Path Planning Of Mobile Spraying Robot For Interior Walls

The spraying work on the interior walls of buildings is still carried out manually,which has disadvantages such as low work efficiency,high labor intensity,and unstable spraying quality.Moreover,the working environment is relatively closed and the conditions are poor,which is likely to bring harm to the health of workers.The development and use of building mobile spraying robots can effectively solve these problems,and the putting into use of building mobile spraying robots cannot do without path planning.In this paper,a mobile spraying robot with a “6+1+3” degree of freedom structure is used as the object,and an effective path planning method framework is established for the full-coverage spraying task of the indoor wall of the building,and in-depth research.The main contents include:1.The ground path planning algorithm for mobile spraying robots is explored based on the spraying process to split and sort the building interior wall environment into a number of two-dimensional sub-areas.The characteristics of the mobile spraying robot with the "6+1+3" degree of freedom structure are analyzed,combined with the facing indoor wall environment,and the reasonable working mode of the robot is determined.Based on the working method of the robot,the three-dimensional wall environment is split and segmented,and several ordered sub-regional walls are obtained.Determine the pose of the robot's ground working point when spraying the walls of these sub-regions,and obtain the ground path when the robot is working indoors by traversing the path through multiple target points.2.A path planning algorithm for plane full coverage spraying was developed.Analyze the coating model and process of indoor wall spraying,and perform rasterized map modeling on the wall of the sub-area.By simplifying and improving the biological excitation neural network algorithm and the A~* algorithm,a set of two-dimensional wall full coverage traversal path planning algorithm is designed,and the spraying coverage path in the subregion wall is obtained.3.The optimized poses of the potential collision points of the robot spraying operation are studied,and the spraying motion planning for the full coverage of the indoor wall of the building is realized.Combining the actual structure of the robot end spray gun and environmental obstacles,extract the "dangerous points" in the planned path.Analyze the "dangerous point" grids,solve the pose of the spray gun spraying these grids,adjust the path,and combine the previous content to complete the path planning method for the robot end spray gun to fully cover the wall surface.4.Build a simulation platform,establish a “6+1+3” degree of freedom structure of the building mobile spraying robot system model,input the designed algorithm solution path,and import the simulation platform for simulation experiments.The simulation results verify the effectiveness of the planning framework and method in this paper.The above content conducts a more comprehensive research and analysis on the full coverage spraying task of the indoor wall surface,and obtains a set of feasible path planning methods,which can be used as a reference for the robot's indoor wall surface spraying operation.At the same time,this method can also be applied to spray path planning on the surface of large three-dimensional structures.