Ceiling automated installation method, device and apparatus

Abstract

This invention provides an automated ceiling installation method, apparatus, and equipment. The method includes: acquiring an environmental map; obtaining work planning information based on the environmental map and drawing information; controlling a motion chassis module to move a robot to the current nailing position according to the work planning information; obtaining a nailing path for the current nailing position based on the ceiling joist outline and nailing point recognition strategy; controlling a lifting module to raise the nailing module and the ceiling to be decorated to a preset height via a bottom-level controller; and controlling the nailing module to perform nailing operations according to the nailing path; after the nailing operation is completed, controlling the lifting module to reset via the bottom-level controller; updating the current nailing position according to the next nailing position; and returning to the step of controlling the motion chassis module to move the robot to the current nailing position according to the work planning information. This invention achieves automated ceiling installation, ensures ceiling installation quality, and improves ceiling installation efficiency.

Description

Technical Field

[0001] This invention relates to the field of building automation equipment technology, and in particular to an automated ceiling installation method, device and equipment. Background Technology

[0002] Currently, with the development of modular building and prefabricated decoration technologies, robotics continues to penetrate the construction field, and interior decoration automation has become a research hotspot in the industry. However, intelligent equipment for high-altitude ceiling work is still in the exploratory stage. Traditional ceiling installation relies on manual climbing of scaffolding or A-frame ladders to complete lifting, positioning, and nailing operations, which carries the risk of falls from heights and is labor-intensive and inefficient. Although existing semi-automatic installation equipment such as simple lifting platforms can assist in ceiling installation, the leveling and nailing processes still require manual operation, making it difficult to avoid problems such as misaligned joints and uneven nail hole distribution caused by human visual bias. Therefore, existing ceiling installation methods suffer from insufficient standardization and low efficiency. Summary of the Invention

[0003] This invention provides an automated ceiling installation method, apparatus, and equipment, aiming to solve the problems of insufficient process standardization and low operation efficiency in existing ceiling installation methods.

[0004] In a first aspect, embodiments of the present invention provide an automated ceiling installation method, the method being applied in a host computer of a ceiling installation robot, the method comprising:

[0005] The robot acquires an environmental map scanned inside the building box by a radar module, and obtains the robot's operation planning information based on the environmental map and pre-stored drawing information; wherein, the operation planning information includes the movement path and nailing position;

[0006] Based on the work planning information, the motion chassis module is controlled to move the robot to the current nail-driving position;

[0007] Based on the ceiling joist outline identified by the camera module and the preset nailing point recognition strategy, the nailing path of the current nailing position is obtained.

[0008] After the lifting module is raised to the preset height by the underlying controller, the nailing module and the ceiling to be decorated are raised to the preset height by the lifting module, and the nailing module is controlled to perform nailing operation according to the nailing path;

[0009] After the nailing operation is completed, the lifting module is reset by the underlying controller, the current nailing position is updated according to the next nailing position, and the process returns to the step of controlling the motion chassis module to move the robot to the current nailing position according to the work planning information.

[0010] Secondly, embodiments of the present invention also provide an automated ceiling installation device, the device being configured in the host computer of a ceiling installation robot, the device comprising:

[0011] The information acquisition unit is used to acquire the environmental map scanned by the radar module inside the building box, and to obtain the robot's operation planning information based on the environmental map and pre-stored drawing information; wherein, the operation planning information includes the movement path and nailing position;

[0012] The first control unit is used to control the motion chassis module to move the robot to the current nailing position according to the work planning information;

[0013] The path acquisition unit is used to obtain the nailing path of the current nailing position based on the outline of the ceiling keel recognized by the camera module and the preset nailing point recognition strategy.

[0014] The second control unit is used to control the lifting module to raise the nailing module and the ceiling to be decorated to a preset height through the underlying controller, and then control the nailing module to perform nailing operation according to the nailing path.

[0015] The position update unit is used to control the lifting module to reset after the nailing operation is completed, update the current nailing position according to the next nailing position, and return to the step of controlling the motion chassis module to move the robot to the current nailing position according to the work planning information.

[0016] Thirdly, embodiments of the present invention also provide an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect above.

[0017] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, can implement the method described in the first aspect.

[0018] This invention provides an automated ceiling installation method, apparatus, and equipment. The method is applied to a host computer of a ceiling installation robot. The method includes: acquiring an environmental map scanned by a radar module within a building enclosure, and obtaining robot operation planning information based on the environmental map and pre-stored drawing information; wherein, the operation planning information includes a movement path and nailing positions; controlling a motion chassis module to move the robot to the current nailing position according to the operation planning information; obtaining a nailing path for the current nailing position based on the ceiling joist outline identified by a camera module and a preset nailing point recognition strategy; controlling a lifting module to raise the nailing module and the ceiling to be installed to a preset height via a bottom-level controller, and then controlling the nailing module to perform nailing operations according to the nailing path; after the nailing operation is completed, controlling the lifting module to reset via the bottom-level controller, updating the current nailing position according to the next nailing position, and returning to the step of controlling the motion chassis module to move the robot to the current nailing position according to the operation planning information. This invention achieves automated ceiling installation by coordinating the motion chassis module, lifting module, and nailing module with the host computer and the bottom-level controller. Its beneficial effects are as follows: it replaces the traditional operation method that relies on manual climbing of scaffolding or A-frame ladders for lifting, positioning and nailing, effectively avoiding the risk of falling from heights, reducing labor intensity and improving work efficiency; at the same time, it solves the problem of insufficient process standardization caused by manual installation, ensuring the quality of ceiling installation and improving the efficiency of ceiling installation. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic flowchart of the automated ceiling installation method provided in an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of the drawing information provided in the embodiments of the present invention;

