CN114517577A - Grouting alignment method and device, grouting equipment and storage medium - Google Patents
Grouting alignment method and device, grouting equipment and storage medium Download PDFInfo
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- CN114517577A CN114517577A CN202011294481.3A CN202011294481A CN114517577A CN 114517577 A CN114517577 A CN 114517577A CN 202011294481 A CN202011294481 A CN 202011294481A CN 114517577 A CN114517577 A CN 114517577A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04C—STRUCTURAL ELEMENTS; BUILDING MATERIALS
- E04C5/00—Reinforcing elements, e.g. for concrete; Auxiliary elements therefor
- E04C5/16—Auxiliary parts for reinforcements, e.g. connectors, spacers, stirrups
- E04C5/162—Connectors or means for connecting parts for reinforcements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/97—Determining parameters from multiple pictures
Abstract
The invention discloses a grouting alignment method, a grouting alignment device, grouting equipment and a storage medium. The grouting alignment method is applied to grouting equipment, the grouting equipment comprises an execution tail end, the execution tail end is arranged on the grouting equipment based on a rotating shaft, and the method comprises the following steps: when the execution tail end is located at a working position, identifying the angle deviation between the grouting hole surface of the grouting hole site and the grouting equipment, and controlling the grouting equipment and/or a rotating shaft to perform angle adjustment based on the angle deviation, wherein the axis of the execution tail end corresponding to the rotating shaft after angle adjustment is perpendicular to the grouting hole surface; and identifying the position deviation of the grouting hole site and a grouting head at the execution tail end, and controlling the grouting head to perform position adjustment based on the position deviation so that the grouting head corresponds to the grouting hole site to reach a central point. The automatic alignment of the grouting hole position and the grouting head is realized, manual grouting operation is replaced, and the speed and the efficiency of grouting operation are improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of buildings, in particular to a grouting alignment method, a grouting alignment device, grouting equipment and a storage medium.
Background
A steel bar connecting sleeve is needed to be used for connecting the upper structure and the lower structure of prefabricated parts such as the assembled integral shear wall, and grouting operation needs to be carried out on the steel bar connecting sleeve in the construction process.
The common sleeve grouting machines in the domestic current market all need the whole grouting process of manual control, and the grouting operation is rough, and the grout quality is difficult to ensure, and operating personnel is various. Aiming at the sleeve grouting process, no application example capable of realizing automatic contraposition grouting holes exists at present.
Disclosure of Invention
The invention provides a grouting alignment method, a grouting alignment device, grouting equipment and a storage medium, which are used for realizing automatic alignment of the grouting equipment and a grouting hole site.
In a first aspect, an embodiment of the present invention provides a grouting alignment method, which is applied to grouting equipment, where the grouting equipment includes an execution terminal, and the execution terminal is disposed on the grouting equipment based on a rotation axis, and the method includes:
when the execution tail end is located at a working position, identifying the angle deviation between the grouting hole surface of the grouting hole site and the grouting equipment, and controlling the grouting equipment and/or a rotating shaft to perform angle adjustment based on the angle deviation, wherein the axis of the execution tail end corresponding to the rotating shaft after angle adjustment is perpendicular to the grouting hole surface;
and identifying the position deviation of the grouting hole site and a grouting head at the execution tail end, and controlling the grouting head to perform position adjustment based on the position deviation so that the grouting head corresponds to the grouting hole site to reach a central point.
In a second aspect, an embodiment of the present invention further provides a grouting alignment device, which is integrated in a grouting apparatus, where the grouting apparatus includes an execution end, and the execution end is disposed on the grouting apparatus based on a rotation axis, and the grouting alignment device includes:
the angle deviation adjusting module is used for identifying the angle deviation between the grouting hole surface of the grouting hole site and the grouting equipment when the execution tail end is located at a working position, and controlling the grouting equipment and/or a rotating shaft to perform angle adjustment based on the angle deviation, wherein the axis of the execution tail end corresponding to the rotating shaft after angle adjustment is vertical to the grouting hole surface;
and the position deviation adjusting module is used for identifying the position deviation of the grouting hole site and a grouting head at the execution tail end, and controlling the grouting head to perform position adjustment based on the position deviation so as to enable the grouting head to correspond to the grouting hole site to reach a central point.
In a third aspect, an embodiment of the present invention further provides grouting equipment, where the grouting equipment includes a grouting equipment main body, an execution terminal, a main controller, and a 3D camera;
the 3D camera is arranged on the grouting equipment main body, is connected with the main controller, and is used for acquiring images of a wall surface where the grouting hole is located and sending the images to the main controller;
the grouting equipment main body is provided with a chassis which is electrically connected with the main controller, and the chassis comprises at least two steering wheels and is used for receiving a control instruction of the main controller and driving the grouting equipment main body to move based on the control instruction;
the execution tail end is arranged on the grouting equipment main body based on a rotating shaft and is used for grouting a grouting hole position;
the main controller is used for executing the grouting alignment method provided by any embodiment of the invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the grout alignment method according to any embodiment of the present invention.
