CN115509215A - Robot-based floor grinding path generation method and device - Google Patents
Robot-based floor grinding path generation method and device Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
The embodiment of the application provides a robot-based floor grinding path generation method and device, relates to the technical field of building construction, and comprises the following steps: performing area division on the field according to the field contour line of the field to obtain a construction area; generating an operation preliminary path in a construction area according to a preset linear polishing requirement, a preset polishing area overlapping requirement, a preset minimum turn number requirement and a preset winding prevention requirement; calculating according to the size information of the robot and the size information of the column to obtain a column winding route of the robot; and adjusting the operation preliminary path according to the column winding route of the robot to obtain an operation construction path. Therefore, by implementing the embodiment, the ground after floor polishing can be smoother, and the influence of dust on a construction site on the physical condition of workers can be avoided.
Description
Technical Field
The application relates to the field of building construction, in particular to a floor grinding path generation method and device based on a robot.
Background
At present, for guaranteeing that the ground of underground garage is level and smooth, ground concrete base layer grinds the operation before carrying out the floor paint construction usually. However, in the market, manual hand-push type floor grinding machines are used for grinding the ground concrete base layer. However, the grinding method cannot effectively ensure the flatness of the ground due to manual operation, and meanwhile, the dust on the construction site can influence the physical condition of workers.
Disclosure of Invention
An object of the embodiments of the present application is to provide a floor grinding path generation method and apparatus based on a robot, which can effectively ensure flatness after ground grinding, and avoid influence of dust on a construction site on physical conditions of workers.
The embodiment of the application provides a terrace grinds route generation method based on robot in the first aspect, includes:
performing area division on a field according to a field contour line of the field to obtain a construction area;
generating an operation preliminary path in the construction area according to a preset linear polishing requirement, a preset polishing area overlapping requirement, a preset minimum turn number requirement and a preset winding prevention requirement;
calculating according to the size information of the robot and the size information of the column to obtain a column winding route of the robot;
and adjusting the operation preliminary path according to the robot post winding route to obtain an operation construction path.
In the implementation process, the method can preferentially divide the area of the field to be ground to obtain a construction area, generates an operation preliminary path by taking the construction area as a minimum operation unit, and adjusts the operation preliminary path while considering requirements such as a straight line grinding requirement, a grinding area overlapping requirement, a minimum turn number requirement, an anti-winding requirement, a requirement for avoiding an obstacle cylinder and the like to obtain an operation construction path finally meeting all requirements. Therefore, by implementing the embodiment, the optimal operation path meeting all requirements can be obtained in each minimum operation unit, so that the ground of the robot after floor polishing according to the optimal operation path can be smoother, and the influence of dust on a construction site on the physical condition of a worker can be avoided.
Further, before the step of performing area division on the site according to the site contour line of the site to obtain a construction area, the method further includes:
acquiring site information according to a building information model, a laser radar scanning result or an SLAM scanning result;
and determining a site contour line of the site according to the site information.
In the implementation process, the method can acquire the site information through any one of a building information model, a laser radar scanning result or an SLAM scanning result so as to obtain the site information with higher precision, and then determine the site contour line according to the site information with higher precision. Therefore, by the implementation of the implementation mode, the field contour line with higher precision can be obtained, so that the construction area can be divided more accurately.
Further, the step of generating an operation preliminary path in the construction area according to a preset straight line polishing requirement, a preset polishing area overlapping requirement, a preset minimum turn number requirement and a preset anti-winding requirement includes:
generating a plurality of linear uniform paths in the construction area according to a preset linear polishing requirement and a preset polishing area overlapping requirement;
and determining an operation preliminary path in the plurality of linear uniform paths according to a preset minimum turn number requirement and a preset anti-winding requirement.
In the implementation process, the method can generate a plurality of linear uniform paths in the construction area according to the linear polishing requirement and the polishing area overlapping requirement preferentially; the straight uniform path may be understood as a meandering path, and a specific straight uniform path is formed by a plurality of continuous line segments, so that the straight uniform path does not have any curve. Meanwhile, the plurality of straight uniform paths can be transverse or longitudinal, wherein the difference is the number of line segments and the convenience degree in the practical application process. Therefore, the method further selects a plurality of straight uniform paths according to the number of turns and the requirement of wire winding prevention, thereby determining an operation preliminary path with the minimum number of turns and no wire winding problem. Therefore, by implementing the implementation mode, the operation preliminary path meeting various requirements can be obtained in stages, so that an adjustment basis is provided for subsequent path adjustment.
