A method and device for grading a robot ground, and a storage medium

Abstract

The application discloses a ground leveling method, device and equipment of a leveling robot and a storage medium, and is used for solving the technical problem of low construction precision of ground leveling by a robot. The application comprises the following steps: acquiring a leveling area and a target height; planning a leveling path according to the leveling area; in the process of performing a leveling operation along the leveling path, collecting height change data and error data of the ground in real time according to the target height; dynamically correcting the leveling path according to the height change data and the error data, and obtaining a real-time correction path; when the real-time correction path is walked, calculating the flatness of the ground height of the leveling area; and when the flatness is within a preset range, determining that the leveling operation is completed.

Description

A method, apparatus, equipment and storage medium for leveling ground using a leveling robot. Technical Field

[0001] This invention relates to the field of ground leveling technology, and in particular to a ground leveling robot method, apparatus, equipment and storage medium. Background Technology

[0002] With continuous economic development, the demand for power-related construction is also increasing. For a long time, the construction industry has operated in an extensive manner, relying heavily on labor and energy intensity. However, with the gradual disappearance of the demographic dividend, the era of relying on cheap labor and traditional equipment for production in the construction industry will inevitably be replaced in the future. Intelligentization and automation have become a direction for the construction industry. Construction industrialization, as a new and distinct construction production model, forms a complete set of technologies in research, design, production, construction, and operation. It utilizes BIM (Building Information Modeling) and mathematical technologies to provide an engineering information exchange platform for construction projects, assisting in achieving a high degree of integration in construction production.

[0003] Traditionally, leveling concrete floors involves using "mortar spots" to mark elevations, followed by manual leveling with a scraper. However, this method has been found to be inefficient and inconsistent in quality. With the development of construction robots, research into new floor leveling methods has begun. In recent years, some manually operated machines have appeared on the market, reducing the workload and intensity of manual labor to some extent.

[0004] However, leveling operations performed using robots suffer from insufficient precision. Summary of the Invention

[0005] This invention provides a method, apparatus, equipment, and storage medium for leveling ground using a leveling robot, which addresses the problem of low accuracy in existing ground leveling construction using robots.

[0006] This invention provides a ground leveling method using a leveling robot, comprising:

[0007] Obtain the leveled area and target height;

[0008] Plan the leveling path according to the leveling area;

[0009] During the leveling operation along the leveling path, the leveling robot collects real-time data on ground height changes and error data based on the target height.

[0010] The leveling path is dynamically corrected based on the height change data and the error data to obtain a real-time corrected path.

[0011] When the real-time correction path is completed, the flatness of the ground height in the leveled area is calculated;

[0012] When the flatness is within the preset range, the leveling operation is determined to be complete.

[0013] Optionally, the step of obtaining the leveling area and target height includes:

[0014] The area to be constructed is scanned using a laser sensor to obtain the height information of the construction area;

[0015] The height information is used to determine the leveling area and the target height.

[0016] Optionally, the step of the leveling robot collecting real-time ground height change data and error data based on the target height during the leveling operation along the leveling path includes:

[0017] During the leveling operation along the leveling path, the leveling robot collects the ground height before and after leveling.

[0018] The height change data is calculated using the ground height before leveling and the ground height after leveling.

[0019] Error data is calculated using the target height and the leveled ground height.

[0020] Optionally, the step of calculating the flatness of the ground height in the leveled area after traversing the real-time correction path includes:

[0021] When the real-time correction path is completed, the actual ground height at each location in the leveled area is calculated;

[0022] Calculate the height difference between the actual ground height and the target height;

[0023] The flatness is calculated based on the height difference and the target height.

[0024] Optionally, it also includes:

[0025] When the flatness is not within the preset range, extract the location information where the flatness is not within the preset range;

[0026] The leveling path is updated based on the location information, and the steps of collecting ground height change data and error data in real time based on the target height during the leveling operation along the leveling path are returned.

[0027] The present invention also provides a leveling robot ground leveling device, comprising:

[0028] The leveling area and target height acquisition module is used to acquire the leveling area and target height.

