CN112686836B - Wall construction method and device - Google Patents
Wall construction method and device Download PDFInfo
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- CN112686836B CN112686836B CN202011226087.6A CN202011226087A CN112686836B CN 112686836 B CN112686836 B CN 112686836B CN 202011226087 A CN202011226087 A CN 202011226087A CN 112686836 B CN112686836 B CN 112686836B
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- 238000010276 construction Methods 0.000 title claims abstract description 83
- 238000005498 polishing Methods 0.000 claims abstract description 187
- 238000004880 explosion Methods 0.000 claims abstract description 106
- 230000001502 supplementing effect Effects 0.000 claims abstract description 71
- 239000002002 slurry Substances 0.000 claims abstract description 64
- 238000000034 method Methods 0.000 claims abstract description 33
- 230000011218 segmentation Effects 0.000 claims abstract description 12
- 239000011229 interlayer Substances 0.000 claims description 13
- 238000012544 monitoring process Methods 0.000 claims description 6
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- 238000012545 processing Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 5
- 229910052782 aluminium Inorganic materials 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 239000004411 aluminium Substances 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 230000035772 mutation Effects 0.000 description 2
- 238000007517 polishing process Methods 0.000 description 2
- 238000003908 quality control method Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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Abstract
The application discloses a wall construction method and device. Wherein the method comprises the following steps: acquiring explosion point information and joint information of a wall to be constructed; carrying out region segmentation on the wall to be constructed to obtain a plurality of partitioned regions; determining types of a plurality of divided areas according to the explosion point information and the seam information, wherein the types comprise polishing areas and slurry supplementing areas; and performing construction according to the type of the divided area. The application solves the technical problems of low efficiency and poor accuracy of the construction method of the wall by manually adopting the guiding rule in the related technology.
Description
Technical Field
The application relates to the field of construction robots, in particular to a wall construction method and device.
Background
The existing method for processing the wall surface in the standard layer of the commercial residential development project is to manually detect the wall surface polishing area and the slurry supplementing area by using a guiding rule, and manually hold a polishing machine for polishing and manually supplementing slurry. The manual polishing efficiency is low, the labor intensity is high, the site dust is high, and the physical and mental effects of people are seriously influenced. The mode of manual detection is easy to lead to the wall surface to be missed in detection due to the limitation of detection, and the secondary reworking condition is caused, so that the construction efficiency is reduced.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the application provides a wall construction method and device, which at least solve the technical problems of low efficiency and poor accuracy in a mode of manually constructing a wall by adopting a guiding rule in the related art.
According to an aspect of an embodiment of the present application, there is provided a wall construction method including: acquiring explosion point information and joint information of a wall to be constructed; performing region segmentation on the wall to be constructed to obtain a plurality of partitioned regions; determining the types of a plurality of divided areas according to the explosion point information and the seam information, wherein the types comprise grinding areas and slurry supplementing areas; and constructing according to the type of the divided area.
Optionally, obtaining the explosion point information and the joint information of the wall to be constructed includes: measuring the wall to be constructed to obtain the explosion point information; and analyzing the construction drawing of the wall to be constructed to obtain the piece information.
Optionally, the area division of the wall to be constructed into a plurality of divided areas includes: dividing the wall to be constructed into a plurality of subareas according to a preset size, wherein two adjacent subareas are overlapped with an overlapping area with a preset area; gridding the subareas according to preset heights and widths to obtain a plurality of grids, wherein each grid corresponds to one division area.
Optionally, determining the types of the plurality of divided areas according to the explosion point information and the seam information includes: fitting an ideal wall surface according to the target flatness of the wall to be constructed, wherein a dividing area protruding out of the ideal wall surface is a grinding area, and a dividing area lower than the ideal wall surface is a slurry supplementing area; and determining an ideal vertical plane according to the perpendicularity of the ideal wall surface, wherein a dividing area lower than the ideal vertical plane is a slurry supplementing area.
Optionally, according to the target flatness of the wall to be constructed, fitting an ideal wall surface, wherein the dividing area protruding out of the ideal wall surface is a polishing area, and after the dividing area lower than the ideal wall surface is a slurry supplementing area, the method further comprises: shifting the ideal wall surface to determine an ideal wall surface interlayer; and adjusting the ideal wall surface according to the proportion of the data of the wall to be constructed falling on the ideal wall surface interlayer and the total data of the wall to be constructed so as to enable the proportion to reach the maximum value.
Optionally, performing construction according to the type of the divided area includes: determining the explosion point area according to the area of the polishing area; determining a polishing reference surface based on the adjusted ideal wall surface under the condition that the explosion point area is smaller than or equal to a first preset area, and directly polishing the polishing area based on the polishing reference surface; moving the polishing reference surface to reduce the polishing amount under the condition that the explosion point area is larger than a first preset area and smaller than or equal to a second preset area, and polishing the polishing area based on the moved polishing reference surface, wherein the second preset area is larger than the first preset area; and when the explosion point area is larger than a second preset area, the slurry is supplemented to the slurry supplementing area.
