CN110424696A - Milling robot and its control method - Google Patents
Milling robot and its control method Download PDFInfo
- Publication number
- CN110424696A CN110424696A CN201910696643.7A CN201910696643A CN110424696A CN 110424696 A CN110424696 A CN 110424696A CN 201910696643 A CN201910696643 A CN 201910696643A CN 110424696 A CN110424696 A CN 110424696A
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- milling
- mould group
- matrix surface
- robot
- height
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
- E04F21/245—Rotary power trowels, i.e. helicopter trowels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
Abstract
The invention discloses a kind of milling robot and its control methods, milling robot includes car body, sets milling mould group on the car body, milling mould group is used to carry out milling to matrix surface, the control method of milling robot includes: to obtain milling height threshold first, secondly height change value of the milling robot in matrix surface traveling process relative to milling height threshold is obtained, milling is finally carried out in matrix surface according to milling height threshold and height change value control milling robot.The control method of milling robot according to an embodiment of the present invention, milling robot can be preferably controlled matrix surface is carried out to mill flat operation, milling robot can be made steadily to put down all positions milling of matrix surface to the height of the minimum point of matrix surface during traveling, to improve the effect that milling robot mills flat operation to matrix surface.
Description
Technical field
The present invention relates to construction robot technical fields, more particularly, to a kind of milling robot and its control method.
Background technique
In cement flooring, perhaps metope carries out cement flooring or metope after floating operation and can also have some out-of-flatnesses
Region, even can also perhaps there is the defects of convex closure to influence the flat of cement flooring or metope in metope in cement flooring
Whole effect, at this point, carrying out smooth processing to cement flooring or metope by artificial mode inconvenience.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, one object of the present invention
It is to propose that a kind of control method of milling robot, the control method of the milling robot can preferably control Milling Machine
Device people, and preferably mill flat matrix surface.
The present invention also proposes a kind of milling robot of control method that milling robot can be used.
The control method of the milling robot of embodiment according to a first aspect of the present invention, the milling robot include vehicle
Body, the milling mould group being located on the car body, the milling mould group are used to carry out milling to matrix surface, comprising: obtain first
Secondly milling height threshold obtains height of the milling robot in matrix surface traveling process relative to milling height threshold
Changing value is spent, the milling robot is finally controlled in matrix surface according to the milling height threshold and the height change value
Carry out milling.
The control method of milling robot according to an embodiment of the present invention can preferably control milling robot to matrix
Surface carries out milling flat operation, and milling robot can be made steadily to mill all positions of matrix surface during traveling
It puts down to the height of the minimum point of matrix surface, to improve the effect that milling robot mills flat operation to matrix surface.
In addition, the control method of milling robot according to the present invention, can also have the following additional technical features:
In some embodiments of the invention, the acquisition matrix surface milling height threshold includes: first to obtain first in advance
If horizontal plane, then obtain on matrix surface multiple measurement positions respectively with the distance between first preset level face value,
Determine that maximum value is in multiple distance values to obtain the milling height threshold.
In some embodiments of the invention, the milling is controlled according to the milling height threshold and the height change value
Cutting robot and carrying out milling in matrix surface includes: to adjust the milling mould group upper and lower when the height change value is not 0
Position on direction.
In some embodiments of the invention, controlling the milling robot and walking on matrix surface includes: S1, along
One preset direction is advanced, S2, when detecting has obstacle in direction of advance, is controlled after the milling robot turns to 90 degree with the
Two preset directions the first pre-determined distance of traveling, S3, control milling robot are advanced after returning again to 90 degree with third preset direction,
And repeat step S1.
In some embodiments of the invention, described to include: S11, control the milling mould along the traveling of the first preset direction
Group is moved in the horizontal direction to carry out milling to matrix surface, and S12, the control milling robot are walked on matrix surface
Stop after second pre-determined distance, and repeats step S11.
In some embodiments of the invention, first pre-determined distance is less than or equal to the milling mould group in level side
To scope of activities value range, second pre-determined distance be less than or equal to the milling mould group milling diameter.