[0029] The leveling path planning module is used to plan the leveling path based on the leveling area;

[0030] The height change data and error data acquisition module is used to collect ground height change data and error data in real time according to the target height during the leveling operation performed by the leveling robot along the leveling path.

[0031] The dynamic correction module is used to dynamically correct the leveling path based on the height change data and the error data to obtain a real-time corrected path;

[0032] The flatness calculation module is used to calculate the flatness of the ground height of the leveled area after walking the real-time correction path.

[0033] The determination module is used to determine that the leveling operation is completed when the flatness is within a preset range.

[0034] Optionally, the leveling area and target height acquisition module includes:

[0035] The height information acquisition submodule is used to scan the area to be constructed using a laser sensor to acquire the height information of the construction area.

[0036] The leveling area and target height determination submodule is used to determine the leveling area and target height using the height information.

[0037] Optionally, the height change data and error data acquisition module includes:

[0038] The height acquisition submodule is used to collect the ground height before and after leveling during the leveling operation performed by the leveling robot along the leveling path.

[0039] The height change data calculation submodule is used to calculate height change data using the ground height before leveling and the ground height after leveling.

[0040] The error data calculation submodule is used to calculate error data using the target height and the leveled ground height.

[0041] The present invention also provides an electronic device, the device comprising a processor and a memory:

[0042] The memory is used to store program code and transmit the program code to the processor;

[0043] The processor is used to execute the ground leveling method of the leveling robot as described above, according to the instructions in the program code.

[0044] The present invention also provides a computer-readable storage medium for storing program code for executing the ground leveling method of the leveling robot as described in any of the preceding claims.

[0045] As can be seen from the above technical solution, the present invention has the following advantages: The present invention acquires the leveling area and target height; plans a leveling path based on the leveling area; during the leveling operation along the leveling path, it collects real-time data on ground height changes and error data based on the target height; dynamically corrects the leveling path based on the height change data and error data to obtain a real-time corrected path; when the real-time corrected path is completed, it calculates the flatness of the ground height in the leveling area; when the flatness is within a preset range, the leveling operation is considered complete. This improves the accuracy of ground leveling by the leveling robot. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 is a flowchart of a ground leveling method using a leveling robot according to an embodiment of the present invention;

[0048] Figure 2 is a calculation diagram of the ROS architecture of the leveling robot;

[0049] Figure 3 is a flowchart of a ground leveling method using a leveling robot according to another embodiment of the present invention;

[0050] Figure 4 is a structural diagram of the working principle of the end of the frustum of the leveling robot.

[0051] Figure 5 is a structural block diagram of a leveling robot ground leveling device provided in an embodiment of the present invention. Detailed Implementation

[0052] This invention provides a method, apparatus, equipment, and storage medium for leveling ground using a leveling robot, which addresses the problem of low accuracy in existing ground leveling construction using robots.

[0053] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0054] Please refer to Figure 1, which is a flowchart of a ground leveling method using a leveling robot provided in an embodiment of the present invention.

[0055] This invention provides a ground leveling method for a leveling robot, applicable to leveling robots, and the method specifically includes the following steps:

[0056] Step 101: Obtain the leveling area and target height;

[0057] In this embodiment of the invention, the leveling robot is a power building construction leveling robot based on the ROS robot operating system and cloud-edge-device robot technology. The leveling robot integrates a GNSS fully automatic navigation system, intelligent motion control algorithms, high-precision laser recognition measurement, and real-time control technology. Simultaneously, it adopts a frequency-hopping communication solution to address potential radio interference in power building construction. It has the following functions: unmanned automatic construction; automatic navigation and autonomous path planning; multi-machine scheduling, remote path task distribution, and remote network upgrades.

[0058] The ROS distributed communication framework facilitates communication between program processes. The leveling robot consists of multiple components, each with its own control program. These components and corresponding control programs enable the leveling robot to perform functions such as motion and vision.

[0059] To coordinate these components within the robot and enable communication between them, the ROS robot operating system was used. The underlying task scheduling, compilation, and device drivers were handled by the native operating system Ubuntu Linux.

[0060] ROS runs on Ubuntu Linux and provides operating system-like functions such as hardware abstraction, function calls, and process management. It also provides functions and tools for acquisition, compilation, and cross-platform compatibility.