Optionally, the method further comprises: monitoring the polishing depth through a laser range finder assembly; determining that the polishing area is polished in place under the condition that the polishing depth reaches the target polishing depth of the polishing area subjected to polishing treatment; and entering the next polishing area for polishing.
According to another aspect of the embodiment of the present application, there is also provided a wall construction apparatus including: the acquisition module is used for acquiring explosion point information and joint information of the wall to be constructed; the dividing module is used for dividing the wall to be constructed into a plurality of dividing areas; the determining module is used for determining the types of the plurality of divided areas according to the explosion point information and the seam information, wherein the types comprise polishing areas and slurry supplementing areas; and the construction module is used for carrying out construction according to the type of the divided area.
Optionally, the acquiring module includes: the measuring unit is used for measuring the wall to be constructed and acquiring the explosion point information; and the analysis unit is used for analyzing the construction drawing of the wall to be constructed and acquiring the joint information.
Optionally, the dividing module includes: the dividing unit is used for dividing the wall to be constructed into a plurality of subareas according to a preset size, wherein two adjacent subareas are overlapped with an overlapping area with a preset area; and the grid unit is used for gridding the subareas according to the preset height and width to obtain a plurality of grids, and each grid corresponds to one partitioned area.
According to another aspect of the embodiment of the present application, there is also provided a computer storage medium including a stored program, wherein the apparatus in which the computer storage medium is controlled to perform any one of the above wall construction methods when the program is run.
According to another aspect of the embodiment of the present application, there is also provided a processor for running a program, wherein the program runs to perform any one of the above wall construction methods.
In the embodiment of the application, the explosion point information and the seam information of the wall to be constructed are acquired; carrying out region segmentation on the wall to be constructed to obtain a plurality of partitioned regions; determining types of a plurality of divided areas according to the explosion point information and the seam information, wherein the types comprise polishing areas and slurry supplementing areas; the method comprises the steps of determining a subsequent operation point according to the type of a division area, determining a final joint operation point until a termination condition is met, dividing a wall to be constructed, determining a plurality of division areas, determining the type of the division area through explosion point information and joint information, and constructing the division area according to the type, so that the purpose of automatically constructing the wall according to the explosion point information and the joint information of the wall is achieved, the technical effects of improving the efficiency and the accuracy of wall construction are achieved, and the technical problems of low efficiency and poor accuracy of manually constructing the wall by adopting a guiding rule in the related art are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation. In the drawings:
fig. 1 is a flowchart of a wall construction method according to an embodiment of the present application;
FIG. 2 is a flow chart of a wall sanding construction in accordance with an embodiment of the present application;
FIG. 3-1 is a schematic illustration of a blast point area of a real wall according to an embodiment of the present application;
FIG. 3-2 is a schematic illustration of a blast point region of a thermodynamic diagram of a wall according to an embodiment of the present application;
FIG. 4-1 is a schematic illustration of a blast point area of a real wall according to an embodiment of the present application;
FIG. 4-2 is a schematic illustration of a thermodynamic diagram of a blast point area of a wall according to an embodiment of the present application;
fig. 5 is a schematic view of a wall dividing area according to an embodiment of the present application;
fig. 6 is a schematic view of wall construction according to an embodiment of the present application;
FIG. 7 is a schematic illustration of construction monitoring according to an embodiment of the present application;
fig. 8 is a schematic view of a wall construction apparatus according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise 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.
According to an embodiment of the present application, there is provided a method embodiment of a wall construction method, it being noted that the steps shown in the flowcharts of the drawings may be performed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in an order different from that herein.
Fig. 1 is a flowchart of a wall construction method according to an embodiment of the present application, and as shown in fig. 1, according to another aspect of the embodiment of the present application, there is also provided a coordinate determining method of a robot, the method including the steps of:
step S102, acquiring explosion point information and joint information of a wall to be constructed;
step S104, carrying out region segmentation on the wall to be constructed to obtain a plurality of partitioned regions;
step S106, determining the types of a plurality of divided areas according to the explosion point information and the seam information, wherein the types comprise polishing areas and slurry supplementing areas;
and step S108, performing construction according to the type of the divided area.
Through the steps, the explosion point information and the seam information of the wall to be constructed are obtained; carrying out region segmentation on the wall to be constructed to obtain a plurality of partitioned regions; determining types of a plurality of divided areas according to the explosion point information and the seam information, wherein the types comprise polishing areas and slurry supplementing areas; according to the construction mode of the divided areas, the following operation points are determined until the termination condition is met, the final mode of the joint operation points is determined, the wall to be constructed is divided, a plurality of divided areas are determined, the types of the divided areas are determined through the explosion point information and the joint information, the divided areas are constructed according to the types, the purpose of automatically constructing the wall according to the explosion point information and the joint information of the wall is achieved, the technical effects of improving the efficiency and the accuracy of wall construction are achieved, and the technical problems that the construction mode of the wall is manually adopted by a guiding rule in the related art, the efficiency is low, and the accuracy is poor are solved.
