Wall grinding machine lighting control method and device based on ambient light

Abstract

The present application relates to the technical field of grinding machine lighting control, and specifically to a method and device for controlling wall grinding machine lighting based on ambient light, the method comprising: collecting illumination data, distance data and displacement data when the grinding machine is running; dividing each switching time period; calculating the illumination mean deviation coefficient of each switching time period; then calculating the grinding smoothness index of each switching time period; obtaining the distance standard deviation and displacement standard deviation of each switching time period; calculating the average standard deviation coefficient of each switching time period; then obtaining the motion influence factor of each switching time period, and controlling the grinding machine lighting. The present application improves the grinding efficiency and quality of the wall grinding machine.

Description

Technical Field

[0001] The present application relates to the technical field of grinding machine lighting control, and in particular to a method and device for controlling wall grinding machine lighting based on ambient light. Background Art

[0002] With the development of technology, the lighting control of wall grinders has gradually developed towards automation and intelligence. For example, some new wall grinders use lighting control technology based on ambient light. The photosensitive device senses the ambient brightness and automatically adjusts the lighting strip, thereby reducing the trouble of manual operation and improving energy efficiency. This intelligent lighting control system not only improves the convenience and safety of construction, but also embodies the concept of environmental protection by reducing energy consumption. In addition, the design of lighting components of wall grinders is also constantly innovating. In some designs, the lighting strip and lampshade are integrated into the cover of the machine head, and special structural designs such as dustproof card slots and convex lens-shaped lampshades are used to improve the lighting effect and protect the LED light strip from dust. These improvements not only improve the construction quality, but also enhance the durability of the equipment and the convenience of maintenance.

[0003] In the prior art, a major problem faced by the lighting system of the wall grinder when the ambient light changes is the inappropriate lighting intensity. Due to factors such as interior decoration, the ambient light is often insufficient, which requires additional lighting to assist in observing the flatness of the wall during the grinding process. However, the lighting of the wall grinder is installed near the grinding head. Although this can provide the best lighting effect, in the case of sufficient light, too bright lighting may irritate the eyes of the construction workers and also cause energy waste. When the ambient light is insufficient, if the lighting intensity is insufficient, it will affect the construction workers' judgment of the wall flatness, thereby affecting the grinding quality. Summary of the invention

[0004] In order to solve the above technical problems, the purpose of this application is to provide a wall grinding machine lighting control method and device based on ambient light. The technical solutions adopted are as follows:

[0005] In a first aspect, an embodiment of the present application provides a wall grinding machine lighting control method based on ambient light, the method comprising the following steps:

[0006] Collect the illumination data, distance data and displacement data of the grinding machine during operation; divide each switching time period based on the clustering results of the illumination data;

[0007] Based on the difference between the illuminance data and the mean of the illuminance data, obtaining the illuminance mean deviation coefficient for each switching time period;

[0008] Based on the illumination mean deviation coefficient and the discrete degree of illumination data, the polishing smoothness index of each switching time period is obtained;

[0009] Based on the discreteness of the distance data and the displacement data, the distance standard deviation and the displacement standard deviation of each switching time period are obtained;

[0010] Based on the difference value of the distance data, a distance difference sequence of each switching time period is obtained; based on the values ​​of the distance standard deviation and the displacement standard deviation, an average standard deviation coefficient of each switching time period is obtained;

[0011] Based on the polishing smoothness coefficient, the average standard deviation coefficient, the distance difference sequence of each switching time period and the correlation between the displacement data, the motion influencing factor of each switching time period is obtained;

[0012] Control the grinding machine lighting based on motion influence factors.

[0013] Further, the method for obtaining each switching time period is:

[0014] A clustering algorithm is used to process all illumination data to obtain each cluster; the last acquisition moment in each cluster is used as each switching moment, and the time period between each switching moment is used as each switching time period.

