WO2020150932A1

WO2020150932A1 - Method and device for ground grinding, robot and computer readable storage medium

Info

Publication number: WO2020150932A1
Application number: PCT/CN2019/072851
Authority: WO
Inventors: 孙冬泳; 姜奕丞
Original assignee: 深圳市阿列夫图科技有限公司
Priority date: 2019-01-23
Filing date: 2019-01-23
Publication date: 2020-07-30
Also published as: CN113710419A; CN113710419B

Abstract

Disclosed are a method and device for ground grinding, a robot (13) and a computer readable storage medium. The method comprises: obtaining information of an area to be ground; generating, according to the information of the area to be ground, a moving path covering a ground area corresponding to the information of the area to be ground, and controlling the robot (13) to move along the moving path; obtaining, during the movement of the robot (13), elevation information of a current ground position on the moving path; determining, according to the elevation information, whether to adjust the current height of a grinding component of the robot (13); if so, adjusting the current height of the grinding component of the robot (13) and controlling the grinding component after height adjustment to grind the current ground position. According to the method, during the grinding of the area to be ground, the height of the grinding component can be automatically adjusted according to the elevation information of the ground position, thereby improving the construction quality and satisfying the construction standards.

Description

Ground grinding method, device, robot and computer readable storage medium

Technical field

The invention belongs to the technical field of robots, and in particular relates to a ground grinding method, a device, a robot and a computer-readable storage medium.

Background technique

In many application areas such as Very Narrow Aisle (VNA) storage racks, precision manufacturing and service robots, the requirements for the flatness and levelness of the ground are becoming more and more stringent. The F-Number standard system recommended by the American Concrete Association As an example, the level and flatness of the world's highest-quality floor are currently between 180 and 200.

However, in the prior art, manual construction or semi-automatic equipment construction is the main method for grinding the ground, which mainly depends on the construction experience of the construction personnel. The quality requirements of the construction personnel are relatively high, and the construction quality is difficult to guarantee. Strict construction standards.

technical problem

In view of this, the embodiments of the present invention provide a ground grinding method, device, and robot, to solve the problem that manual construction or semi-automated equipment construction is mainly used in the prior art. The construction quality is difficult to guarantee and cannot meet the increasingly stringent requirements. The issue of construction standards.

Technical solutions

The first aspect of the embodiments of the present invention provides a ground grinding method, which may include:

Obtain information about the area to be ground;

Generating a travel path covering the grinding area corresponding to the information about the area to be ground according to the information about the area to be ground, and controlling the robot to move along the travel path;

During the movement of the robot, acquiring the elevation information of the current ground position on the travel path;

Determining whether the current height of the grinding part of the robot needs to be adjusted according to the elevation information;

If yes, adjust the current height of the grinding component of the robot, and control the height-adjusted grinding component to grind the current ground position.

Further, the generating the travel path covering the grinding area corresponding to the area to be ground information may include:

Generating a first travel path covering the grinding area, the first travel path being a clockwise spiral path from the inside to the outside;

or

Generating a second travel path covering the grinding area, the second travel path being a clockwise spiral path from outside to inside;

or

Generating a third travel path covering the grinding area, the third travel path being a counterclockwise spiral path from the inside to the outside;

or

A fourth travel path covering the grinding area is generated, and the fourth travel path is a counterclockwise spiral path from the outside to the inside.

Further, after using the grinding component to grind the current ground position, it may further include:

Acquiring the height information of the current ground position after grinding;

Judging whether the current ground position meets a preset grinding standard according to the height information after grinding;

Count the total number of leftover positions, where the leftover positions are ground positions that do not meet the grinding standard;

If the total number of the remaining positions is greater than the preset threshold, return to the step of generating the travel path covering the grinding area corresponding to the area to be polished and the subsequent steps until the total number of the remaining positions is less than or equal to all Up to the threshold;

If the total number of the remaining positions is less than or equal to the threshold value, a shortest path covering each of the remaining positions is generated, and the robot is controlled to grind each of the remaining positions along the shortest path.

Further, the controlling the robot to grind each of the remaining positions along the shortest path may include:

When the robot passes other ground positions except for the remaining positions, raise the height of the grinding component to avoid grinding the ground;

When the robot passes through each of the remaining positions, the height of the grinding component is adjusted according to the elevation information of each of the remaining positions, and the grinding component is controlled to grind the ground.

