CN112428050A - Control method and device for wall surface polishing robot - Google Patents

Control method and device for wall surface polishing robot Download PDF

Info

Publication number
CN112428050A
CN112428050A CN202011281899.0A CN202011281899A CN112428050A CN 112428050 A CN112428050 A CN 112428050A CN 202011281899 A CN202011281899 A CN 202011281899A CN 112428050 A CN112428050 A CN 112428050A
Authority
CN
China
Prior art keywords
polishing
robot
grinding
determining
wall
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011281899.0A
Other languages
Chinese (zh)
Other versions
CN112428050B (en
Inventor
黄洁连
张鹏
林洁纯
张国荣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Bozhilin Robot Co Ltd
Original Assignee
Guangdong Bozhilin Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Bozhilin Robot Co Ltd filed Critical Guangdong Bozhilin Robot Co Ltd
Priority to CN202011281899.0A priority Critical patent/CN112428050B/en
Publication of CN112428050A publication Critical patent/CN112428050A/en
Application granted granted Critical
Publication of CN112428050B publication Critical patent/CN112428050B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece

Abstract

The invention discloses a control method and a device for a wall surface polishing robot. Wherein, the method comprises the following steps: determining the initial orientation of a grinding mechanical arm of the grinding robot; determining the number of lifting stages of the polishing robot, the lifting height of each lifting stage and the polishing range of an upper single side and a lower single side; determining the number of working stations of the polishing robot and the polishing range of the left side and the right side of each station according to the wall length of the wall to be polished; determining the coordinates of the work station according to the initial orientation and the movement direction; determining polishing task data corresponding to different initial orientations, different numbers of work stations and different movement directions; constructing an array under a control system architecture of the polishing robot; and storing the array as a control file, and controlling the polishing robot to carry out construction through the control file. The invention solves the technical problems that in the related art, the wall surface polishing mode of the machine needs manual polishing parameter input, the efficiency is low and errors are easy to occur.

