Retaining wall building method, robot, device and storage medium

Abstract

The invention provides a retaining wall building method, a robot, a device and a storage medium, and relates to the technical field of mine underground filling. Under the condition that a retaining wall building instruction for a target area is received, firstly, a retaining wall building scheme of the target area and a plurality of retaining wall modules corresponding to the retaining wall building scheme are obtained, then, based on the assembling sequence of all the retaining wall modules, a current to-be-assembled target retaining wall module is determined, and the target retaining wall module is assembled according to the target retaining wall module. Then, based on the retaining wall building area and the assembling mode of the multiple retaining wall modules, the robot is controlled to place the target retaining wall module to the corresponding assembling position in the retaining wall building area, finally, the assembling sequence based on all the retaining wall modules is executed again, and the operation of the current to-be-assembled target retaining wall module is determined. And the robot is controlled to assemble all the retaining wall modules, and retaining wall building of the target area is completed. Therefore, the cost in the building process of the retaining wall is effectively reduced, and the building efficiency of the retaining wall is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of underground mine filling, and in particular to a retaining wall construction method, a robot, a device and a storage medium. Background Art

[0002] Backfill retaining walls are a key link in the backfill process of underground mines (such as goafs). At present, concrete retaining walls are the most widely used retaining wall method in mine retaining walls. However, the traditional retaining wall construction process usually requires a lot of construction time and human resources, and the cost is high. How to provide a retaining wall construction method to reduce the cost of retaining wall construction and improve the efficiency of retaining wall construction is a problem that needs to be solved urgently. Summary of the invention

[0003] The present disclosure provides a retaining wall construction method, a robot, a device and a storage medium.

[0004] According to a first aspect of the present disclosure, a retaining wall construction method is provided, comprising:

[0005] When receiving a retaining wall construction instruction for a target area, obtaining a retaining wall construction scheme for the target area and a plurality of retaining wall modules corresponding to the retaining wall construction scheme, wherein the retaining wall construction scheme includes a retaining wall construction area corresponding to the target area, an assembly method between the plurality of retaining wall modules, and an assembly order of each retaining wall module in the assembly method;

[0006] Based on the assembly sequence of each retaining wall module, determining the target retaining wall module to be assembled currently;

[0007] Based on the retaining wall construction area and the assembly method between the plurality of retaining wall modules, controlling the robot to place the target retaining wall module into a corresponding assembly position in the retaining wall construction area;

[0008] Return to executing the operation of determining the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module, until the robot is controlled to assemble all the multiple retaining wall modules to complete the retaining wall construction in the target area.

[0009] According to the second aspect of the present disclosure, a robot is provided, wherein the robot comprises a chassis device, a clamping device, a sensor, a lifting device and a laser radar;

[0010] Wherein, the lifting device is installed on the chassis device, the clamping device and the laser radar are installed on the lifting device, and the sensor is installed in the clamping device;

[0011] The chassis device is used for the movement of the robot;

[0012] The clamping device is used by the robot to clamp the retaining wall module, and the sensor is used by the robot to collect the distance value between the clamping device and the retaining wall module;

[0013] The lifting device is used by the robot to adjust the height of the clamping device;

[0014] The laser radar is used for the robot to collect terrain information of the area and scan data of the assembled retaining wall modules.

[0015] Among them, the robot is used to execute the retaining wall construction method proposed in the embodiment of the first aspect of the present disclosure.

[0016] According to a third aspect of the present disclosure, a retaining wall construction device is provided, comprising:

[0017] An acquisition module is used to, upon receiving a retaining wall construction instruction for a target area, acquire a retaining wall construction scheme for the target area and a plurality of retaining wall modules corresponding to the retaining wall construction scheme, wherein the retaining wall construction scheme includes a retaining wall construction area corresponding to the target area, an assembly method between the plurality of retaining wall modules, and an assembly order of each retaining wall module in the assembly method;

[0018] A determination module, used for determining a target retaining wall module to be assembled currently based on the assembly sequence of each retaining wall module;

[0019] A control module, configured to control the robot to place the target retaining wall module into a corresponding assembly position in the retaining wall construction area based on the retaining wall construction area and the assembly method between the plurality of retaining wall modules;

[0020] The processing module is used to return to execute the operation of determining the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module, until the robot is controlled to assemble all the multiple retaining wall modules to complete the construction of the retaining wall in the target area.

[0021] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the retaining wall construction method of the above embodiment.

[0022] The present disclosure provides a retaining wall construction method, robot, device and storage medium. When receiving a retaining wall construction instruction for a target area, first obtain the retaining wall construction plan of the target area and multiple retaining wall modules corresponding to the retaining wall construction plan, then determine the target retaining wall module to be assembled based on the assembly order of each retaining wall module, then control the robot to place the target retaining wall module to the corresponding assembly position in the retaining wall construction area based on the retaining wall construction area and the assembly method between the multiple retaining wall modules, and finally return to execute the operation based on the assembly order of each retaining wall module to determine the target retaining wall module to be assembled, until the control robot assembles all the multiple retaining wall modules to complete the retaining wall construction in the target area. Therefore, by controlling the robot to assemble each retaining wall module according to the assembly order based on the retaining wall construction plan to complete the retaining wall construction, the cost of the retaining wall construction process is effectively reduced and the efficiency of the retaining wall construction is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0024] Figure 1 A schematic diagram of a flow chart of a retaining wall construction method provided in an embodiment of the present disclosure;

[0025] Figure 2 A schematic diagram of a flow chart of a retaining wall construction method provided in an embodiment of the present disclosure;

[0026] Figure 3 A schematic diagram of a flow chart of a retaining wall construction method provided in an embodiment of the present disclosure;

[0027] Figure 4 A schematic diagram of a process of building a retaining wall provided in an embodiment of the present disclosure;

[0028] Figure 5 A schematic diagram of the structure of a robot used in a retaining wall construction method provided by an embodiment of the present disclosure;

[0029] Figure 6 A schematic diagram of the structure of a robot used in a retaining wall construction method according to an embodiment of the present disclosure;

[0030] Figure 7 A schematic structural diagram of a retaining wall construction device provided in an embodiment of the present disclosure.