According to the technical scheme provided by the embodiment of the invention, when the execution tail end of the grouting equipment is positioned at the working position, the angle deviation between the grouting hole surface of the grouting hole position and the grouting equipment is identified, and the grouting equipment and/or the rotating shaft is controlled to carry out angle adjustment based on the angle deviation, so that the axis of the adjusted execution tail end is perpendicular to the grouting hole surface. The position deviation of the grouting hole site and the grouting head at the execution tail end is identified, the grouting head is controlled to perform position adjustment based on the position deviation, so that the grouting head corresponds to the grouting hole site at the central point, the automatic alignment of the grouting hole site and the grouting head is realized, manual grouting operation is replaced, and the speed and the efficiency of grouting operation are improved.
Drawings
Fig. 1 is a schematic structural diagram of a grouting apparatus according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a grouting alignment method according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a grouting alignment method according to a third embodiment of the present invention;
FIG. 4 is a schematic illustration of a first deviation angle provided by a second embodiment of the present invention;
FIG. 5 is a schematic view illustrating an angle adjustment of a grouting apparatus according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of a grouting alignment method according to a third embodiment of the present invention;
fig. 7 is a schematic structural diagram of a grouting alignment device according to a fourth embodiment of the present invention;
fig. 8 is a schematic structural diagram of a grouting apparatus according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Exemplarily, referring to fig. 1, fig. 1 is a schematic structural diagram of a grouting device according to an embodiment of the present invention, and a chassis of the grouting device is configured with a steering wheel and a universal wheel to perform position adjustment or angle adjustment according to a control command of the grouting device. The grouting equipment is connected with an execution tail end through a rotating shaft (R shaft), and a grouting head is arranged on the execution tail end and used for grouting into a grouting hole position.
Example one
Fig. 2 is a schematic flow chart of a grouting alignment method according to an embodiment of the present invention, which is applicable to aligning a grouting head with a grouting hole, and the method can be implemented by a grouting alignment apparatus according to an embodiment of the present invention, which can be implemented by software and/or hardware, and the apparatus is configured in grouting equipment. The method specifically comprises the following steps:
and S110, when the execution tail end is located at a working position, identifying the angle deviation between the grouting hole surface of the grouting hole site and the grouting equipment, and controlling the grouting equipment and/or a rotating shaft to perform angle adjustment based on the angle deviation, wherein the axis of the execution tail end corresponding to the rotating shaft after angle adjustment is perpendicular to the grouting hole surface.
S120, identifying the position deviation of the grouting hole site and a grouting head at the execution tail end, and controlling the grouting head to adjust the position based on the position deviation so that the grouting head corresponds to the grouting hole site to reach a central point.
In this embodiment, the execution terminal is connected with the grouting equipment main body through a rotating shaft, and the rotating shaft includes at least one degree of freedom and drives the execution terminal to rotate. In a non-working state, the execution tail end can be retracted through the rotating shaft, namely the upper surface of the execution tail end is attached to the rotating shaft, so that the space occupied by the execution tail end is avoided, and the execution tail end is protected from being damaged.
Before entering the working state, the execution tail end is adjusted to a working position through the rotating shaft, and specifically, the execution tail end is put down to keep a preset angle range with the rotating shaft. The working position of the execution end can be determined according to the relative position of the wall where the grouting hole is located and the grouting equipment, and the wall where the grouting hole is located can be a ceiling, a wall perpendicular to the ground, or the like.
In order to ensure an accurate grouting operation at a grouting hole site, at least one of a grouting device, a rotation shaft, and an execution tip is adjusted to align a grouting head on the execution tip with the grouting hole site. Specifically, the grouting equipment and/or the rotating shaft is adjusted so that the axis of the execution tip is perpendicular to the grouting hole surface, wherein the grouting hole surface is the surface where the grouting hole is located, and the position of the execution tip is further adjusted so that the execution tip is aligned with the grouting hole.
The angular deviation of the grouting hole surface from the grouting equipment may include deviation angles in different directions, for example, a deviation angle in a horizontal direction and a deviation angle in a vertical direction. In some embodiments, an image of the wall where the grouting hole is located may be acquired by executing an image acquisition device disposed on the end, and a deviation angle between the grouting hole and the grouting device may be determined according to a position of the grouting hole in the image. In some embodiments, the distances of grouting equipment at different positions on the wall where the grouting hole is located may be collected according to a distance sensor matrix, an ultrasonic wave transmitting-receiving matrix, and the like configured on the execution end, where the different positions include at least two position points in the same horizontal direction and at least two position points in the same vertical direction. And determining the deviation angle between the grouting hole position and grouting equipment according to the distance between the different position points. In the present embodiment, the determination method of the angular deviation is not limited.
The rotating shaft has at least one degree of freedom, i.e. the rotating shaft can at least drive the actuating end to move in the vertical direction. Wherein, when the rotation axis only has one degree of freedom, adjust the rotation axis according to the deviation angle in the vertical direction, adjust grout equipment according to the deviation angle in the horizontal direction and carry out whole angle modulation, specifically, grout equipment realizes angle modulation through the selection of adjusting grout equipment body. When the rotating shaft has two degrees of freedom, namely the degree of freedom in the vertical direction and the degree of freedom in the horizontal direction, the rotating shaft is adjusted to move according to the angle deviation between the grouting hole surface and grouting equipment, the grouting equipment body does not need to be adjusted, and the axis of the execution tail end corresponding to the rotating shaft is perpendicular to the grouting hole surface.