Description

Control method and device for wall surface polishing robot
Technical Field
The invention relates to the field of construction robots, in particular to a control method and a control device of a wall surface polishing robot.
Background
At present, the putty wall surface polishing process mainly comprises the steps of artificially measuring the range of the polished wall surface and estimating polishing overlapped areas in sense organs, and then polishing by manually holding sand paper or a manually holding electric polisher. The manual measurement is time-consuming and labor-consuming on site, and dust generated by close-distance grinding has a large influence on the respiratory tract of the body.
The existing robot polishing process parameters are manually measured to calculate polishing parameters and overlapping areas of a wall surface, and are manually input into a specific file format which is convenient for a robot system to read. The method has the problems that the calculation is troublesome, the error is easy to occur, the recalculation is performed every time when a new house type is reached, the time consumption is large when a large-area wall surface is calculated, the error is easy to occur, the data are manually input into a specific file format, the calculated point position and polishing task data are unreasonably and are revised again sometimes, the robot is easy to cause errors in automatic execution, even the danger of multiple polishing and wall collision occurs, or polishing omission occurs, and the overlapped area is unreasonable.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a control method and a control device of a wall surface polishing robot, which at least solve the technical problems that polishing parameters need to be input manually in a wall surface polishing mode of a machine in the related technology, the efficiency is low, and errors are easy to occur.
According to an aspect of an embodiment of the present invention, there is provided a method of controlling a wall surface grinding robot, including: determining the initial orientation of a grinding mechanical arm of the grinding robot; determining the number of lifting stages of the polishing robot, the lifting height of the polishing robot in each lifting stage and the polishing range of an upper single edge and a lower single edge; determining the number of working stations of the polishing robot for construction on the wall to be polished and the polishing range of the polishing robot on the left side and the right side of each station according to the wall length of the wall to be polished; determining coordinates of a work station of the polishing robot according to the initial orientation and the movement direction of the polishing robot; determining polishing task data corresponding to different initial orientations, different numbers of work stations, and different directions of movement, wherein the polishing task data comprises: the initial orientation of the grinding mechanical arms, the number of the working stations, the coordinates of the working stations, the lifting height, the grinding ranges of the upper and lower single sides and the grinding ranges of the left and right single sides; constructing an array under a control system architecture of the polishing robot according to the polishing task data, wherein the array comprises the polishing task data; and storing the array as a control file, and controlling the polishing robot to carry out construction through the control file.
Optionally, determining an initial orientation of a grinding robot arm of the grinding robot comprises: establishing a coordinate system relative to a known building; determining a vector direction with the center of a coordinate system as an origin and determining a rule of the orientation angle of the polishing robot; and determining an initial orientation angle of the grinding robot in the current pose according to the vector direction and the orientation angle determination rule.
Optionally, determining the number of lifting stages of the polishing robot, and the lifting height and the upper and lower single-side polishing ranges of the polishing robot in each lifting stage include: determining a first-order height of the lifting mechanism according to the lowest mounting height of the lifting mechanism on the polishing robot, the upper and lower maximum polishing ranges of the polishing mechanical arms and the wall space between the polishing mechanical arms and other walls which needs to be reserved when the polishing mechanical arms are used for constructing the wall to be polished; determining the lifting stages according to the height of the wall surface to be polished, the first-order height, the maximum polishing range of the polishing mechanical arm, the wall surface interval between the polishing mechanical arm and other wall surfaces to be reserved when the polishing mechanical arm is used for constructing the wall surface to be polished, and the overlapping size of polishing discs of the polishing mechanical arm; and determining the lifting height and the upper and lower single-side grinding range of the grinding robot in each lifting stage according to the first-stage height, the lifting stage, the upper and lower maximum grinding range of the grinding mechanical arm and the grinding disc overlapping size of the grinding mechanical arm.
Optionally, according to the wall length of the wall to be polished, it is determined that the polishing robot is in the number of work stations where the wall to be polished is constructed, and before the polishing robot polishes the range in the left and right sides of each station, the polishing robot includes: determining a starting point coordinate and an end point coordinate of a wall surface to be polished; and determining the length of the polished wall surface according to the starting point coordinate and the end point coordinate.
Optionally, according to the wall length of the wall to be polished, the polishing robot is determined to be in the number of work stations for constructing the wall to be polished, and the polishing robot can polish the range of the left and right single sides of each station, including: determining the theoretical number of working stations of the polishing robot for constructing the wall to be polished according to the length of the wall, the wall space between the wall to be polished and other walls to be reserved when the wall to be polished is constructed by the polishing mechanical arm, and the polishing overlapping size when the wall to be polished is constructed by the polishing mechanical arm; under the condition that the theoretical number is more than or equal to 1, determining the residual polishing length of the wall surface to be polished when the polishing robot is constructed by the theoretical number of the work stations according to the wall surface length, the theoretical number of the work stations, the wall surface interval between the polishing robot and other wall surfaces to be reserved when the polishing robot carries out construction on the wall surface to be polished, and the left and right maximum polishing ranges of the mechanical arms; determining whether working stations need to be added or not according to the relation between the residual grinding length and the grinding disc size of the grinding mechanical arms of the grinding robot, determining the actual number of the working stations, and determining the grinding range of the left side and the right side of the actual number of the working stations according to the wall length, wherein the wall space between the grinding mechanical arms and other walls needs to be reserved when the grinding mechanical arms construct the wall to be ground; theoretical quantity is less than 1 under the circumstances, confirms the actual quantity of workstation is 1, according to wall length, it is right to polish the robotic arm need remain with the wall interval of other walls when waiting to polish the wall and constructing, polishing robot's width, polishing disc overlapping size of polishing the robotic arm, and the biggest polishing scope of polishing about the robotic arm confirms single side polishing scope about the workstation that polishing robot an reality corresponds, wherein, polishing robot's width basis polishing robot's structural dimension confirms.
Optionally, determining coordinates of a work station of the polishing robot according to the initial orientation and the moving direction of the polishing robot includes: when the motion direction of the grinding robot is along the y axis of the coordinate system, wherein the y axis and the x axis are positioned on the horizontal plane; determining the motion direction of the grinding robot on the y axis according to the y coordinate of the grinding starting point and the y coordinate of the grinding finishing point, and determining the x coordinate of the working stations of the grinding robot according to the initial orientation of the grinding robot and the distance required by the center of the grinding mechanical arm to extend to the wall surface, wherein the x coordinates of all the working stations are the same, and the distance required by the center of the grinding mechanical arm to extend to the wall surface is determined according to the structural size of the grinding robot; according to the left and right single-side grinding range corresponding to the work station of the grinding robot, the grinding mechanical arm is right the wall space between the wall to be ground and other walls needs to be reserved when the wall to be ground is constructed, the grinding disc overlapping size of the grinding mechanical arm is used for determining the y coordinate of the work point.
Optionally, determining coordinates of a work station of the polishing robot according to the initial orientation and the moving direction of the polishing robot includes: when the movement direction of the polishing robot is along the x axis of the coordinate system; determining the movement direction of the grinding robot on the x axis according to the x coordinate of a grinding starting point and the x coordinate of a grinding finishing point, and determining the y coordinate of a working station of the grinding robot according to the initial direction of the grinding robot and the distance required by the center of the grinding mechanical arm to extend to the wall surface, wherein the y coordinates of all the working stations are the same, and the distance required by the center of the grinding mechanical arm to extend to the wall surface is determined according to the structural size of the grinding robot; according to the left and right single-side grinding range corresponding to the work station of the grinding robot, the grinding mechanical arm is right the wall space between the wall to be ground and other walls needs to be reserved when the wall to be ground is constructed, the grinding disc overlapping size of the grinding mechanical arm is used for determining the x coordinate of the work point.
According to another aspect of the embodiments of the present invention, there is also provided a control device of a wall surface grinding robot, including: the first determining module is used for determining the initial orientation of a grinding mechanical arm of the grinding robot; the second determining module is used for determining the number of lifting stages of the polishing robot, the lifting height of the polishing robot in each lifting stage and the polishing range of the upper and lower single edges; the third determining module is used for determining the number of working stations of the polishing robot for construction on the wall surface to be polished and the polishing range of the polishing robot on the left side and the right side of each station according to the wall surface length of the wall surface to be polished; the fourth determining module is used for determining the coordinates of the working station of the polishing robot according to the initial orientation and the movement direction of the polishing robot; a fifth determining module, configured to determine polishing task data corresponding to different initial orientations, different numbers of work stations, and different movement directions, where the polishing task data includes: the initial orientation of the grinding mechanical arms, the number of the working stations, the coordinates of the working stations, the lifting height, the grinding ranges of the upper and lower single sides and the grinding ranges of the left and right single sides; the construction module is used for constructing an array under a control system architecture of the polishing robot according to the polishing task data, wherein the array comprises the polishing task data; and the polishing module is used for saving the array as a control file and controlling the polishing robot to carry out construction through the control file.
According to another aspect of the embodiments of the present invention, there is also provided a computer storage medium, where the computer storage medium includes a stored program, and when the program runs, the apparatus where the computer storage medium is located is controlled to execute the method for controlling a wall surface grinding robot according to any one of the above aspects.
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, wherein the program executes the control method of the wall surface grinding robot described in any one of the above.
In the embodiment of the invention, the initial orientation of a grinding mechanical arm of the grinding robot is determined; determining the number of lifting stages of the polishing robot, the lifting height of the polishing robot in each lifting stage and the polishing range of an upper single side and a lower single side; determining the number of working stations of the polishing robot for construction on the wall to be polished and the polishing range of the polishing robot on the left side and the right side of each station according to the wall length of the wall to be polished; determining the coordinates of a working station of the polishing robot according to the initial orientation and the movement direction of the polishing robot; determining polishing task data corresponding to different initial orientations, different numbers of work stations and different movement directions, wherein the polishing task data comprises: the initial orientation of the grinding mechanical arms, the number of the working stations, the coordinates of the working stations, the lifting height, the grinding ranges of the upper and lower single sides and the grinding ranges of the left and right single sides; constructing an array under a control system architecture of the polishing robot according to polishing task data, wherein the array comprises the polishing task data; save the array as the control file, carry out the mode of being under construction through control file control polishing robot, the polishing parameter of automatic determination polishing robot, including initial orientation, the height that goes up and down, unilateral polishing scope about with, confirm the task parameter of polishing, through polishing task parameter control polishing robot work, reached the purpose of the automatic generation task data of polishing according to polishing robot's polishing parameter, thereby realized the technical effect who has improved polishing robot's work efficiency and work accuracy, and then solved the mode of the wall of machine polishing among the correlation technique, need the manual input parameter of polishing, low efficiency, the technical problem of making mistakes easily.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a control method of a wall grinding robot according to an embodiment of the present invention;
