Wall surface operation robot and positioning and navigation method for wall surface operation robot

Abstract

The invention relates to a wall surface operation robot and a positioning navigation method for the wall surface operation robot, the wall surface operation robot comprises a mobile platform, and a laser radar, an industrial personal computer and an operation device which are arranged on the mobile platform, the laser radar is used for collecting wall surface contour point cloud data; the first laser radar and the second laser radar are arranged at diagonal positions of a mobile platform, and the collection range of the two laser radars covers 360 degrees; the industrial personal computer is used for generating a control instruction according to the contour point cloud data collected by the laser radar, and the control instruction is used for indicating a posture adjustment parameter and a position movement parameter of the wall surface operation robot; the operation device is used for operating according to the control instruction. Through the method and the device, the problems of time consumption, complexity and low working efficiency in the treatment process caused by the fact that a robot for automatic wall surface operation in the related technology needs to construct a drawing in a specified format are solved, automatic wall surface measurement or spraying and polishing and other operations can be quickly realized, meanwhile, the operation is simple, and external equipment is not needed.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a wall working robot and a positioning and navigation method for the wall working robot. Background Art

[0002] According to national regulations, after the completion of a construction project, the project must be inspected for quality. Actual measurement of the wall surface is an important part of the project quality inspection. On the other hand, decoration is usually required after the completion of the construction. Construction operations such as indoor wall putty spraying, polishing, and latex paint spraying are important steps in interior decoration.

[0003] At present, most wall work processes are completed manually. In order to alleviate the labor shortage in the construction industry and improve the intelligence and automation level of indoor building quality acceptance and decoration construction, some construction units have begun to use intelligent robots to participate in indoor wall quality acceptance and decoration work. At present, the actual measurement robots used for wall measurement and the spraying and polishing robots for wall construction need to realize autonomous positioning and navigation to perform automated wall work, and the operation requires a certain precise distance and posture from the measured or constructed wall.

[0004] For robots that perform automated wall operations, it is usually necessary to build an indoor map or import an indoor floor plan in advance to realize automated robot operations. For sites without drawings or incomplete drawings, drawings in a specified format need to be built. In addition, the drawing processing process is time-consuming and complicated, and requires high technical skills. It is also necessary to arrange the site in advance and install external equipment, which is very inconvenient and seriously reduces the robot's work efficiency.

[0005] At present, there is no effective solution to the problem that the robot for automated wall operations in related technologies needs to construct drawings in a specified format, which results in a time-consuming, complicated and low work efficiency. Summary of the invention

[0006] The purpose of the present application is to address the deficiencies in the prior art and to provide a wall working robot, a positioning and navigation method for a wall working robot, a computer device and a computer readable storage medium, so as to at least solve the problem in the related art that the robot for automated wall working needs to construct drawings in a specified format, resulting in a time-consuming and complicated processing process and low work efficiency.

[0007] To achieve the above purpose, the technical solution adopted by this application is: In a first aspect, an embodiment of the present application provides a wall working robot, including a mobile platform and a laser radar, an industrial computer and a working device arranged on the mobile platform, wherein: The laser radar is used to collect wall contour point cloud data, and the laser radar includes a first laser radar and a second laser radar arranged at diagonal positions of the mobile platform, and the collection range of the first laser radar and the second laser radar covers 360 degrees; The industrial computer is used to generate control instructions according to the contour point cloud data collected by the laser radar, and the control instructions are used to instruct the posture adjustment parameters and position movement parameters of the wall-working robot; The operating device is used to perform the operation according to the control instruction.

[0008] In some embodiments, the industrial computer is used to generate control instructions according to the contour point cloud data collected by the laser radar, including: Performing denoising processing on the contour point cloud data; The denoised contour point cloud data is converted from the laser radar coordinate system to the body coordinate system of the wall-working robot through a rotation transformation matrix; Extracting contour point cloud data of the wall at the rear of the wall-working robot in the vehicle body coordinate system; Performing straight line fitting on the contour point cloud data of the tail wall based on the least squares method to obtain a fitting straight line; Generating a posture adjustment parameter of the wall-working robot according to the slope of the fitting straight line; The position movement parameters of the wall-working robot are generated according to the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line.