It should be noted that the horizontal direction and the vertical direction are determined based on a predetermined rectangular coordinate system, the predetermined vertical coordinate system is based on the central point of the grouting head as an origin, the direction of the execution end axis is a third direction, and the first direction and the second direction are perpendicular to each other and are perpendicular to the third direction. For example, the first direction may be a vertical direction (e.g., Y direction), the second direction may be a horizontal direction (e.g., X direction), and the third direction may be a Z direction.
After determining that the axis of the execution tail end corresponding to the rotation shaft is perpendicular to the grouting hole surface, determining position information of a grouting hole site and a grouting head of the execution tail end respectively, for example, the position information of a central point of the grouting hole site and the position information of a central point of the grouting head may be the position of the center of a preset rectangular coordinate system. In some embodiments, an image of a wall where the grouting hole is located may be acquired by executing an image acquisition device disposed on the end, the grouting hole in the image is identified, and a center point position of the grouting hole is determined. In some embodiments, the distance between each position on the wall where the grouting hole is located and the grouting equipment is determined by executing equipment such as a distance sensor matrix, an ultrasonic wave transmitting-receiving matrix and the like configured on the tail end, and the position where the distance exceeds the mean value is determined as the center point position of the grouting hole.
And adjusting the position of the execution tail end according to the position deviation of the grouting hole site and the grouting head at the execution tail end so that the grouting head corresponds to the grouting hole site reaching the central point, and the alignment of the grouting hole site is realized. And further, adjusting the distance between the grouting head and the grouting hole site, and controlling grouting equipment to perform grouting treatment on the grouting hole site when the distance meets a preset range.
In some embodiments, the same wall may include a plurality of grouting holes, an angle deviation from the grouting device is determined based on any grouting hole, the grouting device and/or the rotating shaft is controlled to perform angle adjustment, the center point position of each grouting hole is determined, a grouting track is determined according to the center point position of each grouting hole, and the position of the execution end is sequentially adjusted based on the sequence of each grouting hole in the grouting track, so that alignment and grouting processing of the plurality of grouting holes on the wall are achieved.
On the basis of the above embodiment, after controlling the grouting head to perform position adjustment based on the position deviation, i.e., before controlling the grouting operation, the method further includes: acquiring a fourth image of the wall surface where the grouting hole site is located, and verifying whether the angle deviation between the grouting hole site and the grouting equipment and the position deviation between the grouting hole site and a grouting head at the execution tail end meet a preset error range or not based on the fourth image; and if any one of the angle deviation or the position deviation does not meet the preset error range, returning to execute the corresponding adjusting step.
By verifying the alignment state of the grouting hole site and the grouting head before grouting operation, and performing re-alignment when any one of the angle deviation or the position deviation does not meet the preset error range, namely, under the condition of alignment failure, the condition that grouting operation cannot be executed due to alignment failure is avoided, and the accuracy of grouting operation is improved.
According to the technical scheme provided by the embodiment, when the execution tail end of the grouting equipment is located at the working position, the angle deviation between the grouting hole surface of the grouting hole position and the grouting equipment is identified, and the grouting equipment and/or the rotating shaft are controlled to perform angle adjustment based on the angle deviation, so that the axis of the adjusted execution tail end is perpendicular to the grouting hole surface. The position deviation of the grouting hole site and the grouting head at the execution tail end is identified, the grouting head is controlled to perform position adjustment based on the position deviation, so that the grouting head corresponds to the grouting hole site at the central point, the automatic alignment of the grouting hole site and the grouting head is realized, manual grouting operation is replaced, and the speed and the efficiency of grouting operation are improved.
Example two
Fig. 3 is a schematic flow diagram of a grouting alignment method provided in a third embodiment of the present invention, which is refined based on the foregoing method, and the method specifically includes:
s210, when the execution tail end is located at a working position, acquiring a first image of the wall surface where the grouting hole is located.
And S220, determining a first deviation angle between a grouting hole surface corresponding to the grouting hole position and the front surface of the grouting equipment based on the first image, and controlling the grouting equipment to perform angle adjustment based on the first deviation angle.
And S230, after the angle of the grouting equipment is adjusted, acquiring a second image of the wall surface where the grouting hole is located, and determining a second deviation angle between the grouting hole surface and the execution tail end axis based on the second image.
And S240, controlling the rotating shaft to perform angle adjustment based on the second deviation angle.
And S250, identifying the position deviation of the grouting hole site and a grouting head at the execution tail end, and controlling the grouting head to perform position adjustment based on the position deviation so that the grouting head corresponds to the grouting hole site to reach a central point.
