Visual obstacle avoidance operation system and method

Abstract

The invention provides a visual obstacle avoidance operation system and method, and relates to the technical field of building forcible entry, the system is applied to an operation tool for forcible entry operation, the visual obstacle avoidance operation system comprises a tool subsystem, an operation control subsystem and a terminal subsystem, and the tool subsystem and the operation control subsystem are connected with the terminal subsystem; the tool subsystem is used for obtaining component information data of internal components of a wall body in a preset operation area according to the scanning motion of an operation tool in the preset operation area; the operation control subsystem is used for acquiring motion information of the operation tool in a preset space coordinate system; and the terminal subsystem is used for generating a visual image of the internal component of the wall according to the component information data and the motion information. According to the method, the visual image of the internal component of the wall is generated according to the motion information and the component information data, the internal structure is visually displayed, the operation safety is improved, and the operation efficiency and accuracy are also improved.

Description

Technical Field

[0001] The present invention relates to the technical field of building demolition, and in particular to a visual obstacle avoidance operation system and method. Background Art

[0002] In the construction field, local demolition operations such as cutting and drilling of building structures often cause collateral damage to some existing structural members or facilities inside the building structure. For example, when cutting a wall, it may cut off a pre-buried water pipe in the wall, or cut into the steel bars that provide structural support in the wall, thus causing a safety accident.

[0003] In the prior art, demolition work is usually carried out based on the engineering drawings of the building and the experience of the workers who are demolishing the building. However, due to the different experiences of the workers and their different understandings of the engineering drawings, they may perform blind operations without a clear understanding of the internal structural conditions of the demolition area, which may cause damage to the internal structure. Summary of the invention

[0004] The problem solved by the present invention is how to improve the safety of the internal structure of a building during demolition operations.

[0005] In order to solve the above problems, the present invention provides a visual obstacle avoidance operation system and method.

[0006] In a first aspect, the present invention provides a visual obstacle avoidance operation system, which is applied to an operation tool for performing a demolition operation, and comprises a tool subsystem, a transport control subsystem, and a terminal subsystem, wherein the tool subsystem and the transport control subsystem are respectively connected to the terminal subsystem;

[0007] The tool subsystem is used to obtain component information data of internal components of the wall within the preset working area according to the scanning movement of the working tool within the preset working area;

[0008] The movement control subsystem is used to obtain the movement information of the working tool in a preset spatial coordinate system;

[0009] The terminal subsystem is used to generate a visual image of the internal components of the wall according to the component information data and the motion information.

[0010] Optionally, the tool subsystem includes a perspective detection unit, an angular posture detection unit, a power control unit, a first data processing unit and a first data transmission unit; the perspective detection unit, the angular posture detection unit and the power control unit are respectively connected to the first data processing unit, and the first data processing unit is connected to the terminal subsystem through the first data transmission unit;

[0011] The perspective detection unit is used to obtain the reflection signal of the internal component of the wall according to the component characteristics of the internal component of the wall and the scanning movement of the working tool in the preset working area, and determine the distribution information of the internal component of the wall according to the reflection signal;

[0012] The angular posture detection unit is used to obtain posture data of the working tool moving in the preset working area;

[0013] The power control unit is used to obtain the power parameters of the working tool;

[0014] The first data processing unit is used to integrate the distribution information of the internal components of the wall, the posture data of the working tool, and the power parameters of the working tool to obtain the component information data;

[0015] The first data transmission unit is used to transmit the component information data to the terminal subsystem.