[0031] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0032] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0033] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this disclosure are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0034] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution disclosed in this disclosure are in compliance with the relevant provisions of national laws and regulations.

[0035] It should be noted that in the embodiments of the present disclosure, certain software, components, models and other existing solutions in the industry may be mentioned, which should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present disclosure, but it does not mean that the applicant has or will necessarily use the solution.

[0036] The retaining wall construction method, robot, device and storage medium of the embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0037] Figure 1 A schematic flow chart of a retaining wall construction method provided in an embodiment of the present disclosure.

[0038] like Figure 1 As shown, the method includes:

[0039] Step 101, upon receiving a retaining wall construction instruction for a target area, obtain a retaining wall construction plan for the target area and a plurality of retaining wall modules corresponding to the retaining wall construction plan, wherein the retaining wall construction plan includes a corresponding retaining wall construction area in the target area, an assembly method between the plurality of retaining wall modules, and an assembly order of each retaining wall module in the assembly method.

[0040] The target area may be an area of ​​a mine shaft where a retaining wall is to be filled. For example, the target area may be a mined-out area in the shaft, etc., which is not limited in the present disclosure.

[0041] Among them, the retaining wall construction plan can be predetermined based on the construction plan of the target area and the retaining wall design requirements.

[0042] Among them, the retaining wall design requirements may include parameters such as the scale and shape of the retaining wall, which are not limited in the present disclosure.

[0043] It should be noted that the retaining wall in the retaining wall construction method disclosed in the present invention may be a retaining wall assembled based on retaining wall modules.

[0044] Among them, the retaining wall module can be a lightweight concrete module pre-fabricated according to the retaining wall construction plan.

[0045] The assembly method between the retaining wall modules may be determined according to the design requirements for the retaining wall construction. For example, the assembly method between the retaining wall modules may be to assemble the retaining wall modules layer by layer from the bottom to the top of the retaining wall.

[0046] Among them, the assembly sequence of each retaining wall module can be the assembly sequence of each retaining wall module in the process of building the retaining wall.

[0047] It should be noted that, among the multiple retaining wall modules corresponding to the retaining wall construction scheme, the size of each retaining wall module can be pre-set according to the retaining wall design requirements. For example, when designing and building a retaining wall with a length of 6 meters and a height of 4 meters, the size of each retaining wall module can be set to a length of 100 mm, a width of 50 mm, and a height of 50 mm, and the present disclosure does not limit this.

[0048] In some possible implementation forms, the retaining wall module may be made by filling cement, sand and lightweight aggregate in a preset retaining wall module mold according to a preset mixing ratio.

[0049] The mixing ratio may be preset, or may be determined according to actual needs, or may be determined according to the characteristics of the lightweight aggregate to ensure the strength and lightweight effect of the concrete module. For example, the mixing ratio may be 1:2:4 (cement: sand: lightweight aggregate), which is not limited in the present disclosure.

[0050] The lightweight aggregate may be a pre-set aggregate, which may include expanded perlite, lightweight aggregate, etc., and the present disclosure does not limit this.

[0051] The retaining wall module mold can be a mold of any shape, size and material, which can be pre-set or determined according to actual needs. For example, the retaining wall module mold can be made of a steel mold to ensure that the mold structure is strong and the surface is smooth for demoulding. Its size and shape can be determined according to the retaining wall construction plan, and the present disclosure does not limit this.

[0052] It should be noted that when cement, sand and lightweight aggregate are filled in the retaining wall module mold according to the mixed ratio, a release agent can be first applied inside the mold to facilitate demoulding of the module and keep the module surface intact.

[0053] It should be noted that when cement, sand and lightweight aggregate are filled into the mold according to the mixing ratio, an appropriate amount of water reducer and fiber reinforcement material can also be added, and then the mold is vibrated by a high-frequency vibration rod to ensure that the concrete in the mold is full and the bubbles are removed. At the same time, the lightweight aggregate helps to improve the fluidity of the concrete, and the present disclosure does not limit this.

[0054] It should be noted that after filling the cement, sand and lightweight aggregate into the mold according to the mixed proportion, preliminary curing can be carried out inside the mold to ensure that the surface of the concrete retaining wall module is moist and promote the three-dimensional strength development of the concrete. Then, according to the curing time of the concrete, the concrete retaining wall module is gradually demoulded to avoid damage to the module. The demoulded concrete retaining wall module is then transferred to the preset curing area for further curing to ensure that the concrete retaining wall module meets the design strength and durability requirements, thereby improving the safety and reliability of the retaining wall.

[0055] In the present disclosure, when the monitoring system receives an instruction to build a retaining wall for a target area, it can first obtain a retaining wall construction plan for the target area, and multiple retaining wall modules corresponding to the retaining wall construction plan, thereby providing conditions for building a retaining wall in the target area.

[0056] It should be noted that the monitoring system may be a system for monitoring and controlling the retaining wall construction process, which may be pre-set, and the present disclosure does not limit this.

[0057] Step 102: determining the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module.

[0058] In the present disclosure, after obtaining the retaining wall construction plan of the target area and multiple retaining wall modules corresponding to the retaining wall construction plan, the monitoring system can first determine the target retaining wall module to be assembled based on the assembly order of each retaining wall module, so as to build the retaining wall.

[0059] Step 103 , based on the retaining wall construction area and the assembly method between the plurality of retaining wall modules, control the robot to place the target retaining wall module into a corresponding assembly position in the retaining wall construction area.