Further, the controlling the robot to move along the travel path includes:

The robot is controlled to keep moving at a constant speed along the travel path.

Further, after generating a travel path covering the polishing area corresponding to the information about the area to be polished, it may further include:

The travel path is displayed on the display interface of the robot, and the position of the robot on the travel path is displayed at the same time, so that the construction personnel can cooperate with the construction.

A second aspect of the embodiments of the present invention provides a ground grinding device, which may include:

The grinding area information acquisition module is used to acquire the information of the area to be ground;

A travel path generation module, configured to generate a travel path covering the grinding area corresponding to the information of the area to be polished according to the information of the area to be polished;

The motion control module is used to control the robot to move along the travel path;

The elevation information acquisition module is configured to acquire elevation information of the current ground position on the travel path during the movement of the robot;

The elevation information judgment module is used to determine whether the current height of the grinding part of the robot needs to be adjusted according to the elevation information;

The grinding control module is used to adjust the current height of the grinding part of the robot, and control the height-adjusted grinding part to grind the current ground position.

A third aspect of the embodiments of the present invention provides a robot, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the The computer program implements the steps of any of the above ground grinding methods.

The fourth aspect of the embodiments of the present invention provides a computer-readable storage medium that stores a computer program, and is characterized in that, when the computer program is executed by a processor, any of the above ground grinding methods is implemented. Method steps.

A fifth aspect of the embodiments of the present invention provides a computer program product. The computer program product includes a computer program that, when executed by one or more processors, implements the steps of any of the above ground grinding methods.

Beneficial effect

The embodiment of the present invention first obtains the area to be polished information, generates a travel path covering the polishing area corresponding to the area to be polished information according to the area to be polished information, and controls the robot to move along the travel path. During the movement of the robot, obtain the elevation information of the current ground position on the travel path, and determine whether the current height of the grinding component of the robot needs to be adjusted according to the elevation information, and if so, adjust the grinding of the robot The current height of the component, and the height-adjusted grinding component is controlled to grind the current ground position. Through the embodiment of the present invention, the robot is used to perform fully automatic ground grinding, which eliminates the dependence on the experience of the construction personnel, and in the process of grinding the grinding area, the height of the grinding part can be automatically adjusted according to the height information of the ground position, which is effective Improve construction quality and meet higher construction standards.

Description of the drawings

In order to more clearly explain the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings needed in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only of the present invention. For some embodiments, for those of ordinary skill in the art, other drawings may be obtained based on these drawings without creative labor.

Figure 1 is a schematic flow chart of a ground grinding method provided by an embodiment of the present invention;

Figure 2 is a schematic diagram of a spiral path clockwise from inside to outside;

Figure 3 is a schematic diagram of a spiral path clockwise from the outside to the inside;

Fig. 4 is a schematic diagram of a spiral path from inside to outside counterclockwise;

Figure 5 is a schematic diagram of a spiral path from outside to inside counterclockwise;

Fig. 6 is a schematic diagram of a spiral path generated when the grinding area is triangular;

Figure 7 is a schematic diagram of a spiral path generated when the grinding area is a pentagon;

Figure 8 is a schematic diagram of using a curve with a smaller arc for smooth connection when turning is needed;

Figure 9 is a schematic diagram of the distance between two adjacent parallel paths;

10 is a schematic diagram of dividing a concave polygonal grinding area into two or more convex polygonal sub-areas;

Figure 11 is a schematic diagram showing the path of travel and the position of the robot on the display interface;

12 is a schematic block diagram of a ground grinding device provided by an embodiment of the present invention;

Fig. 13 is a schematic block diagram of a robot provided by an embodiment of the present invention.

Embodiments of the invention

In order to make the objectives, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

As shown in FIG. 1, it is a schematic flowchart of a ground grinding method provided by an embodiment of the present invention, and the method may include:

Step S101: Obtain the area information to be polished.

In a specific implementation of this embodiment, the user can define a specific area to be polished in the electronic map through a preset visual monitoring interface. For example, the user can use a closed line in the electronic map to circle and select the area to be polished. Area, and send the information of the area to be ground to the robot.

Step S102: Generate a travel path covering the polishing area corresponding to the information about the area to be polished according to the information about the area to be polished.

After the robot obtains the information of the area to be ground, it can use real-time positioning and map construction (Simultaneous Localization And Mapping (SLAM) algorithm generates a travel path covering the grinding area.

