WO2022048248A1

WO2022048248A1 - Method and apparatus for generating joint polishing path, and robot and storage medium

Info

Publication number: WO2022048248A1
Application number: PCT/CN2021/101178
Authority: WO
Inventors: 姜盛坤; 罗淞; 钟婷
Original assignee: 广东博智林机器人有限公司
Priority date: 2020-09-02
Filing date: 2021-06-21
Publication date: 2022-03-10
Also published as: CN111815078B; CN111815078A

Abstract

A method and apparatus for generating a joint polishing path, and a robot and a storage medium. The method comprises: acquiring at least one joint to be polished; for at least one joint to be polished in the same joint direction, on the basis of coordinate information of the at least one joint to be polished, adjusting coordinate information, in a preset direction, of at least one joint to be polished within a preset position range; on the basis of the adjusted coordinate information of the at least one joint to be polished and a summarized length threshold value, determining an effective polished joint; and generating a polishing range on the basis of the effective polished joint, and generating a target operation route of the effective polished joint according to the polishing range and a set motion planning model.

Description

A method, device, robot and storage medium for generating a seam grinding path

This application claims the priority of a Chinese patent application with application number 202010907107.X filed with the China Patent Office on September 2, 2020, the entire contents of which are incorporated herein by reference.

technical field

The embodiments of the present application relate to industrial automation technologies, for example, to a method, device, robot, and storage medium for generating a seam grinding path.

Background technique

Robots have the advantages of being flexible, reliable and accurate, and more and more construction sites use robots to polish the walls or ceilings of buildings. For example, after the concrete formwork is removed, there will be multiple explosion points on the ceiling, concentrated in the joint position. The concrete ceiling grinding robot needs to grind the joint explosion point position.

The operation method of concrete joint grinding is to carry out the operation while walking by measuring the identification data of the robot. If the measuring robot has passed the inspection, and most of the inspection joints are not on the formwork, if the concrete ceiling grinding robot is working while walking, if there is a 1mm joint. The seam will also be polished, resulting in more than 80% of invalid operation points, which seriously affects the operation efficiency of the measuring robot.

SUMMARY OF THE INVENTION

The present application provides a method, a device, a robot and a storage medium for generating a seam grinding path, so as to avoid robot over-inspection, optimize the grinding path, and improve the seam grinding efficiency.

In a first aspect, the present application provides a method for generating a seam grinding path, including:

Obtain at least one patchwork to be polished;

For at least one of the seams to be polished in the same seam direction, based on the coordinate information of the at least one seam to be polished, the coordinate information of the at least one seam to be polished in the preset direction within the preset position range is processed. Adjustment;

Based on the adjusted coordinate information of the at least one to-be-polished joint and a summary length threshold, determining an effective grinding joint;

A grinding range is generated based on the effective grinding seam, and a target operation route of the effective grinding seam is generated according to the grinding range and the set motion planning model.

In a second aspect, the present application also provides a device for generating a seam grinding path, comprising:

The module for obtaining the seam to be polished, which is set to obtain at least one seam to be polished;

The adjustment module for the coordinate information of the seam to be polished is configured to, for at least one seam to be polished in the same seam direction, based on the coordinate information of the at least one seam to be polished, adjust at least one seam to be polished within a preset position range Adjust the coordinate information of the seam in the preset direction;

The effective grinding seam determination module is set to determine the effective grinding seam based on the adjusted coordinate information of at least one to-be-ground seam and the aggregate length threshold;

The target operation route generation module is configured to generate a grinding range based on the effective grinding joint, and generate a target operation route for the effective grinding joint according to the grinding range and the set motion planning model.

In a third aspect, the present application also provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the first aspect when the processor executes the computer program The method for generating a seam grinding path is described.

In a fourth aspect, the present application further provides a storage medium containing computer-executable instructions, the computer-executable instructions, when executed by a computer processor, implement the method for generating a seam polishing path according to the first aspect.

Description of drawings

1 is a schematic flowchart of a method for generating a seam grinding path according to Embodiment 1 of the present application;

Fig. 2 is the schematic diagram before the coordinate adjustment of the horizontal seam to be polished provided by the first embodiment of the application;

Fig. 3 is the schematic diagram after adjustment of the coordinates of the horizontal seam to be polished provided in Embodiment 1 of the present application;

4 is a schematic logical diagram of a method for generating a seam grinding path according to Embodiment 1 of the present application;

5 is a schematic flowchart of a method for generating a seam grinding path according to Embodiment 2 of the present application;

6 is a schematic diagram of the division of the grinding operation line and its operation site provided by the second embodiment of the present application;

7 is a schematic structural diagram of a device for generating a seam grinding path according to Embodiment 3 of the present application;

FIG. 8 is a schematic structural diagram of a robot according to Embodiment 4 of the present application.

detailed description

The present application will be described in detail below with reference to the accompanying drawings and embodiments.

Example 1

1 is a schematic flowchart of a method for generating a seam grinding path provided in Embodiment 1 of the present application. This embodiment is applicable to the situation where a target operation route is generated under the condition that the over-inspection of the measuring robot is avoided. A seam grinding path generation device is implemented, wherein the device can be implemented in software and/or hardware and is generally integrated in the robot. Referring to FIG. 1 , the method may include steps S110 to S140.