[0060] It should be noted that the robot can be a robot used to build a retaining wall, and can be a robot of any type and structure, and can be pre-set, or can also be determined according to the actual needs of the retaining wall construction. For example, the robot can be a crawler robot with a clamping device, etc., and the present disclosure does not limit this.

[0061] The assembly position may be a position where the target retaining wall module is assembled in the retaining wall construction area.

[0062] In the present disclosure, after determining the target retaining wall module to be assembled, the monitoring system can control the robot to place the target retaining wall module to the corresponding assembly position in the retaining wall construction area based on the retaining wall construction area and the assembly method between multiple retaining wall modules, thereby completing the assembly of the target retaining wall module.

[0063] Step 104, returning to perform the operation of determining the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module, until the robot is controlled to assemble all the retaining wall modules to complete the construction of the retaining wall in the target area.

[0064] In the present disclosure, after controlling the robot to place the target retaining wall module at the corresponding assembly position, the monitoring system can determine the next retaining wall module to be assembled based on the assembly order of each retaining wall module, and control the robot to place the retaining wall module at its corresponding assembly position, and so on, until the monitoring system controls the robot to assemble all multiple retaining wall modules and completes the construction of the retaining wall in the target area, thereby effectively reducing the labor cost in the retaining wall construction process and improving the efficiency of the retaining wall construction.

[0065] It should be noted that when assembling multiple retaining wall modules, in order to ensure the firmness of the retaining wall module assembly and the stability of the overall structure, the robot can also be controlled to quickly and evenly fill the gaps between each retaining wall module with high-strength concrete, thereby improving the stability and strength of the retaining wall. The present disclosure does not limit this.

[0066] In the disclosed embodiment, when receiving the retaining wall construction instruction for the target area, the retaining wall construction scheme of the target area and the multiple retaining wall modules corresponding to the retaining wall construction scheme are first obtained, and then the target retaining wall module to be assembled is determined based on the assembly sequence of each retaining wall module, and then the target retaining wall module to be assembled is controlled based on the retaining wall construction area and the assembly method between the multiple retaining wall modules. Finally, the robot is returned to perform the operation of determining the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module, until the control robot assembles all the multiple retaining wall modules to complete the retaining wall construction of the target area. Thus, by controlling the robot to assemble each retaining wall module according to the assembly sequence based on the retaining wall construction scheme to complete the retaining wall construction, the cost of the retaining wall construction process is effectively reduced and the efficiency of the retaining wall construction is improved.

[0067] Figure 2 A schematic flow chart of a retaining wall construction method provided in an embodiment of the present disclosure.

[0068] like Figure 2 As shown, the method includes:

[0069] Step 201, upon receiving a retaining wall construction instruction for a target area, obtain a retaining wall construction plan for the target area and a plurality of retaining wall modules corresponding to the retaining wall construction plan, wherein the retaining wall construction plan includes a corresponding retaining wall construction area in the target area, an assembly method between the plurality of retaining wall modules, and an assembly order of each retaining wall module in the assembly method.

[0070] Step 202: determining the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module.

[0071] The specific implementation forms of step 201 to step 202 can refer to the detailed descriptions in other embodiments of the present disclosure, and will not be described in detail here.

[0072] Step 203, determining the assembly position of the target retaining wall module based on the location of the retaining wall construction area and the assembly method.

[0073] In the present disclosure, after determining the target retaining wall module to be assembled in the retaining wall, the monitoring system can first determine the assembly position of the target retaining wall module based on the location of the retaining wall construction area and the assembly method before assembling the target retaining wall module, so as to control the robot to assemble the target retaining wall module.

[0074] Step 204, control the clamping device of the robot to move toward the target retaining wall module, and when it is detected that the distance value collected by each sensor on the clamping device is less than a preset distance threshold, control the clamping device to clamp the target retaining wall module.

[0075] It should be noted that the sensor on the clamping device may be pre-set, for example, it may be a distance sensor, etc., which is not limited in the present disclosure.

[0076] The distance value collected by the sensor may be the distance value between the clamping device and the target retaining wall module.

[0077] Among them, the distance threshold can be used to determine whether to control the distance critical value when the clamping device clamps the retaining wall module. It can be pre-set or determined according to actual needs, and the present disclosure does not limit this.

[0078] In the present disclosure, after determining the assembly position of the target retaining wall module, the monitoring system can control the robot's clamping device to move toward the target retaining wall module. When it is monitored that the distance value collected by each sensor on the clamping device is less than a preset distance threshold, it can be determined that the clamping device is very close to the target retaining wall module. At this time, the clamping device can be controlled to clamp the target retaining wall module.

[0079] It should be noted that after determining the assembly position of the target retaining wall module, the monitoring system can control the robot's clamping device to move toward the target retaining wall module. The clamping device can first be controlled to move above the stacking position of the target retaining wall module, and then the clamping device can be controlled to descend close to the target retaining wall module. The present disclosure does not limit this.

[0080] In some possible implementation forms, when it is monitored that the distance value collected by each sensor on the clamping device is less than a preset distance threshold, when the clamping device is controlled to clamp the target retaining wall module, in order to improve the accuracy of the clamping device on the target retaining wall module, the robot can first be controlled to adjust the clamping position and clamping angle of the clamping device on the target retaining wall module based on the distance value collected by each sensor, and then the adjusted clamping device can be controlled to clamp the target retaining wall module. The present disclosure does not limit this.

[0081] Step 205, controlling the robot to move to the location of the retaining wall construction area, and controlling the clamping device to place the target retaining wall module at the assembly position.

[0082] In the present disclosure, after controlling the clamping device to clamp the target retaining wall module, the monitoring system can control the robot to move to the retaining wall construction area, and control the clamping device to place the target retaining wall module at the assembly position, thereby achieving precise assembly of the target retaining wall module.

[0083] Step 206, returning to perform the operation of determining the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module, until the robot is controlled to assemble all the retaining wall modules to complete the construction of the retaining wall in the target area.

