Elevator shaft punching control method based on punching robot and related device

Abstract

The invention discloses an elevator hoistway punching control method based on a punching robot and a related device. The method comprises the steps that the punching robot receives a 3D hoistway model diagram formed by modeling through 3D scanning measurement data obtained by scanning an elevator hoistway through a 3D scanning measurement module; a punching robot obtains punching information, punching path planning processing is conducted on the basis of the punching information and the 3D hoistway model diagram, punching path information is obtained, and the punching information comprises punching parameters and punching position parameters; the punching robot executes punching operation according to the punching information on the basis of the punching path information, and a mounting hole corresponding to the elevator shaft is obtained; and the punching robot carries out installation operation of expansion screws and bottom codes on the installation holes based on the screw locking module. In the embodiment of the invention, the high-precision punching operation of the punching robot in the complex environment in the elevator shaft is realized, and the punching operation requirement of the elevator shaft is met.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to an elevator shaft drilling control method based on a drilling robot and related devices. Background Art

[0002] When installing an elevator, it is necessary to perform drilling operations on related installation holes at various preset positions in the elevator shaft. Since the environment inside the elevator shaft is relatively complex and the working space is relatively narrow, manual work is difficult and has certain operational risks. At the same time, the use of operating robots can realize automatic drilling operations and reduce the risks of manual operations. However, the existing control method makes it impossible for operating robots to achieve precision drilling operations in the complex elevator shaft environment. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides an elevator shaft drilling control method and related devices based on a drilling robot, so that the drilling robot can perform high-precision drilling operations in the complex environment of the elevator shaft to meet the drilling operation requirements of the elevator shaft.

[0004] In order to solve the above technical problems, an embodiment of the present invention provides an elevator shaft drilling control method based on a drilling robot, the method comprising:

[0005] The drilling robot receives the 3D scanning measurement module and uses the 3D scanning measurement data obtained by scanning the elevator shaft to form a 3D shaft model diagram;

[0006] The drilling robot obtains drilling information, and performs drilling path planning processing based on the drilling information and the 3D well model diagram to obtain drilling path information, wherein the drilling information includes drilling parameters and drilling position parameters;

[0007] The punching robot performs a punching operation according to the punching information based on the punching path information to obtain installation holes corresponding to the elevator shaft;

[0008] The punching robot performs installation operations of expansion screws and base codes on the installation holes based on the screw locking module.

[0009] Optionally, the drilling robot receives a 3D scanning measurement module to form a 3D shaft model diagram by modeling the 3D scanning measurement data obtained by scanning the elevator shaft, including:

[0010] The 3D scanning and measuring module is arranged on the base of the punching robot. When the punching robot is controlled to move up and down along the tilak climbing rope, the 3D scanning and measuring module performs scanning processing on the elevator through a preset rotation angle to obtain 3D scanning measurement data;

[0011] The 3D scanning and measuring module performs three-dimensional modeling processing using the 3D scanning and measuring data to generate a 3D shaft model diagram, and uploads the 3D shaft model diagram to the drilling robot based on a communication connection;

[0012] The drilling robot receives the 3D shaft model diagram uploaded by the 3D scanning measurement module based on a communication connection.

[0013] Optionally, the 3D scanning measurement module uses the 3D scanning measurement data to perform three-dimensional modeling processing to generate a 3D shaft model diagram, including:

[0014] The 3D scanning measurement module performs point cloud processing on the 3D scanning measurement data according to the up and down moving distance and the rotation angle to form a plurality of 3D scanning point cloud data sets;

[0015] Utilize several 3D scanning point cloud data sets to perform 3D modeling processing respectively, and generate several elevator shaft surface diagrams;

[0016] Splicing several elevator shaft surface images to form a spliced ​​shaft model image;

[0017] The spliced ​​shaft model diagram is subjected to surface reconstruction and filling processing in sequence to form a 3D shaft model diagram.

[0018] Optionally, the drilling robot obtains drilling information, and performs drilling path planning processing based on the drilling information and the 3D well model diagram to obtain the drilling path information, including:

[0019] The punching robot communicates with the host computer, receives the punching construction drawing data issued by the host computer, and performs punching parameter and punching position parameter extraction processing on the punching construction drawing data to obtain the punching information;

[0020] Marking the drilling information on the 3D shaft model diagram according to the drilling parameters and the drilling position parameters combined with the drilling construction drawing data to form a marked 3D shaft model diagram;

[0021] The current position and current posture of the punching robot on the tilak rope climbing are obtained, and based on the current position and current posture of the punching robot, a punching path planning process is performed in the marked 3D shaft model diagram according to the shortest path method to generate punching path information based on the marked 3D shaft model diagram.

[0022] Optionally, the punching robot performs a punching operation according to the punching information based on the punching path information to obtain an installation hole corresponding to the elevator shaft, including:

[0023] The punching robot moves to a corresponding punching operation position based on the punching path information, starts a level detection device to perform a level detection process, and adjusts the level state of the punching robot according to the level detection result;

[0024] After the punching robot completes the horizontal adjustment, the support rod of the punching robot is controlled to support the shaft wall of the elevator shaft, and the carried punching module is called to perform the punching operation according to the punching information to obtain the installation holes corresponding to the elevator shaft.

