WO2022052931A1 - Building grinding method, apparatus, and system, processor, and storage medium - Google Patents

Abstract

The present invention provides a building grinding method, apparatus, and system, a processor, and a storage medium. A building surface grinding method comprises: detecting a plurality of defect positions of a building surface; determining, according to the plurality of defect positions, positions and extension directions of a plurality of form assembling seams; determining a grinding path according to the positions and the extension directions of the plurality of form assembling seams; and grinding the building surface along the grinding path. The building surface grinding method of the present invention solves the problem in the prior art of low building surface defect grinding efficiency.

Description

A building grinding method, device, system, processor and storage medium

CROSS-REFERENCE TO RELATED APPLICATIONS

This application requires the priority of the Chinese patent application filed on September 9, 2020, with the application number of 202010938153.6 and the application title of "A method, device, system, processor and storage medium for polishing buildings", in It is hereby incorporated by reference in its entirety.

technical field

The present application relates to the field of building grinding, and in particular, to a building grinding method, device, system, processor and storage medium.

Background technique

In the process of building construction, pouring operations have a very wide range of applications. After the pouring is completed, the surface of the formed building often has some defects, and it is usually necessary to use a grinding device to polish these defect positions, so as to improve the surface quality of the building.

For example, after the concrete ceiling is poured, there will be several explosion points distributed on the ceiling, and a grinding device needs to be used to grind these explosion points. The grinding method used in the prior art is to find the position of each explosion point, and then move the grinding equipment to each explosion point in turn to grind the corresponding explosion point. This grinding method requires frequent control of the grinding device to adjust the position. And lifting operation, grinding efficiency is extremely low.

SUMMARY OF THE INVENTION

The main purpose of the present application is to provide a building grinding method, device, system, processor and storage medium, so as to solve the problem of low grinding efficiency for building surface defects in the prior art.

In order to achieve the above object, according to a first aspect of the present application, a method for polishing the surface of a building is provided, comprising: detecting multiple defect positions on the surface of the building; determining a plurality of formwork joints according to the multiple defect positions position and extension direction; determine the grinding path according to the position and extension direction of multiple formwork joints; grind the surface of the building along the grinding path.

By adopting the above setting, the planning of the grinding path is more reasonable. Because most of the defects on the surface of the building made by the pouring method are concentrated at the joints of the formwork, when the surface of the building is ground along the grinding path, more coverage can be achieved. There are many defect positions, and the grinding efficiency of the building surface is improved.

Further, when the surface of the building is a plane, the step of detecting multiple defect positions on the surface of the building includes: detecting the height difference between each position on the surface of the building and the plane, and the height difference is greater than a preset value. location as the defect location.

By adopting the above arrangement, it is possible to facilitate the identification of the defect position, quantify the judgment standard of the defect position, and improve the accuracy of the identification of the defect position.

Further, the step of determining the grinding path according to the positions and extension directions of the plurality of formwork seams includes: determining that the grinding path is parallel or coincident with at least one formwork seam.

By adopting the above arrangement, when the grinding mechanism performs grinding along the grinding path, it can more effectively cover the joints of the template, so as to ensure the comprehensiveness of grinding.

Further, the plurality of template seams include a plurality of horizontal seams parallel to each other and a plurality of longitudinal seams parallel to each other, and each horizontal seam and each vertical seam are perpendicular to each other; according to the position and extension direction of the plurality of template seams The step of determining the grinding path includes: determining a plurality of transverse paths according to the plurality of transverse seams and determining a plurality of longitudinal paths according to the plurality of longitudinal seams.

By adopting the above setting, the horizontal seam and the vertical seam can be ground more targetedly, and better grinding effect can be achieved with less grinding workload compared with fixed-point grinding or full coverage grinding.

Further, the step of grinding the surface of the building along the grinding path includes: grinding the surface of the building along a plurality of transverse paths in sequence; grinding the surface of the building along a plurality of longitudinal paths in sequence.

By adopting the above arrangement, the grinding operation can be made more orderly, so that the grinding mechanism can cover the seams of each template with a shorter moving distance, thereby improving the grinding efficiency.

Further, the step of determining the grinding path according to the positions and extension directions of the multiple template seams includes: taking the direction where each horizontal seam is located as the horizontal axis, and using the direction where each longitudinal seam is located as the vertical axis to establish a coordinate system; The ordinate of each horizontal slot and the diameter of the grinding disc determine the ordinate of each lateral path, and the abscissa of each longitudinal path is determined according to the abscissa of each longitudinal slot and the diameter of the grinding disc.

By adopting the above arrangement, the determination of the transverse path and the longitudinal path is more accurate, so that the grinding mechanism can effectively cover the corresponding template seam when moving along the transverse path or the longitudinal path.