In this embodiment, the deviation angle between the grouting hole surface and the grouting device is determined in a form of acquiring an image by an image acquisition device on the execution terminal, wherein the setting position of the image acquisition device on the execution terminal is not limited, the image acquisition device is a 3D camera, and correspondingly, the acquired image is a three-dimensional image. Optionally, the 3D camera is light source lens treater, and the size is little, and the accessible dustproof dustcoat carries out waterproof dustproof, is convenient for under comparatively abominable environment normal operation. The light source of the 3D camera can adopt near infrared light, is not easily influenced by a natural light source, improves the quality of collected images, and further improves the alignment precision.
When the execution tail end is detected to be in the working position, the 3D camera is controlled to collect a first image of the wall surface where the grouting hole position is located, the grouting hole position in the first image is identified, and a first deviation angle is determined based on the identified grouting hole position. The first deviation angle is a deviation angle between a grouting hole surface corresponding to a grouting hole position and the front surface of the grouting equipment.
Optionally, determining a first deviation angle of a grout hole surface corresponding to the grout hole location from the front surface of the grouting equipment based on the first image includes: identifying grouting hole sites in the first image, and determining a first position point and a second position point in an image region where the grouting hole sites are located, wherein the first position point and the second position point have the same coordinate value in a first direction under a preset vertical coordinate system; determining a parallel line of a first connecting line based on the first connecting line of the first position point and the second position point on a plane vertical to the first direction; and determining an included angle between a parallel line of the first connecting line and a second direction under the preset vertical coordinate system as the first deviation angle.
Specifically, edge recognition is carried out on the first image to obtain an edge recognition result, and a grouting hole position is determined in the edge recognition result based on the characteristics of the grouting hole position. For example, matching may be performed on the edge recognition result based on the pre-stored contour features of the grout holes, and the successfully matched region may be determined as the grout hole region. Wherein, the plane of the outer contour of the grouting hole position is the grouting hole surface. Selecting a first location point and a second location point having the same coordinate value in a first direction (e.g., Y direction in a rectangular coordinate system) on the grouting hole surface is exemplary, and referring to fig. 4, fig. 4 is a schematic diagram of a first deviation angle provided by the second embodiment of the present invention. Alternatively, the first position point a and the second position point B may be position points on an outer contour of the grout hole (i.e. a grout hole surface), and it should be noted that the coordinate values of the first position point a and the second position point B in the first direction are not limited as long as the coordinate values of the first position point a and the second position point B in the first direction are the same.
A parallel line a 'B' of a first connection AB of the first position point a and the second position point B on the plane XOZ is determined, and the angle between the parallel line a 'B' and the second direction (X direction) is the first deviation angle. When the parallel line a 'B' is parallel to the second direction, the first deviation angle is zero.
And when the first deviation angle is not zero or is larger than a preset error, controlling the grouting equipment to perform angle adjustment based on the first deviation angle so that the front surface of the grouting equipment (such as the front surface of the grouting equipment body) is parallel to the grouting hole surface. In this embodiment, the actuating tip is maintained in a relatively fixed positional relationship with the grout tool in the first direction, and when the front surface of the grout tool is parallel to the grout hole surface, it is determined that the actuating tip is parallel to the grout hole surface in the first direction.
The base of the grouting equipment is provided with two steering wheels and at least one universal wheel, the driving grouting equipment is driven to adjust the angle by controlling the steering wheels on the base, wherein the two steering wheels of the base can be arranged diagonally, the position of one steering wheel can be fixed by controlling, and the other steering wheel rotates to adjust the angle of the grouting equipment. Optionally, controlling the grouting equipment to perform angle adjustment based on the first deviation angle includes: and controlling a first steering wheel of the grouting equipment as a rotation center, determining the moving distance of a second steering wheel based on the first deviation angle, and driving the second steering wheel to perform angle adjustment based on the moving distance.
Exemplarily, referring to fig. 5, fig. 5 is a schematic view illustrating an angle adjustment of a grouting apparatus according to an embodiment of the present invention. In fig. 5, a dashed line frame is an original position of the grouting device, and the grouting device is adjusted to meet the adjustment of the first deviation angle r1 by using the first steering wheel as a rotation center and the second steering wheel as a rotation center, wherein the dashed line frame is the adjusted position of the grouting device. The first steering wheel as the center of rotation is not fixed and is determined in accordance with the direction of the first deviation angle.
Optionally, the control of the first rudder wheel of the grouting device as a rotation center further includes: determining a direction of movement of the grouting equipment based on the direction of the first deviation angle; a first steering wheel is determined as a center of rotation based on the direction of movement. Illustratively, referring to fig. 5, the first deviation angle is formed by a vertex and two sides, wherein an opening direction formed by the two sides is a direction of the first deviation angle, the grouting equipment moves in a direction parallel to the wall by angle adjustment, that is, the grouting equipment keeps a side of the grouting equipment close to the wall stationary, and moves in a direction toward the wall on a side far from the wall (that is, a direction side of the first deviation angle), and accordingly, a first steering wheel with a steering wheel on the side of the grouting equipment close to the wall as a rotation center and a second steering wheel with a steering wheel on the side of the grouting equipment far from the wall as a rotation center.