fig. 2 is a flowchart of a control method of a grinding robot according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a control device of a wall surface grinding robot according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided a method embodiment of a method of controlling a wall grinding robot, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system, such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than that presented herein.
Fig. 1 is a flowchart of a control method of a wall grinding robot according to an embodiment of the present invention, and as shown in fig. 1, according to another aspect of the embodiment of the present invention, there is also provided a coordinate determination method of a robot, the method including the steps of:
step S102, determining the initial orientation of a grinding mechanical arm of the grinding robot;
step S104, determining the number of lifting stages of the polishing robot, the lifting height of the polishing robot in each lifting stage and the polishing range of an upper side and a lower side;
step S106, determining the number of work stations of the polishing robot for construction on the wall to be polished and the polishing range of the polishing robot on the left side and the right side of each station according to the wall length of the wall to be polished;
step S108, determining the coordinates of the working station of the polishing robot according to the initial orientation and the movement direction of the polishing robot;
step S110, determining polishing task data corresponding to different initial orientations, different numbers of work stations and different movement directions, wherein the polishing task data comprises: the initial orientation of the grinding mechanical arms, the number of the working stations, the coordinates of the working stations, the lifting height, the grinding ranges of the upper and lower single sides and the grinding ranges of the left and right single sides;
step S112, according to the polishing task data, constructing an array under a control system architecture of the polishing robot, wherein the array comprises the polishing task data;
and S114, storing the array as a control file, and controlling the polishing robot to carry out construction through the control file.
Determining the initial orientation of a grinding mechanical arm of the grinding robot; determining the number of lifting stages of the polishing robot, the lifting height of the polishing robot in each lifting stage and the polishing range of an upper single side and a lower single side; determining the number of working stations of the polishing robot for construction on the wall to be polished and the polishing range of the polishing robot on the left side and the right side of each station according to the wall length of the wall to be polished; determining the coordinates of a working station of the polishing robot according to the initial orientation and the movement direction of the polishing robot; determining polishing task data corresponding to different initial orientations, different numbers of work stations and different movement directions, wherein the polishing task data comprises: the initial orientation of the grinding mechanical arms, the number of the working stations, the coordinates of the working stations, the lifting height, the grinding ranges of the upper and lower single sides and the grinding ranges of the left and right single sides; constructing an array under a control system architecture of the polishing robot according to polishing task data, wherein the array comprises the polishing task data; save the array as the control file, carry out the mode of being under construction through control file control polishing robot, the polishing parameter of automatic determination polishing robot, including initial orientation, the height that goes up and down, unilateral polishing scope about with, confirm the task parameter of polishing, through polishing task parameter control polishing robot work, reached the purpose of the automatic generation task data of polishing according to polishing robot's polishing parameter, thereby realized the technical effect who has improved polishing robot's work efficiency and work accuracy, and then solved the mode of the wall of machine polishing among the correlation technique, need the manual input parameter of polishing, low efficiency, the technical problem of making mistakes easily.
In step S102, the polishing robot is also a construction robot for polishing a wall surface, and the robot may include a lifting mechanism, a polishing arm, a robot main body, a sensing device, an image acquisition device, and the like, where the polishing arm is installed in the robot main body, and the polishing arm is controlled by the robot main body according to a controller to operate, the polishing arm may be a telescopic arm, the lifting mechanism may be installed in the robot main body, and the robot main body and the polishing arm are driven by lifting to move up and down, and the robot main body may further include a mobile traveling mechanism for driving the robot main body and the polishing arm to move.
The orientation of the polishing mechanical arm of the polishing robot can be based on the polishing mechanical arm of the polishing robot, the direction of the polishing mechanical arm on the polishing robot is the positive direction of the polishing robot, the positive direction is forward, and the angle of the polishing mechanical arm can be directly zero when facing a wall to be polished. The different orientation of the polishing mechanical arm of the polishing robot can naturally lead to different polishing parameters when the polishing robot polishes the wall surface, so that the initial orientation of the polishing mechanical arm of the polishing robot is determined, the pose of the polishing robot relative to the wall surface to be polished is determined, and the premise is provided for controlling the polishing robot to perform large-mould construction on the wall surface to be polished.
Optionally, determining an initial orientation of a grinding robot arm of the grinding robot comprises: establishing a coordinate system relative to a known building; determining a vector direction with the center of the coordinate system as an origin and determining a rule of the orientation angle of the polishing robot; and determining a rule according to the vector direction and the orientation angle, and determining the initial orientation angle of the polishing robot in the current pose.
Establishing a planar two-dimensional coordinate system World (x, y) based on the relative known building map origin on the building space and establishing a rotation center origin c of the grinding robot. The vector direction with the center of the grinding mechanical arm base as the origin is established, the left side is the positive direction, the right side is the negative direction, the upper side is the positive direction, and the lower side is the negative direction. The above-mentioned rule is confirmed to the angle of orientation also is that the direction that will polish the robot on the arm place is the positive direction of polishing the robot, and when being close to the wall of waiting to polish and waiting to polish the wall and X axle perpendicular along three-dimensional space X axle positive direction, the angle theta of orientation of the arm of polishing the robot is: 0 degree; when being close to the wall of waiting to polish and required wall and the X axle of polishing perpendicular along three-dimensional space X axle negative direction, the arm of polishing of robot is towards angle theta and is: 180 degrees; the orientation angle theta when advancing along the positive direction of the Y axis of the three-dimensional space and polishing the wall surface is vertical to the Y axis is as follows: 90 degrees; the orientation angle theta is as follows when the wall surface to be polished is moved forward along the Y-axis negative direction of the three-dimensional space and the required polished wall surface is vertical to the Y-axis: -90 °.
In step S104, the number of the lifting stages of the polishing robot, that is, when a wall surface to be polished is polished, the polishing construction of the wall surface to be polished can be completed only by controlling the number of times of the lifter of the lifting mechanism of the polishing robot, the number of the lifting stages follows the principle that less is better, the lifting of the lifting mechanism requires time, the polisher arm of the polishing robot is inconvenient to work when the polisher arm is lifted, and the smaller the number of the lifting stages is, the higher the working efficiency of the polishing robot can be.
The grinding robot is different in the lifting height of each step of lifting progression, because the in-process of polishing is carried out at the grinding robot, the interval of waiting to polish wall and other walls exists, elevating system is at the mounting height on the grinding robot to and the grinding mechanical arm all relevant with the biggest range of polishing from top to bottom, in order to guarantee that the wall of waiting to polish does not influence other walls, the intersection of waiting to polish wall and other walls remains above-mentioned interval. The number of the lifting steps is at least 1, namely the lifting mechanism does not work, and one lifting step also exists. When the number of lifting steps is multiple, it is also necessary to determine the lifting height of the first lifting step, and then determine the lifting height of the subsequent lifting step based on this. After the lifting height of elevating system's lift progression is confirmed, just can confirm the unilateral scope of polishing about every rank of lift progression number corresponds according to the biggest scope of polishing about the arm of polishing, because treat the various restrictions of the wall of polishing, and the variety of actual working condition, the unilateral scope of polishing about the aforesaid, be not simple in the lifting height in addition the biggest scope of polishing of arm of polishing, need treat the interval of polishing wall and other walls according to the aforesaid, and the lifting height, the size of the coincidence region of the scope of polishing of the arm of polishing between two adjacent ranks, and treat the factor such as the height of polishing the wall.
According to the height of the wall surface to be polished and the maximum vertical polishing range of the mechanical arm, the number of the steps of polishing the size of the overlapped area and the intervals between the wall surface to be polished and other wall surfaces is determined. When the height value of the wall surface to be polished is larger than the sum of the lifting height of the first-order lifting stage of the lifting mechanism and the upper maximum polishing range, calculating the multiple relation of the height value H of the wall surface to be polished, the upper maximum polishing range up _ max, the lower maximum polishing range down _ max and the sum of the intervals gap between the wall surface to be polished and the ground, namely when H > (lift _1+ down _ max), k is ceil ((H-2 gap-p _ gap)/(up _ max + down _ max-p _ gap)), wherein the ceil () function is an upward integer function. When the height value H of the wall surface to be polished is smaller than the sum of the upper maximum polishing range up _ max and the lifting height of the first-order lifting stage of the lifting mechanism, k is 1.
Optionally, the number of the lifting stages of the polishing robot is determined, and the lifting height and the upper and lower single-side polishing ranges of the polishing robot in each lifting stage comprise: determining the first-order height of the lifting mechanism according to the lowest mounting height of the lifting mechanism on the polishing robot, the upper and lower maximum polishing ranges of the polishing mechanical arm and the wall surface interval between the polishing mechanical arm and other wall surfaces which needs to be reserved when the polishing mechanical arm is used for constructing the wall surface to be polished; determining a lifting stage number according to the height of a wall surface to be polished, the first-order height and the maximum upper and lower polishing ranges of the polishing mechanical arm, the interval between the polishing mechanical arm and the wall surfaces of other wall surfaces to be reserved when the polishing mechanical arm is used for constructing the wall surface to be polished, and the overlapping size of polishing discs of the polishing mechanical arm; and determining the lifting height and the upper and lower single-side grinding ranges of the grinding robot in each lifting stage according to the first-order height, the lifting stage, the upper and lower maximum grinding ranges of the grinding mechanical arm and the overlapping size of the grinding discs of the grinding mechanical arm.
The method comprises the steps of firstly determining the lifting height of a first-order lifting stage, and specifically, when the lowest height value of the lifting mechanism is larger than or equal to the sum of the maximum grinding range of the lower side of the grinding mechanical arm and the distance between the wall surface to be ground and the ground, the lifting height value of the first-order lifting stage is equal to the lowest height of the lifting mechanism. When the lowest height value of the lifting mechanism is smaller than the sum of the maximum polishing range below the polishing mechanical arm and the interval between the polishing mechanical arm and the ground, the first-level execution height value is equal to the sum of the maximum polishing range and the interval between the wall surface to be polished and the ground.
When the lifting progression is one, the corresponding height value of the wall surface to be polished is smaller than the lifting height value of the first-order lifting progression of the lifting mechanism, the upper single-side polishing range of the polishing mechanical arm is the difference of the lifting height value of the first-order lifting progression minus the height value of the wall surface to be polished, and the lower single-side polishing range is the difference of the lifting height value of the first-order lifting progression minus the interval between the wall surface to be polished and other wall surfaces. When the height value of the wall to be polished is greater than the lifting height value of the first-order lifting progression of the lifting mechanism and is less than the sum of the maximum upper polishing range and the maximum lower polishing range, the upper single-side polishing range is the interval difference between the wall to be polished and other walls subtracted from the height of the wall to be polished, and the lower single-side polishing range is the negative maximum lower polishing range.
It should be noted that, the interval between the wall surface to be polished and the other wall surfaces includes the interval between the wall surface to be polished and the ground, and usually, the interval between the other wall surfaces is the same value.
In step S106, the number of work stations where the polishing robot performs construction on the wall to be polished and the polishing range of the polishing robot on the left and right sides of each station are determined according to the length of the wall to be polished.