[0015] Furthermore, the method for obtaining the illumination mean deviation coefficient is:

[0016] For the illuminance data in each switching time period, the mean of all illuminance data is calculated as the first mean, and the mean of the sum of squares of the differences between each illuminance data in the switching time period and the first mean is calculated as the illuminance mean deviation coefficient of each switching time period.

[0017] Further, the method for obtaining the polishing smoothness index is:

[0018] For the illuminance data in each switching time period, the standard deviation of all illuminance data is calculated as the first standard deviation;

[0019] The calculation formula of the polishing smoothness index is: ; Where A is the polishing smoothness index of each switching time period; a is the first standard deviation of each switching time period, and b is the illumination mean deviation coefficient of each switching time period. is the normalization function.

[0020] Furthermore, the distance standard deviation and displacement standard deviation are obtained by:

[0021] The standard deviation of all distance data in each switching time period is calculated as the distance standard deviation, and the standard deviation of all displacement data in each switching time period is calculated as the displacement standard deviation.

[0022] Furthermore, the distance difference sequence is obtained by:

[0023] The sequence composed of the distance data in each switching time period is used as the distance sequence of each switching time period;

[0024] The first-order difference sequence of the distance sequence of each switching time period is calculated, and the mean is supplemented at the front end of the first-order difference sequence of the distance sequence to make the first-order difference sequence of the distance sequence have the same length as the distance sequence, so as to obtain the distance difference sequence of each switching time period.

[0025] Furthermore, the average standard deviation coefficient of each switching time period is the mean of the distance standard deviation and the displacement standard deviation of each switching time period.

[0026] Furthermore, the method for obtaining the sports influence factor is:

[0027] The sequence composed of the displacement data in each switching time period is used as the displacement sequence of each switching time period;

[0028] The calculation formula of the motion impact factor is: ; In the formula, is the motion impact factor of each switching time period; is the correlation coefficient between the distance difference sequence and the displacement sequence in each switching time period, is the average standard deviation coefficient of each switching time period, e is a natural constant, and A is the polishing smoothness index of each switching time period.

[0029] Further, the control of the grinding machine lighting based on the motion influencing factor includes:

[0030] When the value of the motion impact factor is less than the preset first smoothness threshold, the lighting intensity is controlled to switch to a low gear; when the value of the motion impact factor is greater than or equal to the preset first smoothness threshold and less than the preset second smoothness threshold, the lighting intensity is controlled to switch to a medium gear; when the value of the motion impact factor is greater than or equal to the preset second smoothness threshold, the lighting intensity is controlled to switch to a high gear.

[0031] In a second aspect, an embodiment of the present application also provides a wall grinder lighting control device based on ambient light, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of any one of the above-mentioned methods when executing the computer program.

[0032] This application has at least the following beneficial effects:

[0033] Photosensitive sensors, ultrasonic ranging sensors and inductive position sensors are used for data collection. In view of the changes in illumination and wall flatness when the grinder is grinding in different wall areas, the DBSCAN density clustering algorithm is used to reflect the flatness characteristics of the wall and solve the problem of wall flatness monitoring. In view of the impact of grinder motion stability and wall flatness on grinding quality, the Pearson correlation analysis algorithm is used to reflect the interaction characteristics of wall flatness and grinder motion characteristics, eliminating the impact of wall continuity and flatness on the distance between the grinder and the wall and the movement changes of the grinder. Improvements are made by setting smoothing thresholds and adjusting lighting intensity in real time to achieve the beneficial effect of intelligent adaptation to different grinding environments and conditions, thereby improving grinding efficiency and quality, reducing the visual burden of operators, ensuring that suitable lighting conditions can be provided in different grinding areas, and improving overall grinding operation performance and operational safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 A flowchart of the steps of a wall grinding machine lighting control method based on ambient light provided in one embodiment of the present application;

[0036] Figure 2 A flow chart for obtaining a motion influence factor is provided for one embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to further explain the technical means and effects adopted by the present application to achieve the predetermined invention purpose, the following is a detailed description of the lighting control method and device of the wall grinding machine based on ambient light proposed in the present application, its specific implementation method, structure, features and effects, in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0038] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0039] The specific scheme of the wall grinding machine lighting control method and device based on ambient light provided by the present application is described in detail below with reference to the accompanying drawings.