And respectively sending a control instruction to the two steering wheels, for example, sending an in-situ rotation instruction to the first steering wheel, and sending a driving instruction to the second steering wheel, so that the moving distance of the second steering wheel meets the moving distance corresponding to the first deviation angle. Optionally, determining a moving distance of a second steering wheel based on the first deviation angle, and driving the second steering wheel to perform angle adjustment based on the moving distance, includes: determining a movement distance of a second steering wheel based on a distance between the first steering wheel and the second steering wheel and the first deviation angle; determining a number of rotations of the second steering wheel based on the movement distance and a size of the second steering wheel; and driving the second steering wheel to adjust the angle based on the number of the rotation turns. Illustratively, referring to fig. 5, the length of the motion trajectory in fig. 5 is a moving distance of the second steering wheel, which can be determined according to a distance between the first steering wheel and the second steering wheel and the first deviation angle, specifically, the moving distance can be (r1/360) × 2 × pi × Loc1, where r1 is the first deviation angle and Loc1 is the distance between the first steering wheel and the second steering wheel. The number of rotation turns of the second steering wheel can be determined by dividing the moving distance by the circumference of the second steering wheel, correspondingly, the number of rotation turns of the second steering wheel can be included in the driving instruction sent to the second steering wheel, the number of rotation turns is counted in the rotation process of the second steering wheel, and when the number of rotation turns in the driving instruction is met, the movement is stopped, and the adjustment of the first deviation angle is completed.
Further, a second image of the plane of the grout hole is acquired through the 3D camera, a second deviation angle is determined based on the second image, and the rotating shaft is adjusted based on the second deviation angle so that the execution end axis is perpendicular to the grout hole surface.
Optionally, determining a second deviation angle of the grout hole face from the performing tip axis based on the second image comprises: identifying a grouting hole position in the second image, and determining a third position point and a fourth position point in an image region where the grouting hole position is located, wherein the third position point and the fourth position point have the same coordinate value in a second direction under a preset vertical coordinate system; determining a parallel line of a second connecting line based on the third position point and the fourth position point on a plane vertical to the second direction; and determining an included angle between a parallel line of the second connecting line and the first direction under the preset vertical coordinate system as the second deviation angle. Similarly, the grouting hole position in the second image may be obtained by edge recognition, the third position point and the fourth position point are position points on the outer contour of the grouting hole position, the third position point and the fourth position point have the same coordinate value in the second direction, the specific coordinate value is not limited, and a second deviation angle is determined based on an included angle between a parallel line of a second connecting line of the third position point and the fourth position point on the plane YOZ and the first direction.
And controlling the rotating shaft to drive the execution tail end to rotate based on the second deviation angle so as to meet the condition that the axis of the execution tail end is vertical to the grouting hole surface. It should be noted that when the second deviation angle is zero, the angle adjustment is performed without controlling the rotation.
In the embodiment, when the determined execution tail end axis is perpendicular to the grouting hole surface, a third image of the wall surface where the grouting hole is located is obtained; determining a center point position of a grouting hole site in the third image, and determining the position deviation based on the center point position of the grouting hole site and a center point position of a grouting head at an execution tail end. For example, when the outer contour of the grouting hole site is obtained by performing edge recognition on the third image, the center point coordinate, that is, the center point position of the grouting hole site is determined based on the coordinates of the outer contour of the grouting hole site, the coordinate differences between the center point coordinate and the center point position (origin point coordinate) of the grouting head at the execution tail end on the X axis, the Y axis and the Z axis are respectively calculated to form a position deviation, and the position of the execution tail end is adjusted according to the position deviation.
The technical scheme that this embodiment provided, through the image of the grout hole site of gathering in grades, the deviation of the grout hole site of discernment image respectively in the equidirectional not, adjust grouting equipment, rotation axis and execution end in proper order to make grout head and grout hole site reach the central point and correspond, the accuracy of deviation adjustment has been guaranteed in the regulation of grades, has realized the automatic alignment of grout hole site and grout head, has replaced manual grouting operation, has improved the speed and the efficiency of grout operation.
EXAMPLE III
Fig. 6 is a schematic flow chart of a grouting alignment method provided in a third embodiment of the present invention, which is refined based on the foregoing method, and the method specifically includes:
s310, when the execution tail end is located at a working position, acquiring a first image of the wall surface where the grouting hole is located.
And S320, determining a first deviation angle of a grouting hole surface corresponding to the grouting hole position and the front surface of the grouting equipment and/or a second deviation angle of the grouting hole surface and the execution tail end axis based on the first image.
And S330, controlling the grouting equipment to perform angle adjustment based on the first deviation angle, and/or controlling the rotating shaft to perform angle adjustment based on the second deviation angle.
S340, identifying the position deviation of the grouting hole site and a grouting head at the execution tail end, and controlling the grouting head to adjust the position based on the position deviation so that the grouting head corresponds to the grouting hole site to reach a central point.