[0025] Optionally, after obtaining the installation holes corresponding to the elevator shaft, the method further includes:

[0026] The drilling robot calls the carried soot blowing device to perform soot blowing operation on the installation hole; and

[0027] The drilling robot calls the drilling bit inspection module to detect the wear degree of the drilling bit, and determines whether it is necessary to perform the drilling bit replacement operation according to the drilling bit wear degree detection result.

[0028] Optionally, the drilling robot performs installation operations of expansion screws and base codes on the installation holes based on the screw locking module, including:

[0029] The punching robot controls the screw locking module to move to the position of the installation hole corresponding to the elevator shaft, and drives the expansion screw into the installation hole. The depth of the expansion screw driven into the installation hole is controlled by the depth sensing device.

[0030] The punching robot controls the screw locking module to select the nut on the expansion screw to perform the base code locking operation.

[0031] In addition, an embodiment of the present invention further provides an elevator shaft drilling control device based on a drilling robot, the device comprising:

[0032] Receiving module: used for the drilling robot to receive the 3D shaft model diagram formed by modeling the 3D scanning measurement data obtained by scanning the elevator shaft by the 3D scanning measurement module;

[0033] Path planning module: used for the drilling robot to obtain drilling information, and perform drilling path planning processing based on the drilling information and the 3D well model diagram to obtain drilling path information, wherein the drilling information includes drilling parameters and drilling position parameters;

[0034] Punching control module: used for the punching robot to perform the punching operation according to the punching information based on the punching path information, and obtain the installation holes corresponding to the elevator shaft;

[0035] Installation operation module: used for the punching robot to perform the installation operation of the expansion screws and the base code on the installation hole based on the screw locking module.

[0036] In addition, an embodiment of the present invention further provides a controller for a drilling robot, including a processor and a memory, wherein the processor runs a computer program or code stored in the memory to implement an elevator shaft drilling control method as described in any one of the above.

[0037] In addition, an embodiment of the present invention further provides a computer-readable storage medium for storing a computer program or code. When the computer program or code is executed by a processor, an elevator shaft drilling control method as described in any one of the above is implemented.

[0038] In an embodiment of the present invention, a drilling robot receives a 3D shaft model diagram formed by modeling the 3D scanning measurement data obtained by scanning the elevator shaft by a 3D scanning measurement module; the drilling robot obtains drilling information, and performs drilling path planning processing based on the drilling information and the 3D shaft model diagram to obtain drilling path information, wherein the drilling information includes drilling parameters and drilling position parameters; the drilling robot performs drilling operations according to the drilling path information based on the drilling information to obtain installation holes corresponding to the elevator shaft; the drilling robot performs installation operations of expansion screws and base codes on the installation holes based on the locking screw module; the drilling robot performs high-precision drilling operations in the complex environment of the elevator shaft to meet the drilling operation requirements of the elevator shaft; there is no need for manual work to perform high-risk drilling operations in the complex environment of the elevator shaft, thereby ensuring the safety of relevant personnel and reducing the drilling operation costs of the elevator shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 1 is a flow chart of an elevator shaft drilling control method based on a drilling robot in an embodiment of the present invention;

[0041] Figure 2 is a flow chart of an elevator shaft drilling control method based on a drilling robot in another embodiment of the present invention;

[0042] Figure 3 Schematic diagram of the structure of an elevator shaft drilling control device based on a drilling robot in an embodiment of the present invention;

[0043] Figure 4 It is a schematic diagram of the structural composition of the controller of the punching robot in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] For example, see Figure 1 , Figure 1 It is a flow chart of an elevator shaft drilling control method based on a drilling robot in an embodiment of the present invention.

[0046] like Figure 1 As shown, a drilling control method for an elevator shaft based on a drilling robot, the method comprising:

[0047] S101: The drilling robot receives the 3D scanning measurement data obtained by scanning the elevator shaft, and the 3D shaft model diagram is formed by modeling the 3D shaft model;

[0048] In the specific implementation process of the present invention, the punching robot receives a 3D shaft model diagram formed by modeling the 3D scanning measurement data obtained by scanning the elevator shaft by a 3D scanning measurement module, including: setting the 3D scanning measurement module on the base of the punching robot, and controlling the punching robot to move up and down along the tilak climbing rope, the 3D scanning measurement module performs scanning processing on the elevator shaft through a preset rotation angle to obtain 3D scanning measurement data; the 3D scanning measurement module uses the 3D scanning measurement data to perform three-dimensional modeling processing to generate a 3D shaft model diagram, and uploads the 3D shaft model diagram to the punching robot based on a communication connection; the punching robot receives the 3D shaft model diagram uploaded by the 3D scanning measurement module based on the communication connection.

[0049] Furthermore, the 3D scanning measurement module uses the 3D scanning measurement data to perform three-dimensional modeling processing to generate a 3D shaft model diagram, including: the 3D scanning measurement module performs point cloud processing on the 3D scanning measurement data according to the up and down movement distance and the rotation angle to form a number of 3D scanning point cloud data sets; uses a number of 3D scanning point cloud data sets to perform three-dimensional modeling processing respectively to generate a number of elevator shaft surface diagrams; splices a number of elevator shaft surface diagrams to form a spliced ​​shaft model diagram; and sequentially performs surface reconstruction and filling processing on the spliced ​​shaft model diagram to form a 3D shaft model diagram.