In this embodiment, a spiral path is preferably used to cover the grinding area. In this way, the robot always walks forward or rotates in one direction while walking, avoiding unnecessary jitter caused by adjusting the direction of movement when moving in all directions. This spiral path movement can be adapted to polygon grinding areas of various shapes and minimize the gap between the construction edges. Moreover, since the robot always walks forward or rotates in one direction when walking, it is easier for construction workers to cooperate with the construction.

As shown in FIG. 2, the robot can generate a first travel path covering the grinding area, and the first travel path is a clockwise spiral path from the inside to the outside.

As shown in FIG. 3, the robot can generate a second travel path covering the grinding area, and the second travel path is a spiral path clockwise from the outside to the inside.

As shown in FIG. 4, the robot can generate a third travel path covering the grinding area, and the third travel path is a counterclockwise spiral path from the inside to the outside.

As shown in FIG. 5, the robot can generate a fourth travel path covering the grinding area, and the fourth travel path is a spiral path from outside to inside counterclockwise.

The robot can choose any travel path shown in Figures 2 to 5 according to the actual situation. For example, in order to facilitate the cooperation of the robot with the dust collection equipment and power supply system, when the dust collection equipment and power supply system are arranged on the right side of the robot, the robot can choose a clockwise spiral path such as the first travel path or the second travel path When the dust collection equipment and power supply system are arranged on the left side of the robot, the robot can choose a counterclockwise spiral path such as the third travel path or the fourth travel path, so that dust collection can be guaranteed during the turning of the robot The equipment and power supply system will always be located inside the robot.

Among them, the dust collection equipment is used to collect dust and debris generated in the grinding process, and the dust collection equipment and the robot have two types of split type and integrated type. In the split-type coordination mode, the dust collection device is connected to the robot dust cover through a sealed hose. The dust collection device has an independent universal wheel that can walk freely and is manually pushed by the construction personnel. When the above-mentioned travel path selection method is adopted, since the dust collection equipment is always located inside the robot, the construction personnel can push the dust collection equipment to follow the robot inside the construction area when working with the robot, which is easier to operate and can effectively avoid wire entanglement The occurrence of the phenomenon. In the integrated coordination mode, the dust collection equipment and the robot are supplied with power. A follower wheel is installed at the bottom to support its weight. The robot drives them to walk together without the need for manual push by the construction personnel. When the above-mentioned travel path selection method is adopted, since the dust collection device is always located inside the robot, the torque that interferes with the robot's walking trajectory is small, which can effectively reduce the interference to the robot's walking trajectory.

It should be noted that Figures 2 to 5 above are only schematic diagrams of the robot's travel path when the grinding area is rectangular. In practical applications, the corresponding spiral path can be generated according to the actual shape of the grinding area, as shown in the figure. Figure 6 is a schematic diagram of the clockwise spiral path from the inside to the outside generated when the grinding area is triangular. As shown in Figure 7, it is the clockwise spiral from the inside to the outside generated when the grinding area is a pentagon. The schematic diagram of the path. When the grinding area is other convex polygons, circles, ellipses, etc., the way of generating the travel path is similar, and will not be repeated here.

Further, in order to ensure that the actual travel trajectory of the robot is consistent with the travel path generated by the algorithm, when planning the travel path, the actual performance of the robot should be fully considered to avoid planning the travel path that the robot cannot achieve, for example, as shown in Figure 8. As shown, when turning is needed, a curve with a smaller arc should be used for smooth connection, and the curve meets the walking trajectory equation of the robot.

Further, as shown in Figure 9, when the grinding area needs to be covered completely, the distance between the two adjacent parallel paths should be slightly smaller than the diameter of the grinding part of the robot, so that the grinding area on the two paths There is a certain overlap between them. The shaded area in the figure is the overlap area.

It should be noted that the above is only an example for the robot to generate a travel path. In practical applications, other travel paths can also be generated according to specific conditions, which will not be repeated in this embodiment.

Step S103: Control the robot to move along the travel path.

First of all, the robot needs to move from its current position to the starting position of the travel path. The robot can preferably move along the straight line between these two points and move at a speed higher than the traveling speed during the grinding operation to reach it as soon as possible. Start position. During this movement of the robot, no grinding operation is performed, and the robot can raise the height of the grinding parts to avoid grinding the ground.

