Steel structure building remote control polishing and spraying method and robot

Abstract

The application discloses a kind of steel structure building remote control polishing spraying method and robot, it is related to polishing spraying robot technical field, by obtaining several well divided subarea and the polishing tool required by the subarea, according to the same polishing tool, relatively shorter path, the shortest path several ways will all subarea fusion form corresponding polishing path, then according to the minimum way of the total polishing time required by several polishing paths determines the approved polishing path of final polishing to building;It can be considered in the case where polishing tool is replaced, set a most reasonable polishing sequence, can help robot to complete work as soon as possible, avoid wasting time;The application is simple and effective, and easy to use.

Description

Technical Field

[0001] This invention belongs to the field of remote grinding and spraying technology, specifically a remote-controlled grinding and spraying robot for steel structure buildings. Background Technology

[0002] Patent CN205604675U discloses a remotely controlled high-altitude spraying and grinding robot, including a balancing frame, a spraying system, a grinding system, a lifting system, and a control system. A hook is installed on the upper part of the balancing frame. The spraying system, mounted on the balancing frame, includes a material storage tank, a sprayer, a nozzle frame sliding rail, a nozzle frame, and a nozzle. The grinding system, also mounted on the balancing frame, includes a grinding roller sliding rail, a grinding roller frame, and a grinding roller. The lifting system is mounted on a fixed frame and connected to the hook via a steel wire rope. The fixed frame is fixed in a pre-designated position. The control system controls and connects the sprayer, nozzle frame drive mechanism, nozzle solenoid valve, grinding roller frame drive system, grinding roller drive mechanism, and lifting system. This invention can efficiently and safely complete high-altitude spraying and grinding work on building exteriors. Remote control allows for the avoidance of workers operating at heights, reducing safety hazards.

[0003] However, for steel structure buildings, which are generally large in area, different grinding heads or grinding tools are required for different areas when grinding and spraying them. The same applies to spraying. So how to reasonably plan the grinding path and, while considering the tool change during the path planning process, 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] This invention aims to solve at least one of the technical problems existing in the prior art;

[0005] Therefore, this invention proposes a remote-controlled grinding and spraying method for steel structure buildings, comprising the following steps:

[0006] The system obtains several pre-defined partitions and the polishing tools required for each partition. It then selects the partition closest to the preset starting point and uses it as the first starting point. The system then merges all partitions into corresponding polishing paths based on two methods: using the same polishing tools and finding the shortest path. Finally, it determines the final approved polishing path for the building based on the method that minimizes the total polishing time required by several polishing paths.

[0007] Furthermore, the spraying path is obtained by applying the same method as sanding for spraying.

[0008] Furthermore, "zoning" refers to any continuous area that is polished using the same polishing tool.

[0009] Furthermore, the method for determining the sanding path based on the same sanding tools is as follows:

[0010] Obtain the first starting partition, and then combine the partitions that are consistent with the polishing tool of that partition in the way of keeping the shortest path to form an associated path. Then, take the partition that is far from the last partition in the associated path as the starting point again, and update the associated path in the same way. Repeat until all partitions are included in the associated path, and mark the formed associated path as polishing path one.

[0011] Furthermore, the number of associated partitions in polishing path one is consistent with the number of polishing tools.

[0012] Furthermore, the shortest path principle is used to obtain the polishing path as follows:

[0013] Starting from the origin, find the partition closest to the origin, and then encompass all partitions using the shortest path method. The resulting shortest path is marked as polishing path two.

[0014] Furthermore, the total polishing time is determined as follows:

[0015] Obtain the tool change time required for switching between two grinding tools;

[0016] Then, the time required for the polishing tool to polish a unit area is obtained and marked as the polishing speed;

[0017] The total polishing time is obtained based on the area of ​​the building being polished in the polishing path and the timing of tool changes.

