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Design of a Fully Autonomous Indoor Spray Robot

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Abstract

Indoor spraying is a crucial component of the construction industry. The future evolution of the spraying industry will inexorably involve the substitution of robot-assisted autonomous spraying for manual spraying. In this paper, a fully autonomous indoor spraying robot is designed to handle a variety of manual spraying issues. At the system level, the robot’s mechanical structure, hardware system, general control logic, and crucial technologies are meticulously constructed. The robot is equipped with a chassis that can travel in any direction, a detachable material carrier, a secondary upgrade mechanism, and a spraying system. The robot performs indoor mapping and navigation with the lidar sensor, identifies non-sprayable areas, such as windows, using the camera, and then evaluates the spraying result after spraying. After analysis of the robot’s working environment, the SLAM algorithm and the deep learning-based object detection algorithm are improved in conjunction with the actual scene to assure accuracy and meet the criteria for real-time operation on embedded devices. The robot’s ability to perform a succession of indoor spraying activities without human intervention and to automatically adapt and adjust to varied indoor conditions is an important reference for its practical application in the field of interior design.

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The data that support the findings of this study are available on request from the corresponding author.

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Acknowledgements

The authors would like to acknowledge the support from the AiBle project co-financed by the European Regional Development Fund, National Key R &D Program of China (Grant No. 2018YFB1304600), CAS Interdisciplinary Innovation Team (Grant No. JCTD-2018-11), and National Natural Science Foundation of China (grant No. 52075530, 51575412, and 62006204).

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Authors and Affiliations

  1. School of Automation, Shenyang Aerospace University, Shenyang, 110136, China

    Xiaofei Ji

  2. School of Information and Control Engineering, Liaoning Petrochemical University, Fushun, 113001, China

    Yazhou Li, Kailin Hong & Jiangtao Cao

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  1. Xiaofei Ji
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  2. Yazhou Li
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Correspondence to Xiaofei Ji.

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Ji, X., Li, Y., Hong, K. et al. Design of a Fully Autonomous Indoor Spray Robot. Int J Intell Robot Appl 7, 763–777 (2023). https://doi.org/10.1007/s41315-023-00297-9

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