When the robot reaches the starting position, the traveling speed is reduced to the traveling speed during the normal grinding operation, and the speed is maintained as much as possible to move at a uniform speed along the travel path to avoid uneven ground grinding due to speed changes. For example, if the speed is too fast in some positions, the grinding time will be too short and the position cannot be fully polished, while in other positions, if the speed is too slow, the grinding time will be too long and the position will be Excessive grinding, these conditions will affect the final grinding effect.

It should be noted that the uniform motion in this embodiment means that the traveling speed of the robot is kept within a preset speed range, namely:

V _min ≤v≤V _max

v is the traveling speed of the robot, V _min is the preset lower limit of speed, and V _max is the preset upper limit of speed. Both of these values can be adjusted according to the actual situation, but in order to obtain a better grinding effect , Try to ensure that the gap between the lower speed limit and the upper speed limit is small enough, namely:

(V _max －V _min )/V _max <n

n is a preset threshold, which can be set to 1%, 2%, 5%, 10% or other values according to actual conditions.

Step S104: During the movement of the robot, obtain the elevation information of the current ground position on the travel path.

Preferably, the robot can obtain the elevation information of the current ground position that it passes through in real time through a laser swinger or a total station, that is, the measured elevation.

Step S105: Determine whether the current height of the grinding part of the robot needs to be adjusted according to the height information.

In this embodiment, a reference elevation can be set in advance as a grinding standard for the entire grinding area. After obtaining the elevation information of the current ground position, the robot first determines whether the measured elevation of the current ground position is equal to the reference height. If they are equal, it means that the current ground position has met the grinding standard and there is no need to perform grinding operations on it. If the measured elevation of the current ground position is less than the reference elevation, a reminder message will be sent to the construction staff and the construction staff will decide what to do. If the measured elevation of the current ground position is greater than the reference elevation, the current height of the grinding component of the robot needs to be adjusted to perform grinding operations on the current ground position. At this time, step S106 is executed.

Step S106: Adjust the current height of the grinding component of the robot, and control the height-adjusted grinding component to grind the current ground position.

Specifically, the height of the grinding component (ie the depth of cut) can be adjusted according to the following formula:

Depth of cut = min ((measured elevation-reference elevation), maximum depth of cut)

Among them, the maximum cutting depth can be set according to the actual situation.

The robot can control the position of the motor through the EtherCAT protocol according to the structure of the mechanical device and the reduction ratio of the screw and the reducer, so that the grinding part can reach the calculated cutting depth to perform grinding operations on the current ground position.

When the robot moves away from the current ground position, it will obtain the height information of the current ground position after grinding again, and judge whether the current ground position meets the preset grinding standard according to the height information after grinding, that is, judge the measurement after grinding Whether the elevation is equal to the reference elevation, if the current ground position has met the grinding standard, the robot will mark the current ground position as the standard position; if the current ground position does not meet the grinding standard, the robot will mark the current ground position as a legacy position.

After the robot completes a round of walking, all the ground above the reference elevation is ground, but due to the setting of the maximum cutting depth, there are still some areas that do not meet the grinding standard, and a new round of grinding is required.

At this point, the robot can count the total number of all positions marked as leftovers, and if the total number of leftover positions is greater than a preset threshold, it will return to the step of generating the travel path covering the grinding area corresponding to the area to be ground information and The subsequent steps are until the total number of the remaining positions is less than or equal to the threshold.

If the total number of the remaining positions is less than or equal to the threshold value, the robot may no longer perform full coverage grinding, but only polish the remaining positions. Specifically, the shortest path covering each of the legacy locations may be generated first. When generating the shortest path, A* algorithm, Floyd-Warshall algorithm, Dijkstra algorithm, Bellman-Ford algorithm or other algorithms can be used for calculation. After the shortest path is generated, the robot is controlled to grind each of the remaining positions along the shortest path. Wherein, when the robot passes through other ground positions except for each of the leftover positions, the height of the grinding part can be raised to avoid grinding the ground, and when the robot passes through each of the leftover positions, according to the The elevation information adjusts the height of the grinding component and controls the grinding component to grind the ground. The specific process is similar to step S106, and will not be repeated here. By continuously repeating the above-mentioned grinding process, the whole grinding area is finally made to reach the grinding standard.