[0016] Optionally, the operation control subsystem includes a linear motion control unit, a spatial coordinate detection unit, a pitch motion control unit, a second data processing unit and a second data transmission unit, the linear motion control unit, the spatial coordinate detection unit and the pitch motion control unit are respectively connected to the second data processing unit, and the second data processing unit is connected to the terminal subsystem through the second data transmission unit;

[0017] The linear motion control unit is used to obtain linear motion data of the working tool in the preset working area;

[0018] The pitch motion control unit is used to obtain the pitch operation data of the working tool in the preset working area;

[0019] The spatial coordinate detection unit is used to obtain continuous coordinate data of the working tool in the preset spatial coordinate system according to the movement of the working tool in the preset working area;

[0020] The second data processing unit is used to obtain the motion information of the working tool in the preset space coordinate system according to the continuous coordinate data, the straight line operation data and the pitch operation data;

[0021] The second data transmission unit is used to transmit the motion information to the terminal subsystem.

[0022] Optionally, the terminal subsystem includes a third data transmission unit, a third data processing unit and an image generation unit; the third data transmission unit is connected to the third data processing unit, and the third data processing unit is connected to the image generation unit;

[0023] The third data transmission unit is used to receive the motion information transmitted by the transport control subsystem and the component information data transmitted by the tool subsystem;

[0024] The third data processing unit is used to determine the attribute vector of the internal component of the wall in the preset space coordinate system according to the component information data and the motion information;

[0025] The image generation unit is used to reconstruct the coordinates of the attribute vector of the preset space coordinate system to obtain the attribute vector after coordinate reconstruction; and obtain the visualization image of the internal component of the wall according to the attribute vector after coordinate reconstruction.

[0026] Optionally, the third data processing unit is specifically used to:

[0027] According to the component information data and the motion information of the working tool, the scanning coordinates of the working tool corresponding to the internal component of the wall are obtained, and the component properties of the internal component of the wall are determined;

[0028] Determine the attribute value of the internal component of the wall at the scanning coordinate according to the component attribute;

[0029] The attribute vector of the internal component of the wall in the preset space coordinate system is generated according to the attribute value and the scanning coordinates.

[0030] Optionally, the image generating unit is specifically used for:

[0031] Reducing the attribute vector of the preset spatial coordinate system from the preset spatial coordinate system to a preset reduced coordinate system according to a preset reduction ratio, to obtain the reduced attribute vector of the preset reduced coordinate system;

[0032] The reduced attribute vector is used as the attribute vector after the coordinates are reconstructed.

[0033] Optionally, the image generating unit is specifically used for:

[0034] The attribute vectors reconstructed from the coordinates with the same attribute values ​​are connected in a preset order to obtain the visualized image of the internal components of the wall.

[0035] Optionally, the terminal subsystem further includes a control unit, and the control unit is connected to the third data processing unit;

[0036] The control unit is used to determine the desired position of the working tool according to the visual image, and send the desired position to the third data processing unit;

[0037] The third data processing unit is further used to determine the linear motion control data and the pitch motion control data of the working tool according to the expected position of the working tool;

[0038] The third data processing unit is further used to transmit the linear motion control data and the pitch motion control data to the operation and control subsystem.

[0039] Optionally, the linear motion control unit of the operation control subsystem is used to drive the working tool to perform linear motion through a servo system according to the linear motion control data;

[0040] The pitch motion control unit of the operation control subsystem is used to drive the working tool to perform pitch motion through the servo system according to the pitch motion control data.

[0041] In a second aspect, the present invention provides a visual obstacle avoidance operation method, which is applied to an operation tool for performing a demolition operation, and the visual obstacle avoidance operation method comprises:

[0042] According to the scanning movement of the working tool in the preset working area, component information data of the internal components of the wall in the preset working area is obtained;

[0043] Acquiring motion information of the working tool in a preset spatial coordinate system;

[0044] A visualization image of the internal components of the wall is generated according to the component information data and the motion information.

