CN107414624A - Automate the concrete polished system of terrace robot - Google Patents
Automate the concrete polished system of terrace robot Download PDFInfo
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- CN107414624A CN107414624A CN201710753645.6A CN201710753645A CN107414624A CN 107414624 A CN107414624 A CN 107414624A CN 201710753645 A CN201710753645 A CN 201710753645A CN 107414624 A CN107414624 A CN 107414624A
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- concrete
- machine
- concrete polished
- automation
- polishing
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0007—Movable machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Present disclose provides the concrete polished system of one kind automation terrace robot, including：The transformer device of polishing area map can be generated；The path planning system of path planning scheme can be generated according to the polishing area map；The polishing area map and the storage device of path planning scheme can be stored；And it can be advanced according to the path planning of the path planning scheme and polish the concrete polished machine of concrete.The disclosure can significantly lift the operating efficiency of concrete polished machine.
Description
Technical field
The disclosure is mainly related to a set of automatic coagulation soil polishing system.In particular, the disclosure is directed to fixed
The concrete polished region in position, the planning of polishing area operating path is formulated, while control concrete polished machine along path planning work
The system made.
Background technology
It is a kind of popular floor treatment that concrete floor, which is polished, in business and residential building.Because polish coagulation
Soil provides a ground that is wear-resisting, can keeping for a long time, it is desirable to maintenance cost it is also very low.Initial polishing process is that labour is close
Collection type works.The process of polishing mattess can be related to using one with polishing machine and coagulation equipped with abrasive material swivel head
Soil face contacts, and corase grind, fine grinding and polishing is gone using different abrasive materials, so as to reach desired surface smoothness.
Though most polishing depends on the technology and experience of polishing personnel, the height weight that polishing machine moves in itself
Double action is made so that this application is especially suitable for automation mechanized operation.For the concrete polished system of one automation of research and development, reduce
In the quantity of labour force that concrete polished terrace is related to, this is undoubtedly the place that is highly profitable.
Disclosure
In accordance with an embodiment of the present disclosure, there is provided the concrete polished system of one kind automation terrace robot.In a reality
Apply in example, this set system contains a concrete polished machine, a driving propulsion system, a navigation system and a user
Interface.The concrete polished system of automation further includes an electric power management system and by a system processor
Execution logic operates.Concrete polished machine includes grinding head for polishing, machine frame and driving wheel.It is one group of company to drive propulsion system
It is connected to the driver and encoder of concrete polished machine driving wheel.Driver causes the rotation of driving wheel, and encoder is accurate
Each driving wheel rotational angle be have recorded to determine the position of concrete polished machine.
Navigation system uses the data transmitted from encoder and a high-precision laser range finder to go to measure concrete throwing
Position, direction of advance and the speed of ray machine.In addition, the transformer device including laser range finder can automatically generate a polishing
Area map (assuming that this space is without metope barrier such as shelf), then path planning system is for coagulation
Native polishing machine plans a polishing coverage pattern, provides path planning scheme.Storage device can store the polishing area
Map and path planning scheme.Navigation system further includes a path planning system, and it can guide concrete polished
Machine is advanced exactly along the path of planning.
In an aspect of this disclosure, the obstacle avoidance sensor mounted in the front and back of concrete polished machine is known by system
If the concrete polished machine in road encounters barrier in its path, system can stop in time.
User interface includes the button and other indicators in concrete polished machine in itself of diversification.User interface permits
Perhaps operating personnel fast easily install, and start and stop automation mechanized operation.In one embodiment, user interface is further
Include a movable equipment based on graphical user interface, it and concrete polished machine radio communication.By in notebook
Computer, smart mobile phone or tablet personal computer, which perform an application, can enter the user interface of separate type.
In some configurations, electric power management system is used to become available for driving by the electric power obtained from concrete polished machine
Promote the voltage with navigation system.Furthermore it is possible to operation logic module is provided to control and coordinate polishing process different phase
Different sub-systems, include operation and the speed of control grinding head for polishing.Operation logic module further adapts to processing from coding
The data that device, laser range finder and other sensors (for example, such as gloss sensor) transmit.
Based on above theory, specifically, the concrete polished system of disclosure automation terrace robot includes：Can generation throwing
The transformer device of light area map；The path planning system of path planning scheme can be generated according to polishing area map；Can storage
Deposit polishing area map and the storage device of path planning scheme；And it can be advanced according to the path planning of path planning scheme
And polish the concrete polished machine of concrete.