[0084] The specific implementation of step 206 can refer to the detailed description in other embodiments of the present disclosure, and will not be described in detail here.

[0085] In the disclosed embodiment, when receiving a retaining wall construction instruction for a target area, first obtain the retaining wall construction scheme of the target area and multiple retaining wall modules corresponding to the retaining wall construction scheme, then determine the target retaining wall module to be assembled based on the assembly order of each retaining wall module, and determine the assembly position of the target retaining wall module based on the location of the retaining wall construction area and the assembly method, then control the clamping device of the robot to move toward the target retaining wall module, and when it is detected that the distance value collected by each sensor on the clamping device is less than the preset distance threshold, control the clamping device to clamp the target retaining wall module, and finally control the robot to move to the area where the retaining wall construction area is located, and control the clamping device to place the target retaining wall module at the assembly position. Return to execute the operation of determining the target retaining wall module to be assembled based on the assembly order of each retaining wall module, until the control robot assembles all the multiple retaining wall modules and completes the retaining wall construction of the target area. Therefore, after determining the retaining wall module to be assembled, the assembly position of the retaining wall module is determined based on the location of the retaining wall construction area and the assembly method, and the clamping device of the robot is controlled to move toward the retaining wall module. When it is monitored that the distance value collected by each sensor on the clamping device is less than the distance threshold, the clamping device is controlled to clamp the retaining wall module, and the robot is controlled to move to the location of the retaining wall construction area. Finally, the clamping device is controlled to place the retaining wall module at the assembly position, and so on, until all the retaining wall modules are assembled, thereby improving the accuracy and efficiency of retaining wall construction.

[0086] Figure 3 A schematic flow chart of a retaining wall construction method provided in an embodiment of the present disclosure.

[0087] like Figure 3 As shown, the method includes:

[0088] Step 301, upon receiving a retaining wall construction instruction for a target area, obtain a retaining wall construction plan for the target area and a plurality of retaining wall modules corresponding to the retaining wall construction plan, wherein the retaining wall construction plan includes a corresponding retaining wall construction area in the target area, an assembly method between the plurality of retaining wall modules, and an assembly order of each retaining wall module in the assembly method.

[0089] Step 302: Determine the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module.

[0090] Step 303, determining the assembly position of the target retaining wall module based on the location of the retaining wall construction area and the assembly method.

[0091] Step 304, control the clamping device of the robot to move toward the target retaining wall module, and when it is detected that the distance value collected by each sensor on the clamping device is less than a preset distance threshold, control the clamping device to clamp the target retaining wall module.

[0092] The specific implementation forms of steps 301 to 304 can refer to the detailed descriptions in other embodiments of the present disclosure, and will not be described in detail here.

[0093] Step 305, control the robot's laser radar to collect terrain data between the robot's current location and the location of the retaining wall construction area.

[0094] It should be noted that the laser radar of the robot can be a laser radar of any type and structure, which can be pre-set or determined according to actual needs. For example, the laser radar can be a rotating laser radar, etc., which is not limited in the present disclosure.

[0095] In the present disclosure, after the monitoring system controls the clamping device to clamp the target retaining wall module and before controlling the robot to place the target retaining wall module at the corresponding assembly position, in order to ensure that the robot can avoid obstacles during movement and move accurately to the location of the retaining wall construction area, the monitoring system can first control the robot's laser radar to collect terrain data between the robot's location and the retaining wall construction area, thereby providing a data basis for controlling the robot to accurately move to the retaining wall construction area.

[0096] Step 306 , based on the target height corresponding to the assembly position, control the robot to adjust the height of the clamping device to the target height.

[0097] In the present disclosure, after the monitoring system controls the robot's laser radar to collect terrain data between the robot's location and the location of the retaining wall construction area, it can first control the robot to adjust the height of the clamping device to the target height based on the target height corresponding to the assembly position, thereby improving the accuracy of the retaining wall construction.

[0098] Step 307: Based on the terrain data and the current position of the robot, the robot is controlled to move toward the location of the retaining wall construction area.

[0099] In the present disclosure, after controlling the robot to adjust the height of the clamping device to the target height, the monitoring system can control the robot to move toward the location of the retaining wall area based on the terrain data between the current location of the robot and the location of the retaining wall construction area, as well as the current location of the robot, thereby effectively avoiding the probability of the robot colliding with obstacles during movement and improving the efficiency of retaining wall construction.

[0100] Step 308 , when it is detected that the robot has reached the location of the retaining wall construction area, the clamping device is controlled to place the target retaining wall module at the assembly position.

[0101] In the present disclosure, after the monitoring system controls the robot to move toward the location of the retaining wall construction area, when it monitors that the robot has arrived at the location of the retaining wall construction area, it can be determined that the robot has arrived at the retaining wall construction area. At this time, the clamping device can be controlled to place the target retaining wall at the assembly position, thereby improving the accuracy and efficiency of the retaining wall module assembly.

[0102] In some possible implementation forms, after controlling the robot's laser radar to collect terrain data between the robot's current location and the location of the retaining wall construction area, the monitoring system can also first control the robot to move to the location of the retaining wall construction area based on the terrain data and the robot's current location. When monitoring that the robot has arrived at the location of the retaining wall construction area, the robot's clamping device is controlled to move above the assembly position of the target retaining wall module, and then based on the target height corresponding to the assembly position, the height of the clamping device is adjusted to the target height, and then the clamping device is controlled to place the target retaining wall module at the assembly position. The present disclosure does not limit this.

[0103] Step 309, returning to perform the operation of determining the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module, until the robot is controlled to assemble all the retaining wall modules to complete the construction of the retaining wall in the target area.

[0104] The specific implementation of step 309 can be referred to the detailed description in other embodiments of the present disclosure, and will not be described in detail here.