[0061] The software functions of the leveling robot are made into individual nodes, which communicate with each other by sending messages.

[0062] In the ROS network communication mechanism, the master node is responsible for managing and scheduling the communication process between various nodes in the network, and also provides a service for configuring global parameters in the network. Inter-process communication between nodes is achieved using a distributed communication mechanism.

[0063] The software code is organized in a loosely coupled manner, making the development process flexible and management and maintenance convenient.

[0064] Figure 2 is a computational diagram of the ROS architecture for the leveling robot. A node is an executable program, also known as a process. Each executable program created in the ROS package becomes a ROS node after being started and loaded into the system process. The master node is responsible for scheduling and managing the communication process between the nodes.

[0065] Nodes communicate with each other by sending and receiving messages, and there are three message sending and receiving mechanisms: topic, service, and action.

[0066] The parameter server provides easily modifiable parameters for nodes throughout the ROS network. Parameters can be considered as global variables within a node that can be modified externally, and they can be static or dynamic. Static parameters are generally used to set the node's operating mode when the node starts up; dynamic parameters can be used to dynamically configure the node or change its operating state while the node is running, such as PID control parameters in a motor control node.

[0067] These nodes can be deployed on the Internet using cloud service robot technology, or they can be deployed on a local host.

[0068] A rosbag is a file in ROS specifically used to save and replay data from a topic. It can record sensor data that is difficult to collect and then replay it repeatedly to debug algorithm performance.

[0069] In this embodiment of the invention, after receiving a leveling command from a user, the leveling robot can obtain the leveling area and target height to be leveled. The leveling area and target height can be obtained by parsing the user command or calculated based on given environmental parameters. The specific choice can be flexibly selected according to actual needs, and this invention does not impose any specific limitations.

[0070] Step 102: Plan the leveling path according to the leveling area;

[0071] In this embodiment of the invention, a leveling path can be planned based on the leveling area. The planning of the leveling path aims to complete the leveling of the entire leveling area, and the leveling path can be determined based on factors such as the structure of the leveling area, historical leveling patterns, and the elevation of the ground within the leveling area. It can also be performed using existing algorithms such as A* or Dijkstra's algorithm. This invention does not impose specific limitations on this.

[0072] Step 103: During the leveling operation along the leveling path, the leveling robot collects real-time data on ground height changes and error data based on the target height.

[0073] Step 104: Dynamically correct the leveling path based on the height change data and error data to obtain the real-time corrected path;

[0074] After planning the leveling path, the leveling robot can automatically follow the path via GNSS to perform the leveling operation. In real-world scenarios, due to uneven distribution of cement mortar, the leveling robot cannot guarantee that all unfilled areas along its path will be completely filled. Therefore, during the leveling process, the robot can collect real-time data on ground height changes and errors, and then adjust the leveling path accordingly to obtain a real-time corrected path.

[0075] In one example, if the ground level of the recently traversed area is found to be too low, indicating insufficient cement mortar, then the area with excessively high ground level can be identified as the target for advancement, and the recently traversed area with high ground level can be identified as an unleveled area. The path can then be replanned to obtain a real-time corrected path.

[0076] Step 105: After completing the real-time correction path, calculate the flatness of the ground height in the leveled area.

[0077] Step 106: When the flatness is within the preset range, the leveling operation is determined to be complete.

[0078] In this embodiment of the invention, after the leveling robot completes the leveling of the entire leveling area, the flatness of the ground height in the leveled area can be calculated to determine whether the leveling effect has met expectations. If the flatness is within a preset range, it indicates that the leveling operation is complete.

[0079] This invention improves the accuracy of ground leveling by acquiring the leveling area and target height; planning a leveling path based on the leveling area; collecting real-time data on ground height changes and errors during the leveling operation along the path; dynamically correcting the leveling path based on the height change and error data to obtain a real-time corrected path; calculating the flatness of the ground height in the leveling area after traversing the real-time corrected path; and determining that the leveling operation is complete when the flatness is within a preset range.