[0050] Specifically, since the elevator shaft is relatively narrow and difficult to construct, a 3D shaft model diagram needs to be drawn before controlling the drilling robot to perform the drilling operation; in the present embodiment, a 3D scanning and measuring module is used to perform scanning and measurement of the elevator shaft to obtain 3D scanning and measurement data, and then the 3D scanning and measurement data are used by the 3D modeling unit in the 3D scanning and measurement module to perform 3D modeling processing using these 3D scanning and measurement data to obtain the corresponding 3D shaft model diagram; at the same time, the 3D scanning and measurement module is connected to the drilling robot by wireless communication, and the formed 3D shaft model diagram is transmitted to the drilling robot, so that the drilling robot can receive the 3D shaft model diagram uploaded by the 3D scanning and measurement module.

[0051] In an embodiment of the present invention, the 3D scanning and measuring module can be set on the base of the punching robot, and then the punching robot moves up and down along the tilak climbing rope, thereby starting the 3D scanning and measuring module to perform scanning processing on the elevator through a preset rotation angle to obtain 3D scanning measurement data; the 3D scanning and measuring module can also be set on a drone, and the drone flies up and down in the elevator shaft, thereby starting the 3D scanning and measuring module to perform scanning processing on the elevator through a preset rotation angle to obtain 3D scanning measurement data.

[0052] Since the 3D scanning measurement module performs 3D scanning operations by up and down movement and different rotation angles during scanning, it is necessary to perform point cloud processing on the 3D scanning measurement data scanned at different rotation angles at the same height, thereby forming several 3D scanning point cloud data sets; here, the different rotation angles can be 0°, 90°, 180° and 270°, that is, each rotation is 90° apart; in this way, there will be 4 3D scanning point cloud data sets at different up and down movement distances.

[0053] During three-dimensional modeling, several 3D scanning point cloud data sets are used for three-dimensional modeling processing respectively, so as to generate several elevator shaft surface images; then several elevator shaft surface images are spliced ​​to form a spliced ​​shaft model image; finally, the spliced ​​shaft model image is sequentially subjected to surface reconstruction and filling processing to form a 3D shaft model image; since the point cloud data in the 3D scanning point cloud data set may contain noise points or mis-sampled points, the formed spliced ​​shaft model image needs to be optimized accordingly. In this embodiment, the surface is first reconstructed and then filled; during the surface reconstruction, the CAD model is used, that is, the corresponding point cloud data is first segmented according to the geometric feature points of the spliced ​​shaft model image, and then each surface piece is fitted respectively, and then multiple surfaces are reconstructed into a whole through operations such as surface transition, intersection, and trimming; finally, the filling technology is used to fill in some corresponding reconstruction details to obtain a 3D shaft model image.

[0054] S102: the drilling robot obtains drilling information, and performs drilling path planning based on the drilling information and the 3D well model diagram to obtain drilling path information, wherein the drilling information includes drilling parameters and drilling position parameters;

[0055] In the specific implementation process of the present invention, the punching robot obtains the punching information, and performs punching path planning processing based on the punching information and the 3D shaft model diagram to obtain the punching path information, including: the punching robot communicates with the host computer, and receives the punching construction drawing data issued by the host computer, and performs punching parameter and punching position parameter extraction processing on the punching construction drawing data to obtain the punching information; the punching information is marked in the 3D shaft model diagram according to the punching parameters and the punching position parameters combined with the punching construction drawing data to form a marked 3D shaft model diagram; the current position and current posture of the punching robot on the tilak climbing rope are obtained, and the punching path planning processing is performed in the marked 3D shaft model diagram according to the shortest path method based on the current position and current posture of the punching robot, and the punching path information based on the marked 3D shaft model diagram is generated.

[0056] Specifically, at this time, the punching robot will communicate with the host computer and receive the punching construction drawing data issued by the host computer. After the punching robot receives the punching construction drawing data, it is necessary to extract and process the punching parameters and punching position parameters on the punching construction drawing data to obtain the punching information; when extracting, it is achieved by identifying the annotation data on the punching construction drawing data; then the punching information is marked in the 3D shaft model diagram according to the punching parameters and punching position parameters combined with the punching construction drawing data to form a marked 3D shaft model diagram; at this time, it is necessary to obtain the current position and current posture of the punching robot on the tilak climbing rope, and perform punching path planning in the marked 3D shaft model diagram according to the shortest path method based on the current position and current posture of the punching robot to generate punching path information based on the marked 3D shaft model diagram.

[0057] In the process of obtaining the current position and current posture of the punching robot on the tilak rope climbing, the data are obtained through feedback from the distance sensor and posture sensor carried by the punching robot.