[0105] In the embodiment of the present disclosure, when a retaining wall construction instruction for a target area is received, the retaining wall construction plan for the target area and a plurality of retaining wall modules corresponding to the retaining wall construction plan are first obtained, and based on the assembly sequence of each retaining wall module, the target retaining wall module to be assembled is determined, and based on the location of the retaining wall construction area and the assembly method, the assembly position of the target retaining wall module is determined, and then the clamping device of the robot is controlled to move toward the target retaining wall module. When it is detected that the distance value collected by each sensor on the clamping device is less than a preset distance threshold, the clamping device is controlled to clamp the target retaining wall module, and the robot's laser radar is controlled to collect The robot is controlled to adjust the height of the clamping device to the target height based on the target height corresponding to the assembly position, and to move toward the retaining wall construction area based on the terrain data and the robot's current position. When the robot is detected to have arrived at the retaining wall construction area, the clamping device is controlled to place the target retaining wall module at the assembly position. Finally, the robot returns to execute the assembly sequence of each retaining wall module to determine the target retaining wall module to be assembled, until the robot is controlled to assemble all the multiple retaining wall modules and complete the retaining wall construction in the target area. Therefore, after determining the current retaining wall module to be assembled and the corresponding assembly position of the retaining wall module, the robot's laser radar is used to obtain the terrain data between the robot's current position and the position of the retaining wall construction area, and the height of the robot's clamping device is adjusted to the height corresponding to the assembly position. Based on the terrain data, the robot is controlled to move to the position of the retaining wall construction area, and after monitoring that the robot has arrived at the position of the retaining wall construction area, the clamping device is controlled to place the target retaining wall module at the assembly position, and so on, to complete the assembly of all retaining wall modules, thereby improving the accuracy and efficiency of the retaining wall module assembly and improving the reliability and efficiency of the retaining wall construction.

[0106] Figure 4 A schematic flow chart of a retaining wall construction method provided in an embodiment of the present disclosure.

[0107] like Figure 4 As shown, the method includes:

[0108] Step 401, upon receiving a retaining wall construction instruction for a target area, obtain a retaining wall construction plan for the target area and a plurality of retaining wall modules corresponding to the retaining wall construction plan, wherein the retaining wall construction plan includes a corresponding retaining wall construction area in the target area, an assembly method between the plurality of retaining wall modules, and an assembly order of each retaining wall module in the assembly method.

[0109] Step 402: determining the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module.

[0110] Step 403: Based on the retaining wall construction area and the assembly method between the plurality of retaining wall modules, control the robot to place the target retaining wall module into a corresponding assembly position in the retaining wall construction area.

[0111] The specific implementation forms of steps 401 to 403 may refer to the detailed descriptions in other embodiments of the present disclosure, and will not be described in detail here.

[0112] Step 404 , monitoring that the robot has placed the target retaining wall module at the assembly position, and controlling the robot's laser radar to scan the currently assembled retaining wall modules in the retaining wall construction area to obtain scanning data.

[0113] The scanning data may include data such as the placement position, placement angle, placement height, etc. of the currently assembled retaining wall module, which is not limited in the present disclosure.

[0114] In the present disclosure, after controlling the robot to place the target retaining wall module at the corresponding assembly position in the retaining wall construction area, the monitoring system can control the robot's laser radar to scan the currently assembled retaining wall modules in the retaining wall construction area to obtain scanning data after monitoring that the robot has placed the target retaining wall module at the assembly position, in order to ensure the accuracy and reliability of the assembly of the target retaining wall module, thereby providing a data basis for improving the stability and strength of the constructed retaining wall.

[0115] Step 405: Determine whether the target retaining wall module has assembly deviation based on the scan data.

[0116] It should be noted that the assembly deviation may be whether the placement position, placement angle, and / or placement height of the target retaining wall module is abrupt or disharmonious in the overall structure of the built retaining wall module, or whether it is inconsistent with the retaining wall construction plan, etc. The present disclosure does not limit this.

[0117] In the present disclosure, after obtaining the scanning data, the monitoring system can determine whether the target retaining wall module has an assembly deviation based on the scanning data, thereby providing conditions for improving the reliability of the retaining wall construction.

[0118] Step 406, when there is no assembly deviation in the target retaining wall module, return to execute the assembly sequence based on each retaining wall module, determine the operation of the target retaining wall module to be assembled, until the control robot assembles all the multiple retaining wall modules to complete the construction of the retaining wall in the target area.

[0119] In the present disclosure, when the monitoring system determines whether the target retaining wall module has an assembly deviation, if it determines that the target retaining wall module has no assembly deviation, it can be determined that the target retaining wall module has been assembled accurately. At this time, it can return to execute the assembly sequence based on each retaining wall module to determine the operation of the target retaining wall module currently to be assembled, until the control robot assembles all multiple retaining wall modules and completes the construction of the retaining wall in the target area, thereby improving the reliability and quality of the constructed retaining wall.

[0120] In some possible implementation forms, when the monitoring system determines whether an assembly deviation occurs in a target retaining wall module, if an assembly deviation occurs in the target retaining wall module, it can be determined that there is a problem in the assembly of the target retaining wall module. In order to ensure the quality and reliability of the constructed retaining wall, at this time, the control robot can be returned to place the target retaining wall module in the corresponding assembly position in the retaining wall construction area, and the control robot can be controlled to reassemble the target retaining wall module.