[0022] Figure 3 A camera field of view of a camera module provided in an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of the ceiling joist outline;

[0024] Figure 5 A schematic diagram of the nailing path provided in an embodiment of the present invention;

[0025] Figure 6 A schematic block diagram of a ceiling-mounted robot provided in an embodiment of the present invention;

[0026] Figure 7 A schematic block diagram of an automated ceiling installation device provided in an embodiment of the present invention;

[0027] Figure 8 A schematic block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0030] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0031] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. Embodiments of the present invention provide a method, apparatus, and device for automated ceiling installation. For the automated ceiling installation method, please refer to... Figure 6 , Figure 6 This is a schematic block diagram of a ceiling installation robot provided in an embodiment of the present invention. The automated ceiling installation method is applied to a host computer 10 of the ceiling installation robot. The robot also includes a lower-level controller 11, a radar module 12, a camera module 13, a motion chassis module 14, and a lifting module 15 and a nailing module 16, which are communicatively connected to the host computer 10. The present invention will now be described in detail through specific embodiments.

[0032] Figure 1This is a flowchart illustrating the automated ceiling installation method provided in an embodiment of the present invention. Figure 1 As shown, the method includes the following steps S110-S150.

[0033] S110. Obtain the environmental map scanned by the radar module inside the building box, and obtain the robot's operation planning information based on the environmental map and pre-stored drawing information; wherein, the operation planning information includes the movement path and nailing position.

[0034] In this embodiment, after the ceiling-mounted robot is activated, the host computer controls the radar module to scan the building's interior to obtain an environmental map, thereby acquiring the robot's initial coordinates. Subsequently, the environmental map is compared with pre-stored drawing information (see details...). Figure 2 The robot's work planning information is obtained by comparison, and the automated installation of the ceiling is completed based on the work planning information; wherein, the work planning information includes the movement path and nailing position.

[0035] In one embodiment, the step of acquiring the environmental map scanned by the radar module inside the building box, and obtaining the robot's operation planning information based on the environmental map and pre-stored drawing information, includes: acquiring the robot's initial point coordinates inside the building box from the environmental map; acquiring the radar initial point based on the initial point coordinates, and calculating the corner point position coordinates corresponding to each corner point based on the initial distance between the four corner points of the building box and the radar initial point; acquiring the drawing nailing position information of the preset nailing position in the drawing information using the drawing corner points as references; and converting the drawing nailing position information in the drawing information according to the corner point position coordinates to obtain the robot's operation planning information in the environmental map.

[0036] In this embodiment, the radar module performs an all-around scan within the building box to obtain the environmental map. The radar module is a lidar with a 360° scanning range and a 20m scanning radius, and can be fixed to one side of the nailing module. From the environmental map, the initial point coordinates of the robot are obtained; these initial point coordinates are the coordinates of the robot's center in the initialization state. The initial point coordinates are then converted based on the relative position of the radar module and the robot's center to obtain the radar initial point (i.e., radar initial point coordinates). Subsequently, based on the initial distances between the four corner points of the building box and the radar initial point, the corner point coordinates are calculated. Next, using the corner points of the drawing as references, the drawing nailing position information of the preset nailing positions in the drawing information is obtained. The drawing nailing position information in the drawing information is converted based on the coordinates of each corner point to obtain the robot's operation planning information in the environmental map. This operation planning information includes the robot's movement path and the coordinates of all nailing positions. The movement path can be obtained based on the preset movement path in the drawing information (see details...). Figure 2 ).

[0037] Furthermore, before step S110, the method further includes: after the host computer completes initialization, it starts the radar module and the camera module, and at the same time, initializes the underlying controller, which controls the X-axis movement mechanism, Y-axis movement mechanism and Z-axis movement mechanism of the nailing module to reset to the initialization state.

[0038] S120. Based on the work planning information, control the motion chassis module to move the robot to the current nailing position.

[0039] In this embodiment, after receiving the task planning information, the host computer will adjust the robot's posture and the tire orientation of the motion chassis module according to the robot's current position (i.e., the position coordinates of the robot's center) and the current nailing position, thereby controlling the motion chassis module to drive the robot to move as a whole to the current nailing position. The current nailing position refers to the position coordinates where the robot needs to reach and perform the nailing task.

[0040] Furthermore, step S120 includes: acquiring the robot's real-time pose information based on the radar module; based on the real-time pose information and the current nail-to-be-drived position, the host computer controls the motion chassis module to move the robot as a whole to the current nail-to-be-drived position; during the movement, the radar module continuously updates the robot's real-time pose information for the host computer to dynamically adjust and control.

[0041] In this embodiment, after receiving the job planning information, the host computer sets the first nailing position as the current nailing position. Then, based on the real-time pose information of the robot obtained by the radar module, it calculates the displacement vector from the robot's current position to the current nailing position using the position coordinates of the robot's current position and the current nailing position, thereby determining the velocity vector direction of the robot's subsequent movement. The magnitude of the velocity vector is preset and given by the host computer's internal program. The host computer controls the tires of the motion chassis module to move at a constant speed according to the velocity vector direction. During the movement, the radar module continuously acquires the robot's real-time pose information. The host computer compares the real-time pose information with the current nailing position and calculates the velocity vector direction that the motion chassis module needs to adjust, ensuring that the robot moves accurately to the current nailing position.

[0042] S130. Based on the ceiling joist outline identified by the camera module and the preset nailing point recognition strategy, obtain the nailing path of the current nailing position.

[0043] In this embodiment, the host computer uses the camera module to identify the outline of the ceiling joists. Then, it obtains the nailing path of the current nailing position according to the nailing point identification strategy, and obtains the position coordinates and order of all nailing points based on the nailing path.