In this embodiment, an image is collected once for a wall surface where a grouting hole is located, and a first deviation angle and a second deviation angle are performed based on the collected first image, where the first deviation angle is determined based on a first position point and a second position point in the first image, which have the same coordinate value in the first direction, and the second deviation angle is determined based on a third position point and a fourth position point in the first image, which have the same coordinate value in the second direction. The manner of determining the first deviation angle and the second deviation angle is the same as that of the above embodiment, and is not described herein again.
In this embodiment, the first deviation angle and the second deviation angle are respectively determined on the first image, so that one image acquisition process is saved, and the angle adjustment can be simultaneously performed on the grouting device and the rotating shaft. When the first deviation angle is zero, controlling the rotating shaft to perform angle adjustment based on the second deviation angle; when the second deviation angle is zero, controlling grouting equipment to perform angle adjustment based on the first deviation angle; when the first deviation angle and the second deviation angle are not zero, the grouting equipment is controlled to perform angle adjustment based on the first deviation angle, and meanwhile, the rotating shaft is controlled to perform angle adjustment based on the second deviation angle.
According to the technical scheme, the first deviation angle and the second deviation angle are determined by collecting the first image, the angle deviation is adjusted based on at least one of the first deviation angle and the second deviation angle, the angle adjusting process is simplified, and the alignment efficiency of the grouting head and the grouting hole position is improved.
Example four
Fig. 7 is a schematic structural diagram of a grouting alignment device according to a fourth embodiment of the present invention, the grouting alignment device is integrated in a grouting apparatus, the grouting apparatus includes an execution end, the execution end is disposed on the grouting apparatus based on a rotation axis, and the grouting alignment device includes:
an angle deviation adjusting module 410, configured to, when the execution terminal is in a working position, identify an angle deviation between a grouting hole surface of the grouting hole location and the grouting equipment, and control the grouting equipment and/or a rotating shaft to perform angle adjustment based on the angle deviation, where an execution terminal axis corresponding to the rotating shaft after angle adjustment is perpendicular to the grouting hole surface;
and a position deviation adjusting module 420, configured to identify a position deviation between the grouting hole location and a grouting head at the execution end, and control the grouting head to perform position adjustment based on the position deviation, so that the grouting head corresponds to the grouting hole location at a central point.
Optionally, the angular deviation adjusting module 410 includes:
the first image acquisition unit is used for acquiring a first image of the wall surface where the grouting hole is located;
a deviation angle determination unit for determining a first deviation angle of a grout hole surface corresponding to the grout hole site and a front surface of the grouting apparatus and/or a second deviation angle of the grout hole surface and the execution tip axis based on the first image;
and the deviation angle adjusting module is used for controlling the grouting equipment to perform angle adjustment based on the first deviation angle and/or controlling the rotating shaft to perform angle adjustment based on the second deviation angle.
Optionally, the angular deviation adjusting module 410 includes:
the first image acquisition unit is used for acquiring a first image of the wall surface where the grouting hole is located;
a first deviation angle determination unit for determining a first deviation angle of a grout hole surface corresponding to the grout hole site and a front surface of the grouting apparatus based on the first image;
a first adjusting unit for controlling the grouting equipment to perform angle adjustment based on the first deviation angle;
the second deviation angle determining unit is used for acquiring a second image of the wall surface where the grouting hole is located after the grouting equipment is subjected to angle adjustment, and determining a second deviation angle between the grouting hole surface and the execution tail end axis based on the second image;
and the second adjusting module is used for controlling the rotating shaft to carry out angle adjustment based on the second deviation angle.
Optionally, the first deviation angle determining unit is configured to:
identifying grouting hole sites in the first image, and determining a first position point and a second position point in an image region where the grouting hole sites are located, wherein the first position point and the second position point have the same coordinate value in a first direction under a preset vertical coordinate system;
determining a parallel line of a first connecting line based on the first connecting line of the first position point and the second position point on a plane vertical to the first direction;
and determining an included angle between a parallel line of the first connecting line and a second direction under the preset vertical coordinate system as the first deviation angle.
Optionally, the second deviation angle determining unit is configured to:
identifying a grouting hole position in the first image or the second image, and determining a third position point and a fourth position point in an image region where the grouting hole position is located, wherein the third position point and the fourth position point have the same coordinate value in a second direction under a preset vertical coordinate system;
determining a parallel line of a second connecting line based on the third position point and the fourth position point on a plane vertical to the second direction;
and determining an included angle between a parallel line of the second connecting line and the first direction under the preset vertical coordinate system as the second deviation angle.
Optionally, the first adjusting unit is configured to:
and controlling a first steering wheel of the grouting equipment as a rotation center, determining the moving distance of a second steering wheel based on the first deviation angle, and driving the second steering wheel to perform angle adjustment based on the moving distance.
Optionally, the first adjusting unit is configured to:
determining a direction of movement of the grouting device based on the direction of the first deviation angle;
a first steering wheel is determined as a center of rotation based on the direction of movement.
Optionally, the first adjusting unit is configured to:
determining a movement distance of a second steering wheel based on a distance between the first steering wheel and the second steering wheel and the first deviation angle;
determining a number of rotations of the second steering wheel based on the movement distance and a size of the second steering wheel;
and driving the second steering wheel to adjust the angle based on the number of the rotation turns.
