Polishing method, equipment, device and storage medium

Abstract

The present application relates to a grinding method, equipment, device and storage medium. The grinding method includes the following steps: obtaining the operation information of the current site and parsing the operation information to obtain task data; parsing the task data to obtain the corresponding parsing result; the parsing result includes the operation object and / or the operation position; based on the operation object and / or the operation position, obtaining and outputting the matching grinding strategy; the grinding strategy is used to instruct the grinding equipment to enter the corresponding grinding working state. The task data is obtained by parsing the operation information of the current site, and then according to the parsing result of the task data, the matching grinding strategy is obtained and output, so that the grinding equipment can adopt different grinding strategies according to the operation information of different sites to realize continuous and effective automatic construction operations. Compared with traditional technologies, it effectively improves work efficiency and further improves the intelligence level of grinding equipment, which helps to improve the applicability of automated operations of grinding equipment.

Description

Technical Field

[0001] The present application relates to the technical field of surface grinding of building concrete structures, and in particular to a grinding method, equipment, device and storage medium. Background Art

[0002] Grinding of concrete interior walls is an essential process in current commercial residential development projects. Generally speaking, the method for processing the interior walls of standard floors is to manually use a ruler to detect the wall grinding area and grouting area, and then use a manual handheld grinder to perform grinding and manual grouting.

[0003] During the implementation process, the inventors found that there are at least the following problems in the traditional technology: the traditional method has problems such as low efficiency and low applicability. Summary of the invention

[0004] Based on this, it is necessary to provide a polishing method, equipment, device and storage medium with high efficiency and strong applicability to address the above technical problems.

[0005] In order to achieve the above object, on the one hand, an embodiment of the present invention provides a polishing method, comprising the steps of:

[0006] Get the job information of the current site and parse the job information to get the task data;

[0007] Parse the task data to obtain corresponding parsing results; the parsing results include the operation object and / or the operation location;

[0008] Based on the work object and / or the work position, a matching grinding strategy is obtained and output; the grinding strategy is used to instruct the grinding equipment to enter a corresponding grinding working state.

[0009] In one embodiment, the method further comprises the steps of:

[0010] Detecting that the grinding equipment is out of the corresponding grinding working state, and obtaining the type of the corresponding working object and the corresponding grinding data;

[0011] According to the type of the corresponding work object, the corresponding grinding data is compared with the preset standard data; wherein the preset standard data is obtained according to the type of the work object;

[0012] The grinding quality is determined based on the comparison results.

[0013] In one embodiment, the corresponding grinding data includes grinding depth and grinding times; the preset standard data includes preset depth and preset times;

[0014] According to the type of the corresponding work object, the steps of comparing the corresponding grinding data with the preset standard data include:

[0015] If the type of the work object is a burst point, the grinding depth is compared with the preset depth;

[0016] If the type of the work object is any of the following positions: joints and steps, the grinding times are compared with the preset times.

[0017] In one embodiment, the method further comprises the steps of:

[0018] When the grinding quality of the current station is qualified, the grinding equipment is instructed to perform the grinding operation of the next station until the grinding operation of all stations is completed.

[0019] In one embodiment, before the step of obtaining the operation information of the current site, the step further includes:

[0020] Obtain wall data and construction area maps;

[0021] Perform site planning based on wall data and construction area maps to obtain each site and the construction sequence of each site;

[0022] Instructs the grinding equipment to move to the station that is first in the construction sequence.

[0023] In one embodiment, the method further comprises the steps of:

[0024] When a warning signal is received from the motor of the grinding device, the grinding position of the grinding device is adjusted until the number of times the warning signal is received is greater than a preset value.

[0025] In one embodiment, the warning signal is issued when any of the following conditions is met: it is detected that the motor torque is greater than the set torque, and it is detected that the motor current value is greater than the set current value.

[0026] In one embodiment, the step of adjusting the grinding position of the grinding device includes:

[0027] Instructing the feed electric cylinder of the grinding device to retract so that the grinding mechanism of the grinding device is away from the corresponding work object;

[0028] When it is detected that the grinding mechanism is separated from the corresponding working object, the grinding device is instructed to move a preset distance along the grinding path.

[0029] In one embodiment, the operation positions include walls, bay windows, door openings, and beams; the operation objects include joints, burst points, steps, and obstacles;

[0030] Polishing strategies include joint polishing strategy, burst point polishing strategy, step polishing strategy, obstacle avoidance polishing strategy, wall polishing strategy, bay window polishing strategy, door opening polishing strategy and beam polishing strategy.

[0031] In one embodiment, the method further comprises the steps of:

[0032] Output safety parameters to the grinding equipment; the safety parameters include a first safety distance between the grinding mechanism of the grinding equipment and the inner corner of the wall, a second safety distance between the grinding mechanism of the grinding equipment and the adjacent vertical surface, a third safety distance between the grinding mechanism of the grinding equipment and the floor, and a fourth safety distance between the grinding mechanism of the grinding equipment and the edge of the wall.

[0033] On the one hand, an embodiment of the present invention further provides a grinding device, including:

[0034] Chassis;

[0035] Grinding mechanism;

[0036] Feed mechanism; the feed mechanism is used to control the distance between the grinding mechanism and the wall surface, and the grinding pressure applied by the grinding mechanism;

[0037] Pitch adjustment mechanism: The pitch adjustment mechanism is used to adjust the verticality between the grinding mechanism and the ground;

[0038] Lifting mechanism; the lifting mechanism is used to adjust the height position of the grinding mechanism;

[0039] Transverse movement mechanism: The transverse movement mechanism is used to adjust the horizontal position of the grinding mechanism

[0040] The master control device is respectively connected to the chassis, the grinding mechanism, the feeding mechanism, the pitch adjustment mechanism, the lifting mechanism and the lateral movement mechanism; the master control device implements the steps of any one of the above methods.