The explosion point information can be position and area information needed to be polished on the wall to be constructed, the seam information can be seam information formed in the construction process of the wall to be constructed, and the seam is likely to be protruded in the position of the seam in the later repair process, so that construction is needed. The explosion point information can be obtained by detecting the wall to be constructed in a laser ranging mode, the seam information can be determined according to a construction drawing of the wall to be constructed, marks are arranged on the places where the seams exist in the construction drawing, and the seam information can be determined through searching and analyzing the construction drawing.
The explosion point information and the seam information can be digitized on the wall to be constructed, for example, a building information model BIM (building information model) technology is adopted to generate a building information model BIM of the wall to be constructed, and the BIM of the wall to be constructed is marked in the data of the wall to be constructed, wherein the position, the size and the shape of the explosion point information and the seam information on the wall to be constructed are included.
The wall to be constructed is divided into a plurality of dividing areas according to the preset length, the wall to be constructed can be divided into a plurality of parts according to the preset length, the shape of the wall is generally uniform from top to bottom, the wall to be constructed can be divided into a plurality of parts according to the length direction of intersection of the wall and the ground according to the preset length, and each part is subjected to grid division, and each grid is equivalent to one dividing area.
And then determining the types of a plurality of divided areas according to the explosion point information and the seam information, wherein the types comprise polishing areas and slurry supplementing areas, and determining whether the explosion points and the seam exist in the divided areas or not according to the explosion point information and the seam information, so that polishing or slurry supplementing is required, polishing is required to be carried out corresponding to the polishing areas, and slurry supplementing is carried out corresponding to the slurry supplementing areas.
Construction is performed according to the types of the divided areas, namely, the grinding areas are ground, the pulp supplementing areas are subjected to pulp supplementing, and when the construction is implemented, the grinding areas can be ground firstly, and then the pulp supplementing areas are subjected to pulp supplementing. The method can also be that the slurry supplementing area is subjected to slurry supplementing firstly, then the polishing area is polished, only the place needing polishing is polished, and the place needing slurry supplementing is subjected to slurry supplementing, so that the construction efficiency of the wall to be constructed is improved. The technical problems of low efficiency and poor accuracy of a construction mode of a wall by manually adopting a guiding rule in the related art are solved.
Optionally, obtaining the explosion point information and the joint information of the wall to be constructed includes: measuring a wall to be constructed to obtain explosion point information; analyzing a construction drawing of the wall to be constructed, and obtaining the joint information.
The measuring of the wall to be constructed can be performed by a laser ranging device, the explosion point information of the wall to be constructed is obtained, a BIM model of the wall to be constructed is built, and the explosion point position and the explosion point area are displayed on the BIM model. And determining the joint information of the wall to be constructed according to the construction drawing of the wall to be constructed, and displaying the joint information on the BIM model.
Optionally, the performing area division on the wall to be constructed into a plurality of divided areas includes: dividing the wall to be constructed into a plurality of subareas according to a preset size, wherein the adjacent two subareas are overlapped with an overlapping area with a preset area; gridding the subareas according to preset heights and widths to obtain a plurality of grids, wherein each grid corresponds to one division area.
The predetermined size may be a predetermined length, or a size of a predetermined shape, for example, a length and a width of a rectangle, a side length of a square, a side length of a regular hexagon, or the like. That is, the divided areas may have various shapes, but the plurality of divided areas may completely cover the wall to be constructed. The subareas are a plurality of areas which are preliminarily divided into the walls to be constructed, and are generally rectangular. For example, dividing a wall surface by 2L span along the length direction, overlapping adjacent divided areas by L, dividing the wall surface into n areas, and merging the rest areas into an area n if the divided areas cannot be divided completely; the requirement is that the segmentation length L is parameterized and can be optimally adjusted. The purpose of the wall surface segmentation treatment is to reduce the influence of local wall surface mutation on the whole wall surface reference surface. The overlapping areas with the preset areas overlap the two adjacent sub-areas, so that the wall to be constructed can be analyzed twice, and the average value or the maximum value of the calculated amounts of the two times can be output, thereby improving the accuracy of data calculation. After the wall to be constructed is divided into a plurality of subareas, the explosion point position, the polishing amount and the slurry supplementing area are calculated for each subarea independently, and finally the explosion point position, the polishing amount and the slurry supplementing area are output.
And then gridding the subareas to generate a plurality of divided areas, and determining the types of the divided areas according to the determined explosion point positions, the polishing amount and the slurry supplementing areas so as to construct the divided areas.
Optionally, determining the types of the plurality of divided areas according to the explosion point information and the seam information includes: fitting an ideal wall surface according to the target flatness of the wall to be constructed, wherein the dividing area protruding out of the ideal wall surface is a polishing area, and the dividing area lower than the ideal wall surface is a slurry supplementing area; and determining an ideal vertical plane according to the perpendicularity of the ideal wall surface, wherein a dividing area lower than the ideal vertical plane is a slurry supplementing area.