In particular, if the grinding area is a concave polygon, the robot cannot guarantee to always walk forward or rotate in one direction when walking, which will adversely affect the grinding performance. Therefore, in this case, as shown in FIG. 10, the polishing area can be divided into two or more convex polygonal sub-areas, and then each sub-area can be polished through the above process.

Preferably, as shown in Figure 11, during the entire construction process, the generated travel path can be displayed on the display interface of the robot, and the position of the robot on the travel path can be displayed at the same time. The current position of the robot is updated in real-time, so that the construction staff can understand the current construction progress and the next construction plan in real time from the display interface, so as to more effectively cooperate with the construction.

To sum up, the embodiment of the present invention first obtains the area to be polished information, generates a travel path covering the polishing area corresponding to the area to be polished information according to the area to be polished information, and controls the robot to follow the travel path movement. During the movement of the robot, obtain the elevation information of the current ground position on the travel path, and determine whether the current height of the grinding component of the robot needs to be adjusted according to the elevation information, and if so, adjust the grinding of the robot The current height of the component, and the height-adjusted grinding component is controlled to grind the current ground position. Through the embodiment of the present invention, the robot is used to perform fully automatic ground grinding, which eliminates the dependence on the experience of the construction personnel, and in the process of grinding the grinding area, the height of the grinding part can be automatically adjusted according to the height information of the ground position, which is effective Improve construction quality and meet higher construction standards.

As shown in FIG. 12, it is a schematic block diagram of a ground grinding device provided by an embodiment of the present invention, and the device may include:

The grinding area information acquisition module 1201 is used to acquire the area information to be ground;

The travel path generation module 1202 is configured to generate a travel path covering the grinding area corresponding to the information of the area to be polished according to the information of the area to be polished;

The motion control module 1203 is used to control the robot to move along the travel path;

The elevation information acquisition module 1204 is configured to acquire elevation information of the current ground position on the travel path during the movement of the robot;

The elevation information judgment module 1205 is configured to determine whether the current height of the grinding part of the robot needs to be adjusted according to the elevation information;

The grinding control module 1206 is used to adjust the current height of the grinding component of the robot, and control the height-adjusted grinding component to grind the current ground position.

Further, the travel path generation module may include:

A first generating unit, configured to generate a first travel path covering the grinding area, the first travel path being a clockwise spiral path from the inside to the outside;

or

A second generating unit, configured to generate a second travel path covering the grinding area, the second travel path being a clockwise spiral path from the outside to the inside;

or

A third generation unit, configured to generate a third travel path covering the grinding area, the third travel path being a counterclockwise spiral path from the inside to the outside;

or

The fourth generating unit is configured to generate a fourth travel path covering the polishing area, and the fourth travel path is a counterclockwise spiral path from the outside to the inside.

Further, the ground grinding device may further include:

The height information acquisition module after grinding is used to acquire the height information of the current ground position after grinding;

The grinding effect judgment module is used to judge whether the current ground position meets a preset grinding standard according to the height information after grinding;

A legacy location statistics module, configured to count the total number of legacy locations, where the legacy locations are ground locations that do not meet the grinding standard;

The repetitive grinding module is configured to return to executing the step of generating the travel path corresponding to the grinding area corresponding to the area to be ground information and the subsequent steps, if the total number of the remaining positions is greater than the preset threshold, until the remaining position Until the total number of is less than or equal to the threshold;

The shortest path grinding module is configured to generate a shortest path covering each of the leftover positions if the total number of the leftover positions is less than or equal to the threshold value, and control the robot to perform an alignment on each of the leftover positions along the shortest path Perform grinding.

Further, the shortest path grinding module may include:

The first processing unit is used to raise the height of the grinding component when the robot passes other ground positions except for the remaining positions, so as to avoid grinding the ground;

The second processing unit is used for adjusting the height of the grinding component according to the elevation information of each of the remaining positions when the robot passes through each of the remaining positions, and controlling the grinding component to grind the ground.

Further, the motion control module may include:

The uniform motion control unit is used to control the robot to maintain a uniform motion along the travel path.

Further, the ground grinding device may further include:

The path display module is used to display the travel path on the display interface of the robot and at the same time display the position of the robot on the travel path, so that the construction personnel can cooperate with the construction.

Those skilled in the art can clearly understand that, for the convenience and conciseness of the description, the specific working processes of the devices, modules, and units described above can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

It should be understood that the size of the sequence number of each step in each of the foregoing embodiments does not mean the order of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention. .