Further, the diameter of the grinding disc is D; increase or decrease D/2 with the ordinate of each transverse seam as the ordinate of each corresponding transverse path, and increase or decrease D/2 with the abscissa of each longitudinal seam as the abscissa of the corresponding longitudinal paths.

By adopting the above arrangement, it is beneficial to cover more template seams by using the fewest transverse paths and longitudinal paths, which is beneficial to improve the grinding efficiency.

Further, the step of determining the grinding path according to the position and extension direction of a plurality of template seams also includes: judging whether the distance along the longitudinal axis between the two transverse seams is less than or equal to D/2, and if so, then remove the two The transverse path corresponding to any one of the transverse seams, if not, the two transverse paths corresponding to the two transverse seams are reserved; and/or, the grinding path is determined according to the position and extension direction of the plurality of template seams It also includes: judging whether the distance between the two longitudinal seams along the horizontal axis is less than or equal to D/2, if so, remove the longitudinal path corresponding to any one of the two longitudinal seams, if not, keep it The two longitudinal paths corresponding to the two longitudinal slits.

By adopting the above settings, the repeated grinding paths can be deleted, thereby preventing multiple grinding of the same position and ensuring the grinding efficiency

Further, the step of determining the grinding path according to the position and extension direction of a plurality of template seams also includes: determining the abscissas of the two endpoints of each transverse path according to the minimum abscissa and the maximum abscissa of the plurality of template seams, according to The minimum ordinate and the maximum ordinate of the plurality of template seams determine the ordinates of the two end points of each longitudinal path.

By adopting the above setting, it can be ensured that the grinding path fully covers the formwork joints, and the comprehensiveness of the surface grinding of the building can be ensured.

According to a second aspect of the present application, a method for polishing a ceiling of a building is provided, comprising: detecting multiple defect locations on the surface of the ceiling; marking the multiple defect locations on a building information model map; Draw multiple grinding areas corresponding to multiple rooms on the map; determine the position and extension direction of multiple template seams in each grinding area according to the multiple defect positions in each grinding area; The positions and extension directions of the plurality of formwork joints determine the grinding paths corresponding to the corresponding grinding areas; the areas of the ceiling corresponding to the corresponding grinding areas are ground along each grinding path in turn.

By adopting the above setting, a more suitable grinding path can be planned for the ceiling of the whole building, so that the grinding of the ceiling of the building is more orderly and efficient.

According to a third aspect of the present application, there is provided a surface grinding device of a building, comprising: a detection module for detecting the positions of a plurality of defects on the surface of the building; an analysis module for detecting the positions of a plurality of defects Determine the position and extension direction of multiple formwork joints; the planning module is used to determine the grinding path according to the position and extension direction of multiple formwork joints; the grinding module is used to grind the surface of the building along the grinding path.

By adopting the above settings, the detection module can detect the position of the surface defect of the building, and the analysis module analyzes the position and extension direction of the template seam according to the detection result of the defect position, and then plans a reasonable grinding path through the planning module, and then passes The grinding module grinds the surface of the building along the grinding path, which can improve the grinding efficiency of the surface of the building.

According to a fourth aspect of the present application, there is provided a storage medium storing a program, wherein when the program is run, the above-mentioned method for sanding the surface of a building is performed.

According to a fifth aspect of the present application, there is provided a processor for executing a program, wherein the program is executed to perform the above-mentioned method for sanding a surface of a building.

According to a sixth aspect of the present application, there is provided a system for sanding the surface of a building, comprising: a memory for storing a program, wherein the above-mentioned method for sanding the surface of a building is executed when the program is run; a processor, Communication connection with the memory for running the program.

The method for grinding the surface of a building to which the technical solution of the present application is applied includes: detecting multiple defect positions on the surface of the building; determining the position and extension direction of a plurality of formwork joints according to the plurality of defect positions; The location and direction of extension determine the sanding path; the surface of the building is sanded along the sanding path. In this way, the position and extension direction of the formwork seam are determined by detecting the defect position on the surface of the building, and then the grinding path is determined according to the position and extension direction of the formwork seam. effective coverage, and most of the defects on the surface of the building are concentrated near the formwork joints. By adopting this grinding method, the grinding efficiency can be significantly improved on the basis of ensuring the grinding effect, and the problem of low surface grinding efficiency in the prior art is solved.