In some embodiments of the present disclosure, in addition to：Navigation system, for positioning the present bit of concrete polished machine
Put, and guide concrete polished machine to be advanced along path planning scheme；Navigation system includes：Alignment system, for positioning concrete
The current location of polishing machine；Path tracing module, for according to alignment system obtain concrete polished machine current location with
And path planning scheme guides concrete polished machine to be advanced along path planning.
In some embodiments of the present disclosure, in addition to：Drive propulsion system；Driving propulsion system includes：Driver, even
Each driving wheel of concrete polished machine is connected to, drives its rotation；Encoder, record the rotational angle of each driving wheel；Navigation
In system, alignment system positions the present bit of concrete polished machine according to the rotational angle that the size and encoder of driving wheel obtain
Put.
In some embodiments of the present disclosure, transformer device includes：Laser range finder, determined for scanning construction environment
The border of working region；Map generation module, the boundary information of the working region for being obtained according to laser range finder, which generates, to be thrown
Light area map.
In some embodiments of the present disclosure, map generation module, for the working region obtained according to laser range finder
Boundary information look for algorithm to obtain the coordinate at each angle of working region, and according to each angle of working region using corner
Coordinate obtain the 2D sections of working region, by the 2D with cutting into slices to obtain the polishing area that one or more preset shapes form
Figure.
In some embodiments of the present disclosure, alignment system, the data for being obtained using laser range finder position coagulation
The current location of native polishing machine.
In some embodiments of the present disclosure, laser range finder installs following position：Concrete polished machine column it is continuous
Mobile platform or the rotation platform of the measurable angle position of encoder.
In some embodiments of the present disclosure, alignment system also includes：360 ° of omnidirectional video cameras, it identifies surrounding
Fixed road sign, alignment system obtain the current positioning number of concrete polished machine according to the recognition result of 360 ° of omnidirectional video cameras
According to；And/or the concrete polished system of automation terrace robot, in addition to：Electric power management system, for will be from concrete polished
The electric power that machine obtains becomes available for driving the voltage of propulsion system and navigation system, and is supplied to driving propulsion system and navigation
System.
In some embodiments of the present disclosure, in addition to：Obstacle avoidance sensor, in concrete polished machine in traveling process
In front of middle perception and/or rear whether there is barrier；Operation logic module, the operation logic module include：Memory and place
Device is managed, wherein：Executable operation logic is stored in memory；The operation logic that can perform in computing device memory, with
Perform following operation：When receiving the obstacle signal of obstacle avoidance sensor transmission, stop the traveling of concrete polished machine.
In some embodiments of the present disclosure, path planning system, for the length using polishing area map, power line
And user's setting comes build path and whole coverage pattern；And/or the concrete polished system of automation terrace robot,
Also include：User interface；The user interface includes button and indicator, is used for：(1) various parameters and system is set to set；With/
Or the position of (2) monitored concrete polishing machine；And/or the data of (3) displaying statistics；And/or (4) identify that concrete polished machine is
It is no to be covered in working region；And/or the working region profile diagram of (5) observation laser data displaying；And/or (6) monitoring system
Operation conditions；And/or (7) if desired, remotely stop the movement of concrete polished machine；And/or (8) are checked and airborne promptly stopped
The only state of button；And/or (9) check error message.
By automatically moving and controlling concrete polished machine, operating personnel can lack by fatigue.At present on the market
Some concrete polished machines weigh more than 1000 pounds, and they are all by operating personnel's manually pushing away back and forth on the ground
Draw.Operating personnel are needed reversely to exert a force in addition, machine produces a moment of torsion backward in itself.Just in this way, the operation of machine is
Body demand force, quality of finish can influence because operating personnel become fatigue.The automation mechanized operation of concrete polished machine
Labor cost can be reduced.For example, if operating personnel need not constantly control concrete polished machine, he vacates sky at can
The other work of execution of making a return journey, such as other ground regions that hand polish processing corner or machine can not reach.Or
Operating personnel can set and monitor the automatic machinery of more while operating.
By there is automatic coagulation soil polishing system execution one, accurately coverage pattern obtains further
Efficiency, on the other side, a human operators might have change by the quantity of lap every time.For example, simply
Reduce 11% of lap between adjacent " navigation channel ", it is possible to save the substantial amounts of time.For example, in 60 feet of * 60 English
The area (being similar to an independent retail shop) of chi, each navigation channel is 60 feet long, then completes one in each navigation channel
Individual advance with retreating the path passed through is 120 feet altogether/per navigation channel.If concrete polished machine is 36 inches wide, work as craft
The adjacent area of each navigation channel lap is 18 inches (50%) during manipulation, and just there are 40 navigation channels altogether in the region so polished
(60 feet wide/each passage is 1.5 feet wide), 4800 feet altogether (120 feet * 40).With 10 feet/min of standard speed
Degree, the time required for completing whole polishings is 480 minutes (8 hours).Lap is to ensure that completion area coverage must
Indispensable, in fact, the amount of the lap passed through every time for an operating personnel is change.