Optionally, the position deviation adjusting module 420 is configured to:
acquiring a third image of the wall surface where the grouting hole is located;
determining a center point position of a grouting hole site in the third image, and determining the position deviation based on the center point position of the grouting hole site and a center point position of a grouting head at an execution tail end.
Optionally, the apparatus further comprises:
and the alignment verification module is used for acquiring a fourth image of the wall surface where the grouting hole site is located after the grouting head is controlled to perform position adjustment based on the position deviation, verifying whether the angle deviation of the grouting hole site and the grouting equipment and the position deviation of the grouting hole site and the grouting head at the execution tail end meet a preset error range based on the fourth image, and returning to execute the corresponding adjustment step if any one of the angle deviation or the position deviation does not meet the preset error range.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fig. 8 is a schematic structural diagram of a grouting apparatus according to a fifth embodiment of the present invention, wherein the grouting apparatus includes a grouting apparatus main body 510, an execution terminal 520, a main controller 530, and a 3D camera 540;
the 3D camera is arranged on the grouting equipment main body, is connected with the main controller, and is used for acquiring images of a wall surface where the grouting hole is located and sending the images to the main controller;
the grouting equipment main body is provided with a chassis 550 which is electrically connected with the main controller, and the chassis comprises at least two steering wheels 551 for receiving a control command of the main controller and driving the grouting equipment main body to move based on the control command;
the execution tail end is arranged on the grouting equipment main body based on a rotating shaft and is used for grouting a grouting hole position;
the main controller 530 is used for executing the grouting alignment method according to any embodiment of the present invention.
Exemplary, components of the main controller 530 may include, but are not limited to: one or more processors, a memory device, and a bus connecting the various system components (including the memory device and the processors).
A bus represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.
The storage device may include a computer system readable medium in the form of volatile Memory, such as Random Access Memory (RAM) and/or cache Memory. The main controller 530 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (commonly referred to as "hard drives"). A magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a Compact disk-Read Only Memory (CD-ROM), Digital Video disk (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to the bus by one or more data media interfaces. The memory device may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program having a set (at least one) of program modules may be stored, for instance, in a storage device, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination may comprise an implementation of a network environment. The program modules generally perform the functions and/or methodologies of the described embodiments of the invention.
The main controller 530 may also communicate with one or more external devices (e.g., keyboard, pointing device, camera, display, etc.), with one or more devices that enable a user to interact with the main controller, and/or with any devices (e.g., network card, modem, etc.) that enable the main controller to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface. Also, the main controller 530 may communicate with one or more networks (e.g., Local Area Network (LAN), Wide Area Network (WAN)) and/or a public Network (e.g., the Internet) via a Network adapter. As shown, the network adapter communicates with the other modules of the host controller 530 via a bus. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the main controller 530, including but not limited to: microcode, device drivers, Redundant processing units, external disk drive Arrays, disk array (RAID) systems, tape drives, and data backup storage systems, to name a few.
The processor executes various functional applications and data processing by running programs stored in the storage device, for example, implementing the grouting and positioning method provided by the above-described embodiments of the present invention.
EXAMPLE six
The sixth embodiment provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform operations related to the grout alignment method provided in any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the grouting and bit alignment method according to the embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (13)
1. A grouting alignment method applied to a grouting apparatus including an execution tip provided on the grouting apparatus based on a rotation axis, the method comprising:
when the execution tail end is located at a working position, identifying the angle deviation between the grouting hole surface of the grouting hole site and the grouting equipment, and controlling the grouting equipment and/or a rotating shaft to perform angle adjustment based on the angle deviation, wherein the axis of the execution tail end corresponding to the rotating shaft after angle adjustment is perpendicular to the grouting hole surface;
and identifying the position deviation of the grouting hole site and a grouting head at the execution tail end, and controlling the grouting head to perform position adjustment based on the position deviation so that the grouting head corresponds to the grouting hole site to reach a central point.
2. The method according to claim 1, wherein the identifying an angular deviation of a grout hole face of the grout hole site from the grouting equipment, and controlling the grouting equipment and/or a rotating shaft for angular adjustment based on the angular deviation comprises:
acquiring a first image of the wall surface where the grouting hole is located;
determining a first deviation angle of a grouting hole surface corresponding to the grouting hole site and a front surface of the grouting equipment and/or a second deviation angle of the grouting hole surface and the execution end axis based on the first image;
controlling the grouting equipment to perform angle adjustment based on the first deviation angle, and/or controlling the rotating shaft to perform angle adjustment based on the second deviation angle.
3. The method according to claim 1, wherein the identifying an angular deviation of a grout hole face of the grout hole site from the grouting equipment, and controlling the grouting equipment and/or a rotating shaft for angular adjustment based on the angular deviation comprises:
acquiring a first image of the wall surface where the grouting hole is located;
determining a first deviation angle of a grouting hole surface corresponding to the grouting hole position and the front surface of the grouting equipment based on the first image, and controlling the grouting equipment to perform angle adjustment based on the first deviation angle;
after the angle of the grouting equipment is adjusted, acquiring a second image of the wall surface where the grouting hole is located, and determining a second deviation angle between the grouting hole surface and the axis of the execution tail end based on the second image;
and controlling the rotating shaft to perform angle adjustment based on the second deviation angle.
