WO2022100457A1 - 作业路线规划方法、装置、电子设备以及可读存储介质 - Google Patents

作业路线规划方法、装置、电子设备以及可读存储介质 Download PDF

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Publication number
WO2022100457A1
WO2022100457A1 PCT/CN2021/127310 CN2021127310W WO2022100457A1 WO 2022100457 A1 WO2022100457 A1 WO 2022100457A1 CN 2021127310 W CN2021127310 W CN 2021127310W WO 2022100457 A1 WO2022100457 A1 WO 2022100457A1
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Prior art keywords
seam
data
vertical
operation line
horizontal
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PCT/CN2021/127310
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English (en)
French (fr)
Inventor
姜盛坤
钟婷
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广东博智林机器人有限公司
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Publication of WO2022100457A1 publication Critical patent/WO2022100457A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/13—Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G06F30/27—Design optimisation, verification or simulation using machine learning, e.g. artificial intelligence, neural networks, support vector machines [SVM] or training a model

Definitions

  • the present application relates to the field of construction technology, and in particular, to a method, device, electronic device, and readable storage medium for an operation route planning method, device, electronic device and readable storage medium for ceiling patchwork polishing.
  • the purpose of the embodiments of the present application is to provide an operation route planning method, device, electronic device and readable storage medium for ceiling patchwork polishing, which can improve the acquisition efficiency and accuracy of ceiling polishing operation routes.
  • a first aspect of the embodiments of the present application provides a method for planning an operation route for ceiling patchwork grinding, the method comprising:
  • the joint grinding path is planned to obtain the operation route.
  • the operation route planning method for ceiling patchwork grinding can preferentially obtain ceiling patchwork data including horizontal seam data and vertical seam data; and then determine the horizontal seam operation line and vertical seam data according to the horizontal seam data and vertical seam data.
  • Vertical seam operation line determines the operation node according to the horizontal seam operation line and the vertical seam operation line; finally, plan the seam grinding path according to the operation node to obtain the operation route.
  • the horizontal seam operation line and the vertical seam operation line can be determined according to the ceiling horizontal seam and the ceiling vertical seam, and the operation node can be further determined according to the horizontal seam operation line and the vertical seam operation line, so that the ceiling can be assembled.
  • the joint grinding path can be planned through these operation nodes, so that the operation route for the ceiling joint grinding can be obtained, and then the acquisition efficiency of the ceiling grinding operation route and the ceiling grinding operation route can be improved by this line-point planning method. acquisition accuracy.
  • the step of determining a horizontal seam operation line and a vertical seam operation line according to the horizontal seam data and the vertical seam data includes:
  • the vertical seam operation line is determined according to the horizontal seam operation line and the vertical seam data.
  • the vertical seam operation line is determined based on the horizontal seam operation line, and the obtained horizontal seam operation line and vertical seam operation line can completely cover all the seams without repetition, which is beneficial to improve the accuracy of the operation route , to further improve work efficiency.
  • step of determining the horizontal seam operation line according to the horizontal seam data includes:
  • Cluster analysis is performed according to the preset grinding disc diameter and the transverse seam spacing between the transverse seams in the transverse seam data to obtain the transverse seam operation line.
  • the step of determining the vertical seam operation line according to the horizontal seam operation line and the vertical seam data includes:
  • Correction processing is performed on the vertical seam data according to the horizontal seam operation line, so as to obtain correction data of the vertical seam data that does not overlap with the horizontal seam operation line;
  • Cluster analysis is performed according to the preset grinding disc diameter and the vertical seam spacing between the vertical seams in the corrected data, and the vertical seam operation line is obtained.
  • step of determining the operation node according to the horizontal seam operation line and the vertical seam operation line includes:
  • the start node and the end node are determined as job nodes.
  • a second aspect of the embodiments of the present application provides a work route planning device for ceiling patchwork grinding, and the work route planning device for ceiling patchwork polishing includes:
  • an acquisition unit used to acquire ceiling patchwork data including horizontal seam data and vertical seam data
  • a first determining unit configured to determine a horizontal seam operation line and a vertical seam operation line according to the horizontal seam data and the vertical seam data;
  • a second determining unit configured to determine an operation node according to the horizontal seam operation line and the vertical seam operation line
  • the planning unit is used for planning the joint grinding path according to the operation node to obtain the operation route.
  • the operation route planning device for ceiling patchwork grinding can obtain ceiling patchwork data including horizontal seam data and vertical seam data through an acquisition unit;
  • the vertical seam data determines the horizontal seam operation line and the vertical seam operation line;
  • the second determining unit determines the operation node according to the horizontal seam operation line and the vertical seam operation line;
  • the planning unit is used to perform seam grinding according to the operation node.
  • Path planning get the job route. It can be seen that by implementing this embodiment, the horizontal seam operation line and the vertical seam operation line can be determined according to the ceiling horizontal seam and the ceiling vertical seam, and the operation node can be further determined according to the horizontal seam operation line and the vertical seam operation line, so that the ceiling can be assembled.
  • the joint grinding path can be planned through these operation nodes, so that the operation route for the ceiling joint grinding can be obtained, and then the acquisition efficiency of the ceiling grinding operation route and the ceiling grinding operation route can be improved by this line-point planning method. acquisition accuracy.
  • the first determining unit includes:
  • a first determination subunit used for determining a horizontal seam line according to the horizontal seam data
  • the second determination subunit is configured to determine the vertical seam operation line according to the horizontal seam operation line and the vertical seam data.
