identification of the wall brushing paths, a plurality of sub wall brushing nodes are determined, the wall brushing events of all the sub wall brushing nodes are determined based on the node positions of the sub wall brushing nodes, the corresponding sub wall brushing areas and the working states of the wall brushing equipment, an intelligent control system of the wall brushing equipment is determined according to the wall brushing events of all the sub wall brushing nodes, the real-time images of the wall and the working parameters of the wall brushing rollers, the wall brushing paths are introduced, the wall brushing events of all the sub wall brushing nodes are controlled, and the integral consideration of the wall brushing events of all the sub wall brushing nodes, the real-time images of the wall and the working parameters of the wall brushing rollers is compatible, so that the accuracy of the intelligent control system of the wall brushing equipment is improved. (2) The method comprises the steps of determining a plurality of sub-regulation items based on the iden