Remote control grinding and spraying method and robot for steel structure building

Abstract

The invention discloses a remote control grinding and spraying method for a steel structure building and a robot, and relates to the technical field of grinding and spraying robots. According to the modes that the grinding tools are the same, the paths are relatively short and the paths are the shortest, all the partitions are fused to form corresponding grinding paths, and then according to the mode that the total grinding duration needed by the multiple grinding paths is the shortest, an approved grinding path for finally grinding the building is determined; under the condition that grinding tools are replaced, the most reasonable grinding sequence can be set, the robot can be helped to complete work as soon as possible, and time waste is avoided; the method is simple, effective, easy and practical.

Description

Technical Field

[0001] The present invention belongs to the technical field of remote grinding and spraying, and specifically relates to a remotely controlled grinding and spraying robot for steel structure buildings. Background Art

[0002] The patent with the publication number CN205604675U discloses a remotely controlled high-altitude spraying and grinding robot, which includes a balance frame, a spraying system, a grinding system, a lifting system and a control system; a hook is arranged on the upper part of the balance frame; the spraying system is arranged on the balance frame and includes a material storage barrel, a spraying machine, a nozzle frame sliding guide rail, a nozzle frame and a nozzle; the grinding system is arranged on the balance frame and includes a grinding roller sliding guide rail, a grinding roller frame and a grinding roller; the lifting system is arranged on a fixed frame, and the lifting system is connected to the hook through a steel wire rope; the fixed frame is fixed at a reserved fixed position; the control system is connected to the spraying machine, the nozzle frame driving mechanism, the nozzle solenoid valve, the grinding roller frame driving system, the grinding roller driving mechanism and the lifting system in a controlled manner. The utility model can efficiently and safely complete the high-altitude spraying and grinding construction of the building exterior wall, and can avoid construction workers from working at high altitude through remote control, reducing the safety hazards of construction workers.

[0003] However, for steel structure buildings, their areas are generally relatively large. When grinding and spraying them, different grinding heads or grinding tools are required for different areas, and the same is true for spraying. Then, how to reasonably plan the grinding path and, on the premise of considering tool replacement during path planning, be able to complete the grinding and spraying of the building in less time is a difficult problem. Based on this, this application provides a technical solution. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art;

[0005] To this end, the present invention provides a remotely controlled grinding and spraying method for steel structure buildings, including the following steps:

[0006] Obtain a number of divided areas and the grinding tools required for each area, obtain the area closest to the preset starting point, use it as the first starting point, and then fuse all the areas in two ways: the same grinding tool and the shortest path to form the corresponding grinding path, and then determine the final approved grinding path for grinding the building according to the method with the minimum total grinding time required for several grinding paths.

[0007] Further, obtain the spraying path in the same way as grinding for spraying.

[0008] Further, the area is defined as any continuous area that is ground with the same grinding tool.

[0009] Further, the method for determining the grinding path in the same way as the grinding tool is as follows:

[0010] Obtain the partition of the first starting point, then combine the partitions consistent with the grinding tool of this partition in the way of keeping the path shortest to form an associated path, then re - take the partition at a distance from the last partition in the associated path as the starting point, and update the associated path in the same way again. Repeat until all partitions are included in the associated path, and mark the formed associated path as Grinding Path 1.

[0011] Further, the number of associated partitions in Grinding Path 1 is the same as the number of grinding tools.

[0012] Further, the method for obtaining the grinding path based on the principle of the shortest path is as follows:

[0013] Start from the starting point, then find the partition closest to the starting point, and then include all partitions in the way of the shortest path. The formed shortest path is marked as Grinding Path 2.

[0014] Further, the method for determining the total grinding duration is as follows:

[0015] Obtain the tool replacement time required for pairwise replacement between grinding tools;

[0016] Then obtain the time required for the grinding tool to grind a unit area, and mark it as the grinding single - speed;

[0017] According to the area of the building being ground in the grinding path and the timing of tool replacement, obtain the total grinding duration.

[0018] Further, it is also necessary to obtain several grinding paths according to the principle of relatively short paths, and determine the approved grinding path by combining the way with the shortest total grinding duration of the grinding paths determined by all methods.