[0041] On the one hand, an embodiment of the present invention further provides a grinding device, comprising:

[0042] The task data acquisition module is used to obtain the job information of the current site and parse the job information to obtain the task data;

[0043] A parsing module is used to parse the task data to obtain corresponding parsing results; the parsing results include the job object and / or the job location;

[0044] The output module is used to obtain and output a matching grinding strategy based on the working object and / or working position; the grinding strategy is used to instruct the grinding equipment to enter a corresponding grinding working state.

[0045] On the other hand, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0046] One of the above technical solutions has the following advantages and beneficial effects:

[0047] The above-mentioned grinding method obtains task data by analyzing the operation information of the current site, and then obtains and outputs the matching grinding strategy according to the analysis result of the task data, so that the grinding equipment can adopt different grinding strategies according to the operation information of different sites to achieve continuous and effective automatic construction operations. Compared with traditional technologies, it effectively improves work efficiency and further improves the intelligence level of grinding equipment, which helps to improve the applicability of automatic operations of grinding equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0049] Figure 1 is a first schematic flow chart of a grinding method in one embodiment;

[0050] Figure 2 is a second schematic flow chart of a grinding method in one embodiment;

[0051] Figure 3 is a third schematic flow chart of a grinding method in one embodiment;

[0052] Figure 4 is a fourth schematic flow chart of a grinding method in one embodiment;

[0053] Figure 5 A schematic flow chart of the steps of adjusting the grinding position of a grinding device in one embodiment;

[0054] Figure 6 is a first schematic diagram of a grinding track in one embodiment;

[0055] Figure 7 is a second schematic diagram of a grinding track in one embodiment;

[0056] Figure 8 is a third schematic diagram of a grinding track in one embodiment;

[0057] Fig. 9 A schematic diagram of a wall in an embodiment;

[0058] Fig.10 A schematic diagram of a door opening in an embodiment;

[0059] Fig.11 This is a schematic diagram of a floating window in an embodiment;

[0060] Fig.12 It is a structural block diagram of a polishing device in one embodiment;

[0061] Fig.131 is a structural block diagram of a grinding device in one embodiment. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0063] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to another element and combined with it as a whole, or there may be a centering element at the same time. Unless otherwise defined, all technical and scientific terms used in this article have the same meaning as those commonly understood by technicians in the technical field of this application. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this article includes any and all combinations of one or more related listed items.

[0064] In one embodiment, Figure 1 As shown, a grinding method is provided, comprising the steps of:

[0065] S110, obtaining the operation information of the current site and parsing the operation information to obtain task data;

[0066] The above-mentioned polishing method is used to polish the surface of the concrete structure of the building. During the polishing process, each area of ​​the building needs to be polished in sections, and each polishing area is divided into each station for separate operations, and the current station is the polishing area where the polishing equipment is currently located. Each station corresponds to operation information. Task data can be a data packet in any format in this field.

[0067] Specifically, the job information can be parsed to obtain multiple task data or one task data. In a specific example, the task data is json data. The job information of the current site can be obtained by any technical means in the art. In a specific example, when the grinding equipment is detected to move to the site, the job information of the current site can be directly extracted from the storage device, or the job information of the current site can be obtained from the cloud.

[0068] S120, parsing the task data to obtain a corresponding parsing result; the parsing result includes a job object and / or a job location;

[0069] Among them, the working objects include joints, burst points, obstacles and steps; the working positions include walls, bay windows, door openings and beams.

[0070] Specifically, parsing the task data may obtain a parsing result including a job object and / or a job location. The parsing result corresponds to the task data one by one, and the number of task data is the same as the number of parsing results. In a specific example, the job location may be obtained by parsing the flag identifier in the json data.

[0071] S130, based on the working object and / or working position, obtaining and outputting a matching grinding strategy; the grinding strategy is used to instruct the grinding equipment to enter a corresponding grinding working state.

[0072] Among them, the polishing strategies include joint polishing strategy, burst point polishing strategy, step polishing strategy, obstacle avoidance polishing strategy, wall polishing strategy, bay window polishing strategy, door opening polishing strategy and beam polishing strategy. Furthermore, the wall polishing strategy includes wall joint polishing strategy and wall burst point polishing strategy; the bay window polishing strategy includes bay window joint polishing strategy and bay window burst point polishing strategy; the door opening polishing strategy includes door opening joint polishing strategy and door opening burst point polishing strategy; the beam polishing strategy includes beam joint polishing strategy and beam burst point polishing strategy; the step polishing strategy includes horizontal step polishing strategy and vertical step polishing strategy.

[0073] The grinding working state is the working state of executing the grinding strategy. Each grinding strategy includes any one or combination of the following parameters: grinding path, grinding pressure, grinding speed, type of grinding mechanism, priority of grinding object, safety distance, etc.

[0074] Specifically, the corresponding polishing strategy can be matched based on the parsing result. For example, if the operation object is a seam and the operation position is empty, the seam polishing strategy is matched; another example is, if the operation object is a seam and the operation position is a bay window, the bay window seam polishing strategy is matched. In a specific example, matching can be performed according to a preset mapping relationship, and the mapping relationship can be a mapping table, etc.

[0075] Furthermore, if the polishing task of the current station is completed, the polishing equipment is instructed to perform the polishing operation of the next station until the polishing operation of all stations is completed. It should be noted that, when the polishing task of the current station is completed, the polishing quality can be tested, and when the polishing quality of the current station is qualified, the polishing equipment is instructed to perform the polishing operation of the next station until the polishing operation of all stations is completed.

[0076] The above-mentioned grinding method obtains task data by analyzing the operation information of the current site, and then obtains and outputs the matching grinding strategy according to the analysis result of the task data, so that the grinding equipment can adopt different grinding strategies according to the operation information of different sites to achieve continuous and effective automatic construction operations. Compared with traditional technologies, it effectively improves work efficiency and further improves the intelligence level of grinding equipment, which helps to improve the applicability of automatic operations of grinding equipment.