Description of drawings

Fig. 1 shows the schematic flow chart of the first embodiment of the grinding method of the surface of the building according to the present application;

Fig. 2 shows the schematic flow chart of the second embodiment of the grinding method of the surface of the building according to the present application;

Fig. 3 shows a schematic diagram of a plurality of templates stitched together on a building information model map;

Fig. 4 shows the schematic diagram when the ceiling is divided into grinding area;

Fig. 5 shows the schematic diagram after labeling each horizontal seam and each vertical seam;

Fig. 6 shows the schematic diagram when the transverse path is determined according to the transverse slit;

Fig. 7 shows the schematic diagram when the longitudinal path is determined according to the longitudinal seam;

FIG. 8 shows a schematic flowchart of an embodiment of a method for grinding a ceiling of a building according to the present application.

detailed description

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

Please refer to FIG. 1 to FIG. 7 , the present application provides a method for polishing the surface of a building. The building is formed by injecting pouring materials into a space enclosed by multiple templates, and a template joint is formed between the multiple templates. The grinding method of the surface includes: S1, detecting a plurality of defect positions on the surface of the building; S2, determining the position and extension direction of a plurality of formwork seams according to the plurality of defect positions; S3, according to the position and extension direction of the plurality of formwork seams The extension direction determines the grinding path; S4, grinding the surface of the building along the grinding path. In this way, the position and extension direction of the formwork seam are determined by detecting the defect position on the surface of the building, and then the grinding path is determined according to the position and extension direction of the formwork seam. Effective coverage, and most of the defects on the surface of the building made by pouring are concentrated near the formwork joints. By adopting this grinding method, the grinding efficiency can be significantly improved on the basis of ensuring the grinding effect, and the problem of low grinding efficiency on the surface of the building in the prior art is solved.

In addition, compared with the existing fixed-point grinding method, the use of this grinding method can grind some small and difficult to detect defects at the joints of the template, so that each defect position can be better covered. Avoid missing some unidentified defects and improve the grinding quality.

Specifically, the surface of the building may be the wall surface of the building, or the surface of structures such as ceilings, ground, and columns. Defects are burst points on the building surface. The above-mentioned grinding method of the surface of a building can be implemented with respect to a part of the surface of a building, and can also be implemented with respect to the whole area of the surface of a building. Taking the surface of the building as the ceiling as an example, that is to say, the above-mentioned method for grinding the surface of the building can be implemented for a part of the ceiling, or it can be implemented for the entire ceiling.

Specifically, when the surface of the building is a plane, S1, the step of detecting multiple defect positions on the surface of the building includes: detecting the height difference between each position on the surface of the building and the plane, and the height difference is greater than a preset The position of the value is used as the defect position.

During specific implementation, the preset value may be determined according to the requirements for the surface flatness of the building, for example, the preset value may be 1 mm, 2 mm, 3 mm and the like.

Through the above setting, the preset value can be determined according to the flatness requirements of the building surface, and the position where the height difference from the plane is greater than the preset value can be used as the defect position, which can more conveniently and accurately determine the defect position on the building surface. , which is conducive to the subsequent determination of the seam position of the template. Compared with the way of judging the defect position by the way of image recognition, the accuracy of judging the defect can be effectively improved.

In one embodiment, S1, the step of detecting multiple defect positions on the surface of the building further includes: filtering out positions corresponding to graphics other than straight line segments, for example, the above-mentioned graphics other than straight line segments may be It is a graph of curves, rectangles, circles, etc. That is to say, only the position of the straight segment shape and satisfying the height difference requirement is determined as the defect position. The advantage of this is that unnecessary interference can be filtered out. The positions corresponding to these graphics other than the straight line are not necessarily the position of the template seam. The defects in these positions are few and slight, which can be ignored, and after ignoring them. It has little effect on the final effect of sanding.

Specifically, in S3, the step of determining the grinding path according to the positions and extending directions of the plurality of template seams includes: determining that the grinding path is parallel or overlapping with at least one template seam.

By making the grinding path parallel to or overlapping with at least one formwork joint, the grinding mechanism can more fully cover the formwork joint during the process of grinding the building surface along the grinding path, making grinding more efficient and reducing missing formwork in the grinding process. Probability of patchwork.

Specifically, the plurality of template seams include a plurality of horizontal seams that are parallel to each other and a plurality of longitudinal seams that are parallel to each other, and each horizontal seam and each vertical seam are perpendicular to each other; S3, according to the position and the position of the plurality of template seams and The step of determining the grinding path in the extending direction includes: S31, determining a plurality of transverse paths according to the plurality of transverse slits and determining a plurality of longitudinal paths according to the plurality of longitudinal slits. In this way, when the grinding mechanism grinds the surface of the building along each horizontal path, it can more effectively cover each horizontal seam, thereby ensuring the grinding effect of the horizontal seam; when the grinding mechanism grinds the building along each longitudinal path When grinding the surface of the machine, it can cover each longitudinal seam more effectively, so as to ensure the grinding effect of the longitudinal seam. The grinding path is divided into horizontal and vertical paths according to the horizontal and vertical seams, so that the horizontal and vertical seams can be ground in a more targeted manner. Grinding workload to achieve better grinding effect.