4. The method according to claim 2 or 3, wherein the determining a first deviation angle of a grout hole face corresponding to the grout hole location from a front surface of the grouting equipment based on the first image comprises:
identifying grouting hole sites in the first image, and determining a first position point and a second position point in an image region where the grouting hole sites are located, wherein the first position point and the second position point have the same coordinate value in a first direction under a preset vertical coordinate system;
determining a parallel line of a first connecting line based on the first connecting line of the first position point and the second position point on a plane vertical to the first direction;
and determining an included angle between a parallel line of the first connecting line and a second direction under the preset vertical coordinate system as the first deviation angle.
5. A method according to claim 2 or 3, wherein the determination of the second deviation angle comprises:
identifying grouting hole sites in the first image or the second image, and determining a third position point and a fourth position point in an image region where the grouting hole sites are located, wherein the third position point and the fourth position point have the same coordinate value in a second direction under a preset vertical coordinate system;
determining a parallel line of a second connecting line based on the third position point and the fourth position point on a plane vertical to the second direction;
and determining an included angle between a parallel line of the second connecting line and the first direction under the preset vertical coordinate system as the second deviation angle.
6. The method according to claim 2 or 3, wherein said controlling the grouting equipment for an angle adjustment based on the first deviation angle comprises:
and controlling a first steering wheel of the grouting equipment as a rotation center, determining the moving distance of a second steering wheel based on the first deviation angle, and driving the second steering wheel to perform angle adjustment based on the moving distance.
7. The method of claim 6, wherein the controlling the first steering wheel of the grouting device as a center of rotation comprises:
determining a direction of movement of the grouting device based on the direction of the first deviation angle;
a first steering wheel is determined as a center of rotation based on the direction of movement.
8. The method of claim 6, wherein said determining a distance of movement of a second steering wheel based on said first deviation angle and driving said second steering wheel for angular adjustment based on said distance of movement comprises:
determining a moving distance of a second steering wheel based on a distance between the first steering wheel and the second steering wheel and the first deviation angle;
determining the number of rotations of the second steering wheel based on the movement distance and the size of the second steering wheel;
and driving the second steering wheel to adjust the angle based on the number of the rotation turns.
9. The method of claim 1, wherein the identifying a positional deviation of the grout hole site from a grout head of the performing tip comprises:
acquiring a third image of the wall surface where the grouting hole is located;
determining a center point position of a grouting hole site in the third image, and determining the position deviation based on the center point position of the grouting hole site and a center point position of a grouting head at an execution tail end.
10. The method of claim 1, wherein after controlling the grouting head for position adjustment based on the positional deviation, the method further comprises:
acquiring a fourth image of the wall surface where the grouting hole site is located, and verifying whether the angle deviation between the grouting hole site and the grouting equipment and the position deviation between the grouting hole site and a grouting head at the execution tail end meet a preset error range or not based on the fourth image;
and if any one of the angle deviation or the position deviation does not meet the preset error range, returning to execute the corresponding adjusting step.
11. A grouting alignment device integrated in a grouting apparatus including an execution tip provided on the grouting apparatus based on a rotation axis, the device comprising:
the angle deviation adjusting module is used for identifying the angle deviation between the grouting hole surface of the grouting hole site and the grouting equipment when the execution tail end is located at a working position, and controlling the grouting equipment and/or a rotating shaft to perform angle adjustment based on the angle deviation, wherein the axis of the execution tail end corresponding to the rotating shaft after angle adjustment is vertical to the grouting hole surface;
and the position deviation adjusting module is used for identifying the position deviation of the grouting hole site and a grouting head at the execution tail end, and controlling the grouting head to perform position adjustment based on the position deviation so as to enable the grouting head to correspond to the grouting hole site to reach a central point.
12. Grouting equipment is characterized by comprising a grouting equipment main body, an execution tail end, a main controller and a 3D camera;
the 3D camera is arranged on the grouting equipment main body, is connected with the main controller, and is used for acquiring images of a wall surface where the grouting hole is located and sending the images to the main controller;
the grouting equipment main body is provided with a chassis which is electrically connected with the main controller, and the chassis comprises at least two steering wheels and is used for receiving a control instruction of the main controller and driving the grouting equipment main body to move based on the control instruction;
the execution tail end is arranged on the grouting equipment main body on the basis of a rotating shaft and is used for grouting a grouting hole;
the master controller is configured to perform the grouting alignment method according to any one of claims 1 to 10.
13. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of grout alignment according to any of claims 1-10.
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| CN202011294481.3A CN114517577A (en) | 2020-11-18 | 2020-11-18 | Grouting alignment method and device, grouting equipment and storage medium |
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| CN202011294481.3A CN114517577A (en) | 2020-11-18 | 2020-11-18 | Grouting alignment method and device, grouting equipment and storage medium |
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