The present invention also proposes a kind of milling robot of the control method of milling robot that above-described embodiment can be used.
The milling robot of embodiment includes car body, milling mould group, the first elevation carrection mould according to a second aspect of the present invention
Group, the second elevation carrection mould group and control mould group, the car body can walk in matrix surface, and the milling mould group is used for matrix
Surface carries out milling and is rotatably arranged on the car body, and the milling mould group both horizontally and vertically moves,
The first elevation carrection mould group is for obtaining milling height threshold, and the second elevation carrection mould group is for obtaining the milling
Height change value of the robot in matrix surface traveling process, the control mould group according to the milling height threshold with it is described
Height change value controls the milling robot and carries out milling in matrix surface.
Milling robot according to an embodiment of the present invention, the control method of milling robot through the foregoing embodiment, can
Preferably to control milling robot, milling robot is allowed preferably to carry out milling flat operation to matrix surface.
In some embodiments of the invention, the first elevation carrection mould group includes that first laser transmitting part and first swash
Light receiving piece, first laser transmitting part is for emitting the first laser plane being overlapped with the first preset level face, and described the
One laser pick-off part is used to receive the elevation information of the first laser plane, to obtain the milling height threshold.
In some embodiments of the invention, the second elevation carrection mould group includes that second laser transmitting part and second swash
Light receiving piece, second laser transmitting part is for emitting the second laser plane being overlapped with the first preset level face, and described the
Dual-laser receiving element is set to the elevation information on the car body and for receiving the second laser plane, with high with the milling
Threshold value comparison is spent, the height change value is obtained.
In some embodiments of the invention, the milling robot further include vertical motion straight line mould group and back and forth horizontally
Line of motion mould group, the vertical motion straight line mould group is located between the car body and the milling mould group, to drive the milling
It cuts mould group to move back and forth in the up-down direction, the horizontal reciprocating movement straight line mould group is located at the car body and the vertical motion
Between straight line mould group, so that the vertical motion straight line mould group moves back and forth in the horizontal direction.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the structural schematic diagram of milling robot according to an embodiment of the present invention；
Fig. 2 is the operation schematic diagram of the second elevation carrection mould group of milling robot according to an embodiment of the present invention；
Fig. 3 is the operation schematic diagram of the first elevation carrection mould group of milling robot according to an embodiment of the present invention；
Fig. 4 is the milling robot of the control method of milling robot according to an embodiment of the present invention and the work of milling mould group
Dynamic schematic diagram.
Appended drawing reference:
100: milling robot；
2: milling mould group；
3: car body；
4: vertical motion straight line mould group；
5: horizontal reciprocating movement straight line mould group；
6: the first elevation carrection mould groups；61: first laser emits part；62: first laser receiving element；
7: the second elevation carrection mould groups；71: second laser emits part；72: second laser receiving element.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
It should be noted that generally requiring to carry out smoothing out construction work to ground or metope during construction
Industry, after smoothing out construction operation, may due to contain in ground perhaps metope impurity or smooth out construction effect it is bad etc. because
Element is easy so that perhaps metope out-of-flatness is to influence the beauty of ground or metope on ground, in addition, in daily life,
Since ground and metope are for a long time by exposing to the weather, also be easy to cause ground or metope out-of-flatness, thus influence ground or
The beauty of person's metope.
The present invention proposes a kind of milling robot 100 and its control method, can preferably ground-to-ground face or metope carry out
Flat operation is milled, so that perhaps metope is more smooth so that ground or metope are more beautiful on ground.It is understood that
It is to need to mill the plane of flat operation to be not limited only to ground or metope, writes and describe for convenience, will needs to mill flat
The plane of operation is known as matrix surface, and the embodiment of the present invention is with milling robot 100 and its control method, to half-dried cement floor
It is illustrated for face.
The control method of milling robot 100 according to an embodiment of the present invention is described below with reference to Fig. 1-Fig. 4.