[0040] See also Figure 1 , which shows a flowchart of a wall grinding machine lighting control method based on ambient light provided by an embodiment of the present application, the method comprising the following steps:

[0041] Step S1, collecting illumination data, distance data and displacement data when the grinder is running.

[0042] A photosensitive sensor is installed near the lighting strip of the grinder to collect the ambient light intensity near the grinder; an ultrasonic distance sensor is installed at the bottom of the grinder to collect the distance between the grinder and the wall; an inductive position sensor is installed at the bottom of the grinder to measure the displacement of the grinder between two adjacent collection moments. The collection frequency of the photosensitive sensor, ultrasonic distance sensor and inductive position sensor is 5Hz.

[0043] The illumination data, distance data and displacement data at all acquisition moments are normalized to complete the preprocessing of the illumination data, distance data and displacement data.

[0044] Step S2, based on the clustering results of the illuminance data, divide each switching time period; based on the difference between the illuminance data and the mean of the illuminance data, obtain the illumination mean deviation coefficient of each switching time period; based on the illumination mean deviation coefficient and the degree of discreteness of the illuminance data, obtain the polishing smoothness index of each switching time period.

[0045] When using a grinder, there are differences in the lighting data collected at different times. When the light intensity changes, the adaptive lighting system needs to be able to recognize the light changes and adjust the brightness accordingly.

[0046] When a grinder is grinding a wall, in order to ensure the flatness of the wall and remove protrusions or roughness, it is usually necessary to perform continuous grinding in a local area. The duration is determined by the actual situation. When continuously grinding a local wall area, due to the continuity and flatness of the wall, changes in the distance between the grinder and the wall and the movement of the grinder can be eliminated.

[0047] The DBSCAN clustering algorithm is used to cluster the illumination data at all acquisition moments, the minimum number of points is set to 8, the neighborhood radius is set to 0.5, and each cluster is output. The DBSCAN clustering algorithm is a well-known technology and will not be described in detail here.

[0048] In each cluster, since the cluster is obtained by the change of illumination, each cluster expresses the polishing event on a continuous flat wall surface. There will be obvious illumination changes between different clusters. For example, when polishing from one wall surface to another, there will be obvious illumination changes.

[0049] According to the above analysis, the last acquisition moment in each cluster is taken as each switching moment, and the time period between each switching moment is taken as each switching time period. The time between the start of data acquisition and the first switching moment, and the time between the last switching moment and the end of data acquisition are also taken as switching time periods. Among them, the two ends of each switching time period are closed intervals.

[0050] For the illuminance data in each switching time period, the standard deviation of all illuminance data is calculated as the first standard deviation, the mean of all illuminance data is calculated as the first mean, and the mean of the sum of squares of the differences between each illuminance data in the switching time period and the first mean is calculated as the illuminance mean deviation coefficient of each switching time period.

[0051] Furthermore, according to the illumination mean deviation coefficient and the first standard deviation, the polishing smoothness index of each cluster is calculated, and the calculation formula is: ; Where A is the polishing smoothness index of each switching time period; a is the first standard deviation of each switching time period, and b is the illumination mean deviation coefficient of each switching time period. is the normalization function.

