Automatic grinding method and device, electronic equipment and storage medium

Abstract

The invention provides an automatic grinding method and device, electronic equipment and a storage medium, and relates to the technical field of automatic grinding, the automatic grinding method and device are applied to a wall-climbing robot, and the wall-climbing robot comprises a robot body, a grinding device, an image acquisition device and a distance measurement device; the image collecting device is located on the center line of the robot body, and the measuring device is located on the robot body. The automatic polishing method comprises the steps that an image of a working area is collected through an image collecting device, and offset information is determined according to the image; the wall-climbing robot is controlled to move in the first direction along the center line of the target based on the offset information so as to drive a grinding device to grind the preset grinding target, and the distance to the ground is measured through a distance measuring device; and when the variable quantity of the distance to the ground is larger than a first preset threshold value, the wall-climbing robot is controlled based on a preset grinding strategy, so that the movement track of the grinding device covers a preset grinding target. According to the embodiment, path planning can be dynamically adjusted, so that the quality of polishing operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic grinding, and more specifically, to an automatic grinding method, device, electronic device, and storage medium. Background Art

[0002] With the rapid development of the social economy and the acceleration of the urbanization process, the scale and complexity of construction projects such as bridge projects have been continuously increasing. At the same time, higher quality requirements have also been put forward for the welding processes widely used in the projects. However, problems such as uneven welds and surface defects often occur inevitably during the welding process. Therefore, in order to facilitate painting to ensure the structural quality and durability, it is necessary to carefully grind the welds after welding.

[0003] Currently, during bridge construction, it is usually necessary for operators to hold grinding tools to grind the surface of steel structures. The high-altitude operation is difficult and has a high risk factor, and the grinding quality depends on the technical level and experience of the operators, making it difficult to ensure the quality of the grinding operation. Summary of the Invention

[0004] The problem solved by the present invention is how to improve the quality of the grinding operation.

[0005] To solve the above problems, the present invention provides an automatic grinding method, device, electronic device, and storage medium.

[0006] In a first aspect, the present invention provides an automatic grinding method applied to a wall-climbing robot. The wall-climbing robot includes a robot body, a grinding device, an image acquisition device, and a distance measurement device; the grinding device is rotatably connected to the robot body; the image acquisition device is located on the center line of the robot body, and the measurement device is located on the robot body; the automatic grinding method includes:

[0007] Using the image acquisition device to acquire the current image of the working area, and determining the offset information between the target center line of the preset grinding target in the working area and the preset device origin of the image acquisition device according to the current image; wherein, the offset information includes the current offset amount;

[0008] Based on the current offset amount, controlling the wall-climbing robot to move along the target center line in a first direction to drive the grinding device to grind the preset grinding target, and using the distance measurement device to measure the current ground distance; wherein, the first direction is opposite to the current arrangement direction of the grinding device on the robot body, and the measurement device is used to measure the ground distance of the robot body;

[0009] When the change amount of the current distance to the ground is greater than a first preset threshold, control the wall-climbing robot based on a preset grinding strategy to make the movement trajectory of the grinding device cover the preset grinding target; wherein, the preset grinding strategy includes controlling the wall-climbing robot to move in the opposite direction of the first direction along the target center line, and rotating the grinding device to one side of the robot body in the first direction.

[0010] Optionally, the image acquisition device includes a first image acquisition device and a second image acquisition device with opposite setting directions; the current image includes a current first image acquired by the first image acquisition device and a current second image acquired by the second image acquisition device; the offset information includes first offset information and second offset information; the offset information between the target center line of the preset grinding target in the operation area determined according to the current image and the preset device origin of the image acquisition device includes:

[0011] Determine the first offset information between the target center line and the preset device origin of the first image acquisition device based on the current first image, and determine the second offset information between the target center line and the preset device origin of the second image acquisition device based on the second image.

[0012] Optionally, after determining the offset information between the target center line of the preset grinding target in the operation area and the preset device origin of the image acquisition device according to the current image, it further includes:

[0013] Obtain the conversion relationship between the preset device origin of the first image acquisition device and the preset body origin of the robot body to obtain a first conversion relationship;

[0014] Obtain the conversion relationship between the preset device origin of the second image acquisition device and the preset body origin to obtain a second conversion relationship;

[0015] Perform coordinate conversion on the first offset information according to the first conversion relationship, and perform coordinate conversion on the second offset information according to the second conversion relationship.

[0016] Optionally, the wall-climbing robot further includes at least two walking devices symmetrically arranged along the center line of the robot body; the offset information further includes a current offset direction; the controlling the wall-climbing robot to move along the target center line in the first direction based on the current offset amount includes:

[0017] Increase the speed of the walking device in the same direction as the offset direction based on the current offset amount, and / or decrease the speed of the walking device in the opposite direction of the offset direction based on the current offset amount.

[0018] Optionally, the preset grinding target includes a first weld seam and a plurality of second weld seams perpendicular to the first weld seam; the automatic grinding method further includes:

[0019] When the second weld seam is recognized according to the image information and the positional relationship between a preset calibration point on the grinding device and the second weld seam meets a preset alignment condition, controlling the grinding device to reciprocally swing on both sides of the target center line at a preset swing angle; wherein, the preset alignment condition includes that the projection of the preset calibration point on the working area is located on the center line of the second weld seam;

[0020] Obtain the moving distance of the wall-climbing robot in the first direction when the grinding device makes the reciprocating swing, and when the moving distance is greater than a preset distance, control the grinding device to reset.