As Figure 1-Figure 4, milling robot 100 according to an embodiment of the present invention includes car body 3 and is located on car body 3
Milling mould group 2, car body 3 can walk in matrix surface, and milling mould group 2 can carry out matrix surface milling flat operation, in car body 3
Milling mould group 2 can be driven to walk during walking, to carry out the flat operation of lasting milling to matrix surface, milling can be improved
Efficiency of the robot 100 to the flat operation of milling of matrix surface.
The control method of milling robot 100 according to an embodiment of the present invention includes obtaining milling height threshold, Ke Yili
Solution, matrix surface is out-of-flatness, and therefore, matrix surface can regard uneven whole plane as, in out-of-flatness
There is minimum point, minimum point here refers in up and down direction as Figure 1-Figure 4, the height on matrix surface in plane
Minimum position is spent, as a result, by determining the minimum point of matrix surface, available milling height threshold.In some instances,
It can be conveniently adjusted height of the milling mould group 2 on milling robot 100 after obtaining milling height threshold, so that milling machine
People 100 is united the height of all positions of matrix surface using the minimum point of matrix surface as the altitude datum for milling flat operation
The height of the minimum point of matrix surface is equalled in the milling of one ground, when the height of all positions of matrix surface is identical as the height of minimum point
When, matrix surface can be more smooth, so that matrix surface is more beautiful.
Further, the control method of milling robot 100 further includes obtaining milling robot 100 to advance in matrix surface
Then height change value relative to milling height threshold in the process is milled according to milling height threshold and height change value control
It cuts robot 100 and carries out milling in matrix surface.
It is understood that due to matrix surface out-of-flatness, it will appear " jolting " during car body 3 carries out
State, during car body 3 " jolting ", car body 3 can drive milling mould group 2 movable, so that milling mould group 2 is apart from matrix
The height on surface changes, thus when being easy so that milling mould group 2 mills flat operation to matrix surface, by matrix surface milling
Out-of-flatness.
The milling robot 100 of the embodiment of the present invention during traveling available milling robot 100 relative to
The height change value of milling height threshold passes through the height change value and milling height threshold of acquisition, adjustable milling mould group 2
Position in the up and down direction of milling robot 100, so that milling mould group 2 steadily puts down matrix surface milling to matrix table
At the height of the minimum point in face.
The control method of milling robot 100 according to an embodiment of the present invention as a result, can preferably control milling machine
People 100 carries out matrix surface to mill flat operation, can make milling robot 100 during traveling steadily by matrix table
All positions milling in face is put down to the height of the minimum point of matrix surface, is milled to improve milling robot 100 to matrix surface
The effect of flat operation.
In some embodiments of the invention, obtaining matrix surface milling height threshold includes: to obtain the first preset level
Face, then obtain on matrix surface multiple measurement positions respectively with the distance between the first preset level face value, determine it is multiple away from
From maximum value in value to obtain milling height threshold.
That is, having the first preset level face above matrix surface, matrix surface can be with the first preset level face
Be spaced apart in the up-down direction, can at multiple positions of matrix surface, measure matrix surface and the first preset level face it
Between distance, here multiple refer to two or more, here with no restriction.Obtaining the base at multiple measurement positions
After the value of the distance between body surface face and the first preset level face, the distance value obtained to these measurements is compared, to obtain base
Maximum distance value between body surface face and the first preset level face, by being measured at multiple positions to matrix surface,
The maximum distance value between matrix surface and the first preset level face can preferably be obtained.By the matrix surface of acquisition with
Maximum distance value between first preset level face can determine the minimum point of matrix surface, in some instances, matrix table
Maximum range value between face and the first preset level face can be used as milling height threshold, high by the milling obtained as a result,
Degree threshold value can be conducive to that the height of milling mould group 2 in the up-down direction is arranged, so that milling mould group 2 is with matrix table
The minimum point in face is that milling benchmark carries out milling flat operation.
