Construction robot operation method and application thereof

Abstract

The invention discloses a building robot operation method and application thereof.According to the scheme, after preprocessing and image obtaining are ingeniously conducted on a to-be-constructed wall face, corresponding construction track information is generated according to the obtained construction area image in combination with operation parameters of a building robot; and then material preparation information required by construction is generated by further combining the construction area determined by the construction area image, so that the building robot can ensure sufficient material supply during construction, meanwhile, the scheme also utilizes a grid projection method to judge the wall flatness, the implementation is simple, the application is flexible, and the construction efficiency is improved. In addition, the construction robot operation method of the scheme can be further applied to a building surface putty blade coating control method based on the building robot as a loop of the working method of the building robot operation method, and good technical support is provided for the building robot in the putty blade coating work.

Description

Technical Field

[0001] The present invention relates to the fields of robot work monitoring technology and control technology, and in particular to a construction robot operation method and application thereof. Background Art

[0002] With the extensive development of robots for different scenarios, more and more jobs that originally relied on manpower can be replaced by robots. For example, in the field of construction, traditional indoor construction often uses manpower to carry out material handling, putty scraping (spraying), and paint scraping (spraying). Nowadays, a large number of putty scraping robots and paint spraying robots have been sold on the market, and many construction sites also use related robots to replace manual labor for auxiliary construction. Since different robots may differ in model, brand or other factors in control and work monitoring, it is often difficult for back-end management personnel to monitor the robots uniformly. For indoor construction, due to the spatial stability of indoor sites, and for robots with single functions or fewer functional components, their work procedures are usually executed according to preset procedures after the construction work starts. Therefore, how to control their operations is an important prerequisite for ensuring the reliability of construction robot construction.

[0003] Putty scraping is an important part of indoor wall construction. It not only determines the reliability of indoor hard decoration, but also determines whether outdoor water vapor can corrode the indoor environment. At present, there are many putty scraping robots on the market. However, in terms of operation method control, these robots often require operators to conduct on-site control and monitoring in stages. This not only causes manpower occupation, but also for robot construction, although its working steps and parameters are controllable, putty is a mixed material. Even if it is applied to the wall with the same hardware operating parameters, it will show different construction effects after the putty is applied due to the material itself. Therefore, how to reliably set the working steps of the putty construction robot and how to monitor and feedback its working effect are very practical topics. Summary of the invention

[0004] In view of this, the purpose of the present invention is to propose a construction robot operation method and application thereof which is reliable in implementation, flexible in application and capable of providing timely feedback on construction effects.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0006] A construction robot operation method is used for putty scraping treatment on building walls, comprising:

[0007] S01, determining the wall area to be constructed according to preset conditions, performing surface preprocessing and surface image acquisition on the wall area to obtain an image of the construction area;

[0008] S02, obtaining the operation parameters of the construction robot for single putty scraping, and then determining the trajectory of the construction robot for putty scraping in the wall area to be constructed in combination with the construction area image, and generating construction trajectory information;

[0009] S03, obtaining the construction area image, determining the construction area, and generating material preparation information in combination with the preset putty scraping operation parameters and construction trajectory information;

[0010] S04. The construction trajectory information and material preparation information are converted into control instruction codes and sent to the construction robot, which then performs putty scraping operation on the wall area to be constructed.

[0011] As a possible implementation, further, this solution S01 includes:

[0012] S011, receiving a work request instruction including construction site information and construction demand information;

[0013] S012. Determine the wall area to be constructed in the construction site according to the construction site information and the construction demand information;

[0014] S013, projecting a grid image from a first direction angle to a partial area of ​​the wall surface to be constructed by an image projection unit, and then collecting the grid image projection projected on the wall surface to be constructed from a corresponding second direction angle by an image acquisition unit, and at the same time, recording the position information of the area projected by the image projection unit on the wall surface to be constructed, and then synchronously translating the image projection unit and the image acquisition unit, so that the image projection unit completes all projection operations on the wall surface area to be constructed and the image acquisition unit completes all corresponding acquisition operations, and completes the acquisition of the projection position information, and generates the wall surface flatness acquisition information;

[0015] S014, comparing the grid image projection acquired by the image acquisition unit with a preset reference image according to preset requirements, determining whether the acquired grid image projection has local line distortion beyond a preset range, and outputting a determination result for indicating whether the wall area to be constructed has flatness anomalies;

[0016] S015, obtaining the judgment result. When the judgment result indicates that the flatness is abnormal, the wall area to be constructed where the local line distortion exceeds the preset range is located, and abnormal positioning information is generated, and the process proceeds to S016. Otherwise, the process proceeds to S017.