[0058] S103: the drilling robot performs a drilling operation according to the drilling information based on the drilling path information to obtain installation holes corresponding to the elevator shaft;

[0059] In the specific implementation process of the present invention, the punching robot performs the punching operation according to the punching information based on the punching path information to obtain the installation holes corresponding to the elevator shaft, including: the punching robot moves to the corresponding punching operation position based on the punching path information, and starts the horizontal detection device to perform horizontal detection processing, and adjusts the horizontal state of the punching robot according to the horizontal detection result; after the punching robot completes the horizontal adjustment, the support rod of the punching robot is controlled to support the shaft wall of the elevator shaft, and the carried punching module is called to perform the punching operation according to the punching information to obtain the installation holes corresponding to the elevator shaft.

[0060] Furthermore, after obtaining the installation hole corresponding to the elevator shaft, it also includes: the drilling robot calls the soot blowing device it carries to perform soot blowing operations on the installation hole; and the drilling robot calls the drilling drill bit inspection module to detect the wear degree of the drilling drill bit, and determines whether the drilling drill bit needs to be replaced based on the drilling drill bit wear degree detection result.

[0061] Specifically, the punching robot will first move to the corresponding punching operation position according to the punching path information, and then start the horizontal detection device to perform horizontal detection processing, and adjust the horizontal state of the punching robot according to the horizontal detection result; and after the punching robot completes the horizontal adjustment, the support rod of the punching robot is controlled to support the shaft wall of the elevator shaft, and the carried punching module is called to perform the punching operation according to the punching information to obtain the installation holes corresponding to the elevator shaft.

[0062] After completing the drilling, the drilling robot calls the soot blowing device it carries to perform soot blowing operations on the installation holes; and the drilling robot calls the drilling drill bit inspection module to detect the wear degree of the drilling drill bit, and determines whether the drilling drill bit needs to be replaced based on the drilling drill bit wear degree detection result. In this way, the drilling drill bit can be replaced in time, and the dust in the installation hole can be blown out in time to avoid being affected when installing the expansion screws and base code later.

[0063] S104: The drilling robot performs installation operations of expansion screws and base codes on the installation holes based on the screw locking module.

[0064] During the specific implementation of the present invention, the punching robot performs the installation operation of the expansion screw and the base code on the mounting hole based on the screw locking module, including: the punching robot controls the screw locking module to move to the position of the mounting hole corresponding to the elevator shaft, and drives the expansion screw into the mounting hole, and the depth of the expansion screw driven into the mounting hole is controlled by a depth sensing device; the punching robot controls the screw locking module to select the nut on the expansion screw to perform the base code locking operation.

[0065] Specifically, after completing the drilling operation of the installation hole, the punching robot will control the locking screw module to move to the position of the installation hole corresponding to the elevator shaft, and nail the expansion screw into the installation hole. The depth of the expansion screw nailed into the installation hole is controlled by the depth sensing device; finally, the punching robot will control the locking screw module to select the nut on the expansion screw to perform the bottom code locking operation.

[0066] In an embodiment of the present invention, a drilling robot receives a 3D shaft model diagram formed by modeling the 3D scanning measurement data obtained by scanning the elevator shaft by a 3D scanning measurement module; the drilling robot obtains drilling information, and performs drilling path planning processing based on the drilling information and the 3D shaft model diagram to obtain drilling path information, wherein the drilling information includes drilling parameters and drilling position parameters; the drilling robot performs drilling operations according to the drilling path information based on the drilling information to obtain installation holes corresponding to the elevator shaft; the drilling robot performs installation operations of expansion screws and base codes on the installation holes based on the locking screw module; the drilling robot performs high-precision drilling operations in the complex environment of the elevator shaft to meet the drilling operation requirements of the elevator shaft; there is no need for manual work to perform high-risk drilling operations in the complex environment of the elevator shaft, thereby ensuring the safety of relevant personnel and reducing the drilling operation costs of the elevator shaft.

[0067] For example 2, please refer to Figure 2 , Figure 2 It is a flow chart of an elevator shaft drilling control method based on a drilling robot in another embodiment of the present invention.

[0068] like Figure 2 As shown, a drilling control method for an elevator shaft based on a drilling robot, the method comprising:

[0069] S201: The 3D scanning and measuring module is arranged on the base of the punching robot, and when the punching robot is controlled to move up and down along the tilak climbing rope, the 3D scanning and measuring module performs scanning processing on the elevator through a preset rotation angle to obtain 3D scanning measurement data;

[0070] S202: the 3D scanning measurement module performs point cloud processing on the 3D scanning measurement data according to the up and down moving distance and the rotation angle to form a plurality of 3D scanning point cloud data sets;

[0071] S203: performing three-dimensional modeling processing using a plurality of 3D scanning point cloud data sets to generate a plurality of elevator shaft surface diagrams;

[0072] S204: splicing a plurality of elevator shaft surface images to form a spliced ​​shaft model image;

[0073] S205: performing surface reconstruction and filling processing on the spliced ​​shaft model diagram in sequence to form a 3D shaft model diagram, and uploading the 3D shaft model diagram to the drilling robot based on a communication connection;

[0074] S206: The drilling robot receives the 3D shaft model image uploaded by the 3D scanning measurement module based on the communication connection;

[0075] S207: the drilling robot obtains drilling information, and performs drilling path planning based on the drilling information and the 3D well model diagram to obtain drilling path information, wherein the drilling information includes drilling parameters and drilling position parameters;

[0076] S208: The drilling robot performs a drilling operation according to the drilling information based on the drilling path information to obtain installation holes corresponding to the elevator shaft;

[0077] S209: The drilling robot performs installation operations of expansion screws and base codes on the installation holes based on the screw locking module.