[0021] Optionally, the grinding device includes a grinding tool; controlling the wall-climbing robot based on a preset grinding strategy to make the movement trajectory of the grinding device cover the preset grinding target includes:

[0022] After controlling the wall-climbing robot to move in the opposite direction of the first direction along the target center line by a first preset distance, rotate the grinding device to one side of the robot body in the first direction; wherein, the first preset distance is determined based on the minimum distance between the grinding tool and the robot body along the target center line direction and the length of the robot body along the target center line direction;

[0023] Control the wall-climbing robot to move in the first direction along the target center line by a second preset distance to drive the grinding device to grind the preset grinding target; wherein, the second preset distance is determined based on the target minimum distance between the distance measuring sensor and the grinding tool along the target center line direction, and the target minimum distance includes the minimum distance between the distance measuring sensor and the grinding tool along the target center line direction when the change amount of the current ground distance is greater than a first preset threshold.

[0024] Optionally, after controlling the wall-climbing robot based on a preset grinding strategy to make the movement trajectory of the grinding device cover the preset grinding target, it further includes:

[0025] In response to receiving a signal indicating that the grinding device replacement is completed, return to the step of collecting the current image of the working area by using the image acquisition device, and control the wall-climbing robot until the movement trajectory of the replaced grinding device covers the preset grinding target.

[0026] Second aspect, the present invention provides an automatic grinding device applied to a wall-climbing robot. The wall-climbing robot includes a robot body, a grinding device, an image acquisition device, and a distance measurement device; the grinding device is rotatably connected to the robot body; the image acquisition device is located on the center line of the robot body; the automatic grinding device includes:

[0027] A determination module, configured to collect a current image of an operation area by using the image acquisition device, and determine offset information between a target center line of a preset grinding target in the operation area and a preset device origin of the image acquisition device according to the current image; wherein, the offset information includes a current offset amount;

[0028] A control module, configured to control the wall-climbing robot to move along the target center line in a first direction based on the current offset amount, so as to drive the grinding device to grind the preset grinding target, and measure a current ground distance by using the distance measurement device; wherein, the first direction is opposite to a current arrangement direction of the grinding device on the robot body;

[0029] A judgment module, configured to, when a change amount of the current ground distance is greater than a first preset threshold, control the wall-climbing robot based on a preset grinding strategy, so that a movement trajectory of the grinding device covers the preset grinding target; wherein, the preset grinding strategy includes controlling the wall-climbing robot to move in a direction opposite to the first direction along the target center line, and rotating the grinding device to the first direction.

[0030] Third aspect, the present invention provides an electronic device, including a memory and a processor;

[0031] The memory is configured to store a computer program;

[0032] The processor is configured to, when executing the computer program, implement the automatic grinding method as described in the first aspect.

[0033] Fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the automatic grinding method as described in the first aspect is implemented.

[0034] The beneficial effects of the automatic grinding method of the present invention are as follows: By acquiring real-time images of the working area through an image acquisition device installed on the center line of the robot body, the position of the preset grinding target can be accurately identified. Based on these image data, offset information is obtained to adjust the moving direction or speed of the robot, ensuring that the robot moves along the target center line, enabling the robot to accurately locate the specific position that needs to be ground, thereby greatly improving the accuracy of the grinding work and achieving uniform and effective grinding. When the robot encounters a deviation during the working process, the wall-climbing robot can make corresponding adjustments in real time, enabling the robot to quickly return to the correct path, which not only improves the grinding efficiency but also reduces the repetitive work caused by deviating from the path. By continuously monitoring the distance between the robot and the working surface through a distance measurement device, potential safety hazards or abnormal situations can be detected in a timely manner. When it is detected that the distance change exceeds the threshold, the robot can immediately take measures to avoid collisions or other dangerous situations. When encountering terrain changes or approaching the working boundary, a preset grinding strategy is used to adjust the moving direction of the robot and the angle of the grinding device, which can ensure that comprehensive and uniform grinding can be achieved even in a complex working environment. For example, when the robot approaches the end of the weld, it retreats a certain distance according to the preset strategy, re-locates the position of the grinding tool, and then continues to complete the grinding task of the remaining part, thereby avoiding missing any area and ensuring the quality of grinding. When working in a high-altitude or dangerous environment in this embodiment, direct human participation can be reduced, significantly reducing safety risks. With the precise positioning function provided by the image acquisition device, the robot can efficiently complete tasks while ensuring its own stability, guaranteeing construction safety. The robot can dynamically adjust its path planning according to the actual situation, adapt to various complex situations, and improve the quality of the grinding operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic flow chart of an automatic grinding method according to an embodiment of the present invention;

[0036] Figure 2 is a schematic diagram of the grinding device located in the working area according to an embodiment of the present invention;

[0037] Figure 3 is a schematic diagram of the grinding device located at the end of the working area according to an embodiment of the present invention;

[0038] Figure 4 is a schematic diagram of the grinding device grinding the working allowance according to an embodiment of the present invention;

[0039] Figure 5 is a schematic diagram of the field of view ranges of two image acquisition devices of the grinding device according to an embodiment of the present invention;