[0044] In one embodiment, step S130 includes:

[0045] The corner points of the current node region are determined based on the outline of the ceiling joists identified by the camera module; a unique classification number is assigned to the current node region according to a preset node region matching strategy, and its feature points are determined; based on the feature points and the preset nailing spacing, the coordinates of all nailing points at the current nailing position are obtained; each nailing point coordinate is numbered to generate a nailing path.

[0046] In this embodiment, the pinning point recognition strategy includes the following four steps:

[0047] 1. Determine the corner points of the current node area based on the ceiling joist outline identified by the camera module (see details). Figure 5 ).

[0048] In this embodiment, after the robot moves to the current nail-driving position, the camera module captures images of the ceiling area within the camera's field of view, obtaining an image of the ceiling area (see details). Figure 3Next, the ceiling area image is preprocessed (including grayscale conversion, filtering, and noise reduction) to improve image quality. Subsequently, based on the material difference between the ceiling joists and the rock wool boards filling the gaps, the host computer controls the camera module to extract the joists through color segmentation, and then uses an edge detection algorithm to identify the boundary between the joists and the rock wool boards, thereby obtaining the ceiling joist outline (see details). Figure 4 Then, based on the shape characteristics of the ceiling keel outline, the corner point of the current node area (i.e., the position coordinates of the corner point of the node area) is determined by its intersection.

[0049] 2. Assign a unique classification number to the current node region according to the preset node region matching strategy, and determine its feature points.

[0050] In this embodiment, the current node region is classified and numbered according to a preset node region matching strategy (such as cluster analysis) and pre-stored size information. The size information is used to assist in the classification of the node region (a rectangular area enclosed by the ceiling joist outline, filled with rock wool board), mainly including key size data such as the length and width of the node region. Specifically, cluster analysis compares the actually identified node regions with the size information, grouping node regions with similar sizes and shapes into the same category, thereby assigning them a unique classification number. Then, feature points are determined according to the node region matching strategy and the corner points of the current node region; the feature point can be the center point of the current node region.

[0051] 3. Based on the feature points and the preset nailing spacing, obtain the coordinates of all nailing points at the current nailing position.

[0052] In this embodiment, based on feature points (such as the center point), and combined with the preset nailing spacing in the host computer (such as the horizontal spacing along the keel direction, the vertical spacing perpendicular to the keel direction, etc.), the coordinates of all nailing points at the current nailing position are determined by geometric coordinate calculation.

[0053] 4. Number the coordinates of each nailing point and generate the nailing path (see details). Figure 5 ).

[0054] In this embodiment, all nailing point coordinates are uniquely numbered according to the distribution logic of the nailing points (such as from left to right or from top to bottom), and then the optimal nailing path is planned based on the numbering order of the nailing point coordinates.

[0055] In one embodiment, assigning a unique classification number to the current node region according to a preset node region matching strategy and determining its feature points includes: selecting a corresponding target matching strategy from the node region matching strategies based on the number of node region corner points of the current node region; and obtaining the feature points of the current node region based on the target matching strategy and the node region corner points of the current node region.

[0056] In this embodiment, the matching strategy varies depending on the number of corner points in the node region. When a corner point in a node region is identified (the corner point is close to the camera's field of view), the position coordinates of the corner point, the extension direction of the keel it is located on, and the preset size information can be combined to calculate the position coordinates of other corner points in the node region, thereby determining the feature points of the current node region. When two corner points in a node region are identified, the feature points of the current node region need to be calculated by combining the center points of the two corner points and the feature points of several other node regions. When four corner points in a node region are identified, the feature points of the current node region can be calculated directly based on their position coordinates.

[0057] In one embodiment, after step S130, the method further includes: analyzing the distribution of the feature points in the image captured by the camera module; if the distribution meets expectations, then performing the step of obtaining the coordinates of all nailing points at the current nailing position based on the feature points and a preset nailing spacing; if the distribution does not meet expectations, then controlling the motion chassis module to move the robot to the current nailing position according to a preset fine-tuning control strategy, and then returning to perform the step of determining the corner points of the current node area based on the ceiling keel outline identified by the camera module.

[0058] In this embodiment, the distribution of feature points is analyzed using images captured by the camera module. If the distribution meets expectations (e.g., the deviation between the position coordinates of the feature points and the geometric center of the node region is within an allowable threshold), the step of obtaining the coordinates of all nailing points at the current nailing position based on the feature points and a preset nailing spacing is executed. If the distribution does not meet expectations (e.g., the deviation between the position coordinates of the feature points and the geometric center of the node region exceeds an allowable threshold, or the relative position of the feature points is abnormal), it indicates that the robot has not yet accurately moved to the current nailing position. In this case, the motion chassis module is controlled according to a fine-tuning control strategy to move the robot to the current nailing position, and then the step of determining the corner points of the node region based on the ceiling keel outline identified by the camera module is executed.

[0059] Specifically, controlling the motion chassis module to move the robot to the current nailing position according to the fine-tuning control strategy includes: continuously comparing the deviation value between the robot's current position and the current nailing position, and controlling the motion chassis module to make small displacement adjustments to the robot in real time according to the deviation value until the deviation value meets the preset accuracy requirements.

[0060] S140. After the lifting module is controlled by the bottom controller to raise the nailing module and the ceiling to be decorated to the preset height, the nailing module is controlled to perform nailing operation according to the nailing path.

[0061] In this embodiment, after receiving the nailing path from the host computer, the bottom-level controller controls the lifting module to raise the nailing module and the ceiling to be renovated to a preset height, so that the ceiling fits against the ceiling joists, and then controls the nailing module to perform nailing operations according to the nailing path; wherein, the nailing module is mounted on the lifting module, and the ceiling to be renovated is placed on the nailing module.