[0045] The visual obstacle avoidance operation system and method of the present invention, the scanning movement of the operation tool in the preset operation area, through the tool subsystem of the visual obstacle avoidance operation system, using the perspective detection technology, can scan the building before the operation, accurately obtain the component information data of the internal components of the wall, obtain the movement information of the operation tool through the operation control subsystem of the visual obstacle avoidance operation system, track the spatial coordinate position of the operation tool in real time, and ensure the precise positioning of the tool. Finally, the movement information and component information data are transmitted to the terminal subsystem of the visual obstacle avoidance operation system, and the terminal subsystem uses these data to generate a visual image of the internal components of the wall, so that the operator can intuitively see the internal structure. The system can adapt to different operating environments and requirements, whether it is a simple plane operation or a complex three-dimensional space operation, it can provide effective obstacle avoidance and operation guidance, and provide important information support for subsequent demolition operations, so that when performing demolition operations, key components can be avoided in a targeted manner to reduce damage to the building structure. Not only the safety of the operation is improved, but also the efficiency and accuracy of the operation are improved, and unnecessary losses caused by blind operation are avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is one of the structural schematic diagrams of the visual obstacle avoidance system according to an embodiment of the present invention;

[0047] Figure 2 A flowchart of a visual obstacle avoidance method according to an embodiment of the present invention;

[0048] Figure 3 This is the second structural diagram of the visual obstacle avoidance system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0050] Combination Figure 1 As shown, the present invention provides a visual obstacle avoidance operation system, which is applied to an operation tool for performing demolition operations. The visual obstacle avoidance operation system includes a tool subsystem, an operation control subsystem and a terminal subsystem, and the tool subsystem and the operation control subsystem are respectively connected to the terminal subsystem.

[0051] Specifically, the visual obstacle avoidance operation system is divided into three subsystems, namely, a tool subsystem, an operation control subsystem and a terminal subsystem. The tool subsystem and the operation control subsystem are respectively connected to the terminal subsystem for communication with the terminal subsystem.

[0052] The tool subsystem is used to obtain component information data of internal components of the wall within the preset working area according to the scanning movement of the working tool within the preset working area.

[0053] Specifically, when the working tool is scanning the preset working area, the tool subsystem of the visual obstacle avoidance working system obtains the material information of metal, wood, plastic and other materials of the internal components of the wall through the scanning movement of the working tool, as well as the pitch posture of the working tool and the angle with the horizontal plane or the gravity plane.

[0054] The operation control subsystem is used to obtain the movement information of the working tool in a preset space coordinate system.

[0055] Specifically, the operation and control subsystem is used to collect and organize the coordinate information of the tool body in a preset spatial coordinate system, such as the spatial coordinates of the XYZ axes and the pitch angle information of the working tool, in the form of data through the operation and control subsystem.

[0056] The terminal subsystem is used to generate a visual image of the internal components of the wall according to the component information data and the motion information.

[0057] Specifically, the terminal system obtains information about the presence or absence of components inside the building and the coordinate information of the existing components on the plane based on the component information data and motion information. Combined with the above data, the terminal system can form a visual image of the work surface, intuitively displaying the shape, position, layout direction and other information of all components in the scanning area.

[0058] The visual obstacle avoidance operation system of the present invention is a scanning movement of the operation tool in the preset operation area. Through the tool subsystem of the visual obstacle avoidance operation system, the perspective detection technology can be used to scan the building before the operation, accurately obtain the component information data of the internal components of the wall, and obtain the motion information of the operation tool through the operation control subsystem of the visual obstacle avoidance operation system, and track the spatial coordinate position of the operation tool in real time to ensure the precise positioning of the tool. Finally, the motion information and component information data are transmitted to the terminal subsystem of the visual obstacle avoidance operation system. The terminal subsystem uses these data to generate a visual image of the internal components of the wall, so that the operator can intuitively see the internal structure. The system can adapt to different operating environments and requirements. Whether it is a simple plane operation or a complex three-dimensional space operation, it can provide effective obstacle avoidance and operation guidance, and provide important information support for subsequent demolition operations, so that when performing demolition operations, key components can be avoided in a targeted manner to reduce damage to the building structure. Not only the safety of the operation is improved, but also the efficiency and accuracy of the operation are improved, and unnecessary losses caused by blind operation are avoided.