When determining the type of the divided area, the construction target of the wall surface to be constructed needs to be determined firstly, including the flatness and the verticality, so that the type of the divided area of the wall surface to be constructed is determined from two aspects of the flatness and the verticality.
Fitting an ideal wall surface according to the target flatness of the wall to be constructed can be based on BIM model data of the wall to be constructed, and the ideal wall surface is determined by fitting through a least square method. The ideal wall surface is the wall surface which is to be constructed and completely meets the flatness and verticality. The dividing area protruding out of the ideal wall surface is a polishing area, and the dividing area lower than the ideal wall surface is a slurry supplementing area.
According to the perpendicularity of an ideal wall surface, an ideal vertical surface is determined, namely, an ideal vertical surface meeting the perpendicularity requirement is determined according to the ideal wall surface, the vertical surface correction only needs to be performed by polishing, the part protruding out of the vertical surface is polished, or the part lower than the vertical surface is subjected to slurry supplementing, the problem of the vertical surface usually needs to be corrected in a large area, the polishing task amount is large, the efficiency is low, the cost is high, and therefore, the perpendicularity of the wall is usually corrected in a slurry supplementing mode, and therefore, only the dividing area lower than the ideal vertical surface is used as a slurry supplementing area, and the perpendicularity of the wall surface to be constructed is corrected in an unsmooth mode in the later period. Further improving the construction efficiency of the wall surface to be constructed and saving the cost.
Optionally, according to the target flatness of the wall to be constructed, fitting an ideal wall surface, wherein the dividing area protruding out of the ideal wall surface is a polishing area, and after the dividing area lower than the ideal wall surface is a slurry supplementing area, the method further comprises: shifting an ideal wall surface to determine an ideal wall surface interlayer; and adjusting the ideal wall surface according to the proportion of the data of the wall to be constructed falling on the ideal wall surface interlayer and the total data of the wall to be constructed so as to enable the proportion to reach the maximum value.
The explosion point area needs to be polished, under the condition that the ideal wall surface is positioned at different positions, the polishing area and the slurry supplementing area are different in scope, and the specific ideal wall surface is higher, the polishing area is smaller, the ideal wall surface is lower, and the slurry supplementing area is smaller.
An ideal wall surface forms an interlayer along the normal positive and negative offset tmm, an ideal wall surface interlayer is generated, the ratio of the data of the whole wall surface to be constructed falling on the ideal wall surface interlayer to the total data of the wall surface to be constructed reaches the maximum value, the effectiveness of the wall surface to be constructed is guaranteed, the real condition of the wall surface to be constructed is guaranteed, the ratio of a polishing area to a slurry supplementing area is k, the parameterization of the ratio of the polishing area to the slurry supplementing area is realized, the ratio of polishing to slurry supplementing can be predetermined according to specific construction capacity in the specific use process, the wall to be constructed is offset through the difference between the actual ratio and the predetermined ratio, and the offset adjustment of the wall to be constructed is completed until the actual ratio reaches the predetermined ratio requirement. The polishing amount is optimized by offsetting and rotating the ideal wall surface.
Optionally, performing the construction according to the type of the divided area includes: determining the explosion point area according to the area of the polishing area; determining a polishing reference surface based on the adjusted ideal wall surface under the condition that the explosion point area is smaller than or equal to a first preset area, and directly polishing a polishing area based on the polishing reference surface; moving a polishing reference surface to reduce polishing amount under the condition that the explosion point area is larger than a first preset area and smaller than or equal to a second preset area, and polishing a polishing area based on the moved polishing reference surface, wherein the second preset area is larger than the first preset area; and under the condition that the explosion point area is larger than the second preset area, the slurry is supplemented to the slurry supplementing area.
After the polishing area is determined, the polishing area is the explosion point area, and during concrete construction, polishing and slurry supplementing are both modes for improving the wall surface to be constructed, and the polishing has the advantages that subsequent construction can be carried out after polishing is finished, waiting is not needed, the accuracy is high, the cost is high, the efficiency is low, the slurry supplementing has the defects that waiting for drying and condensing is needed after slurry supplementing, the accuracy is poor, and the polishing has the advantages of convenience in construction and low cost. Therefore, the two modes are weighed during construction to obtain the most reasonable construction mode.
Specifically, when the explosion point area is smaller than or equal to the first preset area, the explosion point area is smaller, and polishing can be directly performed. Under the condition that the explosion point is larger than the first preset area and smaller than or equal to the second preset area, the explosion point area is slightly larger, and the polishing amount can be reduced by moving the reference surface. Under the condition that the area of the explosion point is larger than the preset area, the fact that the area of the explosion point is overlarge is indicated, and the flatness of the wall to be constructed is improved by means of pulp supplementing of the pulp supplementing area.
Optionally, the method further comprises: monitoring the polishing depth through a laser range finder assembly; determining that the polishing area is polished in place under the condition that the polishing depth reaches the target polishing depth of the polishing area subjected to polishing treatment; and entering the next polishing area to carry out polishing treatment.