[0052] It should be noted that the larger the value of a is, the more uneven the illumination changes in each switching time period are, and the less smooth the polished wall is, which leads to uneven changes in illumination around the polisher. At this time, the value of the polishing smoothness index A is smaller; b represents the degree of difference between the data in each switching time period and the sequence mean. The larger its value is, the more unique the illumination data in each switching time period is relative to all illumination data. At this time, b is used as the deviation weight. When b is larger, it means that the illumination change in this switching time period is more significant than the overall sequence. At this time, more attention should be paid to more significant events, that is, more attention should be paid to a, so as to monitor whether the polishing area represented by the cluster of the switching time period has problems such as unevenness. It is a normalization function, and its purpose is to normalize the b values ​​of all clusters.

[0053] The polishing smoothness index A reflects the flatness of the wall during the polishing process. The smaller the A value, the uneven illumination change during the polishing event, suggesting that there may be uneven or rough areas on the wall. A larger A value means that the polished area is relatively smooth. A is used to monitor the polishing quality and ensure whether the polished wall is uniform in the polishing event represented by the kth cluster.

[0054] Step S3, based on the degree of discreteness of the distance data and the displacement data, obtain the distance standard deviation and the displacement standard deviation of each switching time period; based on the differential value of the distance data, obtain the distance difference sequence of each switching time period; based on the size of the values ​​of the distance standard deviation and the displacement standard deviation, obtain the average standard deviation coefficient of each switching time period; based on the correlation between the polishing smoothing coefficient, the average standard deviation coefficient, the distance difference sequence of each switching time period and the displacement data, obtain the motion influencing factor of each switching time period.

[0055] While ensuring that the wall surface is even and flat, when the grinder is close to the wall, the grinding area will enter a darker area due to the obstruction of the grinder. In addition, the displacement of the grinder on the wall and the continuous grinding behavior will affect the generation and distribution of dust, which in turn affects the propagation of light and the visibility of the wall.

[0056] The sequences composed of the distance data in each switching time period are taken as each distance sequence, and the sequences composed of the displacement data in each switching time period are taken as each displacement sequence.

[0057] For the distance sequence and displacement sequence of each switching time period, the standard deviation of all distance data in the distance sequence is calculated as the distance standard deviation, and the standard deviation of all displacement data in the displacement sequence is calculated as the displacement standard deviation; the first-order difference sequence of the distance sequence is calculated, and the mean is supplemented at the front end of the distance difference sequence to make the distance difference sequence and the distance sequence have the same length, so as to obtain the distance difference sequence of each switching time period.

[0058] Furthermore, the mean of the distance standard deviation and the displacement standard deviation in each switching time period is calculated as the average standard deviation coefficient of each switching time period.

[0059] It should be noted that the larger the distance standard deviation, the greater the change in the distance between the grinder and the wall, which means that the distance between the grinder and the wall is unstable during movement. Similarly, the larger the displacement standard deviation, the more irregular the movement of the grinder. The average of the distance standard deviation and the displacement standard deviation can give the average level of change in the distance and displacement between the grinder and the wall over a period of time. The average is used as a benchmark for evaluating the unstable operation of the grinder in the kth segment.

[0060] Furthermore, based on the polishing smoothness coefficient, the average standard deviation coefficient, and the correlation between the distance difference sequence and the displacement sequence, the motion influence factor of each switching time period is calculated, and the calculation formula is: ; In the formula, is the motion impact factor of each switching time period; is the correlation coefficient between the distance difference sequence and the displacement sequence in each switching time period, is the average standard deviation coefficient of each switching time period, e is a natural constant, and A is the polishing smoothness index of each switching time period. In this embodiment, the Pearson correlation coefficient is selected as the measurement method of the correlation coefficient. The implementer can select other correlation coefficients according to the actual situation. Among them, the flow chart of obtaining the motion influence factor is as follows Figure 2 shown.