[0121] In the embodiment of the present disclosure, when a retaining wall construction instruction for a target area is received, the retaining wall construction plan of the target area and multiple retaining wall modules corresponding to the retaining wall construction plan are first obtained, and based on the assembly order of each retaining wall module, the target retaining wall module to be assembled is determined. Then, based on the retaining wall construction area and the assembly method between the multiple retaining wall modules, the robot is controlled to place the target retaining wall module to the corresponding assembly position in the retaining wall construction area. After that, when it is monitored that the robot has placed the target retaining wall module at the assembly position, the robot's laser radar is controlled to scan the currently assembled retaining wall modules in the retaining wall construction area to obtain scanning data, and based on the scanning data, it is determined whether the target retaining wall module has an assembly deviation. If the target retaining wall module has no assembly deviation, the robot returns to execute the operation of determining the target retaining wall module to be assembled based on the assembly order of each retaining wall module, until the robot is controlled to assemble all the multiple retaining wall modules to complete the retaining wall construction of the target area. Therefore, after the control robot places the retaining wall module to be assembled at the assembly position, the robot's laser radar is used to scan the assembled retaining wall modules of the retaining wall, and based on the scanning data, it is determined whether the retaining wall module has assembly deviation. If no assembly deviation occurs, the control robot assembles the retaining wall modules to be assembled in sequence to complete the construction, thereby improving the stability and quality of the constructed retaining wall, and improving the efficiency and reliability of the retaining wall construction.

[0122] Figure 5 A schematic structural diagram of a robot used in a retaining wall construction method provided in an embodiment of the present disclosure.

[0123] like Figure 5As shown, the robot 500 includes: a chassis device 501, a clamping device 502, a sensor 503, a lifting device 504 and a laser radar 505;

[0124] The chassis device 501 is equipped with a lifting device 504, the lifting device 504 is equipped with a clamping device 502 and a laser radar 505, and the clamping device 502 is equipped with a sensor 503;

[0125] A chassis device 501, used for the robot 500 to move;

[0126] A clamping device 502 is used for the robot 500 to clamp the retaining wall module, and a sensor 503 is used for the robot 500 to collect the distance value between the clamping device and the retaining wall module;

[0127] A lifting device 504, used for the robot 500 to adjust the height of the clamping device;

[0128] The laser radar 505 is used by the robot 500 to collect terrain information of the area and scan data of the assembled retaining wall modules.

[0129] It should be noted that the specific type and structure of the chassis device 501 of the robot 500 can be determined according to actual needs. For example, the chassis device 501 of the robot in the present disclosure can be a crawler chassis, so as to realize automatic handling and assembly of retaining wall modules, effectively reduce the dependence on manual labor, and greatly improve the efficiency of retaining wall construction. The present disclosure does not limit this.

[0130] It should be noted that the specific type and structure of the clamping device 502 of the robot 500 can be determined according to actual needs. For example, the clamping device 502 of the robot 500 can be a clamping plate, or a mechanical gripper, etc., which is not limited in the present disclosure.

[0131] The retaining wall construction method proposed in the present disclosure is implemented by the robot in the embodiment of the present disclosure. When building the retaining wall, the height of the clamping device is first adjusted by the lifting device of the robot, so that the clamping device can adapt to the module assembly requirements of different heights, and can be accurately positioned and prevented, thereby improving the flexibility and adaptability of the retaining wall construction process. Then, the robot's laser radar is used to collect terrain data and avoid obstacles, thereby ensuring the safety of the robot and improving the reliability of retaining wall construction. Then, the robot is moved to the retaining wall construction area through the robot's chassis to carry out retaining wall construction, thereby reducing the cost of retaining wall construction and improving the efficiency of retaining wall construction.

[0132] Combine the following Figure 6 , the structure of the robot in the embodiment of the present disclosure is illustrated by way of example, Figure 6A schematic diagram of the structure of a robot used in the retaining wall construction method proposed in an embodiment of the present disclosure.

[0133] Figure 6 In the embodiment, a clamping device having 7-clamping plates and a chassis having 1-crawler chassis is taken as an example for explanation.

[0134] like Figure 6 As shown, the robot in the embodiment of the present disclosure may include 1-track chassis, 2-lifting and telescopic cylinder, 3-lateral motor, 4-counterweight, 5-No. 1 telescopic cylinder, 6-sliding frame, 7-No. 1 adjusting motor, 8-retracting and extending telescopic cylinder, 9-No. 2 adjusting motor, 10-No. 1 rotating frame, 11-No. 2 rotating frame, 12-alignment motor, 13-laser radar, 14-sensor, 15-bidirectional screw, 16-mounting frame, 17-clamping plate, 18-clamping motor, 19-positioning telescopic rod.

[0135] In this disclosure, Figure 6 When the robot shown is building a retaining wall, it first controls 1-track chassis to move the robot to the stacking position of the retaining wall modules to be assembled, and according to the stacking height of the modules to be assembled, controls 2-lifting and telescopic cylinders to drive 3-transverse motors to lift and lower, so that the height of 17-clamping plate is higher than the other side of the retaining wall module, and then controls 3-transverse motors to drive 7-No. 1 adjustment motors to rotate, and cooperates with the telescopic displacement of 5-No. 1 telescopic cylinders to move the clamping plate to the top of the retaining wall module, and then controls 8-retractable and telescopic cylinders to drive 17-clamping plate to descend, and when it is detected that the distance value collected by 14-sensors on 17-clamping plate is less than the preset distance threshold, controls 17-clamping plate to clamp the retaining wall module.

[0136] Then, by controlling 1-track chassis, the robot moves to the retaining wall construction area, and adjusts up and down to the height required for assembling the retaining wall module through 2-lifting and telescopic cylinder, and then controls 3-transverse motor to drive 17-clamping plate to move to the side of building the retaining wall, controls 8-retractable and telescopic cylinder to drive 17-clamping plate to move to the vertical angle with the retaining wall construction position, controls 5-No. 1 telescopic cylinder to adjust 17-clamping plate to move above the assembly position of the retaining wall module, controls 8-retractable and telescopic cylinder to drive 17-clamping plate to descend, and when monitoring that 17-clamping plate reaches the assembly position height, controls 18-clamping motor to reverse and drive 17-clamping plate to slightly open, wherein the sum of the slightly open distance here and the thickness of 17-clamping plate is less than the gap between the retaining wall modules, pulls 17-clamping plate upward, completes the assembly of the retaining wall module, and then completes the retaining wall construction.