  • the vertical seam operation line is further determined based on the horizontal seam operation line determined by the first determination subunit, and the obtained horizontal seam operation line and vertical seam operation line can completely cover all the seams without repetition. , which is beneficial to improve the accuracy of the operation route and further improve the operation efficiency.
  • the first determination sub-unit is specifically configured to perform cluster analysis according to the preset grinding disc diameter and the transverse seam spacing between the transverse seams in the transverse seam data to obtain the transverse seam operation line.
  • the first determining subunit when determining the horizontal seam line, first calculates the horizontal seam spacing between the horizontal seams in the horizontal seam data, and then adjusts the horizontal seam data according to the preset grinding disc diameter and horizontal seam spacing. Cluster analysis was performed to obtain the horizontal sewing line.
  • a third aspect of an embodiment of the present application provides an electronic device, including a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to cause the electronic device to execute the first embodiment of the present application.
  • the operation route planning method for ceiling patchwork grinding according to any one of the aspects.
  • a fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores computer program instructions. When the computer program instructions are read and run by a processor, any one of the first aspects of the embodiments of the present application is executed.
  • FIG. 1 is a schematic flow chart of a method for planning an operation route for ceiling joint polishing provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of another operation route planning method for ceiling patchwork polishing provided by an embodiment of the present application
  • FIG. 3 is a schematic structural diagram of a working route planning device for ceiling joint grinding provided by an embodiment of the present application
  • FIG. 4 is a schematic structural diagram of another operation route planning device for ceiling joint grinding provided by the embodiment of the present application.
  • FIG. 5 is a schematic diagram of an example of obtaining a horizontal seam operation line provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of determining an operation line according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a work area provided by an embodiment of the present application.
  • FIG. 8 provides a schematic diagram of a job node according to an embodiment of the present application.
  • FIG. 1 provides a schematic flowchart of an operation route planning method for ceiling patchwork grinding according to an embodiment of the present application.
  • the method is applied to the operation scene of ceiling patchwork grinding, and is specifically applied to the scene where the concrete ceiling polishing robot performs planning operations according to the ceiling patchwork data after obtaining the ceiling patchwork data.
  • the operation route planning method for ceiling patchwork grinding includes:
  • the execution body of the method may be a device such as a working robot for ceiling joint grinding, a concrete ceiling grinding robot, etc., which is not limited in this embodiment.
  • the execution body of the method may also be a control device such as a computer, a server, a controller, a smart phone, a tablet computer, etc., which can control the working robot used for the ceiling seam grinding, and nothing is done in this embodiment. limited.
  • a control device such as a computer, a server, a controller, a smart phone, a tablet computer, etc., which can control the working robot used for the ceiling seam grinding, and nothing is done in this embodiment. limited.
  • the seam usually refers to the connection between wallpaper and wallpaper or between wallpaper and mirror lines, skirting boards and other parts in interior decoration. This method is mainly aimed at smallpox patchwork.
  • the ceiling patchwork data includes horizontal patchwork data (ie, horizontal seam data) and vertical patchwork data (ie, vertical seam data).
  • the ceiling patchwork data may be obtained by performing visual recognition processing on the ceiling patchwork by a measuring robot.
  • the working range of the working robot corresponding to the horizontal seam operation line includes all the horizontal seams of the horizontal seam data, and the operations corresponding to the vertical seam operation line
  • the working range of the robot includes all vertical seams of vertical seam data.
  • S103 Determine the operation node according to the horizontal seam operation line and the vertical seam operation line.
  • the operation node includes a start node and an end node, which are used to determine the work node when the operation robot for seam-seaming and polishing of the ceiling performs the seam operation.
  • the working route is the working route when the working robot used for the ceiling patchwork polishing performs the patchwork operation.
  • the working robot for seam polishing of ceiling can realize the operation of making seam while walking according to the operation route.
  • the implementation of the operation route planning method for ceiling patchwork grinding described in FIG. 1 can improve the acquisition efficiency of the ceiling polishing operation route and the acquisition accuracy of the ceiling polishing operation route.
  • FIG. 2 is a schematic flowchart of another operation route planning method for ceiling joint grinding provided by an embodiment of the present application.
  • the schematic flow chart of the operation route planning method for ceiling patchwork grinding described in FIG. 2 is obtained by improving the flow chart of the operation route planning method for ceiling patchwork polishing described in FIG. 1 .
  • the operation route planning method for ceiling patchwork grinding includes:
  • the vertical distance between any two transverse slits in the transverse slit data may be calculated to obtain the transverse slit spacing between the transverse slits in the transverse slit data.
  • the diameter of the grinding disc that is, the value of the working range of the working robot used for the ceiling seam grinding, is preset.
  • FIG. 5 shows an example schematic diagram of obtaining a horizontal seam operation line.
  • h 1 is a virtual operation line
  • a i , a j , and a m in the figure are all horizontal seams included in the horizontal seam data.
  • first select the two nearest seams in D A ⁇ d i ⁇ for comparison, and if the horizontal seam spacing d ij ⁇ L, generate a virtual working line h 1
  • the specific data are as follows:
  • the remaining horizontal seam seam coordinate information is the horizontal seam operation line h p .
  • the virtual work line h 1 is generated, and two horizontal seams a i and a j in the A set need to be eliminated.
  • the seam a m closest to h 1 in the remaining A set is selected, and the difference between h 1 and a m is calculated.
