Intelligent Spraying Robot For Building Paste And Its Path Planning

With the rapid development of modern urbanization,the development of aboveground buildings tends to be saturated,and underground buildings provide a new dimension for the development of urban buildings.In order to achieve the functions of waterproof and moisture-proof,underground buildings need to be decorated and sprayed on the walls.At present,the traditional manual spraying method is still used in the field of building paste spraying,and there are some problems,such as complex technology,time-consuming construction,uneven quality,safety risks and so on.However,the demand for new construction and maintenance is growing all over the world.Inefficient human resource management and over-reliance on workers’ proficiency will lead to a significant decline in the quality and productivity of building paste spraying.There has been a great contradiction between the low efficiency,low quality and high waste of resources of manual spraying and the expanding demand of architectural spraying.Robot technology is advanced,production efficiency is high and rapid development.However,the latest application in the construction industry shows that there is no adaptive robot specially developed for building paste spraying.In view of this,this paper applies robot technology to the field of building paste spraying,and studies the integrated spraying of robot,indoor planning and spraying trajectory planning under complex working conditions.The specific research contents are as follows:(1)the whole architecture of spraying robot based on spraying is designed,and the spray ruler CFD(Computational Fluid Dynamics)simulation is carried out.First of all,the traditional spraying methods of paste are summarized and analyzed,and the spraying environment is studied as a whole,and the simple spraying environment and complex spraying environment that the robot needs to spray are made clear.Then split the simple spray environment,and design the simple spray environment according to the overall architecture of the robot.At the same time,the chassis system,conveying system,lifting system and spray model of the spraying robot are designed,and the theoretical research and simulation verification are carried out respectively.Aiming at the spray-smear integrated model,CFD simulation is designed to verify the reliability of the spray-smear integrated model.Finally,all the structures and models are integrated,the overall three-dimensional model of the intelligent spraying robot is designed,and the integrity of the whole model is verified.(2)Based on the three-dimensional model of the whole robot,an indoor path planning method of spraying robot based on SLAM(Simultaneous Localization and Mapping)is proposed.Before building the SLAM map,the 3D model of the robot is compiled into a URDF(Unified Robot Description Format)file,and the perceptual display of lidar,depth camera Kinect and odometer in ROS(Robot Operating System)is verified.In SLAM mapping,the Cartographer algorithm is used for indoor global mapping,and the real-time improvement of drift in mapping is completed.In the indoor path planning,the greedy idea is used to take the whole building plane as the global map,the single room as the local map,and the local map to achieve the global optimization.After a series of map processing algorithms such as contour extraction,straight line location,corner detection and sorting,feature point extraction and so on,the multi-coordinate points of the target trajectory of the robot in the local map are obtained.The local map is calculated by the multi-scale template matching algorithm in the global map,while the robot is calculated by the particle filter in the global map.Finally,after comparing the effects of Dijkstra,A* and RRT algorithms in the global map,RRT is used for global optimal path planning,and a local multi-objective point trajectory tracking algorithm is designed to verify the correctness of the local trajectory.(3)Aiming at the complex spraying conditions such as wall corners,a spraying trajectory planning and optimal control method based on six-axis manipulator is proposed.Firstly,the cumulative mathematical model of spray gun coating is proposed,and the dynamic spraying trajectory of wall corner is optimized through model research and numerical simulation.Then we set up a point cloud acquisition system to collect the point cloud information of complex spraying conditions and complete the three-dimensional reconstruction of the complex spraying environment.Then,on the basis of three-dimensional reconstruction,the six-axis manipulator is studied theoretically,and the artificial potential field algorithm is used for motion planning.Finally,the trajectory tracking control algorithm of the manipulator is designed by using Simulink,and the joint trajectory planning simulation is carried out in ROBOGUIDE with ROS-I and MOVEIT to verify the effectiveness and practicability of the related algorithms.