Have the accurate control of automatic coagulation soil polishing system, the quantity of lap can be reduced to 2 inches/often navigate
Road (11% decrement), it is meant that the width of lap is not 20 inches rather than 18 inches.Present polishing area is with regard to only
There are 36 navigation channels (60 feet wide/1.67 feet wide/every navigation channel) rather than 40.The reduction in 4 navigation channels result in whole polishing
Time reduces 48 minutes.For large-scale commercial area at 10000 square feet, the decrement of time can reach 22
Hour.
Brief description of the drawings
Fig. 1 is the principle of the electric power management system of the automatic coagulation soil polishing system of one embodiment according to the disclosure
Figure.
Fig. 2 is to illustrate to communicate between all parts and subsystem in automatic coagulation soil polishing system and processor
Schematic diagram.
Fig. 3 is the profile diagram of software architecture in one configuration, is illustrated mutual between software module and hardware component
Connection.
Fig. 4 illustrates the example in a mattess region.
Fig. 5 illustrates the mattess region polished by automatic coagulation soil polishing system.
Fig. 6 A-6H illustrate the working region that many navigation channels are divided into by path planning system, automatic coagulation soil polishing
System is advanced along navigation channel.
Fig. 7 A-7B illustrate different path tracing situations.
Fig. 8 is the operation sequence block diagram according to one embodiment.
Fig. 9 illustrates the example of a laser range finder and rotation platform, and one according to automatic coagulation soil polishing system
Individual configuration.
Embodiment
According to one embodiment, the concrete polished system of disclosure automation terrace robot contains a driving and promoted
System, a navigation system and a user interface.In certain embodiments, operation logic is multiple soft with a computing device
The form of part module provides.In certain embodiments, further comprise that the polishing area map and path planning side can be stored
The storage device of case.Among some embodiments, further include an electric power management system 10, supply voltage is dropped
It is low to use voltage to subsystem component (such as sensor, processor and encoder).Drive propulsion system, navigation system and use
Family interface can be reequiped on existing concrete polished machine, or the two is selected first, these systems can also produce turns into
A set of unified automatic coagulation soil polishing system.
Driving propulsion system has comprised at least a driver and one is connected to each driving wheel of concrete polished machine
Encoder.In a configuration, driver includes a motor and controller unit.It is it will be understood by those skilled in the art that electric
Machine is dimensioned so as to provide appropriate moment of torsion to move machine.
Concrete polished machine contain a grinding head for polishing, framework, driving wheel and other may be found that in handy concrete
Part on polishing machine.Driver causes the rotation of driving wheel, but encoder accurately senses the rotation of driving wheel.It is logical
The data for crossing encoder acquisition are mainly used in navigation system.If the concrete polished system combination of automation is to existing machine
Device, the emergency braking system energy Constraints driven device of concrete polished machine.
In a configuration, concrete polished machine is moved with the linear velocity scope of 10-20 feet/min (0.05-0.1m/s)
It is dynamic, it can be mentioned in the same breath with manual drive formula machine.The control of concrete polished machine linear velocity is by low speed on a drive
What electric machine controller was completed.For the concrete polished machine of a differential gearing such as automatic coagulation soil polishing system, linear velocity
It is coupling with steering angle.In other words, complete to revolve by one driving wheel of speed manipulation more faster than other driving wheels
Turn.Speed command is combined by a single rotational speed command, is sent with a relatively fast speed (10-50Hz)
To each driving engine.It is to reach desired drive characteristic using low speed drives manipulation device.
In a configuration, the barrier of automatic coagulation soil polishing system front and back monitors beam to concrete
The whole audience motion of polishing machine provides the signal of a progress/stopping.In other words, obstacle avoidance sensor is known on its road by system
Whether concrete polished machine encounters barrier in footpath.Obstacle avoidance sensor includes the ON/OFF touch sensor of binary.As long as touch
Bump sensor is not triggered in the direction of traveling, and concrete polished machine can just move.According to use environment, if detected
Barrier may need manual operation to restart the movement of concrete polished machine.