  • Distance d h1m when d h1m ⁇ L , end the clustering; when d h1m ⁇ L, generate h 1 '.
  • a i , a j and a m are included in the operation with h 1 ' as the job line, if not included, end the clustering; if it is included, remove a m from the A set to generate h 1 ".
  • FIG. 6 shows a schematic diagram of determining a working line
  • FIG. 7 shows a schematic diagram of a working area, wherein the virtual working line h 1 ′ is as follows:
  • step S202 is implemented, and the horizontal seam operation line can be determined according to the horizontal seam data.
  • some vertical seams will be included in the horizontal seam operation line.
  • each virtual operation line in the horizontal sewing operation line corresponds to one operation area.
  • each virtual operation line in the horizontal seam operation line corresponds to an operation area, and the following rules can be followed when the vertical seam data is corrected:
  • the vertical seam set B is corrected by the above correction rules, and a new vertical seam set B' is obtained.
  • the new vertical seam set B' is the part of the vertical seam data that does not overlap with the horizontal seam line. Corrected data.
  • step S203 the following steps are also included:
  • the distance between the vertical slits of the two vertical slits is d ⁇ ⁇ L when the clustering starts
  • the length of the two vertical slits is the working line k ⁇
  • the two vertical slits in the B' set are eliminated
  • steps S203 to S204 are implemented, and the vertical seam operation line can be determined according to the horizontal seam operation line and the vertical seam data.
  • steps S202 to S204 are implemented, and the horizontal seam operation line and the vertical seam operation line can be determined according to the horizontal seam data and the vertical seam data.
  • S205 Acquire a start node and an end node included in each operation line in the horizontal seam operation line and the vertical seam operation line.
  • the horizontal seam operation The start node and end node included in each line in the line and vertical seam line.
  • step S205 the following steps are also included:
  • S206 Determine the start node and the end node as job nodes.
  • FIG. 8 shows a schematic diagram of a job node.
  • the operation nodes are two sections of the operation line, and two operation points s 1 and s 2 will be formed at both ends of the h 1 operation line.
  • steps S205 to S206 are implemented, and the operation node can be determined according to the horizontal seam operation line and the vertical seam operation line.
  • the joint grinding path planning is performed according to the operation node, and the steps of obtaining the operation path may include:
  • the horizontal operation route and the adjustment operation route are determined as the operation route.
  • the horizontal start nodes may include s 1 , s 5 , and s 9 ; the horizontal end nodes may include s 2 , s 6 , and s 10 ; the vertical start nodes may include s 3 , s 7 ; the vertical end nodes may include Including s 4 , s 8 .
  • the horizontal working routes h 1 , h 2 , h 3 and the vertical working routes k 1 , k 2 can be easily obtained; there are dashed lines in FIG. 8 .
  • Cross intersection area this area is the intersection part of the route; then remove the intersection part of the route in k 1 to obtain the adjustment operation route; finally, the final operation route can be determined according to the horizontal operation route and the adjustment operation route.
  • the implementation of the operation route planning method for ceiling joint grinding described in FIG. 2 can improve the acquisition efficiency of the ceiling polishing operation route and the acquisition accuracy of the ceiling polishing operation route.
  • FIG. 3 is a schematic structural diagram of an operation route planning device for ceiling joint grinding provided by an embodiment of the present application.
  • the operation route planning device for ceiling patchwork grinding includes:
  • Obtaining unit 300 for obtaining ceiling seam data including horizontal seam data and vertical seam data
  • a first determining unit 400 configured to determine the horizontal seam operation line and the vertical seam operation line according to the horizontal seam data and the vertical seam data;
  • the second determination unit 500 is configured to determine the operation node according to the horizontal seam operation line and the vertical seam operation line;
  • the planning unit 600 is configured to plan the seam grinding path according to the operation node to obtain the operation route.
  • FIG. 4 is a schematic structural diagram of another operation route planning device for ceiling joint grinding provided by an embodiment of the present application.
  • the schematic structural diagram of the operation route planning device for ceiling patchwork grinding described in FIG. 4 is obtained by improving the structure schematic diagram of the operation route planning device for ceiling patchwork polishing described in FIG. 3 .
  • the first determining unit 400 includes:
  • the first determination sub-unit 410 is used for determining the horizontal seam line according to the horizontal seam data.
  • the second determination subunit 420 is configured to determine the vertical seam operation line according to the horizontal seam operation line and the vertical seam data.
  • the first determination subunit 410 is specifically configured to perform cluster analysis according to the preset grinding disc diameter and the transverse seam spacing between the transverse seams in the transverse seam data to obtain the transverse seam operation line.
  • the second determination subunit 420 includes:
  • the correction module 421 is configured to perform correction processing on the vertical seam data according to the horizontal seam operation line, and obtain correction data of the vertical seam data that does not overlap with the horizontal seam operation line.
  • the clustering module 422 is configured to perform cluster analysis according to the preset grinding disc diameter and the vertical seam spacing between the vertical seams in the correction data to obtain the vertical seam operation line.
  • the second determining unit 500 includes:
  • the obtaining subunit 510 is used to obtain the start node and the end node included in each of the horizontal seam operation line and the vertical seam operation line.
  • a determination subunit 520 is used to determine the start node and the end node as job nodes.
  • the implementation of the operation route planning device for ceiling joint grinding described in FIG. 4 can improve the acquisition efficiency of the ceiling polishing operation route and the acquisition accuracy of the ceiling polishing operation route.