[0017] S016, obtaining abnormal location information, performing polishing processing on the wall area to be constructed pointed to by the abnormal location information according to preset requirements, and then returning to S013;

[0018] S017. Capture surface images of the wall area to be constructed to obtain an image of the construction area.

[0019] As a preferred implementation mode, preferably, in the present solution S014, the image projection unit projects a grid image onto a part of the wall surface to be constructed, and the mesh size of the grid image is 0.5×0.5 cm.

[0020] As a preferred implementation mode, preferably, in the present scheme S02, the operating parameters of the construction robot for single putty scraping include: the operating pressure and construction thickness of a single putty scraping corresponding to the putty scraping unit of the construction robot when carrying a preset amount of material, and the width and length information that the putty scraping unit can scrape under different operating pressures.

[0021] As a preferred implementation method, preferably, this solution S02 includes:

[0022] S021. Obtaining operation parameters of a single putty coating by the construction robot, and determining width and length information of a single putty coating;

[0023] S022. Based on the width and length information of a single putty coating and in combination with the image of the construction area, a trajectory of the construction robot for applying putty to the wall area to be constructed is constructed to generate construction trajectory information.

[0024] Among them, the virtual track of the putty scraping unit for scraping the wall area to be constructed is a rectangle;

[0025] In addition, after a single scraping operation, the putty scraping unit of the construction robot forms a putty covering area in the wall area to be constructed. During construction, the putty covering area formed by the later scraping operation overlaps with the edge of the adjacent putty covering area formed by the previous scraping operation by 1 to 3 cm.

[0026] As a preferred implementation method, preferably, this solution S03 includes:

[0027] S031, obtain the construction area image, determine the construction area specifications and construction area S1;

[0028] S032, obtaining preset operation parameters of putty scraping, determining the width and length information of a single putty scraping, and then calculating the area S2 of a single putty scraping;

[0029] S033, according to the construction trajectory information, determine the starting point and end point of the construction robot for puttying the wall area to be constructed, and then determine the number of times n of puttying when construction is carried out according to the construction trajectory information according to the specifications and area S2 of a single puttying and the specifications and area S1 of the construction area;

[0030] S034. Obtain the number of times the putty is scraped n, and calculate the required spare materials according to the following formula:

[0031] W 总 =n×W1+W2

[0032] W2=α×n×W1

[0033] Among them, W 总 is the total amount of putty required for the wall area to be constructed, W1 is the amount of putty consumed by a single putty application, W2 is the reserved amount, α is the reserve coefficient, which is 0.1-0.3, and n is the number of putty applications;

[0034] S035. Obtain the total amount of putty W required for the wall area to be constructed 总 , and the amount of material W3 that can be stored in a single time by the putty scraping unit of the construction robot, the number of material preparation times is estimated as follows:

[0035]

[0036] To judge K,

[0037] When K≤1, the number of material preparation times is 1;

[0038] When K>1, the number of material preparation times is:

[0039]

[0040] Wherein, M is the rounded-up value of K, which is the number of times the putty scraping unit of the construction robot needs to prepare materials when the number of preparation times is greater than 1;

[0041] Calculate the number of times L that the putty scraping unit of the construction robot can scrape and apply in a single preparation:

[0042]

[0043] Among them, W1 is the amount of putty consumed in a single putty scraping, and W3 is the amount of material that can be stored in a single putty scraping unit of the construction robot;

[0044] Estimate the time interval for the construction robot's putty scraping unit to prepare materials based on the number of times:

[0045] T=L×T1+T2

[0046] Wherein, T is the time interval for the putty scraping unit to prepare materials, T1 is the time period required for a single putty scraping operation of the putty scraping unit of the construction robot, and T2 is the preset time interval margin, which is a custom value;

[0047] Output material preparation information,

[0048] When K≤1, the output material preparation information includes the total amount of putty W required for the wall area to be constructed. 总 ;

[0049] When K>1, the output material preparation information includes the total amount of putty W required for the wall area to be constructed. 总 , number of preparation times M, amount of preparation each time and time interval T for preparation.

[0050] Based on the above, the present invention also provides a construction surface putty scraping control method based on a construction robot, which includes the construction robot operation method described above.