[0080] Please refer to Figure 3, which is a flowchart illustrating the steps of a ground leveling method using a leveling robot according to another embodiment of the present invention. Specifically, it may include the following steps:

[0081] Step 301: Scan the area to be constructed using a laser sensor to obtain the height information of the construction area;

[0082] Step 302: Use height information to determine the leveling area and target height;

[0083] In this embodiment of the invention, the leveling robot can use a laser sensor to scan and measure the area to be constructed in order to obtain the height information of the ground, and then determine the target height and leveling area based on the height information of the ground.

[0084] Step 303: Plan the leveling path according to the leveling area;

[0085] In this embodiment of the invention, a leveling path can be planned based on the height differences of the leveling area and construction requirements. For example, positions with heights exceeding the target height and positions with heights below the target height are marked respectively. Based on the height differences, it is determined which higher position will be used to fill the lower position, thereby forming a leveling path.

[0086] Step 304: During the leveling operation along the leveling path, the leveling robot collects real-time data on ground height changes and error data based on the target height.

[0087] After planning the leveling path, the leveling robot can automatically follow the path via GNSS to perform the leveling operation. In real-world scenarios, due to uneven distribution of cement mortar, the leveling robot cannot guarantee that all unfilled areas along its path will be completely filled. Therefore, during the leveling process, the robot can collect real-time data on ground height changes and errors, and use this data to correct the leveling path.

[0088] In one example, the step of collecting real-time ground height change data and error data based on the target height during the leveling operation along the leveling path may specifically include the following sub-steps:

[0089] S41, The leveling robot collects the ground height before and after leveling during the leveling operation along the leveling path.

[0090] S42, calculate the height change data using the ground height before and after leveling;

[0091] S43 uses the target height and the height of the leveled ground to calculate the error data.

[0092] In this embodiment of the invention, the leveling robot can achieve automated leveling by using a proportional sensor for control and an automatic adjustment with the aid of a laser sensor. Laser technology is used to automatically control the height of the leveling head to complete the leveling work. The leveling robot can achieve ground leveling work using a pusher plate, compaction roller, leveling roller, and leveling plate. Simultaneously, intelligent human-machine interaction control is adopted to partially or completely replace human workers. Wide tracks enclose the robot's drive wheels to ensure that the robot does not damage the leveled ground during movement. A parallel mechanism enables the leveling mechanism to reciprocate and complete the leveling work. The leveling mechanism mainly consists of a bulldozer plate, a ripper, a scraper, and an automatic leveling device. Battery power is used, and a hydraulic device ensures the height and angle of the leveling scraper. The leveling mechanism adopts a roller-type structure design, achieving ground leveling and compaction through the movement of synchronous wheels, the rolling of rollers, and roller vibration. The laser leveling mechanism uses a scraper to remove excess cement mortar at its leveling end. Simultaneously, a vibrator drives the scraper, which vibrates at 3000 times per minute via a motor, thus compacting the cement mortar. Rollers then move to level the entire construction area. The main structure of the leveling mechanism is the scraper, which uses laser positioning and vibrator compaction to improve the leveling quality. The laser limits the height of the surface to be leveled, and the vibration and horizontal movement of the scraper achieve the leveling work.

[0093] The commonly used leveling equipment consists of a fixed frame, with side plates symmetrically fixed to the lower two sides of the fixed frame. A roller is horizontally positioned between the two side plates, and connecting shafts are symmetrically positioned on both sides of the outer wall of the roller. The end of the connecting shaft away from the roller extends into the inner wall of the side plate. A scraper is positioned on one side above the roller and at the bottom of the fixed frame. Two symmetrical supports are fixedly connected to the middle of the upper end of the fixed frame, and a support rod is rotatably connected between the two supports. Limiting blocks are symmetrically positioned on both sides of the outer wall of the support rod.

[0094] The robot's leveling mechanism can be broadly divided into two processes during operation: pushing and leveling. Rollers and baffles work together to level the ground.

[0095] Using a truncated cone mechanism with a certain angle as the leveling end, connected below the leveling roller, better achieves leveling and compaction. When the end of the leveling mechanism has an angle, during the compaction and leveling process, uncompacted semi-dry cement mortar particles can be promptly added to the inclined surface at the angled end. This ensures that the compacted semi-dry cement mortar surface meets the quality requirements for leveling and also guarantees that the cement mortar particles below the leveled surface are more compacted.