[0062] In one embodiment, the step of controlling the lifting module to raise the nailing module and the ceiling to be renovated to a preset height via the underlying controller includes: driving the lifting module to raise the nailing module and the ceiling to be renovated via the underlying controller, and simultaneously starting a timer to count down according to the duration corresponding to the preset height; when the underlying controller receives an interrupt signal from the timer, it controls the lifting module to stop rising, at which point the ceiling and the ceiling joists are in contact.

[0063] In this embodiment, the underlying controller drives the lifting module to raise the nailing module and the ceiling to be decorated, and simultaneously starts a timer to count down according to the duration corresponding to the preset lifting height. When the underlying controller receives an interrupt signal from the timer, it controls the lifting module to stop rising. At this time, the ceiling and the ceiling joists are in contact. The preset lifting height refers to the vertical distance between the ceiling to be decorated and the ceiling joists in the initial state. The corresponding duration is calculated by the lifting speed of the lifting module. This timing mechanism ensures that the lifting stroke accurately matches the preset lifting height, avoiding overshoot or undershoot.

[0064] In one embodiment, the lifting module comprises a telescopic mechanism and an upper platform, and the nailing module is disposed on the upper platform. The nailing module includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a nailing mechanism, and an external frame. The Y-axis moving mechanism is mounted on the X-axis moving mechanism, the Z-axis moving mechanism is mounted on the Y-axis moving mechanism, and the nailing mechanism is mounted on the Z-axis moving mechanism. After the underlying controller receives an interrupt signal from the timer and controls the lifting module to stop rising, the method further includes: controlling the X-axis moving mechanism and the Y-axis moving mechanism to coordinate their movements to move the nailing mechanism. The system moves to directly below the current nailing point. Upon receiving positioning feedback signals from the X-axis and Y-axis moving mechanisms, the underlying controller activates the nailing mechanism and simultaneously controls the Z-axis moving mechanism to move upwards, enabling the nailing mechanism to complete the nailing task at the current nailing point. After the nailing task at the current nailing point is completed, the underlying controller resets the Z-axis moving mechanism and updates the current nailing point according to the next nailing point. Then, it returns to the operation where the underlying controller controls the X-axis and Y-axis moving mechanisms to work together to move the nailing mechanism directly below the current nailing point, until all nailing tasks in the nailing path are completed.

[0065] In this embodiment, the lifting module consists of a telescopic mechanism and an upper platform, and the nailing module is mounted on the upper platform. The nailing module includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a nailing mechanism, and an external frame. The Y-axis moving mechanism is mounted on the X-axis moving mechanism, the Z-axis moving mechanism is mounted on the Y-axis moving mechanism, and the nailing mechanism is mounted on the Z-axis moving mechanism. The ceiling to be decorated is placed on the external frame.

[0066] The underlying controller controls the coordinated movement of the X-axis and Y-axis moving mechanisms to move the nailing mechanism directly below the current nailing point. When the underlying controller receives a positioning feedback signal from the X-axis and Y-axis moving mechanisms (confirming that the nailing mechanism has reached directly below the current nailing point), it activates the nailing mechanism and simultaneously controls the Z-axis moving mechanism to advance upwards, causing the nailing mechanism to drive the screw into the ceiling, thus completing the nailing task at the current nailing point. After the nailing task at the current nailing point is completed, the underlying controller controls the Z-axis moving mechanism to reset, updates the current nailing point according to the next nailing point, and then returns to the operation of controlling the coordinated movement of the X-axis and Y-axis moving mechanisms to move the nailing mechanism directly below the current nailing point, until all nailing tasks in the nailing path are completed.

[0067] S150. After the nailing operation is completed, the lifting module is reset by the underlying controller, the current nailing position is updated according to the next nailing position, and the process returns to the step of controlling the motion chassis module to move the robot to the current nailing position according to the work planning information.

[0068] In this embodiment, after all nailing tasks in the nailing path are completed, the lifting module is reset by the underlying controller. After the reset, the host computer obtains the next nailing position based on the current nailing position and the work planning information, and determines whether it is a non-empty set. If it is a non-empty set, the current nailing position is updated according to the next nailing position, and the process returns to step S120 to proceed to the next round of nailing operation. If it is an empty set, it means that all nailing positions inside the building box have been nailed, and the control process terminates, ending the current automated ceiling installation operation.

[0069] In summary, this invention achieves automated ceiling installation by coordinating the motion chassis module, lifting module, and nailing module through a host computer and a bottom-level controller. Its advantages include: replacing the traditional method of manually climbing scaffolding or ladders for lifting, positioning, and nailing, effectively avoiding the risk of falls from heights, reducing labor intensity, and improving work efficiency; simultaneously, it solves the problem of insufficient process standardization caused by manual installation, ensuring ceiling installation quality and improving ceiling installation efficiency.

[0070] Figure 7 This is a schematic block diagram of an automated ceiling installation device provided in an embodiment of the present invention. Figure 7 As shown, corresponding to the above-described automated ceiling installation method, the present invention also provides an automated ceiling installation device, which is configured in the host computer of the ceiling installation robot. For details, please refer to... Figure 7 The automated ceiling installation device 700 includes:

[0071] The information acquisition unit 701 is used to acquire the environmental map scanned by the radar module inside the building box, and to obtain the robot's operation planning information based on the environmental map and pre-stored drawing information; wherein, the operation planning information includes the movement path and nailing position;

[0072] The first control unit 702 is used to control the motion chassis module to move the robot to the current nailing position according to the work planning information;

[0073] The path acquisition unit 703 is used to obtain the nailing path of the current nailing position based on the ceiling keel outline recognized by the camera module and the preset nailing point recognition strategy.