[0077] In one embodiment, Figure 2 As shown, the steps include:

[0078] S210, detecting that the grinding device is out of the corresponding grinding working state, and obtaining the type of the corresponding working object and the corresponding grinding data;

[0079] The grinding data refers to the operation parameters after the grinding strategy is executed.

[0080] Specifically, when it is detected that the grinding device is out of the corresponding grinding working state, that is, when the grinding device completes grinding according to the grinding strategy, the type of the corresponding working object and the corresponding grinding data are obtained. In a specific example, the grinding data may include grinding depth and grinding times.

[0081] S220, comparing the corresponding grinding data with preset standard data according to the type of the corresponding operation object; wherein the preset standard data is obtained according to the type of the operation object;

[0082] Specifically, according to the type of the work object, preset standard data can be determined, and then the preset standard data is compared with the grinding data to obtain a comparison result.

[0083] S230, determining the grinding quality according to the comparison result.

[0084] Specifically, the comparison result reflects the grinding quality. In one embodiment, the corresponding grinding data includes grinding depth and grinding times; the preset standard data includes preset depth and preset times;

[0085] According to the type of the corresponding work object, the step of comparing the corresponding grinding data with the preset standard data includes: if the type of the work object is a burst point, then comparing the grinding depth with the preset depth; if the type of the work object is any one of the following positions: joints and steps, then comparing the grinding times with the preset times.

[0086] When the operation object is a joint or step, the actual number of times the joint or step is polished is compared with the preset number. If the actual number is less than the preset number, the polishing quality is considered unqualified; if the actual number is greater than or equal to the preset number, the polishing quality is considered qualified. Similarly, when the operation object is a burst point, the actual grinding depth of the burst point is compared with the preset depth. If the actual grinding depth is less than the preset depth, the polishing quality is considered unqualified; if the actual number is greater than or equal to the preset number, the polishing quality is considered unqualified.

[0087] The above method helps to improve the grinding effect by inspecting the grinding quality of each work object.

[0088] In one embodiment, Figure 3 As shown, the method also includes the steps of:

[0089] S310, when the polishing quality of the current station is qualified, instruct the polishing equipment to perform the polishing operation of the next station until the polishing operation of all stations is completed.

[0090] In one embodiment, Figure 4 As shown, a grinding method is provided, comprising the steps of:

[0091] S410, obtaining wall surface data and a construction area map;

[0092] The wall surface data may include parameters of steps, explosion points, joints and obstacles; the parameters may include one or more of position and depth. The wall surface data may be obtained by any means in the art, such as collecting wall surface data by laser, manually inputting, or converting from construction drawings.

[0093] S420, performing site planning according to the wall surface data and the construction area map to obtain each site and the construction sequence of each site;

[0094] Specifically, any strategy in the art can be used to perform site planning based on wall surface data and a construction area map. In a specific example, site planning is performed based on the principle of the shortest travel path for grinding equipment and obstacle avoidance.

[0095] S430, instructing the grinding equipment to move to the first station in the construction sequence.

[0096] Specifically, each site has its corresponding construction sequence, and the site at the first position in the construction sequence is the first site that needs to be polished.

[0097] S440, obtaining the job information of the current site and parsing the job information to obtain task data;

[0098] S450, parsing the task data to obtain a corresponding parsing result; the parsing result includes a job object and / or a job location;

[0099] S460, based on the work object and / or the work position, obtain and output a matching grinding strategy; the grinding strategy is used to instruct the grinding equipment to enter a corresponding grinding working state.

[0100] In one embodiment, the steps are also included:

[0101] When a warning signal is received from the motor of the grinding device, the grinding position of the grinding device is adjusted until the number of times the warning signal is received is greater than a preset value.

[0102] Specifically, the motor of the grinding equipment may include a motor of a grinding mechanism, a motor of a transverse moving device, and a motor of a lifting device. According to the actual working conditions on site, whether it is a foreign body protrusion or external interference, one of the motors in the grinding device, the transverse moving device, or the lifting device will send out a warning signal. At this time, the grinding position of the grinding equipment is adjusted, that is, the position of the grinding mechanism relative to the work object is adjusted. In one embodiment, the warning signal is issued when any of the following conditions are met: the motor torque is detected to be greater than the set torque, and the motor current value is detected to be greater than the set current value.

[0103] Furthermore, if the motor still sends out a warning signal after the number of times the grinding position is adjusted reaches a preset value, the grinding operation is stopped.

[0104] In one embodiment, if Figure 5 As shown, the steps of adjusting the grinding position of the grinding device include:

[0105] S510, instructing the feed electric cylinder of the grinding device to perform a retraction action so that the grinding mechanism of the grinding device is away from the corresponding work object;

[0106] Specifically, when the feed electric cylinder contracts, the grinding mechanism of the grinding equipment will move away from the corresponding work object. In a specific example, the grinding mechanism is a grinding disc.

[0107] S520, when it is detected that the grinding mechanism is detached from the wall, instruct the grinding device to move a preset distance along the grinding path.

[0108] Specifically, the grinding device is instructed to move a preset distance along the grinding path. The preset distance may be moved by the chassis of the grinding device, or the grinding device may be moved by the cooperation of the lateral movement device and the lifting device, as long as the grinding mechanism moves a preset distance along the grinding path. For example, during the grinding process, the motor of the grinding mechanism sends out a warning signal (exceeding the set torque or current detection value), stops moving in the grinding direction, the electric cylinder of the feeding device contracts to reduce the pressure of the grinding mechanism on the wall until it is separated from the wall, moves the grinding mechanism in the grinding direction by 0.5 times the diameter of the grinding disc (that is, the above-mentioned preset distance), and the feeding electric cylinder extends to press the grinding device against the wall to continue grinding. If the motor of the grinding device still warns, the movement in the grinding direction is stopped, the electric cylinder of the feeding device contracts to retract the grinding device from the wall, and continues to move the grinding device in the grinding direction by 0.5 times the diameter of the grinding disc. The feeding electric cylinder extends to press the grinding device against the wall to continue grinding. If the motor is in normal working condition, the operation continues. If the motor continues to warn for a preset number of times, an alarm prompts manual detection and judgment.