[0059] Combination Figure 2As shown, optionally, the tool subsystem includes a perspective detection unit, an angular posture detection unit, a power control unit, a first data processing unit and a first data transmission unit; the perspective detection unit, the angular posture detection unit and the power control unit are respectively connected to the first data processing unit, and the first data processing unit is connected to the terminal subsystem through the first data transmission unit;

[0060] The perspective detection unit is used to obtain the reflection signal of the internal component of the wall according to the component characteristics of the internal component of the wall and the scanning movement of the working tool in the preset working area, and determine the distribution information of the internal component of the wall according to the reflection signal;

[0061] The angular posture detection unit is used to obtain posture data of the working tool moving in the preset working area;

[0062] The power control unit is used to obtain the power parameters of the working tool;

[0063] The first data processing unit is used to integrate the distribution information of the internal components of the wall, the posture data of the working tool, and the power parameters of the working tool to obtain the component information data;

[0064] The first data transmission unit is used to transmit the component information data to the terminal subsystem.

[0065] Specifically, the perspective detection unit uses electromagnetic sensors and sound wave transceivers to scan the building in an array to collect the reflected signals of the internal components of the wall. The reflected signals reflect the characteristics of components of different materials, such as metal, wood or plastic, and provide the system with the distribution information of the components. The angular posture detection unit uses a gyroscope sensor to monitor and record the posture changes of the working tool in real time to ensure the precise positioning and posture adjustment of the tool. The power control unit adjusts the power parameters of the tool, such as speed and torque, according to the operation requirements to adapt to different demolition tasks. The first data processing unit integrates and processes these scattered data to form component information data as the basis for the precise demolition of the working tool. Finally, the first data transmission unit transmits the processed data to the terminal subsystem to provide decision support for the operator.

[0066] In this optional embodiment, firstly, the high-precision recognition capability of the perspective detection unit greatly reduces the risk of accidental damage to the building structure during the demolition process. Secondly, the angular posture detection unit ensures the precise positioning of the working tool, improving the accuracy and efficiency of the operation. The parameter adjustment capability of the power control unit enables the tool to adapt to changing operating conditions and enhances the flexibility of the system. The data integration processing of the first data processing unit provides the terminal system with comprehensive and accurate information, enabling the operator to make more informed decisions.

[0067] Combination Figure 2 As shown, optionally, the operation control subsystem includes a linear motion control unit, a spatial coordinate detection unit, a pitch motion control unit, a second data processing unit and a second data transmission unit, the linear motion control unit, the spatial coordinate detection unit and the pitch motion control unit are respectively connected to the second data processing unit, and the second data processing unit is connected to the terminal subsystem through the second data transmission unit;

[0068] The linear motion control unit is used to obtain linear motion data of the working tool in the preset working area;

[0069] The pitch motion control unit is used to obtain the pitch operation data of the working tool in the preset working area;

[0070] The spatial coordinate detection unit is used to obtain continuous coordinate data of the working tool in the preset spatial coordinate system according to the movement of the working tool in the preset working area;

[0071] The second data processing unit is used to obtain the motion information of the working tool in the preset space coordinate system according to the continuous coordinate data, the straight line operation data and the pitch operation data;

[0072] The second data transmission unit is used to transmit the motion information to the terminal subsystem.

[0073] Specifically, the linear motion control unit is responsible for collecting the operating data of the working tool along the linear axes, such as the X, Y, and Z axes, in the preset working area, reflecting the absolute position change of the tool in space. The pitch motion control unit focuses on the pitch angle change of the tool to ensure that the tool can be accurately adjusted according to the working requirements. The spatial coordinate detection unit continuously monitors the movement of the tool and collects the coordinate data of the tool in the preset spatial coordinate system, providing a basis for the precise positioning of the tool. The second data processing unit integrates this data to generate the motion information of the working tool in the spatial coordinate system. Finally, the second data transmission unit transmits the motion information to the terminal subsystem to provide the operator with real-time feedback on the tool position and posture.