  • An embodiment of the present application provides an electronic device, including a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute Embodiment 1 or Embodiment 1 of the present application Any one of 2 is used for the operation route planning method of ceiling patchwork grinding.
  • the embodiment of the present application provides a computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are read and executed by a processor, executes any one of Embodiment 1 or Embodiment 2 of the present application Operation route planning method for ceiling patchwork grinding.
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function(s) executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.
  • each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.
  • the functions are implemented in the form of software function modules and sold or used as independent products, they may be stored in a computer-readable storage medium.
  • the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution, and the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

Abstract

一种用于天花拼缝打磨的作业路线规划方法、装置、电子设备以及可读存储介质，涉及建筑技术领域，该方法包括：获取包括横缝数据和竖缝数据的天花拼缝数据（S101）；根据横缝数据和竖缝数据确定横缝作业线和竖缝作业线（S102）；根据横缝作业线和竖缝作业线确定作业节点（S103）；根据作业节点进行拼缝打磨路径规划，得到作业路线（S104）。基于此，能够提高天花打磨作业路线的获取效率和天花打磨作业路线的获取精度。

Description

作业路线规划方法、装置、电子设备以及可读存储介质 技术领域
本申请涉及建筑技术领域，具体而言，涉及一种用于天花拼缝打磨的作业路线规划方法、装置、电子设备以及可读存储介质。
背景技术
在天花打磨的技术领域中已经出现了天花拼缝识别的方案。但是，识别出的天花拼缝仍需要使用聚类分析进行进一步的分类处理，以便确定天花打磨作业路线。然而，在实践中发现，目前的这种分类处理方法需要人工确定聚类分析的分类个数，从而使得天花打磨作业路线的确定时间较长，降低了天花打磨作业路线的获取效率，并且还会引起不必要的人工误差，从而降低天花打磨作业路线的获取精度。
发明内容
本申请实施例的目的在于提供一种用于天花拼缝打磨的作业路线规划方法、装置、电子设备以及可读存储介质，能够提高天花打磨作业路线的获取效率和天花打磨作业路线的获取精度。
本申请实施例第一方面提供了一种用于天花拼缝打磨的作业路线规划方法，所述方法包括：
获取包括横缝数据和竖缝数据的天花拼缝数据；
根据所述横缝数据和所述竖缝数据确定横缝作业线和竖缝作业线；
根据所述横缝作业线和竖缝作业线确定作业节点；
根据所述作业节点进行拼缝打磨路径规划，得到作业路线。
在上述实现过程中，该用于天花拼缝打磨的作业路线规划方法可以优先获取包括横缝数据和竖缝数据的天花拼缝数据；再根据横缝数据和竖缝数据确定横缝作业线和竖缝作业线；再根据横缝作业线和竖缝作业线确定作业节点；最后再根据作业节点进行拼缝打磨路径规划，得到作业路线。可见，实施这种实施方式，能够根据天花横缝、天花竖缝确定出横缝作业线和纵缝作业线，并进一步根据横缝作业线盒纵缝作业线确定出作业节点，以使天花拼缝打磨路径可以通过该些作业节点进行规划，从而能够获取到用于天 花拼缝打磨的作业路线，进而能够通过该种线点式规划方法来提高天花打磨作业路线的获取效率和天花打磨作业路线的获取精度。
进一步地，所述根据所述横缝数据和所述竖缝数据确定横缝作业线和竖缝作业线的步骤包括：
根据所述横缝数据确定横缝作业线；
根据所述横缝作业线和所述竖缝数据确定竖缝作业线。
在上述实现过程中，竖缝作业线是基于横缝作业线确定的，得到的横缝作业线和竖缝作业线能够无重复的完全覆盖所有的拼缝，进而有利于提升作业路线的准确度，进一步提升作业效率。
进一步地，所述根据所述横缝数据确定横缝作业线的步骤包括：
根据预设的磨盘直径和所述横缝数据中横缝之间的横缝间距进行聚类分析，得到横缝作业线。