The number of the working stations is that the polishing robot needs to be controlled to move under the condition that the length of the wall surface to be polished is long, two working stations are formed after the polishing robot moves once, the working stations before the polishing robot moves and the working stations after the polishing robot moves, the number of the working stations can be large under the condition that the wall surface to be polished is long, and the number of the working stations can be one under the condition that the wall surface to be polished is short. The number of specific work stations depends on the length of the wall to be ground.
Optionally, according to the wall length of the wall to be polished, the number of work stations where the polishing robot is to be constructed on the wall to be polished is determined, and the polishing robot is arranged before the polishing range of the left side and the right side of each station, including: determining a starting point coordinate and a polishing end point coordinate of a wall surface to be polished; and determining the length of the polished wall surface according to the coordinates of the starting point and the coordinates of the polishing end point.
Obtaining the coordinates (x1, y1) of the starting point and the coordinates (x2, y2) of the coordinate information of the wall surface to be polished on the World (x, y) of the planar two-dimensional space coordinate system of the building, and calculating the length of the wall surface to be polished
Figure BDA0002781068890000091
The coordinates of the starting point are the coordinates of the starting point of the wall surface to be polished, and the end of the above processThe point coordinates are also the coordinates of the end point of the wall surface to be sanded.
Optionally, according to the wall length of the wall to be polished, the number of work stations where the polishing robot is to be constructed on the wall to be polished is determined, and the polishing robot comprises the polishing ranges of the left side and the right side of each station: determining the theoretical number of working stations of a grinding robot for construction on the wall to be ground according to the length of the wall, the wall space between the grinding robot and other walls to be reserved when the grinding robot constructs the wall to be ground, and the grinding overlapping size when the grinding robot constructs the wall to be ground; under the condition that the theoretical number is more than or equal to 1, determining the residual polishing length of the wall surface to be polished when the polishing robot is constructed by the theoretical number of work stations according to the wall surface length, the theoretical number of the work stations, the wall surface interval between the polishing robot and other wall surfaces to be maintained when the polishing robot arm is constructed for the wall surface to be polished, and the left and right maximum polishing ranges of the mechanical arm; determining whether working stations need to be added or not according to the relation between the residual grinding length and the size of a grinding disc of a grinding mechanical arm of the grinding robot, determining the actual number of the working stations, and determining the grinding range of the left side and the right side of the working stations in the actual number according to the length of the wall surface, wherein the distance between the grinding mechanical arm and the wall surface of other wall surfaces needs to be reserved when the grinding mechanical arm constructs the wall surface to be ground, the overlapping size of the grinding discs of the grinding mechanical arm and the left and right maximum grinding ranges of the grinding mechanical arms; under the condition that theoretical quantity is less than 1, confirm that the actual quantity of workstation is 1, according to wall length, the wall interval with other walls need be kept when the wall of treating to polish when carrying out the construction to the arm of polishing, the width of the robot of polishing, the polishing dish overlapping size of the arm of polishing to and the biggest polishing scope about the arm of polishing, confirm that the robot of polishing is the corresponding unilateral scope of polishing about a real workstation of robot, wherein, the width of the robot of polishing is confirmed according to the structure size of the robot of polishing.
When the theoretical number of the work stations is determined, the wall length of the wall to be polished, the interval between the wall to be polished and other wall surfaces and the size of the overlapped area of the polishing disc, which are calculated from the above, can be obtained as follows: m ═ int ((L-2 × gap-p _ gap)/(2 × max _ ran-p _ gap)), where int () function is a rounded down function. Taking the positive integer multiple of M, and obtaining the length value L _ gap ═ L-M (2 × max _ ran-p _ gap).
If the theoretical value station number M is greater than or equal to 1, if the remaining polishing length L _ gap is greater than 0 and smaller than the outer radius of the polishing disc, it can be obtained: the actual number N of work stations is equal to the theoretical number M; the optimal left and right single-side grinding range is equal to the left and right maximum grinding range, the left side grinding range is equal to the left and right maximum grinding range, and the right side grinding range is equal to the negative left and right maximum grinding range. If the residual grinding length is greater than the outer radius of the grinding disc and less than the left and right maximum grinding range of the grinding mechanical arm, the following results are obtained: the actual number N of the working stations is equal to the theoretical number M plus 1; the optimal left and right single-side grinding range p _ r is (L-2 × gap-p _ gap)/(2 × N) + p _ gap/2, L is the wall surface length of the wall surface to be ground, gap is the interval between the wall surface to be ground and other wall surfaces, and p _ gap is the area where the grinding discs need to be overlapped, namely the grinding disc overlapping size of the grinding mechanical arm. The left side sanding range is equal to the optimal left and right single side sanding range p _ r, and the right side sanding range is equal to the negative optimal left and right single side sanding range p _ r. If the remaining polishing length is greater than the left and right maximum polishing range of the polishing mechanical arm and less than 2 times of the left and right maximum polishing range of the polishing mechanical arm, the left polishing range left _ N and the right polishing range right _ N of the N stations are different from the former calculation mode, and specifically, the actual number N of the work stations is equal to the theoretical number M; the optimal left and right single-side grinding range is equal to the left and right maximum grinding range, the left side grinding range is equal to the left and right maximum grinding range, and the right side grinding range is equal to the negative left and right maximum grinding range; left _ N is L _ gap-max _ ran + gap, wherein max _ ran is about the maximum sanding range; right _ N is equal to the negative left and right maximum buff range.
In step S108, the coordinates of the work station of the polishing robot are determined according to the initial orientation and the movement direction of the polishing robot.
The work station differs for the robot in different initial orientations and different directions of movement, including along the x-axis and along the y-axis, and therefore the coordinates of the work station of the sharpening robot are determined by the initial orientation and the fooled direction, facilitating calculations and data processing.
Optionally, determining the coordinates of the work station of the polishing robot according to the initial orientation and the moving direction of the polishing robot comprises: when the motion direction of the grinding robot is along the y axis of the coordinate system, wherein the y axis and the x axis are positioned on the horizontal plane; determining the motion direction of the polishing robot on a y axis according to the y coordinate of the polishing starting point and the y coordinate of the polishing end point, and determining the x coordinate of a working station of the polishing robot according to the initial orientation of the polishing robot and the distance required by the center of the polishing mechanical arm to extend to the wall surface, wherein the x coordinates of all the working stations are the same, and the distance required by the center of the polishing mechanical arm to extend to the wall surface is determined according to the structure size of the polishing robot; according to the left and right single-side grinding range corresponding to the work station of the grinding robot, the wall space between the grinding robot and other walls needs to be reserved when the grinding robot carries out construction on the wall to be ground, and the overlapping size of the grinding discs of the grinding robot arms, the y coordinate of the work point is determined.
When the movement direction of the grinding robot is along the y axis of the coordinate system, when the absolute value between the starting coordinate x1 and the ending coordinate x2 in the x axis direction is unchanged, the width value of the y axis direction is greater than 100, the starting coordinate y1 is greater than y2, the number N of the actual station points is greater than or equal to 1, and the orientation theta DEG of the cooperative mechanical arm head is equal to 0 DEG or equal to 180 deg. When the orientation angle theta is equal to 0 DEG, the x-axis coordinate and the task information data where the robot should be located are as follows: x is x 1-cw; p _ l _ N is left _ N; p _ r _ N ═ right _ N; in the formula, the distance from the center of the car body of the polishing robot to the wall surface: and cw + rw, acquiring the distance from the center of the cooperative mechanical arm mounted on the robot to the center c of the robot body: rc, acquiring the distance required by the center of the cooperative mechanical arm to extend to the wall surface: and rw. p _ L _ N is the left side sanding range of the N +1 th station value in the case where the remaining sanding length L _ gap is greater than the cooperative robot arm left-right maximum sanding range max _ ran and less than 2 times the cooperative robot arm left-right maximum sanding range max _ ran. p _ r _ N is the right side sanding range for the N +1 th station value in the case where the remaining sanding length L _ gap is greater than the cooperative arm left and right maximum sanding range max _ ran and less than 2 times the cooperative arm left and right maximum sanding range max _ ran. When θ is 180 °: x ═ x1+ cw; p _ l _ N ═ right _ N; p _ r _ N — left _ N.
When the theoretical station value M is a special case value of-1, or the residual length after the multiple calculation is more than 0 and less than or equal to the grinding range of the left side and the right side of the grinding mechanical arm, the following steps are carried out: y1- ((2 × j-1) × p _ r- (j-1) × p _ gap + gap), where j is a positive integer and has a value range of (1, 2., (N)).
Optionally, determining the coordinates of the work station of the polishing robot according to the initial orientation and the moving direction of the polishing robot comprises: when the motion direction of the polishing robot moves along the x axis of the coordinate system; determining the movement direction of the polishing robot on an x axis according to the x coordinate of a polishing starting point and the x coordinate of a polishing end point, and determining the y coordinate of a working station of the polishing robot according to the initial orientation of the polishing robot and the distance required by the center of a polishing mechanical arm to extend to a wall surface, wherein the y coordinates of all the working stations are the same, and the distance required by the center of the polishing mechanical arm to extend to the wall surface is determined according to the structure size of the polishing robot; according to the left and right single-side grinding range corresponding to the work station of the grinding robot, the wall space between the grinding robot and other walls needs to be reserved when the grinding robot carries out construction on the wall to be ground, and the overlapping size of the grinding discs of the grinding robot arms, the x coordinate of the work point is determined.
Similar to the principle of the coordinates of the actual working point when the movement direction of the polishing robot is along the y-axis of the coordinate system, when the movement direction of the polishing robot is along the x-axis of the coordinate system, the y-coordinate of the working station is determined first, and then the x-coordinate of the working point is determined.
Step S110, determining polishing task data corresponding to different initial orientations, different numbers of work stations and different movement directions, wherein the polishing task data comprises: the initial orientation of the mechanical arm of polishing, work station quantity, the coordinate of work station, the height of going up and down, unilateral scope of polishing about with.
For example, when the movement direction of the polishing robot is along the y-axis of the coordinate system, the coordinates of the actual working point are (x, y), and then the polishing task data may be:
data [ i ] [ a ] ═ θ °; i.e. the angle of the initial orientation of the grinding robot;
data [ i ] [ O ] ═ n + i; the number of working stations of the polishing robot;
data [ i ] [ X ] ═ X; the x coordinate of the current ith work station;
data [ i ] [ Y ] ═ Y; the y coordinate of the current ith work station;
data [ i ] [ W ] [ b ] [ RAN ] [1] ═ lift _ b; lifting the height;
data [ i ] [ W ] [ b ] [ RAN ] [2] ═ p _ up _ b; polishing the single side;
data [ i ] [ W ] [ b ] [ RAN ] [3] ═ p _ down _ b; the lower single side is polished;
data [ i ] [ W ] [ b ] [ RAN ] [4] ═ p _ l; left unilateral polishing range;
data [ i ] [ W ] [ b ] [ RAN ] [5] ═ p _ r; the right single side is polished;
in the formula, i is an integer, i is in a value range (0, 1., N-1), b is an integer, b is in a value range (0, 1., k-1), and N is an initial station value which is a positive integer.
And step S112, constructing an array under the control system architecture of the polishing robot according to the polishing task data, wherein the array comprises the polishing task data.
The control system architecture can be a json architecture, and the grinding task data can be in data array information.
And S114, storing the array as a control file, and controlling the polishing robot to carry out construction through the control file.
The data array information can be written into a file stream and stored in a robot system, so that the robot can conveniently read in real time and carry out automatic operation or automatic construction operation of other robots of the same type.
Example 2
It should be noted that this embodiment also provides an alternative implementation, which is described in detail below.
The embodiment provides a polishing robot vertical wall polishing method capable of automatically generating polishing technological parameters based on a json architecture under c + +. The wall surface size is not required to be manually measured on site, the polishing process parameter file can be automatically generated by compiling the polishing process algorithm according to the coordinate information of the construction drawing, and the polishing process parameter file is sent to the polishing robot to be automatically executed or simulate the polishing task path of the polishing robot in advance, so that the phenomenon of wall collision is avoided, the manual utilization rate is improved, and time and labor are saved.