S110, obtain at least one patchwork to be polished.

It is understandable that after the concrete formwork on the ceiling or wall of the building to be polished is removed, there will be multiple burst points in the joints between the templates, and the robot will screen out the joints to be polished from the multiple burst points according to the grinding accuracy. , and input the seam to be polished into BIM (Building Information Modeling, Building Information Modeling), and generate the target operation route according to the seam to be polished in the BIM. Optionally, the seam of the building to be polished may be measured, and the seam with a length of the seam greater than the grinding precision is determined as the seam to be polished, wherein the grinding accuracy may be 1 mm or 2 mm. It is understandable that the seams to be polished may be divided according to the location of the rooms of the building to be polished.

S120, for at least one seam to be polished in the same seam direction, based on the coordinate information of the at least one seam to be polished, adjust the coordinate information of the at least one seam to be polished in a preset direction within a preset position range.

Optionally, the seaming direction includes transverse and longitudinal directions. Optionally, a coordinate system may be established on the BIM, and the coordinate information of the to-be-polished seam in the coordinate system is determined according to the length of the to-be-polished seam, where the coordinate information is the coordinate range of the to-be-polished seam. In this embodiment, a horizontal set of seams to be polished and a vertical set of seams to be polished can be generated according to the direction of the seams, and the coordinate range of at least one seam to be polished can be determined according to the lengths of the seams to be polished in the two sets respectively. .

Exemplarily, the horizontal set of seams to be polished A={A ₁ A ₂ ... A _n }, and the set of longitudinal seams to be polished B={B ₁ B ₂ ... B _n }, after determining the coordinates of the seams to be polished information, determine the origin of the coordinate system, according to the origin of the coordinate system, the length of at least one horizontal seam to be polished and the length of at least one longitudinal seam to be polished, determine at least one horizontal seam to be polished in set A and The coordinate range of at least one longitudinal seam to be polished in set B in this coordinate system. For example, horizontal seams to be sanded

Longitudinal seam to be sanded

Among them, an and a' _n in An represent the two end points of the horizontal joint to be polished respectively, and the _length of the horizontal joint to be polished _is |a' _n -a _n |, b in B _n _n and b′ _n respectively represent the two end points of the longitudinal seam to be polished, and the length of the seam of the longitudinal seam to be polished is |b _n -b′ _n |. In this embodiment, when determining the set A of the horizontal seams to be polished, the larger the value of a' _n , the more marked first; when the value of a' _n is the same, the smaller the value of _bn , the more marked first; When the set B of the seams to be polished is selected, the larger the value of b' _n , the more marked first, and when the value of b' _n is the same, the smaller the value of a _n is, the more marked first.

In order to prevent the measuring robot from over-checking, it is necessary to adjust the coordinate range of at least one seam to be polished according to the coordinate value of at least one seam to be polished. For example, if the coordinate information of the seam to be polished within the preset position range is different, adjust the horizontal direction of the seam to be polished with a non-maximum seam length according to the coordinate information of the seam to be polished with the largest seam length within the preset position range Coordinate information or longitudinal coordinate information; for another example, if at least two seams to be polished overlap, merge the horizontal coordinate information or longitudinal coordinate information of the overlapping at least two seams to be polished, and merge the merged seams to be polished. In this way, many seams to be polished can be avoided by mistake when determining effective polishing seams, and a reliable grinding range can be determined to generate a reliable target operation path.

Optionally, the preset position range may be determined according to the upward γ mm to the downward γ mm of the unadjusted seam to be polished, and the γ may be set according to experience, for example, 1 mm, 2 mm or other data. Optionally, before adjusting the coordinate information of the at least one to-be-polished seam in the preset direction based on the coordinate information of at least one of the to-be-polished seams The position information of the seam divides the seams to be polished in the same seaming direction to obtain at least one horizontal to-be-adjusted range and at least one longitudinal to-be-adjusted range. Exemplary may be: for at least one of the seams to be polished in the same seam direction, determine the second seam to be polished with the largest seam length among the seams to be polished that have not been adjusted; based on the second seam to be polished The coordinate information of the seam, and the position information of at least one seam to be polished that has not been adjusted, determine that the length of at least one seam within the preset position range of the second seam to be polished is not the maximum (except for the second seam). To-be-sanded patchwork (outside of to-be-sanded patchwork). In this way, the coordinate information of the to-be-polished seams in the same horizontal to-be-adjusted range or the same vertical to-be-adjusted range can be regulated, which can ensure the orderly execution of the coordinate information adjustment operation, improve the coordinate information adjustment efficiency, and at the same time correct the visual The problem of identification accuracy leads to the problem of differences in the coordinate information of the seams to be polished, so as to avoid mistakenly deleting many effective seams to be polished when determining effective seams to be polished later.