[0009] In some embodiments, generating the posture adjustment parameter of the wall-working robot according to the slope of the fitting straight line includes: When the slope of the fitting straight line is 0, it is determined that the wall-working robot is parallel to the wall, and the wall-working robot directly performs the operation; When the slope of the fitting line is not 0, the angle value of the in-situ rotation of the wall-working robot is generated according to the value of the slope of the fitting line, wherein the wall-working robot rotates in-situ according to the in-situ rotation angle value and then performs the work.

[0010] In some embodiments, generating the position movement parameter of the wall-working robot according to the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line includes: When the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is less than the working distance between the working device and the wall, a first position movement parameter is generated, wherein the first position movement parameter is used to instruct the wall-working robot to retreat; When the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is greater than the working distance between the working device and the wall, a second position movement parameter is generated, wherein the second position movement parameter is used to instruct the wall-working robot to move forward; When the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line is equal to the working distance between the working device and the wall, the position of the wall-working robot is controlled not to move.

[0011] In a second aspect, an embodiment of the present application provides a positioning and navigation method for a wall-working robot, comprising: The industrial computer receives the wall contour point cloud data collected by the laser radar; The industrial computer generates a control instruction according to the contour point cloud data, wherein the control instruction is used to indicate a posture adjustment parameter and a position movement parameter of the wall-working robot; The industrial computer sends the control instruction to the operating device to instruct the operating device to perform the operation according to the control instruction.

[0012] In some embodiments, the industrial computer generates control instructions according to the contour point cloud data, including: Performing denoising processing on the contour point cloud data; The denoised contour point cloud data is converted from the laser radar coordinate system to the body coordinate system of the wall-working robot through a rotation transformation matrix; Extracting contour point cloud data of the wall at the rear of the wall-working robot in the vehicle body coordinate system; Performing straight line fitting on the contour point cloud data of the tail wall based on the least squares method to obtain a fitting straight line; Generating a posture adjustment parameter of the wall-working robot according to the slope of the fitting straight line; The position movement parameters of the wall-working robot are generated according to the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line.

[0013] In some embodiments, generating the posture adjustment parameter of the wall-working robot according to the slope of the fitting straight line includes: When the slope of the fitting straight line is 0, it is determined that the wall-working robot is parallel to the wall, and the wall-working robot directly performs the operation; When the slope of the fitting line is not 0, the angle value of the in-situ rotation of the wall-working robot is generated according to the value of the slope of the fitting line, wherein the wall-working robot rotates in-situ according to the in-situ rotation angle value and then performs the work.

[0014] In some embodiments, generating the position movement parameter of the wall-working robot according to the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line includes: When the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is less than the working distance between the working device and the wall, a first position movement parameter is generated, wherein the first position movement parameter is used to instruct the wall-working robot to retreat; When the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is greater than the working distance between the working device and the wall, a second position movement parameter is generated, wherein the second position movement parameter is used to instruct the wall-working robot to move forward; When the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line is equal to the working distance between the working device and the wall, the position of the wall-working robot is controlled not to move.

[0015] In a third aspect, an embodiment of the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the positioning and navigation method for a wall-working robot as described in the second aspect above is implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the positioning and navigation method for a wall-working robot as described in the second aspect above.

[0017] The present application adopts the above technical scheme. Compared with the prior art, the wall working robot provided in the embodiment of the present application includes a mobile platform and a laser radar, an industrial computer and an operating device arranged on the mobile platform, wherein the laser radar is used to collect wall contour point cloud data, and the laser radar includes a first laser radar and a second laser radar arranged at a diagonal position of the mobile platform, and the collection range of the first laser radar and the second laser radar covers 360 degrees; the industrial computer is used to generate a control instruction according to the contour point cloud data collected by the laser radar, and the control instruction is used to indicate the posture adjustment parameters and position movement parameters of the wall working robot; the operating device is used to operate according to the control instruction, collect wall contour point cloud data in all directions through the laser radar, and adjust the posture and position of the wall working robot according to the contour point cloud data to meet the wall operation requirements of the operating device, which solves the problem of time-consuming and complicated processing and low work efficiency caused by the need to construct drawings in a specified format for robots for automated wall operations in related technologies, and realizes rapid realization of automated measurement or spraying and polishing of walls, while being simple to operate and requiring no external equipment.