在上述实现过程中，在确定横缝作业线时，先计算横缝数据中横缝之间的横缝间距，然后再根据预设的磨盘直径和横缝间距对横缝数据进行聚类分析，进而得到横缝作业线。
进一步地，所述根据所述横缝作业线和所述竖缝数据确定竖缝作业线的步骤包括：
根据所述横缝作业线对所述竖缝数据进行修正处理，得到所述竖缝数据中与所述横缝作业线无重合部分的修正数据；
根据预设的磨盘直径和所述修正数据中竖缝之间的竖缝间距进行聚类分析，得到竖缝作业线。
在上述实现过程中，在确定竖缝作业线时，首先需要根据横缝作业线对竖缝数据进行修正处理，得到修正数据，然后再计算修正数据中竖缝之间的竖缝间距，最后，再根据预设的磨盘直径和竖缝间距对修正数据进行聚类分析，进而得到竖缝作业线，能够去除竖缝数据中与横缝作业线的重合部分，进而有利于提升作业路线的准确度，进一步提升作业效率。
进一步地，所述根据所述横缝作业线和竖缝作业线确定作业节点的步骤包括：
获取所述横缝作业线和所述竖缝作业线中每条作业线包括的起始节点和终止节点；
将所述起始节点和所述终止节点确定为作业节点。
在上述实现过程中，在确定出横缝作业线和竖缝作业线之后，先获取横缝作业线和竖缝作业线中每条作业线包括的起始节点和终止节点，然后根据起始节点和终止节点生成相应的作业节点，进而有利于准确确定天花拼缝打磨的作业路线。
本申请实施例第二方面提供了一种用于天花拼缝打磨的作业路线规划装置，所述用于天花拼缝打磨的作业路线规划装置包括：
获取单元，用于获取包括横缝数据和竖缝数据的天花拼缝数据；
第一确定单元，用于根据所述横缝数据和所述竖缝数据确定横缝作业线和竖缝作业线；
第二确定单元，用于根据所述横缝作业线和竖缝作业线确定作业节点；
规划单元，用于根据所述作业节点进行拼缝打磨路径规划，得到作业路线。
在上述实现过程中，该天花拼缝打磨的作业路线规划装置可以通过获取单元来获取包括横缝数据和竖缝数据的天花拼缝数据；通过第一确定单元来根据所述横缝数据和所述竖缝数据确定横缝作业线和竖缝作业线；通过第二确定单元来根据所述横缝作业线和竖缝作业线确定作业节点；通过规划单元来根据所述作业节点进行拼缝打磨路径规划，得到作业路线。可见，实施这种实施方式，能够根据天花横缝、天花竖缝确定出横缝作业线和纵缝作业线，并进一步根据横缝作业线盒纵缝作业线确定出作业节点，以使天花拼缝打磨路径可以通过该些作业节点进行规划，从而能够获取到用于天花拼缝打磨的作业路线，进而能够通过该种线点式规划方法来提高天花打磨作业路线的获取效率和天花打磨作业路线的获取精度。
进一步地，所述第一确定单元包括：
第一确定子单元，用于根据所述横缝数据确定横缝作业线；
第二确定子单元，用于根据所述横缝作业线和所述竖缝数据确定竖缝作业线。
在上述实现过程中，竖缝作业线是基于第一确定子单元确定的横缝作业线进一步进行确定得到的，得到的横缝作业线和竖缝作业线能够无重复的完全覆盖所有的拼缝，进而有利于提升作业路线的准确度，进一步提升作业效率。
进一步地，所述第一确定子单元具体用于根据预设的磨盘直径和所述横缝数据中横缝之间的横缝间距进行聚类分析，得到横缝作业线。
在上述实现过程中，在确定横缝作业线时，第一确定子单元先计算横缝数据中横缝之间的横缝间距，然后再根据预设的磨盘直径和横缝间距对横缝数据进行聚类分析，进而得到横缝作业线。
本申请实施例第三方面提供了一种电子设备，包括存储器以及处理器，所述存储器用于存储计算机程序，所述处理器运行所述计算机程序以使所述电子设备执行本申请实施例第一方面中任一项所述的用于天花拼缝打磨的作业路线规划方法。
本申请实施例第四方面提供了一种计算机可读存储介质，其存储有计算机程序指令，所述计算机程序指令被一处理器读取并运行时，执行本申请实施例第一方面中任一项所述的用于天花拼缝打磨的作业路线规划方法。
附图说明
图1为本申请实施例提供的一种用于天花拼缝打磨的作业路线规划方法的流程示意图；
图2为本申请实施例提供的另一种用于天花拼缝打磨的作业路线规划方法的流程示意图；
图3为本申请实施例提供的一种用于天花拼缝打磨的作业路线规划装置的结构示意图；
图4为本申请实施例提供的另一种用于天花拼缝打磨的作业路线规划装置的结构示意图；
图5为本申请实施例提供的一种获取横缝作业线的举例示意图；
图6为本申请实施例提供的一种作业线确定示意图；
图7为本申请实施例提供的一种作业区域示意图；
图8为本申请实施例提供了一种作业节点示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本申请的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
实施例1
请参看图1，图1为本申请实施例提供了一种用于天花拼缝打磨的作业路线规划方法的流程示意图。该方法应用于天花拼缝打磨的作业场景中，具体应用于混凝土天花打磨机器人在得到天花拼缝数据后，依据天花拼缝数据进行规划作业的场景中。其中，该用于天花拼缝打磨的作业路线规划方法包括：
S101、获取包括横缝数据和竖缝数据的天花拼缝数据。
本申请实施例中，该方法的执行主体可以为用于天花拼缝打磨的作业机器人、混凝土天花打磨机器人等装置，对此本实施例中不作任何限定。
本申请实施例中，该方法的执行主体还可以为计算机、服务器、控制器、智能手机、平板电脑等能够控制用于天花拼缝打磨的作业机器人的控制装置，对此本实施例中不作任何限定。