[0040] Figure 6Schematic diagram of the positions of the first weld seam and the second weld seam in the embodiments of the present invention;

[0041] Figure 7 Schematic diagram of the second weld seam being ground by the grinding device in the embodiments of the present invention;

[0042] Figure 8 Schematic diagram of the grinding device grinding the spraying operation area in the embodiments of the present invention;

[0043] Figure 9 Example diagram of an automatic grinding device in the embodiments of the present invention;

[0044] Figure 10 Example diagram of an electronic device in the embodiments of the present invention. Detailed implementation manners

[0045] To make the above objects, features, and advantages of the present invention more apparent and understandable, the following will describe the specific embodiments of the present invention in detail with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments described herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not used to limit the protection scope of the present invention.

[0046] It should be understood that the various steps recorded in the method embodiments of the present invention can be executed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this regard.

[0047] As used herein, the term "including" and its variants are open-ended, that is, "including but not limited to"; the term "based on" is "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules, or units, and are not used to limit the order of the functions performed by these devices, modules, or units or their interdependent relationships.

[0048] It should be noted that the modifications of "one" and "plural" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0049] This embodiment provides an automatic grinding method, device, electronic device, and storage medium.

[0050] As Figure 1 shown, an automatic grinding method provided by an embodiment of the present invention is applied to a wall-climbing robot. The wall-climbing robot includes a robot body, a grinding device, an image acquisition device, and a distance measurement device; the grinding device is rotatably connected to the robot body; the image acquisition device is located on the center line of the robot body, and the measurement device is located on the robot body; the automatic grinding method includes:

[0051] S100, using the image acquisition device to acquire the current image of the working area, and determining the offset information between the target center line of the preset grinding target in the working area and the preset device origin of the image acquisition device according to the current image; wherein, the offset information includes the current offset amount.

[0052] Specifically, in this example, a real-time image of the working area is obtained through an image acquisition device installed on the center line of the robot body. The image acquisition device includes a 3D camera for welding guidance, and this 3D camera for welding guidance can identify multiple weld seams through a single photo. During the grinding process, the image acquisition device acquires the image of the current working area, and through image processing of the acquired image, the positional relationship between the target center line of the grinding target and the robot body is determined.

[0053] In one embodiment, the wall-climbing robot includes multiple servo motors and at least one stepper motor. The servo motors drive the robot to move forward, backward, and turn, and the stepper motor is used for the feed control of the grinding device. The feed control means precisely controlling the moving direction, speed, and position of the grinding device through the stepper motor to achieve precise machining and grinding of the working area. For example, when grinding a weld seam, first calibrate the coordinate origin of the grinding tool of the wall-climbing robot to determine the absolute origin coordinates of the image acquisition device relative to the origin with respect to the robot body, so as to determine the conversion relationship between the two coordinate systems. The image acquisition device located on the center line of the robot body takes a picture of the working area image including the weld seam, and through image processing technology, the acquired image is processed to detect and locate the weld seam center line, obtain the position of the weld seam center line in the image coordinate system, and thus obtain the position in the world coordinate system required for the robot operation to determine the deviation degree of the weld seam center line relative to the preset device origin of the image acquisition device.

[0054] S200, control the wall - climbing robot to move in the first direction along the target center line based on the current offset, so as to drive the grinding device to grind the preset grinding target, and use the distance measuring device to measure the current ground distance; wherein, the first direction is opposite to the current arrangement direction of the grinding device on the robot body, and the measuring device is used to measure the ground distance of the robot body.

[0055] Specifically, as Figure 2 shown, the grinding device is rotationally connected to the wall - climbing robot through a rocker. When the wall - climbing robot moves forward along the target center line, the current arrangement direction of the grinding device is opposite to the forward direction of the wall - climbing robot, that is, opposite to the first direction. The reverse arrangement of the grinding device enables the grinding device to be more stable when contacting the working surface. The grinding device controls the traveling route of the wall - climbing robot according to the obtained offset information of the current position of the robot relative to the center line of the operation area. When the wall - climbing robot is moving forward along the weld center line, control the grinding device to grind the weld; when the wall - climbing robot deviates from the center line of the weld, adjust the moving direction or speed of the robot to make it gradually move forward along the weld center line. The distance measuring device (such as a laser distance sensor) of the wall - climbing robot can be installed directly below the robot locally to measure the distance of the robot locally relative to the working surface.

[0056] S300, when the change amount of the current ground distance is greater than the first preset threshold, control the wall - climbing robot based on a preset grinding strategy to make the movement trajectory of the grinding device cover the preset grinding target; wherein, the preset grinding strategy includes controlling the wall - climbing robot to move in the opposite direction of the first direction along the target center line and rotating the grinding device to one side of the robot body in the first direction.

[0057] Specifically, as Figure 3 and Figure 4As shown, a distance measuring device (such as a laser ranging sensor) can also be installed at the front of the robot (the side where the wall-climbing robot moves forward along the first direction is the front of the robot). The distance measuring device continuously measures the distance between the robot body and the working surface. The surface of the unpolished working area may be wavy and uneven. When the robot is moving along the weld, the laser ranging sensor suddenly detects an increase in the change amount of the distance from the working surface, indicating that the robot may be approaching the edge of the working area or encountering a protrusion or uneven surface. For example, during the construction of a bridge pylon, the end of the weld or the edge of the structural member may be encountered. Or the robot enters a sunken area. For example, in some complex steel structures, there may be welds or welding points with different depths. When the change amount of the measured distance to the ground exceeds a set first preset threshold (this threshold is preset according to the actual application scenario and the target characteristics to be polished), it is determined that the wall-climbing robot has reached the end of the working area.