Further, the step of calculating according to the robot size information and the column size information to obtain the robot column-winding route includes:
calculating according to the preset safety distance and the cylinder size information to obtain an evasive path;
determining a rotation center of the robot according to the robot size information, and calculating a first rotation distance between a head of the robot and the rotation center and a second rotation distance between a tail of the robot and the rotation center;
calculating according to the preset safety distance, the first rotating distance and the cylinder size information to obtain an avoidance rotating angle;
calculating according to the preset safety distance, the second rotation distance and the cylinder size information to obtain a regression rotation angle;
and generating a robot column-winding route according to the original path of the robot, the preset safe distance, the avoidance path, the avoidance rotation angle and the regression rotation angle.
In the implementation process, the method can calculate according to the actual cylinder size, the preset safety distance and the robot size information to obtain various key data, and generates a route according to the various key data to obtain a robot column-winding route. Therefore, by implementing the embodiment, a specific robot post winding route can be obtained, so that the preliminary operation path can be adjusted conveniently.
Further, the method further comprises:
and combining the operation construction paths which correspond to the construction areas one by one to obtain an integral construction path.
In the implementation process, the method can acquire the operation construction paths of the plurality of construction areas through the steps, and then the operation construction paths are combined through the steps, so that a complete integral construction path is obtained. Therefore, by implementing the embodiment, a complete construction path can be generated, thereby being beneficial to the construction of large-scale floor grinding.
The embodiment of this application in the second aspect provides a terrace grinds route generation device based on robot, terrace grinds route generation device based on robot includes:
the dividing unit is used for carrying out region division on the field according to the field contour line of the field to obtain a construction region;
the generating unit is used for generating an operation preliminary path in the construction area according to a preset linear polishing requirement, a preset polishing area overlapping requirement, a preset minimum turn number requirement and a preset winding prevention requirement;
the calculation unit is used for calculating according to the size information of the robot and the size information of the column to obtain a column winding route of the robot;
and the adjusting unit is used for adjusting the operation preliminary path according to the column winding route of the robot to obtain an operation construction path.
In the implementation process, the device can acquire the optimal operation path meeting all requirements in each minimum operation unit, so that the ground of the robot after floor polishing is carried out according to the optimal operation path is smoother, and the influence of dust on a construction site on the physical condition of workers can be avoided.
Further, the generation unit includes:
the first generation subunit is used for generating a plurality of linear uniform paths in the construction area according to a preset linear polishing requirement and a preset polishing area overlapping requirement;
and the determining subunit is used for determining an operation preliminary path in the plurality of linear uniform paths according to a preset minimum turn number requirement and a preset anti-winding requirement.
In the implementation process, the device can generate a plurality of linear uniform paths in the construction area according to the linear grinding requirement and the grinding area overlapping requirement through the first generation subunit; the straight-line uniform path may be understood as a circuitous path, and the straight-line uniform path is specifically composed of a plurality of continuous line segments, so that the straight-line uniform path does not have any curve. Meanwhile, the plurality of straight uniform paths can be transverse or longitudinal, wherein the difference is the number of line segments and the convenience degree in the practical application process. Therefore, the device further selects a plurality of straight uniform paths according to the number of turns and the requirement of wire winding prevention by the determining subunit, thereby determining an operation initial path with the minimum number of turns and no wire winding problem. Therefore, by implementing the implementation mode, the operation preliminary path meeting various requirements can be obtained in stages, so that an adjustment basis is provided for subsequent path adjustment. .
Further, the calculation unit includes:
the calculation subunit is used for calculating according to the preset safe distance and the cylinder size information to obtain an evasive path;
the calculating subunit is further configured to determine a rotation center of the robot according to the robot size information, and calculate a first rotation distance between a head of the robot and the rotation center and a second rotation distance between a tail of the robot and the rotation center;
the calculation subunit is further configured to calculate according to the preset safe distance, the first rotation distance, and the cylinder size information, so as to obtain an avoidance rotation angle;
the calculating subunit is further configured to calculate according to the preset safe distance, the second rotation distance, and the cylinder size information, so as to obtain a regression rotation angle;
and the second generation subunit is used for generating a robot pole-winding route according to the original path of the robot, the preset safety distance, the avoidance path, the avoidance rotating angle and the regression rotating angle.