[0018] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 is a structural block diagram of a wall working robot according to an embodiment of the present application; Figure 2 is a schematic diagram of extracting the tail wall contour point cloud data according to an embodiment of the present application; Figure 3 is a flow chart of a wall work positioning and navigation method according to a preferred embodiment of the present application; Figure 4 is a flow chart of a method for performing wall work by a wall working robot according to a preferred embodiment of the present application; Figure 5 is a flow chart of a positioning and navigation method for a wall working robot according to an embodiment of the present application; Figure 6 is a structural block diagram of a positioning and navigation device for a wall-working robot according to an embodiment of the present application; Figure 7 Schematic diagram of the hardware structure of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0021] Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. In addition, it can also be understood that although the efforts made in this development process may be complicated and lengthy, for ordinary technicians in this field related to the content disclosed in this application, some changes in design, manufacturing or production based on the technical content disclosed in this application are just conventional technical means, and should not be understood as insufficient content disclosed in this application.

[0022] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0023] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantity limitation, and may indicate the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships, for example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0024] This embodiment provides a wall-working robot. Figure 1 is a structural block diagram of a wall working robot according to an embodiment of the present application, such as Figure 1 As shown, the wall working robot includes a mobile platform and a laser radar, an industrial computer and a working device arranged on the mobile platform, wherein: The mobile platform refers to a platform that can navigate and move autonomously or can be manually remotely controlled, has a wheeled odometer, and can perform operations such as moving forward, backward, rotating on the spot, and moving sideways.

[0025] The laser radar is used to collect wall contour point cloud data. The laser radar includes a first laser radar and a second laser radar arranged at diagonal positions of the mobile platform. The collection range of the first laser radar and the second laser radar covers 360 degrees, that is, the contour point cloud data is completed by splicing the data collected by the first laser radar and the second laser radar, covering a 360-degree range around the wall-working robot, and can be used for positioning and navigation to avoid obstacles.

[0026] The industrial computer is used to generate control instructions based on the contour point cloud data collected by the laser radar, and the control instructions are used to indicate the posture adjustment parameters and position movement parameters of the wall working robot. The industrial computer can run the laser radar driver, run the point cloud processing algorithm program, and generate motion control instructions. It can be installed on a mobile platform and its location is not limited.

[0027] The working device is used to perform the work according to the control instruction. The working device can be arranged at the tail position of the wall working robot, and the position can also be adjusted according to actual needs.

[0028] In some embodiments, the industrial computer is used to generate control instructions according to the contour point cloud data collected by the laser radar, including: Performing denoising processing on the contour point cloud data; The denoised contour point cloud data is converted from the laser radar coordinate system to the body coordinate system of the wall-working robot through a rotation transformation matrix; Extracting contour point cloud data of the wall at the rear of the wall-working robot in the vehicle body coordinate system; Performing straight line fitting on the contour point cloud data of the tail wall based on the least squares method to obtain a fitting straight line; Generating a posture adjustment parameter of the wall-working robot according to the slope of the fitting straight line; The position movement parameters of the wall-working robot are generated according to the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line.

[0029] Optionally, generating a posture adjustment parameter of the wall-working robot according to the slope of the fitting straight line includes: When the slope of the fitting straight line is 0, it is determined that the wall-working robot is parallel to the wall, and the wall-working robot directly performs the operation; When the slope of the fitting line is not 0, the angle value of the in-situ rotation of the wall-working robot is generated according to the value of the slope of the fitting line, wherein the wall-working robot rotates in-situ according to the in-situ rotation angle value and then performs the work.

[0030] Optionally, generating the position movement parameter of the wall-working robot according to the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line includes: When the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is less than the working distance between the working device and the wall, a first position movement parameter is generated, wherein the first position movement parameter is used to instruct the wall-working robot to retreat; When the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is greater than the working distance between the working device and the wall, a second position movement parameter is generated, wherein the second position movement parameter is used to instruct the wall-working robot to move forward; When the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line is equal to the working distance between the working device and the wall, the position of the wall-working robot is controlled not to move.