Fig. 13 is a schematic block diagram of a robot provided by an embodiment of the present invention. As shown in FIG. 13, the robot 13 of this embodiment includes a processor 130, a memory 131, and a computer program 132 stored in the memory 131 and running on the processor 130. When the processor 130 executes the computer program 132, the steps in the above embodiments of the ground grinding method are implemented, such as steps S101 to S106 shown in FIG. 1. Alternatively, when the processor 130 executes the computer program 132, the functions of the modules/units in the foregoing device embodiments, such as the functions of the modules 1201 to 1206 shown in FIG. 12, are realized.

Exemplarily, the computer program 132 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 131 and executed by the processor 130 to complete this invention. The one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 132 in the robot 13.

Those skilled in the art can understand that FIG. 13 is only an example of the robot 13 and does not constitute a limitation on the robot 13. It may include more or fewer parts than shown, or combine some parts, or different parts, for example The robot 13 may also include input and output devices, network access devices, buses, and so on.

The processor 130 may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

The memory 131 may be an internal storage unit of the robot 13, such as a hard disk or a memory of the robot 13. The memory 131 may also be an external storage device of the robot 13, such as a plug-in hard disk equipped on the robot 13, a smart memory card (Smart Media Card, SMC), or a Secure Digital (SD) card, Flash memory card Card) etc. Further, the memory 131 may also include both an internal storage unit of the robot 13 and an external storage device. The memory 131 is used to store the computer program and other programs and data required by the robot 13. The memory 131 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that for the convenience and conciseness of description, only the division of the above functional units and modules is used as an example. In actual applications, the above functions can be allocated to different functional units, Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist alone physically, or two or more units can be integrated into one unit. The above-mentioned integrated units can be hardware-based Formal realization can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the foregoing system, reference may be made to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the above-mentioned embodiments, the description of each embodiment has its own focus. For parts that are not detailed or recorded in an embodiment, reference may be made to related descriptions of other embodiments.

A person of ordinary skill in the art may be aware that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered as going beyond the scope of the present invention.

In the embodiments provided by the present invention, it should be understood that the disclosed device/robot and method can be implemented in other ways. For example, the device/robot embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or Components can be combined or integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiments and methods, and can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the program is executed by the processor, it can implement the steps of the foregoing method embodiments. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file, or some intermediate forms. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunications signal, and software distribution media. It should be noted that the content contained in the computer-readable medium can be appropriately added or deleted according to the requirements of the legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to the legislation and patent practice, the computer-readable medium Does not include electrical carrier signals and telecommunication signals.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still implement the foregoing The technical solutions recorded in the examples are modified, or some of the technical features are equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in Within the protection scope of the present invention.

Claims

A ground grinding method applied to a robot, characterized in that it includes:

Obtain information about the area to be ground;

Generating a travel path covering the grinding area corresponding to the information about the area to be ground according to the information about the area to be ground, and controlling the robot to move along the travel path;

During the movement of the robot, acquiring the elevation information of the current ground position on the travel path;

Determining whether the current height of the grinding part of the robot needs to be adjusted according to the elevation information;

If yes, adjust the current height of the grinding component of the robot, and control the height-adjusted grinding component to grind the current ground position.
The ground grinding method according to claim 1, wherein the generating a travel path covering the grinding area corresponding to the area to be ground information comprises:

Generating a first travel path covering the grinding area, the first travel path being a clockwise spiral path from the inside to the outside;

or

Generating a second travel path covering the grinding area, the second travel path being a clockwise spiral path from outside to inside;

or

Generating a third travel path covering the grinding area, the third travel path being a counterclockwise spiral path from the inside to the outside;

or

A fourth travel path covering the grinding area is generated, and the fourth travel path is a counterclockwise spiral path from the outside to the inside.
The ground grinding method according to claim 1, characterized in that, after using the grinding component to grind the current ground position, the method further comprises:

Acquiring the height information of the current ground position after grinding;

Judging whether the current ground position meets a preset grinding standard according to the height information after grinding;

Count the total number of leftover positions, where the leftover positions are ground positions that do not meet the grinding standard;

If the total number of the remaining positions is greater than the preset threshold, return to the step of generating the travel path covering the grinding area corresponding to the area to be polished and the subsequent steps until the total number of the remaining positions is less than or equal to all Up to the threshold;