Exemplarily, first select the seam to be polished with the longest horizontal or vertical seam length, and take the seam to be polished with the largest horizontal or vertical seam length as the second seam to be polished, and according to the second seam to be polished Coordinate information of the seam, determine at least one seam to be polished with a non-maximum seam length located in the range of γ mm upward to γ mm downward of the second seam to be polished, and compare the second seam to be polished and the seam to be polished The seam to be polished with a non-maximum length is regarded as the same range to be adjusted, which facilitates the subsequent adjustment of coordinate information for the seam to be polished in the same range to be adjusted. Fig. 2 is a schematic diagram of the horizontal seam to be polished before the coordinates are adjusted. P ₁ , P ₂ and P ₃ in Fig. 2 can all be used as the second seam to be polished, and P ₅ and P ₇ are the preliminaries of P ₁ . Set the seam to be polished with a non-maximum seam length within the position range, P ₆ and P ₈ are the seam to be polished with a non-maximum seam length within the preset position range of P ₂ , and P ₄ is the preset of P ₃ If the seam length within the position range is not the largest to be polished, then P ₁ , P ₅ and P ₇ are divided into the same horizontal range to be adjusted, P ₂ , P ₆ and P ₈ are divided into the same horizontal range to be adjusted, P ₃ and P ₄ are divided into the same horizontal range to be adjusted.

S130 , based on the adjusted coordinate information of at least one to-be-polished joint and a summary length threshold, determine an effective grinding joint.

In order to delete the over-checked seam acquired by the measuring robot and prevent the generation of an invalid operation route, in this embodiment, a new seam length can be determined according to the adjusted coordinate information of the seam to be polished, and the new seam length is combined with the summary The length threshold is compared, and the effective grinding seam is determined according to the comparison result. Optionally, the method for determining the effective polished seam may be: determining the sum of the seam lengths of the seam to be polished in the same seam direction within the preset position range; if the sum of the seam lengths is greater than or equal to the aggregated length threshold, at least one patchwork to be polished whose sum of the lengths of the patchwork is greater than or equal to the aggregated length threshold value is used as a valid trimming patch. Wherein, the sum of the seam lengths is determined according to the adjusted coordinate information of the seam to be polished. Optionally, if the sum of the seam lengths is less than the summary length threshold, each seam to be polished whose sum of the seam lengths is less than the summary length threshold is regarded as an invalid polished seam, and the invalid polished seam is put together. seam deletion. The aggregate length threshold may be determined according to the grinding accuracy. For example, when the grinding accuracy is 2 mm, the aggregate length threshold may be 5 cm, and when the grinding accuracy is 1 mm, the aggregate length threshold may be 10 cm.

Figure 3 is a schematic diagram of the horizontal seam to be polished after the coordinates are adjusted. Exemplarily, the sum of the seam lengths of P ₁ , P ₅ and P ₇ in Figure 3 is compared with the summary length threshold, if The sum of the seam lengths of P ₁ , P ₅ and P ₇ is greater than or equal to the summary length threshold, and P ₁ , P ₅ and P ₇ are regarded as valid sanding seams, if the sum of the seam lengths of P ₁ , P ₅ and P ₇ If the sum is less than the summary length threshold, P ₁ , P ₅ and P ₇ are regarded as invalid grinding joints, and invalid grinding joints are regarded as over-checked joints and deleted to prevent invalid operation routes from being generated according to invalid grinding joints.

S140 , a grinding range is generated based on the effective grinding seam, and a target operation route for effectively grinding the seam is generated according to the grinding range and the set motion planning model.

In this embodiment, the grinding work line can be determined according to the effective grinding joints, the grinding range can be determined directly according to the minimum coordinate value and the maximum coordinate value of the two end points of the grinding work line, and the effective grinding work can be generated according to the grinding range and the set motion planning model. The target work route for sewing. It can be understood that the measuring robot itself has a positioning error. As shown in Figure 4, after determining the effective grinding seam, the grinding operation line can be determined according to the minimum and maximum coordinate values of the effective grinding seam within the preset position range. , and determine the grinding range according to the grinding operation line and the size of the grinding disc, and generate the target grinding route according to the grinding range and the set motion planning model. Optionally, the positioning error of the measuring robot may be 2 cm.

Exemplarily explained in conjunction with FIG. 3 , as described in the preceding steps, if the sum of the seam lengths of P ₁ , P ₅ and P ₇ is greater than or equal to the summary length threshold, P ₁ , P ₅ and P ₇ are regarded as valid sanding seams, And according to the minimum lateral coordinate value of the seam P7 to be polished and the maximum lateral coordinate value _of the seam P1 to be polished in FIG. ₃ , the horizontal grinding operation line is determined, and the horizontal grinding operation line is determined according to the horizontal grinding operation line and the size of the grinding disc of the measuring robot. The target operation route is determined according to the horizontal grinding range and the set motion planning model.

The technical solution provided in this embodiment is to obtain at least one seam to be polished, and for at least one seam to be polished in the same seam direction, based on the coordinate information of the at least one seam to be polished, at least one seam to be polished within a preset position range is Adjusting the coordinate information of the grinding seam in a preset direction, determining an effective grinding seam based on the adjusted coordinate information of at least one to-be-ground seam and a summary length threshold, and generating a grinding range based on the effective grinding seam, According to the grinding range and the set motion planning model, a target operation route for effectively grinding joints is generated. It solves the problem of low operation efficiency caused by over-checking of robots in the related art. By adjusting the coordinate information of the seam to be polished, it can avoid accidentally deleting a lot of seams to be polished when determining effective seams to be polished later. By grinding the seam, the over-checked seam obtained by the measuring robot can be deleted, preventing the generation of invalid operation routes, optimizing the grinding path, and improving the efficiency of seam grinding.