Specifically, S4, the step of grinding the surface of the building along the grinding path includes: S41, grinding the surface of the building along a plurality of transverse paths in turn; grinding the surface of the building along a plurality of longitudinal paths in sequence. Specifically, in the process of grinding along a plurality of transverse paths or a plurality of longitudinal paths in sequence, the grinding disc can be moved in a fixed direction for grinding, or the grinding disc can be ground in a circuitous manner. In order to improve the grinding efficiency, In this embodiment, the grinding disc is ground in a circuitous manner, so that the path can be more optimized, and the grinding mechanism can cover each horizontal seam and vertical seam with a shorter moving distance, thereby improving grinding efficiency.

By controlling the grinding mechanism to grind the surface of the building along multiple lateral paths in turn, and to grind the surface of the building along multiple longitudinal paths, the grinding process can be made more orderly, and it can effectively avoid missing some lateral paths or longitudinal paths. path situation.

Specifically, S3, the step of determining the grinding path according to the position and extension direction of a plurality of template seams includes: taking the direction of each horizontal seam as the horizontal axis, and taking the direction of each longitudinal seam as the vertical axis to establish a coordinate system; The coordinate system is shown in Figure 4. Specifically, if one surface is to be ground, a coordinate system can be established. If multiple surfaces are to be ground, multiple surfaces can share a single coordinate system (ie, the method in Different coordinate systems can be established for multiple surfaces; the ordinate of each transverse path is determined according to the ordinate of each transverse seam and the diameter of the grinding disc, and each longitudinal path is determined according to the abscissa of each longitudinal seam and the diameter of the grinding disc the abscissa. In this way, it is convenient to determine the grinding path. Since the transverse path is consistent with the extension direction of the transverse seam, and the longitudinal path is consistent with the extension direction of the longitudinal seam, in order to enable the transverse path to effectively cover the transverse seam, the longitudinal path can effectively cover the longitudinal seam. , the ordinate of the transverse path and the abscissa of the longitudinal path can be determined according to the diameter of the grinding disc on the basis of the known ordinate of the transverse seam and the abscissa of the longitudinal seam.

As shown in Figure 5, in Figure 5, each template seam is simplified to a point and marked. Specifically, the horizontal seam includes P1, P2, P3, P4, P5, P6, and P7, and the longitudinal seam includes Q1 , Q2, Q3, Q4, Q5, of course, Figure 5 only schematically shows some template seams, in fact, there may be more template seams. The specific marking method is: for the horizontal seam, mark P1 in the area with the smallest coordinate value in the Y-axis direction. If the y value is the same, the larger the x value is, the first the mark is; for the vertical seam, mark Q1 in the area with the largest X-axis. When the values are the same, the smaller the y value, the more marked first.

Step S31, determining a plurality of transverse paths according to a plurality of transverse seams and determining a plurality of longitudinal paths according to a plurality of longitudinal seams includes step S311, and S311 includes: the diameter of the grinding disc is D; increasing or decreasing D with the ordinate of each transverse seam /2 is used as the ordinate of each corresponding transverse path, and the transverse path corresponding to this ordinate represents the limit path that can cover the corresponding transverse seam. The farther area of the transverse slit is beneficial to realize the effect of covering multiple transverse slits with one transverse path, thereby improving the grinding efficiency; similarly, the abscissa of each longitudinal slit is increased or decreased by D/2 as the corresponding The abscissa of a longitudinal path, the longitudinal path corresponding to this abscissa represents the limit path that can cover the corresponding longitudinal seam, which can cover the corresponding longitudinal seam as far as possible on the basis of covering the corresponding longitudinal seam. area, which is beneficial to realize the effect of covering multiple longitudinal slits with one longitudinal path and improve the grinding efficiency. In this way, it is beneficial to cover more template seams by using the fewest transverse paths and longitudinal paths, which is beneficial to improve the grinding efficiency.

As shown in FIG. 6 and FIG. 7 , in FIG. 6 , the transverse path determined by the transverse slit P1 is F1-F2; in FIG. 7 , the longitudinal path determined by the longitudinal slit Q1 is S1-S2. The paths determined by other horizontal slits and longitudinal slits are deduced in turn.