In some embodiments of the invention, milling robot 100 is controlled according to milling height threshold and height change value
Carrying out milling in matrix surface includes: the position of adjustment milling mould group 2 in the up-down direction when height change value is not 0.In
In some examples, height change value can be the changing value of the height change of milling mould group 2, specifically, in milling robot 100
It walks during milling, milling robot 100 is likely to occur " jolting " state, so that milling robot 100 drives milling
Mould group 2 is cut to rise and fall in the up-down direction, so that milling mould group 2 changes relative to the height of matrix surface, milling mould
After the height of group 2 changes, milling robot 100 can adjust milling mould group 2 according to the height change value of acquisition and mill
Cut the height of robot so that height change value be 0, height change value be 0 after, milling robot 100 can continue with
Milling mould group 2 carries out matrix surface to mill flat operation.
In some instances, milling mould group 2 can follow the activity upwards of milling robot 100, and milling mould group 2 is relative to base
The distance in body surface face increases, at this point, height change value is not 0, milling robot 100 can control milling mould group 2 relative to milling
It cuts robot 100 to move downward, so that height change value is 0, to continue to mill flat operation to matrix surface.Show at other
In example, milling mould group 2 can follow milling robot 100 to move downward, and milling mould group 2 subtracts relative to the distance of matrix surface
Small, height change value is not 0 at this time, and milling robot 100 can control the activity upwards of milling mould group 2, so that height becomes
Change value is 0, to continue to mill flat operation to matrix surface.
In some embodiments of the invention, it includes: S1, along that control milling robot 100 is walked on matrix surface
One preset direction is advanced, S2, when detecting has obstacle in direction of advance, control milling robot 100 turn to 90 degree after with the
Two preset directions the first pre-determined distance of traveling, control milling robot 100 are advanced after returning again to 90 degree with third preset direction,
And repeat step S1.
Such as shown in Fig. 4, the straight arrow direction in Fig. 4 is the direction of travel of milling robot 100, and curved arrow is Milling Machine
The rotation direction of device people 100, the solid line in Fig. 4 is the travelling route of milling robot 100, with the walking of the rightmost side in Fig. 4
It for route, while writing, the direction of travel of milling robot 100 is defined with left and right for convenience with the front and back in Fig. 4.
Milling robot 100 can be advanced when advancing along the first preset direction as a result, with the direction from the front to the back in Fig. 4, when
Detect in the direction of advance of milling robot 100 that milling robot 100 can turn left after 90 degree when having obstacle, from
A dextrad left side with the second preset direction advance the first pre-determined distance, milling robot 100 walk the first pre-determined distance after can be again
It turns left 90 degree, from front to back with the traveling of third preset direction, further, when detecting that milling robot 100 advancing
When having obstacle on direction, milling robot 100 can turn right after 90 degree, advance the from right to left with the second preset direction
One pre-determined distance, milling robot 100 walk the first pre-determined distance after can turn right again 90 degree, from back to front with first
Preset direction is advanced, and repeats above-mentioned traveling method as a result, and the flat work of preferably milling can be carried out to the follow-up location of matrix surface
Industry.
Optionally, for milling robot 100 during walking, milling robot 100 can also have the 4th default side
To, more preset directions such as the 5th preset direction, the 6th preset direction, meanwhile, milling robot 100 can also have third
More pre-determined distances such as pre-determined distance, the 4th pre-determined distance, the 5th pre-determined distance, further, milling robot 100 may be used also
To have other rotational angles, such as turn left 70 degree, 71 degree, 75 degree, 180 degree, 320 degree or turn right 70 degree, 71
Degree, 75 degree, 180 degree, 320 degree etc., walking for milling robot 100 can actual conditions, milling machine according to matrix surface
Working method, model, size of people 100 etc. carry out different setting, it is above can be with no restriction.
Optionally, milling robot 100 walk during encounter barrier when, for convenience of milling robot 100 into
Row turns to, and milling robot 100 can walk a distance backward, and a distance walked backward can be less than or equal to milling
The milling diameter of mould group 2 is cut, it is, of course, understood that a distance walked backward can also be greater than the milling of milling mould group 2
Cut diameter.In a specific example, milling robot 100 is walked from bottom to top, when encountering barrier, milling robot
100 draw back a milling mould group 2 milling diameter distance, milling robot 100 retreat a milling mould group 2 milling it is straight
After the distance of diameter, milling robot 100 rotates 90 degree and walks on.