[0051] As a preferred implementation method, preferably, this solution also includes:

[0052] A01, responding to a completion signal of the construction robot performing puttying operation on the wall area to be constructed, collecting images of the wall area where the construction is completed, and generating first image data;

[0053] A02, obtaining first image data, judging it according to preset conditions, and outputting the judgment result,

[0054] When the judgment result meets the requirements, dry and maintain the wall area where putty is scraped, and enter A03.

[0055] When the judgment result does not meet the requirements, a rework prompt message is output and the process ends;

[0056] A03. After the putty-coated wall area is dried and cured, the image of the completed wall area is captured again to generate second image data;

[0057] A04, obtaining the second image data, judging it according to the preset conditions, and outputting the judgment result,

[0058] When the judgment result meets the requirements, enter A05,

[0059] When the judgment result does not meet the requirements, a rework prompt message is output and the process ends;

[0060] A05. Obtain the number of times the putty is applied to the wall area, and compare it with the preset number of times.

[0061] When the preset number of times has been completed, a completion prompt is output;

[0062] When the preset number of times is not completed, a work request instruction including construction site information and construction demand information is output, and the process goes to S01.

[0063] As a preferred implementation mode, preferably, in the present solution A01, the image of the wall area after construction is captured from at least one direction angle to generate at least one first image data.

[0064] As a preferred implementation mode, preferably, in the present solution A02, at least one first image data generated is detected and judged by a trained detection neural network, and a judgment result is output.

[0065] As a preferred implementation scheme, preferably, in the present scheme A03, based on the image acquisition direction angle of at least one first image data, the image of the wall area that has been constructed is acquired with the same direction angle parameter to generate at least one second image data, so that the acquisition direction angle of the second image data corresponds one-to-one with the first image data.

[0066] As a preferred implementation mode, preferably, in the present solution A04, at least one second image data generated is detected and judged by a trained detection neural network, and a judgment result is output.

[0067] As a preferred implementation method, preferably, this solution also includes:

[0068] A06. Obtain first image data and second image data corresponding to each other in image acquisition direction angles, then compare them, output the comparison difference results, and output process evaluation information based on the comparison difference results; the process evaluation information is used to indicate the apparent difference of putty before and after drying after the construction robot applies putty on the surface of the building.

[0069] Based on the above, the present invention also provides a construction robot operation system, which includes:

[0070] A construction robot, comprising a main body and a controller built in the main body, as well as a walking mechanism, a putty supply mechanism, a putty scraping unit, and a grinding unit connected to the main body; the controller is used to receive coded construction trajectory information and material preparation information, and then the construction robot performs putty scraping operations on the wall area to be constructed, the walking mechanism is used to drive the main body of the construction robot to move in the construction area, the putty scraping unit is used to scrape putty on the wall area to be constructed, the putty supply mechanism is used to supply the putty scraping unit with stirred and mixed putty, and the grinding unit is used to perform grinding pretreatment on the wall area to be constructed;

[0071] A task parsing unit, used to receive and parse a work request instruction containing construction site information and construction requirement information, and determine a wall area to be constructed according to preset conditions;

[0072] An image acquisition unit is used to collect surface images of the wall area to be constructed and obtain an image of the construction area;

[0073] A path planning unit is used to obtain the operation parameters of the construction robot for a single putty coating, and then determine the trajectory of the construction robot for putty coating in the wall area to be constructed in combination with the construction area image, and generate construction trajectory information;

[0074] The material statistics unit obtains the construction area image, determines the construction area, and generates material preparation information based on the preset putty scraping operation parameters and construction trajectory information;

[0075] The instruction generation unit is used to convert the construction trajectory information and material preparation information into control instruction codes, and then send them to the construction robot, which then performs putty scraping operations on the wall area to be constructed.

[0076] Based on the above, the present invention also provides a computer-readable storage medium, in which at least one instruction, at least one program, code set or instruction set is stored, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the construction robot operation method as described above.

[0077] By adopting the above-mentioned technical scheme, the present invention has the following beneficial effects compared with the prior art: the scheme cleverly generates corresponding construction trajectory information according to the obtained construction area image combined with the operating parameters of the construction robot after preprocessing and image acquisition of the wall surface to be constructed, and then further generates the material preparation information required for the construction in combination with the construction area determined by the construction area image, so that the construction robot can ensure sufficient material supply during construction. At the same time, the scheme also uses the grid projection method to judge the flatness of the wall surface, which is not only simple to implement and flexible in application, but also not easily limited by the construction site. In addition, the construction robot operation method of the scheme can be further used in the construction surface putty scraping control method based on the construction robot as part of its working method, providing better technical support for the construction robot in putty scraping work. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0079] Figure 1 It is a schematic diagram of a brief implementation process of the method of the present invention;