[0074] In this optional embodiment, through the accurate data collection of the linear motion control unit and the pitch motion control unit, the system can ensure that the motion control of the working tool in three-dimensional space reaches a high accuracy. Secondly, the continuous coordinate data provided by the spatial coordinate detection unit enables the system to track the precise position of the tool in real time.

[0075] Combination Figure 2 As shown, optionally, the terminal subsystem includes a third data transmission unit, a third data processing unit and an image generation unit; the third data transmission unit is connected to the third data processing unit, and the third data processing unit is connected to the image generation unit;

[0076] The third data transmission unit is used to receive the motion information transmitted by the transport control subsystem and the component information data transmitted by the tool subsystem;

[0077] The third data processing unit is used to determine the attribute vector of the internal component of the wall in the preset space coordinate system according to the component information data and the motion information;

[0078] The image generation unit is used to reconstruct the coordinates of the attribute vector of the preset space coordinate system to obtain the attribute vector after coordinate reconstruction; and obtain the visualization image of the internal component of the wall according to the attribute vector after coordinate reconstruction.

[0079] Specifically, the third data transmission unit receives motion information from the operation and control subsystem and component information data from the tool subsystem. The component information data is the basis for constructing a visualization image. The third data processing unit further processes the component information data to determine the attribute vector of the internal components of the wall in the preset spatial coordinate system, where the attribute vector contains key information such as the location and material type of the component. The image generation unit uses the attribute vector to reconstruct the coordinates and convert the abstract data into an intuitive visualization image. The visualization image can clearly show the distribution and characteristics of the internal components of the wall.

[0080] In this optional embodiment, through the work of the image generation unit, the operator can intuitively see the distribution of internal components of the wall, and the accurate visualization image enables the operator to quickly identify and avoid key components, reducing hesitation and errors during the operation, thereby improving the operation efficiency. This greatly improves the accuracy and safety of the operation.

[0081] Optionally, the third data processing unit is specifically used to:

[0082] According to the component information data and the motion information of the working tool, the scanning coordinates of the working tool corresponding to the internal component of the wall are obtained, and the component properties of the internal component of the wall are determined;

[0083] Determine the attribute value of the internal component of the wall at the scanning coordinate according to the component attribute;

[0084] The attribute vector of the internal component of the wall in the preset space coordinate system is generated according to the attribute value and the scanning coordinates.

[0085] Specifically, first, the unit accurately determines the scanning coordinates of the working tool by analyzing the component information data and the motion information of the working tool. The scanning coordinates are the specific positions of the tool when detecting the internal components of the wall. The third data processing unit further analyzes the component attributes corresponding to the coordinate points, such as the material type or structural characteristics of the component, so as to assign component attributes to each scanning coordinate. The determination of the attribute values ​​makes the data contain not only the position information but also the physical properties of the component. Finally, according to the attributes and coordinates, the third data processing unit generates an attribute vector, which represents the precise position and attribute characteristics of the internal components of the wall in the preset spatial coordinate system.

[0086] In this optional embodiment, through precise scanning coordinate determination, the system can ensure high accuracy in the detection and positioning of internal components of the wall, providing reliable spatial information for subsequent demolition operations. The attribute vector provides a comprehensive data view, optimizes the operation process, and reduces unnecessary work and potential damage.

[0087] Optionally, the image generating unit is specifically used for:

[0088] Reducing the attribute vector of the preset spatial coordinate system from the preset spatial coordinate system to a preset reduced coordinate system according to a preset reduction ratio, to obtain the reduced attribute vector of the preset reduced coordinate system;

[0089] The reduced attribute vector is used as the attribute vector after the coordinates are reconstructed.