[0078] Specifically, the specific implementation of the embodiment can be referred to the above embodiment, which will not be described in detail here.

[0079] For example 3, please refer to Figure 3 , Figure 3 It is a schematic diagram of the structural composition of an elevator shaft drilling control device based on a drilling robot in an embodiment of the present invention.

[0080] like Figure 3 As shown, an elevator shaft drilling control device based on a drilling robot, the device comprising:

[0081] Receiving module 301: used for the drilling robot to receive the 3D shaft model diagram formed by modeling the 3D scanning measurement data obtained by scanning the elevator shaft by the 3D scanning measurement module;

[0082] In the specific implementation process of the present invention, the punching robot receives a 3D shaft model diagram formed by modeling the 3D scanning measurement data obtained by scanning the elevator shaft by a 3D scanning measurement module, including: setting the 3D scanning measurement module on the base of the punching robot, and controlling the punching robot to move up and down along the tilak climbing rope, the 3D scanning measurement module performs scanning processing on the elevator shaft through a preset rotation angle to obtain 3D scanning measurement data; the 3D scanning measurement module uses the 3D scanning measurement data to perform three-dimensional modeling processing to generate a 3D shaft model diagram, and uploads the 3D shaft model diagram to the punching robot based on a communication connection; the punching robot receives the 3D shaft model diagram uploaded by the 3D scanning measurement module based on the communication connection.

[0083] Furthermore, the 3D scanning measurement module uses the 3D scanning measurement data to perform three-dimensional modeling processing to generate a 3D shaft model diagram, including: the 3D scanning measurement module performs point cloud processing on the 3D scanning measurement data according to the up and down movement distance and the rotation angle to form a number of 3D scanning point cloud data sets; uses a number of 3D scanning point cloud data sets to perform three-dimensional modeling processing respectively to generate a number of elevator shaft surface diagrams; splices a number of elevator shaft surface diagrams to form a spliced ​​shaft model diagram; and sequentially performs surface reconstruction and filling processing on the spliced ​​shaft model diagram to form a 3D shaft model diagram.

[0084] Specifically, since the elevator shaft is relatively narrow and difficult to construct, a 3D shaft model diagram needs to be drawn before controlling the drilling robot to perform the drilling operation; in the present embodiment, a 3D scanning and measuring module is used to perform scanning and measurement of the elevator shaft to obtain 3D scanning and measurement data, and then the 3D scanning and measurement data are used by the 3D modeling unit in the 3D scanning and measurement module to perform 3D modeling processing using these 3D scanning and measurement data to obtain the corresponding 3D shaft model diagram; at the same time, the 3D scanning and measurement module is connected to the drilling robot by wireless communication, and the formed 3D shaft model diagram is transmitted to the drilling robot, so that the drilling robot can receive the 3D shaft model diagram uploaded by the 3D scanning and measurement module.

[0085] In an embodiment of the present invention, the 3D scanning and measuring module can be set on the base of the punching robot, and then the punching robot moves up and down along the tilak climbing rope, thereby starting the 3D scanning and measuring module to perform scanning processing on the elevator through a preset rotation angle to obtain 3D scanning measurement data; the 3D scanning and measuring module can also be set on a drone, and the drone flies up and down in the elevator shaft, thereby starting the 3D scanning and measuring module to perform scanning processing on the elevator through a preset rotation angle to obtain 3D scanning measurement data.

[0086] Since the 3D scanning measurement module performs 3D scanning operations by up and down movement and different rotation angles during scanning, it is necessary to perform point cloud processing on the 3D scanning measurement data scanned at different rotation angles at the same height, thereby forming several 3D scanning point cloud data sets; here, the different rotation angles can be 0°, 90°, 180° and 270°, that is, each rotation is 90° apart; in this way, there will be 4 3D scanning point cloud data sets at different up and down movement distances.

[0087] During three-dimensional modeling, several 3D scanning point cloud data sets are used for three-dimensional modeling processing respectively, so as to generate several elevator shaft surface images; then several elevator shaft surface images are spliced ​​to form a spliced ​​shaft model image; finally, the spliced ​​shaft model image is sequentially subjected to surface reconstruction and filling processing to form a 3D shaft model image; since the point cloud data in the 3D scanning point cloud data set may contain noise points or mis-sampled points, the formed spliced ​​shaft model image needs to be optimized accordingly. In this embodiment, the surface is first reconstructed and then filled; during the surface reconstruction, the CAD model is used, that is, the corresponding point cloud data is first segmented according to the geometric feature points of the spliced ​​shaft model image, and then each surface piece is fitted respectively, and then multiple surfaces are reconstructed into a whole through operations such as surface transition, intersection, and trimming; finally, the filling technology is used to fill in some corresponding reconstruction details to obtain a 3D shaft model image.