The laser range finder assembly can be installed at the tail end of the robot execution and can comprise two laser range finders, the positions detected by the two laser range finders are a robot polishing area and a non-polishing area respectively, and the two range finders are used for detecting two rows of data M and N of the polishing area and the non-polishing area through lifting movement of the robot. Before polishing, the data detected by the two laser rangefinders are respectively M1 and N1, and after polishing, the data detected by the two laser rangefinders are respectively M2 and N2, so that the polishing depth H of the robot can be calculated through the following formula: h= | (M2-N2) - (M1-N1) |, when the robot calculates that the polishing depth H is equal to the target polishing depth determined based on the polishing reference surface, the robot judges that polishing is in place, the robot enters the polishing of the next polishing area, polishing of the whole wall surface is completed in sequence, and accordingly the fact that the robot can deliver the wall surface with qualified quality in one-time construction is guaranteed.
It should be noted that this embodiment also provides an alternative implementation, and this implementation is described in detail below.
The embodiment provides a full-automatic concrete interior wall polishing robot process method based on BIM technology, solves the problem of digitization of concrete wall information, optimizes the best matching value of wall polishing amount and repairing amount, achieves the optimal construction work efficiency, solves the problem of concrete wall construction quality control, and realizes the delivery of qualified wall surface by one-time operation of a robot through the precise control of closed loop feedback detection of the robot polishing amount.
According to the implementation mode, a concrete inner wall information digitizing process is adopted, explosion point information is extracted based on wall surface data acquired by actual measurement real quantity laser, aluminum film seam information is acquired by a construction design drawing, and the explosion point information is unified and integrated into a BIM for planning. With 4G communication, with wall explosion point and aluminium membrane piece information transfer robot, realize that the robot can polish aluminium membrane piece thick liquid and explosion point region simultaneously, deliver than the better wall of manual work processing quality of polishing. The polishing pressure closed-loop control is realized, and the wall surface polishing quality is ensured to be stable. The automatic polishing device has the advantages that the polishing quantity is automatically detected in the automatic polishing process of the robot, the accurate control of the polishing depth is realized, and the perfect delivery of the qualified wall surface during one-time operation of the robot can be ensured.
Fig. 2 is a flowchart of wall polishing construction according to an embodiment of the present application, as shown in fig. 2, a full-automatic polishing process system of a concrete interior wall robot, the whole system being divided into wall data collection and processing, BIM operation path planning, robot performing operation tasks, robot autonomously detecting operation depth, and robot completing all path operations. The polishing of the concrete inner wall is divided into the polishing of the explosion point and the polishing of the joint. The digital method of the wall explosion point information is that the wall explosion point information is extracted through an automatic algorithm by actually measuring and acquiring real quantity laser, and as shown in fig. 2, the thermodynamic diagram of the wall is obtained through data processing according to the measurement and acquisition of the entity wall. And then, acquiring explosion point information of the wall surface according to the thermodynamic diagram, wherein the explosion point information comprises information such as explosion point range, position, depth and the like. The digital mode of the wall surface seam information is that the wall surface seam information is obtained through a building construction drawing, the position, the height and other information of an aluminum film seam are obtained according to an aluminum die installation structure of the construction drawing, the wall surface seam information is shown as a figure 3-1, the wall surface seam information is a solid wall surface, and the wall surface seam information is shown as a figure 3-2.
Then, the concrete inner wall explosion point information is digitally illustrated, fig. 3-1 is a schematic view of an explosion point area of a real wall according to an embodiment of the present application, fig. 3-1 is a schematic view of an explosion point area of a thermodynamic diagram of a wall according to an embodiment of the present application, fig. 3-2 is a schematic view of an explosion point area of a thermodynamic diagram of a corresponding wall, fig. 3-2 is a digital illustration of wall splice information in concrete of a corresponding wall, fig. 4-1 is a schematic view of an explosion point area of a real wall according to an embodiment of the present application, fig. 4-1 is an actual wall, fig. 4-2 is a schematic view of an explosion point area of a thermodynamic diagram of a wall according to an embodiment of the present application, and fig. 4-2 is splice information of a corresponding wall.
The concrete wall information is digitized, and the optimal matching value and the optimal construction work efficiency of the wall polishing amount and the repairing amount are optimized.
After the actual measurement real quantity detects the wall surface data, the optimal matching value of the wall surface polishing quantity and the repairing quantity is obtained according to the following rule processing, so that the optimal construction work efficiency is achieved:
wall data segmentation principle and output format:
a) Wall surface segmentation: fig. 5 is a schematic view of dividing areas of a wall according to an embodiment of the present application, as shown in fig. 5, dividing a wall surface by a span of 2L in a length direction, overlapping adjacent divided areas by L, dividing the divided areas into n areas altogether, if not dividing the divided areas completely, and merging the remaining areas into an area n; the requirement is that the segmentation length L is parameterized and can be optimally adjusted. The purpose of the wall surface segmentation treatment is to reduce the influence of local wall surface mutation on the whole wall surface reference surface.