[0109] During the grinding process, the lateral movement or lifting device motor sends out a warning signal (exceeding the set torque or current detection value), stops moving in the grinding direction, and the feed device electric cylinder contracts to retract the grinding mechanism and separate it from the wall. The grinding device is moved in the grinding direction by 0.5 times the diameter of the grinding disc (that is, the above-mentioned preset distance). If there is no warning from the movement direction motor (lateral movement or lifting device motor), the feed electric cylinder extends to press the grinding device against the wall to continue grinding. If the motor continues to warn for the preset number of times, an alarm will be issued to prompt manual inspection and judgment.

[0110] In one embodiment, the method further comprises the steps of:

[0111] Output safety parameters to the grinding equipment; the safety parameters include a first safety distance between the grinding mechanism of the grinding equipment and the inner corner of the wall, a second safety distance between the grinding mechanism of the grinding equipment and the adjacent vertical surface, a third safety distance between the grinding mechanism of the grinding equipment and the floor, and a fourth safety distance between the grinding mechanism of the grinding equipment and the edge of the wall.

[0112] Specifically, the safety parameters are used to instruct the grinding equipment to maintain a safe distance from each area during the grinding process. The distance between the grinding mechanism of the grinding equipment and the inner corner of the wall is greater than the first safety distance; the distance between the grinding mechanism of the grinding equipment and the adjacent vertical surface is greater than the second safety distance; the distance between the grinding mechanism of the grinding equipment and the floor is greater than the third safety distance; the distance that the grinding mechanism of the grinding equipment exceeds the edge of the wall is less than the fourth safety distance. In a specific example, the first safety distance is 8cm, the second safety distance is 10cm, the third safety distance is 8cm, and the fourth safety distance is 3cm.

[0113] In the above method, by setting the first safety distance, the second safety distance, the third safety distance and the fourth safety distance, it is ensured that the grinding equipment does not collide with external buildings during operation, thereby ensuring continuous and stable construction of the grinding operation process.

[0114] It should be understood that although Figure 1-5 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1-5 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0115] In order to further illustrate the polishing method of this application, the polishing strategy is now further explained:

[0116] The grinding pressure of the joint grinding strategy is the third pressure, the grinding movement speed is the first speed, and the grinding mechanism is a diamond grinding disc; the grinding pressure of the burst point grinding strategy is the first pressure, the grinding direction is single track reciprocating grinding, and the grinding speed is matched according to the type of grinding mechanism and the grinding pressure; the grinding pressure of the step grinding strategy is the second pressure, and the grinding speed is the second speed; wherein the first speed is greater than the second speed; the first pressure is greater than the second pressure, and the second pressure is greater than the third pressure;

[0117] The wall polishing strategy includes polishing the wall's explosive points after polishing the wall's joints;

[0118] The bay window polishing strategy includes polishing the upper wall of the bay window after polishing the lower wall of the bay window;

[0119] The door opening grinding strategy includes the grinding disc of the grinding equipment extending beyond the edge of the door opening to a size less than a preset size;

[0120] The crossbeam grinding strategy involves grinding transversely along the crossbeam direction.

[0121] Furthermore, the grinding strategy specified according to the work object and work location is as follows:

[0122] 1. Joint grinding strategy: The main purpose of joint grinding is to remove the floating slurry at the joint of aluminum formwork. The working joint is straight and the required working pressure is small. Therefore, the grinding parameters are set to low-pressure and high-speed grinding, that is, the grinding disc pressure is low and the grinding movement speed is high. In order to ensure the quality of the grinding surface and improve the sensory effect, the grinding disc uses a diamond grinding disc to achieve efficient grinding while ensuring the grinding quality.

[0123] According to the direction of the joints, they are divided into horizontal joints and vertical joints. Since the range covered by each robot station is 800mm×wall height, 800mm is the wall width covered by a single station, and based on the characteristics of the station coverage area, the grinding trajectory is set as follows to achieve efficient operation with the least action trajectory.

[0124] 1.1. Horizontal seam grinding strategy: The parameter setting method is low pressure and high speed, grinding along the horizontal seam direction, covering 800mm width at a time, and a 30mm overlap area is designed between stations to avoid missing grinding. The grinding direction is from left to right to achieve continuous high-speed grinding. The grinding track is as follows Figure 6 shown.

[0125] 1.2. Vertical seam grinding strategy: The parameter setting method is low pressure and high speed, the trajectory is a single "several" type operation, the grinding disc is adjusted between the joints, the grinding starting point is the lower end point of the left joint, and the grinding is performed from bottom to top and from left to right. The grinding disc always presses the wall surface without retracting and adjusting to achieve high-speed grinding. The grinding trajectory is as follows Figure 6 and Figure 7 shown.

[0126] 2. Explosive point grinding strategy: Explosive point grinding is mainly to grind off the protrusions on the concrete wall caused by the deformation of the aluminum formwork during the pouring of concrete. Since the hardness of concrete is relatively high between C25-C55, the grinding operation requires high-cutting performance tools (that is, the grinding mechanism is a high-cutting performance tool) and a higher grinding pressure. The grinding speed is matched according to the characteristics of the grinding disc and the grinding pressure (this speed is calculated based on a large number of engineering construction statistics based on tool performance, concrete hardness and the highest cutting efficiency as the optimal principle under the set target grinding pressure). The grinding strategy is single-track reciprocating grinding. During the operation, the current grinding depth is monitored and compared with the target depth. When the target grinding depth is met, the grinding disc moves to the next track for reciprocating grinding.