According to the method for optimizing the polishing path and the polishing area of the polishing robot along the wall surface and the position information angle judging mode, the walking point positions of the polishing robot can be reduced, the polishing time utilization rate is improved, the overlapped area and the polishing range are automatically calculated, the height of the lifting mechanism is increased, the dead polishing path is not specified, and the condition that the operation effect and the operation efficiency are influenced by a single polishing track is avoided.
According to the embodiment, the field information of the format file can be flexibly changed or increased according to the communication protocols of different iteration versions, and meanwhile, the position information of the building barrier can be increased according to the process requirement, so that the grinding tool is prevented from being damaged.
This embodiment can use on the polishing technology cooperation robot of the same type, or other polishing head of having changed the frock, only need reset equipment body size and polishing head frock size parameter and the scope that polishing robot can polish on this automation algorithm model, the input need polish begin the coordinate and end the coordinate and polishing robot orientation can, or use on other styles need generate the polishing robot of the format file in task route, and wide applicability, the application is strong, and is efficient.
The embodiment realizes the function of automatically generating polishing process parameters according to coordinate information and a polishing process method in three-dimensional X, Y and Z three-dimensional space of the polishing robot, the polishing task data path information and the path file required by the process task range generation system can be automatically generated by inputting the start coordinate and the end coordinate of the wall surface and the orientation angle of the polishing robot, manual calculation is not needed, the occurrence of manual calculation errors is avoided, meanwhile, the polishing robot can automatically move to the polishing position according to the coordinate position in the building without manual intervention in the position of the polishing robot, meanwhile, the algorithm selects the principle of optimization and minimization of the walking point position of the polishing robot when the wall surface area is calculated, unnecessary walking paths are reduced, the time utilization rate is improved, and the polishing efficiency is further improved.
Fig. 2 is a flowchart of a control method of a polishing robot according to an embodiment of the present invention, and as shown in fig. 2, a vertical wall polishing method for automatically generating polishing process parameters by a polishing robot based on a json architecture mainly includes the following steps:
establishing a planar two-dimensional coordinate system World (x, y) based on the relative known building diagram origin on a building space and establishing a grinding robot equipment vehicle body rotation center origin c. In addition, since the grinding robot does not move in the z-axis direction, z is 0 in the point location information output by the vertical wall grinding.
Step two, obtaining the information of the constant size of the polishing robot: confirm the length (unit/mm) of the grinding robot: car _ l, width of the sanding robot (unit/mm): car _ w, which may be the length and width of the robot body of the above-described polishing robot, obtains the distance from the center of the polishing arm mounted on the polishing robot to the center c of the body of the polishing robot: rc, obtain the center of the arm of polishing and extend to the required distance of wall: rw; thereby confirm the distance of polishing robot automobile body center to wall: and cw ═ rc + rw, the radius of the polishing disk mounted on the polishing robot arm is confirmed: r, thereby confirming the sanding overlap interval: p _ gap ═ R.
Step three, establishing a vector direction with the center of the grinding mechanical arm base as the original point, wherein the left side is a positive direction, the right side is a negative direction, the upper side is the positive direction, the lower side is the negative direction, and the maximum grinding range of the left side with the center of the grinding mechanical arm as the original point is confirmed: left _ max and right maximum buff range: right _ max, confirming left and right maximum sanding ranges: max _ ran, upper maximum sanding range: up _ max and lower maximum sanding range down _ max, and finally confirming the lowest height of the lifting mechanism of the sanding robot on which the sanding robot is mounted: lift _ min.
Step four, establishing a rule of an orientation angle theta of the grinding mechanical arm head relative to the wall surface in a building coordinate system, taking the direction of the grinding mechanical arm head as positive, advancing along the positive direction of the X axis of the three-dimensional space, and taking the orientation angle theta when the grinding mechanical arm head and the X axis are vertical as follows: 0 degree; the direction angle theta is as follows when the three-dimensional space is moved forward along the X-axis negative direction and the required ground wall surface is vertical to the X-axis: 180 degrees; the orientation angle theta when advancing along the positive direction of the Y axis of the three-dimensional space and polishing the wall surface is vertical to the Y axis is as follows: 90 degrees; the orientation angle theta is as follows when the wall surface to be polished is moved forward along the Y-axis negative direction of the three-dimensional space and the required polished wall surface is vertical to the Y-axis: -90 °.
Step five, acquiring a start coordinate (x1, y1) and an end coordinate (x2, y2) of coordinate information of the wall surface to be polished and a height value H of the distance ceiling on a planar two-dimensional space coordinate system World (x, y) of the building, and then calculating the length L (unit/mm) of the wall surface to be polished:
Figure BDA0002781068890000141
step six, calculating the left and right maximum polishing range of the polishing mechanical arm: max _ ran, ideally centered on the mounting base of the grinding robot arm, should have the same left and right grinding ranges, but due to the positional obstruction relationship mounted on the machine body, the left and right grinding ranges may differ, the minimum of the left and right maximum grinding ranges: max _ ran ═ MIN (left _ max, right _ max); where MIN (a, b) is a function taking the minimum of two values.
Step seven, calculating the first-order height of the lifting mechanism: lift _1, in order to prevent the grinding disc from colliding with another wall, a distance interval is set, namely, the interval between the wall surface to be ground and the other wall surface: gap, which is typically set at 100mm, and ideally also at 0;
7.1) when the lowest height value of the lifting mechanism installation is larger than or equal to the sum of the maximum grinding range down _ max below the grinding mechanical arm and the distance gap from the ground, the first-stage execution height value is equal to the lowest height of the lifting mechanism, namely when lift _ min > (down _ max + gap): lift _1 is lift _ min;
7.2) when the lowest height value of the lifting mechanism installation is less than the sum of the maximum lower grinding range down _ max and the interval gap from the ground, performing the sum of the height value equal to the maximum lower grinding range down _ max and the interval gap from the ground by one stage, namely when lift _ min < (down _ max + gap): lift _1 is down _ max + gap.
Step eight, calculating the number k of the upward movement of the lifting mechanism:
8.1) when the height value H of the wall surface to be polished is greater than the sum of the first-level height lift _1 and the upper maximum polishing range up _ max of the lifting mechanism, calculating the multiple relation of the height value H of the wall surface to be polished, the upper maximum polishing range up _ max, the lower maximum polishing range down _ max and the sum of the intervals gap from the ground, namely when H > (lift _1+ up _ max): k ═ ceil ((H-2 × gap-p _ gap)/(up _ max + down _ max-p _ gap)); in the formula, the ceil () function is an rounding-up function;
8.2) when the height value H is less than the sum of the upper maximum sanding range up _ max and the primary height lift _1 of the lifting mechanism, i.e. when H >0& & H < (lift _1+ up _ max): k is 1.
And step nine, calculating the polishing ranges of the polishing mechanical arm at the upper side p _ up _ b and the lower side p _ dow _ b corresponding to the number k of the lifting mechanisms and the height value lift _ b (note: b is a positive integer) which should be increased by the corresponding lifting mechanism.
9.1) when the number k is 1, calculating the grinding ranges of the upper side p _ up _1 and the lower side p _ down _1 of the grinding mechanical arm, and when the height value H is less than the first height value lift _1 of the lifting mechanism, namely when H < lift _ H _ 1: p _ up _1 ═ - (lift _ H _ 1-H); p _ down _1 ═ - (lift _ H _ 1-gap).
9.2) when the step number k is 1, the height value H is greater than the lift-mechanism one-step height value lift _ H _1 and less than the sum of the upper maximum sanding range up _ max and the lower maximum sanding range down _ max, i.e. H > lift _1& & H < (lift _1+ up _ max): p _ up _1 ═ H-lift _ 1-gap; p _ down _1 ═ down _ max.
9.3) when the number of steps k > is 2, calculating the polishing range of the upper side p _ up _ b and the lower side p _ down _ b of the polishing mechanical arm and the number of steps height value lift _ b of the lifting mechanism, wherein b < (k-1), b is a positive integer, b is 1,2, k-1:
p _ down _ b is-down _ max; the corresponding b-level lifting mechanism height value lift _ b is as follows: lift _ b is lift _1+ (b-1) (up _ max + down _ max) - (b-1) × p _ gap.
The residual grinding height value H _ gap at the moment: h _ gap ═ H-lift _ H _ (k-1) -up _ max + p _ gap.
If H _ gap is less than up _ max, the two-level polishing ranges of the upper side p _ up _ k and the lower side p _ down _ k and the second-level height value lift _ H _2 of the lifting mechanism are respectively as follows: p _ up _ k is H _ gap-gap + p _ gap; p _ down _ k is 0; lift _ k is lift _ H _ (k-1) + up _ max-p _ gap.
If H _ gap > up _ max & & H _ gap < (up _ max + down _ max), the grinding ranges of the upper side p _ up _ k and the lower side p _ down _ k and the second-level height value lift _ k of the lifting mechanism are respectively as follows: p _ up _ k ═ up _ max; p _ down _ k ═ - (H _ gap-up _ max-gap + p _ gap); lift _ k is lift _ H _ (k-1) + H _ gap-gap.
Step ten, calculating a theoretical station number M of the grinding robot for grinding along the wall surface movement and obtaining a station number N (M and N are positive integers) under the optimization setting, wherein the theoretical station number M can be obtained by calculating the wall surface length L, the gap between the theoretical station number M and the wall surface and the area required to be overlapped by the grinding disc from the theoretical station number M: m ═ int ((L-2 × gap-p _ gap)/(2 × max _ ran-p _ gap)); in equation, the int () function is a floor function.
Taking the positive integer M times, and obtaining the length value L _ gap: l _ gap ═ L-M (2 × max _ ran-p _ gap).
Step eleven, solving for the actual optimal number of stations N, the optimal left and right single-side polishing range p _ r, the left side polishing range p _ l and the right side polishing range p _ r on the basis of the optimal number of stations and the polishing area with the maximum efficiency as far as possible.
11.1) if the theoretical value station number M is greater than or equal to 1 and the remaining grinding length L _ gap is greater than 0 and smaller than the grinding disc outer radius, i.e. M > 1& & L _ gap < (R & & L _ gap > 0.001: n is M; p _ r ═ max _ ran; p _ l ═ max _ ran; p _ r ═ -max _ ran.
11.2) if the theoretical value station number M is greater than or equal to 1 and the remaining sanding length L _ gap is greater than the sanding disc outer radius and less than the sanding robot arm left and right maximum sanding range max _ ran, i.e., M > <1& & L _ gap > R & & L _ gap < max _ ran, then it is available: n is M + 1; p _ r ═ L-2 × gap-p _ gap)/(2 × N) + p _ gap/2; p _ l ═ p _ r; p _ r is-p _ r.
11.3) if the theoretical number of stations M is greater than or equal to 1 and the remaining sanding length L _ gap is greater than the left and right maximum sanding range max _ ran of the sanding robot arm and less than 2 times the left and right maximum sanding range max _ ran of the sanding robot arm, then there are different previous calculation methods for the left side sanding range left _ N and the right side sanding range right _ N of the N stations, that is, when M > (1 & L _ gap > max _ ran & & L _ gap < (2) > max _ ran): n is M; p _ r ═ max _ ran; p _ l ═ max _ ran; p _ r ═ -max _ ran; left _ N ═ L _ gap-max _ ran + gap; right _ N ═ p _ r.
11.4) if the theoretical value station number M is between 0 and 1, the maximum range of one-side grinding of the grinding mechanical arm of which the grinding length L minus the space between the two sides and the wall surface is larger than the width car _ w of the grinding robot body and smaller than 2 times, namely car _ w < (L-2 × gap) & (L-2 × gap) < (2 × max _ ran), is as follows: m ═ 1; (reassign the theoretical station number M, which indicates a special case value); n is 1; p _ r ═ (L-2 × gap)/2; p _ l ═ p _ r; p _ r is-p _ r.
Step twelve, setting array data under a jsonnpp framework, wherein W is work data indicating the array data, RAN is a polishing task data range indicating the data storage of the array data, A is an initial polishing mechanical arm orientation angle theta indicating the data storage of the array data, O is the number of current work stations indicating the data storage of the array data, X is an X coordinate indicating the current work stations under the data storage of the array data, and Y is a Y coordinate indicating the current work stations under the data storage of the array.
Thirteenth, next, coordinate information (x, Y) of the movement of the grinding robot in the Y-axis and grinding task data (p _ l, p _ r, p _ up, p _ down, lift _ b) are calculated, wherein b takes on positive integers, 1, ·, k, when absolute values between the start coordinate x1 and the end coordinate x2 in the x-axis direction are unchanged and the width value in the Y-axis direction is greater than 100, the start coordinate Y1 is greater than Y2, the number N of actual stations is greater than or equal to 1, and when the grinding robot head is oriented to θ ° is equal to 0 ° or equal to 180 °, fabs (x1-x2) <1& & fabs (Y1-Y2) >100& & Y1> Y2& & N > & & & (θ & & ═ 0| | | | θ ═ 180 ═ in the equation, the absolute value of the fabs () is calculated as a function between two absolute values.