[0080] Figure 2 It is a brief schematic diagram of the present invention's scheme of projecting a grid map and collecting images on a wall to be constructed by an image transmission unit and an image collection unit;

[0081] Figure 3 This is a brief schematic diagram of the principle of the present invention that the image transmission unit and the image acquisition unit are used to project a grid map on the wall to be constructed and collect images for judging the flatness of the wall;

[0082] Figure 4 It is a simplified schematic diagram of the present invention that after the image transmission unit and the image acquisition unit project a grid map and acquire an image on the wall surface to be constructed, the acquired image is compared with a reference image (standard image);

[0083] Figure 5 It is a simplified unit module connection diagram of the system of the present invention. DETAILED DESCRIPTION

[0084] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0085] like Figure 1 As shown, this embodiment provides a construction robot operation method for applying putty to a building wall, which includes:

[0086] S01. Determine the wall area to be constructed according to preset conditions, perform surface pretreatment and surface image acquisition on it, and obtain an image of the construction area

[0087] S02, obtaining the operation parameters of the construction robot for single putty scraping, and then determining the trajectory of the construction robot for putty scraping in the wall area to be constructed in combination with the construction area image, and generating construction trajectory information;

[0088] S03, obtaining the construction area image, determining the construction area, and generating material preparation information in combination with the preset putty scraping operation parameters and construction trajectory information;

[0089] S04. The construction trajectory information and material preparation information are converted into control instruction codes and sent to the construction robot, which then performs putty scraping operation on the wall area to be constructed.

[0090] This embodiment scheme collects surface images of the wall to be constructed and uses this as one of the reference parameters for construction trajectory and material preparation. It is not only flexible to implement and simple to acquire data, but can also greatly facilitate data fitting during construction robot operation and improve its working reliability.

[0091] For wall preprocessing and image acquisition, specifically, combined with Figure 2 As shown, as a possible implementation, further, this solution S01 includes:

[0092] S011, receiving a work request instruction including construction site information and construction demand information;

[0093] S012. Determine the wall area to be constructed in the construction site according to the construction site information and the construction demand information;

[0094] S013, projecting a grid image from a first direction angle to a portion of the wall surface to be constructed by an image projection unit, and then collecting the grid image projection projected on the wall surface to be constructed from a corresponding second direction angle by an image acquisition unit (such as Figure 3 As shown), at the same time, the position information of the area projected by the image projection unit on the wall to be constructed is recorded, and then the image projection unit and the image acquisition unit are synchronously translated, so that the image projection unit completes all projection operations on the wall area to be constructed and the image acquisition unit completes all corresponding acquisition operations, and completes the acquisition of the projection position information, and generates the wall flatness acquisition information;

[0095] S014, Combination Figure 4 As shown, the grid image projection collected by the image acquisition unit is compared with the preset reference image according to the preset requirements to determine whether the collected grid image projection has local line distortion beyond the preset range, and output a judgment result for pointing out whether there is a flatness abnormality in the wall area to be constructed;

[0096] S015, obtaining the judgment result. When the judgment result indicates that the flatness is abnormal, the wall area to be constructed where the local line distortion exceeds the preset range is located, and abnormal positioning information is generated, and the process proceeds to S016. Otherwise, the process proceeds to S017.

[0097] S016, obtaining abnormal location information, performing polishing processing on the wall area to be constructed pointed to by the abnormal location information according to preset requirements, and then returning to S013;

[0098] S017. Capture surface images of the wall area to be constructed to obtain an image of the construction area.

[0099] Combination Figure 3As shown, it shows that when the wall to be constructed is projected, when the wall receives the projection light, the convex points on the wall destroy the distribution regularity of the grid image. In this case, when the image acquisition unit (corresponding to the acquisition range area) performs image acquisition, some lines will be distorted and cannot be obtained from the visual field. This solution determines the flatness of the wall based on this, and then combines the coordinate position of the grid to determine which part of the wall is uneven, thereby guiding subsequent polishing. The grid positioning can be further inferred by recording the position of the image acquisition unit and / or the image projection unit in real time.

[0100] In this solution, if the wall surface is flat, the grid image acquired by the image acquisition unit is as follows: Figure 4 The reference image shown generally has regular lines. If there are abnormal areas such as convex points, the collected grid image will appear Figure 4 (Acquired image) shows the bending of lines in the local area.