Embodiment 2

FIG. 5 is a schematic flowchart of a method for generating a seam grinding path according to Embodiment 2 of the present application. The technical solution of this embodiment is refined on the basis of the foregoing embodiment. Optionally, the seaming direction includes horizontal and vertical directions; the preset direction is the vertical direction of the seaming direction; Adjusting the coordinate information includes one of the following: adjusting the longitudinal coordinate value of at least one horizontal seam to be polished within the preset position range; adjusting the horizontal coordinate of at least one longitudinal seam to be polished within the preset position range value to adjust. Referring to FIG. 5 , the method of this embodiment may include steps S210 to S240.

S210: Obtain at least one patchwork to be polished.

S220, for at least one seam to be polished in the same seam direction, perform one of the following: adjust the longitudinal coordinate value of at least one horizontal seam to be polished within a preset position range; Adjust the horizontal coordinate value of a longitudinal seam to be polished.

Wherein, the seaming direction includes transverse direction and longitudinal direction, and the preset direction is the vertical direction of the seaming direction. Optionally, for at least one seam to be polished in the same seam direction, based on the coordinate information of at least one seam to be polished, at least one seam to be polished within a preset position range is placed in a preset direction. The method for adjusting the coordinate information is as follows: for a seam to be polished in any seam direction, based on the coordinate information of at least one seam to be polished and the seam length of at least one seam to be polished, determine the seam within a preset position range. The first to-be-polished seam with the largest seam length; based on the coordinate value of the first to-be-polished seam in the preset direction, adjust other to-be-polished seams (that is, other than the first to-be-polished seam) within the preset position range. ) is the coordinate value in the preset direction.

Exemplarily, if the seam direction is horizontal and the preset direction is vertical, the horizontal seam to be polished with the largest seam length within the preset position range is used as the first seam to be polished, and the first seam to be polished is determined. The longitudinal coordinate value of the first seam to be polished is adjusted to the longitudinal coordinate of the first seam to be polished. value; if the seam direction is vertical and the preset direction is horizontal, the vertical seam to be polished with the longest seam length within the preset position range is taken as the first seam to be polished, and the first seam to be polished is determined. For the horizontal coordinate value, the horizontal coordinate value of at least one longitudinal to-be-polished seam with a non-maximum seam length within the preset position range of the first to-be-polished seam is adjusted to the horizontal coordinate value of the first to-be-polished seam. By adjusting the coordinate values of the seam to be polished horizontally and vertically, the adjustment operation of the coordinate information can be ensured in an orderly manner, the adjustment efficiency of the coordinate information can be improved, and the difference in the coordinate information of the seam to be polished caused by the problem of visual recognition accuracy can be corrected. To avoid the mistaken deletion of many effective seams to be polished when determining effective seams to be polished later.

Exemplarily, in conjunction with FIG. 2 and FIG. 3 , as described in the foregoing embodiments, P ₁ , P ₅ and P ₇ are the same horizontal to-be-adjusted range, and within the horizontal to-be-adjusted range, P ₁ has the longest seam length, and the P ₁ is used as the first seam to be polished and the longitudinal coordinate value of P ₁ is determined. Within the horizontal to-be-adjusted range of P ₁ , the longitudinal coordinate values of P ₅ and P ₇ are adjusted to the longitudinal coordinate value of P ₁ to complete the same Adjust the vertical coordinate value within the horizontal to-be-adjusted range.

It can be understood that, for a seam to be polished in any seam direction, different seams to be adjusted may overlap. In this embodiment, the coordinate information of the seam to be adjusted that overlaps in any seam direction can be processed. Adjustment. Optionally, for at least one seam to be polished in the same seam direction, based on the coordinate information of at least one seam to be polished, at least one seam to be polished within a preset position range is placed in a preset direction. Adjusting the coordinate information according to the coordinate information, it also includes: for the seam to be polished in any seam direction, if at least two seams to be polished overlap within the preset position range, at least two seams to be polished that overlap will be assembled together The coordinate information in the seam direction is merged to generate a merged seam to be polished, and the merged seam to be polished is regarded as an invalid seam to be polished, wherein the coordinate information of the seam to be polished is the coordinate range.

Exemplarily, if the seam direction is horizontal and the preset direction is vertical, if at least two seams to be polished overlap within the preset position range, determine the horizontal coordinate range and seam length of the overlapping seams to be polished, The seam to be polished with a smaller seam length is merged by the seam to be polished with a larger seam length, and the horizontal coordinate range of the merged seam to be polished is determined according to the horizontal coordinate range of the overlapping seam to be polished, and at the same time Set the horizontal coordinate range of the seam to be polished with a smaller seam length to 0, that is, delete the seam to be polished with a smaller seam length; if the seam direction is vertical, the preset direction is horizontal, if the preset position range At least two of the seams to be polished overlap, and the longitudinal coordinate range and length of the overlapping seams to be polished are determined. The seam to be polished with a smaller seam length is sewn together by the seam to be polished with a larger seam length. , and determine the longitudinal coordinate range of the merged seam to be polished according to the longitudinal coordinate range of the overlapping seam to be polished, and set the longitudinal coordinate range of the seam to be polished with a smaller seam length to 0, that is, the seam The smaller length of the seam to be polished is deleted. By merging the coordinate information of the overlapping seams to be polished, the merged seams to be polished are deleted, which is beneficial to eliminate the seams identified by the measuring robot and prevent invalid operation routes from being generated based on invalid polishing seams.

