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

A path generation and seaming technology, applied in data processing applications, prediction, calculation, etc., can solve the problems affecting the operation efficiency of measuring robots, and achieve the effect of improving grinding efficiency, preventing the generation of invalid operation routes, and optimizing the grinding path.

Active Publication Date: 2020-12-08
GUANGDONG BOZHILIN ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The current way of grinding concrete joints is to work while walking by measuring the robot’s identification data. If the measuring robot has passed the inspection and most of the inspected joints are not on the formwork, if there is a 1mm gap when the measuring robot is walking and working There will also be a patchwork, resulting in more than 80% of invalid operation points, which seriously affects the operation efficiency of the measuring robot

Method used

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

Examples

Experimental program
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Embodiment 1

[0028] figure 1 It is a schematic flow chart of a method for generating a seam grinding path provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where the target operation route is generated while avoiding the over-inspection of the measuring robot. path generating means, wherein the means can be implemented by software and / or hardware, and generally integrated in the robot. For details, see figure 1 As shown, the method may include the following steps:

[0029] S110, obtaining the seams to be polished.

[0030] 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 cracks at the joints between the formworks, and the robot will select the joints to be polished from the multiple cracks according to the grinding accuracy. , and input the seam to be polished into BIM (Building Information Modeling, Building Information Modeling), and generate th...

Embodiment 2

[0045] Figure 5 It is a schematic flowchart of a method for generating a seam grinding path provided by Embodiment 2 of the present invention. The technical solution of this embodiment is refined on the basis of the foregoing embodiments. Optionally, the stitching direction includes horizontal and vertical directions; the preset direction is the vertical direction of the stitching direction; Coordinate information is adjusted, including: adjusting the longitudinal coordinate value of at least one horizontal patchwork to be polished within the preset position range; and / or, adjusting the horizontal coordinate value of at least one vertical patchwork to be polished within the preset position range Coordinates are adjusted. For details, see Figure 5 As shown, the method of this embodiment may include the following steps:

[0046] S210, acquiring the patchwork to be polished.

[0047] S220, for each seam to be polished in the same seam direction, adjust the longitudinal coo...

Embodiment 3

[0071] Figure 7 It is a schematic structural diagram of a joint grinding path generation device provided by Embodiment 3 of the present invention. Such as Figure 7 As shown, the device includes: a seam to be polished acquisition module 310 , a seam to be polished coordinate information adjustment module 320 , an effective sanding seam determination module 330 and a target operation route generation module 340 .

[0072] Wherein, the seam to be polished acquisition module 310 is used to obtain the seam to be polished;

[0073] The coordinate information adjustment module 320 of the seam to be polished is configured to, for each of the seams to be polished in the same seam direction, based on the coordinate information of each of the seams to be polished, at least one seam to be polished within the preset position range Adjust the coordinate value of the seam in the preset direction;

[0074] An effective grinding seam determination module 330, configured to determine an ef...

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Abstract

The embodiment of the invention discloses a method, a device, a robot and a storage medium for generating a seam grinding path. Obtaining the seam to be polished, for each seam to be polished in the same seam direction, based on the coordinate information of each seam to be polished, the coordinate information of at least one seam to be polished within the preset position range in the preset direction Adjustment can avoid mistaken deletion of many seams to be polished when determining effective seams to be polished later. Based on the adjusted coordinate information and the summary length threshold of each seam to be polished, the effective sanding seam can be determined, and the over-inspection obtained by the measuring robot can be used. Seams are deleted, and the grinding range is generated based on the effective grinding seams, and the target operation route for effective grinding seams is generated according to the grinding range and the set motion planning model, so as to optimize the grinding path and improve the efficiency of seam grinding.

Description

technical field [0001] Embodiments of the present invention relate to industrial automation technology, and in particular to a method, device, robot and storage medium for generating a seam grinding path. Background technique [0002] Robots are 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 cracks in the ceiling, which are concentrated in the joints. The concrete ceiling measurement robot needs to polish the cracks in the joints. [0003] The current way of grinding concrete joints is to work while walking by measuring the robot’s identification data. If the measuring robot has passed the inspection and most of the inspected joints are not on the formwork, if there is a 1mm gap when the measuring robot is walking and working There will also be a patchwork, resulting in more than 80% of invalid work points, which serious...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06Q10/04
CPCG06Q10/047
Inventor 姜盛坤罗淞钟婷
Owner GUANGDONG BOZHILIN ROBOT CO LTD