In the implementation process, the device can calculate according to the actual cylinder size, the preset safety distance and the robot size information to obtain various key data, and generates a route according to the various key data to obtain a robot column-winding route. Therefore, by implementing the embodiment, a specific robot post winding route can be obtained, so that the preliminary operation path can be adjusted conveniently.
A third aspect of the embodiments of the present application provides an electronic device, including a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the method for generating a robot-based floor grinding path according to any one of the first aspect of the embodiments of the present application.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores computer program instructions, where the computer program instructions, when read and executed by a processor, execute the method for generating a robot-based floor grinding path according to any one of the first aspect of the embodiments of the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a method for generating a floor grinding path based on a robot according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of another robot-based floor grinding path generation method according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a floor grinding path generating device based on a robot according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of another robot-based floor grinding path generation device according to an embodiment of the present disclosure
Fig. 5 is a schematic diagram illustrating acquisition of a construction area according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a linear uniform path with a preferred path direction length according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of a linear uniform path with a preferential short side in the path direction according to an embodiment of the present disclosure;
fig. 8 is a schematic diagram of a u-turn path planning based on a wire-wrapping prevention requirement according to an embodiment of the present application;
fig. 9 is a schematic view of a robot column winding process provided in an embodiment of the present application;
FIG. 10 is a schematic view of another robot column winding process provided in the embodiments of the present application;
FIG. 11 is a schematic view of another robot column winding process provided in the embodiments of the present application;
FIG. 12 is a schematic diagram illustrating an effect of a plateau polishing path generation provided by an embodiment of the present application;
fig. 13 is a schematic diagram illustrating an effect of generating a terrace grinding path according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for generating a robot-based floor grinding path according to an embodiment of the present disclosure. Wherein, this terrace based on robot grinds route generation method includes:
s101, carrying out area division on the field according to the field contour line of the field to obtain a construction area.
In this embodiment, the field is a main operation scene of the robot.
In this embodiment, the venue may include a plot base.
In this embodiment, the ground storehouse has complicated overall arrangement usually, in order to avoid the robot of electrified cable power supply not to press the cable at the operation in-process, also in order to obtain more reasonable construction route simultaneously, this step is preferred to carry out regional intelligence to complicated ground storehouse place and divides in advance to obtain specific construction area, and then the subsequent route of being convenient for is generated.
In this embodiment, in this step, the construction area may be obtained by performing area division on the acquired electricity taking point position, the acquired fireproof partition information, and the acquired space size information.
For example, the method can divide a fire-resistant subarea, a large and continuous bay space into one area in the cable range. As shown in fig. 5, the area is divided into an upper area and a lower area (an upper area a and a lower area B), and it can be seen that the area splitting can create a precondition for effective layout of a following automatic path planning cable, thereby facilitating obtaining effect of a floor grinding path.
S102, generating an operation preliminary path in the construction area according to a preset straight line polishing requirement, a preset polishing area overlapping requirement, a preset minimum turn number requirement and a preset winding prevention requirement.
In this embodiment, the preset straight line polishing requirement is intended to require that no curve is allowed to appear in the generated path, thereby ensuring that the path is composed of a plurality of continuous line segments.
In this embodiment, the preset grinding region overlapping requirement is intended to require a certain repetition region between two adjacent grinding paths.
In this embodiment, the preset minimum turn number requirement is intended to require a minimum number of all line segments in the grinding path.
In this embodiment, the preset wire-winding prevention requirement is intended to prevent the robot from winding the wire around the barrier cylinder during the operation process, so as to prevent the cable from being unable to be bundled.
And S103, calculating according to the size information of the robot and the size information of the column to obtain a column winding route of the robot.
In this embodiment, when the column is found to overlap with the planned path, the local path needs to be re-planned to avoid the column. The local path is the robot's path around the post.
In this embodiment, the robot is used as a space entity, and a certain robot entity is arranged in front of and behind the center of the robot. Therefore, the robot path around the column is calculated according to the obstacle column and the size of the robot based on the consideration of the point.
And S104, adjusting the operation preliminary path according to the column winding route of the robot to obtain an operation construction path.
In this embodiment, the method may preferentially identify obstacle approaching routes (routes approaching the obstacle column or routes passing through the obstacle column) in the operation preliminary route, and then replace the obstacle approaching routes with the robot around the column route, so as to obtain the operation construction route.