[0101] In order to facilitate the rapid positioning and judgment of uneven areas on the wall, as a preferred implementation method, preferably, in this solution S014, the image projection unit projects a grid image with a mesh size of 0.5×0.5 cm onto the partial area of ​​the wall to be constructed.

[0102] In addition, as a preferred implementation mode, preferably, in the present scheme S02, the operating parameters of the construction robot for a single putty scraping include: the operating pressure and the construction thickness of a single putty scraping corresponding to the putty scraping unit of the construction robot when carrying a preset amount of material, and the width and length information that the putty scraping unit can scrape under different operating pressures.

[0103] In terms of generating construction trajectory information, as a preferred implementation method, preferably, this solution S02 includes:

[0104] S021. Obtaining operation parameters of a single putty coating by the construction robot, and determining width and length information of a single putty coating;

[0105] S022. Based on the width and length information of a single putty coating and in combination with the image of the construction area, a trajectory of the construction robot for applying putty to the wall area to be constructed is constructed to generate construction trajectory information.

[0106] Among them, the virtual track of the putty scraping unit for scraping the wall area to be constructed is a rectangle;

[0107] In addition, after a single scraping operation, the putty scraping unit of the construction robot forms a putty covering area in the wall area to be constructed. During construction, the putty covering area formed by the later scraping operation overlaps with the edge of the adjacent putty covering area formed by the previous scraping operation by 1 to 3 cm.

[0108] In terms of material preparation, as a preferred implementation method, preferably, this solution S03 includes:

[0109] S031, obtain the construction area image, determine the construction area specifications and construction area S1;

[0110] S032, obtaining preset operation parameters of putty scraping, determining the width and length information of a single putty scraping, and then calculating the area S2 of a single putty scraping;

[0111] S033, according to the construction trajectory information, determine the starting point and end point of the construction robot for puttying the wall area to be constructed, and then determine the number of times n of puttying when construction is carried out according to the construction trajectory information according to the specifications and area S2 of a single puttying and the specifications and area S1 of the construction area;

[0112] S034. Obtain the number of times the putty is scraped n, and calculate the required spare materials according to the following formula:

[0113] W 总 =n×W1+W2

[0114] W2=α×n×W1

[0115] Among them, W 总 is the total amount of putty required for the wall area to be constructed, W1 is the amount of putty consumed by a single putty application, W2 is the reserved amount, α is the reserve coefficient, which is 0.1-0.3, and n is the number of putty applications;

[0116] S035. Obtain the total amount of putty W required for the wall area to be constructed 总 , and the amount of material W3 that can be stored in a single time by the putty scraping unit of the construction robot, the number of material preparation times is estimated as follows:

[0117]

[0118] To judge K,

[0119] When K≤1, the number of material preparation times is 1;

[0120] When K>1, the number of material preparation times is:

[0121]

[0122] Wherein, M is the rounded-up value of K, which is the number of times the putty scraping unit of the construction robot needs to prepare materials when the number of preparation times is greater than 1;

[0123] Calculate the number of times L that the putty scraping unit of the construction robot can scrape and apply in a single preparation:

[0124]

[0125] Among them, W1 is the amount of putty consumed in a single putty scraping, and W3 is the amount of material that can be stored in a single putty scraping unit of the construction robot;

[0126] Estimate the time interval for the construction robot's putty scraping unit to prepare materials based on the number of times:

[0127] T=L×T1+T2

[0128] Wherein, T is the time interval for the putty scraping unit to prepare materials, T1 is the time period required for a single putty scraping operation of the putty scraping unit of the construction robot, and T2 is the preset time interval margin, which is a custom value;

[0129] Output material preparation information,

[0130] When K≤1, the output material preparation information includes the total amount of putty W required for the wall area to be constructed. 总 ;

[0131] When K>1, the output material preparation information includes the total amount of putty W required for the wall area to be constructed. 总 , number of preparation times M, amount of preparation each time and time interval T for preparation.

[0132] Based on the above, the construction robot operation method described in this embodiment can be applied to the construction surface putty scraping control method based on the construction robot.

[0133] On the basis of the above technical content, when implementing the construction surface putty scraping control method based on the construction robot, in order to facilitate the judgment and evaluation of the putty conditions before and after construction, as a preferred implementation method, preferably, this solution also includes:

[0134] A01, responding to a completion signal of the construction robot performing puttying operation on the wall area to be constructed, collecting images of the wall area where the construction is completed, and generating first image data;

[0135] A02, obtaining first image data, judging it according to preset conditions, and outputting the judgment result,

[0136] When the judgment result meets the requirements, dry and maintain the wall area where putty is scraped, and enter A03.

