A method and system for automatic concrete floor leveling

Abstract

The application provides a concrete floor automatic leveling method and system. The method comprises the following steps: using a laser measuring instrument to measure a region to be leveled at a first position, determining a plurality of sub-regions to be leveled and corresponding height differences; determining a leveling track according to the distribution regions of the sub-regions to be leveled and the corresponding height differences, and automatically performing leveling operation on each sub-region to be leveled according to the leveling track, so as to eliminate the height differences. Compared with the artificial leveling mode, the scheme of the application obviously improves the leveling efficiency, and is especially suitable for large-area leveling operation.

Description

Technical Field

[0001] This invention relates to the field of smart construction site technology, and more specifically, to an automatic leveling method and system for concrete floors. Background Technology

[0002] During construction, concrete floors often need to be leveled to facilitate subsequent construction. Currently, leveling is mostly done by construction workers using laser leveling machines to measure height differences and then level uneven areas. However, this method is inefficient, especially for large areas. The solution of this invention aims to improve the efficiency of leveling operations for large areas by employing automated leveling methods. Summary of the Invention

[0003] To address the technical problems mentioned above, this invention provides an automatic leveling method, system, electronic device, and storage medium for concrete floors, which improves the efficiency of leveling operations for large areas by employing automated leveling.

[0004] The first aspect of the present invention provides a method for automatically leveling concrete floors, comprising the following steps:

[0005] A laser measuring instrument is used at the first position to measure the area to be leveled, and to determine several sub-areas to be leveled and their corresponding height differences;

[0006] The leveling trajectory is determined based on the distribution area of ​​each sub-region to be leveled and the corresponding height difference. The leveling trajectory is then used to automatically level each sub-region to be leveled in order to eliminate the height difference.

[0007] Optionally, the laser measuring instrument is configured on the automatic leveling vehicle or outside the automatic leveling vehicle. When the laser measuring instrument is configured outside the automatic leveling vehicle, the laser measuring instrument is communicatively connected to the automatic leveling vehicle.

[0008] Optionally, the step of measuring the area to be leveled using a laser measuring instrument at the first position includes:

[0009] Determine the intended use of the area to be leveled, and determine the measurement standards based on the intended use.

[0010] The area to be leveled is measured according to the aforementioned measurement standards.

[0011] Optionally, determining the measurement standard based on the intended use attribute includes:

[0012] A first level is determined based on the stated purpose attribute, a second level is determined based on the associated auxiliary attributes, and the measurement standard is determined based on the first level and the second level.

[0013] Optionally, determining the leveling trajectory based on the distribution area of ​​each of the sub-regions to be leveled and the corresponding height difference includes:

[0014] Based on the distribution area of ​​each sub-region to be leveled, clustering is performed according to the height difference to obtain several clustered leveling sub-regions;

[0015] Based on the aforementioned clustered leveling sub-regions and other un-clustered sub-regions to be leveled, several second positions and corresponding leveling forces are determined.

[0016] The leveling trajectory is derived based on several second positions and corresponding leveling forces.

[0017] Optionally, the method further includes:

[0018] When the leveling force is less than the first threshold, the distance between the second position and the corresponding sub-region to be leveled is calculated. If the distance is greater than the second threshold, a third position is determined for the sub-region to be leveled.

[0019] The leveling trajectory is derived based on several second and third positions and the corresponding leveling force.

[0020] Optionally, the method further includes:

[0021] After the leveling operation is completed on each of the sub-areas to be leveled, the laser measuring instrument is used at the fourth position to measure the area to be leveled again to obtain several height differences, and the equivalent height difference is calculated accordingly.

[0022] A new leveling force is determined based on the equivalent height difference, and the leveling force is used to level the area to be leveled.

[0023] A second aspect of the present invention provides an automatic concrete floor leveling system, which is applied to an automatic leveling vehicle and includes a processing module, a storage module, and a laser measuring instrument. The processing module is connected to the storage module and the laser measuring instrument via wired or wireless means, respectively.

[0024] The storage module is used to store executable computer program code;

[0025] The laser measuring instrument is used to measure the area to be leveled and transmit the measurement results to the processing module.

[0026] The processing module is configured to execute the method described in the preceding one by invoking the executable computer program code in the storage module.

[0027] A third aspect of the present invention provides an electronic device comprising: a memory storing executable program code; a processor coupled to the memory; the processor invoking the executable program code stored in the memory to perform the method as described in any of the preceding claims.