It in some embodiments of the invention, include: S11, control milling mould group 2 in level along the traveling of the first preset direction
On direction move with to matrix surface carry out milling, S12, control milling robot 100 walk on matrix surface second preset
Stop after distance, and repeats step S11.Such as shown in Fig. 4, horizontal direction can refer to left and right directions as shown in Figure 4,
In, milling robot 100 shown in Fig. 4 is advanced from the front to the back, during milling robot 100 is advanced from the front to the back,
Milling mould group 2 can be movable from left to right, to carry out milling operation, 2 activity of milling mould group to milling robot to matrix surface
After 100 right end, milling robot 100 can walk from the front to the back stops walking, milling robot 100 after the second pre-determined distance
After stopping walking, milling mould group 2 can be movable from right to left, and to carry out milling operation to matrix surface, 2 activity of milling mould group is extremely
Behind the left end of milling robot 100, milling robot 100 can walk on the second pre-determined distance from the front to the back.Milling machine
People 100 can repeat the above steps, to carry out milling flat operation to matrix surface, since the operating process of above-mentioned steps is identical, this
In do not repeat.Simultaneously to be further easy to understand, the dotted line in Fig. 4 can be used as the movable route signal of milling mould group 2.
Optionally, the first pre-determined distance is less than or equal to the value range of the scope of activities in the horizontal direction of milling mould group 2, the
Two pre-determined distances are less than or equal to the milling diameter of milling mould group 2.Milling robot 100 can preferably pass through milling as a result,
Mould group 2 carries out matrix surface to mill flat operation, and the effect for milling flat operation is good.
The present invention also proposes a kind of milling machine of the control method of milling robot 100 that above-described embodiment can be used
People 100.
As shown in Figure 1, milling robot 100 according to an embodiment of the present invention includes car body 3, the 2, first height of milling mould group
Measure mould group 6, the second elevation carrection mould group 7 and control mould group (not shown).
Specifically, car body 3 can walk in matrix surface, to drive milling robot 100 to walk in matrix surface, thus right
Matrix surface carries out milling flat operation.
Milling mould group 2 is used to carry out milling to matrix surface and is rotatably arranged in car body 3, and milling mould group 2 is in level
Direction and vertical direction are removable.That is, milling mould group 2 can carry out matrix surface milling flat operation, in some examples
In, milling mould group 2 has milling cutter, and milling cutter can rotate relative to car body 3, can carry out milling flat work to matrix surface by milling cutter
Industry, during milling mould group 2 mills flat operation to matrix surface, milling mould group 2 can move in the horizontal direction, in water
Square matrix surface is carried out milling flat operation upwards, when milling robot 100 " jolts " during walking, milling mould group
2 can be movable in vertical direction, so as to adjust height of the milling cutter relative to matrix surface, and then preferably to matrix table
Face carries out milling flat operation.
First elevation carrection mould group 6 is for obtaining milling height threshold, that is to say, that the first height measuring device can be
Multiple positions of matrix surface measure, by comparing obtain multiple measurements measurement position and the first preset level face it
Between distance value, to obtain the maximum distance value between measurement position and the first preset level face, measurement position is pre- with first
If the maximum distance value between horizontal plane can be used as milling height threshold.By the milling height threshold of acquisition, can limit
Determine installation site of the milling mould group 2 on milling robot 100.
Second elevation carrection mould group 7 is for obtaining height change of the milling robot 100 in matrix surface traveling process
Value, that is to say, that milling mould group 2 can be arranged on milling robot 100 in milling robot 100 according to milling height threshold
Installation site, during milling robot 100 is walked, the state of " jolting " can occur in milling robot 100, to make
The height for obtaining milling mould group 2 changes, the available height change value of the second elevation carrection mould group 7, to be conducive to milling
Robot 100 adjusts milling mould group 2 in the relative position of milling robot 100, so that milling mould group 2 preferably mills flat base
Body surface face.