[0031] The industrial computer in the above embodiment can solve the problem of time-consuming, complicated and low work efficiency caused by the need to construct drawings in a specified format for the robot for automated wall operations in the related technology by executing the positioning and navigation method, thereby achieving the effect of improving work efficiency.

[0032] It should be noted that: The laser radar is controlled to collect the contour point cloud data around the wall working robot, and the contour point cloud data is denoised, and then the processed contour point cloud data is converted to the robot body coordinate system through the rotation transformation matrix, where the body coordinate system is as follows: Figure 1 As shown in . The coordinates of the contour point cloud data obtained by the laser radar are relative to the laser radar coordinate system. In order to make the coordinates of the final contour point cloud data in the vehicle coordinate system, the coordinates of each point in the point cloud need to be transformed. Let the rotation matrix between the laser radar coordinate system and the vehicle coordinate system be R, the translation matrix be T, and the coordinates of the point in the vehicle coordinate system be , the coordinates of the point under the laser radar are , the coordinate transformation form is:

[0033] The rotation matrix and translation matrix are commonly used transformation mathematical matrices in the field of robotics and will not be described in detail here.

[0034] In the vehicle coordinate system, extract the point cloud data of the wall contour at the tail of the robot, such as Figure 2 shown.

[0035] Based on the least squares method, the extracted point cloud data is fitted with a straight line, and the slope k of the fitted line and the distance d from the origin of the wall-working robot's body coordinates to the fitted line are calculated respectively, so as to control the posture and position of the wall-working robot according to k and d, thereby controlling the wall-working robot to perform wall operations.

[0036] The least squares method (also known as the least square method) is a mathematical optimization technique that finds the best function match for data by minimizing the sum of squares of errors. The least squares method can be used to easily obtain unknown data and minimize the sum of squares of errors between the obtained data and the actual data. The least squares method can also be used for curve fitting, and some other optimization problems can also be expressed by the least squares method by minimizing energy or maximizing entropy.

[0037] The point-to-straight-line distance calculation method can be described as: Assume that the equation of the fitted line L1 is Ax+By+C=0, and the coordinates of point Pi are (xi, yi). The distance from point Pi to line L1 is defined as the length of the perpendicular segment from point Pi to line L1. This can be obtained by calculating the length of the perpendicular segment from point Pi to line L1:

[0038] After calculating the slope k of the fitting line and the distance d from the origin of the coordinates of the wall working robot to the fitting line, when the slope k of the fitting line is 0, the body of the wall working robot is parallel to the wall and can work. Therefore, this embodiment can control the robot to rotate in situ according to the slope k value and adjust the robot posture to a workable state. This embodiment controls the robot to move forward or backward by comparing the distance d from the origin of the coordinates of the wall working robot to the fitting line and the ideal working distance of the working device from the wall to achieve the distance accuracy required for the work.

[0039] The embodiments of the present application are described and illustrated below through preferred embodiments.

[0040] Figure 3 is a flow chart of a wall operation positioning and navigation method according to a preferred embodiment of the present application. Figure 3 As shown, the wall working robot in the preferred embodiment can perform the following steps: Step S301, collecting contour point clouds around the robot and performing denoising processing; Step S302, converting the point cloud into the robot body coordinate system; Step S303, extracting point cloud data of the robot tail; Step S304, performing point cloud straight line fitting using the least squares method; Step S305, calculating the slope k of the fitting line; Step S306, controlling the robot to rotate in situ and adjust its posture according to the slope k; Step S307, calculating the distance d from the origin of the robot body coordinate system to the fitting straight line; Step S308, controlling the robot to move forward or backward to adjust the distance from the wall; Step S309, determine whether the operation requirements are met, if so, perform the operation and end the process, if not, return to step S301.

[0041] The execution process of the preferred embodiment in the actual operation scenario is as follows Figure 4 As shown, the specific steps include: Step S401, determine whether the wall is operated for the first time; if so, execute step S402; if not, execute step S403; Step S402, placing the robot at the starting position of the wall where the operation is required; Step S403, controlling the robot to rotate in situ to achieve posture accuracy according to the positioning method; Step S404, controlling the robot to move horizontally a distance dy in the Y direction of the coordinate system according to the wheel odometer data of the robot mobile platform; Step S405, controlling the robot to rotate in place and adjusting the robot posture; Step S406, controlling the robot to move forward or backward according to the positioning method to achieve the required wall operation distance; Step S407, repeatedly controlling the robot to rotate in place to adjust the robot's posture; Step S408, the operation device starts operation; Step S409, determine whether there is an obstacle within the range of Y direction dy, if yes, end the navigation process, if not, return to step S403.