[0028] A fourth aspect of the present invention provides a computer storage medium storing a computer program that, when executed by a processor, performs the method described in any of the preceding claims.

[0029] The beneficial effects of this invention are as follows:

[0030] This invention designs an automatic leveling vehicle equipped with a laser measuring instrument and an automatic driving control system. The laser measuring instrument detects areas with height differences within the leveling area, designating these areas as leveling targets. Based on the distribution of these targets, a reasonable leveling trajectory is planned, thereby achieving efficient leveling of the area. Compared to manual leveling methods, this invention significantly improves leveling efficiency, and is particularly suitable for leveling large areas. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a flowchart illustrating an automatic leveling method for concrete floors disclosed in an embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram of the structure of an automatic concrete floor leveling system disclosed in an embodiment of the present invention. Detailed Implementation

[0034] Please see Figure 1 This invention discloses an automatic leveling method for concrete floors, which is applied to an automatic leveling vehicle and includes the following steps:

[0035] A laser measuring instrument is used at the first position to measure the area to be leveled, and to determine several sub-areas to be leveled and their corresponding height differences;

[0036] The leveling trajectory is determined based on the distribution area of ​​each sub-region to be leveled and the corresponding height difference. The leveling trajectory is then used to automatically level each sub-region to be leveled in order to eliminate the height difference.

[0037] This invention designs an automatic leveling vehicle equipped with a laser measuring instrument and an automatic driving control system. The laser measuring instrument detects areas with height differences within the leveling area, designating these areas as leveling targets. Based on the distribution of these targets, a reasonable leveling trajectory is planned, thereby achieving efficient leveling of the area. Compared to manual leveling methods, this invention significantly improves leveling efficiency, and is particularly suitable for leveling large areas.

[0038] The automatic leveling vehicle of this invention can be designed in various sizes to suit different scenarios. The automatic leveling vehicle generally has a walking mechanism (wheeled, tracked, legged), a power mechanism (fuel-powered, electric), and a leveling mechanism (wheeled or plate-type). It can also be equipped with a robotic arm, which can effectively increase the leveling distance, allowing the automatic leveling vehicle to level more points within the leveling area from outside the designated leveling area using the robotic arm. The leveling vehicle does not need to enter the leveling area and will not damage the still-dry ground.

[0039] Optionally, the laser measuring instrument is configured on the automatic leveling vehicle or outside the automatic leveling vehicle. When the laser measuring instrument is configured outside the automatic leveling vehicle, the laser measuring instrument is communicatively connected to the automatic leveling vehicle.

[0040] In this embodiment, the laser measuring instrument can be installed at a suitable location on the automatic leveling vehicle, or it can be used independently of the automatic leveling vehicle. During use, the user can hold the laser measuring instrument to measure the area to be leveled and then transmit the measurement data to the automatic leveling vehicle via wired / wireless transmission. Alternatively, the laser measuring instrument can be deployed on a drone, which allows for faster measurement and is particularly suitable for very large areas. The measurement principle and method of the laser measuring instrument are existing technologies and will not be elaborated upon in this invention.

[0041] Optionally, the step of measuring the area to be leveled using a laser measuring instrument at the first position includes:

[0042] Determine the intended use of the area to be leveled, and determine the measurement standards based on the intended use.

[0043] The area to be leveled is measured according to the aforementioned measurement standards.

[0044] In this embodiment, the intended use of the area to be leveled varies significantly across different scenarios, and some scenarios even involve areas with multiple intended uses. Therefore, this invention determines appropriate measurement standards by analyzing the intended use of the area to be leveled. For example, for leveling residential areas, where flatness requirements are high, a high standard can be used; for outdoor road surfaces, where flatness requirements are lower, a low standard can be used. Adjustments to the measurement standards are made by changing the measurement method of the laser measuring instrument, such as changing the measurement interval or measurement accuracy.

[0045] The usage attribute can be entered by the user before measurement, or it can be determined by the user based on the location and high-precision map matching. For example, when the area to be leveled is located as a building area, the usage attribute is determined to be a residential area scenario. When the area to be leveled is located as a road area, the usage attribute is determined to be an outdoor area scenario, and so on.

[0046] Optionally, determining the measurement standard based on the intended use attribute includes:

[0047] A first level is determined based on the stated purpose attribute, a second level is determined based on the associated auxiliary attributes, and the measurement standard is determined based on the first level and the second level.