Navigation system provides the position for accurately determining automatic coagulation soil polishing machine.Using this set navigation system, from
The concrete polished system of dynamicization can in working region from anywhere in calculate concrete polished machine absolute position and before
Enter direction, relative to defined starting point.In no wall or foundation construction facility with the region of assisting navigation, can provide
Artificial mark, such as laser reflector, it can help to navigate.Automatic coagulation soil polishing system at least relies on to a certain extent
Navigation system could plan one imitate human manipulation (such as linear stretch beginning or terminate anticlockwise, right rotation, shake
Movement machine is allowed to operate etc.) polishing coverage pattern.
In one embodiment, navigation system includes 360 ° of omnidirectional video cameras, can identify the artificial of fixation
Road sign (such as coloured surface or lamp).Despite the system based on 360 ° of omnidirectional video cameras, calibration procedure should
Implement in each new working region.Calibration contains short-distance movement polishing tool and artificial road is placed in working region
Mark.Because the defects of with video camera basic system is relevant, laser range finder is may be used in an alternative embodiment.
In an alternative embodiment, laser range finder provides distance and bearing data without any complicated
Processing, this puts different from the system based on camera.Because most of polishing operations are all carried out indoors, existing wall and angle
Falling can be used to navigate by laser range finder as natural landmark.To the size in a typical retail shop, laser range finder can
A scope with 360 ° of covering radius 30m can be needed.
In another alternative embodiment, long-range single-point laser rangefinder is arranged on continuous moving platform, Huo Zhean
On the precise rotating platform with high-precision encoder.Compared with the laser range finder of 360 ° of coverages of band, single-point control
Laser range finder is a more inexpensive part, but there is provided similar function.For example, a specific Laser Measuring
The maximum magnitude of distance meter is 30m (can reach 150m on high reflectance surface) and 3mm resolution ratio.This system most represents
The description of property is as shown in figure 9, including laser range finder and dial plate.In the embodiment of any description, laser range finder is most
Good to be arranged on the column of concrete polished machine, so it can have one higher than people head and other ground in construction environment
The clearly metope visual angle of face barrier.
Navigation system further includes an alignment system, and the data source that alignment system uses encodes in driving wheel
Device (relative) and laser range finder (absolute) in working region from anywhere in the position of polishing tool that measures, advance
Direction and speed.By measuring the rotation of driving wheel and knowing the diameter of driving wheel, it can calculate what each driving wheel was advanced
Distance.From this information, the change in location or direction of advance of either concrete polished machine can be found when changing.
In certain situation, it is inadequate to rely solely on driving steering wheel encoder and go to calculation position and direction of advance, because what it was provided
An only increment measurement from start position.For example, it is wrong if driving wheel skids or concrete polished machine slides
Value is introduced into measurement data by mistake.Therefore, laser range finder in working region by measuring the absolute of concrete polished machine
Position and direction of advance carry out precise positioning.
The further use of laser range finder is one polishing area map of structure.In order to generating a polishing area
Figure, laser range finder scanning work region is gone to form the 2D schematic diagrames of an existing wall and corner in working region.When mixed
Polishing area map when native polishing machine is placed on its startup position is coagulated to start to generate.In other embodiments, polishing area
Map can start previous existence into allow operating personnel to be examined or to be changed in polishing.Large-scale or less
Typical construction environment, artificial target can be placed at the scene to identify the border of working region.Plate angle mark is most preferable
Mark.Because they both provide X and Y dimensional informations.In this example, algorithm is looked in corner to be thrown relative to concrete
The start position of ray machine, for finding (x, the y) coordinate at each angle.Because the start position of concrete polished machine is in working region
It is inside that traveling is moving.For example, because the movement of concrete polished machine, laser range finder can continuously measure wall
The position at angle is relative to its current position.One homogeneity conversion conversion local angle coordinate returns to global angle coordinate will
It is found on initial polishing area map.
In certain embodiments, logical operation module is used for planning a polishing covering road in the form of a software module
Footpath pattern.Logical operation module can be described as navigation system a part or it could also say that an independent subsystem.
Logical operation module can further control and coordinate the various subsystems in polishing different phase, including control polishing mill
The operating of head and speed.In more detail, operation logic module also can state of a control indicator lamp, signal lamp and concrete polished machine
On other output.