When orientation angle θ is equal to 0 °, the x-axis coordinate and task information data where the polishing robot should be located, that is, when θ is equal to 0 °, there are: x is x 1-cw; p _ l _ N is left _ N; p _ r _ N ═ right _ N; in the formula, p _ L _ N is a left side sanding range of the N +1 th station value in the case where the remaining sanding length L _ gap is greater than the left-right maximum sanding range max _ ran of the sanding robot arm and less than 2 times the left-right maximum sanding range max _ ran of the sanding robot arm, as follows.
When θ is 180 °: x ═ x1+ cw; p _ l _ N ═ right _ N; p _ r _ N — left _ N.
13.1) when the theoretical station value M is a special case value of-1, or the calculated residual length L _ gap after multiple is greater than 0 and less than or equal to the single side grinding range max _ ran of the grinding robot arm, i.e. (M ═ 1| | | L _ gap [ -max _ ran & & L _ gap > 0.001): y1- ((2 × j-1) × p _ r- (j-1) × p _ gap + gap); in the formula, j is a positive integer, and the value range is (1, 2., N), then:
data[i][A]＝θ°；
data[i][O]＝(n+i)；
data[i][X]＝x；
data[i][Y]＝y；
data[i][W][b][RAN][1]＝lift_b；
data[i][W][b][RAN][2]＝p_up_b；
data[i][W][b][RAN][3]＝p_down_b；
data[i][W][b][RAN][4]＝p_l；
data[i][W][b][RAN][5]＝p_r；
in the formula, i is an integer, i is a value range (0, 1.,. N-1), b is an integer, b is a value range (0, 1.,. k-1), and N is an initial site value which is a positive integer, as follows.
13.2) when the theoretical station value M is greater than or equal to 1 and the calculated multiple residual length L _ gap is greater than the left and right maximum sanding range max _ ran of the sanding robot arm and less than or equal to 2 times the left and right maximum sanding range max _ ran of the sanding robot arm, then:
y＝y1-((2*j-1)*p_r-(j-1)*p_gap+gap)；
(note: j is a positive integer with a value range of (1, 2., N))
data[i][A]＝θ°；
data[i][O]＝(n+i)；
data[i][X]＝x；
data[i][Y]＝y；
data[i][W][b][RAN][1]＝lift_b；
data[i][W][b][RAN][2]＝p_up_b；
data[i][W][b][RAN][3]＝p_down_b；
data[i][W][b][RAN][4]＝p_l；
data[i][W][b][RAN][5]＝p_r；
In the formula, i is an integer, i is in a value range (0, 1., N-1), b is an integer, b is in a value range (0, 1., k-1), and N is an initial station value which is a positive integer.
If y _ N ═ y1- ((2 × N-1) × p _ r- (N-1) × p _ gap + gap) -L _ gap; in the formula, y _ N is the y coordinate value of the station number (N +1), and the coordinate information and the working data of the station operation (N +1) are as follows:
data[N][A]＝θ°；
data[N][O]＝(n+N)；
data[N][X]＝x；
data[N][Y]＝y_N；
data[N][W][b][RAN][1]＝lift_b；
data[N][W][b][RAN][2]＝p_up_b；
data[N][W][b][RAN][3]＝p_down_b；
data[N][W][b][RAN][4]＝p_l_N；
data[N][W][b][RAN][5]＝p_r_N；
in the formula, i is an integer, i is a value range (0, 1.,. N-1), b is an integer, b is a value range (0, 1.,. k-1), and N is an initial site value which is a positive integer, as follows.
Step fourteen, when the absolute value between the starting coordinate x1 and the ending coordinate x2 in the x-axis direction is unchanged, the width value in the Y-axis direction is greater than 100, the starting coordinate Y1 is smaller than Y2, the grinding robot moves in the positive direction of the Y-axis, the number of the actual station points N is greater than or equal to 1, and the direction theta of the grinding robot arm head is equal to 0 degree or equal to 180 degrees: when fabs (x1-x2) <1& & fabs (y1-y2) >100& & y1< y2& & N > 1& (θ ═ 0| | | θ ═ 180)), the fabs () function is a function of absolute value between two numbers, and when the orientation angle θ is equal to 0 °, the x-axis coordinate and task information data where the grinding robot should be located, that is, when θ is 0 °, there are: x is x 1-cw; p _ l _ N is left _ N; p _ r _ N ═ right _ N; in the formula, p _ L _ N is a left side sanding range of the N +1 th station value under the condition that the remaining sanding length L _ gap is greater than the left and right maximum sanding range max _ ran of the sanding mechanical arm and is less than 2 times of the left and right maximum sanding range max _ ran of the sanding mechanical arm, and the same is as follows; when θ is 180 °: x ═ x1+ cw; p _ l _ N ═ right _ N; p _ r _ N — left _ N.
14.1) when the theoretical station value M is a special case value of-1, or the calculated residual length L _ gap after the multiple is greater than 0 and less than or equal to the maximum sanding range max _ ran around the sanding robot arm, i.e., (M ═ 1| | | L _ gap < ═ max _ ran & & L _ gap > 0.001): y1+ ((2 j-1) p _ r- (j-1) p _ gap + gap); in the formula, j is a positive integer, and the value range is (1, 2., N), then:
data[i][A]＝θ°；
data[i][O]＝(n+i)；
data[i][X]＝x；
data[i][Y]＝y；
data[i][W][b][RAN][1]＝lift_b；
data[i][W][b][RAN][2]＝p_up_b；
data[i][W][b][RAN][3]＝p_down_b；
data[i][W][b][RAN][4]＝p_l；
data[i][W][b][RAN][5]＝p_r；
in the formula, i is an integer, i is a value range (0, 1.,. N-1), b is an integer, b is a value range (0, 1.,. k-1), and N is an initial site value which is a positive integer, as follows.
14.2) when the theoretical station value M is greater than or equal to 1 and the calculated multiple residual length L _ gap is greater than the left and right maximum sanding range max _ ran of the sanding robot arm and less than or equal to 2 times the left and right maximum sanding range max _ ran of the sanding robot arm, then: y1+ ((2 j-1) p _ r- (j-1) p _ gap + gap); in the formula, j is a positive integer and has a value range of (1, 2., N),
data[i][A]＝θ°；
data[i][O]＝(n+i)；
data[i][X]＝x；
data[i][Y]＝y；
data[i][W][b][RAN][1]＝lift_b；
data[i][W][b][RAN][2]＝p_up_b；
data[i][W][b][RAN][3]＝p_down_b；
data[i][W][b][RAN][4]＝p_l；
data[i][W][b][RAN][5]＝p_r；
in the formula, i is an integer, i is in a value range (0, 1., N-1), b is an integer, b is in a value range (0, 1., k-1), and N is an initial station value which is a positive integer.
If y _ N ═ y1+ ((2 × N-1) × p _ r- (N-1) × p _ gap + gap) + L _ gap; in the formula, y _ N is the y coordinate value of the station number (N +1), and the coordinate information and the working data of the station operation (N +1) are as follows:
data[N][A]＝θ°；
data[N][O]＝(n+N)；
data[N][X]＝x；
data[N][Y]＝y_N；
data[N][W][b][RAN][1]＝lift_b；
data[N][W][b][RAN][2]＝p_up_b；
data[N][W][b][RAN][3]＝p_down_b；
data[N][W][b][RAN][4]＝p_l_N；
data[N][W][b][RAN][5]＝p_r_N；
in the formula, i is an integer, i is a value range (0, 1.,. N-1), b is an integer, b is a value range (0, 1.,. k-1), and N is an initial site value which is a positive integer, as follows.
Fifteenth, when the absolute value between the start coordinate y1 and the end coordinate y2 in the y-axis direction is unchanged, the width value in the x-axis direction is greater than 100, the start coordinate x1 is greater than x2, the grinding robot moves in the x-axis negative direction, the number N of the actual stations is greater than or equal to 1, and the grinding robot arm head faces to an angle theta ° which is equal to 90 ° or equal to-90 °: when fabs (x1-x2) >100& & fabs (y1-y2) <1& & x1> x2& & N > (θ ═ 90| | | θ ═ 90)), in the formula, the fabs () function is a function of finding an absolute value between two numbers, and when the orientation angle θ is equal to 90 °, the y-axis coordinate and the task information data where the grinding robot should be located, that is, when θ is 90 °, there are: y 1-cw; p _ l _ N ═ right _ N; p _ r _ N ═ -left _ N; in the formula, p _ L _ N is a left side sanding range of the N +1 th station value in the case where the remaining sanding length L _ gap is greater than the left-right maximum sanding range max _ ran of the sanding robot arm and less than 2 times the left-right maximum sanding range max _ ran of the sanding robot arm, as follows.
When θ is-90 ° there are: y1+ cw; p _ l _ N is left _ N; p _ r _ N ═ right _ N.
15.1) when the theoretical station value M is a special case value of-1, or the calculated residual length L _ gap after multiple is greater than 0 and less than or equal to the single side grinding range max _ ran of the grinding robot arm, i.e. (M ═ 1| | | L _ gap [ -max _ ran & & L _ gap > 0.001): x is x1- ((2 x j-1) p _ r- (j-1) p _ gap + gap); in the formula, j is a positive integer, and the value range is (1, 2., N), then:
data[i][A]＝θ°；
data[i][O]＝(n+i)；
data[i][X]＝x；
data[i][Y]＝y；
data[i][W][b][RAN][1]＝lift_b；
data[i][W][b][RAN][2]＝p_up_b；
data[i][W][b][RAN][3]＝p_down_b；
data[i][W][b][RAN][4]＝p_l；
data[i][W][b][RAN][5]＝p_r；
in the formula, i is an integer, i is a value range (0, 1.,. N-1), b is an integer, b is a value range (0, 1.,. k-1), and N is an initial site value which is a positive integer, as follows.
15.2) when the theoretical station value M is greater than or equal to 1 and the calculated multiple residual length L _ gap is greater than the grinding range max _ ran on one side of the grinding mechanical arm and less than or equal to 2 times of the left and right maximum grinding range max _ ran of the grinding mechanical arm, then: x is x1- ((2 x j-1) p _ r- (j-1) p _ gap + gap); wherein j is a positive integer and has a value range of (1, 2., N)
data[i][A]＝θ°；
data[i][O]＝(n+i)；
data[i][X]＝x；
data[i][Y]＝y；
data[i][W][b][RAN][1]＝lift_b；
data[i][W][b][RAN][2]＝p_up_b；
data[i][W][b][RAN][3]＝p_down_b；
data[i][W][b][RAN][4]＝p_l；
data[i][W][b][RAN][5]＝p_r；
In the formula, i is an integer, i is in a value range (0, 1., N-1), b is an integer, b is in a value range (0, 1., k-1), and N is an initial station value which is a positive integer.
If x _ N ═ x1- ((2 × N-1) × p _ r- (N-1) × p _ gap + gap) -L _ gap; in the formula, x _ N is the x coordinate value of the station number (N +1), and the coordinate information and the working data of the station operation (N +1) are as follows:
data[N][A]＝θ°；
data[N][O]＝(n+N)；
data[N][X]＝x；
data[N][Y]＝y_N；
data[N][W][b][RAN][1]＝lift_b；
data[N][W][b][RAN][2]＝p_up_b；
data[N][W][b][RAN][3]＝p_down_b；
data[N][W][b][RAN][4]＝p_l_N；
data[N][W][b][RAN][5]＝p_r_N；
in the formula, i is an integer, i is a value range (0, 1.,. N-1), b is an integer, b is a value range (0, 1.,. k-1), and N is an initial site value which is a positive integer, as follows.
Sixthly, when the absolute numerical value between the starting coordinate y1 and the ending coordinate y2 in the y-axis direction is unchanged, the width value in the x-axis direction is larger than 100, the starting coordinate x1 is smaller than x2, the grinding mechanical arm moves in the positive direction of the x-axis, the number N of the actual stations is larger than or equal to 1, and the direction theta degrees of the grinding mechanical arm head are equal to 90 degrees or equal to minus 90 degrees: when fabs (x1-x2) >100& & fabs (y1-y2) <1& & x1< x2& & N > 1& (θ ═ 90| | | θ ═ -90)), where the fabs () function is a function that finds the absolute value between two numbers, when the orientation angle θ is equal to 90 °, the y-axis coordinate and task information data where the sanding robot should be, that is, when θ is 90 °, there are: y 1-cw; p _ l _ N ═ right _ N; p _ r _ N ═ -left _ N; in the formula, p _ L _ N is a left side sanding range of the N +1 th station value in the case where the remaining sanding length L _ gap is greater than the left-right maximum sanding range max _ ran of the sanding robot arm and less than 2 times the left-right maximum sanding range max _ ran of the sanding robot arm, as follows.
When θ is-90 ° there are: y1+ cw; p _ l _ N is left _ N; p _ r _ N ═ right _ N.
16.1) when the theoretical station value M is a special case value of-1, or the calculated multiple remaining length L _ gap is greater than 0 and less than or equal to the single side grinding range max _ ran of the grinding robot arm, i.e. (M ═ 1| | | L _ gap < ═ max _ ran & & L _ gap > 0.001): x-x 1+ ((2 x j-1) p _ r- (j-1) p _ gap + gap); in the formula, j is a positive integer, and the value range is (1, 2., N), then:
data[i][A]＝θ°；
data[i][O]＝(n+i)；
data[i][X]＝x；
data[i][Y]＝y；
data[i][W][b][RAN][1]＝lift_b；
data[i][W][b][RAN][2]＝p_up_b；
data[i][W][b][RAN][3]＝p_down_b；
data[i][W][b][RAN][4]＝p_l；
data[i][W][b][RAN][5]＝p_r；
in the formula, i is an integer, i is a value range (0, 1.,. N-1), b is an integer, b is a value range (0, 1.,. k-1), and N is an initial site value which is a positive integer, as follows.
16.2) when the theoretical station value M is more than or equal to 1 and the calculated multiple residual length L _ gap is more than the grinding range max _ ran of the single side of the grinding mechanical arm and less than or equal to 2 times of the left and right maximum grinding range max _ ran of the grinding mechanical arm, then the following steps are carried out: x-x 1+ ((2 x j-1) p _ r- (j-1) p _ gap + gap); wherein j is a positive integer and has a value range of (1, 2., N)
data[i][A]＝θ°；
data[i][O]＝(n+i)；
data[i][X]＝x；
data[i][Y]＝y；
data[i][W][b][RAN][1]＝lift_b；
data[i][W][b][RAN][2]＝p_up_b；
data[i][W][b][RAN][3]＝p_down_b；
data[i][W][b][RAN][4]＝p_l；
data[i][W][b][RAN][5]＝p_r；
In the formula, i is an integer, i is in a value range (0, 1., N-1), b is an integer, b is in a value range (0, 1., k-1), and N is an initial station value which is a positive integer.
If x _ N ═ x1+ ((2 × N-1) × p _ r- (N-1) × p _ gap + gap) + L _ gap; in the formula, x _ N is the x coordinate value of the station number (N +1), and the coordinate information and the working data of the station operation (N +1) are as follows:
data[N][A]＝θ°；
data[N][O]＝(n+N)；
data[N][X]＝x；
data[N][Y]＝y_N；
data[N][W][b][RAN][1]＝lift_b；
data[N][W][b][RAN][2]＝p_up_b；
data[N][W][b][RAN][3]＝p_down_b；
data[N][W][b][RAN][4]＝p_l_N；
data[N][W][b][RAN][5]＝p_r_N；
in the formula, i is an integer, i is in a value range (0, 1., N-1), b is an integer, b is in a value range (0, 1., k-1), and N is an initial station value which is a positive integer.
Seventhly, writing the obtained data array information into a file stream, and storing the file stream into a polishing robot system, so that the polishing robot can conveniently read the data in real time and carry out automatic operation or other automatic operation of polishing robots of the same type.
Example 3
Fig. 3 is a schematic view of a control apparatus of a wall surface grinding robot according to an embodiment of the present invention, and as shown in fig. 3, according to another aspect of the embodiment of the present invention, there is also provided a control apparatus of a wall surface grinding robot, including: a first determination module 302, a second determination module 304, a third determination module 306, a fourth determination module 308, a fifth determination module 310, a build module 312, and a polish module 314, which are described in more detail below.
A first determining module 302 for determining an initial orientation of a grinding robot arm of a grinding robot; a second determining module 304, connected to the first determining module 302, for determining the number of lifting steps of the polishing robot, the lifting height of the polishing robot at each lifting step, and the polishing range of the upper and lower single edges; a third determining module 306, connected to the second determining module 304, configured to determine, according to the wall length of the wall to be polished, the number of work stations where the polishing robot performs construction on the wall to be polished, and the polishing range of the polishing robot on each of the left and right sides of the station; a fourth determining module 308 connected to the third determining module 306, for determining coordinates of a working station of the polishing robot according to the initial orientation and the moving direction of the polishing robot; a fifth determining module 310, connected to the fourth determining module 308, for determining polishing task data corresponding to different initial orientations, different numbers of stations, and different moving directions, wherein the polishing task data includes: the initial orientation of the grinding mechanical arms, the number of the working stations, the coordinates of the working stations, the lifting height, the grinding ranges of the upper and lower single sides and the grinding ranges of the left and right single sides; a building module 312, connected to the fifth determining module 310, configured to build an array under a control system architecture of the polishing robot according to the polishing task data, where the array includes the polishing task data; and the polishing module 314 is connected to the building module 312, and is configured to store the array as a control file, and control the polishing robot to perform construction through the control file.