[0074] The second control unit 704 is used to control the lifting module to raise the nailing module and the ceiling to be decorated to a preset height through the bottom controller, and then control the nailing module to perform nailing operation according to the nailing path;

[0075] The position update unit 705 is used to control the lifting module to reset through the underlying controller after the nailing operation is completed, update the current nailing position according to the next nailing position, and return to the step of controlling the motion chassis module to drive the robot to the current nailing position according to the work planning information.

[0076] In some embodiments, when the information acquisition unit 701 performs the step of acquiring the environmental map scanned by the radar module inside the building box, and obtaining the robot's task planning information based on the environmental map and pre-stored drawing information, it is specifically used for:

[0077] From the environmental map, obtain the initial point coordinates of the robot within the building box; after obtaining the radar initial point based on the initial point coordinates, calculate the corner point position coordinates corresponding to each corner point based on the initial distances between the four corner points of the building box and the radar initial point; using the corner points of the drawing as a reference, obtain the drawing nailing position information of the preset nailing position in the drawing information; convert the drawing nailing position information in the drawing information according to the corner point position coordinates to obtain the robot's operation planning information in the environmental map.

[0078] In some embodiments, when the path acquisition unit 703 performs the step of obtaining the nailing path at the current nailing position based on the ceiling joist outline recognized by the camera module and a preset nailing point recognition strategy, it is specifically used for:

[0079] The corner points of the current node region are determined based on the outline of the ceiling joists identified by the camera module; a unique classification number is assigned to the current node region according to a preset node region matching strategy, and its feature points are determined; based on the feature points and the preset nailing spacing, the coordinates of all nailing points at the current nailing position are obtained; each nailing point coordinate is numbered to generate a nailing path.

[0080] In some embodiments, when the path acquisition unit 703 performs the step of assigning a unique classification number to the current node region according to a preset node region matching strategy and determining its feature points, it is specifically used for:

[0081] Based on the number of corner points in the current node region, a corresponding target matching strategy is selected from the node region matching strategies; based on the target matching strategy and the corner points in the current node region, the feature points of the current node region are obtained.

[0082] In some embodiments, after performing the steps of assigning a unique classification number to the current node region according to a preset node region matching strategy and determining its feature points, the path acquisition unit 703 is further configured to:

[0083] The distribution of feature points in the images captured by the camera module is analyzed. If the distribution meets expectations, the step of obtaining the coordinates of all nailing points at the current nailing position based on the feature points and the preset nailing spacing is executed. If the distribution does not meet expectations, the motion chassis module is controlled to move the robot to the current nailing position according to the preset fine-tuning control strategy, and then the process returns to execute the step of determining the corner points of the current node area based on the ceiling keel outline identified by the camera module.

[0084] In some embodiments, when the second control unit 704 performs the step of raising the nailing module and the ceiling to be decorated to a preset height by controlling the lifting module through the underlying controller, it is specifically used for:

[0085] The underlying controller drives the lifting module to raise the nailing module and the ceiling to be decorated, and simultaneously starts a timer to count down according to the preset rising height. When the underlying controller receives the interrupt signal of the timer, it controls the lifting module to stop rising. At this time, the ceiling and the ceiling joists are in contact.

[0086] In some embodiments, the lifting module comprises a telescopic mechanism and an upper platform, and the nailing module is disposed on the upper platform; the nailing module includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a nailing mechanism, and an external frame, wherein the Y-axis moving mechanism is mounted on the X-axis moving mechanism, the Z-axis moving mechanism is mounted on the Y-axis moving mechanism, and the nailing mechanism is mounted on the Z-axis moving mechanism. After the second control unit 704 executes the step of controlling the lifting module to stop rising when the underlying controller receives the interrupt signal of the timer, it is further configured to:

[0087] The underlying controller controls the coordinated movement of the X-axis and Y-axis moving mechanisms to move the nailing mechanism directly below the current nailing point. Upon receiving positioning feedback signals from the X-axis and Y-axis moving mechanisms, the underlying controller activates the nailing mechanism and simultaneously controls the Z-axis moving mechanism to move upwards, enabling the nailing mechanism to complete the nailing task at the current nailing point. After the nailing task at the current nailing point is completed, the underlying controller resets the Z-axis moving mechanism and updates the current nailing point according to the next nailing point. Then, it returns to the previous operation of controlling the coordinated movement of the X-axis and Y-axis moving mechanisms to move the nailing mechanism directly below the current nailing point, until all nailing tasks in the nailing path are completed.

[0088] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned automated ceiling installation device and each unit can be referred to the corresponding description in the foregoing method embodiments. For the sake of convenience and brevity, it will not be repeated here.

[0089] The aforementioned automated ceiling installation device can be implemented as a computer program, which can, for example... Figure 8 It runs on the electronic device shown.

[0090] Please see Figure 8 , Figure 8 This is a schematic block diagram of an electronic device provided in an embodiment of the present invention. The electronic device 800 is a host computer for a ceiling-mounted robot.

[0091] See Figure 8 The electronic device 800 includes a processor 802, a memory, and a network interface 805 connected via a system bus 801. The memory may include a non-volatile storage medium 803 and internal memory 804.

[0092] The non-volatile storage medium 803 may store an operating system 8031 ​​and a computer program 8032. The computer program 8032 includes program instructions that, when executed, cause the processor 802 to perform a ceiling automation installation method.

[0093] The processor 802 provides computing and control capabilities to support the operation of the entire electronic device 800.

[0094] The internal memory 804 provides an environment for the execution of the computer program 8032 in the non-volatile storage medium 803. When the computer program 8032 is executed by the processor 802, the processor 802 can perform a ceiling automation installation method.