Path tracing module is using the information for carrying out self aligning system, to export appropriate motor order, so as to along
The path of planning accurately guides machine.One path tracing algorithm is also included, to be received from path planning system
Path description.In a configuration, path description includes a series of straight lines and the point of rotation and formed, in opening for every linear path segment
Begin that with the end of, concrete polished machine is rotated.For the point of rotation, concrete polished machine will simply instruct it to turn what is required
Dynamic speed backspin goes to suitable direction, until it has reached desired angle.For linear path segment, there are several many institute's weeks
The technology known, for calculating the appropriate speed command of each motor, to make machine be consistent with path.There is item to be claimed
Technology for " pure tracing type " allows concrete polished machine to follow one in front of machine and is positioned in the void of path somewhere
" target point " 65 intended.The distance of target point 65 and concrete polished machine 51 determines the susceptibility of steering order.(in other words
Need to take a long time to keep aliging with path away from concrete polished chance too far away, but distance is too near to cause movement to be shaken again
Pendulum).Pure tracing type operation method continuously calculates a radian 66 between the current location of machine and target point 65.Arc
The radius of degree defines steering order.This technique chart is illustrated in Fig. 7 A.
Second technique chart is illustrated in Fig. 7 B, wherein also contains the concept of target point 65.However, substitution calculates
One radian, this algorithm calculate the distance of driving wheel and target point.One shift control algorithm is driven by adjusting
The speed of wheel keeps identical distance to proportional range difference.
When concrete polished machine has been placed on the starting position of polishing task, path planning system starts to start.
Laser range finder measures to obtain a construction environment interior wall and the 2D " section " in corner first, obtains one and is made up of rectangular shape
Region 50, as shown in Figure 4.The information in these regions is used by path planning system.Path planning system could be used that pass
In whether the information that concrete polished machine 51 will be moved to the left or move right because this will determine that power line and concrete are thrown
The position 52 of ray machine connection.Fig. 5 illustrates the example that concrete polished machine will move to its right.Performed in view of driving
The power demand of device and grinding head for polishing, long-time polishing project need cable to be fixedly connected.Receive and believe from laser range finder
After breath, path planning system is that polishing provides working region 53.Based on the initial position of concrete polished machine, this is probably
The a subset of whole building area of base, as shown in Figure 5.
Once polishing region 53 is prescribed, path planning system using simple geometric reasoning method go build path and
Whole coverage pattern.In first step, path planning system constructs a series of and concrete polished machine initial orientation
Parallel " navigation channel 56,57 ", as shown in Figure 6A.If otch, the length in navigation channel may be different；Extend navigation channel 57 such as Fig. 6 A
Shown in the right.Distance between navigation channel is by lap (one between the width (fixed value) of grinding head for polishing and desired navigation channel
The individual value determined by operating personnel) determine.In this stage, the generation of series of concrete polishing machine motor performance guide.
As an example, in first step, concrete polished machine is along first in the path followed with concrete polished machine
Individual navigation channel moves forward to the top of border 58 of working region, as shown in Figure 6B.Concrete polished one sideshake energy quilt of machine
Automated procedures are incorporated into propulsion system easily to start to walk, but, it is necessary to operate completion by operating personnel for manual machines.
Secondly, when concrete polished machine reaches the end in navigation channel, concrete polished machine is to anticlockwise (as shown in Figure 6 C), then to the right
Rotation, goes to complete one to move back to starting point (as shown in Figure 6 D) second again after being then consistent with the first navigation channel.
The anglec of rotation is the parameter set by operating personnel.
A rotation to the left and then to the right is first completed before second navigation channel is moved to (as Fig. 6 E describe).Start
The second navigation channel (and the first navigation channel is adjoined) is polished, before being moved from the first navigation channel position, concrete polished machine is rotated into necessarily
The second navigation channel 60 of angle direction.This movement is as fig 6 f illustrates.The angle 61 can be confirmed as the function of track spacing.Once turn
Predetermined angular 61 is moved, concrete polished machine is diagonally moved to the second navigation channel 60.Because it is rotated its path
It is parallel with the length in navigation channel.(as shown in Fig. 6 G-6F).And so on, until the polishing in all navigation channels of completion.
By user interface, operating personnel can be with the concrete polished system of auto-control.User interface can be attached to
On concrete polished machine or it can pass through notebook computer, smart mobile phone or other mobile device wireless connections.One
In individual configuration, user interface can enter on concrete polished machine also can be by remotely entering.User interface allows operator
Member quickly and easily installs, and starts and stop automation mechanized operation.As a part for airborne setting, user interface contains one
Individual button menu on concrete polished machine so as to allow operating personnel need not use computer port can just install and start from
Dynamicization program.Such as digital potentiometric a knob or driver plate, it is allowed to which operating personnel go to debug the drive of concrete polished machine
Dynamic speed.Abended for one or because of obstacle stopping event, it is necessary to which concrete polished machine is restarted in user's manual operation.