[0127] There are two types of grinding trajectories in the explosion point area: horizontal reciprocating grinding and vertical reciprocating grinding. The grinding direction is selected according to the optimal operation path planning system. The system's judgment algorithm is based on the optimal principle of planning with the least number of grinding trajectories. The fewer the number of grinding trajectories, the fewer times the grinding device posture is adjusted, and the longer the effective grinding time.

[0128] The burst point grinding trajectory strategy, whether horizontal or vertical grinding is adopted, the set length of the grinding trajectory is greater than the length of the burst point area, and a 100mm long excessive buffer area is reserved to avoid the height difference of the wall after grinding. The grinding speed of the grinding direction buffer area is 1.5 times that of the burst point area, and the grinding pressure is 0.5 times that of the burst point area; the vertical direction buffer area is polished by adding a column of grinding tracks, and the range covered by the grinding track grinding disc is 50% overlapped with the burst point area, and the grinding speed and pressure are consistent with the burst point area. The grinding logic is that the grinding track covers the grinding area from left to right and from top to bottom.

[0129] 3. Step grinding strategy: Step grinding is mainly to grind the vertical height difference of concrete between aluminum formworks during pouring to a uniform transition. The actual grinding object is still concrete. Its special feature is that the grinding amount is small and the step height difference is less than 4mm. Since the difficulty of removing the working object is between the joint and the burst point, the grinding pressure and speed used are in the middle compared with the previous two. Through the analysis of actual grinding test data, the grinding device is perpendicular to the step direction, and the grinding efficiency is the highest.

[0130] The grinding trajectory strategy is to reciprocate and grind twice perpendicular to the step direction. The overlap rate of the effective grinding area between adjacent grinding trajectory routes is 50%. The grinding trajectory logic is from left to right and from top to bottom. Figure 6 shown.

[0131] 3.1 Horizontal step grinding strategy: Grind from top to bottom at the same station, and grind up and down twice. The grinding disc continues to press the wall and moves horizontally 0.5 times the diameter of the grinding disc. Repeat the up and down grinding track twice, and so on until the grinding operation is completed. Figure 6 shown.

[0132] 3.2 Vertical step grinding strategy: Grind from top to bottom at the same station, reciprocate horizontally for 2 times, keep the grinding disc pressed against the wall and move down 0.5 times the diameter of the grinding disc, repeat the horizontal grinding track for 2 times, and so on until the grinding operation is completed. Figure 6 shown.

[0133] 4. Obstacle avoidance grinding strategy: The obstacle avoidance grinding strategy is mainly designed to deal with grinding failures or suspensions caused by foreign objects such as steel bars that have not been cleaned up in the early stage during the grinding process, or when the grinding device encounters external interference and overloads.

[0134] Obstacle avoidance mode start detection strategy: According to the actual working conditions on site, whether it is a foreign object or external interference, it will cause the torque value of one of the motors in the grinding device, lateral movement device or lifting device to overload or exceed the set value. The obstacle avoidance grinding detection strategy is to detect the output torque (or current) of the three motors in the machine. Various situations in the grinding process can be judged by detecting the working torque of these three motors. The following two track avoidance grinding obstacle strategies are adopted according to the motor warning status and the grinding strategy being executed:

[0135] During the grinding process, the grinding device motor gives an early warning (exceeding the set torque or current detection value), stops moving in the grinding direction, the feed device electric cylinder contracts to reduce the pressure of the grinding device on the wall until it is separated from the wall, moves the grinding device in the grinding direction by 0.5 times the diameter of the grinding disk, extends the feed electric cylinder to press the grinding device against the wall and continues grinding. If the grinding device motor still gives an early warning, stops moving in the grinding direction, the feed device electric cylinder contracts to retract the grinding device from the wall, continues to move the grinding device in the grinding direction by 0.5 times the diameter of the grinding disk, extends the feed electric cylinder to press the grinding device against the wall and continues grinding. If the motor is in normal working condition, continues to operate. If the motor continues to give an early warning, an alarm will be issued to prompt manual inspection and judgment.

[0136] During the grinding process, if the motor of the lateral movement or lifting device gives an early warning (exceeding the set torque or current detection value), the movement in the grinding direction will be stopped, the electric cylinder of the feed device will shrink to retract the grinding device and separate it from the wall, and the grinding device will be moved 0.5 times the diameter of the grinding disc in the grinding direction. If there is no early warning from the motor in the movement direction (lateral movement or lifting device motor), the feed electric cylinder will extend to press the grinding device against the wall to continue grinding. If the motor continues to give an early warning, an alarm will be issued to prompt manual detection and judgment.

[0137] 5. Wall polishing strategy: The principle of wall polishing strategy is to polish the joints first and then the bulge points. The actual construction is to polish all the joints in a house and then replace the polishing disc to polish the bulge points.

[0138] 5.1. Wall joint polishing strategy: Based on the actual size of the wall and the distribution of joints, and on the premise of ensuring the safety of the robot construction, reserve the required distance between the polishing device and the inner corner of the wall, ceiling and floor to plan the starting point of the polishing trajectory. The horizontal and vertical joints are polished at the same station at one time. The vertical joints are polished first and then the horizontal joints, from bottom to top and from left to right. Figure 6 , Figure 7 shown.

[0139] 5.2. Wall hot spot grinding strategy: Based on the actual size of the wall and the distribution of hot spots, and under the premise of ensuring the safety of the robot construction, reserve the required distance between the grinding device and the wall's inner corners, ceiling and floor to plan the starting point of the grinding trajectory. The grinding trajectory and direction are calculated and output according to the characteristics of the hot spot area based on the optimal path planning system. Figure 7shown.