[0048] In this embodiment, the measurement standards determined by the aforementioned method are too broad and cannot accurately determine the measurement standards for different application attributes, resulting in the measured distribution areas, height differences, etc., not meeting the requirements of subsequent processes. To address this, the present invention provides a more refined division of the measurement standards, mainly including two levels. The first level corresponds to specific scenario categories such as residential areas and outdoor areas, while the second level corresponds to more specific construction precision within each scenario. The first level can be higher than the second level; for example, the first level could be residential areas, and the second level could be outdoor areas.

[0049] For example, if the area to be leveled is determined to be an indoor area of ​​a residential area (such as a building area) using the aforementioned method, then the first level is designated as A1 and the second level as B1. If the area to be leveled is an outdoor area of ​​a residential area (such as a courtyard or garden area), then the first level is designated as A1 and the second level as B2. The measurement standard corresponding to A1B1 is higher than that corresponding to A1B2. Similarly, if the area to be leveled is determined to be a high-grade outdoor road area (such as a rural road) using the aforementioned method, then the first level is designated as A2 and the second level as C1. If the area to be leveled is a low-grade outdoor road area (such as a village road or an unnamed road), then the first level is designated as A2 and the second level as C2. The measurement standard corresponding to A2C1 is higher than that corresponding to A2C2.

[0050] Optionally, determining the leveling trajectory based on the distribution area of ​​each of the sub-regions to be leveled and the corresponding height difference includes:

[0051] Based on the distribution area of ​​each sub-region to be leveled, clustering is performed according to the height difference to obtain several clustered leveling sub-regions;

[0052] Based on the aforementioned clustered leveling sub-regions and other un-clustered sub-regions to be leveled, several second positions and corresponding leveling forces are determined.

[0053] The leveling trajectory is derived based on several second positions and corresponding leveling forces.

[0054] In this embodiment, adjacent sub-regions to be leveled are clustered according to their height differences (those with the same or similar height differences), treated as a single region, and leveled using the same leveling force. Regions with significantly different height differences from their adjacent regions are treated as separate regions. This method significantly reduces the number of sub-regions to be leveled. Then, based on the distribution of each region (clustered and non-clustered regions) and their corresponding height differences (or equivalent height differences, applicable to clustered regions), the minimum number of second positions is determined. Furthermore, the number of adjustments to the leveling force is minimized, thus improving leveling efficiency. The leveling force is positively correlated with the height difference.

[0055] The preferred method of this invention is to use the aforementioned robotic arm, whereby the automatic leveling machine stays outside the area to be leveled, and the robotic arm is used to remotely level each area.

[0056] Optionally, the method further includes:

[0057] When the leveling force is less than the first threshold, the distance between the second position and the corresponding sub-region to be leveled is calculated. If the distance is greater than the second threshold, a third position is determined for the sub-region to be leveled.

[0058] The leveling trajectory is derived based on several second and third positions and the corresponding leveling force.

[0059] In this embodiment, when the height difference of the sub-region to be leveled is small, a smaller leveling force is required for the leveling operation. This leveling operation requires a high degree of precision, but when using a robotic arm for large-span operations, it is easy to cause excessive vertical fluctuation of the operating end, which is very detrimental to leveling with small height differences. In this regard, the present invention determines that the second position determined in this situation is unreasonable and reassigns a new third position to the sub-region to be leveled, so as to reduce the impact of large spans on precise leveling.

[0060] Optionally, the method further includes:

[0061] After the leveling operation is completed on each of the sub-areas to be leveled, the laser measuring instrument is used at the fourth position to measure the area to be leveled again to obtain several height differences, and the equivalent height difference is calculated accordingly.

[0062] A new leveling force is determined based on the equivalent height difference, and the leveling force is used to level the area to be leveled.

[0063] In this embodiment, after the first leveling is completed, the entire area to be leveled can be measured again, and a new leveling force can be matched according to the new equivalent height difference (the equivalent height difference has been significantly reduced at this time, and the equivalent height difference can be the average of multiple new height differences). The leveling force is then used to level the area to be leveled again in a unified manner to achieve the overall flatness.

[0064] Please see Figure 2 Based on the same concept as the above-described method embodiments, this invention also discloses an automatic concrete floor leveling system. This system is applied to an automatic leveling vehicle and includes a processing module, a storage module, and a laser measuring instrument. The processing module is connected to the storage module and the laser measuring instrument via wired or wireless means, respectively.

[0065] The storage module is used to store executable computer program code;

[0066] The laser measuring instrument is used to measure the area to be leveled and transmit the measurement results to the processing module.