S3. The step of determining the grinding path according to the positions and extension directions of the plurality of template seams also includes: S313, judging whether the distance between the two transverse seams along the longitudinal axis direction is less than or equal to D/2, if so, it represents the grinding disc along the When the transverse path determined by one of the two transverse seams moves, it will be able to cover the other transverse seam. Therefore, in order to avoid repeated grinding of some of the transverse seams, any one of the two transverse seams can be removed. Corresponding transverse path, if not, it means that the grinding disc cannot cover the two transverse seams at one time. In order to ensure the reliable grinding effect of the two transverse seams, it is necessary to retain the two transverse directions corresponding to the two transverse seams. path; and/or, S314, determining the grinding path according to the position and extension direction of a plurality of template seams also includes: judging whether the distance along the horizontal axis between the two longitudinal seams is less than or equal to D/2, if so, it represents The grinding disc can cover two longitudinal seams at one time. Therefore, the longitudinal path can be planned reasonably, and the longitudinal path corresponding to any one of the two longitudinal seams can be eliminated to improve the grinding efficiency. If not, it means that the grinding disc cannot be To cover two longitudinal seams at one time, in order to ensure the grinding efficiency, it is necessary to retain the two longitudinal paths corresponding to the two longitudinal seams. In this way, repeated grinding paths can be deleted, thereby preventing multiple grinding of the same position and ensuring grinding efficiency.

In order to determine the lengths of each transverse path and longitudinal path, S3. The step of determining the grinding path according to the positions and extension directions of the plurality of template seams also includes: S312, determining according to the minimum abscissa and the maximum abscissa of the plurality of template seams The abscissas of the two endpoints of each transverse path, since the minimum abscissa and the maximum abscissa of the multiple template seams represent the two extreme positions of the multiple template seams in the horizontal axis direction, according to the minimum abscissa of the multiple template seams. The abscissa and the maximum abscissa determine the abscissas of the two end points of each transverse path to ensure that each formwork seam can be fully covered in the direction of the horizontal axis by grinding along the transverse path; The minimum ordinate and the maximum ordinate determine the ordinates of the two end points of each longitudinal path, which can ensure that the grinding along the longitudinal path can fully cover the seams of each template in the direction of the longitudinal axis, thereby ensuring the comprehensiveness of grinding. It can be understood that the maximum abscissa value of each template seam and the minimum abscissa value jointly determine a range, which can cover all template seams. In Figure 6 and Figure 7, this range is a rectangle. , its four sides are Mα, Mβ, Zα, Zβ respectively. It can be seen that the two endpoints of each transverse path are the intersections with Zα and Zβ, and the two endpoints of each longitudinal path are the intersections with Mα and Mβ. .

As shown in FIG. 8 , the present application also provides a method for polishing a ceiling of a building, including: S101, detecting multiple defect positions on the surface of the ceiling; S102, marking the multiple defect positions on a building information model map; S103, draw a plurality of grinding areas corresponding to multiple rooms on the building information model map; S104, determine the position and extension of a plurality of formwork seams in the grinding area according to the positions of multiple defects in the grinding area direction; S105, determine a grinding path corresponding to the corresponding grinding area according to the position and extension direction of a plurality of template seams in each grinding area; S106, sequentially follow each grinding path to the area of the ceiling corresponding to the corresponding grinding area Grind. As shown in Figure 4, the polishing sequence can be determined by labeling each room. In Figure 4, the ceiling is divided into 1, 2, 3, 4, 5, 6, 7, and 8 according to the different rooms. A total of eight There are eight grinding areas, and these eight grinding areas can be ground in sequence during grinding. In this way, the grinding operation can be made more orderly, and the formwork joints in each room can be determined according to the explosion point in each room, and then the grinding path in each room can be determined. When grinding the ceiling of each room, you can It is ground according to the corresponding grinding path to ensure the efficiency of grinding for each room.

When the surface of the ceiling is a plane, step S101, the step of detecting a plurality of defect positions on the surface of the ceiling includes: detecting the height difference between each position on the surface of the ceiling and the plane, and taking the position where the height difference is greater than a preset value as the defect Location. In this way, the defect position on the surface of the ceiling can be determined more conveniently and accurately, which is beneficial to the subsequent determination of the position of the template seam

S105. The step of determining a grinding path corresponding to the corresponding grinding area according to the position and extension direction of a plurality of template seams in each grinding area includes: determining that the grinding path is parallel to at least one template seam in the corresponding grinding area or coincide. By making the grinding path parallel or overlapping with at least one formwork seam in the corresponding grinding area, the grinding mechanism can more fully cover the formwork seam during the process of grinding the building surface along the grinding path, making grinding more efficient and reducing The probability of missing template seams during the small grinding process.