In the embodiment of the present application, the execution subject of the method may be a computing device such as a computer and a server, and is not limited in this embodiment.
In the embodiment of the present application, the main body of the method may also be an intelligent device such as a smart phone and a tablet computer, which is not limited in this embodiment.
It can be seen that, by implementing the method for generating a robot-based floor grinding path described in this embodiment, a field to be ground can be preferentially divided into regions to obtain a construction region, a primary operation path is generated by using the construction region as a minimum operation unit, and then the primary operation path is adjusted while satisfying requirements of straight line grinding, grinding region overlapping, minimum turning number, wire winding prevention, obstacle avoidance cylinder and the like, so as to obtain an operation construction route which finally meets all requirements. Therefore, by implementing the embodiment, the optimal operation path meeting all requirements can be obtained in each minimum operation unit, so that the ground of the robot after floor polishing is carried out according to the optimal operation path can be smoother, and the influence of dust on a construction site on the physical condition of a worker can be avoided.
Example 2
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a method for generating a floor grinding path based on a robot according to an embodiment of the present disclosure. As shown in fig. 2, the robot-based floor grinding path generation method includes:
s201, acquiring site information according to a building information model, a laser radar scanning result or an SLAM scanning result.
And S202, determining a site contour line of the site according to the site information.
In the embodiment, the method determines the site contour line of the site according to the position of the power taking point, the fire-proof subarea and the space size.
And S203, carrying out area division on the field according to the field contour line of the field to obtain a construction area.
After step S203, the following steps are also included:
s204, generating a plurality of straight-line uniform paths in the construction area according to the preset straight-line polishing requirement and the preset polishing area overlapping requirement.
In this embodiment, in order to overcome the walking precision error problem of machine, guarantee coverage area, and other needs such as avoiding post, turn around tactics, the route requirement is equallyd divide and adjacent route all requires to have certain overlap area.
In this embodiment, the center distance (an example between two adjacent sanding paths) should be kept within the optimal sanding data range.
In the embodiment, the method ensures that the robot walks according to a strict straight line or oblique line to perform grinding operation by giving the coordinates and the pose angle of the robot in the walking process. The data structure is defined as follows:
wherein x, y, z, angle represent the station pose of the robot.
In this embodiment, the precision (+ 5mm to +20 mm) and (-5 mm to-20 mm) of the construction and travel of the robot are determined. The method can accurately control the walking straight line and oblique line of the robot according to the walking position and angle.
And S205, determining a primary operation path in the plurality of linear uniform paths according to a preset minimum turn number requirement and a preset winding prevention requirement.
In this embodiment, when the tail of the robot drags the electric wire, the robot can only operate in a forward walking manner, and cannot move backward or move backward halfway. If not, the condition of pressing the wheel line can be caused to occur. Meanwhile, the robot cannot walk around the post when walking, and the electric wire at the tail of the vehicle can be wound around the post. Therefore, the method needs to determine the operation preliminary path in a plurality of straight-line uniform paths according to the preset requirement of the minimum turn number and the preset requirement of the anti-winding.
Referring to fig. 6 and 7, fig. 6 shows a straight uniform path with a path direction length-first, and fig. 7 shows a straight uniform path with a path direction short-side-first. As can be seen from fig. 6 and 7, after the overall direction of the robot operation is determined, the robot in fig. 6 turns around less times, so that the construction efficiency is high. Therefore, the straight uniform path in fig. 6 should be determined as the job preliminary path at this time.
Referring to fig. 8, fig. 8 is a schematic diagram of a u-turn path planning based on the requirement of wire wrapping prevention. Among them, because the robot carries the cable length limited, the robot can drag or retrieve the cable in the walking process to guarantee that the cable is enough.
In this embodiment, for the above reasons, the method must consider the release path of the cable when designing the path, mainly the turnaround path of the planned path. As can be seen in fig. 8, the left side illustration will result in the cable being wound around post a, while the right side illustration will not. Therefore, it is obvious from this example what the requirement of the anti-winding of the present solution is.
In the embodiment of the present application, by implementing the steps S204 to S205, an operation preliminary path can be generated in the construction area according to a preset straight line polishing requirement, a preset polishing area overlapping requirement, a preset minimum turn-around number requirement, and a preset anti-winding requirement.