[0095] This network interface 805 is used for network communication with other devices. Those skilled in the art will understand that... Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the electronic device 800 to which the present invention is applied. The specific electronic device 800 may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0096] The processor 802 is used to run a computer program 8032 stored in the memory to perform the following steps:

[0097] The system acquires an environmental map scanned within the building enclosure by a radar module, and obtains robot operation planning information based on the environmental map and pre-stored drawing information. This operation planning information includes a movement path and nailing positions. The system controls a motion chassis module to move the robot to the current nailing position based on the operation planning information. A nailing path is obtained for the current nailing position based on the ceiling joist outline identified by a camera module and a preset nailing point recognition strategy. A lifting module is controlled by a low-level controller to raise the nailing module and the ceiling to be decorated to a preset height. The nailing module then performs the nailing operation based on the nailing path. After the nailing operation is completed, the lifting module is reset by the low-level controller, the current nailing position is updated based on the next nailing position, and the system returns to the previous step of controlling the motion chassis module to move the robot to the current nailing position based on the operation planning information.

[0098] In some embodiments, when the processor 802 acquires the environmental map scanned by the radar module inside the building box, and obtains the robot's task planning information based on the environmental map and pre-stored drawing information, the processor specifically implements the following steps:

[0099] From the environmental map, obtain the initial point coordinates of the robot within the building box; after obtaining the radar initial point based on the initial point coordinates, calculate the corner point position coordinates corresponding to each corner point based on the initial distances between the four corner points of the building box and the radar initial point; using the corner points of the drawing as a reference, obtain the drawing nailing position information of the preset nailing position in the drawing information; convert the drawing nailing position information in the drawing information according to the corner point position coordinates to obtain the robot's operation planning information in the environmental map.

[0100] In some embodiments, when the processor 802 obtains the nailing path at the current nailing position based on the ceiling joist outline recognized by the camera module and a preset nailing point recognition strategy, the specific steps are as follows:

[0101] The corner points of the current node region are determined based on the outline of the ceiling joists identified by the camera module; a unique classification number is assigned to the current node region according to a preset node region matching strategy, and its feature points are determined; based on the feature points and the preset nailing spacing, the coordinates of all nailing points at the current nailing position are obtained; each nailing point coordinate is numbered to generate a nailing path.

[0102] In some embodiments, when the processor 802 assigns a unique classification number to the current node region according to a preset node region matching strategy and determines its feature points, the specific steps are as follows:

[0103] Based on the number of corner points in the current node region, a corresponding target matching strategy is selected from the node region matching strategies; based on the target matching strategy and the corner points in the current node region, the feature points of the current node region are obtained.

[0104] In some embodiments, after the processor 802 assigns a unique classification number to the current node region according to a preset node region matching strategy and determines its feature points, it further implements the following steps:

[0105] The distribution of feature points in the images captured by the camera module is analyzed. If the distribution meets expectations, the step of obtaining the coordinates of all nailing points at the current nailing position based on the feature points and the preset nailing spacing is executed. If the distribution does not meet expectations, the motion chassis module is controlled to move the robot to the current nailing position according to the preset fine-tuning control strategy, and then the process returns to execute the step of determining the corner points of the current node area based on the ceiling keel outline identified by the camera module.

[0106] In some embodiments, when the processor 802 implements the step of raising the nailing module and the ceiling to be decorated to a preset height by controlling the lifting module through the underlying controller, the specific steps are as follows:

[0107] The underlying controller drives the lifting module to raise the nailing module and the ceiling to be decorated, and simultaneously starts a timer to count down according to the preset rising height. When the underlying controller receives the interrupt signal of the timer, it controls the lifting module to stop rising. At this time, the ceiling and the ceiling joists are in contact.

[0108] In some embodiments, the lifting module comprises a telescopic mechanism and an upper platform, and the nailing module is disposed on the upper platform; the nailing module includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a nailing mechanism, and an external frame, wherein the Y-axis moving mechanism is mounted on the X-axis moving mechanism, the Z-axis moving mechanism is mounted on the Y-axis moving mechanism, and the nailing mechanism is mounted on the Z-axis moving mechanism. After the processor 802 controls the lifting module to stop rising when the underlying controller receives the interrupt signal of the timer, it also implements the following steps:

[0109] The underlying controller controls the coordinated movement of the X-axis and Y-axis moving mechanisms to move the nailing mechanism directly below the current nailing point. Upon receiving positioning feedback signals from the X-axis and Y-axis moving mechanisms, the underlying controller activates the nailing mechanism and simultaneously controls the Z-axis moving mechanism to move upwards, enabling the nailing mechanism to complete the nailing task at the current nailing point. After the nailing task at the current nailing point is completed, the underlying controller resets the Z-axis moving mechanism and updates the current nailing point according to the next nailing point. Then, it returns to the previous operation of controlling the coordinated movement of the X-axis and Y-axis moving mechanisms to move the nailing mechanism directly below the current nailing point, until all nailing tasks in the nailing path are completed.

[0110] It should be understood that, in this embodiment of the invention, the processor 802 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0111] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program includes program instructions and can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0112] Therefore, the present invention also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When executed by a processor, the program instructions cause the processor to perform the following steps:

[0113] The system acquires an environmental map scanned within the building enclosure by a radar module, and obtains robot operation planning information based on the environmental map and pre-stored drawing information. This operation planning information includes a movement path and nailing positions. The system controls a motion chassis module to move the robot to the current nailing position based on the operation planning information. A nailing path is obtained for the current nailing position based on the ceiling joist outline identified by a camera module and a preset nailing point recognition strategy. A lifting module is controlled by a low-level controller to raise the nailing module and the ceiling to be decorated to a preset height. The nailing module then performs the nailing operation based on the nailing path. After the nailing operation is completed, the lifting module is reset by the low-level controller, the current nailing position is updated based on the next nailing position, and the system returns to the previous step of controlling the motion chassis module to move the robot to the current nailing position based on the operation planning information.