In this embodiment, the plurality of template seams in each grinding area include a plurality of horizontal seams parallel to each other and a plurality of vertical seams parallel to each other, and each horizontal seam and each vertical seam are perpendicular to each other; S105, according to The step of determining the grinding path corresponding to the corresponding grinding area by the position and extension direction of the plurality of template seams in each grinding area includes: determining a plurality of transverse paths according to the plurality of transverse seams in the corresponding grinding area, and determining a plurality of transverse paths according to the corresponding grinding area. Multiple longitudinal slits in the sanding area define multiple longitudinal paths. In this way, the horizontal seam and the vertical seam can be ground more targetedly, which is beneficial to achieve better grinding effect with less grinding workload.

S106. The step of grinding the area of the ceiling corresponding to the corresponding grinding area along each grinding path in turn includes: grinding the surface of the ceiling along a plurality of lateral paths in the corresponding grinding area in turn; sequentially grinding the surface of the ceiling along the corresponding grinding area The surface of the ceiling is sanded in multiple longitudinal paths. In this way, the path can be more optimized, so that the grinding mechanism can cover each horizontal seam and longitudinal seam with a shorter moving distance, thereby improving the grinding efficiency. Similarly, in the process of grinding the surface of the ceiling along a plurality of transverse paths in the corresponding sanding area in turn, or grinding the surface of the ceiling along a plurality of longitudinal paths in the corresponding sanding area in turn, the grinding disc can be made along a fixed direction. The movement can be used for grinding, and the grinding disc can also be ground in a circuitous way.

In order to facilitate the determination of the grinding path in each grinding area, so that the grinding path can effectively cover each template seam, S105 , determine the corresponding grinding area according to the position and extension direction of the plurality of template seams in each grinding area The steps of the corresponding grinding path include: taking the direction of each horizontal seam as the horizontal axis, and taking the direction of each vertical seam as the vertical axis to establish a coordinate system; according to the vertical coordinate of each horizontal seam in the corresponding grinding area The ordinate of each transverse path is determined according to the diameter of the grinding disc, and the abscissa of each longitudinal path is determined according to the abscissa of each longitudinal seam in the corresponding grinding area and the diameter of the grinding disc.

In this embodiment, the diameter of the grinding disc is D; the ordinate of each transverse seam in the corresponding grinding area is increased or decreased by D/2 as the ordinate of each corresponding transverse path, and the The abscissa of each longitudinal slit increases or decreases by D/2 as the abscissa of the corresponding longitudinal paths. In this way, it is beneficial to realize that one transverse path covers multiple transverse slits, or one longitudinal path covers multiple longitudinal slits, which can effectively improve the grinding efficiency.

S105. The step of determining the grinding path corresponding to the corresponding grinding area according to the positions and extension directions of the plurality of template seams in each grinding area includes: judging that the distance between the two transverse seams in the corresponding grinding area is along the longitudinal axis direction Whether the distance is less than or equal to D/2, if so, remove the horizontal path corresponding to any one of the two horizontal slits, if not, keep the two horizontal paths corresponding to the two horizontal slits; and /or, S105, the step of determining the grinding path corresponding to the corresponding grinding area according to the position and extension direction of the plurality of template seams in each grinding area includes: judging the edge between the two longitudinal seams in the corresponding grinding area Whether the distance in the horizontal axis direction is less than or equal to D/2, if so, remove the longitudinal path corresponding to any one of the two longitudinal seams, if not, keep the two longitudinal paths corresponding to the two longitudinal seams path. In this way, repeated grinding paths can be deleted, thereby preventing multiple grinding of the same position and ensuring grinding efficiency.

In order to determine the lengths of each transverse path and longitudinal path, so as to fully cover the formwork joints and avoid useless grinding operations, S105 , according to the positions and extension directions of the plurality of formwork joints in each grinding area, determine and correspond to the formwork joints. The step of grinding the path corresponding to the grinding area further includes: determining the abscissas of the two end points of each lateral path according to the minimum abscissa and the maximum abscissa of the plurality of template seams in the corresponding grinding area, and according to the corresponding grinding area The minimum ordinate and the maximum ordinate of the plurality of formwork seams within determine the ordinates of the two end points of each longitudinal path.

The present application also provides a surface grinding device of a building, comprising: a detection module for detecting the positions of multiple defects on the surface of the building; an analysis module for determining a plurality of formwork joints according to the positions of the multiple defects location and extension direction; planning module, used to determine the grinding path according to the position and extension direction of multiple formwork joints; grinding module, used to grind the surface of the building along the grinding path.

Specifically, the surface of the building is a plane, and the detection module includes: a detection unit for detecting the height difference between each position on the surface of the building and the plane; a first judging unit for detecting each position on the surface of the building The height difference between the planes is compared with the preset value, and the position where the height difference is greater than the preset value is used as the defect position.