After step S205, the following steps are also included:
and S206, calculating according to the preset safety distance and the cylinder size information to obtain an avoidance path.
Referring to fig. 9, the avoiding route in this step is avoiding route 1 in fig. 9.
And S207, determining the rotation center of the robot according to the robot size information, and calculating a first rotation distance between the head of the robot and the rotation center and a second rotation distance between the tail of the robot and the rotation center.
In this embodiment, the first rotation distance is a distance between the head of the robot and the rotation center; the second rotation pitch is a distance between the tail of the robot and the rotation center.
And S208, calculating according to the preset safety distance, the first rotating distance and the cylinder size information to obtain the avoidance rotating angle.
Referring to fig. 9, the predetermined safe distance in fig. 9 is the safe distance D1, and the column size information is represented by a "pillar" in the figure. And an included angle between the straight line AB and the original path in the process of anticlockwise rotation of the robot is called an avoidance rotation angle. After the robot rotates, the heading of the robot changes from the forward direction to heading C.
In this embodiment, referring to fig. 9, the steps may specifically include:
adjusting the course angle of the robot to enable the robot to advance to a distance D1 away from the pillar on the original path;
controlling the robot to advance, wherein the robot advances along the course C until the rotation center of the robot is intersected with the avoidance path 1 (namely a point B);
and adjusting the course angle of the robot to enable the robot to enter the avoidance path 1.
S209, calculating according to the preset safety distance, the second rotation distance and the cylinder size information to obtain a regression rotation angle.
Please refer to fig. 10, point C in fig. 10 coincides with the center of the robot, i.e., the second rotation distance is the distance from point C to the tail of the robot; the preset safety distance is a safety distance D1. In fig. 10, the robot travels a distance on the avoidance path 1 until the robot center coincides with point B, and rotates clockwise by the angle value of the regression rotation angle, and then travels a distance again until the robot center coincides with point C.
And S210, generating a robot column-winding route according to the original path, the preset safety distance, the avoidance path, the avoidance rotation angle and the regression rotation angle of the robot.
Referring to fig. 11, a schematic diagram of a robot returning to the original path around a column is shown.
In this embodiment, after the robot and the vehicle body carried by the robot complete avoidance, the tail of the robot still needs to keep a minimum distance D1 from the cylinder. Therefore, the overall robot winding process can be understood from fig. 9, 10, and 11. And on the basis of the known column winding process, the method needs to calculate an original path, a preset safety distance, an avoidance path, an avoidance rotation angle and a regression rotation angle in advance so that the robot can perform column winding operation according to the parameters. Thus, using reverse chronological reasoning here we can see that:
(1) the position of the C point in fig. 10 and 11 needs to be calculated, and the calculation formula is as follows:
the distance of point C from the nearest side of the post = safe distance D1+ robot tail radius of rotation (i.e. second pitch of rotation);
the position of the point C can be determined according to the formula.
(2) The direction of the evasive path 2 in fig. 10 and 11 can be determined by calculating the regression rotation angle because the rotation center of the vehicle body keeps C unchanged, the vehicle body rotates clockwise by a certain angle, and the right boundary and the pillar keep a safe distance D1 when the vehicle body moves forward or backward in the direction, and the rotation angle of the soviet-yi can be calculated by using a geometric formula, which is as follows:
Θ = arctan (vertical distance of BC/horizontal vertical distance of BC);
(3) in fig. 10 and 11, point B, which is the intersection of avoidance line 2 and avoidance line 1, may be calculated by using a geometric equation as it is.
In the embodiment of the present application, by performing the above-described steps S206 to S210, calculation can be performed according to the robot size information and the column size information to obtain the column winding path of the robot.
And S211, adjusting the operation preliminary path according to the column winding route of the robot to obtain an operation construction path.
Referring to fig. 12 and 13, fig. 12 and 13 show effect diagrams of the work construction path of two different areas.
And S212, combining a plurality of operation construction paths which correspond to the plurality of construction areas one by one to obtain an integral construction path.
In this embodiment, the site may be divided into a plurality of construction areas, and thus the plurality of construction areas are combined to obtain an overall construction route.
It can be seen that, by implementing the floor grinding path generation method based on the robot described in this embodiment, the optimal operation path meeting all requirements can be obtained in each minimum operation unit, so that the ground after the floor grinding is performed by the robot according to the optimal operation path is smoother, and the influence of dust on the construction site on the physical condition of a worker can be avoided.