Exemplarily, as shown in FIG. 2 and FIG. 3 , P ₃ and P ₄ of the same horizontal to-be-adjusted range overlap,

The seam length of P ₄ is less than that of P _3. After combining the coordinate information of P ₃ and P ₄ , the re-determined

re-determined

That is, delete P ₄ to obtain the adjusted schematic diagram shown in FIG. 3 .

S230 , based on the adjusted coordinate information of the at least one to-be-polished seam and the aggregated length threshold, determine an effective polished seam.

S240 , a grinding range is generated based on the effective grinding seam, and a target operation route for effectively grinding the seam is generated according to the grinding range and the set motion planning model.

As described in the previous embodiment, the grinding line can be determined according to the minimum coordinate value and the maximum coordinate value in the new coordinate range of the effective grinding seam, the grinding range can be determined according to the grinding line and the grinding disc size of the grinding robot, and the grinding range can be determined according to the grinding range and Set the motion planning model to generate the target operation route. Optionally, sorting can be based on the length of the sanding line. For example, the sanding line generated according to the new coordinate range of the effective sanding seam

Among them, |x _n -x' _n | is the length of the grinding line, and the larger the value of |x _n -x' _n | is, the higher the ranking. Optionally, the grinding operation line with the longest length is preferentially selected to determine the grinding range and divide the operation site.

In this embodiment, the method for generating a grinding range includes: taking an effective grinding joint as an operation center, determining the number of joints to be ground in a specific range from the operation center, wherein the specific range includes the maximum distance from the operation center. The distance is half of the size of the grinding disc and the range is composed of the areas on both sides of the operation center and the maximum distance from the work center is the range of the area of the grinding disc size and located on one side of the work center; according to the number of seams The grinding range is generated from the coordinate information of the effective grinding seam within the maximum specific range and the specific range.

As shown in Figure 6 is a schematic diagram of the division of the grinding line and its operating position. As shown in Figure 6, for the grinding line Z _n , starting from Z ₁ , the effective grinding diameter D' is taken according to the size D of the grinding disc and the positioning error, D′=D-20mm, the positioning error of the grinding robot is 2cm, and the operation route Z _n is arranged and planned as follows:

(1) Take Z ₁ as the operation center, draw the upper and lower

The parallel lines are perpendicular to the vertical lines at S1 and S2 at both ends of Z ₁ , determine the upper and lower

The number of seams within the range of the vertical lines at S1 and S2 at both ends of Z ₁ and Z 1 is denoted as A ₁ ;

(2) Taking Z ₁ as the work center, draw a parallel straight line of D' vertically upward, the parallel line is perpendicular to the vertical lines at S1 and S2 at both ends of Z ₁ , and determine the parallel line of upward D' and the two ends of Z ₁ S1 and S2 The number of seams within the range of the vertical line at , is recorded as A ₂ ;

( ₃ ) Taking Z1 as the work center, draw a parallel line of D' vertically downward. The parallel line is perpendicular to the vertical lines at S1 and S2 at both ends _of Z1, and determine the parallel line of downward D _' and the two ends of Z1 S1 , the number of seams within the vertical line at S2, denoted as A ₃ .

It can be seen from Figure 6 that A ₁ >A ₂ =A ₃ , then the number of seams is selected to be the upper and lower parts of A ₁

The coordinate information of the effective grinding seam within the range of the vertical line at S1 and S2 at both ends of Z ₁ , according to the coordinate information and the upper and lower

Generate a horizontal grinding range and a vertical grinding range, the horizontal grinding range is x _min to x _max , x _min and x _max are the abscissas of the two endpoints of Z _n respectively, and the longitudinal grinding range includes

to y _n to

Exemplarily, the generation method of the target operation route is: according to the coordinate information of the effective grinding seam within the grinding range, determine the constraint condition of the set motion planning model; The set motion planning model is operated to obtain the target operation route.

Optionally, set the expression of the motion planning model as:

V=1,2,3...,n

The constraints are:

Among them, V represents the set of values of _n in the Sn node, _Sn represents the operation starting point and operation end point within the grinding range, l _αβ represents the distance value between node S _α and node S _β , α and β are both from Select the number of nodes in the V set,

Joint constraints (1) and (2) indicate that the distance between any two nodes is calculated only once,

Represents the set of nodes, L _αα+1 x _αα+1 represents the distance between S _α node and S _α+1 node, L _α+1α x _α+1α represents the distance between S _α+1 node and S _α node, constraint (3) means that no sub-loop solution is generated within the grinding range, and constraint (4) means that the operation line within the grinding range is an odd-numbered point S _α and an even-numbered point S _α+1 , ensuring that each operation point is sanded.

The technical solution provided by this embodiment is to adjust the longitudinal coordinate value of at least one horizontal seam to be polished within a preset position range, or adjust the transverse coordinate of at least one longitudinal seam to be polished within the preset position range Adjusting the value of the coordinate information can ensure the orderly execution of the adjustment operation of the coordinate information, improve the adjustment efficiency of the coordinate information, and at the same time correct the difference in the coordinate information of the seam to be polished due to the problem of visual recognition accuracy, so as to avoid the subsequent determination of the effective polishing seam. By mistake, many effective seams to be polished can be deleted; by generating the grinding range based on the coordinate information of the effectively polished seams and the size of the grinding disc, the problem of inaccurate grinding range caused by the positioning error of the measuring robot can be avoided. Set up motion planning models to generate reliable target job routes.