[0090] Specifically, the image generation unit converts the attribute vector generated by the third data processing unit from the actual preset spatial coordinate system to a preset reduced coordinate system that is easier to operate and understand according to a preset reduction ratio, which involves proportional reduction of the original coordinates to adapt to the screen size of the terminal display device or the visual habits of the user. In a preferred embodiment of the present invention, if the size of the original coordinate system is in meters, the reduction ratio may be set to 100 times, so that 1 meter represents 1 centimeter in the reduced coordinate system, making the image more detailed and easier to observe. In this conversion process, the coordinate value of each attribute vector will be adjusted according to the reduction ratio, but the component attributes it represents (such as metal, wood or other materials) remain unchanged. In this way, the generated reduced attribute vector can accurately represent the position and attributes of the internal components of the wall in the preset reduced coordinate system.

[0091] In this optional embodiment, by adjusting the preset reduction ratio, the detailed display of the image can be optimized according to actual needs and the resolution of the display device, so that the distribution and characteristics of the components are more clearly visible. And through coordinate reconstruction, the system can display more information in a limited display area, so that the operator can simultaneously observe the distribution of components in a larger range.

[0092] Optionally, the image generating unit is specifically used for:

[0093] The attribute vectors reconstructed from the coordinates with the same attribute values ​​are connected in a preset order to obtain the visualized image of the internal components of the wall.

[0094] Specifically, first, the attribute vector after coordinate reconstruction generated by the third data processing unit is received, and the attribute vector includes the position and attribute information of the internal components of the wall. Then, the image generation unit connects the attribute vectors with the same attribute value according to a preset order. In a preferred embodiment of the present invention, if the attribute value 1 represents a metal component, the image generation unit connects all vectors with an attribute value of 1 to form a continuous visual representation. Such processing not only shows the spatial distribution of the components, but also distinguishes different component materials by different colors or shapes, thereby generating a comprehensive visualization image of the internal components of the wall.

[0095] In this optional embodiment, by connecting the attribute vectors into a visual image, the type and position of the internal components of the wall can be intuitively identified, which greatly improves the accuracy of the operation and reduces the risk of damage to the building structure during the demolition process.

[0096] Optionally, the terminal subsystem further includes a control unit, and the control unit is connected to the third data processing unit;

[0097] The control unit is used to determine the desired position of the working tool according to the visual image, and send the desired position to the third data processing unit;

[0098] The third data processing unit is further used to determine the linear motion control data and the pitch motion control data of the working tool according to the expected position of the working tool;

[0099] The third data processing unit is further used to transmit the linear motion control data and the pitch motion control data to the operation and control subsystem.

[0100] Specifically, the control unit is a direct interface for the operator to interact with the entire visual obstacle avoidance operation system. The control unit receives visual images from the image generation unit, which clearly show the distribution of components inside the building by converting component information data and motion information into intuitive two-dimensional or three-dimensional graphics. The operator can use these images to determine the ideal or expected position of the working tool in the preset working area, and input these position information through the control unit. Subsequently, the control unit transmits the expected position information to the third data processing unit. The third data processing unit is responsible for receiving the expected position information sent by the control unit, and based on this information, combined with the current position and posture data of the working tool, calculates the specific parameters of the linear motion and pitching motion that the working tool needs to perform, that is, the linear motion control data and the pitching motion control data. These data are then transmitted to the operation control subsystem by the third data processing unit to guide the linear motion control unit and the pitching motion control unit to accurately drive the working tool to the specified position through the servo system and adjust it to the appropriate posture.

[0101] In this optional embodiment, the operator can intuitively identify the working area through the visual image and accurately set the desired position of the working tool. The third data processing unit quickly processes the desired position information and generates corresponding control data, ensuring that the working tool can quickly respond to the operator's instructions.

[0102] Optionally, the linear motion control unit of the operation control subsystem is used to drive the working tool to perform linear motion through a servo system according to the linear motion control data;

[0103] The pitch motion control unit of the operation control subsystem is used to drive the working tool to perform pitch motion through the servo system according to the pitch motion control data.