[0088] Path planning module 302: used for the drilling robot to obtain drilling information, and perform drilling path planning processing based on the drilling information and the 3D well model diagram to obtain drilling path information, wherein the drilling information includes drilling parameters and drilling position parameters;

[0089] In the specific implementation process of the present invention, the punching robot obtains the punching information, and performs punching path planning processing based on the punching information and the 3D shaft model diagram to obtain the punching path information, including: the punching robot communicates with the host computer, and receives the punching construction drawing data issued by the host computer, and performs punching parameter and punching position parameter extraction processing on the punching construction drawing data to obtain the punching information; the punching information is marked in the 3D shaft model diagram according to the punching parameters and the punching position parameters combined with the punching construction drawing data to form a marked 3D shaft model diagram; the current position and current posture of the punching robot on the tilak climbing rope are obtained, and the punching path planning processing is performed in the marked 3D shaft model diagram according to the shortest path method based on the current position and current posture of the punching robot, and the punching path information based on the marked 3D shaft model diagram is generated.

[0090] Specifically, at this time, the punching robot will communicate with the host computer and receive the punching construction drawing data issued by the host computer. After the punching robot receives the punching construction drawing data, it is necessary to extract and process the punching parameters and punching position parameters on the punching construction drawing data to obtain the punching information; when extracting, it is achieved by identifying the annotation data on the punching construction drawing data; then the punching information is marked in the 3D shaft model diagram according to the punching parameters and punching position parameters combined with the punching construction drawing data to form a marked 3D shaft model diagram; at this time, it is necessary to obtain the current position and current posture of the punching robot on the tilak climbing rope, and perform punching path planning in the marked 3D shaft model diagram according to the shortest path method based on the current position and current posture of the punching robot to generate punching path information based on the marked 3D shaft model diagram.

[0091] In the process of obtaining the current position and current posture of the punching robot on the tilak rope climbing, the data are obtained through feedback from the distance sensor and posture sensor carried by the punching robot.

[0092] Punching control module 303: used for the punching robot to perform the punching operation according to the punching information based on the punching path information, and obtain the installation holes corresponding to the elevator shaft;

[0093] In the specific implementation process of the present invention, the punching robot performs the punching operation according to the punching information based on the punching path information to obtain the installation holes corresponding to the elevator shaft, including: the punching robot moves to the corresponding punching operation position based on the punching path information, and starts the horizontal detection device to perform horizontal detection processing, and adjusts the horizontal state of the punching robot according to the horizontal detection result; after the punching robot completes the horizontal adjustment, the support rod of the punching robot is controlled to support the shaft wall of the elevator shaft, and the carried punching module is called to perform the punching operation according to the punching information to obtain the installation holes corresponding to the elevator shaft.

[0094] Furthermore, after obtaining the installation hole corresponding to the elevator shaft, it also includes: the drilling robot calls the soot blowing device it carries to perform soot blowing operations on the installation hole; and the drilling robot calls the drilling drill bit inspection module to detect the wear degree of the drilling drill bit, and determines whether the drilling drill bit needs to be replaced based on the drilling drill bit wear degree detection result.

[0095] Specifically, the punching robot will first move to the corresponding punching operation position according to the punching path information, and then start the horizontal detection device to perform horizontal detection processing, and adjust the horizontal state of the punching robot according to the horizontal detection result; and after the punching robot completes the horizontal adjustment, the support rod of the punching robot is controlled to support the shaft wall of the elevator shaft, and the carried punching module is called to perform the punching operation according to the punching information to obtain the installation holes corresponding to the elevator shaft.

[0096] After completing the drilling, the drilling robot calls the soot blowing device it carries to perform soot blowing operations on the installation holes; and the drilling robot calls the drilling drill bit inspection module to detect the wear degree of the drilling drill bit, and determines whether the drilling drill bit needs to be replaced based on the drilling drill bit wear degree detection result. In this way, the drilling drill bit can be replaced in time, and the dust in the installation hole can be blown out in time to avoid being affected when installing the expansion screws and base code later.

[0097] Installation operation module 304: used by the drilling robot to perform the installation operation of the expansion screws and the base code on the installation hole based on the screw locking module.

[0098] During the specific implementation of the present invention, the punching robot performs the installation operation of the expansion screw and the base code on the mounting hole based on the screw locking module, including: the punching robot controls the screw locking module to move to the position of the mounting hole corresponding to the elevator shaft, and drives the expansion screw into the mounting hole, and the depth of the expansion screw driven into the mounting hole is controlled by a depth sensing device; the punching robot controls the screw locking module to select the nut on the expansion screw to perform the base code locking operation.

[0099] Specifically, after completing the drilling operation of the installation hole, the punching robot will control the locking screw module to move to the position of the installation hole corresponding to the elevator shaft, and nail the expansion screw into the installation hole. The depth of the expansion screw nailed into the installation hole is controlled by the depth sensing device; finally, the punching robot will control the locking screw module to select the nut on the expansion screw to perform the bottom code locking operation.