[0061] It should be noted that the larger the correlation coefficient f is, the greater the linear correlation between the rate of change of the distance between the grinder and the wall and the displacement during the displacement of the grinder, that is, as the grinder moves, the trend of the change in the distance between the grinder and the wall is more consistent with the trend of the displacement. At this time, it is characterized that the more obvious the unevenness of the wall is during the movement of the grinder, the more unstable the movement of the grinder is, and the movement influence factor B increases accordingly; a larger value of the grinding smoothness index A means that the grinding area is relatively smooth. At this time, the influence of the wall on the movement is smaller, and the movement influence factor B decreases accordingly. The grinding smoothness index A is added to the calculation of the movement influence factor B in order to take into account the information of the wall flatness, because the flatness of the wall will affect the operation of the grinder.

[0062] The motion influence factor B of the grinder combines the wall flatness, the stability of the change in the distance between the grinder and the wall, and the stability of the displacement change, reflecting the interaction between the wall flatness and the motion characteristics of the grinder during the grinding process. The larger the value of the motion influence factor B, the worse the wall flatness and the more unstable the movement of the grinder during the switching time period, which makes the grinding process more uneven.

[0063] Step S4, controlling the grinding machine lighting based on the motion influence factor.

[0064] Based on the motion influence factor B in each switching time period, the lighting intensity is dynamically adjusted according to the flatness of the wall and the motion stability of the grinder to ensure that suitable lighting conditions can be provided in different grinding areas. Different lighting intensity levels are defined according to actual needs. In this embodiment, they are set to three lighting intensity levels: low, medium, and high.

[0065] A smooth threshold is set between two lighting intensity levels to determine when to switch to the corresponding lighting intensity. In this embodiment, the preset first smooth threshold between the low lighting intensity and the medium lighting intensity Set to 0.8, the preset second smoothing threshold between medium and high lighting intensities Set to 1.5.

[0066] During the grinding process, the stability of the grinder is determined according to the motion influence factor of each switching time period. Specifically, for the motion influence factor of each switching time period, the motion influence factor is compared with the smoothing threshold. When the value of the motion influence factor is less than the preset first smoothing threshold, When the value of the motion impact factor is greater than or equal to the preset first smoothing threshold, the wall surface is relatively flat and the movement of the grinder is relatively stable, and the lighting intensity is controlled to switch to a low gear. and is less than the preset second smoothing threshold When the wall surface flatness and the motion stability of the grinding machine are poor, the lighting intensity is controlled to switch to the middle position; when the value of the motion influence factor is greater than or equal to the preset second smoothing threshold At this time, the wall flatness and the movement stability of the grinder are very poor, and the lighting intensity is controlled and switched to a high level.

[0067] It should be noted that when switching the lighting intensity, a smooth transition should be adopted to avoid affecting the operator's vision and polishing quality due to sudden changes in lighting intensity. If the data collected at the current moment is in the newly segmented event segment, the lighting level should be readjusted to a low level, and the real-time motion impact factor of the new event segment should be recalculated and adjusted.

[0068] Through the segmented control method, the lighting system of the grinder can more intelligently adapt to different grinding environments and conditions, improve grinding efficiency and quality, and also reduce the visual burden of operators.

[0069] Based on the same inventive concept as the above method, an embodiment of the present application also provides a wall grinder lighting control device based on ambient light, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of any one of the above-mentioned wall grinder lighting control methods based on ambient light are implemented.

[0070] It should be noted that the above sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above is a description of a specific embodiment of this specification. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0071] The various embodiments in the present application are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0072] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application should be included in the protection scope of the present application.