Embodiment 3

FIG. 7 is a schematic structural diagram of a device for generating a seam grinding path according to Embodiment 3 of the present application. As shown in FIG. 7 , the device includes: an acquisition module 310 for seams to be polished, a coordinate information adjustment module 320 for seams to be polished, a determination module 330 for effectively polished seams, and a target operation route generation module 340 .

Wherein, the to-be-polished seam acquisition module 310 is configured to acquire at least one to-be-polished seam;

The coordinate information adjustment module 320 of the seam to be polished is configured to, for at least one seam to be polished in the same seam direction, based on the coordinate information of the at least one seam to be polished, adjust at least one seam to be polished within the preset position range. Adjust the coordinate value of the grinding seam in the preset direction;

The effective grinding seam determination module 330 is configured to determine the effective grinding seam based on the adjusted coordinate information of at least one to-be-polished seam and the summary length threshold;

The target operation route generation module 340 is configured to generate a grinding range based on the effective grinding joint, and generate a target operation route for the effective grinding joint according to the grinding range and the set motion planning model.

Optionally, the seaming direction includes horizontal and vertical directions; the preset direction is the vertical direction of the seaming direction; the coordinate information adjustment module 320 of the seam to be polished is set to adjust at least the seam within the preset position range. A horizontal longitudinal coordinate value of the seam to be ground to be adjusted; or,

Adjust the transverse coordinate value of at least one longitudinal seam to be polished within the preset position range.

The coordinate information adjustment module 320 of the seam to be polished is configured to, for the seam to be polished in any seam direction, based on the coordinate information of at least one seam to be polished and the seam length of at least one seam to be polished , determine the first seam to be polished with the largest seam length within the preset position range;

Based on the coordinate values of the first to-be-polished seam in a preset direction, adjust the coordinate values of the to-be-polished seam in the preset direction within the preset position range except for the first to-be-polished seam .

The coordinate information adjustment module 320 of the seam to be polished is set so that, for the seam to be polished in any direction of the seam, if at least two seams to be polished overlap within the preset position range, at least two overlapping seams will occur. The coordinate information of the seam to be polished in the direction of any seam is merged to generate a merged seam to be polished, and the merged seam to be polished is regarded as an invalid seam to be polished, wherein the seam to be polished is The coordinate information of the grinding seam is the coordinate range.

The device further includes: a lateral to-be-adjusted range determination module; wherein, the lateral to-be-adjusted range determination module is configured to, for at least one of the to-be-polished seams in the same seam direction, determine the seam in the to-be-polished seam that has not been adjusted. The second longest seam to be polished;

The second to-be-polished seam is determined based on the coordinate information of the second to-be-polished seam and the position information of at least one of the at least one to-be-polished seam in the same seam direction that has not been adjusted. The length of at least one seam within the preset position range of the seam is the seam to be polished except the second seam to be polished.

The effective polishing seam determination module 330 is configured to determine the sum of the seam lengths of the seam to be polished in the same seam direction within the preset position range;

If the sum of the seam lengths is greater than or equal to the aggregated length threshold, at least one to-be-sanded seam whose sum of the seam lengths is greater than or equal to the aggregated length threshold is used as a valid sanded seam.

The device further includes: an invalid sanding seam deletion module; wherein, the invalid sanding seam deletion module is set to, if the sum of the lengths of the seams is less than the summed length threshold, the sum of the lengths of the seams is smaller than the summed length threshold The at least one to-be-polished patch is regarded as an invalid polished patch, and the invalid polished patch is deleted.

The target operation route generation module 340 is configured to, with the effective grinding seam as the operation center, determine the number of seams to be polished within a specific range from the operation center, wherein the specific range includes the distance from the operation center. The maximum distance from the center is half the size of the grinding disc and is composed of the area on both sides of the operation center, and the maximum distance from the work center is the size of the grinding disc and is located on one side of the operation center. range;

The grinding range is generated according to the coordinate information of the effective grinding seam in a specific range with the largest number of seams and the specific range.

The target operation route generation module 340 is configured to, according to the coordinate information of the effective grinding joints within the grinding range, determine the constraints of the set motion planning model;

Based on the constraints and using a heuristic algorithm, the set motion planning model is operated to obtain the target operation route.

Optionally, the expression for setting the motion planning model is:

V=1,2,3...,n

The constraints are:

The to-be-polished seam obtaining module 310 is configured to measure the seam of the building to be polished, and to determine at least one seam whose length of the seam is greater than the polishing precision as at least one seam to be polished.

Embodiment 4

FIG. 8 is a schematic structural diagram of a robot according to Embodiment 4 of the present application. FIG. 8 shows a block diagram of an exemplary robot 12 suitable for use in implementing embodiments of the present application. The robot 12 shown in FIG. 8 is only an example, and should not impose any limitations on the functions and scope of use of the embodiments of the present application.