[0137] When the judgment result does not meet the requirements, a rework prompt message is output and the process ends;

[0138] A03. After the putty-coated wall area is dried and cured, the image of the completed wall area is captured again to generate second image data;

[0139] A04, obtaining the second image data, judging it according to the preset conditions, and outputting the judgment result,

[0140] When the judgment result meets the requirements, enter A05,

[0141] When the judgment result does not meet the requirements, a rework prompt message is output and the process ends;

[0142] A05. Obtain the number of times the putty is applied to the wall area, and compare it with the preset number of times.

[0143] When the preset number of times has been completed, a completion prompt is output;

[0144] When the preset number of times is not completed, a work request instruction including construction site information and construction demand information is output, and the process goes to S01.

[0145] Among them, as a preferred implementation method, preferably, in the present solution A01, the image of the wall area after construction is captured from at least one direction angle to generate at least one first image data.

[0146] In addition, as a preferred implementation mode, preferably, in the present solution A02, at least one first image data generated is detected and judged by a trained detection neural network, and a judgment result is output.

[0147] As a preferred implementation scheme, preferably, in the present scheme A03, based on the image acquisition direction angle of at least one first image data, the image of the wall area that has been constructed is acquired with the same direction angle parameter to generate at least one second image data, so that the acquisition direction angle of the second image data corresponds one-to-one with the first image data.

[0148] As a preferred implementation mode, preferably, in the present solution A04, at least one second image data generated is detected and judged by a trained detection neural network, and a judgment result is output.

[0149] As a preferred implementation method, preferably, this solution also includes:

[0150] A06. Obtain first image data and second image data corresponding to each other in image acquisition direction angles, then compare them, output the comparison difference results, and output process evaluation information based on the comparison difference results; the process evaluation information is used to indicate the apparent difference of putty before and after drying after the construction robot applies putty on the surface of the building.

[0151] Among them, as for the training of neural networks, it is an existing technology and will not be described in detail here. This solution mainly uses pictures of putty walls with defects and normal surfaces to mark them, and then imports them into the neural network for training until convergence. Then, a detection neural network can be obtained to determine whether there are abnormalities on the surface after the putty is scraped.

[0152] In addition, the purpose of comparing the difference between the first image and the second image is mainly to understand that when the putty is mixed, bubbles and impurities may be mixed in, which may cause the surface appearance to be different when it is dry and when it is actually dry. For example, when the putty is scraped, there is air inside, and there may be no abnormality when the putty is dry. However, after it is actually dry, the internal air cannot form a good support, so cracking and other problems may occur. This solution outputs the results by comparing the differences, which can facilitate operators or formula mixers to make targeted improvements in subsequent work.

[0153] Combination Figure 5 As shown, based on the above, this embodiment also provides a construction robot operation system, which includes:

[0154] A construction robot, comprising a main body and a controller built in the main body, as well as a walking mechanism, a putty supply mechanism, a putty scraping unit, and a grinding unit connected to the main body; the controller is used to receive coded construction trajectory information and material preparation information, and then the construction robot performs putty scraping operations on the wall area to be constructed, the walking mechanism is used to drive the main body of the construction robot to move in the construction area, the putty scraping unit is used to scrape putty on the wall area to be constructed, the putty supply mechanism is used to supply the putty scraping unit with stirred and mixed putty, and the grinding unit is used to perform grinding pretreatment on the wall area to be constructed;

[0155] A task parsing unit, used to receive and parse a work request instruction containing construction site information and construction requirement information, and determine a wall area to be constructed according to preset conditions;

[0156] An image acquisition unit is used to collect surface images of the wall area to be constructed and obtain an image of the construction area;

[0157] A path planning unit is used to obtain the operation parameters of the construction robot for a single putty coating, and then determine the trajectory of the construction robot for putty coating in the wall area to be constructed in combination with the construction area image, and generate construction trajectory information;

[0158] The material statistics unit obtains the construction area image, determines the construction area, and generates material preparation information based on the preset putty scraping operation parameters and construction trajectory information;

[0159] The instruction generation unit is used to convert the construction trajectory information and material preparation information into control instruction codes and send them to the construction robot, which then performs putty scraping operations on the wall area to be constructed.