[0058] Due to the reverse setting of the grinding device, the working area between the grinding device and the front of the wall-climbing robot has not been ground yet, and the remaining amount of the grinding operation area needs to be ground. When the wall-climbing robot reaches the end of the working area, it stops moving forward and moves a certain distance in the opposite direction (i.e., the opposite direction of the first direction) along the target center line, so that the robot retreats to a safe and suitable position for continuing to grind, and at the same time adjusts the position of the grinding device to grind the remaining amount of the operation area. At this time, the arrangement direction of the grinding device is the same as the forward direction of the robot.

[0059] In this embodiment, a real-time image of the working area is obtained by an image acquisition device installed on the center line of the robot body, and the position of a preset grinding target can be accurately identified. Based on this image data, offset information is obtained to adjust the moving direction or speed of the robot, ensuring that the robot moves along the target center line, so that the robot can accurately locate the specific position to be ground, thereby greatly improving the precision of the grinding work and achieving uniform and effective grinding. When the robot encounters a deviation during the working process, the wall-climbing robot can make corresponding adjustments in real time, enabling the robot to quickly return to the correct path, which not only improves the grinding efficiency but also reduces the repetitive work caused by deviating from the path. By continuously monitoring the distance between the robot and the working surface through a distance measuring device, potential safety hazards or abnormal conditions can be detected in a timely manner. When it is detected that the distance change exceeds the threshold, the robot can immediately take measures to avoid collisions or other dangerous situations. When encountering terrain changes or approaching the working boundary, a preset grinding strategy is used to adjust the moving direction of the robot and the angle of the grinding device, which can ensure that comprehensive and uniform grinding can be achieved even in a complex working environment. For example, when the robot approaches the end of the weld, it retreats a certain distance according to the preset strategy, re-locates the position of the grinding tool, and then continues to complete the grinding task of the remaining part, thereby avoiding missing any area and ensuring the quality of grinding. When working in a high-altitude or dangerous environment in this embodiment, the direct participation of personnel can be reduced, which can significantly reduce the safety risk. With the precise positioning function provided by the image acquisition device, the robot can efficiently complete tasks while ensuring its own stability, ensuring construction safety. The robot can dynamically adjust its path planning according to the actual situation and can adapt to various complex situations to improve the quality of the grinding operation.

[0060] Optionally, the image acquisition device includes a first image acquisition device and a second image acquisition device with opposite installation directions; the current image includes a current first image acquired by the first image acquisition device and a current second image acquired by the second image acquisition device; the offset information includes first offset information and second offset information; the determining the offset information between the target center line of the preset grinding target in the working area and the preset device origin of the image acquisition device according to the current image includes:

[0061] Determining the first offset information between the target center line and the preset device origin of the first image acquisition device based on the current first image, and determining the second offset information between the target center line and the preset device origin of the second image acquisition device based on the second image.

[0062] Specifically, as Figure 5As shown in the figure, the wall - climbing robot includes two image acquisition devices with opposite directions, a first image acquisition device and a second image acquisition device. These two devices are installed directly above the center line of the wall - climbing robot. For example, they are installed directly in front of the rocker and the front of the robot head respectively, meeting the field - of - view range of the wall - climbing robot (that is, the field of view of the image acquisition device needs to cover the current working area) so as to determine the position of the wall - climbing robot relative to the working area. Image data of the working area are captured from the front and the rear of the robot respectively, that is, the current first image and the current second image. By processing these image data, the offset information of the robot head and the robot tail relative to the center line of the working area can be obtained, and thus the offset information of the center line of the robot body relative to the center line of the working area can be obtained.

[0063] In one embodiment, the first image acquisition device captures an image of the working area including the weld seam, and identifies the feature points of the weld seam through an image - processing algorithm. Then these feature points are converted into numerical representations in the coordinate system to determine the position deviation of the robot head relative to the center line of the weld seam, that is, the first offset information. Similarly, the second image acquisition device obtains the image of the other side of the weld seam from the opposite direction and determines the position deviation of the robot tail relative to the center line of the weld seam, that is, the second offset information. Thus, the offset information of the center line of the robot body relative to the center line of the weld seam is obtained. By using two image acquisition devices, not only the positioning accuracy is improved, but also the complex and changeable working environment can be effectively dealt with, ensuring that the robot can accurately follow the weld - seam path.

[0064] In this alternative embodiment, by using two image acquisition devices with opposite directions, the robot can obtain detailed information about the weld seam from multiple angles. The offset amount of the robot relative to the target center line of the grinding target can be obtained more accurately, thereby improving the accuracy and consistency of grinding. By combining the data provided by the two image acquisition devices with opposite directions, a high reliability can be maintained. The first image acquisition device and the second image acquisition device provide views of the weld seam from the front and the rear respectively, which helps the robot to formulate a more reasonable path - planning strategy, avoid missing any part that needs to be ground, and can obtain and process the data from the two image acquisition devices in real time, quickly respond to environmental changes and make corresponding adjustments. This enables the robot to complete high - quality grinding tasks in a shorter time, improving the overall work efficiency.