As shown in FIG. 8, the robot 12 takes the form of a general-purpose computing device. Components of the robot 12 may include, but are not limited to, at least one processor or processing unit 16 , a system memory 28 , and a bus 18 connecting various system components including the system memory 28 and the processing unit 16 .

The bus 18 represents at least one of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (Video Electronics Standards) Association, VESA) local bus and Peripheral Component Interconnect (PCI) bus.

Robot 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the robot 12, including volatile and non-volatile media, removable and non-removable media.

System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and/or cache memory. Robot 12 may include other removable/non-removable, volatile/non-volatile computer system storage media. For example only, storage system 34 may be configured to read and write to non-removable, non-volatile magnetic media (not shown in FIG. 8, commonly referred to as a "hard drive"). Although not shown in FIG. 8, a magnetic disk drive for reading and writing to removable non-volatile magnetic disks (eg, "floppy disks") and removable non-volatile optical disks (eg, Compact Disc-Read only) may be provided. Read Only Memory, CD-ROM), Digital Video Disc (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical media) optical disc drive for reading and writing. In these cases, each drive may be connected to bus 18 via at least one data medium interface. The memory 28 may include at least one program product having a set of (eg, the seam to be sanded obtaining module 310 of the seam sanding path generating device, the coordinate information adjustment module 320 of the seam to be sanded, the valid sanding seam determination module 330, and the The target operation route generation module 340) program modules, which are configured to perform the functions of various embodiments of the present application.

A program with a set of program modules 46 (for example, the seam to be polished seam acquisition module 310 of the seam polishing path generation device, the coordinate information adjustment module 320 of the seam to be polished, the effective sanding seam determination module 330 and the target operation route generation module 340) program module 46 Utilities 44, which may be stored, for example, in memory 28, such program modules 46 including, but not limited to, an operating system, at least one application program, other program modules, and program data, each of which or some combination of these examples may include Implementation of the network environment. Program modules 46 generally perform the functions and/or methods of the embodiments described herein.

The robot 12 may also communicate with at least one external device 14 (eg, a keyboard, pointing device, display 24, etc.), may also communicate with at least one device that enables a user to interact with the robot 12, and/or communicate with the robot 12. Any device (eg, network card, modem, etc.) that communicates with at least one other computing device. Such communication may take place through an input/output (I/O) interface 22 . Also, the robot 12 can communicate with at least one network (eg, a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) through a network adapter 20. As shown, the network adapter 20 communicates with other modules of the robot 12 via the bus 18 . It should be understood that, although not shown, other hardware and/or software modules may be used in conjunction with the robot 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, Redundant Arrays of disks Independent Disks, RAID) systems, tape drives, and data backup storage systems.

The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing a method for generating a seam polishing path provided by the embodiment of the present application, including:

Obtain at least one patchwork to be polished;

The processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28 , for example, implementing a method for generating a seam polishing path provided by the embodiments of the present application.

Of course, those skilled in the art can understand that the processor can also implement the technical solution of the method for generating a seam grinding path provided by any embodiment of the present application.

Embodiment 5

The fifth embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, a method for generating a seam grinding path as provided in the embodiment of the present application is implemented, including:

Obtain at least one patchwork to be polished;

Of course, the computer program stored on the computer-readable storage medium provided by the embodiment of the present application is not limited to the above method operations, and can also execute the method for generating a seam grinding path provided by any embodiment of the present application. related operations.

The computer storage medium of the embodiments of the present application may adopt any combination of at least one computer-readable medium. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system or device, or a combination of any of the above. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connections having at least one conductor, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above . In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system, or device.

The computer-readable signal medium can include coordinate information of the seam to be polished in a preset direction, the adjusted coordinate information of each seam to be polished, the polishing range, and the target operation route, etc., and a computer-readable program is carried therein. code. The disseminated coordinate information of the seam to be polished in the preset direction, the adjusted coordinate letter of each seam to be polished, the polishing operation line and the target operation route, etc. A computer-readable signal medium can also be any computer-readable medium, other than a computer-readable storage medium, that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, system, or device .

Program code embodied on a computer readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

Computer program code for performing the operations of the present application may be written in at least one programming language, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional procedural programming, or a combination thereof. Language - such as "C" language or similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).

It is worth noting that in the above-mentioned embodiment of the device for generating a seam grinding path, the modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be realized; in addition, The specific names of the functional units are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application.

Claims

A method for generating a patchwork grinding path, comprising:

Obtain at least one patchwork to be polished;

For at least one of the seams to be polished in the same seam direction, based on the coordinate information of the at least one seam to be polished, the coordinate information of the at least one seam to be polished in the preset direction within the preset position range is processed. Adjustment;

Based on the adjusted coordinate information of the at least one to-be-polished joint and a summary length threshold, determining an effective grinding joint;

A grinding range is generated based on the effective grinding seam, and a target operation route of the effective grinding seam is generated according to the grinding range and the set motion planning model.
The method according to claim 1, wherein the seaming direction includes a transverse direction and a longitudinal direction; the preset direction is a vertical direction of the seaming direction;

The adjusting the coordinate information of at least one to-be-polished seam in the preset direction within the preset position range includes one of the following:

Adjust the longitudinal coordinate value of at least one horizontal seam to be polished within the preset position range;