Airborne user interface further contains the flashing beacon of an operation for showing it under computer.In a configuration
In, user interface further contains a USB and ethernet port, for debugging to fix a breakdown purpose and software more
Newly, data acquisition or other diagnostic functions.
Airborne user interface constitutes one between concrete polished machine and notebook computer or other mobile devices
Wireless communication system, by a wireless connection of wireless router 21.Throwing is further comprises inside the function that airborne user interface provides
Light coverage schematic diagram (namely concrete polished machine completes the place of polishing).The other information that airborne user interface provides
In especially include operating time altogether, power on duration, the grinding head for polishing duration of runs, the path distance currently advanced,
The ratio that current area coverage and current area coverage pattern are completed.
Other features of user interface contain operating personnel and possess such ability：
(1) various parameters and system is set to set, ratio navigation channel lap, steering angle, the drive of concrete polished machine
Driving wheel angular speed and path type；
(2) among automation mechanized operation monitored concrete polishing machine position；
(3) operating time of the data of displaying statistics such as altogether, the institute's having time for being powered lasting, grinding head for polishing operating are total
Time, the linear range currently advanced, current area coverage, whole polishing completed percentage, it is contemplated that when completing required
Between；
(4) identify whether concrete polished machine is covered in working region；
(5) the working region profile diagram of laser data displaying is observed；
(6) operation conditions of monitoring system；
(7) if desired, remotely stopping the movement of concrete polished machine；
(8) state of airborne emergency stop button is checked；
(9) error message is checked.
As a part for itself ability, concrete system is by the ON/OFF of control rubbing head and speed so as to suitably
Start and stop their (for example, scratch ground is avoided when ramping up/declining).These ginsengs can also be adjusted by user interface
Number.With reference to drawing, Fig. 1 illustrates the fundamental diagram of electric power management system.The electric power management system 10 includes：Plug 11, open
Close 12 and AC/DC converter 13.Wherein, it is that driving passes after alternating current is converted to direct current by AC/DC converter 13
Dynamic device, computer processor, signal lamp, beacon light, machine speed control, laser range finder (include carrying in some embodiments
The precise rotating platform of high-precision encoder), detection of obstacles buffer and wireless router provide electric power.Computer processor can be with
It is any capable computing device for performing machine readable instructions, a such as micro computer, microprocessor, microcontroller, one
Special Application of integrated circuit, a programmable logic array, logical device, at digital signal processor or other data
Manage device and support electronic hardware and software.Processor runs all system softwares, communication to notebook computer user outside the venue
Interface, receive sensor input and commander's driving transmission device automation movement.In a configuration, processor operation is
Ubuntu Linux operating system.
The equipment that Fig. 2 illustrates various sensor and processor is connected to data output.Shown on the left of chart
These elements include laser range finder, encoder, driving and are opened encoder, concrete polished machine speed control manually
Close.As shown in the right, processor 20 is connected to each add ons to control these parts, including grinding head for polishing, driving braking
Device, signal lamp, warning lamp, the element such as hand push button and ranging instrument receive input from processor.Fig. 2 is further illustrated
One wireless router 21.Hand push button is mounted in push button (such as a red and one on concrete polished machine
Green), while it is also a part for airborne user interface.The state (closing, stable or flicker) of Push-button lamp is by table
The different conditions of bright automatic coagulation soil polishing system.Operating personnel will promote different buttons to go to install according to operation sequence,
Start and stop automated procedures.The signal lamp of flicker visually shows that concrete polished machine is to move under computer control.
Table 1
Fig. 3 illustrates the block diagram that 30 each component software of system connects with various sensors, according to one embodiment.
In this example, software is write by C++, runs Linux operating system.It is also possible, however, to use other software languages or
Person's operating system.
This Framework Software is ROS operating systems, can independently be communicated with each other this system provides quick easily establishment soft
The ability of part module.What each square frame represented in figure 3 is a single software, and module (ROS nodes) and oval thing are
Sensor or the specific information of other hardware components ROS such as the arrow institute between square frame in automatic coagulation soil polishing system
Show.