[0096] The working principle structure of the end of the truncated cone is shown in Figure 4. The outer diameter of the leveling roller is D to prevent the roller from affecting the cement mortar. The major diameter d1 of the truncated cone is equal to the outer diameter D of the roller. The minor diameter d2 of the truncated cone is related to the angle of repose of the semi-dry cement, so that the cement mortar particles can enter the bottom of the end truncated cone of the leveling mechanism more smoothly.

[0097] However, during the leveling process, problems such as insufficient cement mortar can prevent the leveling effect from meeting expectations. Therefore, during the leveling operation along the leveling path, it is necessary to collect the ground height before and after leveling in real time. Based on the target height and the ground height after leveling, the leveling error data and the height change data before and after leveling are calculated. The leveling path is then corrected in real time based on the error data and height change data to obtain a real-time corrected path.

[0098] Step 305: Dynamically correct the leveling path based on the height change data and error data to obtain the real-time corrected path;

[0099] After calculating the height change data and error data, the leveling path can be dynamically corrected based on the height change data and error data to obtain a real-time corrected path.

[0100] Step 306: After completing the real-time correction path, calculate the flatness of the ground height in the leveled area;

[0101] In this embodiment of the invention, after the leveling robot completes the leveling of the entire leveling area, the flatness of the ground height of the leveling area can be calculated to determine whether the leveling effect has met expectations.

[0102] In one example, the step of calculating the flatness of the ground height in the leveled area after traversing the real-time correction path may specifically include the following sub-steps:

[0103] S61, when the real-time correction path is completed, calculate the actual ground height at each location in the leveled area;

[0104] S62, calculate the height difference between the actual ground height and the target height;

[0105] S63, calculate the flatness based on the height difference and the target height.

[0106] In practice, the robot moves along a pre-defined path within the leveling area. Upon completion of leveling, it performs a judgment based on pre-defined leveling logic. High-precision laser recognition measurement and real-time control technology can be used to detect the consistency and flatness of the ground height. Leveling is considered complete when the ground height is within the set error range and the flatness of the entire construction area meets the requirements.

[0107] The process of using lasers for flatness detection involves a robot scanning and measuring the leveled ground using a high-precision laser sensor. Based on the laser scan results, the flatness of the ground is detected and evaluated. The quality and effectiveness of the leveling can be determined by comparing the actual ground height with the set target height and the ground's flatness indicators.

[0108] Step 307: When the flatness is within the preset range, the leveling operation is determined to be complete.

[0109] In this embodiment of the invention, when the flatness is within a preset range, the leveling operation is determined to be complete.

[0110] Furthermore, when the flatness is not within the preset range, the location information of the flatness not being within the preset range is extracted; the leveling path is updated according to the location information, and the steps of collecting ground height change data and error data in real time according to the target height during the leveling operation along the leveling path are returned.

[0111] Furthermore, in this embodiment of the invention, the leveling operation of the leveling robot can be performed using a cloud (cloud center) - edge (edge ​​node) - terminal (leveling robot) model. In edge-terminal collaboration, the user terminal uploads data such as laser scanning data to nearby edge nodes. The edge nodes use the processed real-time data and stored relevant historical data as input to obtain prediction results, providing a basis for the leveling robot at the edge node to perform leveling work. The edge nodes undertake the training task of personalized construction models, which can be deployed to the local control center of the corresponding user terminal to help the user terminal achieve autonomous management. In edge-cloud collaboration, each edge node transmits the processed relevant data and regional prediction results to the cloud center, which obtains global information and can achieve full-domain scheduling in large construction sites. Simultaneously, the cloud center distributes the adjusted calculation results and scheduling arrangements to each edge node, and the edge nodes adjust accordingly. Cloud-end collaboration is mainly responsible for data interaction between the cloud center and special users. For example, important and urgent construction sites communicate directly with the cloud center, uploading data to the cloud center, which then performs accurate calculations and provides construction plans to ensure the smooth progress of construction activities.