[0114] In one embodiment, when the processor executes the program instructions to acquire the environmental map scanned by the radar module inside the building box, and obtains the robot's task planning information based on the environmental map and pre-stored drawing information, the specific steps are as follows:

[0115] From the environmental map, obtain the initial point coordinates of the robot within the building box; after obtaining the radar initial point based on the initial point coordinates, calculate the corner point position coordinates corresponding to each corner point based on the initial distances between the four corner points of the building box and the radar initial point; using the corner points of the drawing as a reference, obtain the drawing nailing position information of the preset nailing position in the drawing information; convert the drawing nailing position information in the drawing information according to the corner point position coordinates to obtain the robot's operation planning information in the environmental map.

[0116] In one embodiment, when the processor executes the program instructions to obtain the nailing path at the current nailing position based on the ceiling joist outline recognized by the camera module and a preset nailing point recognition strategy, the specific steps are as follows:

[0117] The corner points of the current node region are determined based on the outline of the ceiling joists identified by the camera module; a unique classification number is assigned to the current node region according to a preset node region matching strategy, and its feature points are determined; based on the feature points and the preset nailing spacing, the coordinates of all nailing points at the current nailing position are obtained; each nailing point coordinate is numbered to generate a nailing path.

[0118] In one embodiment, when the processor executes the program instructions to assign a unique classification number to the current node region according to a preset node region matching strategy and determine its feature points, the specific steps are as follows:

[0119] Based on the number of corner points in the current node region, a corresponding target matching strategy is selected from the node region matching strategies; based on the target matching strategy and the corner points in the current node region, the feature points of the current node region are obtained.

[0120] In one embodiment, after executing the program instructions to assign a unique classification number to the current node region according to a preset node region matching strategy and determine its feature points, the processor further implements the following steps:

[0121] The distribution of feature points in the images captured by the camera module is analyzed. If the distribution meets expectations, the step of obtaining the coordinates of all nailing points at the current nailing position based on the feature points and the preset nailing spacing is executed. If the distribution does not meet expectations, the motion chassis module is controlled to move the robot to the current nailing position according to the preset fine-tuning control strategy, and then the process returns to execute the step of determining the corner points of the current node area based on the ceiling keel outline identified by the camera module.

[0122] In one embodiment, when the processor executes the program instructions to control the lifting module to raise the nailing module and the ceiling to be decorated to a preset height via the underlying controller, the specific steps are as follows:

[0123] The underlying controller drives the lifting module to raise the nailing module and the ceiling to be decorated, and simultaneously starts a timer to count down according to the preset rising height. When the underlying controller receives the interrupt signal of the timer, it controls the lifting module to stop rising. At this time, the ceiling and the ceiling joists are in contact.

[0124] In one embodiment, the lifting module comprises a telescopic mechanism and an upper platform, and the nailing module is disposed on the upper platform; the nailing module includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a nailing mechanism, and an external frame, wherein the Y-axis moving mechanism is mounted on the X-axis moving mechanism, the Z-axis moving mechanism is mounted on the Y-axis moving mechanism, and the nailing mechanism is mounted on the Z-axis moving mechanism. After the processor executes the program instructions to control the lifting module to stop the rising step when the underlying controller receives the interrupt signal of the timer, it also implements the following steps:

[0125] The underlying controller controls the coordinated movement of the X-axis and Y-axis moving mechanisms to move the nailing mechanism directly below the current nailing point. Upon receiving positioning feedback signals from the X-axis and Y-axis moving mechanisms, the underlying controller activates the nailing mechanism and simultaneously controls the Z-axis moving mechanism to move upwards, enabling the nailing mechanism to complete the nailing task at the current nailing point. After the nailing task at the current nailing point is completed, the underlying controller resets the Z-axis moving mechanism and updates the current nailing point according to the next nailing point. Then, it returns to the previous operation of controlling the coordinated movement of the X-axis and Y-axis moving mechanisms to move the nailing mechanism directly below the current nailing point, until all nailing tasks in the nailing path are completed.

[0126] The storage medium can be any computer-readable storage medium capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk.

[0127] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0128] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0129] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0130] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a 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. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0131] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method of automated installation of a ceiling, characterized in that, The method is applied to an upper computer of a ceiling installation robot, and the method comprises: Obtaining an environment map scanned by a radar module in a building box, and obtaining work planning information of the robot based on the environment map and pre-stored drawing information; wherein the work planning information comprises a moving path and a nailing position; Controlling a motion chassis module to drive the robot to move to a current nailing position according to the work planning information; Obtaining a nailing path of the current nailing position according to a ceiling joist contour line recognized by a camera module and a preset nailing point recognition strategy; Controlling a lifting module to lift a nailing module and a ceiling to be decorated to a preset lifting height through a bottom controller, and then controlling the nailing module to perform a nailing operation according to the nailing path; After the nailing operation is completed, resetting the lifting module through the bottom controller, updating the current nailing position according to a next nailing position, and returning to the step of controlling the motion chassis module to drive the robot to move to the current nailing position according to the work planning information; The method of obtaining the environment map scanned by the radar module in the building box and obtaining the work planning information of the robot based on the environment map and the pre-stored drawing information comprises: Obtaining an initial point coordinate of the robot in the building box from the environment map; After obtaining a radar initial point according to the initial point coordinate, calculating an angle point position coordinate corresponding to each angle point of the building box according to initial distances between four corner points of the building box and the radar initial point; Obtaining drawing nailing position information of a preset nailing position in the drawing information with reference to a drawing angle point; Converting the drawing nailing position information in the drawing information according to the angle point position coordinates to obtain the work planning information of the robot in the environment map; The method of obtaining the nailing path of the current nailing position according to the ceiling joist contour line recognized by the camera module and the preset nailing point recognition strategy comprises: Determining a node area angle point of a current node area according to the ceiling joist contour line recognized by the camera module; Allocating a unique classification number to the current node area and determining a feature point thereof according to a preset node area matching strategy; Obtaining all nailing point coordinates of the current nailing position according to the feature point and a preset nailing interval; Numbering the nailing point coordinates to generate a nailing path; The method of controlling the lifting module to lift the nailing module and the ceiling to be decorated to the preset lifting height through the bottom controller comprises: Driving the lifting module to lift the nailing module and the ceiling to be decorated through the bottom controller, and simultaneously starting a timer to count down for a time length corresponding to the preset lifting height; When the bottom controller receives an interrupt signal of the timer, controlling the lifting module to stop lifting, at which time the ceiling is attached to the ceiling joist.