Referring again to Fig. 3, main program state machine 31 is most important program, and it assists the action of every other software module
That adjusts combines.The module maintenance system state, controls various on-board push buttons (32a, 32b) and beacon ray light (34).While and
The software node of user interface 33 for operating in mobile device mutually communicates.Alignment system receives to be transmitted from driving encoder 36
The software module of angular positional measurement and the range data transmitted from 2D laser range finders 37, it combines calculating and worked
The position and direction of region inner concrete polishing machine.On startup, the data of 2D laser range finders 37 are also transmitted to path planning system
System 38 measures the border for defining working region with 2D laser range finders 37 to generate a coverage pattern.Path chases after
Track/speed control/obstacle detection instrument use obtained by alignment system 35 concrete polished machine location/position information, with
And concrete polished machine gait of march 39 goes to give the computations of driver 40, so as to the machine for allowing concrete polished function to require
The path that device speed follower path planning system 38 is planned.It also monitors crash sensor 41, if detecting an obstacle, it
With regard to stopping machine.In addition, user can also be operated with manual switches 42 to be grasped by main program state machine to system
Control.
Fig. 8, which is illustrated, performs the flow chart that various operations come activation system and any error message of removing.One behaviour
Make librarian use system and prepare to perform normal sets with machine.Next, operating personnel on the mobile apparatus (such as
One notebook computer) activation system user interface 33.After starting user interface 33, operating personnel are opened using host switch
System.In this stage, removable user interface 33 starts and is connected to the primary control program of system.As shown in figure 8, during starting
Red button will flash.If starting successfully and all systems being run, the green button lamp will start to flash.The green light of flicker
Show that system prepares to plan its path.If startup is unsuccessful, red button will become stable red.Operating personnel will be by
Prompt to refer to removable user interface 33 on the more information of mistake.
After system successfully starts up, green light shows that system prepares to plan its path, and operating personnel place in working region
Concrete polished machine.In one embodiment, operating personnel place concrete polished machine in starting point, then press flicker
Green light button 32a marks the original position of concrete polished machine.In the next step of this program, system defines its workspace
The one coverage pattern in domain and planning.Coverage pattern will appear in the user interface 33 of separate type, then the green button
32a will become stable green, show that system has been prepared for automatic mode (referring to Fig. 8)
If path seems to receive, operating personnel perform the machine operation that any other is necessary and pressing stablize it is green
Color button 32a is to prepare automatic mode.Beacon ray light on concrete polished machine starts flicker and shows automatic management.Secondly,
Concrete polished machine starts to follow path movement.If concrete polished machine does not move and red button 32b starts to flash, that is just
It is that system encounters a barrier or emergency stop button is pressed.When concrete polished machine has completed the road that follows
Footpath, it will stop.Signal beacon light is closed, and then the green button 32a starts to flash.The designation system of user interface 33 of separate type is
Through completing polishing.
On the obstacle detection during automatic management, if object blockage path planning, concrete polished
Machine will stop moving.If the emergency stop button on machine is activated or the stop button quilt at removable user interface 33
Press, concrete polished machine may also stop moving.In all these situations, signal beacon light is still open, and then red is pressed
Button 32b starts to flash.When danger button is reset or obstacle is eliminated, red button 32b will stop flicker and (show to stop shape
State is no longer present).When halted state is no longer present, status indicator lamp is changed into blinking green from flash red, while operate can be with
Restart.
Although information announcing is described in detail, among specific embodiment.It is evident that this area skill
Art personnel can be made a variety of changes and improved in the spirit and scope without departing substantially from the disclosure based on the professional knowledge of oneself,
Should be within the protection domain of the disclosure.
Accordingly, it is intended to current information announcing contains the revision and change of the disclosure, there is provided their source is attached
Add in statement and corresponding category.
Claims (10)
1. a concrete polished system of automation terrace robot, including：
The transformer device of polishing area map can be generated；
The path planning system of path planning scheme can be generated according to the polishing area map；
The polishing area map and the storage device of path planning scheme can be stored；And
It can be advanced according to the path planning of the path planning scheme and polish the concrete polished machine of concrete.
2. the concrete polished system of automation terrace robot according to claim 1, in addition to：Navigation system, it is used for
The current location of concrete polished machine is positioned, and guides concrete polished machine to be advanced along path planning scheme；
The navigation system includes：
Alignment system, for positioning the current location of concrete polished machine；
Path tracing module, for the current location of concrete polished machine obtained according to the alignment system and path planning
Scheme guides concrete polished machine to be advanced along path planning.
3. the concrete polished system of automation terrace robot according to claim 2, in addition to：Drive propulsion system；
The driving propulsion system includes：
Driver, each driving wheel of the concrete polished machine is connected to, drives its rotation；
Encoder, record the rotational angle of each driving wheel；
In the navigation system, the alignment system positions coagulation according to the rotational angle that the size and encoder of driving wheel obtain
The current location of native polishing machine.