本申请实施例中，拼缝通常是指室内装饰中壁纸与壁纸之间或壁纸与画镜线、踢脚板等部位的相接。该方法主要针对于天花拼缝。
本申请实施例中，天花拼缝数据包括横向拼缝数据(即横缝数据)和竖向拼缝数据(即竖缝数据)。
本申请实施例中，横缝数据可以用集合A表示，A＝{a 1，a 2，…，a s}，竖缝数据可以用集合B表示，B＝{b 1，b 2，…，b z}。
本申请实施例中，可以先通过测量机器人对天花拼缝进行视觉识别处理得到天花拼缝数据。
S102、根据横缝数据和竖缝数据确定横缝作业线和竖缝作业线。
本申请实施例中，当该方法的执行主体为用于天花拼缝打磨的作业机器人时，横缝作业线对应的作业机器人作业范围包括横缝数据的所有横缝，竖缝作业线对应的作业机器人作业范围包括竖缝数据的所有竖缝。
S103、根据横缝作业线和竖缝作业线确定作业节点。
本申请实施例中，作业节点包括起始节点和终止节点，用于确定天花拼缝打磨的作业机器人进行拼缝作业时的工作节点。
S104、根据作业节点进行拼缝打磨路径规划，得到作业路线。
本申请实施例中，作业路线为用于天花拼缝打磨的作业机器人进行拼缝作业时的工作路线。
本申请实施例中，天花拼缝打磨的作业机器人能够根据作业路线实现边走边打作业拼缝的操作。
可见，实施图1所描述的用于天花拼缝打磨的作业路线规划方法，能够提高天花打磨作业路线的获取效率和天花打磨作业路线的获取精度。
实施例2
请参看图2，图2为本申请实施例提供的另一种用于天花拼缝打磨的作业路线规划方法的流程示意图。图2所描述的用于天花拼缝打磨的作业路线规划方法的流程示意图是根据图1所描述的用于天花拼缝打磨的作业路线规划方法的流程示意图进行改进得到的。其中，该用于天花拼缝打磨的作业路线规划方法包括：
S201、获取包括横缝数据和竖缝数据的天花拼缝数据。
S202、根据预设的磨盘直径和横缝数据中横缝之间的横缝间距进行聚类分析，得到横缝作业线。
本申请实施例中，可以计算横缝数据中任意两条横缝之间的垂向间距，得到横缝数据中横缝之间的横缝间距。
本申请实施例中，磨盘直径，即用于天花拼缝打磨的作业机器人的作业范围值，为预先设置。
如图5所示，图5示出了一种获取横缝作业线的举例示意图，图中h 1为虚拟作业线，图中a i、a j、a m皆为横缝数据包括的横缝。在这其中，设横缝数据为A＝{a 1，a 2，…，a s}，横缝间距为D A＝{d ij}，磨盘直径为L，则在确定横缝作业线h 1时，首先选取D A＝{d i}中最近的两条拼缝进行比较，如果横缝间距d ij＜L时，生成虚拟作业线h 1，具体数据如下所示：
Figure PCTCN2021127310-appb-000001
Figure PCTCN2021127310-appb-000002
Figure PCTCN2021127310-appb-000003
当用于天花拼缝打磨的作业机器人以h 1为作业中心线，肯定包含了a i和a j两条横缝拼缝，其中，a i∈A，a j∈A。
本申请实施例中，如果横缝间距d ij≥L时，则表示集合A中其余横缝拼缝均无法完 成聚类，剩下横缝拼缝坐标信息即是横缝作业线h p。
本申请实施例中，当第一次聚类完成之后，生成虚拟作业线h 1，需要剔除A集合中的a i和a j两条横缝拼缝。
本申请实施例中，在剔除A集合中的a i和a j两条横缝拼缝之后，选择出剩余A集合中和h 1最近的拼缝a m，计算h 1和a m之间的距离d h1m，当d h1m≥L时，结束聚类；当d h1m＜L，生成h 1’。然后判断以h 1’为作业线进行作业时，是否包含了a i、a j和a m，如果不包括，结束聚类；如果包含，在A集合中剔除a m，生成h 1”。继续从剔除a i、a j和a m之后剩下的A集合中选取和h 1”最近的横缝拼缝，直至选取的横缝拼缝与虚拟作业线之间的距离大于等于L，最后结束聚类，确定作业线h p。进而可以得到横缝作业线H＝{h 1，h 2，…，h p}。
本实施例中，图6示出了一种作业线确定示意图，图7示出了作业区域示意图，其中，虚拟作业线h 1’如下所示：
Figure PCTCN2021127310-appb-000004
h 1’对应的作业区域为：
Figure PCTCN2021127310-appb-000005
在判断以h 1’为作业线进行作业时，是否包含了a i、a j和a m，即确区域
Figure PCTCN2021127310-appb-000006
是否包含a i、a j和a m。
本申请实施例中，实施上述步骤S202，能够根据横缝数据确定横缝作业线。
S203、根据横缝作业线对竖缝数据进行修正处理，得到竖缝数据中与横缝作业线无重合部分的修正数据。
本申请实施例中，通过对竖缝数据进行修正处理，有利于降低机器人作业节点数量，进而提高机器人作业效率。
本申请实施例中，设得到的横缝作业线为H＝{h 1，h 2，…，h p}，在横缝作业线确定后，有些竖缝会包含在横缝作业线内部，需要将竖缝集合B＝{b 1，b 2，…，b z}内竖缝的坐标信息进行修正。其中，横缝作业线中每条虚拟作业线对应一个作业区域。
本申请实施例中，横缝作业线中每条虚拟作业线对应一个作业区域，在对竖缝数据进行修正处理时，可以遵循以下规则：
第一，当竖缝在单个作业区域内，删除已有竖缝；
第二，当竖缝贯穿多个作业区域内，删除在作业区域内拼缝距离，打断为多个拼缝；
第三，当竖缝的部分在单个作业区域内，删除在该作业区域内的拼缝距离。