[0065] Optionally, after determining the offset information between the target center line of the preset grinding target in the working area and the preset device origin of the image acquisition device according to the current image, it further includes:

[0066] Obtain the conversion relationship between the preset device origin of the first image acquisition device and the preset body origin of the robot body to obtain the first conversion relationship;

[0067] Obtain the conversion relationship between the preset device origin of the second image acquisition device and the preset body origin to obtain a second conversion relationship;

[0068] Perform coordinate conversion on the first offset information according to the first conversion relationship, and perform coordinate conversion on the second offset information according to the second conversion relationship.

[0069] Specifically, in this embodiment, the first image acquisition device is located directly in front of the advancing direction of the robot. Then, it is necessary to obtain the position deviation of the first image acquisition device relative to the center line of the robot (such as horizontal offset, vertical offset, and rotation angle) to ensure that the data based on the first image acquisition device can be accurately mapped into the overall coordinate system of the robot. For the second image acquisition device, it is necessary to determine its conversion relationship relative to the origin of the robot body and obtain the relative position and angle between the two origins. The second image acquisition device is installed at the rear of the robot and faces the direction opposite to the advancing direction. It is necessary to obtain its specific position relative to the center line of the robot (including lateral and longitudinal offsets and rotation angle) to correctly convert the data of the second image acquisition device into information in the coordinate system of the robot body. Perform coordinate conversion on the first offset information according to the first conversion relationship, and perform coordinate conversion on the second offset information according to the second conversion relationship. By applying their respective conversion relationships, these two sets of data can be integrated into the same coordinate system, so as to more comprehensively understand the actual position of the weld seam and its specific offset relative to the robot.

[0070] In this alternative embodiment, by obtaining and applying the conversion relationships between the first and second image acquisition devices and their corresponding robot body origins, it can be ensured that data from different perspectives can be compared and analyzed in a unified coordinate system. This not only improves the consistency and reliability of the data but also reduces the errors caused by inconsistent coordinate systems. The multi-perspective data acquisition combined with precise coordinate conversion enables the robot to maintain a high positioning accuracy and path tracking ability.

[0071] Optionally, the wall-climbing robot further includes at least two walking devices symmetrically arranged along the center line of the robot body; the offset information further includes the current offset direction; the controlling the wall-climbing robot to move along the target center line in a first direction based on the current offset amount includes:

[0072] Increase the speed of the walking device in the same direction as the offset direction based on the current offset amount, and / or, decrease the speed of the walking device in the opposite direction to the offset direction based on the current offset amount.

[0073] Specifically, the wall-climbing robot includes at least two traveling devices symmetrically arranged along the center line of the robot body. For example, a first crawler belt (left side) and a second crawler belt (right side) are symmetrically arranged along the center line of the robot body. If the image acquisition device detects that the center line of the robot deviates to the left relative to the center line of the weld (i.e., the current deviation direction is to the left), the speed of the first crawler belt is correspondingly increased, and / or the speed of the second crawler belt is decreased, so that the robot turns to the right until it returns to the position of advancing along the center line of the weld. If the image acquisition device detects that the center line of the robot deviates to the right relative to the center line of the weld (i.e., the current deviation direction is to the right), the speed of the first crawler belt is correspondingly decreased, and / or the speed of the second crawler belt is increased, so that the robot turns to the left until it returns to the position of advancing along the center line of the weld.

[0074] In this optional embodiment, by dynamically adjusting the speed of the traveling device according to the actual position deviation (i.e., the offset) of the robot relative to the grinding target, the error accumulation caused by the position deviation during the movement of the robot can be effectively reduced, ensuring that the wall-climbing robot always advances along the predetermined target center line. By adjusting the speed of the traveling device, unnecessary energy consumption and equipment wear can be avoided on the premise of ensuring the grinding quality, which helps to extend the service life of the equipment and reduce the maintenance cost.

[0075] Optionally, the preset grinding target includes a first weld seam and a plurality of second weld seams perpendicular to the first weld seam; the automatic grinding method further includes:

[0076] When the second weld seam is recognized according to the image information and the positional relationship between the preset calibration point on the grinding device and the second weld seam meets the preset alignment condition, controlling the grinding device to reciprocally swing on both sides of the target center line at a preset swing angle; wherein, the preset alignment condition includes that the projection of the preset calibration point on the operation area is located on the center line of the second weld seam;

[0077] Obtain the movement distance of the wall-climbing robot along the first direction when the grinding device performs the reciprocating swing, and when the movement distance is greater than a preset distance, control the grinding device to reset.

[0078] Specifically, such as Figure 6 and Figure 7As shown, the preset grinding target includes a first weld seam and multiple second weld seams (vertical weld seams) perpendicular to the first weld seam (horizontal weld seam). Through the image acquisition device, the robot can identify the positions of these second weld seams. The preset alignment condition means that when the projection of the preset calibration point (such as the tool tip) on the grinding device in the working area is located on the center line of the second weld seam, the grinding device is controlled to reciprocally swing on both sides of the target center line within a predetermined angle range. When grinding the vertical weld seam, when the diameter of the grinding tool cannot completely cover the entire vertical weld seam area, in addition to replacing the tool with a larger diameter, the robot can be controlled to move forward while the rocker is controlled to move back and forth multiple times to achieve grinding until the vertical weld seam is ground.