[0112] During robotic leveling, some complex computational tasks can be offloaded to the cloud, such as leveling path planning, height measurement, and ground flatness analysis. The cloud, with its powerful computing and data processing capabilities, can perform calculations and analyses on complex algorithms, providing more accurate and efficient leveling solutions.

[0113] Furthermore, during the leveling process, the robot can continuously accumulate experience and learn new knowledge. Through continuous and collaborative learning in the cloud, it can constantly update and optimize leveling algorithms and technologies. Collecting multiple leveling robots in the cloud allows for the sharing and exchange of knowledge and experience, improving leveling effectiveness and quality.

[0114] The cloud-edge-device architecture can also build and manage a knowledge graph for robots, including ground elevation maps, leveling path maps, and historical construction data. By acquiring and analyzing data from the knowledge graph, robots can achieve more intelligent and precise leveling operations.

[0115] The leveling robot can also automatically adjust its leveling strategy and parameters according to different construction scenarios and terrain changes, adapting to different work requirements and ground conditions.

[0116] Cloud-edge-device technology can provide a full-stack data security mechanism to protect the confidentiality and integrity of data generated during the robot leveling process. Simultaneously, data encryption and access control ensure data security during transmission and storage.

[0117] By applying cloud-edge-device technology, intelligent and automated processes can be achieved in the robotic leveling process, improving construction efficiency and quality. Simultaneously, the computing and data analysis capabilities of the cloud continuously optimize leveling algorithms and technologies, enabling continuous learning and scenario adaptation, thereby enhancing the robot's leveling capabilities and adaptability.

[0118] This invention improves the accuracy of ground leveling by acquiring the leveling area and target height; planning a leveling path based on the leveling area; collecting real-time data on ground height changes and errors during the leveling operation along the path; dynamically correcting the leveling path based on the height change and error data to obtain a real-time corrected path; calculating the flatness of the ground height in the leveling area after traversing the real-time corrected path; and determining that the leveling operation is complete when the flatness is within a preset range.

[0119] Please refer to Figure 5, which is a structural block diagram of a leveling robot ground leveling device provided in an embodiment of the present invention.

[0120] This invention provides a ground leveling robot device, comprising:

[0121] The leveling area and target height acquisition module 501 is used to acquire the leveling area and target height.

[0122] Leveling path planning module 502 is used to plan the leveling path according to the leveling area;

[0123] The height change data and error data acquisition module 503 is used to collect ground height change data and error data in real time according to the target height during the leveling operation performed by the leveling robot along the leveling path.

[0124] The dynamic correction module 504 is used to dynamically correct the leveling path based on height change data and error data to obtain a real-time corrected path;

[0125] The flatness calculation module 505 is used to calculate the flatness of the ground height in the leveled area after the real-time correction path has been completed.

[0126] The judgment module 506 is used to determine that the leveling operation is completed when the flatness is within the preset range.

[0127] In this embodiment of the invention, the leveling area and target height acquisition module 501 includes:

[0128] The height information acquisition submodule is used to scan the area to be constructed using a laser sensor to obtain the height information of the construction area.

[0129] The leveling area and target height determination submodule is used to determine the leveling area and target height using height information.

[0130] In this embodiment of the invention, the height variation data and error data acquisition module 503 includes:

[0131] The height acquisition submodule is used to collect the ground height before and after leveling as the leveling robot performs leveling operations along the leveling path.

[0132] The height change data calculation submodule is used to calculate height change data using the ground height before and after leveling.

[0133] The error data calculation submodule is used to calculate error data using the target height and the height of the leveled ground.

[0134] In this embodiment of the invention, the flatness calculation module 505 includes:

[0135] The actual ground height calculation submodule is used to calculate the actual ground height at each location in the leveled area after the real-time correction path has been completed.

[0136] The height difference calculation submodule is used to calculate the height difference between the actual ground height and the target height;

[0137] The flatness calculation submodule is used to calculate the flatness based on the height difference and the target height.

[0138] In this embodiment of the invention, it further includes:

[0139] The location information extraction module is used to extract location information when the flatness is not within the preset range.