[0018] Furthermore, it is necessary to obtain several polishing paths based on the principle of relatively short paths, and determine the verification polishing path by combining the polishing paths determined by all methods with the shortest total polishing time.

[0019] Furthermore, the specific method for obtaining the polishing path based on the principle of a relatively short path is as follows:

[0020] Get the partition closest to the preset starting point and use it as the first partition on the path. Then get the partition farthest from that partition and mark it as the last partition. Then get all paths that can contain all partitions. Sort all paths in ascending order of path length and select the top ten paths and mark them as paths to be compared.

[0021] A remote-controlled grinding and spraying robot for steel structure buildings is disclosed. The robot 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 pre-defined partitions and the sanding tools required for each partition. It then merges all partitions into corresponding sanding paths using methods such as identical sanding tools, relatively short paths, and the shortest path. Finally, it determines the final, approved sanding path for the building based on minimizing the total sanding time required by these paths. This approach allows for setting an optimal sanding sequence even when sanding tools are changed, helping the robot complete its work quickly and avoiding wasted time. This application is simple, effective, and easy to implement. Attached Figure Description

[0024] Figure 1 A flowchart of the method provided for this invention. Detailed Implementation

[0025] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Please see Figure 1 This application provides a remote-controlled grinding and spraying method for steel structure buildings;

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

[0028] Step 1: Model the corresponding building. This involves modeling the steel structure building that needs to be sanded and sprayed, and indicating the processing parameters at each location. The processing parameters include the sanding tools required for each sanding location and the spraying tools required for each spraying location. Here, sanding tools refer to different grinding heads, such as angle grinders, sandpaper, and whetstones. Spraying tools refer to different nozzles or spraying machines, which can be easily changed to suit different scenarios.

[0029] Obtain a building model with processing parameters;

[0030] Step 2: Path planning is performed based on the architectural model. The specific method for path planning is as follows:

[0031] First, obtain the architectural model. Then, obtain all the areas that need to be sanded and divide them. The specific division method is as follows: when continuous areas are sanded with the same sanding tool, they are divided into one partition. Non-contiguous areas will not be divided into one partition even if the same sanding tool is used. The partition is marked as Di, i = 1, ..., n, indicating that there are n partitions that need to be sanded.

[0032] Obtain path one, obtain the administrator's preset starting point, then obtain the partition closest to the starting point, obtain all partitions that are consistent with the polishing tool of this area, mark them as associated partitions, and mark the first partition as the starting point partition;

[0033] Then, an associated path is automatically formed by following the shortest path from the starting partition to all associated partitions, and the last associated partition of the associated path is marked as the ending partition.

[0034] Then, obtain the partition that is closest to the endpoint partition and is not included in the associated partition, and divide it into a new starting partition. Starting from the starting partition, obtain the second associated partition in the same way as above, and combine the path from the endpoint of the first associated partition to the starting point of the second associated partition with the associated path of the second associated partition into the path of the first associated partition.

[0035] The same process is applied to the remaining partitions to obtain an association path that contains all associated partitions. This association path is marked as polishing path one, and the number of associated partitions is the same as the number of polishing tools.

[0036] Then, starting from the starting point, find the partition closest to the starting point, and then encompass all partitions using the shortest path method to form the shortest path. Mark this shortest path as polishing path two to obtain polishing path two.

[0037] Step 3: Choose the path, specifically as follows:

[0038] Obtain the tool change time required for switching between two grinding tools;

[0039] Then, the time required for the polishing tool to polish a unit area is obtained and marked as the polishing speed;

[0040] Once the first sanding path is obtained, the total time for changing tools during the first sanding path is obtained based on the tool change time required for each pair of sanding tools to be changed, and this time is marked as the change time. Then, based on the time required for each sanding tool to sand a unit area, the time for sanding all zones according to the first sanding path is obtained, and this time is marked as the sanding time. Finally, the change time is added to the sanding time to obtain the total sanding time.