Adjust the transverse coordinate value of at least one longitudinal seam to be polished within the preset position range.
The method according to claim 2, wherein, for the at least one seam to be polished in the same seam direction, based on the coordinate information of the at least one seam to be polished, at least one seam within a preset position range is Adjust the coordinate information of the seam to be polished in the preset direction, including:

For a seam to be polished in any seam direction, based on the coordinate information of at least one seam to be polished and the seam length of at least one seam to be polished, determine the first seam with the largest seam length within the preset position range Once the seam is polished;

Based on the coordinate values of the first to-be-polished seam in a preset direction, adjust the coordinate values of the to-be-polished seam in the preset direction within the preset position range except for the first to-be-polished seam .
The method according to claim 2, wherein, for the at least one seam to be polished in the same seam direction, based on the coordinate information of the at least one seam to be polished, at least one seam within a preset position range is Adjust the coordinate information of the seam to be polished in the preset direction, including:

For a seam to be polished in any seam direction, in the case where at least two seams to be polished overlap within the preset position range, the overlapping at least two seams to be polished will be placed on any seam to be polished. The coordinate information in the seam direction is merged to generate a merged seam to be polished, and the merged seam to be polished is regarded as an invalid seam to be polished, wherein the coordinate information of the seam to be polished is the coordinate range .
The method according to claim 1, before adjusting the coordinate information of at least one seam to be polished in a preset direction within a preset position range based on the coordinate information of at least one seam to be polished, Also includes:

For at least one of the seams to be polished in the same seam direction, determining the second seam to be polished with the longest seam length among the seams to be polished that have not been adjusted;

The second to-be-polished seam is determined based on the coordinate information of the second to-be-polished seam and the position information of at least one of the at least one to-be-polished seam in the same seam direction that has not been adjusted. At least one patch to be polished except the second patch to be polished within the preset position range of the patch.
The method according to claim 1, wherein, determining the effective grinding seam based on the adjusted coordinate information of at least one to-be-ground seam and a summary length threshold, comprising:

Determine the sum of the seam lengths of the seam to be polished in the same seam direction within the preset position range;

In response to the sum of the seam lengths being greater than or equal to the aggregated length threshold, at least one to-be-sanded seam whose sum of the seam lengths is greater than or equal to the aggregated length threshold is used as a valid sanded seam.
The method of claim 6, further comprising:

In response to the sum of the seam lengths being less than the summary length threshold, at least one to-be-polished seam whose sum of the seam lengths is less than the summary length threshold is regarded as an invalid sanding seam, and the invalid sanding seam is deleted .
The method according to claim 1, wherein the generating a grinding range based on the effective grinding seam comprises:

Taking the effective grinding seam as the operation center, determine the number of seams to be polished within a specific range from the operation center, wherein the specific range includes that the maximum distance from the operation center is half of the size of the grinding disc and The range formed by the areas located on both sides of the operation center and the maximum distance from the operation center is the size of the grinding disc and the area formed by the areas located on one side of the operation center;

The grinding range is generated according to the coordinate information of the effective grinding seam in a specific range with the largest number of seams and the specific range.
The method according to claim 8, wherein the generating the target operation route for effectively grinding the seam according to the grinding range and the set motion planning model comprises:

According to the coordinate information of the effective grinding seam within the grinding range, the constraint condition of the set motion planning model is determined;

Based on the constraints and using a heuristic algorithm, the set motion planning model is operated to obtain the target operation route.
The method according to claim 9, wherein the expression for setting the motion planning model is:

V=1,2,3...,n

The constraints are:

Among them, V represents the set of values of n in the Sn node, Sn represents the operation starting point and operation end point within the grinding range, l αβ represents the distance value between node S α and node S β , α and β are both from Select the number of nodes in the V set,
Joint constraints (1) and (2) indicate that the distance between any two nodes is calculated only once,
Represents the set of nodes, L αα+1 x αα+1 represents the distance between S α node and S α+1 node, L α+1α x α+1α represents the distance between S α+1 node and S α node, constraint (3) means that no sub-loop solution is generated within the grinding range, and constraint (4) means that the working lines within the grinding range are all an odd-numbered point S α and an even-numbered point S α+1 .
The method according to claim 1, wherein the obtaining at least one seam to be polished comprises:

The seam of the building to be polished is measured, and at least one seam whose length of the seam is greater than the grinding precision is determined as the at least one seam to be polished.
A device for generating a seam grinding path, comprising:

The module for obtaining the seam to be polished, which is set to obtain at least one seam to be polished;

The coordinate information adjustment module of the seam to be polished is configured to, for at least one seam to be polished in the same seam direction, based on the coordinate information of the at least one seam to be polished, adjust at least one seam to be polished within a preset position range Adjust the coordinate information of the seam in the preset direction;

The effective grinding seam determination module is set to determine the effective grinding seam based on the adjusted coordinate information of at least one to-be-ground seam and the aggregate length threshold;

The target operation route generation module is configured to generate a grinding range based on the effective grinding joint, and generate a target operation route for the effective grinding joint according to the grinding range and the set motion planning model.
A robot, comprising a memory, a processor and a computer program stored on the memory and running on the processor, the processor implementing the spelling described in any one of claims 1-11 when the processor executes the computer program Seam grinding path generation method.
A storage medium containing computer-executable instructions that, when executed by a computer processor, implement the method for generating a seam polishing path according to any one of claims 1-11.