[0140] 6. Bay window polishing strategy: Designed to achieve the most efficient polishing in the bay window area, the bay window is in the middle of the conventional wall and lacks wall features. There are wall features all around. The bay window position identification needs to be obtained in advance during site planning. Site planning needs to comprehensively consider the wall inner angle and the four edge size data of the bay window for comprehensive evaluation and planning of the optimal path. According to the bay window characteristics, the wall with the bay window is divided into four parts: the wall on the left side of the bay window, the wall on the right side of the bay window, the wall on the lower side of the bay window, and the wall on the upper side of the bay window. The polishing strategy for the explosive points and joints of the walls on the left and right sides of the bay window is the same as that of the conventional wall; the polishing of the upper side of the bay window is handled by the conventional wall polishing strategy, the only difference is that the distance X from the conventional wall polishing to the floor is adjusted to the distance Y of the polishing device beyond the upper edge of the bay window; the polishing of the lower side of the bay window is handled by the conventional wall polishing strategy, the only difference is that the distance H from the conventional wall polishing to the ceiling is adjusted to the distance Y of the polishing device beyond the lower edge of the bay window.

[0141] 6.1. Bay window joint polishing strategy: The strategy for the joint polishing of the left and right sides of the bay window is consistent with that of the wall; the strategy for the joint polishing of the upper and lower walls of the bay window is to polish the lower wall of the bay window at the same station first, and the polishing trajectory is from bottom to top and from left to right. The polishing device at the upper limit position of the polishing trajectory exceeds the upper edge of the bay window by a distance Y. After polishing the lower wall of the bay window, the electric cylinder of the telescopic device contracts, driving the polishing device to retract and detach from the wall. The lifting device drives the polishing device to rise. The rising height is when the lower edge of the polishing device is at a distance Y from the upper edge of the bay window. The polishing trajectory is from bottom to top and from left to right.

[0142] 6.2. Bay window explosion point grinding strategy: The bay window explosion point grinding is mainly to avoid the interference between the grinding device and the wall due to the excessive length of the conventional explosion point grinding trajectory exceeding the bay window edge. Therefore, when designing the explosion point area grinding trajectory, it is necessary to simultaneously obtain the minimum distance between the edge of the explosion point area and the edge of the bay window. The explosion point grinding strategy is formulated through optimal path planning. The grinding trajectory is closest to the bay window edge. The limit position limits the grinding device to exceed the bay window edge by a distance Y. The grinding logic is from bottom to top and from left to right. The transfer of the grinding device between explosion points requires the grinding device to be away from the wall.

[0143] 7. Door opening polishing strategy: This is a polishing strategy designed based on the size of the room door opening space. The purpose is to ensure the safety of robot construction. The strategy covers the side edge of the door opening and the area above the upper edge of the door opening. The edge of the door opening is used as a reference position for robot site planning. The polishing path planning during the polishing operation requires that the polishing device exceeds the edge size of the door opening Y ≤ 3cm, and at the same time covers all edge polishing areas. Figure 8 Shown

[0144] 7.1. Door opening joint grinding strategy: The side edge area requires the grinding disc trajectory planning to cover all joints. If the joints are close to the side edges, the grinding disc protrudes from the edge line by a distance Y ≤ 3cm. The grinding rules for the area directly above the door opening can be implemented according to the joint grinding strategy. The only difference is that the starting point of the grinding disc pressing against the wall must be higher than the door opening height h, and the grinding device is away from the wall before rising to the starting point to avoid collision between the grinding device and the upper edge of the door opening.

[0145] 7.2. Door opening hot spot grinding strategy: The grinding trajectory is required to cover the edge area of ​​the door opening, and the distance Y of the grinding disc beyond the edge line of the door opening is ≤3cm. On this basis, the grinding trajectory is output through the optimal path planning system, and the grinding logic is consistent with the hot spot grinding logic.

[0146] 8. Beam polishing strategy: This is a polishing strategy developed for beams in rooms or corridors. Since the height of beams in building environments is generally small and the length is large, whether it is joints or flash points, the vertical polishing strategy requires a long adjustment time for the polishing device, and the effective polishing time accounts for a small proportion. Therefore, the beam polishing strategy adopts horizontal polishing along the direction of the beam. The difference between the robot site planning and the wall bay window is that the distance between the robot chassis and the wall below the beam increases the depth of the beam to avoid interference and collision with the beam during the lifting process. The safe distance between the polishing device and the ceiling and the internal corner follows the wall polishing distance, H ≥ 8cm, L ≥ 10cm, and the distance Y that the polishing device exceeds the lower edge of the beam is ≤ 3cm. Figure 6 shown.

[0147] 8.1. Beam seam grinding strategy: The robot site planning is based on the principle of covering the maximum number of seams with the least number of sites, and the beam grinding operation is completed with the least number of sites. The seam grinding trajectory strategy is from top to bottom and from left to right. The lateral grinding distance is the coverage width of a single site, and the overlap between sites is 50% of the grinding disk diameter coverage area.

[0148] 8.2. Beam burst point grinding strategy: The robot site planning is based on the principle of covering all burst point areas with the least number of sites, and the beam burst point grinding operation is completed with the least number of sites. The grinding follows the horizontal grinding burst point grinding trajectory strategy. The burst point grinding trajectory strategy is from top to bottom and from left to right. The horizontal grinding distance is the coverage width of a single site, and the overlap between sites is 50% of the grinding disk diameter coverage area.

[0149] Furthermore, the wall diagram is as follows Fig. 9 The door opening diagram is shown in Fig.10 As shown, the schematic diagram of the floating window is as follows Fig.11 shown.