[0041] The total polishing time of polishing path two is obtained in the same way. The polishing path with the shorter total polishing time is marked as the approved polishing path. The robot is controlled to polish according to the approved polishing path.

[0042] Step 4: Perform the same process on the robot's painting process to obtain the painting path;

[0043] As a second embodiment of this application, this embodiment differs from the first embodiment in that, in this embodiment, additional paths need to be added for the polishing path. The method of adding these paths is as follows:

[0044] Get the partition closest to the preset starting point and use it as the first partition on the path. Then get the partition farthest from that partition and mark it as the last partition. Then get all paths that can contain all partitions. Sort all paths in ascending order of path length and select the top ten paths and mark them as paths to be compared.

[0045] Then, the path to be compared is included in grinding path one and grinding path two together to calculate the total grinding time. The path with the shortest total grinding time is marked as the approved grinding path, and the robot is controlled to perform grinding according to the approved grinding path.

[0046] Of course, this application also provides a remote-controlled grinding and spraying robot for steel structure buildings, which uses the above-mentioned method to realize remote-controlled grinding and spraying of steel structure buildings.

[0047] The above embodiments are only used to illustrate the technical methods of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical methods of the present invention without departing from the spirit and scope of the technical methods of the present invention.

Claims

1. A remote-controlled grinding and spraying method for steel structure buildings, characterized in that, Includes the following steps: The system obtains several pre-defined partitions and the polishing tools required for each partition. It also obtains the partition closest to the preset starting point and uses it as the first starting point. Then, it merges all the partitions into corresponding polishing paths in two ways: using the same polishing tools and finding the shortest path. Finally, it determines the final verified polishing path for the building based on the method that minimizes the total polishing time required by several polishing paths. The method for determining the sanding path based on the same sanding tool is as follows: Obtain the first starting partition, and then combine the partitions that are consistent with the polishing tool of the partition in the way of keeping the shortest path to form an associated path. Then, take the partition that is far from the last partition in the associated path as the starting point again, and update the associated path in the same way. Repeat until all partitions are included in the associated path, and mark the formed associated path as polishing path one. The method for obtaining the polishing path based on the principle of the shortest path is as follows: Starting from the origin, find the partition closest to the origin, and then encompass all partitions using the shortest path method. The resulting shortest path is marked as polishing path two. The total polishing time is determined as follows: Obtain the tool change time required for switching between two grinding tools; Then, the time required for the polishing tool to polish a unit area is obtained and marked as the polishing speed; The total polishing time is obtained based on the area of ​​the building being polished in the polishing path and the timing of tool changes.

2. The remote-controlled grinding and spraying method for steel structure buildings according to claim 1, characterized in that, The spraying path is obtained using the same method as sanding for spraying.

3. The remote-controlled grinding and spraying method for steel structure buildings according to claim 1, characterized in that, A zone refers to any continuous area that is polished using the same polishing tool.

4. The remote-controlled grinding and spraying method for steel structure buildings according to claim 1, characterized in that, The number of associated partitions in polishing path one is the same as the number of polishing tools.

5. A remote-controlled grinding and spraying method for steel structure buildings according to claim 1, characterized in that, It is also necessary to obtain several polishing paths based on the principle of relatively short paths, and determine the verification polishing path by combining the polishing paths determined by all methods with the shortest total polishing time.

6. A remote-controlled grinding and spraying method for steel structure buildings according to claim 5, characterized in that, The specific method for obtaining the polishing path based on the principle of a relatively short path is as follows: Get the partition closest to the preset starting point and use it as the first partition on the path. Then get the partition farthest from that partition and mark it as the last partition. Then get all paths that can contain all partitions. Sort all paths in ascending order of path length and select the top ten paths and mark them as paths to be compared.

7. A remote-controlled grinding and spraying robot for steel structure buildings, characterized in that, The robot uses the method disclosed in any one of claims 1-6 to achieve remote-controlled grinding and spraying of steel structure buildings.

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