The planning module is used to determine the grinding path and make the grinding path parallel or coincide with at least one formwork joint.

The analysis module determines a plurality of transverse seams and a plurality of longitudinal seams according to the multiple defect positions, and the planning module is used to determine a plurality of transverse paths according to the plurality of transverse seams, and a plurality of longitudinal paths according to the plurality of longitudinal seams.

The sanding module is used for sanding the surface of the building along a plurality of transverse paths in sequence; the sanding module is also used for sanding the surface of the building along a plurality of longitudinal paths in sequence.

In the process of determining the transverse path and the longitudinal path, in order to conveniently represent the position of the grinding path, a coordinate system is established with the direction of each transverse seam as the horizontal axis and the direction of each longitudinal seam as the vertical axis. The planning module determines the ordinate of each transverse path according to the ordinate of each transverse seam and the diameter of the grinding disc, and the planning module determines the abscissa of each longitudinal path according to the abscissa of each longitudinal seam and the diameter of the grinding disc.

Specifically, the diameter of the grinding disc is D, and the planning module increases or decreases D/2 on the basis of the ordinate of each transverse slit as the ordinate of the transverse path corresponding to the transverse slit. On the basis of the abscissa, increase or decrease D/2 as the abscissa of the longitudinal path corresponding to the longitudinal slit.

In addition, in order to avoid repeated grinding and thus ensure the grinding efficiency, the planning module includes a second judgment unit, which is used to judge whether the distance between the two transverse slits along the longitudinal axis is less than or equal to D/2, and if so, then The planning module removes the transverse path corresponding to any one of the two transverse slits, and if not, retains the two transverse paths corresponding to the two transverse slits; and/or, the second judgment unit is used for judging the two transverse paths. Whether the distance between the longitudinal slits along the horizontal axis is less than or equal to D/2, if so, the planning module will remove the longitudinal path corresponding to any one of the two longitudinal slits, if not, keep the two longitudinal paths The two longitudinal paths corresponding to the longitudinal seam.

In order to reasonably determine the extension lengths of each horizontal path and vertical path, the planning module is used to determine the abscissas of the two end points of each horizontal path according to the minimum abscissa and maximum abscissa of multiple template seams. The minimum and maximum ordinates of the formwork seam determine the ordinates of the two end points of each longitudinal path.

The present application also provides a storage medium storing a program, wherein the above-mentioned method for sanding the surface of a building is executed when the program is run.

The present application also provides a processor for running a program, wherein the above-mentioned method for polishing the surface of a building is executed when the program is executed.

In addition, the present application also provides a system for sanding the surface of a building, comprising: a memory for storing a program, wherein the program is run to execute the above-mentioned method for sanding the surface of a building; a processor, connected in communication with the memory , which is used to run the program.

From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

The method for grinding the surface of the building of the present application includes: detecting a plurality of defect positions on the surface of the building; determining the position and extension direction of a plurality of formwork joints according to the plurality of defect positions; according to the position and extension of the plurality of formwork joints The direction determines the sanding path; the surface of the building is sanded along the sanding path. In this way, the position and extension direction of the formwork seam are determined by detecting the defect position on the surface of the building, and then the grinding path is determined according to the position and extension direction of the formwork seam. effective coverage, and most of the defects on the surface of the building are concentrated near the formwork joints. By adopting this grinding method, the grinding efficiency can be significantly improved on the basis of ensuring the grinding effect, and the problem of low surface grinding efficiency in the prior art is solved.

For ease of description, spatially relative terms, such as "on", "over", "on the surface", "above", etc., may be used herein to describe what is shown in the figures. The spatial positional relationship of one device or feature shown to other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or features would then be oriented "below" or "over" the other devices or features under other devices or constructions". Thus, the exemplary term "above" can encompass both an orientation of "above" and "below." The device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances such that the embodiments of the application described herein can, for example, be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims (15)

1. A method for polishing the surface of a building, comprising:

   detecting a plurality of defect locations in the surface of the building;

   Determine the position and extension direction of a plurality of template seams according to a plurality of the defect positions;

   determining a grinding path according to the positions and extending directions of the plurality of said formwork seams; and