2. The ceiling automated installation method according to claim 1, wherein, The method of allocating the unique classification number to the current node area and determining the feature point thereof according to the preset node area matching strategy comprises: According to the number of node region corner points of the current node region, a corresponding target matching strategy is selected from the node region matching strategies; Based on the target matching strategy and the node region corner points of the current node region, the feature points of the current node region are obtained.

3. The ceiling automated installation method according to claim 1, wherein, After the current node region is assigned a unique classification number according to the preset node region matching strategy and the feature points of the current node region are determined, the method further comprises: Through the image captured by the camera module, the distribution of the feature points is analyzed; If the distribution meets the expectation, the step of obtaining all the coordinates of the nailing points of the current nailing position according to the feature points and a preset nailing interval is performed; If the distribution does not meet the expectation, after the robot is moved to the current nailing position by the motion chassis module according to the preset fine-tuning control strategy, the step of determining the node region corner points of the current node region according to the ceiling joist contour line recognized by the camera module is performed.

4. The ceiling automated installation method according to claim 1, wherein, The lifting module is composed of a telescopic mechanism and an upper platform, and the nailing module is arranged on the upper platform; the nailing module comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a nailing mechanism, and an external frame, wherein the Y-axis moving mechanism is assembled on the X-axis moving mechanism, the Z-axis moving mechanism is assembled on the Y-axis moving mechanism, and the nailing mechanism is assembled on the Z-axis moving mechanism; when the bottom controller receives the interrupt signal of the timer, the lifting module is controlled to stop rising, and the method further comprises: The X-axis moving mechanism and the Y-axis moving mechanism are controlled by the bottom controller to move the nailing mechanism to the position directly below the current nailing point; When the bottom controller receives the in-place feedback signal of the X-axis moving mechanism and the Y-axis moving mechanism, the nailing mechanism is started, and the Z-axis moving mechanism is controlled to move upward synchronously, so that the nailing mechanism completes the nailing task of the current nailing point; After the nailing task of the current nailing point is completed, the Z-axis moving mechanism is controlled to reset by the bottom controller, and after the current nailing point is updated according to the next nailing point, the operation of moving the nailing mechanism to the position directly below the current nailing point by controlling the X-axis moving mechanism and the Y-axis moving mechanism to move cooperatively by the bottom controller is performed until all the nailing tasks in the nailing path are completed.

5. A ceiling automated installation device characterized by, The device is used to perform the ceiling automatic installation method as claimed in any one of claims 1-4, and is arranged in the upper computer of a ceiling installation robot; the device comprises: An information acquisition unit is configured to acquire an environment map scanned by a radar module in a building box, and obtain work planning information of the robot based on the environment map and pre-stored drawing information; wherein the work planning information comprises a moving path and a nailing position; A first control unit is configured to control the motion chassis module to move the robot to a current nailing position according to the work planning information. The path acquisition unit is configured to acquire a nailing path of the current nailing position according to the ceiling joist contour line recognized by the camera module and a preset nailing point recognition strategy. The second control unit is configured to control the lifting module to lift the nailing module and the ceiling to be decorated to a preset lifting height through the bottom-layer controller, and then control the nailing module to perform a nailing operation according to the nailing path. The position updating unit is configured to reset the lifting module through the bottom-layer controller after the nailing operation is completed, update the current nailing position according to a next nailing position, and return to the step of controlling the motion chassis module to move the robot to the current nailing position according to the job planning information. The information acquisition unit is further configured to acquire an initial point coordinate of the robot in the building box from the environment map, acquire an initial point of the radar according to the initial point coordinate, calculate a corner point position coordinate corresponding to each corner point according to initial distances between the four corner points of the building box and the initial point of the radar, acquire drawing nailing position information of the preset nailing position in the drawing information with reference to the drawing corner point, and convert the drawing nailing position information in the drawing information according to the corner point position coordinates to obtain job planning information of the robot in the environment map. The path acquisition unit is further configured to determine a node region corner point of a current node region according to the ceiling joist contour line recognized by the camera module, assign a unique classification number to the current node region according to a preset node region matching strategy and determine a feature point thereof, acquire all nailing point coordinates of the current nailing position according to the feature point and a preset nailing interval, and number the nailing point coordinates to generate a nailing path. The second control unit is further configured to drive the lifting module to lift the nailing module and the ceiling to be decorated through the bottom-layer controller, and simultaneously start a timer to count down for a time length corresponding to the preset lifting height, and control the lifting module to stop lifting when the bottom-layer controller receives an interrupt signal of the timer, so that the ceiling is attached to the ceiling joist.

6. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the ceiling automatic installation method in any one of claims 1-4 when executing the computer program.

7. A computer readable storage medium characterized by The storage medium stores a computer program, and the computer program includes program instructions which, when executed by a processor, cause the processor to execute the ceiling automatic installation method in any one of claims 1-4.

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