Example 3
Referring to fig. 3, fig. 3 is a schematic structural diagram of a floor grinding path generating device based on a robot according to an embodiment of the present disclosure. As shown in fig. 3, the robot-based floor grinding path generating apparatus includes:
the dividing unit 310 is used for performing area division on the field according to the field contour line of the field to obtain a construction area;
the generating unit 320 is configured to generate an operation preliminary path in the construction area according to a preset linear polishing requirement, a preset polishing area overlapping requirement, a preset minimum turn number requirement, and a preset wire-wrapping prevention requirement;
the calculating unit 330 is configured to calculate according to the robot size information and the column size information to obtain a column winding route of the robot;
and an adjusting unit 340, configured to adjust the operation preliminary path according to the column-winding route of the robot, so as to obtain an operation construction path.
In this embodiment of the application, for explanation of the floor grinding path generating device based on the robot, reference may be made to the description in embodiment 1 or embodiment 2, and details are not repeated in this embodiment.
It can be seen that, the floor grinding path generating device based on the robot described in this embodiment can obtain the optimal operation path satisfying all requirements among each minimum operation unit, so that the ground after the robot performs floor grinding according to the optimal operation path is smoother, and the influence of dust on a construction site on the physical condition of a worker can be avoided.
Example 4
Referring to fig. 4, fig. 4 is a schematic structural diagram of a floor grinding path generating device based on a robot according to an embodiment of the present disclosure. The robot-based floor polishing route generation device shown in fig. 4 is optimized by the robot-based floor polishing route generation device shown in fig. 3. As shown in fig. 4, the generating unit 320 includes:
a first generating subunit 321, configured to generate a plurality of linear uniform paths in a construction area according to a preset linear polishing requirement and a preset polishing area overlapping requirement;
and the determining subunit 322 is configured to determine an operation preliminary path among the plurality of linear uniform paths according to a preset minimum turn number requirement and a preset anti-winding requirement.
As an optional embodiment, the robot-based floor grinding path generating apparatus further includes:
an obtaining unit 350, configured to obtain field information according to a building information model, a laser radar scanning result, or an SLAM scanning result before performing area division on a field according to a field contour line of the field to obtain a construction area;
and the determining unit 360 is used for determining the site contour line of the site according to the site information.
As an alternative embodiment, the calculation unit 330 includes:
the calculation subunit 331 is configured to perform calculation according to a preset safe distance and the cylinder size information to obtain an avoidance path;
the calculating subunit 331 is further configured to determine a rotation center of the robot according to the robot size information, and calculate a first rotation interval between the head of the robot and the rotation center and a second rotation interval between the tail of the robot and the rotation center;
the calculating subunit 331 is further configured to calculate according to a preset safe distance, the first rotation interval, and the cylinder size information, so as to obtain an avoidance rotation angle;
the calculating subunit 331 is further configured to calculate according to the preset safe distance, the second rotation interval, and the cylinder size information, so as to obtain a regression rotation angle;
and a second generating subunit 332, configured to generate a robot winding route according to the original path of the robot, the preset safe distance, the avoidance path, the avoidance rotation angle, and the regression rotation angle.
As an optional embodiment, the robot-based floor grinding path generating apparatus further includes:
and a merging unit 370, configured to merge a plurality of job construction paths corresponding to the plurality of construction areas one to one, to obtain an overall construction path.
In this embodiment of the application, for explanation of the floor grinding path generating device based on the robot, reference may be made to the description in embodiment 1 or embodiment 2, and details are not repeated in this embodiment.
It can be seen that, the floor grinding path generation device based on the robot described in this embodiment can obtain the optimal operation path satisfying all requirements in each minimum operation unit, so that the ground after the floor grinding is performed according to the optimal operation path by the robot is smoother, and the influence of dust on the construction site on the physical condition of workers can be avoided.
An embodiment of the present application provides an electronic device, including a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute any one of embodiment 1 or embodiment 2 of the present application of the method for generating a robot-based floor polishing path.