   The surface of the building is sanded along the sanding path.
2. The method for grinding the surface of a building according to claim 1, wherein when the surface of the building is a plane, the step of detecting a plurality of defect positions on the surface of the building comprises: detecting the building surface The height difference between each position on the surface of the object and the plane is determined, and the position where the height difference is greater than a preset value is used as the defect position.
3. The method for polishing the surface of a building according to claim 1, wherein the step of determining a polishing path according to the positions and extending directions of a plurality of the template seams comprises: determining the polishing path and at least one of the template Patchwork parallel or overlapping.
4. The method for grinding the surface of a building according to claim 1, wherein the plurality of said formwork joints comprises a plurality of transverse seams parallel to each other and a plurality of longitudinal seams parallel to each other, and each of the transverse seams is the same as the Each of the longitudinal seams is perpendicular to each other; the steps of determining the grinding path according to the positions and extension directions of the plurality of the template seams include:

   A plurality of transverse paths are determined according to a plurality of the transverse slits and a plurality of longitudinal paths are determined according to the plurality of the longitudinal slits.
5. The method for grinding the surface of a building according to claim 4, wherein the step of grinding the surface of the building along the grinding path comprises:

   sanding the surface of the building along a plurality of the lateral paths in sequence; and

   The surface of the building is sanded along a plurality of the longitudinal paths in sequence.
6. The method for grinding the surface of a building according to claim 4 or 5, wherein the step of determining the grinding path according to the positions and extension directions of a plurality of the template seams comprises:

   The coordinate system is established by taking the direction of each of the horizontal slits as the horizontal axis, and the direction of each of the longitudinal slits as the vertical axis;

   The ordinate of each of the transverse paths is determined according to the ordinate of each of the transverse slits and the diameter of the grinding disc, and the abscissa of each of the longitudinal paths is determined according to the abscissa of each of the longitudinal slits and the diameter of the grinding disc coordinate.
7. The method for grinding the surface of a building according to claim 6, wherein the diameter of the grinding disc is D; the ordinate of each of the transverse seams is increased or decreased by D/2 as the corresponding The ordinate of the transverse path is determined by increasing or decreasing D/2 of the abscissa of each of the longitudinal slits as the abscissa of each of the longitudinal paths.
8. The method for grinding the surface of a building according to claim 7, wherein the step of determining the grinding path according to the positions and extension directions of a plurality of the template seams further comprises: judging the edge between the two transverse seams. Whether the distance in the direction of the longitudinal axis is less than or equal to D/2, if so, remove the transverse path corresponding to any one of the two transverse slits, if not, keep the corresponding transverse paths of the two transverse slits of two lateral paths.
9. The method for grinding the surface of a building according to claim 7 or 8, wherein determining the grinding path according to the positions and extension directions of a plurality of the template seams further comprises: judging the distance between the two longitudinal seams. Whether the distance in the horizontal axis direction is less than or equal to D/2, if so, remove the longitudinal path corresponding to any one of the two longitudinal slits, if not, keep the corresponding longitudinal paths of the two longitudinal slits of two longitudinal paths.
10. The method for grinding the surface of a building according to claim 6, wherein the step of determining the grinding path according to the positions and extension directions of a plurality of the formwork joints further comprises: according to the minimum value of the plurality of the formwork joints The abscissa and the maximum abscissa determine the abscissas of the two endpoints of each of the horizontal paths, and the vertical coordinates of the two endpoints of each of the longitudinal paths are determined according to the minimum ordinate and the maximum ordinate of the plurality of template seams. coordinate.
11. A method for polishing the ceiling of a building, characterized in that it comprises:

    detecting a plurality of defect locations on the surface of the ceiling;

    marking a plurality of said defect locations on a building information model map;

    Draw a plurality of grinding areas corresponding to a plurality of rooms on the building information model map;

    Determine the position and extension direction of a plurality of template seams in each of the grinding areas according to the plurality of defect positions in each of the grinding areas;

    Determine a grinding path corresponding to the corresponding grinding area according to the position and extension direction of the plurality of template seams in each of the grinding areas;

    The area of the ceiling corresponding to the corresponding grinding area is ground along each of the grinding paths in sequence.
12. A grinding device for the surface of a building, characterized in that it comprises:

    a detection module for detecting a plurality of defect locations on the surface of the building;

    an analysis module, used for determining the position and extension direction of a plurality of template seams according to a plurality of the defect positions;

    The planning module is used to determine the grinding path according to the position and extension direction of the plurality of said template seams;

    A sanding module for sanding the surface of the building along the sanding path.
13. A storage medium, characterized in that the storage medium stores a program, wherein when the program is run, the method for sanding the surface of a building according to any one of claims 1 to 10 is executed.
14. A processor, characterized in that the processor is configured to run a program, wherein the method for sanding the surface of a building according to any one of claims 1 to 10 is executed when the program is run.
15. A sanding system for the surface of a building, characterized in that it includes:

    A memory for storing a program, wherein, when the program is run, the method for polishing the surface of a building according to any one of claims 1 to 9 is performed;

    a processor, connected in communication with the memory, for running the program.

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