b) After the wall surface is divided into areas 1,2, … and n, the explosion point position, the polishing amount and the slurry supplementing area are calculated for each area independently; and finally outputting the explosion point position, the polishing amount and the slurry supplementing area according to the areas A, B and C, wherein the explosion point position is started from the B, the polishing amount and the slurry supplementing area are repeatedly calculated, the maximum value of the calculated amount is taken twice, and the explosion point position, the polishing amount and the slurry supplementing area information of the whole wall are output by analogy. The size and the position of the paste supplementing area of the whole wall surface are marked by the output of the paste supplementing area in a thermodynamic diagram mode, and the paste supplementing is completed by manual operation.
c) For the output of the explosion point positions and the polishing amount of the areas A, B and C …, the specific data format definition is designed, as shown in fig. 5, the area needs to be meshed, the area is meshed by a grid with the width of m and the height of H, the data of each grid is defined as an array [ X coordinate value, a height starting point H, a height end point H+h and the polishing amount ], and only the grid covered by the explosion point area is output. The requirements are: and m and h are parameterized, and optimization adjustment can be performed.
Fig. 6 is a schematic diagram of wall construction according to an embodiment of the present application, as shown in fig. 6, wall data processing, a reference plane (ideal wall) establishing method, and a blast point, slurry compensating area analyzing method: the object of the wall surface processing is that the flatness and verticality are both within 5mm, so the wall surface data need to be considered for two-dimensional processing.
a) Step one: in consideration of flatness processing, when the wall surface data is fitted to an ideal wall surface, the requirement that the reference surface is perpendicular to the ground is eliminated, and the ideal wall surface fitting is performed through a least square method based on the wall surface data. The requirements are: the explosion point and polishing amount in the planeness dimension can be accurately calculated, and the area needing slurry supplementing is ensured to be consistent with the result of manually detecting the explosion point area of the planeness by using a guiding rule. The definition of the explosion point is that points, above tmm, of the ideal wall surface protruding from the wall surface point cloud are taken as explosion point polishing areas, and points lower than tmm are taken as slurry supplementing areas.
b) Step two: the ideal wall surface forms an interlayer along the normal positive and negative offset tmm, the occupied ratio of the whole wall surface data in the interlayer reaches the maximum value, and the proportion of the polishing area and the slurry supplementing area is k, so that the ideal wall surface is required to be offset and rotated to optimize the polishing amount. It is required that both the t value and the k value are parameterized.
c) Step three: and (3) processing data of verticality dimension, namely calculating the verticality of an ideal wall surface according to the ideal wall surface calculated by the planeness dimension, dividing the ideal wall surface by using a vertical surface, processing a part lower than the vertical surface as a slurry supplementing area, and processing a part higher than the vertical surface, wherein the part higher than the vertical surface is not processed, so that the wall surface can meet the requirement of vertical 5 after slurry supplementing is finished.
Remarks: parameterized initial value setting: l=1000 mm, m=100 mm, h=100 mm, t=2.5 mm;
the reference plane adjustment target values were set as shown in table 1, wherein table 1 is a table showing correspondence between the explosion point areas and the processing methods, and the wall surface data processing was performed in an area of 2l×3m.
TABLE 1 correspondence table of burst area and treatment mode
| Sequence number | Stage one calculated blast point area | Target value |
| 1 | Within 0.5 square meter | Unadjusted, directly polished |
| 2 | 0.5 to 1 square meter | The polishing amount is reduced by 80 percent by moving the reference surface |
| 3 | 1 square meter or more | Slurry supplementing treatment |
The problem of concrete wall construction quality control is solved, and the qualified wall is delivered by one-time operation of the robot through the accurate control of closed-loop feedback detection of the polishing amount of the robot.
According to the polishing depth provided by the wall surface data, the robot automatically checks the polishing depth in an online recheck mode, if the self-check polishing depth is insufficient, the robot continues polishing until the polishing depth reaches the requirement, and then the construction of the next station is carried out. Fig. 7 is a schematic view of construction monitoring according to an embodiment of the present application, as shown in fig. 7, and is a method for testing a self-checking polishing depth of a robot, in which a group of laser rangefinders are installed at the end of a robot execution, positions detected by the two laser rangefinders are a polished area and a non-polished area of the robot, and two columns of data M and N are detected by the two rangefinders through lifting movement of the robot. Before polishing, the data detected by the two laser rangefinders are respectively M1 and N1, and after polishing, the data detected by the two laser rangefinders are respectively M2 and N2, so that the polishing depth H of the robot can be calculated through the following formula:
H＝|(M2-N2)-(M1-N1)|
when the robot calculates that the polishing depth H is equal to the polishing depth of the wall surface data output, the robot judges that polishing is in place, the robot enters the polishing of the next polishing area, and polishing of the whole wall surface is sequentially completed, so that the robot is guaranteed to construct the wall surface with qualified quality once.