Control mould group is milled with height change value control milling robot 100 in matrix surface according to milling height threshold
It cuts, that is to say, that may determine that milling mould group 2 follows milling robot 100 in above-below direction by the height change value of acquisition
On operating range, then the available height change value of milling robot 100 and milling height threshold pass through control mould group
The operating range of milling mould group 2 in the up-down direction is controlled, thus preferably during milling robot 100 is walked, it is right
Matrix surface carries out milling flat operation.
Milling robot 100 according to an embodiment of the present invention as a result, milling robot 100 through the foregoing embodiment
Control method can preferably control milling robot 100, allow milling robot 100 preferably to matrix surface into
Row mills flat operation.
In some embodiments of the invention, the first elevation carrection mould group 6 includes that first laser transmitting part 61 and first swash
Light receiving piece 62, for emitting the first laser plane being overlapped with the first preset level face, first swashs first laser transmitting part 61
Light receiving piece 62 is used to receive the elevation information of first laser plane, to obtain milling height threshold.That is, due to matrix
First laser receiving element 62 is placed on base after first laser transmitting part 61 emits first laser plane by surface irregularity
The different location in body surface face, elevation information acquired in first laser receiving element 62 is different, passes through first laser receiver member as a result,
62 after the different location of matrix obtains different elevation informations, different elevation informations are compared, in elevation information
Maximum distance value passes through the milling of acquisition for milling height threshold so as to preferably obtain the minimum point of matrix surface
Milling mould group 2 is arranged behind the position of milling robot 100 in height threshold, can make the milling robot 100 to be with minimum point
The benchmark of the height of milling, so as to preferably mill flat matrix surface.
In some embodiments of the invention, the second elevation carrection mould group 7 includes that second laser transmitting part 71 and second swash
Light receiving piece 72, for emitting the second laser plane being overlapped with the first preset level face, second swashs second laser transmitting part 71
Light receiving piece 72 is set to the elevation information on car body 3 and for receiving second laser plane, to obtain compared with milling height threshold
Take height change value.
That is, milling robot 100 will appear " jolting " when matrix surface is walked, so that milling mould group 2
Height change, second laser receiving element 72 is located on car body 3, and second laser part 72 can follow 3 dipping and heaving of car body,
So that the elevation information that second laser receiving element 72 obtains changes, the elevation information that milling robot 100 will acquire
After compared with milling height threshold, it can be deduced that height change value, height change value is not 0 at this time, and milling robot 100 can be with
The height of milling mould group 2 in the up-down direction is adjusted according to height change value, so that milling robot 100 continues with base
The minimum point in body surface face carries out matrix surface to mill flat operation, and the effect for milling flat operation is good.
In some embodiments of the invention, milling robot 100 further include vertical motion straight line mould group 4 and back and forth horizontally
Line of motion mould group 5.
Specifically, vertical motion straight line mould group 4 is located between car body 3 and milling mould group 2, to drive milling mould group 2 upper
Lower section moves back and forth upwards, that is to say, that the height change value obtained by the second height detection mould group can make Milling Machine
Device people 100 drives vertical motion straight line mould group 4, and vertical motion straight line mould group 4 can control milling attachment in the up-down direction
Movement by the movement of control milling attachment in the up-down direction, and then can preferably carry out matrix surface milling flat operation.
Horizontal reciprocating movement straight line mould group 5 is located between car body 3 and vertical motion straight line mould group 4, so that vertical motion is straight
Line mould group 4 moves back and forth in the horizontal direction, as a result, by horizontal reciprocating movement straight line mould group 5, vertical motion can be made straight
Line mould group 4 is mounted on transport vehicle, more specifically, horizontal reciprocating movement straight line mould group 5 can make vertical motion straight line mould group 4 exist
It is moved back and forth in horizontal direction, horizontal direction here can refer to left and right directions as shown in Figure 1, vertical motion straight line mould group
4 can drive milling attachment to move back and forth in the horizontal direction, so that milling attachment can be right in the horizontal direction
Matrix surface carries out milling flat operation, meanwhile, transport vehicle can drive milling attachment to walk in the longitudinal direction, to matrix surface
Front-rear direction carry out milling flat operation, thus, it is possible to the flat operating efficiency of the milling for improving milling robot 100.