[0150] In one embodiment, Fig.12 As shown, a grinding device is provided, comprising:

[0151] Chassis 10;

[0152] Grinding mechanism 20;

[0153] Feed mechanism 30; the feeding mechanism 30 is used to control the distance between the grinding mechanism 20 and the wall surface, and the grinding pressure applied by the grinding mechanism;

[0154] The pitch adjustment mechanism 40 is used to adjust the verticality between the grinding mechanism 20 and the ground;

[0155] Lifting mechanism 50; the lifting mechanism 50 is used to adjust the height position of the grinding mechanism 20;

[0156] Transverse movement mechanism 60; the transverse movement mechanism 60 is used to adjust the horizontal position of the grinding mechanism 20;

[0157] The master control device 70 is connected to the chassis 10, the grinding mechanism 20, the feeding mechanism 30, the pitch adjustment mechanism 40, the lifting mechanism 50 and the lateral movement mechanism 60 respectively; the master control device implements the steps of any one of the above methods.

[0158] Furthermore, it also includes a navigation radar 80, a dust collecting device 90, an obstacle avoidance radar 100, and a telescopic device 110 for controlling the front and rear adjustment of the lifting mechanism, all of which are connected to the master control device;

[0159] In one embodiment, Fig.13 As shown, a grinding device is provided, comprising:

[0160] The task data acquisition module is used to obtain the job information of the current site and parse the job information to obtain the task data;

[0161] A parsing module is used to parse the task data to obtain corresponding parsing results; the parsing results include the job object and / or the job location;

[0162] The output module is used to obtain and output a matching grinding strategy based on the working object and / or working position; the grinding strategy is used to instruct the grinding equipment to enter a corresponding grinding working state.

[0163] In one embodiment, the grinding device further comprises:

[0164] A detection module, used to detect that the grinding equipment is out of the corresponding grinding working state, and obtain the type of the corresponding working object and the corresponding grinding data;

[0165] A comparison module, used for comparing the corresponding polishing data with preset standard data according to the type of the corresponding operation object; wherein the preset standard data is obtained according to the type of the operation object;

[0166] The grinding quality determination module is used to determine the grinding quality according to the comparison result.

[0167] In one embodiment, the comparison module includes:

[0168] A burst point comparison module is used to compare the grinding depth with the preset depth if the type of the operation object is a burst point;

[0169] The seam-step comparison module is used to compare the grinding times with the preset times if the type of the work object is any of the following positions: seam and step.

[0170] In one embodiment, the grinding device further comprises:

[0171] The circulation module is used to instruct the grinding equipment to carry out the grinding operation of the next station until the grinding operation of all stations is completed when the grinding quality of the current station is qualified.

[0172] In one embodiment, the grinding device further comprises:

[0173] Initial data acquisition module, used to obtain wall data and construction area map;

[0174] The planning module is used to plan sites based on the wall data and the construction area map, and obtain the construction sequence of each site;

[0175] The moving module is used to instruct the grinding equipment to move to the station that is first in the construction sequence.

[0176] In one embodiment, the grinding device further comprises:

[0177] The obstacle avoidance module is used to adjust the grinding position of the grinding device when receiving a warning signal from the motor of the grinding device until the number of times the warning signal is received is greater than a preset value.

[0178] In one embodiment, the obstacle avoidance module includes:

[0179] A retraction module, used to instruct the feed electric cylinder of the grinding device to retract so that the grinding mechanism of the grinding device is away from the corresponding working object;

[0180] The driving module is used to instruct the grinding device to move a preset distance along the grinding path when it is detected that the grinding mechanism is separated from the corresponding working object.

[0181] In one embodiment, the grinding device further comprises:

[0182] A safety module is used to output safety parameters to the grinding equipment; the safety parameters include a first safety distance between the grinding mechanism of the grinding equipment and the inner corner of the wall, a second safety distance between the grinding mechanism of the grinding equipment and the adjacent vertical surface, a third safety distance between the grinding mechanism of the grinding equipment and the floor, and a fourth safety distance between the grinding mechanism of the grinding equipment and the edge of the wall.

[0183] For the specific definition of the grinding device, please refer to the definition of the grinding method above, which will not be repeated here. Each module in the above-mentioned grinding device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0184] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0185] Get the job information of the current site and parse the job information to get the task data;

[0186] Parse the task data to obtain corresponding parsing results; the parsing results include the operation object and / or the operation location;

[0187] Based on the work object and / or the work position, a matching grinding strategy is obtained and output; the grinding strategy is used to instruct the grinding equipment to enter a corresponding grinding working state.

[0188] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0189] Detecting that the grinding equipment is out of the corresponding grinding working state, and obtaining the type of the corresponding working object and the corresponding grinding data;

[0190] According to the type of the corresponding work object, the corresponding grinding data is compared with the preset standard data; wherein the preset standard data is obtained according to the type of the work object;

[0191] The grinding quality is determined based on the comparison results.

[0192] In one embodiment, according to the type of the corresponding work object, when the step of comparing the corresponding grinding data with the preset standard data is executed by the processor, the following steps are also implemented:

[0193] If the type of the work object is a burst point, the grinding depth is compared with the preset depth;

[0194] If the type of the work object is any of the following positions: joints and steps, the grinding times are compared with the preset times.

[0195] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0196] When the grinding quality of the current station is qualified, the grinding equipment is instructed to perform the grinding operation of the next station until the grinding operation of all stations is completed.

[0197] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0198] Obtain wall data and construction area maps;

[0199] Perform site planning based on wall data and construction area maps to obtain each site and the construction sequence of each site;

[0200] Instructs the grinding equipment to move to the station that is first in the construction sequence.

[0201] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0202] When a warning signal is received from the motor of the grinding device, the grinding position of the grinding device is adjusted until the number of times the warning signal is received is greater than a preset value.

[0203] In one embodiment, when the step of adjusting the grinding position of the grinding device is executed by the processor, the following steps are also implemented:

[0204] Instructing the feed electric cylinder of the grinding device to retract so that the grinding mechanism of the grinding device is away from the corresponding work object;

[0205] When it is detected that the grinding mechanism is separated from the corresponding working object, the grinding device is instructed to move a preset distance along the grinding path.