[0137] Furthermore, when controlling the 17-clamping plate to clamp the retaining wall module, the clamping position of the 17-clamping plate can be adjusted by controlling the 5-No. 1 telescopic cylinder, and the clamping angle of the 17-clamping plate can be adjusted by controlling the 12-alignment motor to drive the 16-mounting frame to rotate.

[0138] Furthermore, when the robot is moved to the retaining wall construction area by controlling 1-track chassis, the 16-mounting frame part can be driven toward the robot's moving direction by controlling 3-transverse motor, so as to control 13-laser radar to collect terrain information on the horizontal plane between the robot's position and the retaining wall construction area, thereby effectively preventing the robot from colliding with obstacles during movement.

[0139] Furthermore, after the robot completes the assembly of the retaining wall modules, the height of the 16-mounting frame can be adjusted by controlling the 2-lifting and telescopic cylinders and the 8-retracting and telescopic cylinders, so that the 13-laser radar can scan the retaining wall modules that have been built in the retaining wall construction area, and thus it can be determined whether there is an assembly deviation in the retaining wall modules based on the scanning data. If no deviation occurs, the robot can be controlled to continue assembling the retaining wall modules. If an assembly deviation occurs, the robot can be controlled to reassemble the retaining wall modules with assembly deviations, thereby improving the quality and stability of the constructed retaining wall.

[0140] In order to implement the above embodiment, the embodiment of the present disclosure also proposes a retaining wall construction device.

[0141] Figure 7 A schematic structural diagram of a retaining wall construction device provided in an embodiment of the present disclosure.

[0142] like Figure 7 As shown, the retaining wall construction device 700 may include:

[0143] The acquisition module 701 is used to acquire a retaining wall construction scheme of the target area and a plurality of retaining wall modules corresponding to the retaining wall construction scheme when receiving a retaining wall construction instruction for the target area, wherein the retaining wall construction scheme includes a retaining wall construction area corresponding to the target area, an assembly method between the plurality of retaining wall modules, and an assembly order of each retaining wall module in the assembly method;

[0144] A determination module 702 is used to determine a target retaining wall module to be assembled based on the assembly sequence of each retaining wall module;

[0145] The control module 703 is used to control the robot to place the target retaining wall module into the corresponding assembly position in the retaining wall construction area based on the retaining wall construction area and the assembly method between the plurality of retaining wall modules;

[0146] Processing module 704 is used to return to execute the operation of determining the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module, until the robot is controlled to assemble all the multiple retaining wall modules to complete the construction of the retaining wall in the target area.

[0147] Optionally, the control module 703 is specifically configured to:

[0148] Determine the assembly position of the target retaining wall module based on the location of the retaining wall construction area and the assembly method;

[0149] Control the gripping device of the robot to move toward the target retaining wall module, and when it is detected that the distance value collected by each sensor on the gripping device is less than a preset distance threshold, control the gripping device to grip the target retaining wall module;

[0150] The robot is controlled to move to the location of the retaining wall construction area, and the clamping device is controlled to place the target retaining wall module at the assembly position.

[0151] Optionally, the control module 703 is further used to:

[0152] Based on the distance value collected by each sensor, the robot is controlled to adjust the clamping position and clamping angle of the clamping device to the target retaining wall module;

[0153] The controlled and adjusted clamping device clamps the target retaining wall module.

[0154] Optionally, the control module 703 is further used to:

[0155] The laser radar that controls the robot collects terrain data between the robot's current location and the location of the retaining wall construction area;

[0156] Based on the target height corresponding to the assembly position, controlling the robot to adjust the height of the clamping device to the target height;

[0157] Based on the terrain data and the current location of the robot, the robot is controlled to move to the location of the retaining wall construction area;

[0158] When the robot is detected to have reached the location of the retaining wall construction area, the clamping device is controlled to place the target retaining wall module at the assembly position.

[0159] Optionally, the processing module 704 is specifically configured to:

[0160] It is detected that the robot has placed the target retaining wall module at the assembly position, and the robot's laser radar is controlled to scan the currently assembled retaining wall modules in the retaining wall construction area to obtain scanning data;

[0161] Based on the scanning data, determine whether the target retaining wall module has assembly deviation;

[0162] When there is no assembly deviation in the target retaining wall module, the operation returns to the assembly sequence based on each retaining wall module to determine the target retaining wall module to be assembled, until the control robot assembles all the multiple retaining wall modules to complete the retaining wall construction in the target area.

[0163] Optionally, the processing module 704 is further configured to:

[0164] In the event that an assembly deviation occurs in the target retaining wall module, the operation of controlling the robot to place the target retaining wall module at a corresponding assembly position in the retaining wall construction area is returned to control the robot to reassemble the target retaining wall module.

[0165] Optionally, the retaining wall module is made by filling cement, sand and lightweight aggregate in a preset retaining wall module mold according to a preset mixing ratio.

[0166] The functions and specific implementation principles of the above modules in the embodiments of the present disclosure can be referred to the above method embodiments, and will not be repeated here.

[0167] In the present disclosure, when receiving a retaining wall construction instruction for a target area, firstly, the retaining wall construction scheme of the target area and the multiple retaining wall modules corresponding to the retaining wall construction scheme are obtained, and then based on the assembly sequence of each retaining wall module, the target retaining wall module to be assembled is determined, and then based on the retaining wall construction area and the assembly method between the multiple retaining wall modules, the robot is controlled to place the target retaining wall module to the corresponding assembly position in the retaining wall construction area, and finally, the operation of determining the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module is returned to execute, until the control robot assembles all the multiple retaining wall modules to complete the retaining wall construction of the target area. Thus, by controlling the robot to assemble each retaining wall module according to the assembly sequence based on the retaining wall construction scheme to complete the retaining wall construction, the cost of the retaining wall construction process is effectively reduced and the efficiency of the retaining wall construction is improved.