[0019] Further, the specific method for obtaining the grinding path according to the principle of relatively short paths is as follows:

[0020] Obtain the partition closest to the preset starting point, take it as the first partition on the path, then obtain the partition farthest from this partition, mark it as the end partition, then obtain all paths that can contain all partitions, sort them in ascending order of path length from all paths, select the top ten paths, and mark them as the paths to be compared.

[0021] A remotely - controlled grinding and spraying robot for steel - structure buildings, which uses the aforementioned method to achieve remote - controlled grinding and spraying of steel - structure buildings.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] This application obtains several divided partitions and the grinding tools required for each partition, and fuses all the partitions into corresponding grinding paths in several ways such as the same grinding tool, relatively short path, and shortest path. Then, the final approved grinding path for grinding the building is determined according to the way with the minimum total grinding time required for several grinding paths. It can consider setting a most reasonable grinding sequence in the case of replacing grinding tools, which can help the robot complete the work as soon as possible and avoid wasting time. This application is simple, effective, and easy to use. Brief Description of the Drawings

[0024] Figure 1 It is a flowchart of the method provided by the present invention. Detailed Embodiments

[0025] The technical solutions of the present invention will be described clearly and completely below in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] Please refer to Figure 1 , this application provides a remote control grinding and spraying method for steel structure buildings;

[0027] As the first embodiment of this application, the method provided in this embodiment specifically includes the following steps:

[0028] Step 1: Model the corresponding building, that is, model the steel structure building that needs to be ground and sprayed, and indicate the processing parameters at each position. The processing parameters include the grinding tools required for each grinding position and the spraying tools required for the spraying position. Here, the grinding tools are referred to as different grinding heads, and here the grinding heads are referred to as types such as angle grinders, sandpapers, and oilstones. The spraying tools are referred to as different nozzles or spraying machines, which are adapted to different scenarios for easy replacement;

[0029] Obtain a building model with processing parameters;

[0030] Step 2: Perform path planning according to the building model. The specific method of path planning is as follows:

[0031] First, obtain the building model. First, obtain all the areas that need to be ground and divide them. The specific division method is as follows: When continuous areas are ground with the same grinding tool, they are divided into one partition. Discontinuous areas will not be divided into one partition even if they use the same grinding tool. The partitions are marked as Di, i = 1,..., n, indicating that there are n partitions that need to be ground;

[0032] Obtain Path 1. Obtain the starting point preset by the administrator, then obtain the partition closest to the starting point, obtain all partitions with the same grinding tool as this area, mark them as associated partitions, and mark the first partition as the starting partition;

[0033] Then automatically form an associated path according to the shortest path starting from the starting partition and including all associated partitions. The last associated partition of the associated path is marked as the ending partition;

[0034] Then obtain the partition closest to the ending partition that has not been included in the associated partitions, divide it into a new starting partition, and in the same way as above, starting from the starting partition, obtain the second associated partition, and incorporate the path from the end of the first associated partition to the start of the second associated partition, together with the associated path of the second associated partition, into the path of the first associated partition;

[0035] And perform the same processing on the remaining partitions to obtain an associated path that includes all associated partitions. Mark this associated path as Grinding Path 1. The number of associated partitions is the same as the number of grinding tools;

[0036] Then, starting from the starting point, find the partition closest to the starting point, and then include all partitions in the shortest path manner to form the shortest path and mark it as Grinding Path 2. Obtain Grinding Path 2;

[0037] Step 3: Make a path decision. The specific method is as follows:

[0038] Obtain the tool change time required for pairwise replacement between grinding tools;

[0039] Then obtain the time required for a grinding tool to grind a unit area, and mark it as the grinding single speed;

[0040] Obtain Grinding Path 1. According to the tool change time required for pairwise replacement between grinding tools, obtain the total tool change time during the process of Grinding Path 1 and mark it as the change time. Then, according to the time required for each grinding tool to grind a unit area, obtain the time required to grind all partitions according to Grinding Path 1 and mark it as the grinding time. Add the change time and the grinding time to get the total grinding duration;