[0160] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0161] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0162] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A construction robot operation method for applying putty to a building wall, characterized in that: It includes: S01, determining the wall area to be constructed according to preset conditions, performing surface preprocessing and surface image acquisition on the wall area to obtain an image of the construction area; S02, obtaining the operation parameters of the construction robot for single putty scraping, and then determining the trajectory of the construction robot for putty scraping in the wall area to be constructed in combination with the construction area image, and generating construction trajectory information; S03, obtaining the construction area image, determining the construction area, and generating material preparation information in combination with the preset putty scraping operation parameters and construction trajectory information; S04. The construction trajectory information and material preparation information are converted into control instruction codes and sent to the construction robot, which then performs putty scraping operation on the wall area to be constructed.

2. The construction robot operation method according to claim 1, characterized in that: S01 includes: S011, receiving a work request instruction including construction site information and construction demand information; S012. Determine the wall area to be constructed in the construction site according to the construction site information and the construction demand information; S013, projecting a grid image from a first direction angle to a partial area of ​​the wall surface to be constructed by an image projection unit, and then collecting the grid image projection projected on the wall surface to be constructed from a corresponding second direction angle by an image acquisition unit, and at the same time, recording the position information of the area projected by the image projection unit on the wall surface to be constructed, and then synchronously translating the image projection unit and the image acquisition unit, so that the image projection unit completes all projection operations on the wall surface area to be constructed and the image acquisition unit completes all corresponding acquisition operations, and completes the acquisition of the projection position information, and generates the wall surface flatness acquisition information; S014, comparing the grid image projection acquired by the image acquisition unit with a preset reference image according to preset requirements, determining whether the acquired grid image projection has local line distortion beyond a preset range, and outputting a determination result for indicating whether the wall area to be constructed has flatness anomalies; S015, obtaining the judgment result. When the judgment result indicates that the flatness is abnormal, the wall area to be constructed where the local line distortion exceeds the preset range is located, and abnormal positioning information is generated, and the process proceeds to S016. Otherwise, the process proceeds to S017. S016, obtaining abnormal location information, performing polishing processing on the wall area to be constructed pointed to by the abnormal location information according to preset requirements, and then returning to S013; S017. Capture surface images of the wall area to be constructed to obtain an image of the construction area.

3. The construction robot operation method according to claim 2, characterized in that: In S014, the image projection unit projects a grid image onto a portion of the wall surface to be constructed, and the mesh size is 0.5×0.5 cm; In S02, the operating parameters of the construction robot for single putty scraping include: the operating pressure and construction thickness of a single putty scraping corresponding to the putty scraping unit of the construction robot when carrying a preset amount of material, and the width and length information that the putty scraping unit can scrape under different operating pressures.

4. The construction robot operation method according to claim 2 or 3, characterized in that: S02 includes: S021. Obtaining operation parameters of a single putty coating by the construction robot, and determining width and length information of a single putty coating; S022. Based on the width and length information of a single putty coating, combined with the construction area image, construct a trajectory of the construction robot for applying putty to the wall area to be constructed, and generate construction trajectory information; Among them, the virtual track of the putty scraping unit for scraping the wall area to be constructed is a rectangle; In addition, after a single scraping operation, the putty scraping unit of the construction robot forms a putty covering area in the wall area to be constructed. During construction, the putty covering area formed by the later scraping operation overlaps with the edge of the adjacent putty covering area formed by the previous scraping operation by 1 to 3 cm.

5. The construction robot operation method according to claim 4, characterized in that: S03 includes: S031, obtain the construction area image, determine the construction area specifications and construction area S1; S032, obtaining preset operation parameters of putty scraping, determining the width and length information of a single putty scraping, and then calculating the area S2 of a single putty scraping; S033, according to the construction trajectory information, determine the starting point and end point of the construction robot for puttying the wall area to be constructed, and then determine the number of times n of puttying when construction is carried out according to the construction trajectory information according to the specifications and area S2 of a single puttying and the specifications and area S1 of the construction area; S034. Obtain the number of times the putty is scraped n, and calculate the required spare materials according to the following formula: IN 总 =n×W1+W2 W2=α×n×W1 Among them, W 总 is the total amount of putty required for the wall area to be constructed, W1 is the amount of putty consumed by a single putty application, W2 is the reserved amount, α is the reserve coefficient, which is 0.1-0.3, and n is the number of putty applications; S035. Obtain the total amount of putty W required for the wall area to be constructed 总 , and the amount of material W3 that can be stored in a single time by the putty scraping unit of the construction robot, the number of material preparation times is estimated as follows: To judge K, When K≤1, the number of material preparation times is 1; When K>1, the number of material preparation times is: Wherein, M is the rounded-up value of K, which is the number of times the putty scraping unit of the construction robot needs to prepare materials when the number of preparation times is greater than 1; Calculate the number of times L that the putty scraping unit of the construction robot can scrape and apply in a single preparation: Among them, W1 is the amount of putty consumed in a single putty scraping, and W3 is the amount of material that can be stored in a single putty scraping unit of the construction robot; Estimate the time interval for the construction robot's putty scraping unit to prepare materials based on the number of times: T=L×T1+T2 Wherein, T is the time interval for the putty scraping unit to prepare materials, T1 is the time period required for a single putty scraping operation of the putty scraping unit of the construction robot, and T2 is the preset time interval margin, which is a custom value; Output material preparation information, When K≤1, the output material preparation information includes the total amount of putty W required for the wall area to be constructed. 总 ; When K>1, the output material preparation information includes the total amount of putty W required for the wall area to be constructed. 总 , number of preparation times M, amount of preparation each time and time interval T for preparation.