[0140] The return module is used to update the leveling path based on the location information and return the steps taken during the leveling operation along the leveling path, including real-time collection of ground height change data and error data based on the target height.

[0141] This invention also provides an electronic device, which includes a processor and a memory:

[0142] The memory is used to store program code and transfer the program code to the processor;

[0143] The processor is used to execute the ground leveling method of the leveling robot according to the instructions in the program code of this invention.

[0144] This invention also provides a computer-readable storage medium for storing program code for executing the ground leveling method of the leveling robot according to this invention.

[0145] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0146] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0147] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0148] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0149] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0150] These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable terminal equipment, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0151] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0152] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0153] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A ground leveling method using a leveling robot, characterized in that, A ground leveling device for a grading robot is provided. The device includes a leveling area and target height acquisition module, a leveling path planning module, a height change data and error data acquisition module, a dynamic correction module, a flatness calculation module, and a judgment module. The device comprises: acquiring the leveling area and target height through the leveling area and target height acquisition module; planning a leveling path based on the leveling area through the leveling path planning module; acquiring real-time height change data and error data of the ground based on the target height through the height change data and error data acquisition module; dynamically correcting the leveling path based on the height change data and error data through the dynamic correction module to obtain a real-time corrected path; calculating the flatness of the ground height in the leveling area after traversing the real-time corrected path through the flatness calculation module; and determining that the leveling operation is complete when the flatness is within a preset range through the judgment module.

2. The method according to claim 1, characterized in that, The steps of obtaining the leveling area and target height include: scanning the area to be constructed using a laser sensor to obtain the height information of the construction area; and using the height information to determine the leveling area and target height.

3. The method according to claim 1, characterized in that, The steps of the leveling robot collecting ground height change data and error data in real time according to the target height during the leveling operation along the leveling path include: collecting the ground height before leveling and the ground height after leveling during the leveling operation along the leveling path; calculating the height change data using the ground height before leveling and the ground height after leveling; and calculating the error data using the target height and the ground height after leveling.

4. The method according to claim 1, characterized in that, The step of calculating the flatness of the ground height in the leveling area after walking the real-time correction path includes: calculating the actual ground height at each location in the leveling area after walking the real-time correction path; calculating the height difference between the actual ground height and the target height; and calculating the flatness based on the height difference and the target height.

5. The method according to claim 1, characterized in that, Also includes: When the flatness is not within the preset range, extract the location information where the flatness is not within the preset range; The leveling path is updated based on the location information, and the steps of collecting ground height change data and error data in real time based on the target height during the leveling operation along the leveling path are returned.

6. A leveling robot ground leveling device, characterized in that, include: The leveling area and target height acquisition module is used to acquire the leveling area and target height. The leveling path planning module is used to plan the leveling path based on the leveling area; The height change data and error data acquisition module is used to collect ground height change data and error data in real time according to the target height during the leveling operation performed by the leveling robot along the leveling path; the dynamic correction module is used to dynamically correct the leveling path according to the height change data and the error data to obtain a real-time corrected path. The flatness calculation module is used to calculate the flatness of the ground height of the leveled area when the real-time correction path is completed; the judgment module is used to determine that the leveling operation is completed when the flatness is within a preset range.

7. The apparatus according to claim 6, characterized in that, The leveling area and target height acquisition module includes: a height information acquisition submodule, used to scan the area to be constructed using a laser sensor to acquire the height information of the construction area; and a leveling area and target height determination submodule, used to determine the leveling area and target height using the height information.

8. The apparatus according to claim 6, characterized in that, The height change data and error data acquisition module includes: a height acquisition submodule, used to acquire the ground height before and after leveling during the leveling operation performed by the leveling robot along the leveling path; a height change data calculation submodule, used to calculate height change data using the ground height before and after leveling; and an error data calculation submodule, used to calculate error data using the target height and the ground height after leveling.

9. An electronic device, characterized in that, The device includes a processor and a memory: the memory is used to store program code and transmit the program code to the processor; the processor is used to execute the ground leveling method of the leveling robot according to any one of the instructions in the program code.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store program code for executing the ground leveling method of the leveling robot according to any one of claims 1-5.

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