[0079] In one embodiment, the preset swing angle is determined according to the length of the vertical weld seam so that the grinding device can cover the length of the vertical weld seam when swinging at the preset swing angle. As Figure 7 shown, θ represents the preset swing angle. The preset swing angle θ is determined to be 24 degrees according to the length of the vertical weld seam. When it is detected that the grinding device is at the junction of the horizontal weld seam and the vertical weld seam, the rocker is controlled to swing clockwise by 12 degrees, counterclockwise by 24 degrees, then clockwise by 24 degrees, and then counterclockwise by 12 degrees to complete one round-trip grinding of the vertical weld seam. There is a width along the target center line of the vertical weld seam, so that one round-trip grinding of the vertical weld seam by the robot cannot completely grind the vertical weld seam, and the robot needs to control the rocker to move back and forth multiple times to achieve grinding. For example, when the width along the target center line of the vertical weld seam is 17 mm, and the moving distance is greater than 17 mm while the robot controls the rocker to reciprocally swing, the current vertical weld seam grinding is completed, and the grinding device is controlled to reset, that is, the projection of the grinding device in the working area is on the horizontal center line of the horizontal weld seam, so that the grinding device continues to grind the horizontal weld seam.

[0080] In this optional embodiment, the position of the weld seam is identified by the image acquisition device, and it is ensured that the projection of the preset calibration point on the grinding device is on the center line of the weld seam, which can ensure that the grinding tool can accurately act on the position to be ground, guarantee the accuracy during the grinding process, reduce the problem of insufficient grinding caused by inaccurate positioning, and thus improve the overall quality of grinding. By reciprocally swinging at the preset swing angle, the grinding tool can grind on both sides of the weld seam, ensuring that the entire width of the weld seam is evenly covered and enhancing the grinding effect. Through accurate weld seam identification and alignment, combined with an efficient grinding strategy, a high-quality grinding task can be completed in a short time, significantly improving the overall work efficiency.

[0081] Optionally, the grinding device includes a grinding tool; controlling the wall-climbing robot based on the preset grinding strategy to make the movement trajectory of the grinding device cover the preset grinding target includes:

[0082] After controlling the wall-climbing robot to move a first preset distance in the opposite direction of the first direction along the target center line, the grinding device is rotated to one side of the robot body in the first direction; wherein the first preset distance is determined based on the minimum distance between the grinding tool and the robot body along the target center line direction, and the length of the robot body along the target center line direction;

[0083] The wall-climbing robot is controlled to move a second preset distance along the target center line toward the first direction, so as to drive the grinding device to grind the preset grinding target; wherein, the second preset distance is determined based on the target minimum distance between the ranging sensor and the grinding tool along the target center line direction, and the target minimum distance includes the minimum distance between the ranging sensor and the grinding tool along the target center line direction when the change in the current distance to the ground is greater than a first preset threshold.

[0084] Specifically, Figure 4 As shown, the setting direction of the grinding device is opposite to the forward direction of the wall-climbing robot. When the wall-climbing robot moves to the boundary of the working area, the working area between the grinding device and the front of the wall-climbing robot has not been ground yet, and the remaining grinding area needs to be ground. When the wall-climbing robot reaches the end of the working area, the wall-climbing robot is controlled to move a first preset distance in the opposite direction of the first direction along the target center line, such as Figure 4 The distance represented by X0 is the first preset distance, which includes the sum of the minimum distance between the two grinding tools and the robot body along the target centerline direction and the length of the robot body along the target centerline direction. After the wall-climbing robot retreats the first preset distance, the control joystick rotates 180°. At this time, the arrangement position of the grinding device is the same as the first direction. At the same time, the wall-climbing robot advances the second preset distance along the first direction (the second preset distance is determined based on the target minimum distance between the distance measuring sensor and the grinding tool along the target centerline direction, that is, the distance between the grinding device and the distance measuring device when the grinding device is arranged in reverse, such as Figure 4 The distance represented by X1 shown in the figure) is required so that the wall-climbing robot can grind the margin of the working area.

[0085] In this optional embodiment, when the distance measuring device detects that the change in the current distance to the ground exceeds a first preset threshold, the wall-climbing robot is controlled to move a preset distance in the opposite direction to prevent the robot from colliding due to terrain changes, thereby protecting the robot from damage. By grinding the remaining space in the working area, the robot can ensure that each weld segment is fully polished, reducing the need for rework due to insufficient grinding, and further saving time and cost.

[0086] Optionally, after controlling the wall-climbing robot according to the preset grinding strategy to make the movement trajectory of the grinding device cover the preset grinding target, the method further includes:

[0087] In response to the received signal indicating that the grinding device replacement is completed, return to the step of using the image acquisition device to acquire the current image of the operation area, and control the wall-climbing robot until the movement trajectory of the replaced grinding device covers the preset grinding target.