[0168] In order to implement the above embodiments, the present disclosure further proposes a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the retaining wall construction method proposed in the above embodiments of the present disclosure.

[0169] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0170] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

[0171] It should be noted that, in the description of the present disclosure, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present disclosure, unless otherwise specified, the meaning of "plurality" is two or more.

[0172] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0173] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0174] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0175] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A method for building a retaining wall, comprising: When receiving a retaining wall construction instruction for a target area, obtaining a retaining wall construction scheme for the target area and a plurality of retaining wall modules corresponding to the retaining wall construction scheme, wherein the retaining wall construction scheme includes a retaining wall construction area corresponding to the target area, an assembly method between the plurality of retaining wall modules, and an assembly order of each retaining wall module in the assembly method; Based on the assembly sequence of each retaining wall module, determining the target retaining wall module to be assembled currently; Based on the retaining wall construction area and the assembly method between the plurality of retaining wall modules, controlling the robot to place the target retaining wall module into a corresponding assembly position in the retaining wall construction area; Return to executing the operation of determining the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module, until the robot is controlled to assemble all the multiple retaining wall modules to complete the construction of the retaining wall in the target area.

2. The method of claim 1, wherein: The controlling the robot to place the target retaining wall module into a corresponding assembly position in the retaining wall construction area based on the retaining wall construction area and the assembly mode between the plurality of retaining wall modules comprises: Determining the assembly position of the target retaining wall module based on the location of the retaining wall construction area and the assembly method; Controlling the clamping device of the robot to move toward the target retaining wall module, and controlling the clamping device to clamp the target retaining wall module when it is detected that the distance value collected by each sensor on the clamping device is less than a preset distance threshold; The robot is controlled to move to the location of the retaining wall construction area, and the clamping device is controlled to place the target retaining wall module at the assembly position.

3. The method of claim 2, wherein: When it is monitored that the distance value detected by each sensor on the clamping device is less than a preset distance threshold, controlling the clamping device to clamp the target retaining wall module comprises: Based on the distance value collected by each sensor, control the robot to adjust the clamping position and the clamping angle of the clamping device on the target retaining wall module; The controlled and adjusted clamping device clamps the target retaining wall module.

4. The method of claim 2, wherein: Controlling the robot to move to the location of the retaining wall construction area, and controlling the clamping device to place the target retaining wall module at the assembly position, comprising: Controlling the laser radar of the robot to collect terrain data between the current location of the robot and the location of the retaining wall construction area; Based on the target height corresponding to the assembly position, controlling the robot to adjust the height of the clamping device to the target height; Based on the terrain data and the current location of the robot, controlling the robot to move to the location of the retaining wall construction area; When it is monitored that the robot has reached the location of the retaining wall construction area, the clamping device is controlled to place the target retaining wall module at the assembly position.

5. The method of claim 1, wherein: The returning to execute the operation of determining the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module, until the robot is controlled to assemble all the plurality of retaining wall modules to complete the construction of the retaining wall in the target area, includes: It is detected that the robot has placed the target retaining wall module at the assembly position, and the laser radar of the robot is controlled to scan the currently assembled retaining wall modules in the retaining wall construction area to obtain scanning data; Based on the scanning data, determining whether the target retaining wall module has an assembly deviation; When there is no assembly deviation in the target retaining wall module, the operation of returning to the assembly sequence based on each of the retaining wall modules to determine the target retaining wall module to be assembled currently is performed until the robot is controlled to assemble all the multiple retaining wall modules to complete the construction of the retaining wall in the target area.

6. The method of claim 5, wherein: The determining, based on the scanning data, whether the currently assembled retaining wall module has an assembly deviation comprises: In the event that an assembly deviation occurs in the target retaining wall module, the operation of controlling the robot to place the target retaining wall module at a corresponding assembly position in the retaining wall construction area is returned to control the robot to reassemble the target retaining wall module.

7. The method according to claims 1 to 6, wherein: The retaining wall module is made by filling cement, sand and lightweight aggregate in a preset retaining wall module mold according to a preset mixing ratio.

8. A robot, wherein: The robot includes a chassis device, a clamping device, a sensor, a lifting device and a laser radar; Wherein, the lifting device is installed on the chassis device, the clamping device and the laser radar are installed on the lifting device, and the sensor is installed in the clamping device; The chassis device is used for the movement of the robot; The clamping device is used by the robot to clamp the retaining wall module, and the sensor is used by the robot to collect the distance value between the clamping device and the retaining wall module; The lifting device is used by the robot to adjust the height of the clamping device; The laser radar is used for the robot to collect terrain information of the area and scan data of the assembled retaining wall modules. Wherein, the robot is used to execute the retaining wall construction method described in any one of claims 1-7.

9. A retaining wall construction device, comprising: An acquisition module is used to, upon receiving a retaining wall construction instruction for a target area, acquire a retaining wall construction scheme for the target area and a plurality of retaining wall modules corresponding to the retaining wall construction scheme, wherein the retaining wall construction scheme includes a retaining wall construction area corresponding to the target area, an assembly method between the plurality of retaining wall modules, and an assembly order of each retaining wall module in the assembly method; A determination module, used for determining a target retaining wall module to be assembled currently based on the assembly sequence of each retaining wall module; A control module, configured to control the robot to place the target retaining wall module into a corresponding assembly position in the retaining wall construction area based on the retaining wall construction area and the assembly method between the plurality of retaining wall modules; The processing module is used to return to execute the operation of determining the target retaining wall module to be assembled based on the assembly sequence of each retaining wall module, until the robot is controlled to assemble all the multiple retaining wall modules to complete the construction of the retaining wall in the target area.

10. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to enable the computer to execute the retaining wall construction method according to any one of claims 1-7.

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