Fig. 8 is a schematic view of a wall construction apparatus according to an embodiment of the present application, and as shown in fig. 8, there is also provided a wall construction apparatus according to another aspect of the embodiment of the present application, including: the device is described in detail below as an acquisition module 82, a partitioning module 84, a determination module 86, and a construction module 88.
The acquisition module 82 is used for acquiring explosion point information and joint information of the wall to be constructed; the dividing module 84 is connected to the obtaining module 82, and is configured to divide a wall to be constructed into a plurality of divided areas; the determining module 86 is connected to the dividing module 84, and is configured to determine types of the plurality of dividing areas according to the explosion point information and the seam information, where the types include a polishing area and a slurry supplementing area; and a construction module 88 connected to the determination module 86 for performing construction according to the type of the divided area.
By the device, the explosion point information and the seam information of the wall to be constructed are acquired by adopting the acquisition module 82; the dividing module 84 performs region division on the wall to be constructed to obtain a plurality of divided regions; the determining module 86 determines types of the plurality of divided areas according to the explosion point information and the seam information, wherein the types comprise polishing areas and slurry supplementing areas; the construction module 88 determines the subsequent operation points according to the construction mode of the types of the division areas until the termination condition is met, determines the final mode of the joint operation points, divides the wall to be constructed, determines a plurality of division areas, determines the types of the division areas through the explosion point information and the joint information, and constructs the division areas according to the types, thereby achieving the purpose of automatically constructing the wall according to the explosion point information and the joint information of the wall, further realizing the technical effects of improving the efficiency and the accuracy of the wall construction, and further solving the technical problems of low efficiency and poor accuracy of the construction mode of the wall manually adopting a guiding rule in the related art.
Optionally, the acquiring module includes: the measuring unit is used for measuring the wall to be constructed and acquiring explosion point information; the analysis unit is used for analyzing the construction drawing of the wall to be constructed and acquiring the joint information.
Optionally, the dividing module includes: the dividing unit is used for dividing the wall to be constructed into a plurality of sub-areas according to a preset size, wherein the two adjacent sub-areas are overlapped with an overlapping area with a preset area; and the grid unit is used for gridding the sub-area according to the preset height and width to obtain a plurality of grids, and each grid corresponds to one partitioned area.
Optionally, the determining module includes: the fitting unit is used for fitting the ideal wall surface according to the target flatness of the wall to be constructed, wherein the dividing area protruding out of the ideal wall surface is a polishing area, and the dividing area lower than the ideal wall surface is a slurry supplementing area; the first determining unit is used for determining an ideal vertical plane according to the perpendicularity of the ideal wall surface, and a dividing area lower than the ideal vertical plane is a slurry supplementing area.
Optionally, the determining module further includes: the offset unit is used for offsetting the ideal wall surface and determining an ideal wall surface interlayer; and the adjusting unit is used for adjusting the ideal wall surface according to the proportion of the data of the wall to be constructed falling on the ideal wall surface interlayer and the total data of the wall to be constructed so as to enable the proportion to reach the maximum value.
Optionally, the construction module includes: the second determining unit is used for determining the explosion point area according to the area of the polishing area; the polishing unit is used for determining a polishing reference surface based on the adjusted ideal wall surface under the condition that the explosion point area is smaller than or equal to a first preset area, and directly polishing the polishing area based on the polishing reference surface; the moving unit is used for moving the polishing reference surface to reduce the polishing amount under the condition that the explosion point area is larger than the first preset area and smaller than or equal to the second preset area, and polishing the polishing area based on the moved polishing reference surface, wherein the second preset area is larger than the first preset area; and the pulp supplementing unit is used for supplementing pulp to the pulp supplementing area under the condition that the explosion point area is larger than the second preset area.
Optionally, the method further comprises: the detection module is used for monitoring the polishing depth through the laser range finder component; the judging module is used for determining that the polishing area is polished in place under the condition that the polishing depth reaches the target polishing depth of the polishing area subjected to polishing treatment; and the processing module is used for entering the next polishing area to carry out polishing treatment.
According to another aspect of the embodiments of the present application, there is also provided a computer storage medium including a stored program, wherein the apparatus in which the computer storage medium is controlled to execute the wall construction method of any one of the above when the program is run.
According to another aspect of the embodiment of the present application, there is also provided a processor for running a program, wherein the program runs to perform the wall construction method of any one of the above.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, units or modules, and may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the application, and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (11)
1. A wall construction method, comprising:
acquiring explosion point information and joint information of a wall to be constructed;
performing region segmentation on the wall to be constructed to obtain a plurality of partitioned regions;
determining the types of a plurality of divided areas according to the explosion point information and the seam information, wherein the types comprise polishing areas and slurry supplementing areas;
performing construction according to the type of the divided area, including:
taking the area of the polishing area as the explosion point area;
determining a polishing reference surface based on the adjusted ideal wall surface under the condition that the explosion point area is smaller than or equal to a first preset area, and directly polishing the polishing area based on the polishing reference surface;
moving the polishing reference surface to reduce the polishing amount under the condition that the explosion point area is larger than the first preset area and smaller than or equal to a second preset area, and polishing the polishing area based on the moved polishing reference surface, wherein the second preset area is larger than the first preset area;
polishing the polishing area under the condition that the explosion point area is smaller than or equal to a second preset area; and when the explosion point area is larger than the second preset area, the slurry is supplemented to the slurry supplementing area.