If the total number of the remaining positions is less than or equal to the threshold value, a shortest path covering each of the remaining positions is generated, and the robot is controlled to grind each of the remaining positions along the shortest path.
The ground grinding method of claim 3, wherein the controlling the robot to grind each of the remaining positions along the shortest path comprises:

When the robot passes other ground positions except for the remaining positions, raise the height of the grinding component to avoid grinding the ground;

When the robot passes through each of the remaining positions, the height of the grinding component is adjusted according to the elevation information of each of the remaining positions, and the grinding component is controlled to grind the ground.
The ground grinding method according to any one of claims 1 to 4, wherein the controlling the robot to move along the travel path comprises:

The robot is controlled to keep moving at a constant speed along the travel path.
The ground grinding method according to any one of claims 1 to 4, characterized in that, after generating a travel path covering the grinding area corresponding to the area to be ground information, the method further comprises:

The travel path is displayed on the display interface of the robot, and the position of the robot on the travel path is displayed at the same time, so that the construction personnel can cooperate with the construction.
A robot includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the following steps when the processor executes the computer program:

Obtain information about the area to be ground;

Generating a travel path covering the grinding area corresponding to the information about the area to be ground according to the information about the area to be ground, and controlling the robot to move along the travel path;

During the movement of the robot, acquiring the elevation information of the current ground position on the travel path;

Determining whether the current height of the grinding part of the robot needs to be adjusted according to the elevation information;

If yes, adjust the current height of the grinding component of the robot, and control the height-adjusted grinding component to grind the current ground position.
The robot according to claim 7, wherein said generating a travel path covering the grinding area corresponding to the information about the area to be ground comprises:

Generating a first travel path covering the grinding area, the first travel path being a clockwise spiral path from the inside to the outside;

or

Generating a second travel path covering the grinding area, the second travel path being a clockwise spiral path from outside to inside;

or

Generating a third travel path covering the grinding area, the third travel path being a counterclockwise spiral path from the inside to the outside;

or

A fourth travel path covering the grinding area is generated, and the fourth travel path is a counterclockwise spiral path from the outside to the inside.
The robot according to claim 7, characterized in that, after using the grinding component to grind the current ground position, it further comprises:

Acquiring the height information of the current ground position after grinding;

Judging whether the current ground position meets a preset grinding standard according to the height information after grinding;

Count the total number of leftover positions, where the leftover positions are ground positions that do not meet the grinding standard;

If the total number of the remaining positions is greater than the preset threshold, return to the step of generating the travel path covering the grinding area corresponding to the area to be polished and the subsequent steps until the total number of the remaining positions is less than or equal to all Up to the threshold;

If the total number of the remaining positions is less than or equal to the threshold value, a shortest path covering each of the remaining positions is generated, and the robot is controlled to grind each of the remaining positions along the shortest path.
The robot according to claim 9, wherein the controlling the robot to grind each of the remaining positions along the shortest path comprises:

When the robot passes other ground positions except for the remaining positions, raise the height of the grinding component to avoid grinding the ground;

When the robot passes through each of the remaining positions, the height of the grinding component is adjusted according to the elevation information of each of the remaining positions, and the grinding component is controlled to grind the ground.
The robot according to any one of claims 7 to 10, wherein the controlling the robot to move along the travel path comprises:

The robot is controlled to keep moving at a constant speed along the travel path.
The robot according to any one of claims 7 to 10, characterized in that, after generating a travel path covering the grinding area corresponding to the area to be ground information, it further comprises:

The travel path is displayed on the display interface of the robot, and the position of the robot on the travel path is displayed at the same time, so that the construction personnel can cooperate with the construction.
A ground grinding device, characterized in that it comprises:

The grinding area information acquisition module is used to acquire the information of the area to be ground;

A travel path generation module, configured to generate a travel path covering the grinding area corresponding to the information of the area to be polished according to the information of the area to be polished;

The motion control module is used to control the robot to move along the travel path;

The elevation information acquisition module is configured to acquire elevation information of the current ground position on the travel path during the movement of the robot;

The elevation information judgment module is used to determine whether the current height of the grinding part of the robot needs to be adjusted according to the elevation information;

The grinding control module is used to adjust the current height of the grinding part of the robot, and control the height-adjusted grinding part to grind the current ground position.
A computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to realize the ground grinding method according to any one of claims 1 to 6 A step of.