[0088] Specifically, as Figure 8 shown, a relatively smooth and uniform surface is required before spraying to ensure that the coating can be evenly distributed and firmly adhered. If the surface roughness is too high, it may cause problems such as coating bubbles, peeling, or uneven thickness. Through careful grinding, these risks can be significantly reduced, ensuring the coating quality. Using a grinding tool with a smaller feed rate can achieve a finer grinding effect, removing minor defects and unevenness, thereby improving the surface finish. After the wall-climbing robot finishes grinding the entire working area once, before spraying, control the wall-climbing robot to replace the tool with a smaller feed rate. The grinding device replacement signal can be manually triggered by the operator or automatically generated by an in-built sensor after detecting that the currently used tool is worn or not suitable for the current task. After replacing the new grinding device (grinding tool with a smaller feed rate), the robot needs to be recalibrated and positioned. Use the image acquisition device again to capture the current image of the operation area to determine the position of the new grinding device relative to the weld. The steps of the wall-climbing robot before spraying for the remaining amount are the same as those before the first grinding of the remaining amount. The boundary of the operation area usually has a complex geometric shape or irregular edges, including corners, protrusions, or other obstacles. By increasing the swing angle of the rocker, the grinding tool can cover the entire grinding area, improving the grinding accuracy. The swing angle depends on the width of the on-site operation area.

[0089] In this optional embodiment, by replacing the grinding tool with a smaller feed rate, a finer grinding effect can be achieved before spraying, removing minor defects and unevenness, thereby significantly improving the surface finish. The carefully ground surface can significantly reduce the risk of problems such as coating bubbles, peeling, or uneven thickness, thus ensuring the coating quality. The grinding tool with a smaller feed rate can remove less material during each grinding process, which can better control the final surface shape and dimensional accuracy, and avoid material waste caused by over-grinding.

[0090] As Figure 9As shown in the figure, an automatic grinding device 900 provided by an embodiment of the present invention is applied to a wall-climbing robot. The wall-climbing robot includes a robot body, a grinding device, an image acquisition device, and a distance measurement device; the grinding device is rotatably connected to the robot body; the image acquisition device is located on the center line of the robot body; the automatic grinding device includes:

[0091] A determination module 910, configured to collect a current image of an operation area by using the image acquisition device, and determine offset information between a target center line of a preset grinding target in the operation area and a preset device origin of the image acquisition device according to the current image; wherein, the offset information includes a current offset amount.

[0092] A control module 920, configured to control the wall-climbing robot to move along the target center line in a first direction based on the current offset amount, so as to drive the grinding device to grind the preset grinding target, and measure the current ground distance by using the distance measurement device; wherein, the first direction is opposite to the current arrangement direction of the grinding device on the robot body.

[0093] A judgment module 930, configured to, when a change amount of the current ground distance is greater than a first preset threshold, control the wall-climbing robot based on a preset grinding strategy, so that a movement track of the grinding device covers the preset grinding target; wherein, the preset grinding strategy includes controlling the wall-climbing robot to move in a direction opposite to the first direction along the target center line, and rotating the grinding device to the first direction.

[0094] As Figure 10 As shown in the figure, an electronic device 1000 provided by an embodiment of the present invention includes a memory 1010 and a processor 1020; the memory 1010 is used for storing a computer program; the processor 1020 is used for, when executing the computer program, implementing the automatic grinding method as described above.

[0095] Or, an electronic device 1000 includes a memory 1010 and a processor 1020 coupled to the memory 1010; the memory 1010 is configured to store a computer program; the processor 1020 is configured to, when executing the computer program, perform the following operations:

[0096] A computer-readable storage medium provided by an embodiment of the present invention has a computer program stored thereon. When the computer program is executed by a processor, the automatic grinding method as described above is implemented.

[0097] Alternatively, a non-volatile computer-readable storage medium stores a computer program thereon. When the computer program is executed by a processor, the processor is caused to perform the following operations:

[0098] Now, an electronic device 1000 that can be a server or a client of the present invention will be described. It is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 1000 is intended to represent various forms of digital electronic computer devices, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device 1000 can also represent various forms of mobile devices, such as, a personal digital assistant, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0099] The electronic device 1000 includes a computing unit that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The computing unit, the ROM, and the RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0100] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention. In addition, the functional units in various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0101] Although the present invention is disclosed as above, the scope of protection of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the scope of protection of the present invention.

Claims

1. An automatic grinding method, characterized in that, Applied to a wall-climbing robot, the wall-climbing robot includes a robot body, a grinding device, an image acquisition device, and a distance measurement device; the grinding device is rotatably connected to the robot body; the image acquisition device is located on the center line of the robot body, and the measurement device is located on the robot body; the automatic grinding method includes: Using the image acquisition device to acquire the current image of the working area, and determining the offset information between the target center line of the preset grinding target in the working area and the preset device origin of the image acquisition device according to the current image; wherein, the offset information includes the current offset amount; Based on the current offset amount, controlling the wall-climbing robot to move along the target center line in the first direction to drive the grinding device to grind the preset grinding target, and using the distance measurement device to measure the current ground distance of the robot body; wherein, the first direction is opposite to the current arrangement direction of the grinding device on the robot body; When the change amount of the current ground distance is greater than the first preset threshold, controlling the wall-climbing robot based on a preset grinding strategy to make the movement trajectory of the grinding device cover the preset grinding target; wherein, the preset grinding strategy includes controlling the wall-climbing robot to move in the opposite direction of the first direction along the target center line, and rotating the grinding device to one side of the robot body in the first direction.