[0104] Specifically, the linear motion control unit accurately drives the working tool to perform linear motion along the X, Y, and Z axes through the servo system according to the linear motion control data transmitted by the third data processing unit. These control data represent the exact position that the working tool should reach in the preset spatial coordinate system. At the same time, the pitch motion control unit adjusts the pitch angle of the working tool according to the corresponding pitch motion control data, also through the servo system, to adapt to different working surfaces and avoid collision with internal components. The use of the servo system ensures high responsiveness and accuracy of tool movement.

[0105] In this optional embodiment, through the precise control of linear and pitch motion, the working tool can adapt to various complex working environments and requirements, including working requirements at different angles and positions. At the same time, the application of the servo system provides highly precise positioning capabilities to ensure that the working tool can accurately reach the predetermined position and perform the required demolition operation.

[0106] like Figure 3 As shown, the present invention also provides a visual obstacle avoidance operation method, which is applied to an operation tool for performing a demolition operation, and the visual obstacle avoidance operation method includes:

[0107] According to the scanning movement of the working tool in the preset working area, component information data of the internal components of the wall in the preset working area is obtained;

[0108] Acquiring motion information of the working tool in a preset spatial coordinate system;

[0109] A visualization image of the internal components of the wall is generated according to the component information data and the motion information.

[0110] The visual obstacle avoidance operation method of the present invention is a scanning movement of the operation tool in the preset operation area. Through the tool subsystem of the visual obstacle avoidance operation system, the perspective detection technology can be used to scan the building before the operation, accurately obtain the component information data of the internal components of the wall, obtain the movement information of the operation tool through the operation control subsystem of the visual obstacle avoidance operation system, and track the spatial coordinate position of the operation tool in real time to ensure the precise positioning of the tool. Finally, the movement information and component information data are transmitted to the terminal subsystem of the visual obstacle avoidance operation system. The terminal subsystem uses these data to generate a visual image of the internal components of the wall, so that the operator can intuitively see the internal structure. The system can adapt to different operating environments and requirements. Whether it is a simple plane operation or a complex three-dimensional space operation, it can provide effective obstacle avoidance and operation guidance, and provide important information support for subsequent demolition operations, so that when performing demolition operations, key components can be avoided in a targeted manner to reduce damage to the building structure. Not only the safety of the operation is improved, but also the efficiency and accuracy of the operation are improved, and unnecessary losses caused by blind operation are avoided.

[0111] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0112] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0113] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A visual obstacle avoidance system, characterized in that: The visual obstacle avoidance system is applied to an operating tool for demolition operations. The visual obstacle avoidance system includes a tool subsystem, a transport control subsystem, and a terminal subsystem. The tool subsystem and the transport control subsystem are respectively connected to the terminal subsystem. The tool subsystem is used to obtain component information data of internal components of the wall within the preset working area according to the scanning movement of the working tool within the preset working area; The movement control subsystem is used to obtain the movement information of the working tool in a preset spatial coordinate system; The terminal subsystem is used to generate a visualized image of the internal components of the wall according to the component information data and the motion information.

2. The visual obstacle avoidance system according to claim 1, characterized in that: The tool subsystem includes a perspective detection unit, an angular posture detection unit, a power control unit, a first data processing unit and a first data transmission unit; the perspective detection unit, the angular posture detection unit and the power control unit are respectively connected to the first data processing unit, and the first data processing unit is connected to the terminal subsystem through the first data transmission unit; The perspective detection unit is used to obtain the reflection signal of the internal component of the wall according to the component characteristics of the internal component of the wall and the scanning movement of the working tool in the preset working area, and determine the distribution information of the internal component of the wall according to the reflection signal; The angular posture detection unit is used to obtain posture data of the working tool moving in the preset working area; The power control unit is used to obtain the power parameters of the working tool; The first data processing unit is used to integrate the distribution information of the internal components of the wall, the posture data of the working tool, and the power parameters of the working tool to obtain the component information data; The first data transmission unit is used to transmit the component information data to the terminal subsystem.