An embodiment of the present application provides a computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are read and executed by a processor, the method for generating a robot-based floor grinding path according to any one of embodiment 1 or embodiment 2 of the present application is executed.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A robot-based floor grinding path generation method, characterized by comprising:
according to the field contour line of the field, carrying out region division on the field to obtain a construction region;
generating an operation preliminary path in the construction area according to a preset linear polishing requirement, a preset polishing area overlapping requirement, a preset minimum turn number requirement and a preset winding prevention requirement;
calculating according to the size information of the robot and the size information of the column body to obtain a column winding route of the robot;
and adjusting the operation preliminary path according to the robot column winding route to obtain an operation construction path.
2. The robot-based floor grinding path generation method according to claim 1, wherein before the step of performing area division on the ground according to the ground contour line of the ground to obtain the construction area, the method further comprises:
acquiring site information according to a building information model, a laser radar scanning result or an SLAM scanning result;
and determining a site contour line of the site according to the site information.
3. The robot-based floor grinding path generation method according to claim 1, wherein the step of generating a preliminary path of work in the construction area according to a preset straight line grinding requirement, a preset grinding area overlapping requirement, a preset minimum turn number requirement and a preset anti-winding requirement comprises:
generating a plurality of linear uniform paths in the construction area according to a preset linear polishing requirement and a preset polishing area overlapping requirement;
and determining an operation preliminary path in the plurality of linear uniform paths according to a preset minimum turn number requirement and a preset anti-winding requirement.
4. The robot-based floor grinding path generation method according to claim 1, wherein the step of calculating according to the robot dimension information and the cylinder dimension information to obtain a robot path around the cylinder comprises:
calculating according to the preset safety distance and the cylinder size information to obtain an evasive path;
determining a rotation center of the robot according to the robot size information, and calculating a first rotation distance between a head of the robot and the rotation center and a second rotation distance between a tail of the robot and the rotation center;
calculating according to the preset safety distance, the first rotating distance and the cylinder size information to obtain an avoidance rotating angle;
calculating according to the preset safety distance, the second rotation distance and the cylinder size information to obtain a regression rotation angle;
and generating a robot column-winding route according to the original path of the robot, the preset safety distance, the avoidance path, the avoidance rotation angle and the regression rotation angle.
5. The robot-based floor grinding path generation method of claim 1, further comprising:
and combining a plurality of operation construction paths which correspond to the plurality of construction areas one by one to obtain an integral construction path.
6. The utility model provides a terrace grinds route generation device based on robot which characterized in that terrace grinds route generation device based on robot includes:
the dividing unit is used for carrying out region division on the field according to the field contour line of the field to obtain a construction region;
the generating unit is used for generating an operation preliminary path in the construction area according to a preset linear polishing requirement, a preset polishing area overlapping requirement, a preset minimum turn number requirement and a preset winding prevention requirement;
the calculation unit is used for calculating according to the size information of the robot and the size information of the column to obtain a column winding route of the robot;
and the adjusting unit is used for adjusting the operation preliminary path according to the column winding route of the robot to obtain an operation construction path.
7. The robot-based floor grinding path generation apparatus according to claim 6, wherein the generation unit includes:
the first generation subunit is used for generating a plurality of linear uniform paths in the construction area according to a preset linear polishing requirement and a preset polishing area overlapping requirement;
and the determining subunit is used for determining an operation preliminary path in the plurality of straight-line uniform paths according to a preset minimum turn number requirement and a preset winding prevention requirement.
8. The robot-based floor grinding path generation apparatus of claim 6, wherein the computing unit comprises:
the calculation subunit is used for calculating according to the preset safe distance and the cylinder size information to obtain an evasion path;
the calculating subunit is further configured to determine a rotation center of the robot according to the robot size information, and calculate a first rotation distance between a head of the robot and the rotation center and a second rotation distance between a tail of the robot and the rotation center;
the calculation subunit is further configured to calculate according to the preset safe distance, the first rotation distance, and the cylinder size information, so as to obtain an avoidance rotation angle;
the calculating subunit is further configured to calculate according to the preset safe distance, the second rotation distance, and the cylinder size information, so as to obtain a regression rotation angle;
and the second generation subunit is used for generating a robot pole-winding route according to the original path of the robot, the preset safety distance, the avoidance path, the avoidance rotating angle and the regression rotating angle.
9. An electronic device, comprising a memory for storing a computer program and a processor executing the computer program to cause the electronic device to perform the robot-based floor grinding path generation method of any of claims 1-5.
10. A readable storage medium having computer program instructions stored therein, which when read and executed by a processor, perform the method of any one of claims 1 to 5.
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