[0042] The embodiments of the present application provide a positioning and navigation method for a wall-working robot and a wall-working robot capable of executing the method, which can quickly realize automated measurement or spraying and polishing of walls, and at the same time are simple to operate and do not require external equipment, thereby greatly improving the efficiency of wall work.

[0043] This embodiment provides a positioning and navigation method for a wall-working robot. The positioning and navigation method can be executed by the wall-working robot in the above embodiment, specifically by an industrial computer. Figure 5 is a flow chart of a positioning and navigation method for a wall working robot according to an embodiment of the present application, such as Figure 5 As shown, the process includes the following steps: Step S501, the industrial computer receives the wall contour point cloud data collected by the laser radar; Step S502, the industrial computer generates a control instruction according to the contour point cloud data, wherein the control instruction is used to instruct the posture adjustment parameters and position movement parameters of the wall-working robot; In step S503, the industrial computer sends the control instruction to the operating device to instruct the operating device to perform the operation according to the control instruction.

[0044] In some embodiments, the step S502 in which the industrial computer generates a control instruction according to the contour point cloud data may include: Performing denoising processing on the contour point cloud data; The denoised contour point cloud data is converted from the laser radar coordinate system to the body coordinate system of the wall-working robot through a rotation transformation matrix; Extracting contour point cloud data of the wall at the rear of the wall-working robot in the vehicle body coordinate system; Performing straight line fitting on the contour point cloud data of the tail wall based on the least squares method to obtain a fitting straight line; Generating a posture adjustment parameter of the wall-working robot according to the slope of the fitting straight line; The position movement parameters of the wall-working robot are generated according to the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line.

[0045] Optionally, generating a posture adjustment parameter of the wall-working robot according to the slope of the fitting straight line includes: When the slope of the fitting straight line is 0, it is determined that the wall-working robot is parallel to the wall, and the wall-working robot directly performs the operation; When the slope of the fitting line is not 0, the angle value of the in-situ rotation of the wall-working robot is generated according to the value of the slope of the fitting line, wherein the wall-working robot rotates in-situ according to the in-situ rotation angle value and then performs the work.

[0046] Optionally, generating the position movement parameter of the wall-working robot according to the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line includes: When the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is less than the working distance between the working device and the wall, a first position movement parameter is generated, wherein the first position movement parameter is used to instruct the wall-working robot to retreat; When the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is greater than the working distance between the working device and the wall, a second position movement parameter is generated, wherein the second position movement parameter is used to instruct the wall-working robot to move forward; When the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line is equal to the working distance between the working device and the wall, the position of the wall-working robot is controlled not to move.

[0047] The positioning and navigation method of the above-mentioned embodiment uses a laser radar to collect wall contour point cloud data in all directions, and adjusts the posture and position of the wall working robot according to the contour point cloud data to satisfy the wall working requirements of the working device. This solves the problem of time-consuming and complicated processing and low work efficiency caused by the need to construct drawings in a specified format for robots performing automated wall operations in related technologies, and realizes rapid automated measurement or spraying and polishing of walls, while being simple to operate and requiring no external equipment.

[0048] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0049] This embodiment provides a positioning and navigation device for a wall-working robot, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated hereafter. As used below, the terms "module", "unit", "subunit", etc. may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0050] Figure 6 is a structural block diagram of a positioning and navigation device for a wall working robot according to an embodiment of the present application, such as Figure 6 As shown, the device comprises: A receiving unit 61 is used for the industrial computer to receive the wall contour point cloud data collected by the laser radar; A generating unit 62, configured for the industrial computer to generate a control instruction according to the contour point cloud data, wherein the control instruction is used to indicate a posture adjustment parameter and a position movement parameter of the wall-working robot; The sending unit 63 is used for the industrial computer to send the control instruction to the operating device to instruct the operating device to perform the operation according to the control instruction.