本申请实施例中，通过以上修正规则对竖缝集合B进行修正处理，得到新的竖缝集合B’，新的竖缝集合B’即为竖缝数据中与横缝作业线无重合部分的修正数据。
在步骤S203之后，还包括以下步骤：
S204、根据预设的磨盘直径和修正数据中竖缝之间的竖缝间距进行聚类分析，得到竖缝作业线。
本申请实施例中，在得到新的竖缝集合B’之后，还需要重新计算新的竖缝集合B’中任意两条竖缝之间的垂向距离D B’＝{d αβ}，其中，垂向距离D B’即为修正数据中竖缝之间的竖缝间距。
本申请实施例中，设预设的磨盘直径为L，修正数据为B’，竖缝间距D B’＝{d αβ}，在对修正数据中竖缝之间的竖缝间距进行聚类分析时，先选取D B’＝{d αβ}中最近的两条竖缝b α和b β进行比较，如果b α和b β的竖缝间距d αβ＜L时，生成虚拟作业线k 1，并判断虚拟作业线k 1的作业区域是否包含b α和b β，如果包括，则剔除B’集合中b α和b β。进一步地，再从B’集合中确定和k 1垂向距离最近的拼缝，并判断与k 1之间的垂向距离是否小于L，直至与k 1之间的垂向距离大于或者等于L或虚拟作业线不包含聚类拼缝，确定作业线k σ。
本申请实施例中，如果开始聚类时两个竖缝的竖缝间距d αβ≥L时，则两个竖缝长度即是作业线k σ，并剔除B’集合中的这两个竖缝，当B’集合为空集时，汇总竖缝的作业线，进而得到竖缝作业线K＝{k 1，k 2，…，k σ}。
本申请实施例中，实施步骤S203～步骤S204，能够根据横缝作业线和竖缝数据确定竖缝作业线。
本申请实施例中，实施步骤S202～步骤S204，能够根据横缝数据和竖缝数据确定横缝作业线和竖缝作业线。
S205、获取横缝作业线和竖缝作业线中每条作业线包括的起始节点和终止节点。
本申请实施例中，设横缝作业线为H＝{h 1，h 2，…，h p}，竖缝作业线为K＝{k 1，k 2，…，k σ}，横缝作业线和竖缝作业线中每条作业线包括的起始节点和终止节点。
在步骤S205之后，还包括以下步骤：
S206、将起始节点和终止节点确定为作业节点。
如图8所示，图8示出了一种作业节点示意图。其中，作业节点是作业线的两段， 在h 1作业线两端会形成s 1和s 2两个作业点。根据起始节点和终止节点可以确定作业节点集合S＝{s 1，s 2，…，s τ}，集合S用于后续路径规划。
本申请实施例中，实施步骤S205～步骤S206，能够根据横缝作业线和竖缝作业线确定作业节点。
S207、根据作业节点进行拼缝打磨路径规划，得到作业路线。
作为一种可选的实施方式，根据作业节点进行拼缝打磨路径规划，得到作业路线的步骤可以包括：
将作业节点划分为横向起始节点、横向终止节点、纵向起始节点、纵向终止节点；
根据横向起始节点、横向终止节点生成横向作业路线；
根据纵向起始节点、纵向终止节点生成纵向作业路线；
根据生成横向作业路线、纵向作业路线确定路线相交部分；
在纵向作业路线中剔除路线相交部分，得到调整作业路线；
将横向作业路线、调整作业路线确定为作业路线。
请参阅图8，横向起始节点可以包括s 1、s 5、s 9；横向终止节点可以包括s 2、s 6、s 10；纵向起始节点可以包括s 3、s 7；纵向终止节点可以包括s 4、s 8。基于上述横向起始节点、横向终止节点、纵向起始节点、纵向终止节点可以容易地得到横向作业路线h 1、h 2、h 3和纵向作业路线k 1、k 2；在图8中存在虚线十字相交区域，该区域为路线相交部分；然后再在k 1中剔除该路线相交部分，得到调整作业路线；最后根据横向作业路线、调整作业路线能够确定最终的作业路线。
可见，实施图2所描述的用于天花拼缝打磨的作业路线规划方法，能够提高天花打磨作业路线的获取效率和天花打磨作业路线的获取精度。
实施例3
请参看图3，图3为本申请实施例提供的一种用于天花拼缝打磨的作业路线规划装置的结构示意图。其中，该用于天花拼缝打磨的作业路线规划装置包括：
获取单元300，用于获取包括横缝数据和竖缝数据的天花拼缝数据；
第一确定单元400，用于根据横缝数据和竖缝数据确定横缝作业线和竖缝作业线；
第二确定单元500，用于根据横缝作业线和竖缝作业线确定作业节点；
规划单元600，用于根据作业节点进行拼缝打磨路径规划，得到作业路线。
本申请实施例中，对于用于天花拼缝打磨的作业路线规划装置的解释说明可以参照 实施例1或实施例2中的描述，对此本实施例中不再多加赘述。
可见，实施图3所描述的用于天花拼缝打磨的作业路线规划装置，能够提高天花打磨作业路线的获取效率和天花打磨作业路线的获取精度。
实施例4
请参看图4，图4为本申请实施例提供的另一种用于天花拼缝打磨的作业路线规划装置的结构示意图。图4所描述的用于天花拼缝打磨的作业路线规划装置的结构示意图是根据图3所描述的用于天花拼缝打磨的作业路线规划装置的结构示意图进行改进得到的。其中，该第一确定单元400包括：
第一确定子单元410，用于根据横缝数据确定横缝作业线。
第二确定子单元420，用于根据横缝作业线和竖缝数据确定竖缝作业线。
作为一种可选的实施方式，第一确定子单元410，具体用于根据预设的磨盘直径和横缝数据中横缝之间的横缝间距进行聚类分析，得到横缝作业线。
作为一种可选的实施方式，第二确定子单元420包括：
修正模块421，用于根据横缝作业线对竖缝数据进行修正处理，得到竖缝数据中与横缝作业线无重合部分的修正数据。
聚类模块422，用于根据预设的磨盘直径和修正数据中竖缝之间的竖缝间距进行聚类分析，得到竖缝作业线。