By the device, the initial orientation of the grinding mechanical arm of the grinding robot is determined by the first determining module 302; the second determining module 304 determines the number of the lifting stages of the polishing robot, the lifting height of the polishing robot in each lifting stage and the polishing range of the upper and lower single edges; the third determining module 306 determines the number of work stations where the polishing robot performs construction on the wall to be polished and the polishing range of the polishing robot on the left side and the right side of each station according to the wall length of the wall to be polished; the fourth determining module 308 determines coordinates of a work station of the polishing robot according to the initial orientation and the moving direction of the polishing robot; the fifth determining module 310 determines polishing task data corresponding to different initial orientations, different numbers of stations, and different directions of movement, wherein the polishing task data includes: the initial orientation of the grinding mechanical arms, the number of the working stations, the coordinates of the working stations, the lifting height, the grinding ranges of the upper and lower single sides and the grinding ranges of the left and right single sides; the construction module 312 constructs an array under a control system architecture of the polishing robot according to the polishing task data, wherein the array includes the polishing task data; the module 314 of polishing saves the array as the control file, the mode of construction is carried out to the robot of polishing through control file control, the polishing parameter of the robot of polishing is confirmed automatically, including initial orientation, the height goes up and down, unilateral polishing scope about with, confirm the task parameter of polishing, through the work of the robot of polishing of task parameter control, the purpose of the automatic task data that generates of polishing according to the polishing parameter of the robot of polishing has been reached, thereby the technical effect of work efficiency and the work degree of accuracy of the robot of polishing has been realized improving, and then the mode of the wall of polishing of the machine among the correlation technique has been solved, need the manual parameter of polishing of input, low efficiency, the technical problem of making mistakes easily.
According to another aspect of the embodiments of the present invention, there is also provided a computer storage medium including a stored program, wherein when the program runs, an apparatus in which the computer storage medium is located is controlled to execute the method for controlling a wall surface grinding robot according to any one of the above.
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, wherein the program executes the control method of the wall surface grinding robot in any one of the above aspects.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A control method of a wall surface grinding robot is characterized by comprising the following steps:
determining the initial orientation of a grinding mechanical arm of the grinding robot;
determining the number of lifting stages of the polishing robot, the lifting height of the polishing robot in each lifting stage and the polishing range of an upper single edge and a lower single edge;
determining the number of working stations of the polishing robot for construction on the wall to be polished and the polishing range of the polishing robot on the left side and the right side of each station according to the wall length of the wall to be polished;
determining coordinates of a work station of the polishing robot according to the initial orientation and the movement direction of the polishing robot;
determining polishing task data corresponding to different initial orientations, different numbers of work stations, and different directions of movement, wherein the polishing task data comprises: the initial orientation of the grinding mechanical arms, the number of the working stations, the coordinates of the working stations, the lifting height, the grinding ranges of the upper and lower single sides and the grinding ranges of the left and right single sides;
constructing an array under a control system architecture of the polishing robot according to the polishing task data, wherein the array comprises the polishing task data;
and storing the array as a control file, and controlling the polishing robot to carry out construction through the control file.
2. The method of claim 1, wherein determining an initial orientation of a grinding robot arm of a grinding robot comprises:
establishing a coordinate system relative to a known building;
determining a vector direction with the center of a coordinate system as an origin and determining a rule of the orientation angle of the polishing robot;
and determining an initial orientation angle of the grinding robot in the current pose according to the vector direction and the orientation angle determination rule.
3. The method of claim 2, wherein determining the number of stages of ascent and descent of the grinding robot, and the elevation height and upper and lower single-sided grinding ranges of the grinding robot at each stage of ascent and descent stages comprises:
determining a first-order height of the lifting mechanism according to the lowest mounting height of the lifting mechanism on the polishing robot, the upper and lower maximum polishing ranges of the polishing mechanical arms and the wall space between the polishing mechanical arms and other walls which needs to be reserved when the polishing mechanical arms are used for constructing the wall to be polished;
determining the lifting stages according to the height of the wall surface to be polished, the first-order height, the maximum polishing range of the polishing mechanical arm, the wall surface interval between the polishing mechanical arm and other wall surfaces to be reserved when the polishing mechanical arm is used for constructing the wall surface to be polished, and the overlapping size of polishing discs of the polishing mechanical arm;
and determining the lifting height and the upper and lower single-side grinding range of the grinding robot in each lifting stage according to the first-stage height, the lifting stage, the upper and lower maximum grinding range of the grinding mechanical arm and the grinding disc overlapping size of the grinding mechanical arm.
4. The method as claimed in claim 3, wherein determining the number of work stations where the grinding robot performs construction on the wall surface to be ground according to the wall surface length of the wall surface to be ground, and the grinding robot before the left and right one-sided grinding ranges of each station comprises:
determining a starting point coordinate and an end point coordinate of a wall surface to be polished;
and determining the length of the polished wall surface according to the starting point coordinate and the end point coordinate.
5. The method of claim 4, wherein the number of work stations where the grinding robot performs construction on the wall surface to be ground is determined according to the wall surface length of the wall surface to be ground, and the grinding range of the grinding robot on the left and right sides of each station comprises:
determining the theoretical number of working stations of the polishing robot for constructing the wall to be polished according to the length of the wall, the wall space between the wall to be polished and other walls to be reserved when the wall to be polished is constructed by the polishing mechanical arm, and the polishing overlapping size when the wall to be polished is constructed by the polishing mechanical arm;
under the condition that the theoretical number is more than or equal to 1, determining the residual polishing length of the wall surface to be polished when the polishing robot is constructed by the theoretical number of the work stations according to the wall surface length, the theoretical number of the work stations, the wall surface interval between the polishing robot and other wall surfaces to be reserved when the polishing robot carries out construction on the wall surface to be polished, and the left and right maximum polishing ranges of the mechanical arms;
determining whether working stations need to be added or not according to the relation between the residual grinding length and the grinding disc size of the grinding mechanical arms of the grinding robot, determining the actual number of the working stations, and determining the grinding range of the left side and the right side of the actual number of the working stations according to the wall length, wherein the wall space between the grinding mechanical arms and other walls needs to be reserved when the grinding mechanical arms construct the wall to be ground;
theoretical quantity is less than 1 under the circumstances, confirms the actual quantity of workstation is 1, according to wall length, it is right to polish the robotic arm need remain with the wall interval of other walls when waiting to polish the wall and constructing, polishing robot's width, polishing disc overlapping size of polishing the robotic arm, and the biggest polishing scope of polishing about the robotic arm confirms single side polishing scope about the workstation that polishing robot an reality corresponds, wherein, polishing robot's width basis polishing robot's structural dimension confirms.
6. The method of claim 5, wherein determining coordinates of a work station of the abrading robot based on the initial orientation and a direction of motion of the abrading robot comprises:
when the motion direction of the grinding robot is along the y axis of the coordinate system, wherein the y axis and the x axis are positioned on the horizontal plane;
determining the motion direction of the grinding robot on the y axis according to the y coordinate of the grinding starting point and the y coordinate of the grinding finishing point, and determining the x coordinate of the working stations of the grinding robot according to the initial orientation of the grinding robot and the distance required by the center of the grinding mechanical arm to extend to the wall surface, wherein the x coordinates of all the working stations are the same, and the distance required by the center of the grinding mechanical arm to extend to the wall surface is determined according to the structural size of the grinding robot;
according to the left and right single-side grinding range corresponding to the work station of the grinding robot, the grinding mechanical arm is right the wall space between the wall to be ground and other walls needs to be reserved when the wall to be ground is constructed, the grinding disc overlapping size of the grinding mechanical arm is used for determining the y coordinate of the work point.
7. The method of claim 5, wherein determining coordinates of a work station of the abrading robot based on the initial orientation and a direction of motion of the abrading robot comprises:
when the movement direction of the polishing robot is along the x axis of the coordinate system;
determining the movement direction of the grinding robot on the x axis according to the x coordinate of a grinding starting point and the x coordinate of a grinding finishing point, and determining the y coordinate of a working station of the grinding robot according to the initial direction of the grinding robot and the distance required by the center of the grinding mechanical arm to extend to the wall surface, wherein the y coordinates of all the working stations are the same, and the distance required by the center of the grinding mechanical arm to extend to the wall surface is determined according to the structural size of the grinding robot;
according to the left and right single-side grinding range corresponding to the work station of the grinding robot, the grinding mechanical arm is right the wall space between the wall to be ground and other walls needs to be reserved when the wall to be ground is constructed, the grinding disc overlapping size of the grinding mechanical arm is used for determining the x coordinate of the work point.
8. The utility model provides a wall grinding robot's controlling means which characterized in that includes:
the first determining module is used for determining the initial orientation of a grinding mechanical arm of the grinding robot;
the second determining module is used for determining the number of lifting stages of the polishing robot, the lifting height of the polishing robot in each lifting stage and the polishing range of the upper and lower single edges;
the third determining module is used for determining the number of working stations of the polishing robot for construction on the wall surface to be polished and the polishing range of the polishing robot on the left side and the right side of each station according to the wall surface length of the wall surface to be polished;
the fourth determining module is used for determining the coordinates of the working station of the polishing robot according to the initial orientation and the movement direction of the polishing robot;
a fifth determining module, configured to determine polishing task data corresponding to different initial orientations, different numbers of work stations, and different movement directions, where the polishing task data includes: the initial orientation of the grinding mechanical arms, the number of the working stations, the coordinates of the working stations, the lifting height, the grinding ranges of the upper and lower single sides and the grinding ranges of the left and right single sides;
the construction module is used for constructing an array under a control system architecture of the polishing robot according to the polishing task data, wherein the array comprises the polishing task data;
and the polishing module is used for saving the array as a control file and controlling the polishing robot to carry out construction through the control file.
9. A computer storage medium comprising a stored program, wherein the program, when executed, controls an apparatus in which the computer storage medium is located to perform the method of controlling a wall surface grinding robot according to any one of claims 1 to 7.
10. A processor for executing a program, wherein the program is operable to execute the method of controlling a wall surface grinding robot according to any one of claims 1 to 7.
CN202011281899.0A 2020-11-16 2020-11-16 Control method and device for wall surface polishing robot Active CN112428050B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011281899.0A CN112428050B (en) 2020-11-16 2020-11-16 Control method and device for wall surface polishing robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011281899.0A CN112428050B (en) 2020-11-16 2020-11-16 Control method and device for wall surface polishing robot