[0051] In some embodiments, the generating unit 62 may include: A denoising module, used for denoising the contour point cloud data; A transformation module, used to transform the de-noised contour point cloud data from the laser radar coordinate system to the body coordinate system of the wall-working robot through a rotation transformation matrix; An extraction module, used to extract the contour point cloud data of the wall at the rear of the wall-working robot in the vehicle body coordinate system; A fitting module, used for performing straight line fitting on the contour point cloud data of the tail wall based on the least square method to obtain a fitting straight line; A first generating module, used for generating a posture adjustment parameter of the wall-working robot according to the slope of the fitting straight line; The second generating module is used to generate the position movement parameters of the wall-working robot according to the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line.

[0052] Optionally, the first generating module may include: A determination submodule, used for determining that the wall-working robot is parallel to the wall when the slope of the fitting straight line is 0, and the wall-working robot directly performs the operation; The first generating submodule is used to generate the angle value of the wall-working robot's in-situ rotation according to the value of the slope of the fitting straight line when the slope of the fitting straight line is not 0, wherein the wall-working robot performs the operation after rotating in-situ according to the in-situ rotation angle value.

[0053] Optionally, the second generating module includes: A second generating submodule is used to generate a first position movement parameter when the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is less than the working distance between the working device and the wall, wherein the first position movement parameter is used to instruct the wall-working robot to retreat; A third generating submodule is used to generate a second position movement parameter when the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is greater than the working distance between the working device and the wall, wherein the second position movement parameter is used to instruct the wall-working robot to move forward; The control submodule is used to control the position of the wall-working robot not to move when the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is equal to the working distance between the working device and the wall.

[0054] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0055] The embodiment provides a computer device. In combination with the positioning and navigation method for a wall-working robot according to the embodiment of the present application, the computer device can be implemented. Figure 7Schematic diagram of the hardware structure of a computer device according to an embodiment of the present application.

[0056] The computer device may include a processor 71 and a memory 72 storing computer program instructions.

[0057] Specifically, the processor 71 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0058] Among them, the memory 72 may include a large-capacity memory for data or instructions. For example, but not limitation, the memory 72 may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 72 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 72 may be inside or outside the data processing device. In a specific embodiment, the memory 72 is a non-volatile memory. In a specific embodiment, the memory 72 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM) or a flash memory (FLASH), or a combination of two or more of these. Under appropriate circumstances, the RAM can be a static random access memory (SRAM) or a dynamic random access memory (DRAM), wherein the DRAM can be a fast page mode dynamic random access memory (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0059] The memory 72 may be used to store or cache various data files required for processing and / or communication, as well as possible computer program instructions executed by the processor 71 .

[0060] The processor 71 implements any one of the positioning and navigation methods for the wall-working robot in the above-mentioned embodiments by reading and executing the computer program instructions stored in the memory 72 .

[0061] In some embodiments, the computer device may further include a communication interface 73 and a bus 70. Figure 7 As shown, the processor 71, the memory 72, and the communication interface 73 are connected via a bus 70 and communicate with each other.

[0062] The communication interface 73 is used to implement communication between the modules, devices, units and / or equipment in the embodiment of the present application. The communication interface 73 can also implement data communication with other components such as: external devices, image / data acquisition equipment, databases, external storage, and image / data processing workstations.

[0063] The bus 70 includes hardware, software or both, and couples the components of the computer device to each other. The bus 70 includes but is not limited to at least one of the following: a data bus, an address bus, a control bus, an expansion bus, and a local bus. By way of example and not limitation, bus 70 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, bus 70 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0064] In addition, in combination with the positioning and navigation method for the wall working robot in the above embodiments, the present application embodiment can provide a computer readable storage medium for implementation. The computer readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the positioning and navigation methods for the wall working robot in the above embodiments is implemented.

[0065] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A wall working robot, characterized in that: It includes a mobile platform and a laser radar, an industrial computer and an operating device arranged on the mobile platform, wherein: The laser radar is used to collect wall contour point cloud data, and the laser radar includes a first laser radar and a second laser radar arranged at diagonal positions of the mobile platform, and the collection range of the first laser radar and the second laser radar covers 360 degrees; The industrial computer is used to generate control instructions according to the contour point cloud data collected by the laser radar, and the control instructions are used to instruct the posture adjustment parameters and position movement parameters of the wall-working robot; The operating device is used to perform the operation according to the control instruction.