2. The automatic grinding method according to claim 1, characterized in that, The image acquisition device includes a first image acquisition device and a second image acquisition device with opposite setting directions; the current image includes the current first image acquired by the first image acquisition device and the current second image acquired by the second image acquisition device; the offset information includes first offset information and second offset information; the determining the offset information between the target center line of the preset grinding target in the working area and the preset device origin of the image acquisition device according to the current image includes: Determining the first offset information between the target center line and the preset device origin of the first image acquisition device based on the current first image, and determining the second offset information between the target center line and the preset device origin of the second image acquisition device based on the second image.

3. The automatic grinding method according to claim 2, wherein After determining the offset information between the target center line of the preset grinding target in the working area and the preset device origin of the image acquisition device according to the current image, it further includes: Obtaining the conversion relationship between the preset device origin of the first image acquisition device and the preset body origin of the robot body to obtain the first conversion relationship; Obtaining the conversion relationship between the preset device origin of the second image acquisition device and the preset body origin to obtain the second conversion relationship; Performing coordinate conversion on the first offset information according to the first conversion relationship, and performing coordinate conversion on the second offset information according to the second conversion relationship.

4. The automatic grinding method according to claim 2, characterized in that The wall-climbing robot further includes at least two traveling devices symmetrically arranged along the center line of the robot body; the offset information further includes the current offset direction; the controlling the wall-climbing robot to move in the first direction along the target center line based on the current offset amount includes: Increasing the speed of the traveling device in the same direction as the offset direction based on the current offset amount, and / or decreasing the speed of the traveling device in the opposite direction of the offset direction based on the current offset amount.

5. The automatic grinding method according to claim 1, characterized in that, The preset grinding target includes a first weld seam and a plurality of second weld seams perpendicular to the first weld seam; the automatic grinding method further includes: When the second weld seam is recognized according to the image information and the positional relationship between the preset calibration point on the grinding device and the second weld seam meets a preset alignment condition, controlling the grinding device to reciprocally swing on both sides of the target center line at a preset swing angle; wherein, the preset alignment condition includes that the projection of the preset calibration point on the operation area is located on the center line of the second weld seam; Obtaining the moving distance of the wall-climbing robot in the first direction when the grinding device performs the reciprocating swing, and when the moving distance is greater than a preset distance, controlling the grinding device to reset.

6. The automatic grinding method according to claim 1, wherein The grinding device includes a grinding tool; the controlling the wall-climbing robot based on a preset grinding strategy to make the movement trajectory of the grinding device cover the preset grinding target includes: Controlling the wall-climbing robot to move in the opposite direction of the first direction along the target center line by a first preset distance, and then rotating the grinding device to one side of the robot body in the first direction; wherein, the first preset distance is determined based on the minimum distance between the grinding tool and the robot body along the target center line direction and the length of the robot body along the target center line direction; Controlling the wall-climbing robot to move in the first direction along the target center line by a second preset distance to drive the grinding device to grind the preset grinding target; wherein, the second preset distance is determined based on the target minimum distance between the distance measuring sensor and the grinding tool along the target center line direction, and the target minimum distance includes the minimum distance between the distance measuring sensor and the grinding tool along the target center line direction when the change amount of the current ground distance is greater than a first preset threshold.

7. The automatic grinding method according to claim 1, wherein After controlling the wall-climbing robot based on the preset grinding strategy to make the movement trajectory of the grinding device cover the preset grinding target, it further includes: In response to receiving a signal indicating that the replacement of the grinding device is completed, returning to the step of collecting the current image of the operation area by using the image acquisition device, and controlling the wall-climbing robot until the movement trajectory of the replaced grinding device covers the preset grinding target.

8. An automatic grinding device, characterized in that, Applied to a wall - climbing robot, the wall - climbing robot includes a robot body, a grinding device, an image acquisition device, and a distance measurement device; the grinding device is rotatably connected to the robot body; the image acquisition device is located on the center line of the robot body, and the measurement device is located on the robot body; the automatic grinding device includes: A determination module, configured to collect a current image of an operation area by using the image acquisition device, and determine offset information between a target center line of a preset grinding target in the operation area and a preset device origin of the image acquisition device according to the current image; wherein, the offset information includes a current offset amount; A control module, configured to control the wall - climbing robot to move along the target center line in a first direction based on the current offset amount, so as to drive the grinding device to grind the preset grinding target, and measure the current ground distance by using the distance measurement device; wherein, the first direction is opposite to the current arrangement direction of the grinding device on the robot body; A judgment module, configured to, when a change amount of the current ground distance is greater than a first preset threshold, control the wall - climbing robot based on a preset grinding strategy, so that a movement trajectory of the grinding device covers the preset grinding target; wherein, the preset grinding strategy includes controlling the wall - climbing robot to move in a direction opposite to the first direction along the target center line, and rotating the grinding device to the first direction.

9. An electronic device, characterized in that, Comprising a memory and a processor; The memory is configured to store a computer program; The processor is configured to, when executing the computer program, implement the automatic grinding method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that A computer program is stored on the storage medium, and when the computer program is executed by the processor, the automatic grinding method according to any one of claims 1 to 7 is implemented.

Images