[0100] In an embodiment of the present invention, a drilling robot receives a 3D shaft model diagram formed by modeling the 3D scanning measurement data obtained by scanning the elevator shaft by a 3D scanning measurement module; the drilling robot obtains drilling information, and performs drilling path planning processing based on the drilling information and the 3D shaft model diagram to obtain drilling path information, wherein the drilling information includes drilling parameters and drilling position parameters; the drilling robot performs drilling operations according to the drilling path information based on the drilling information to obtain installation holes corresponding to the elevator shaft; the drilling robot performs installation operations of expansion screws and base codes on the installation holes based on the locking screw module; the drilling robot performs high-precision drilling operations in the complex environment of the elevator shaft to meet the drilling operation requirements of the elevator shaft; there is no need for manual work to perform high-risk drilling operations in the complex environment of the elevator shaft, thereby ensuring the safety of relevant personnel and reducing the drilling operation costs of the elevator shaft.

[0101] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the elevator shaft drilling control method of any one of the above embodiments is implemented. The computer-readable storage medium includes, but is not limited to, any type of disk (including floppy disk, hard disk, optical disk, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (EraSable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or optical card. That is, the storage device includes any medium that can store or transmit information in a readable form by a device (for example, a computer, a mobile phone), which can be a read-only memory, a disk or an optical disk, etc.

[0102] An embodiment of the present invention further provides a computer application program, which runs on a computer and is used to execute the elevator shaft drilling control method of any one of the above embodiments.

[0103] also, Figure 4 It is a schematic diagram of the structural composition of the controller of the punching robot in an embodiment of the present invention.

[0104] The embodiment of the present invention also provides a controller of a drilling robot, such as Figure 4 The controller of the drilling robot includes a processor 402, a memory 403, an input unit 404, a display unit 405 and other devices. Those skilled in the art will understand that Figure 4 The structural components of the controller of the punching robot shown do not constitute a limitation on all devices, and may include more or fewer components than shown, or combine certain components. The memory 403 can be used to store the application 401 and various functional modules, and the processor 402 runs the application 401 stored in the memory 403, thereby executing various functional applications and data processing of the device. The memory can be an internal memory or an external memory, or include both internal and external memories. The internal memory may include a read-only memory (ROM), a programmable ROM (PROM), an electrically programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a flash memory, or a random access memory. The external memory may include a hard disk, a floppy disk, a ZIP disk, a U disk, a magnetic tape, etc. The memory disclosed in the present invention includes but is not limited to these types of memories. The memory disclosed in the present invention is only used as an example and not as a limitation.

[0105] The input unit 404 is used to receive the input of the signal and the keyword input by the user. The input unit 404 may include a touch panel and other input devices. The touch panel can collect the user's touch operation on or near it (such as the user's operation on or near the touch panel using any suitable object or accessory such as a finger, stylus, etc.), and drive the corresponding connection device according to a pre-set program; other input devices may include but are not limited to one or more of a physical keyboard, a function key (such as a playback control key, a switch key, etc.), a trackball, a mouse, a joystick, etc. The display unit 405 can be used to display the information input by the user or the information provided to the user and various menus of the terminal device. The display unit 405 can be in the form of a liquid crystal display, an organic light emitting diode, etc. The processor 402 is the control center of the terminal device, which uses various interfaces and lines to connect the various parts of the entire device, and executes various functions and processes data by running or executing software programs and / or modules stored in the memory 403, and calling the data stored in the memory.

[0106] As an embodiment, the controller of the drilling robot includes: one or more processors 402, a memory 403, and one or more applications 401, wherein the one or more applications 401 are stored in the memory 403 and are configured to be executed by the one or more processors 402, and the one or more applications 401 are configured to execute the elevator shaft drilling control method in any one of the above-mentioned embodiments.

[0107] In an embodiment of the present invention, a drilling robot receives a 3D shaft model diagram formed by modeling the 3D scanning measurement data obtained by scanning the elevator shaft by a 3D scanning measurement module; the drilling robot obtains drilling information, and performs drilling path planning processing based on the drilling information and the 3D shaft model diagram to obtain drilling path information, wherein the drilling information includes drilling parameters and drilling position parameters; the drilling robot performs drilling operations according to the drilling path information based on the drilling information to obtain installation holes corresponding to the elevator shaft; the drilling robot performs installation operations of expansion screws and base codes on the installation holes based on the locking screw module; the drilling robot performs high-precision drilling operations in the complex environment of the elevator shaft to meet the drilling operation requirements of the elevator shaft; there is no need for manual work to perform high-risk drilling operations in the complex environment of the elevator shaft, thereby ensuring the safety of relevant personnel and reducing the drilling operation costs of the elevator shaft.

[0108] In addition, the above is a detailed introduction to the elevator shaft drilling control method based on the drilling robot and the related devices provided in the embodiment of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A drilling robot-based elevator shaft drilling control method, characterized in that: The method comprises: The drilling robot receives the 3D scanning measurement module and uses the 3D scanning measurement data obtained by scanning the elevator shaft to form a 3D shaft model diagram; The drilling robot obtains drilling information, and performs drilling path planning processing based on the drilling information and the 3D well model diagram to obtain drilling path information, wherein the drilling information includes drilling parameters and drilling position parameters; The punching robot performs a punching operation according to the punching information based on the punching path information to obtain installation holes corresponding to the elevator shaft; The punching robot performs installation operations of expansion screws and base codes on the installation holes based on the screw locking module.