作为一种可选的实施方式，第二确定单元500包括：
获取子单元510，用于获取横缝作业线和竖缝作业线中每条作业线包括的起始节点和终止节点。
确定子单元520，用于将起始节点和终止节点确定为作业节点。
本申请实施例中，对于用于天花拼缝打磨的作业路线规划装置的解释说明可以参照实施例1或实施例2中的描述，对此本实施例中不再多加赘述。
可见，实施图4所描述的用于天花拼缝打磨的作业路线规划装置，能够提高天花打磨作业路线的获取效率和天花打磨作业路线的获取精度。
本申请实施例提供了一种电子设备，包括存储器以及处理器，所述存储器用于存储计算机程序，所述处理器运行所述计算机程序以使所述电子设备执行本申请实施例1或实施例2中任一项用于天花拼缝打磨的作业路线规划方法。
本申请实施例提供了一种计算机可读存储介质，其存储有计算机程序指令，所述计 算机程序指令被一处理器读取并运行时，执行本申请实施例1或实施例2中任一项用于天花拼缝打磨的作业路线规划方法。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，附图中的流程图和框图显示了根据本申请的多个实施例的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
另外，在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。
所述功能如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅为本申请的实施例而已，并不用于限制本申请的保护范围，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应 涵盖在本申请的保护范围之内。因此，本申请的保护范围应所述以权利要求的保护范围为准。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。

Claims (10)

  1. 一种用于天花拼缝打磨的作业路线规划方法，其特征在于，所述方法包括：
    获取包括横缝数据和竖缝数据的天花拼缝数据；
    根据所述横缝数据和所述竖缝数据确定横缝作业线和竖缝作业线；
    根据所述横缝作业线和竖缝作业线确定作业节点；
    根据所述作业节点进行拼缝打磨路径规划，得到作业路线。
  2. 根据权利要求1所述的用于天花拼缝打磨的作业路线规划方法，其特征在于，所述根据所述横缝数据和所述竖缝数据确定横缝作业线和竖缝作业线的步骤包括：
    根据所述横缝数据确定横缝作业线；
    根据所述横缝作业线和所述竖缝数据确定竖缝作业线。
  3. 根据权利要求2所述的用于天花拼缝打磨的作业路线规划方法，其特征在于，所述根据所述横缝数据确定横缝作业线的步骤包括：
    根据预设的磨盘直径和所述横缝数据中横缝之间的横缝间距进行聚类分析，得到横缝作业线。
  4. 根据权利要求2所述的用于天花拼缝打磨的作业路线规划方法，其特征在于，所述根据所述横缝作业线和所述竖缝数据确定竖缝作业线的步骤包括：
    根据所述横缝作业线对所述竖缝数据进行修正处理，得到所述竖缝数据中与所述横缝作业线无重合部分的修正数据；
    根据预设的磨盘直径和所述修正数据中竖缝之间的竖缝间距进行聚类分析，得到竖缝作业线。
  5. 根据权利要求1所述的用于天花拼缝打磨的作业路线规划方法，其特征在于，所述根据所述横缝作业线和竖缝作业线确定作业节点的步骤包括：
    获取所述横缝作业线和所述竖缝作业线中每条作业线包括的起始节点和终止节点；
    将所述起始节点和所述终止节点确定为作业节点。
  6. 一种用于天花拼缝打磨的作业路线规划装置，其特征在于，所述作业路线规划装置包括：
    获取单元，用于获取包括横缝数据和竖缝数据的天花拼缝数据；
    第一确定单元，用于根据所述横缝数据和所述竖缝数据确定横缝作业线和竖缝作业线；
    第二确定单元，用于根据所述横缝作业线和竖缝作业线确定作业节点；
    规划单元，用于根据所述作业节点进行拼缝打磨路径规划，得到作业路线。
  7. 根据权利要求6所述的用于天花拼缝打磨的作业路线规划装置，其特征在于，所述第一确定单元包括：
    第一确定子单元，用于根据所述横缝数据确定横缝作业线；
    第二确定子单元，用于根据所述横缝作业线和所述竖缝数据确定竖缝作业线。
  8. 根据权利要求6所述的用于天花拼缝打磨的作业路线规划装置，其特征在于，所述第一确定子单元具体用于根据预设的磨盘直径和所述横缝数据中横缝之间的横缝间距进行聚类分析，得到横缝作业线。
  9. 一种电子设备，其特征在于，所述电子设备包括存储器以及处理器，所述存储器用于存储计算机程序，所述处理器运行所述计算机程序以使所述电子设备执行权利要求1至5中任一项所述的用于天花拼缝打磨的作业路线规划方法。
  10. 一种可读存储介质，其特征在于，所述可读存储介质中存储有计算机程序指令，所述计算机程序指令被一处理器读取并运行时，执行权利要求1至5任一项所述的用于天花拼缝打磨的作业路线规划方法。
PCT/CN2021/127310 2020-11-11 2021-10-29 作业路线规划方法、装置、电子设备以及可读存储介质 WO2022100457A1 (zh)

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