3. The visual obstacle avoidance system according to claim 1, characterized in that: The operation control subsystem includes a linear motion control unit, a spatial coordinate detection unit, a pitch motion control unit, a second data processing unit and a second data transmission unit, wherein the linear motion control unit, the spatial coordinate detection unit and the pitch motion control unit are respectively connected to the second data processing unit, and the second data processing unit is connected to the terminal subsystem via the second data transmission unit; The linear motion control unit is used to obtain linear motion data of the working tool in the preset working area; The pitch motion control unit is used to obtain the pitch operation data of the working tool in the preset working area; The spatial coordinate detection unit is used to obtain continuous coordinate data of the working tool in the preset spatial coordinate system according to the movement of the working tool in the preset working area; The second data processing unit is used to obtain the motion information of the working tool in the preset space coordinate system according to the continuous coordinate data, the straight line operation data and the pitch operation data; The second data transmission unit is used to transmit the motion information to the terminal subsystem.

4. The visual obstacle avoidance system according to claim 3, characterized in that: The terminal subsystem includes a third data transmission unit, a third data processing unit and an image generation unit; the third data transmission unit is connected to the third data processing unit, and the third data processing unit is connected to the image generation unit; The third data transmission unit is used to receive the motion information transmitted by the transport control subsystem and the component information data transmitted by the tool subsystem; The third data processing unit is used to determine the attribute vector of the internal component of the wall in the preset space coordinate system according to the component information data and the motion information; The image generation unit is used to reconstruct the coordinates of the attribute vector of the preset space coordinate system to obtain the attribute vector after coordinate reconstruction; and obtain the visualization image of the internal component of the wall according to the attribute vector after coordinate reconstruction.

5. The visual obstacle avoidance system according to claim 4, characterized in that: The third data processing unit is specifically used for: According to the component information data and the motion information of the working tool, the scanning coordinates of the working tool corresponding to the internal component of the wall are obtained, and the component properties of the internal component of the wall are determined; Determine the attribute value of the internal component of the wall at the scanning coordinate according to the component attribute; The attribute vector of the internal component of the wall in the preset space coordinate system is generated according to the attribute value and the scanning coordinates.

6. The visual obstacle avoidance system according to claim 4, characterized in that: The image generation unit is specifically used for: Reducing the attribute vector of the preset spatial coordinate system from the preset spatial coordinate system to a preset reduced coordinate system according to a preset reduction ratio, to obtain the reduced attribute vector of the preset reduced coordinate system; The reduced attribute vector is used as the attribute vector after the coordinates are reconstructed.

7. The visual obstacle avoidance system according to claim 5, characterized in that: The image generation unit is specifically used for: The attribute vectors reconstructed from the coordinates with the same attribute values ​​are connected in a preset order to obtain the visualized image of the internal components of the wall.

8. The visual obstacle avoidance system according to claim 4, characterized in that: The terminal subsystem further includes a control unit, and the control unit is connected to the third data processing unit; The control unit is used to determine the desired position of the working tool according to the visual image, and send the desired position to the third data processing unit; The third data processing unit is further used to determine the linear motion control data and the pitch motion control data of the working tool according to the expected position of the working tool; The third data processing unit is further used to transmit the linear motion control data and the pitch motion control data to the operation and control subsystem.

9. The visual obstacle avoidance system according to claim 8, characterized in that: The linear motion control unit of the operation control subsystem is used to drive the working tool to perform linear motion through a servo system according to the linear motion control data; The pitch motion control unit of the operation control subsystem is used to drive the working tool to perform pitch motion through the servo system according to the pitch motion control data.

10. A visual obstacle avoidance method, characterized in that: The visual obstacle avoidance operation method is applied to an operation tool for performing a demolition operation, and the visual obstacle avoidance operation method comprises: According to the scanning movement of the working tool in the preset working area, component information data of the internal components of the wall in the preset working area is obtained; Acquiring motion information of the working tool in a preset spatial coordinate system; A visualization image of the internal components of the wall is generated according to the component information data and the motion information.

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