Claims

1. A wall grinding machine lighting control method based on ambient light, characterized in that: The method comprises the following steps: Collect the illumination data, distance data and displacement data of the environment near the grinder when it is running; divide each switching time period based on the clustering result of the illumination data; the distance data is the distance between the grinder and the wall; the displacement data is the displacement of the grinder between two adjacent collection moments; Based on the difference between the illuminance data and the mean of the illuminance data, obtaining the illuminance mean deviation coefficient for each switching time period; Based on the illumination mean deviation coefficient and the discrete degree of illumination data, the polishing smoothness index of each switching time period is obtained. The polishing smoothness index reflects the flatness of the wall during the polishing process. Based on the discreteness of the distance data and the displacement data, the distance standard deviation and the displacement standard deviation of each switching time period are obtained; Based on the difference value of the distance data, the distance difference sequence of each switching time period is obtained; based on the values ​​of the distance standard deviation and the displacement standard deviation, the average standard deviation coefficient of each switching time period is obtained, and the average standard deviation coefficient is used as a benchmark for evaluating the instability of the grinding machine operation; Based on the polishing smoothness coefficient, the average standard deviation coefficient, the distance difference sequence of each switching time period and the correlation between the displacement data, the motion influencing factor of each switching time period is obtained; Control the grinding machine lighting based on motion influencing factors; The method for obtaining each switching time period is: A clustering algorithm is used to process all illumination data to obtain clusters, each of which expresses a polishing event on a continuous and flat wall surface; the last acquisition moment in each cluster is used as each switching moment, and the time period between each switching moment is used as each switching time period; The method for obtaining the polishing smoothness index is: For the illuminance data in each switching time period, the standard deviation of all illuminance data is calculated as the first standard deviation; The calculation formula of the polishing smoothness index is: ; Where A is the polishing smoothness index of each switching time period; a is the first standard deviation of each switching time period, and b is the illumination mean deviation coefficient of each switching time period. is the normalization function; The method for obtaining the sports influence factor is: The sequence composed of the displacement data in each switching time period is used as the displacement sequence of each switching time period; The calculation formula of the motion impact factor is: ; In the formula, is the motion impact factor of each switching time period; is the correlation coefficient between the distance difference sequence and the displacement sequence in each switching time period, is the average standard deviation coefficient of each switching time period, e is a natural constant, and A is the polishing smoothness index of each switching time period.

2. The ambient light-based wall grinding machine lighting control method according to claim 1, characterized in that: The method for obtaining the illumination mean deviation coefficient is: For the illuminance data in each switching time period, the mean of all illuminance data is calculated as the first mean, and the mean of the sum of squares of the differences between each illuminance data in the switching time period and the first mean is calculated as the illuminance mean deviation coefficient of each switching time period.

3. The ambient light-based wall grinding machine lighting control method according to claim 1, characterized in that: The method for obtaining the distance standard deviation and the displacement standard deviation is: The standard deviation of all distance data in each switching time period is calculated as the distance standard deviation, and the standard deviation of all displacement data in each switching time period is calculated as the displacement standard deviation.

4. The wall grinding machine lighting control method based on ambient light according to claim 1, characterized in that: The method for obtaining the distance difference sequence is: The sequence composed of the distance data in each switching time period is used as the distance sequence of each switching time period; The first-order difference sequence of the distance sequence of each switching time period is calculated, and the mean is supplemented at the front end of the first-order difference sequence of the distance sequence to make the first-order difference sequence of the distance sequence have the same length as the distance sequence, so as to obtain the distance difference sequence of each switching time period.

5. The wall grinding machine lighting control method based on ambient light according to claim 1, characterized in that: The average standard deviation coefficient of each switching time period is the average of the distance standard deviation and the displacement standard deviation of each switching time period.

6. The ambient light-based wall grinding machine lighting control method according to claim 1, characterized in that: The control of the grinding machine lighting based on the motion influencing factor includes: When the value of the motion impact factor is less than the preset first smoothness threshold, the lighting intensity is controlled to switch to a low gear; when the value of the motion impact factor is greater than or equal to the preset first smoothness threshold and less than the preset second smoothness threshold, the lighting intensity is controlled to switch to a medium gear; when the value of the motion impact factor is greater than or equal to the preset second smoothness threshold, the lighting intensity is controlled to switch to a high gear.

7. A lighting control device for a wall grinding machine based on ambient light, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the wall grinding machine lighting control method based on ambient light as described in any one of claims 1-6 are implemented.

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