2. The method of claim 1, wherein obtaining blast point information and splice information for a wall to be constructed comprises:
measuring the wall to be constructed to acquire the explosion point information;
and analyzing the construction drawing of the wall to be constructed to obtain the piece information.
3. The method of claim 1, wherein the area dividing the wall to be constructed into a plurality of divided areas comprises:
dividing the wall to be constructed into a plurality of subareas according to a preset size, wherein two adjacent subareas are overlapped with an overlapping area with a preset area;
gridding the subareas according to preset heights and widths to obtain a plurality of grids, wherein each grid corresponds to one division area.
4. The method of claim 1, wherein determining the type of the plurality of partitioned areas based on the blast point information and the splice information comprises:
fitting an ideal wall surface according to the target flatness of the wall to be constructed, wherein the dividing area protruding out of the ideal wall surface is a polishing area, the dividing area lower than the ideal wall surface is a slurry supplementing area, an ideal vertical plane is determined according to the perpendicularity of the ideal wall surface, and the dividing area lower than the ideal vertical plane is a slurry supplementing area.
5. The method of claim 4, wherein fitting an ideal wall surface according to the target flatness of the wall to be constructed, wherein the divided area protruding from the ideal wall surface is a polished area, and wherein after the divided area lower than the ideal wall surface is a paste compensating area, further comprises:
shifting the ideal wall surface to determine an ideal wall surface interlayer;
and adjusting the ideal wall surface according to the proportion of the data of the wall to be constructed falling on the ideal wall surface interlayer and the total data of the wall to be constructed so as to enable the proportion to reach the maximum value.
6. The method as recited in claim 1, further comprising:
monitoring the polishing depth;
determining that the polishing area is polished in place under the condition that the polishing depth reaches the target polishing depth of the polishing area subjected to polishing treatment;
and entering the next polishing area for polishing.
7. A wall construction apparatus, comprising:
the acquisition module is used for acquiring explosion point information and joint information of the wall to be constructed;
the dividing module is used for dividing the wall to be constructed into a plurality of dividing areas;
the determining module is used for determining the types of the plurality of divided areas according to the explosion point information and the seam information, wherein the types comprise polishing areas and slurry supplementing areas;
the construction module is used for constructing according to the type of the divided area and comprises the following steps:
taking the area of the polishing area as the explosion point area;
determining a polishing reference surface based on the adjusted ideal wall surface under the condition that the explosion point area is smaller than or equal to a first preset area, and directly polishing the polishing area based on the polishing reference surface;
moving the polishing reference surface to reduce the polishing amount under the condition that the explosion point area is larger than the first preset area and smaller than or equal to a second preset area, and polishing the polishing area based on the moved polishing reference surface, wherein the second preset area is larger than the first preset area;
polishing the polishing area under the condition that the explosion point area is smaller than or equal to a second preset area; and when the explosion point area is larger than the second preset area, the slurry is supplemented to the slurry supplementing area.
8. The apparatus of claim 7, wherein the acquisition module comprises:
the measuring unit is used for measuring the wall to be constructed and acquiring the explosion point information;
and the analysis unit is used for analyzing the construction drawing of the wall to be constructed and acquiring the joint information.
9. The apparatus of claim 7, wherein the partitioning module comprises:
the dividing unit is used for dividing the wall to be constructed into a plurality of subareas according to a preset size, wherein two adjacent subareas are overlapped with an overlapping area with a preset area;
and the grid unit is used for gridding the subareas according to the preset height and width to obtain a plurality of grids, and each grid corresponds to one partitioned area.
10. A computer storage medium, characterized in that the computer storage medium comprises a stored program, wherein the program, when run, controls a device in which the computer storage medium is located to perform the wall construction method according to any one of claims 1 to 6.
11. A processor for running a program, wherein the program runs to execute the wall construction method according to any one of claims 1 to 6.
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| CN113741467B (en) * | 2021-09-07 | 2023-10-13 | 深圳大方智能科技有限公司 | Vertical wall surface construction method and construction robot |
| CN114296451A (en) * | 2021-12-15 | 2022-04-08 | 珠海一微半导体股份有限公司 | Path planning method for robot wall work based on genetic algorithm |
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| CN108592895A (en) * | 2018-05-08 | 2018-09-28 | 安捷睿（厦门）机器人有限公司 | Construction detecting system based on 3 D laser scanning, method and apparatus |
| CN111203766A (en) * | 2020-04-20 | 2020-05-29 | 广东博智林机器人有限公司 | Wall surface polishing path planning method, device, equipment and medium |
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| CN108592895A (en) * | 2018-05-08 | 2018-09-28 | 安捷睿（厦门）机器人有限公司 | Construction detecting system based on 3 D laser scanning, method and apparatus |
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