4. the concrete polished system of automation terrace robot according to claim 2, wherein, the transformer device bag
Include：
Laser range finder, the border of working region is determined for scanning construction environment；
Map generation module, the boundary information of the working region for being obtained according to laser range finder generate polishing area map.
5. the concrete polished system of automation terrace robot according to claim 4, wherein：
The map generation module, the boundary information of the working region for being obtained according to laser range finder look for calculation using corner
Method obtains the coordinate at each angle of working region, and the 2D for obtaining according to the coordinate at each angle of working region working region is cut
Piece, cut into slices to obtain the polishing area map that one or more preset shapes form by the 2D.
6. the concrete polished system of automation terrace robot according to claim 4, wherein：
The alignment system, the data for being obtained using the laser range finder position the current location of concrete polished machine.
7. the concrete polished system of automation terrace robot according to any one of claim 4 to 6, wherein, it is described
Laser range finder installs following position：The continuous moving platform of concrete polished machine column or the measurable angle position of encoder
Rotation platform.
8. the concrete polished system of automation terrace robot according to claim 2, wherein：
The alignment system also includes：360 ° of omnidirectional video cameras, its identify around fixation road sign, the alignment system according to
The current location data of concrete polished machine is obtained according to the recognition result of 360 ° of omnidirectional video cameras；And/or
The concrete polished system of the automation terrace robot, in addition to：Electric power management system, for will be from concrete polished
The electric power that machine obtains becomes available for driving the voltage of propulsion system and navigation system, and is supplied to driving propulsion system and navigation
System.
9. the concrete polished system of automation terrace robot according to claim 1, in addition to：
Obstacle avoidance sensor, it whether there is barrier in front of being perceived in concrete polished machine during traveling and/or rear；
Operation logic module, the operation logic module include：Memory and processor, wherein：
Executable operation logic is stored in the memory；
The operation logic that can perform in memory described in the computing device, to perform following operation：Passed when receiving anticollision
During the obstacle signal of sensor transmission, stop the traveling of concrete polished machine.
10. the concrete polished system of automation terrace robot according to any one of claim 1 to 9, wherein：
The path planning system, for being set using the polishing area map, the length of power line and user to build
Path and whole coverage pattern；And/or
The concrete polished system of the automation terrace robot, in addition to：User interface；The user interface includes button and referred to
Show device, be used for：(1) various parameters and system is set to set；And/or the position of (2) monitored concrete polishing machine；And/or (3) exhibition
Show the data of statistics；And/or (4) identify whether concrete polished machine is covered in working region；And/or (5) observation laser number
According to the working region profile diagram of displaying；And/or the operation conditions of (6) monitoring system；And/or (7) if desired, it is long-range stop it is mixed
Coagulate the movement of native polishing machine；And/or (8) check the state of airborne emergency stop button；And/or (9) check error message.
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| CN110109466B (en) * | 2019-05-31 | 2021-07-16 | 东北大学 | Autonomous ground polishing robot control system based on multiple sensors |
| SE543841C2 (en) * | 2019-12-19 | 2021-08-10 | Husqvarna Ab | A calibration device for a floor surfacing system |
| SE1951505A1 (en) * | 2019-12-19 | 2021-06-20 | Husqvarna Ab | A calibration device for a floor surfacing system |
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| CN110989616A (en) * | 2019-12-20 | 2020-04-10 | 华南智能机器人创新研究院 | Robot automatic cleaning navigation method and robot |
| CN111571425A (en) * | 2020-05-15 | 2020-08-25 | 阿特钚锐秦皇岛科技有限公司 | Modular floor grinding machine control method, device and system and storage medium |
| CN111915106A (en) * | 2020-10-09 | 2020-11-10 | 上海高仙自动化科技发展有限公司 | Path generation method and device, crystal face machine and storage medium |
| WO2022132021A1 (en) * | 2020-12-18 | 2022-06-23 | Husqvarna Ab | Concrete surface mapping robots, systems, and methods for processing concrete surfaces |
| CN114683111A (en) * | 2020-12-29 | 2022-07-01 | 广东博智林机器人有限公司 | Polishing control method, polishing control device, and floor polishing robot |
| CN114692932A (en) * | 2020-12-30 | 2022-07-01 | 广东博智林机器人有限公司 | Construction path obtaining method and device based on terrace |
| WO2022143166A1 (en) * | 2020-12-30 | 2022-07-07 | 广东博智林机器人有限公司 | Floor-based construction path acquisition method and apparatus, and floor coating robot |
| CN115509215A (en) * | 2021-06-08 | 2022-12-23 | 广东博智林机器人有限公司 | Robot-based floor grinding path generation method and device |
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