[0067] The processing module is configured to execute the method described in Embodiment 1 by calling the executable computer program code in the storage module.

[0068] Based on the same concept as the above method embodiments, this invention also discloses an electronic device, including: a memory storing executable program code; a processor coupled to the memory; the processor calls the executable program code stored in the memory to execute the method as described in Embodiment 1.

[0069] Based on the same concept as the above method embodiments, this invention also discloses a computer storage medium storing a computer program, which is executed by a processor as described in Embodiment 1.

[0070] It should be understood that the processor mentioned in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0071] It should also be understood that the memory mentioned in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DRRAM).

[0072] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) is integrated into the processor.

[0073] It should be noted that the memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.

[0074] Based on the same concept as the above method embodiments, this application also provides a computer-readable storage medium storing a computer program thereon. When the program is executed by a processor, it causes the computer to perform the operations performed by the data analysis network element or the security network element in any possible implementation of the above method embodiments.

[0075] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0076] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0077] Those skilled in the art will 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.

[0078] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0079] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0080] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0081] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0082] The above description is merely a specific embodiment of this application, but the protection scope of the embodiments of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the embodiments of this application should be included within the protection scope of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A method for automatically leveling concrete floors, characterized in that, Includes the following steps: A laser measuring instrument is used at the first position to measure the area to be leveled, and to determine several sub-areas to be leveled and their corresponding height differences; The leveling trajectory is determined based on the distribution area of ​​each sub-region to be leveled and the corresponding height difference. The leveling operation is automatically performed on each sub-region to be leveled based on the leveling trajectory to eliminate the height difference. The step of measuring the area to be leveled using a laser measuring instrument at the first position includes: Determine the intended use of the area to be leveled, and determine the measurement standards based on the intended use; the intended use includes residential areas and outdoor areas. The area to be leveled is measured according to the aforementioned measurement standards; The determination of measurement standards based on the application attributes includes: A first level is determined based on the stated purpose attribute, a second level is determined based on the associated auxiliary attributes, and the measurement standard is determined based on the first level and the second level. The step of determining the leveling trajectory based on the distribution area of ​​each of the sub-regions to be leveled and the corresponding height difference includes: Based on the distribution area of ​​each sub-region to be leveled, clustering is performed according to the height difference to obtain several clustered leveling sub-regions; Based on the aforementioned clustered leveling sub-regions and other un-clustered sub-regions to be leveled, several second positions and corresponding leveling forces are determined. The leveling trajectory is derived based on several second positions and corresponding leveling forces. The method further includes: When the leveling force is less than the first threshold, the distance between the second position and the corresponding sub-region to be leveled is calculated. If the distance is greater than the second threshold, a third position is determined for the sub-region to be leveled. The leveling trajectory is derived based on several second and third positions and the corresponding leveling force. The automatic leveling vehicle stops at the periphery of the area to be leveled and uses a robotic arm to remotely level each of the sub-areas to be leveled.

2. The automatic leveling method for concrete floors according to claim 1, characterized in that: The laser measuring instrument is configured on the automatic leveling vehicle or outside the automatic leveling vehicle. When the laser measuring instrument is configured outside the automatic leveling vehicle, the laser measuring instrument is communicatively connected to the automatic leveling vehicle.

3. The automatic leveling method for concrete floors according to claim 1, characterized in that: The method further includes: After the leveling operation is completed on each of the sub-areas to be leveled, the laser measuring instrument is used at the fourth position to measure the area to be leveled again to obtain several height differences, and the equivalent height difference is calculated accordingly. A new leveling force is determined based on the equivalent height difference, and the leveling force is used to level the area to be leveled.

4. An automatic concrete floor leveling system, applied to an automatic leveling vehicle, comprising a processing module, a storage module, and a laser measuring instrument, wherein the processing module is wired or wirelessly connected to the storage module and the laser measuring instrument respectively; wherein, The storage module is used to store executable computer program code; The laser measuring instrument is used to measure the area to be leveled and transmit the measurement results to the processing module. The characteristic is that the processing module is configured to execute the method as described in any one of claims 1-3 by calling the executable computer program code in the storage module.

5. An electronic device, comprising: Memory containing executable program code; A processor coupled to the memory; characterized in that: the processor calls the executable program code stored in the memory to perform the method as described in any one of claims 1-3.

6. A computer storage medium storing a computer program, characterized in that: The computer program is executed by the processor to perform the method as described in any one of claims 1-3.

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