[0041] Obtain the total grinding duration of Grinding Path 2 in the same way. Mark the grinding path with the smaller of the two total grinding durations as the approved grinding path, and control the robot to grind according to the approved grinding path;

[0042] Step 4: Perform the same processing on the spraying process of the robot to obtain the spraying path;

[0043] As the second embodiment of the present application, the difference between this embodiment and the first embodiment is that in this embodiment, other paths need to be added to the grinding path, and the adding method is as follows:

[0044] Obtain the partition closest to the preset starting point and use it as the first partition on the path. Then, obtain the partition farthest from this partition and mark it as the end partition. Then, obtain all the paths that can include all the partitions, sort them in ascending order of path length from all the paths, select the top ten paths, and mark them as the paths to be compared;

[0045] Then, incorporate the paths to be compared into the first grinding path and the second grinding path to calculate the total grinding duration together, mark the one with the minimum total grinding duration as the approved grinding path, and control the robot to perform grinding according to the approved grinding path.

[0046] Certainly, the present application also provides a remotely controlled grinding and spraying robot for steel structure buildings, and this robot uses the above method to achieve the remote control of grinding and spraying of steel structure buildings.

[0047] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical method of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A remote control grinding and spraying method for steel structure buildings, characterized in that It includes the following steps: Obtain a number of divided partitions and the grinding tools required for each partition. Obtain the partition closest to the preset starting point and use it as the first starting point. Then, fuse all the partitions in two ways: the same grinding tool and the shortest path, to form the corresponding grinding paths. Then, determine the final approved grinding path for grinding the building according to the way with the minimum total grinding duration required for several grinding paths.

2. The remote control grinding and spraying method for a steel structure building according to claim 1, characterized in that For spraying, obtain the spraying path in the same way as grinding.

3. A remote control grinding and spraying method for a steel structure building according to claim 1, characterized in that, The partition refers to any continuous area that is ground with the same grinding tool.

4. A remote control grinding and spraying method for a steel structure building according to claim 1, characterized in that The method for determining the grinding path according to the same grinding tool is as follows: Obtain the partition of the first starting point, and then combine the partitions with the same grinding tool as this partition in the way of keeping the path shortest to form an associated path. Then, re-use the partition that is farthest from the last partition in the associated path as the starting point, and update the associated path in the same way again. Repeat until all partitions are included in the associated path, and mark the formed associated path as Grinding Path 1.

5. A remote control grinding and spraying method for a steel structure building according to claim 1, characterized in that, The number of associated partitions in Grinding Path 1 is the same as the number of grinding tools.

6. A remote control grinding and spraying method for a steel structure building according to claim 1, characterized in that, The method for obtaining the grinding path based on the principle of the shortest path is as follows: Start from the starting point, then find the partition closest to the starting point, and then include all partitions in the way of the shortest path. Mark the formed shortest path as Grinding Path 2.

7. A remote control grinding and spraying method for a steel structure building according to claim 1, characterized in that The method for determining the total grinding duration is as follows: Obtain the tool replacement time required for pairwise replacement between grinding tools; Then obtain the time required for the grinding tool to grind a unit area, and mark it as the grinding single speed; Obtain the total grinding duration according to the area of the building ground in the grinding path and the timing of tool replacement.

8. A remote control grinding and spraying method for a steel structure building according to claim 7, characterized in that, It is also necessary to obtain several grinding paths according to the principle of relatively short paths, and determine the approved grinding path in the way with the shortest total grinding duration of the grinding paths determined by all methods.

9. A remote control grinding and spraying method for a steel structure building according to claim 8, characterized in that, The specific method for obtaining the grinding path based on the principle of relatively short paths is as follows: Obtain the partition closest to the preset starting point and use it as the first partition on the path. Then, obtain the partition farthest from this partition and mark it as the end partition. Then, obtain all the paths that can include all partitions, sort them from smallest to largest according to the path length, and select the top ten paths and mark them as the paths to be compared.

10. A remotely controlled grinding and spraying robot for steel structure buildings, characterized in that, This robot uses the method disclosed in any one of claims 1-9 to realize remote control grinding and spraying of steel structure buildings.

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