[0206] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0207] Output safety parameters to the grinding equipment; the safety parameters include a first safety distance between the grinding mechanism of the grinding equipment and the inner corner of the wall, a second safety distance between the grinding mechanism of the grinding equipment and the adjacent vertical surface, a third safety distance between the grinding mechanism of the grinding equipment and the floor, and a fourth safety distance between the grinding mechanism of the grinding equipment and the edge of the wall.

[0208] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus dynamic random access memory (Rambus DRAM, referred to as RDRAM), and interface dynamic random access memory (DRDRAM).

[0209] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0210] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A grinding method, characterized in that: Includes steps: Obtaining the job information of the current site and parsing the job information to obtain task data; Parsing the task data to obtain a corresponding parsing result; the parsing result includes a job object and / or a job location; Based on the work object and / or work position, a matching grinding strategy is acquired and output; the grinding strategy is used to instruct the grinding equipment to enter a corresponding grinding working state; The steps include: Detecting that the grinding device is out of the corresponding grinding working state, and acquiring the type of the corresponding working object and the corresponding grinding data; According to the type of the corresponding working object, the corresponding grinding data is compared with the preset standard data; wherein the preset standard data is obtained according to the type of the working object; determining the polishing quality according to the result of the comparison; Wherein, the corresponding grinding data includes grinding depth and grinding times; the preset standard data includes preset depth and preset times; The step of comparing the corresponding grinding data with preset standard data according to the type of the corresponding work object includes: If the type of the operation object is a burst point, comparing the grinding depth with the preset depth; If the type of the work object is any one of the following positions: a seam and a step, the grinding times are compared with the preset times.

2. The grinding method according to claim 1, characterized in that: The method further comprises the steps of: When the grinding quality of the current station is qualified, the grinding equipment is instructed to perform the grinding operation of the next station until the grinding operation of all stations is completed.

3. The grinding method according to claim 1, characterized in that: Before the step of obtaining the operation information of the current site, the step further includes: Obtain wall data and construction area maps; Perform site planning based on the wall surface data and the construction area map to obtain each site and the construction sequence of each site; The grinding equipment is instructed to move to the station that is first in the construction sequence.

4. The grinding method according to claim 1, characterized in that: The method further comprises the steps of: When a warning signal is received from the motor of the grinding device, the grinding position of the grinding device is adjusted until the number of times the warning signal is received is greater than a preset value.

5. The grinding method according to claim 4, characterized in that: The warning signal is issued when any of the following conditions is met: the motor torque is detected to be greater than the set torque, and the motor current is detected to be greater than the set current value.

6. The grinding method according to claim 4, characterized in that: The step of adjusting the grinding position of the grinding device comprises: Instructing the feed electric cylinder of the grinding device to retract so that the grinding mechanism of the grinding device is away from the corresponding work object; When it is detected that the grinding mechanism is separated from the corresponding working object, the grinding device is instructed to move a preset distance along the grinding path.

7. The grinding method according to claim 1, characterized in that: The operation locations include walls, bay windows, door openings and beams; the operation objects include joints, burst points, steps and obstacles; The polishing strategies include joint polishing strategies, explosive point polishing strategies, step polishing strategies, obstacle avoidance polishing strategies, wall polishing strategies, bay window polishing strategies, door opening polishing strategies and beam polishing strategies.

8. The grinding method according to claim 1, characterized in that: The method further comprises the steps of: Output safety parameters to the grinding device; the safety parameters include a first safety distance between the grinding mechanism of the grinding device and the inner corner of the wall, a second safety distance between the grinding mechanism of the grinding device and the adjacent vertical surface, a third safety distance between the grinding mechanism of the grinding device and the floor, and a fourth safety distance between the grinding mechanism of the grinding device and the edge of the wall.

9. A grinding device, characterized in that: include: Chassis; Grinding mechanism; Feed mechanism; The feeding mechanism is used to control the distance between the grinding mechanism and the wall surface, and the grinding pressure applied by the grinding mechanism; Pitch adjustment mechanism; the pitch adjustment mechanism is used to adjust the verticality between the grinding mechanism and the ground; Lifting mechanism; the lifting mechanism is used to adjust the height position of the grinding mechanism; Transverse movement mechanism; the transverse movement mechanism is used to adjust the horizontal position of the grinding mechanism A master control device; the master control device is respectively connected to the chassis, the grinding mechanism, the feeding mechanism, the pitch adjustment mechanism, the lifting mechanism and the lateral movement mechanism; the master control device implements the steps of the method according to any one of claims 1 to 8.

10. A grinding device, characterized in that: The steps for performing the method according to any one of claims 1 to 8 include: A task data acquisition module is used to acquire the job information of the current site and parse the job information to obtain task data; A parsing module, used to parse the task data to obtain a corresponding parsing result; the parsing result includes a job object and / or a job location; An output module, used for acquiring and outputting a matching grinding strategy based on the working object and / or working position; the grinding strategy is used for instructing the grinding equipment to enter a corresponding grinding working state; The grinding device further comprises: A detection module, used for detecting that the grinding device is out of the corresponding grinding working state, and obtaining the type of the corresponding working object and the corresponding grinding data; A comparison module, used for comparing the corresponding grinding data with preset standard data according to the type of the corresponding operation object; wherein the preset standard data is obtained according to the type of the operation object; A polishing quality determination module, used to determine the polishing quality according to the comparison result; Wherein, the corresponding grinding data includes grinding depth and grinding times; the preset standard data includes preset depth and preset times; The comparison module comprises: A burst point comparison module, used for comparing the grinding depth with the preset depth if the type of the operation object is a burst point; The seam and step comparison module is used to compare the grinding times with the preset times if the type of the operation object is any one of the following positions: a seam and a step.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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