2. The elevator shaft drilling control method according to claim 1, characterized in that: The drilling robot receives a 3D scanning measurement module to model the 3D shaft model diagram formed by using the 3D scanning measurement data obtained by scanning the elevator shaft, including: The 3D scanning and measuring module is arranged on the base of the punching robot. When the punching robot is controlled to move up and down along the tilak climbing rope, the 3D scanning and measuring module performs scanning processing on the elevator through a preset rotation angle to obtain 3D scanning measurement data; The 3D scanning and measuring module performs three-dimensional modeling processing using the 3D scanning and measuring data to generate a 3D shaft model diagram, and uploads the 3D shaft model diagram to the drilling robot based on a communication connection; The drilling robot receives the 3D shaft model diagram uploaded by the 3D scanning measurement module based on a communication connection.

3. The elevator shaft drilling control method according to claim 2, characterized in that: The 3D scanning measurement module uses the 3D scanning measurement data to perform three-dimensional modeling processing to generate a 3D shaft model diagram, including: The 3D scanning measurement module performs point cloud processing on the 3D scanning measurement data according to the up and down moving distance and the rotation angle to form a plurality of 3D scanning point cloud data sets; Utilize several 3D scanning point cloud data sets to perform 3D modeling processing respectively, and generate several elevator shaft surface diagrams; Splicing several elevator shaft surface images to form a spliced ​​shaft model image; The spliced ​​shaft model diagram is subjected to surface reconstruction and filling processing in sequence to form a 3D shaft model diagram.

4. The elevator shaft drilling control method according to claim 1, characterized in that: The drilling robot obtains drilling information, and performs drilling path planning processing based on the drilling information and the 3D well model diagram to obtain the drilling path information, including: The punching robot communicates with the host computer, receives the punching construction drawing data issued by the host computer, and performs punching parameter and punching position parameter extraction processing on the punching construction drawing data to obtain the punching information; Marking the drilling information on the 3D shaft model diagram according to the drilling parameters and the drilling position parameters combined with the drilling construction drawing data to form a marked 3D shaft model diagram; The current position and current posture of the punching robot on the tilak rope climbing are obtained, and based on the current position and current posture of the punching robot, a punching path planning process is performed in the marked 3D shaft model diagram according to the shortest path method to generate punching path information based on the marked 3D shaft model diagram.

5. The elevator shaft drilling control method according to claim 1, characterized in that: The punching robot performs a punching operation according to the punching information based on the punching path information to obtain an installation hole corresponding to the elevator shaft, including: The punching robot moves to a corresponding punching operation position based on the punching path information, starts a level detection device to perform a level detection process, and adjusts the level state of the punching robot according to the level detection result; After the punching robot completes the horizontal adjustment, the support rod of the punching robot is controlled to support the shaft wall of the elevator shaft, and the carried punching module is called to perform the punching operation according to the punching information to obtain the installation holes corresponding to the elevator shaft.

6. The elevator shaft drilling control method according to claim 1, characterized in that: After obtaining the installation holes corresponding to the elevator shaft, the method further includes: The drilling robot calls the carried soot blowing device to perform soot blowing operation on the installation hole; and The drilling robot calls the drilling bit inspection module to detect the wear degree of the drilling bit, and determines whether it is necessary to perform the drilling bit replacement operation according to the drilling bit wear degree detection result.

7. The elevator shaft drilling control method according to claim 1, characterized in that: The drilling robot performs installation operations of expansion screws and base codes on the installation holes based on the screw locking module, including: The punching robot controls the screw locking module to move to the position of the installation hole corresponding to the elevator shaft, and drives the expansion screw into the installation hole. The depth of the expansion screw driven into the installation hole is controlled by the depth sensing device. The punching robot controls the screw locking module to select the nut on the expansion screw to perform the base code locking operation.

8. An elevator shaft drilling control device based on a drilling robot, characterized in that: The device comprises: Receiving module: used for the drilling robot to receive the 3D shaft model diagram formed by modeling the 3D scanning measurement data obtained by scanning the elevator shaft by the 3D scanning measurement module; Path planning module: used for the drilling robot to obtain drilling information, and perform drilling path planning processing based on the drilling information and the 3D well model diagram to obtain drilling path information, wherein the drilling information includes drilling parameters and drilling position parameters; Punching control module: used for the punching robot to perform the punching operation according to the punching information based on the punching path information, and obtain the installation holes corresponding to the elevator shaft; Installation operation module: used for the punching robot to perform the installation operation of the expansion screws and the base code on the installation hole based on the screw locking module.

9. A controller for a drilling robot, comprising a processor and a memory, characterized in that: The processor runs the computer program or code stored in the memory to implement the elevator shaft drilling control method according to any one of claims 1 to 7.

10. A computer-readable storage medium for storing a computer program or code, characterized in that: When the computer program or code is executed by a processor, the elevator shaft drilling control method according to any one of claims 1 to 7 is implemented.

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