2. The wall working robot according to claim 1, characterized in that: The industrial computer is used to generate control instructions according to the contour point cloud data collected by the laser radar, including: Performing denoising processing on the contour point cloud data; The denoised contour point cloud data is converted from the laser radar coordinate system to the body coordinate system of the wall-working robot through a rotation transformation matrix; Extracting contour point cloud data of the wall at the rear of the wall-working robot in the vehicle body coordinate system; Performing straight line fitting on the contour point cloud data of the tail wall based on the least squares method to obtain a fitting straight line; Generating a posture adjustment parameter of the wall-working robot according to the slope of the fitting straight line; The position movement parameters of the wall-working robot are generated according to the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line.

3. The wall working robot according to claim 2, characterized in that: The step of generating the posture adjustment parameter of the wall-working robot according to the slope of the fitting straight line includes: When the slope of the fitting straight line is 0, it is determined that the wall-working robot is parallel to the wall, and the wall-working robot directly performs the operation; When the slope of the fitting line is not 0, the angle value of the in-situ rotation of the wall-working robot is generated according to the value of the slope of the fitting line, wherein the wall-working robot rotates in-situ according to the in-situ rotation angle value and then performs the work.

4. The wall working robot according to claim 2, characterized in that: The step of generating the position movement parameter of the wall-working robot according to the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line comprises: When the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is less than the working distance between the working device and the wall, a first position movement parameter is generated, wherein the first position movement parameter is used to instruct the wall-working robot to retreat; When the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is greater than the working distance between the working device and the wall, a second position movement parameter is generated, wherein the second position movement parameter is used to instruct the wall-working robot to move forward; When the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line is equal to the working distance between the working device and the wall, the position of the wall-working robot is controlled not to move.

5. A positioning and navigation method for a wall-working robot according to any one of claims 1 to 4, characterized in that: include: The industrial computer receives the wall contour point cloud data collected by the laser radar; The industrial computer generates a control instruction according to the contour point cloud data, wherein the control instruction is used to indicate a posture adjustment parameter and a position movement parameter of the wall-working robot; The industrial computer sends the control instruction to the operating device to instruct the operating device to perform the operation according to the control instruction.

6. The method according to claim 5, characterized in that The industrial computer generates a control instruction according to the contour point cloud data, including: Performing denoising processing on the contour point cloud data; The denoised contour point cloud data is converted from the laser radar coordinate system to the body coordinate system of the wall-working robot through a rotation transformation matrix; Extracting contour point cloud data of the wall at the rear of the wall-working robot in the vehicle body coordinate system; Performing straight line fitting on the contour point cloud data of the tail wall based on the least squares method to obtain a fitting straight line; Generating a posture adjustment parameter of the wall-working robot according to the slope of the fitting straight line; The position movement parameters of the wall-working robot are generated according to the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line.

7. The method according to claim 6, characterized in that The step of generating the posture adjustment parameter of the wall-working robot according to the slope of the fitting straight line includes: When the slope of the fitting straight line is 0, it is determined that the wall-working robot is parallel to the wall, and the wall-working robot directly performs the operation; When the slope of the fitting line is not 0, the angle value of the in-situ rotation of the wall-working robot is generated according to the value of the slope of the fitting line, wherein the wall-working robot rotates in-situ according to the in-situ rotation angle value and then performs the work.

8. The method according to claim 6, characterized in that The step of generating the position movement parameter of the wall-working robot according to the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line comprises: When the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is less than the working distance between the working device and the wall, a first position movement parameter is generated, wherein the first position movement parameter is used to instruct the wall-working robot to retreat; When the straight-line distance from the origin of the vehicle coordinate system to the fitting straight line is greater than the working distance between the working device and the wall, a second position movement parameter is generated, wherein the second position movement parameter is used to instruct the wall-working robot to move forward; When the straight-line distance from the origin of the vehicle body coordinate system to the fitting straight line is equal to the working distance between the working device and the wall, the position of the wall-working robot is controlled not to move.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 5 to 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 5 to 8 is implemented.

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