6. A construction robot-based construction surface putty coating control method, characterized in that: It includes the construction robot operation method as described in any one of claims 1 to 5.

7. The construction surface putty coating control method based on the construction robot according to claim 6 is characterized in that: It also includes: A01, responding to a completion signal of the construction robot performing puttying operation on the wall area to be constructed, collecting images of the wall area where the construction is completed, and generating first image data; A02, obtaining first image data, judging it according to preset conditions, and outputting the judgment result, When the judgment result meets the requirements, dry and maintain the wall area where putty is scraped, and enter A03. When the judgment result does not meet the requirements, a rework prompt message is output and the process ends; A03. After the putty-coated wall area is dried and cured, the image of the completed wall area is captured again to generate second image data; A04, obtaining the second image data, judging it according to the preset conditions, and outputting the judgment result, When the judgment result meets the requirements, enter A05, When the judgment result does not meet the requirements, a rework prompt message is output and the process ends; A05. Obtain the number of times the putty is applied to the wall area, and compare it with the preset number of times. When the preset number of times has been completed, a completion prompt is output; When the preset number of times is not completed, a work request instruction including construction site information and construction demand information is output, and the process goes to S01.

8. The construction surface putty coating control method based on the construction robot as claimed in claim 7 is characterized in that: In A01, an image is collected from at least one direction angle of the wall area where construction has been completed, and at least one first image data is generated; In A02, at least one first image data generated is detected and judged by a trained detection neural network, and a judgment result is output; In A03, according to at least one image acquisition direction angle of the first image data, an image of the wall area where the construction has been completed is acquired with the same direction angle parameter to generate at least one second image data, so that the acquisition direction angle of the second image data corresponds to the first image data one by one; In A04, at least one second image data generated is detected and judged by a trained detection neural network, and a judgment result is output.

9. The construction surface putty coating control method based on the construction robot as claimed in claim 8, characterized in that: It also includes: A06. Obtain first image data and second image data corresponding to each other in image acquisition direction angles, then compare them, output the comparison difference results, and output process evaluation information based on the comparison difference results; the process evaluation information is used to indicate the apparent difference of putty before and after drying after the construction robot applies putty on the surface of the building.

10. A construction robot operation system, characterized in that: It includes: A construction robot, comprising a main body and a controller built in the main body, as well as a walking mechanism, a putty supply mechanism, a putty scraping unit, and a grinding unit connected to the main body; the controller is used to receive coded construction trajectory information and material preparation information, and then the construction robot performs putty scraping operations on the wall area to be constructed, the walking mechanism is used to drive the main body of the construction robot to move in the construction area, the putty scraping unit is used to scrape putty on the wall area to be constructed, the putty supply mechanism is used to supply the putty scraping unit with stirred and mixed putty, and the grinding unit is used to perform grinding pretreatment on the wall area to be constructed; A task parsing unit, used to receive and parse a work request instruction containing construction site information and construction requirement information, and determine a wall area to be constructed according to preset conditions; An image acquisition unit is used to collect surface images of the wall area to be constructed and obtain an image of the construction area; A path planning unit is used to obtain the operation parameters of the construction robot for a single putty coating, and then determine the trajectory of the construction robot for putty coating in the wall area to be constructed in combination with the construction area image, and generate construction trajectory information; The material statistics unit obtains the construction area image, determines the construction area, and generates material preparation information based on the preset putty scraping operation parameters and construction trajectory information; The instruction generation unit is used to convert the construction trajectory information and material preparation information into control instruction codes and send them to the construction robot, which then performs putty scraping operations on the wall area to be constructed.

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