Other of milling robot according to an embodiment of the present invention are constituted and are operated for those of ordinary skill in the art
For be all it is known, be not detailed herein.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
It states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention.
In the description of this specification, reference term " some embodiments ", " optionally ", " further " or " some to show
The description of example " etc. means that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained in the present invention
At least one embodiment or example in.In the present specification, schematic expression of the above terms are not necessarily referring to identical
Embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be real in any one or more
Applying can be combined in any suitable manner in example or example.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of control method of milling robot, which is characterized in that the milling robot includes car body, is located at the car body
On milling mould group, the milling mould group be used for matrix surface carry out milling, comprising:
Obtain milling height threshold；
Obtain height change value of the milling robot in matrix surface traveling process relative to milling height threshold；
The milling robot, which is controlled, according to the milling height threshold and the height change value carries out milling in matrix surface.
2. the control method of milling robot according to claim 1, which is characterized in that the acquisition matrix surface milling
Height threshold includes:
Obtain the first preset level face；
It obtains multiple measurement positions on matrix surface and determines multiple institutes respectively with the distance between first preset level face value
Maximum value is stated in distance value to obtain the milling height threshold.
3. the control method of milling robot according to claim 1, which is characterized in that according to the milling height threshold
Controlling the milling robot in matrix surface progress milling with the height change value includes:
When the height change value is not 0, the position of the milling mould group in the up-down direction is adjusted.
4. the control method of milling robot according to claim 1, which is characterized in that control the milling robot and exist
It walks on matrix surface and includes:
S1, it advances along the first preset direction；
S2, when detecting has obstacle in direction of advance, control after the milling robot turns to 90 degree with the second preset direction
It advances the first pre-determined distance；
S3, control milling robot are advanced with third preset direction after returning again to 90 degree, and repeat step S1.
5. the control method of milling robot according to claim 4, which is characterized in that described along the first preset direction row
Into including:
S11, the control milling mould group are moved in the horizontal direction to carry out milling to matrix surface；
S12, the control milling robot are walked on matrix surface to be stopped after the second pre-determined distance, and repeats step S11.
6. the control method of milling robot according to claim 5, which is characterized in that first pre-determined distance is less than
Or the value range equal to the milling mould group scope of activities in the horizontal direction, second pre-determined distance are less than or equal to described
The milling diameter of milling mould group.
7. a kind of milling robot characterized by comprising
Car body, the car body can walk in matrix surface；
Milling mould group, the milling mould group is used to carry out milling to matrix surface and is rotatably arranged in the car body, described
Milling mould group both horizontally and vertically moves；
First elevation carrection mould group, the first elevation carrection mould group is for obtaining milling height threshold；
Second elevation carrection mould group, the second elevation carrection mould group are advanced for obtaining the milling robot in matrix surface
Height change value in the process；
Mould group is controlled, the control mould group controls the milling machine according to the milling height threshold and the height change value
People carries out milling in matrix surface.
8. milling robot according to claim 7, which is characterized in that the first elevation carrection mould group includes first sharp
Light emitting part and first laser receiving element, the first laser transmitting part is for emitting first be overlapped with the first preset level face
Laser plane, the first laser receiving element is used to receive the elevation information of the first laser plane, to obtain the milling
Height threshold.
9. milling robot according to claim 7, which is characterized in that the second elevation carrection mould group includes second sharp
Light emitting part and second laser receiving element, the second laser transmitting part is for emitting second be overlapped with the first preset level face
Laser plane, the second laser receiving element are set to the height letter on the car body and for receiving the second laser plane
Breath, to obtain the height change value compared with the milling height threshold.
10. milling robot according to claim 7, which is characterized in that further include:
Vertical motion straight line mould group, the vertical motion straight line mould group are located between the car body and the milling mould group, to drive
The milling mould group is moved to move back and forth in the up-down direction；
Horizontal reciprocating movement straight line mould group, the horizontal reciprocating movement straight line mould group is located at the car body and the vertical motion is straight
Between line mould group, so that the vertical motion straight line mould group moves back and forth in the horizontal direction.
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Application publication date: 20191108 |