Publications (2)

Publication Number Publication Date
CN112428050A true CN112428050A (en) 2021-03-02
CN112428050B CN112428050B (en) 2022-02-25

Family

ID=74700125

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011281899.0A Active CN112428050B (en) 2020-11-16 2020-11-16 Control method and device for wall surface polishing robot

Country Status (1)

Country Link
CN (1) CN112428050B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113741465A (en) * 2021-09-07 2021-12-03 深圳大方智能科技有限公司 Ceiling wall construction method, path planning device and construction robot

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007141320A1 (en) * 2006-06-07 2007-12-13 Bouygues Construction Device for treating a surface
CN105178580A (en) * 2015-09-22 2015-12-23 黄灿灿 Mechanical arm type full-automatic painting machine
CN108032156A (en) * 2017-12-26 2018-05-15 河南欣余佳智能科技有限公司 A kind of building wall construction sanding apparatus
CN108398950A (en) * 2018-03-13 2018-08-14 安捷睿（厦门）机器人有限公司 A kind of ground polishes robot and ground polishes robot control method
CN108638062A (en) * 2018-05-09 2018-10-12 科沃斯商用机器人有限公司 Robot localization method, apparatus, positioning device and storage medium
CN110398231A (en) * 2019-06-18 2019-11-01 广东博智林机器人有限公司 Acquisition methods, device, computer equipment and the storage medium of metope parameter
CN111576803A (en) * 2020-04-26 2020-08-25 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Wall surface construction robot and wall surface robot control method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007141320A1 (en) * 2006-06-07 2007-12-13 Bouygues Construction Device for treating a surface
CN105178580A (en) * 2015-09-22 2015-12-23 黄灿灿 Mechanical arm type full-automatic painting machine
CN108032156A (en) * 2017-12-26 2018-05-15 河南欣余佳智能科技有限公司 A kind of building wall construction sanding apparatus
CN108398950A (en) * 2018-03-13 2018-08-14 安捷睿（厦门）机器人有限公司 A kind of ground polishes robot and ground polishes robot control method
CN108638062A (en) * 2018-05-09 2018-10-12 科沃斯商用机器人有限公司 Robot localization method, apparatus, positioning device and storage medium
CN110398231A (en) * 2019-06-18 2019-11-01 广东博智林机器人有限公司 Acquisition methods, device, computer equipment and the storage medium of metope parameter
CN111576803A (en) * 2020-04-26 2020-08-25 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Wall surface construction robot and wall surface robot control method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113741465A (en) * 2021-09-07 2021-12-03 深圳大方智能科技有限公司 Ceiling wall construction method, path planning device and construction robot
CN113741465B (en) * 2021-09-07 2024-05-03 深圳大方智能科技有限公司 Ceiling wall construction method, path planning device and construction robot

Also Published As

Publication number Publication date
CN112428050B (en) 2022-02-25

Similar Documents

Publication Publication Date Title
EP3552775B1 (en) Robotic system and method for operating on a workpiece
JP5676039B1 (en) Self-propelled device, control method for self-propelled device, and control program for self-propelled device
CN108286949B (en) Movable three-dimensional detection robot system
CN109623656A (en) Mobile dual robot collaboration grinding device and method based on thickness on-line checking
CN110794762B (en) Control method and system for polishing robot
CN109079802B (en) Correct the teaching apparatus of the robot of the track of robot
CN114055255B (en) Large-scale complex component surface polishing path planning method based on real-time point cloud
CN102672306A (en) Method and system for automatic robot welding based on multilayer and multi-pass welding of curved surfaces
CN104552298A (en) Teaching system and teaching method
CN109978272B (en) Path planning system and method based on multiple omnidirectional mobile robots
CN109664296B (en) Optimized track searching method for robot abrasive belt grinding
CN112428050B (en) Control method and device for wall surface polishing robot
CN105302959A (en) Offline programming method for six-axis grinding and polishing industrial robot
CN111709337A (en) Remote positioning and map building device and method for wall-climbing robot
CN110750092A (en) Mobile robot and control method
CN113483664B (en) Screen plate automatic feeding system and method based on line structured light vision
CN111823100A (en) Robot-based small-curvature polishing and grinding method
CN113305847B (en) Building 3D printing mobile mechanical arm station planning method and system
JP7332015B2 (en) Construction work device and construction work method
Brecher et al. 3D assembly group analysis for cognitive automation
WO2022030216A1 (en) Environment change proposition system and environment change proposition program
CN115256398A (en) Indoor multifunctional operation robot of transformer substation
CN114879676A (en) Multi-robot formation form changing and dynamic obstacle avoiding method
CN114131605A (en) Automatic ship part polishing track registration adjusting device and method
KR20090068518A (en) Method of motion planning traveling robot for vessel tank

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant