Steel template grinding and cleaning path planning method, device, equipment and storage medium

Abstract

The embodiment of the present invention discloses a steel formwork grinding and cleaning path planning method, device, equipment and storage medium, including: using multispectral data and laser point cloud data to identify concrete residues on the surface of the steel formwork, calculating its area, height, volume and determining the shape type and grinding method, and calculating the grinding and cleaning time according to the height and volume; combining the service life of the grinding head and the total battery power to determine the grinding operation area and generate a grinding and cleaning path for each area. By identifying concrete residues with high precision and calculating the area, height and volume, and then calculating the grinding and cleaning time, the consumption of the grinding head and battery power is more accurately evaluated, and the grinding operation area that can be cleaned within one operation cycle of the wall-climbing robot is planned, the life of the grinding head is evenly distributed to improve utilization, and then the grinding and cleaning path is generated according to the cleaning sequence, cleaning method and boundary coordinates, thereby reducing the frequency of returning to the maintenance point, improving work efficiency and reducing costs.

Description

Technical Field

[0001] The present invention relates to the technical field of steel template cleaning, and in particular to a steel template grinding and cleaning path planning method, device, equipment and storage medium. Background Art

[0002] During the construction of large bridges, such as sea-crossing bridges, piers are often designed to be larger in size to meet specific requirements. These piers can be constructed using precast concrete pouring methods, such as by joining steel formwork to form a casting mold. However, after using these casting molds, the steel formwork must be cleaned of rust and concrete residue to ensure that the next cast pier meets the required specifications.

[0003] Due to the large size of bridge piers, the steel formwork used to assemble the casting molds is also large. To ensure the integrity of the steel formwork and to meet construction process limitations, the steel formwork needs to be stacked vertically and polished upright when cleaning its surface. Common steel formwork heights often reach 5.4 meters or even higher, and the number of steel formwork used in large-scale construction projects is also large, resulting in a large surface area of ​​steel formwork that requires cleaning. Therefore, to avoid the safety risks of working at height and improve the efficiency of steel formwork surface cleaning operations, a wall-climbing robot can be used to clean the steel formwork surface.

[0004] However, due to the variable and complex concrete residue conditions on the surface of the steel formwork, the power consumption and grinding head consumption of the wall-climbing robot will vary significantly during each cleaning operation. However, the cleaning route of traditional wall-climbing robots is single, and the replacement cycle of the grinding head and charging is planned only based on traditional experience. It is difficult to adapt to the complex and changeable concrete residue conditions and cleaning needs. It is difficult to efficiently manage the utilization rate of the grinding head and the charging cycle of the wall-climbing robot, which wastes operating costs. Summary of the Invention

[0005] The embodiments of the present invention provide a steel template grinding and cleaning path planning method, device, equipment and storage medium to solve the technical problem that the utilization rate and charging cycle of the grinding head of a wall-climbing robot are difficult to efficiently manage.

[0006] In a first aspect, an embodiment of the present invention provides a method for planning a steel template grinding and cleaning path, comprising:

[0007] S101, performing multispectral processing and laser radar irradiation processing on the surface of the steel template, and collecting multispectral data and laser point cloud data of the surface of the steel template;

[0008] S102, using the multispectral data and the laser point cloud data, identifying concrete residues on the surface of the steel formwork to generate concrete residue data, calculating the area, height, and volume of each concrete residue, and determining the shape type of each concrete residue;

[0009] S103, determining a grinding method for each concrete residue based on the shape, type, and area of ​​each concrete residue, and calculating a grinding and cleaning time for each concrete residue based on the height and volume of each concrete residue;

[0010] S104, determining multiple grinding operation areas based on the grinding and cleaning time and grinding method of the concrete residue, the location of the concrete residue, the service life of the grinding head, and the total battery power of the wall-climbing robot;

[0011] S105 , generating a grinding and cleaning path for each grinding operation area according to the position of the concrete residue and the grinding method in each grinding operation area.

[0012] Furthermore, the S103 includes:

[0013] According to the shape type of each concrete residue, the grinding direction of each concrete residue is determined; according to the area of ​​each concrete residue, the number of grinding heads required for each concrete residue is determined; according to the grinding direction and the number of grinding heads required, the grinding method of each concrete residue is formed;

[0014] Calculate the efficiency coefficient of multi-grinding head collaboration based on the number of grinding heads required, the area of ​​a single grinding head, and the area of ​​each concrete residue;

[0015] The grinding and cleaning time for each concrete residue is calculated based on the height, volume, number of grinding heads required, multi-grinding head collaborative efficiency coefficient and removal rate of a single grinding head.

[0016] Furthermore, the S104 includes:

[0017] Calculate the grinding head consumption and grinding power consumption for each concrete residue based on the grinding and cleaning time and grinding method of each concrete residue;

[0018] Multiple grinding operation areas are determined based on the grinding head consumption and the service life of a single grinding head, the grinding power consumption and the total battery power, and the location of each concrete residue.

[0019] Furthermore, the method further comprises:

[0020] According to the concrete residue data, the location of each concrete residue is extracted;

[0021] The power consumption of the initial movement is calculated based on the distance between the position of the first concrete residue in each grinding operation area and the initial position of the wall-climbing robot;

[0022] Calculate the power consumption of intermediate movement based on the distance between each two adjacent concrete residues in each grinding operation area, excluding the first concrete residue;

[0023] The power consumption of the return movement is calculated based on the distance between the last concrete residue in each grinding operation area and the initial position of the wall-climbing robot;

[0024] Corrections are made to the multiple grinding operation areas based on the initial movement power consumption, intermediate movement power consumption, return movement power consumption, and the grinding power consumption of all concrete residues in each grinding operation area.

[0025] Furthermore, the S102 includes:

[0026] performing binarization processing on the multispectral data to obtain multispectral residual data;

[0027] Performing plane fitting processing using the laser point cloud data to obtain a steel template reference plane;

[0028] Mapping the multispectral residual data to the steel formwork reference plane to extract concrete residual point cloud data;

[0029] Based on the concrete residue point cloud data and the steel formwork reference plane, the boundary coordinate data of each concrete residue is formed as the concrete residue data, and the height and area of ​​each concrete residue are calculated;

[0030] Each concrete residue point cloud data is processed by normal layered slicing and Delaunay triangulation to construct a multi-layer triangular prism. The volume of each concrete residue is calculated using the volume of all triangular prisms.

[0031] The shape type of each concrete residue is determined according to the boundary coordinate data and the area of ​​each concrete residue.

[0032] Furthermore, the S105 includes:

[0033] A grinding and cleaning path for each grinding operation area is generated according to the grinding and cleaning sequence of the concrete residue in each grinding operation area, the boundary coordinate data of each concrete residue, and the grinding method of each concrete residue.

[0034] Furthermore, the method further comprises:

[0035] The safe life of a single grinding head is determined by 90% of its service life, and the safe battery capacity is determined by 85% of the total battery capacity.

[0036] Determine multiple grinding operation areas based on grinding head consumption and the safe life of a single grinding head, grinding power consumption and battery safety power, and the location of each concrete residue;

[0037] 90% of the total battery power is used to determine the battery return power. When the sum of the initial movement power consumption, intermediate movement power consumption, and grinding power consumption exceeds the battery return power, or the grinding head power consumption is greater than the safe life of a single grinding head, the wall-climbing robot is forced to return to its initial position.

[0038] In a second aspect, an embodiment of the present invention provides a steel template grinding and cleaning path planning device, comprising:

[0039] The data acquisition module is used to perform multispectral processing and laser radar irradiation processing on the surface of the steel template, and collect multispectral data and laser point cloud data of the steel template surface;

[0040] A concrete residue data generation module is used to identify concrete residues on the surface of the steel formwork, generate concrete residue data, calculate the area, height and volume of each concrete residue, and determine the shape type of each concrete residue;

[0041] A grinding data generation module is used to determine the grinding method for each concrete residue and calculate the grinding and cleaning time for each concrete residue;

[0042] A grinding operation area generation module is used to determine multiple grinding operation areas based on the grinding and cleaning time and grinding method of concrete residues, the location of concrete residues, the service life of the grinding head, and the total battery power of the wall-climbing robot;

[0043] The grinding and cleaning path generation module is used to generate a grinding and cleaning path for each grinding operation area according to the position of the concrete residue and the grinding method in each grinding operation area.

[0044] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0045] one or more processors;

[0046] a storage device for storing one or more programs,

[0047] When the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned steel template grinding and cleaning path planning method.

[0048] In a fourth aspect, an embodiment of the present invention provides a storage medium comprising computer-executable instructions, which, when executed by a computer processor, are used to execute the above-mentioned steel template grinding and cleaning path planning method.

[0049] Embodiments of the present invention provide a method, device, equipment, and storage medium for planning a path for grinding and cleaning steel formwork. The method collects multispectral data and laser point cloud data from the steel formwork surface to identify concrete residues, calculate the area, height, and volume of the concrete residues, and then calculate the grinding and cleaning time for each concrete residue. Based on the grinding method corresponding to the concrete residue shape type, the method calculates the power consumption of the grinding head and battery for each concrete residue cleaning, thereby determining the grinding area that can be cleaned within a single operation cycle of a wall-climbing robot. Furthermore, based on the cleaning sequence, cleaning method, and boundary coordinates of the concrete residue within the grinding area, a grinding and cleaning path for each grinding area is generated. Upon completion of each grinding area, the robot can return to a maintenance point for charging and replacement of the grinding head. By calculating and averaging the grinding head lifespan and battery power consumption, the method improves the grinding head lifespan utilization, reduces the frequency of the wall-climbing robot returning to a maintenance point for grinding head replacement or charging, improves the efficiency of concrete residue grinding and cleaning, and reduces the cost of grinding and cleaning operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0051] Figure 1 This is a flow chart of a steel template grinding and cleaning path planning method according to the first embodiment of the present invention;

[0052] Figure 2 This is a flow chart of a steel template grinding and cleaning path planning method according to the second embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of a wall-climbing robot equipped with three grinding heads according to a second embodiment of the present invention;

[0054] Figure 4 This is a flow chart of a steel template grinding and cleaning path planning method according to the third embodiment of the present invention;

[0055] Figure 5 This is a structural diagram of a steel template grinding and cleaning path planning device according to the fourth embodiment of the present invention;

[0056] Figure 6 This is a structural diagram of an electronic device according to a fifth embodiment of the present invention. DETAILED DESCRIPTION

[0057] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0058] When cleaning concrete residue from larger steel formwork, in order to avoid the risks of manual overhead work and meet construction process requirements, a wall-climbing robot with a grinding component is used to clean the surface of the steel formwork while it remains upright. Since the concrete residue on each steel formwork varies significantly after each use, and the shape, size, and volume of each concrete residue on the steel formwork are also different, the time, power, and even wear of the grinding head consumed when cleaning each concrete residue will also vary, and thus the cleaning energy consumption for each steel formwork will also vary. Planning the operating mode of a wall-climbing robot based on traditional experience makes it difficult to meet the complex, variable, and widely varying cleaning needs of concrete residue. This results in an inability to rationally plan the use cycle of the grinding head and the charging / operation cycle of the wall-climbing robot, which in turn leads to wasted grinding head costs and increased charging frequency for the wall-climbing robot, resulting in wasted grinding and cleaning costs and low operating efficiency.

[0059] Example 1

[0060] Figure 1 This is a flow chart of a steel formwork grinding and cleaning path planning method according to Example 1 of the present invention. This embodiment calculates the grinding and cleaning time of each concrete residue and further calculates the power consumption of the grinding head and battery by each concrete residue, thereby rationally planning the cycle of returning to the wall-climbing robot for charging and replacing the grinding head. The method specifically includes the following steps:

[0061] S101, performing multispectral processing and laser radar irradiation processing on the surface of the steel template, and collecting multispectral data and laser point cloud data of the surface of the steel template.

[0062] Because the spectral characteristics of metal and concrete differ significantly, a multispectral camera can be used to capture multispectral image data from the steel formwork surface, distinguishing between areas of residual concrete and those on the steel formwork surface. Since the residual concrete is a three-dimensional, irregular shape with a certain volume, a LiDAR is used to scan the steel formwork surface to generate laser point cloud data of the steel formwork surface, thereby extracting the spatial shape (three-dimensional shape) of the concrete and calculating the parameters required for its polishing and cleaning. To ensure that the laser point cloud data matches the multispectral data, the multispectral camera and LiDAR can be coaxially set, and spatial coordinate alignment can be achieved using a checkerboard calibration plate. The collected data also requires preprocessing such as denoising to generate multispectral data and laser point cloud data that can be used for calculations.

[0063] S102, using the multispectral data and laser point cloud data, identifying concrete residues on the surface of the steel formwork to generate concrete residue data, calculating the area, height, and volume of each concrete residue, and determining the shape type of each concrete residue.

[0064] Due to the significant differences in the spectral characteristics of concrete and steel formwork surfaces, the concrete residue areas on the steel formwork surface can be identified using multispectral data. Laser point cloud data is then mapped to the multispectral data. Using the identified concrete residue areas, the laser point cloud within these areas is filtered to generate laser point cloud data for each concrete residue. Due to the positional relationship between the acquisition device and the steel formwork during data acquisition, and the need to completely remove concrete residue during polishing and cleaning, the laser point cloud is projected along the normal to the steel formwork surface. The maximum projected edge of the laser point cloud is used as the boundary of the concrete residue. The boundary coordinates of each concrete residue are then determined to generate the concrete residue data. Based on the three-dimensional shape of each concrete residue formed from the laser point cloud data, its area is calculated using the maximum projected edge obtained using the same projection method as described above. Its height is calculated using the distance between the laser point cloud and the steel formwork surface. The laser point cloud data is then segmented and its volume is accumulated to calculate the polishing consumption of each concrete residue based on the polishing capacity of the polishing assembly. The boundary coordinates obtained by laser point cloud projection can be used to identify the shape of the projected area of ​​each concrete residue and classify the shape of each concrete residue. The shape of the concrete residue will form irregular shapes such as approximate circles, long strips, and stars (irregularly radiating polygons) based on factors such as the welds on the surface of the steel formwork and the bolt holes on the bridge piers. Different shape types can adopt different grinding and cleaning methods to improve cleaning efficiency and quality.

[0065] S103, determining a grinding method for each concrete residue according to the shape, type, and area of ​​each concrete residue, and calculating a grinding and cleaning time for each concrete residue according to the height and volume of each concrete residue.

[0066] To ensure that concrete residues can be cleaned thoroughly, different shapes and types of concrete residues require different cleaning methods. For example, for concrete residues with a shape of approximately circular type, a spiral inward trajectory (the direction of travel of the wall-climbing robot) can be used for cleaning; for concrete residues with a shape of long strips, a reciprocating scanning trajectory (snake-like advance) can be used for cleaning; for concrete residues with a shape of star type, a contour tracking trajectory (the direction of travel) can be used for cleaning. This ensures that the wall-climbing robot can fully cover the concrete residue area after moving along the corresponding trajectory, ensuring that the concrete residue is completely cleaned. At the same time, due to the size of the grinding head, when multiple grinding heads are used in collaboration, there will be different collaborative efficiencies for concrete residues of different sizes. For example, for concrete residues with a smaller area, a single grinding head is more effective for cleaning, while for concrete residues with a larger area, multiple grinding heads are more effective for cleaning. The number of grinding heads required for grinding and cleaning each concrete residue can be determined based on the relationship between the area of ​​the concrete residue and the area of ​​a single grinding head. For example, if the radius of a single grinding head is 5 cm, one grinding head is used to clean concrete residues with an area less than 150 cm², two grinding heads are used to clean concrete residues with an area greater than 150 cm² but less than 400 cm², and three grinding heads are used to clean concrete residues with an area greater than 400 cm². A grinding method for each concrete residue is determined based on the cleaning method for the concrete residue and the number of grinding heads required.

[0067] Grinding heads of different specifications and models have different grinding rates (amount removed per unit time). Based on the volume and height of the concrete residue, the grinding rate of a single grinding head, and the number of grinding heads required, the grinding and cleaning time required for each concrete residue can be calculated. For example, the ratio of the volume to the product of the number of grinding heads and the grinding rate of a single grinding head can be used to calculate the grinding and cleaning time required for concrete residue under the grinding capacity of a specified grinding head. The formula is as follows:

[0068]

[0069] Where T is the grinding and cleaning time, V is the volume of the concrete residue, R is the grinding rate of a single grinding head (cm³ / min), and N is the number of grinding heads required. Since most concrete residues are irregular in shape, their height must also be considered when cleaning them. Excessive height creates a nonlinear thickness that reduces the efficiency of grinding and cleaning concrete residues. Therefore, a height correction factor is introduced to represent the penalty imposed by grinding height on grinding and cleaning time. The formula is as follows:

[0070]

[0071] in, is the height correction factor, is the altitude correction factor, , The height of the remaining concrete is calculated by multiplying the height correction factor by the above formula to optimize the grinding and cleaning time.

[0072] S104 , determining multiple grinding operation areas according to the grinding and cleaning time and grinding method of the concrete residue, the location of the concrete residue, the service life of the grinding head, and the total battery power of the wall-climbing robot.

[0073] The grinding method for concrete residues can determine which grinding heads are required for each concrete residue. Combined with the grinding and cleaning time, the consumption of grinding heads for each concrete residue can be determined. When assigning which grinding heads participate in the operation based on the grinding method, it is necessary to consider the balance of grinding head participation. For example, for three grinding heads arranged in a triangular array, the previous grinding involved the middle and one side grinding heads, while the next grinding involves the middle and other side grinding heads, with the wall-climbing robot moving in the opposite direction. If only one grinding head is required, the grinding head with the lowest cumulative consumption is selected. If all three grinding heads are involved, no adjustment is made. Based on the number of grinding heads involved, the service life consumption of each grinding head for each concrete residue is recorded. At the same time, it is necessary to clean the concrete residues on the steel formwork from bottom to top according to their location to prevent debris from falling onto other concrete residues when cleaning the upper concrete residue, affecting the subsequent cleaning effect and consumption calculation. The order of cleaning concrete residues is arranged based on their location, starting with the lowest and closest to the wall-climbing robot. This also reduces the robot's travel distance and power consumption. The grinding area is then determined based on the grinding head's power consumption for each concrete residue, the head's lifespan, and the total battery charge. The amount of concrete residue that can be cleaned in a single round trip is then allocated to the robot, forming a grinding area.

[0074] S105 , generating a grinding and cleaning path for each grinding operation area according to the position of the concrete residue and the grinding method in each grinding operation area.

[0075] Since the grinding operation area has been determined, the concrete residue contained in each grinding operation area is also determined. According to the concrete residue cleaning order determined for the grinding operation area and the boundary coordinates of each concrete residue, combined with the cleaning method of each concrete residue determined by the grinding method, the movement trajectory of the wall-climbing robot is generated as the grinding and cleaning path for each grinding operation area. For example, the wall-climbing robot first moves along a straight line from the initial position to the point closest to the initial position in the coordinates of the first concrete residue boundary, and then cleans it according to the grinding method of the current concrete residue. After cleaning is completed, it moves along a straight line to the point closest to the current position in the next concrete residue boundary, and cleans it according to the grinding method of the next concrete residue, and so on, finally forming a grinding and cleaning path for each grinding operation area. It should be noted that since the order of cleaning the concrete residues inside each grinding operation area has been determined, according to the determined rules (being at the bottom and closest to the current position of the wall-climbing robot), the wall-climbing robot can be avoided to the greatest extent from being interfered with by other concrete residues during the straight-line movement. Detection components with corresponding functions can also be installed on the wall-climbing robot to avoid collision with concrete residues in front (which cannot be identified due to recognition errors) and cause danger or damage.

[0076] This embodiment identifies concrete residues by collecting multispectral data and laser point cloud data from the steel formwork surface, and calculates the area, height, and volume of the concrete residues. It then calculates the grinding and cleaning time for each concrete residue. Based on the grinding method corresponding to the concrete residue shape type, it calculates the consumption of the grinding head and battery power for cleaning each concrete residue, and then determines the grinding operation area that can be cleaned within a single operation cycle of the wall-climbing robot. Furthermore, based on the cleaning sequence, cleaning method, and boundary coordinates of the concrete residues within the grinding operation area, a grinding and cleaning path for each grinding operation area is generated. Upon completion of each grinding operation area, the robot can return to a maintenance point for charging and replacement of the grinding head. By calculating and averaging the grinding head lifespan and battery power consumption, the lifespan utilization rate of the grinding head is improved, the frequency of the wall-climbing robot returning to the maintenance point for grinding head replacement or charging is reduced, and the efficiency of grinding and cleaning concrete residues is improved while reducing the cost of the grinding and cleaning operation.

[0077] Example 2

[0078] Figure 2 This is a flow chart of a steel template grinding and cleaning path planning method according to the second embodiment of the present invention. This embodiment is optimized based on the above embodiment. In this embodiment, S103 is specifically optimized as follows:

[0079] Get the maximum window size currently visible in the system, and set the size of the full-screen window to be consistent with the maximum window size;

[0080] According to the shape type of each concrete residue, the grinding direction of each concrete residue is determined; according to the area of ​​each concrete residue, the number of grinding heads required for each concrete residue is determined; according to the grinding direction and the number of grinding heads required, the grinding method of each concrete residue is formed;

[0081] Calculate the efficiency coefficient of multi-grinding head collaboration based on the number of grinding heads required, the area of ​​a single grinding head, and the area of ​​each concrete residue;

[0082] The grinding and cleaning time for each concrete residue is calculated based on the height, volume, number of grinding heads required, multi-grinding head collaborative efficiency coefficient and removal rate of a single grinding head.

[0083] Accordingly, the steel template grinding and cleaning path planning method provided in this embodiment specifically includes:

[0084] S201, performing multispectral processing and laser radar irradiation processing on the surface of the steel template, and collecting multispectral data and laser point cloud data of the surface of the steel template.

[0085] S202: using the multispectral data and the laser point cloud data, identifying the concrete residue on the surface of the steel formwork, generating concrete residue data, calculating the area, height, and volume of each concrete residue, and determining the shape type of each concrete residue.

[0086] S203, determining the grinding direction of each concrete residue according to the shape type of each concrete residue, determining the number of grinding heads required for each concrete residue according to the area of ​​each concrete residue, and forming a grinding method for each concrete residue according to the grinding direction and the number of grinding heads required.

[0087] Using different grinding directions for different types of concrete residue can improve cleaning efficiency and quality. Selecting the appropriate number of grinding heads based on the concrete area can also improve the coordination between the grinding heads, further enhancing the efficiency and quality of concrete residue cleaning. For concrete residues that are approximately circular in shape, a spiral inward grinding direction (the direction of travel of the wall-climbing robot) is used for cleaning. For concrete residues that are elongated in shape, a reciprocating scanning grinding direction (snake-like advance) is used for cleaning. For concrete residues that are star-shaped, a contour-tracking grinding direction (direction of travel) is used for cleaning. The required number of grinding heads is determined based on their effective grinding area and the area of ​​the remaining concrete (maximum projected area) to improve the coordination between multiple grinding heads, ensure cleaning efficiency and quality, and reduce operating costs. For example, if the radius of a single grinding head is 5 cm, a single grinding head is used to clean concrete residues smaller than 150 cm²; two grinding heads are used to clean concrete residues larger than 150 cm² but smaller than 400 cm²; and three grinding heads are used to clean concrete residues larger than 400 cm². The grinding direction and number of passes required for each concrete residue are recorded to create a grinding pattern for each concrete residue, such as spiral inward with two grinding heads, which is then used to generate a grinding path.

[0088] S204: Calculate the multi-grinding head cooperation efficiency coefficient based on the required number of grinding heads, the area of ​​a single grinding head, and the area of ​​each concrete residue.

[0089] In order to facilitate the wall-climbing robot to flexibly adjust the number of grinding heads involved in grinding and cleaning, three grinding heads are installed on the wall-climbing robot in a triangular array arrangement. Figure 3 The figure shows a wall-climbing robot equipped with three grinding heads. In order to ensure that there are no gaps between the grinding heads after the wall-climbing robot moves, resulting in incomplete cleaning of concrete residues, a certain path overlap is set between two adjacent grinding heads when the three grinding heads are arranged in a triangular array. The overlapping path is determined along the direction of travel of the wall-climbing robot. Therefore, after determining the number of grinding heads required for each concrete residue cleaning, the area of ​​a single grinding head can be obtained based on the specifications of the grinding head. Combined with the area of ​​the concrete residue, the multi-grinding head collaborative efficiency coefficient is calculated. The different path overlaps formed by different numbers of grinding heads are used to analyze the collaborative efficiency of different numbers of grinding heads on the area of ​​the concrete residue. The formula is as follows:

[0090]

[0091] in, is the multi-grinding head collaborative efficiency coefficient, Let \(N\) be the number of required grinding heads, \(A\) be the area of the concrete residue, and \(r\) be the radius of a single grinding head. If \(r = 5\text{ cm}\), when \(A\lt150\text{ cm}^2\), \(N = 1\); when \(150\text{ cm}^2\lt A\lt400\text{ cm}^2\), \(N = 2\); when \(A\gt400\text{ cm}^2\), \(N = 3\). Let \(k\) be the shape correction factor. When the shape type of the concrete residue is approximately circular When the shape type of the concrete residue is strip-shaped When the shape type of the concrete residue is star-shaped .

[0092] S205. Calculate the grinding and cleaning duration of each concrete residue according to the height, volume, number of required grinding heads, multi-grinding head cooperation efficiency coefficient, and removal rate of a single grinding head of each concrete residue.

[0093] Using the multi-grinding head cooperation efficiency coefficient, correct the removal efficiency of the required number of grinding heads and the removal rate of a single grinding head for the concrete residue. Combine with the volume of the concrete residue to calculate the basic grinding time. The formula is as follows:

[0094]

[0095] Where is the basic grinding time, \(V\) is the volume of the concrete residue, \(R\) is the grinding rate (\(\text{cm}^3 / \text{min}\)) of a single grinding head, \(N\) is the number of required grinding heads, is the multi-grinding head cooperation efficiency coefficient. Since the concrete residue with too high height needs to be ground in layers to ensure the safety of the grinding and cleaning operation (control the thickness of each layer within 5 mm), and there may be a situation where some grinding heads do not contact the concrete residue when grinding high protrusions, a height correction factor is introduced to correct the basic grinding time, and the calculation formula for the grinding and cleaning duration is formed:

[0096]

[0097] Where the height correction factor , is the height correction coefficient, is the height of the concrete residue.

[0098] S206. Determine multiple grinding operation areas according to the grinding and cleaning duration and grinding method of the concrete residue, as well as the position of the concrete residue, based on the service life of the grinding head and the total battery power of the wall-climbing robot.

[0099] S207. Generate the grinding and cleaning path of each grinding operation area according to the position and grinding method of the concrete residue in each grinding operation area.

[0100] This embodiment analyzes the collaborative efficiency of different numbers of grinding heads for the area of ​​concrete residue, and the resulting multi-grinding head collaborative efficiency coefficient corrects the grinding head's ability to remove concrete residue, calculates the basic grinding time, and then introduces a height correction factor to correct the basic grinding time and calculate the grinding and cleaning time. When using different numbers of grinding heads for different areas, the path overlap between the grinding heads set to meet cleaning quality requirements is fully considered, which makes the calculation of the cleaning efficiency of multiple grinding heads more accurate. At the same time, the impact of height on concrete residue efficiency is taken into account, and the calculation of the grinding and cleaning time required for concrete residue is more accurate. This makes the management of the grinding head replacement cycle and battery charging cycle more precise, which can effectively improve the efficiency of concrete residue cleaning and reduce operating costs.

[0101] Example 3

[0102] Figure 4 This is a flow chart of a steel template grinding and cleaning path planning method according to the third embodiment of the present invention. This embodiment is optimized based on the above embodiment. In this embodiment, S104 is specifically optimized as follows:

[0103] Calculate the grinding head consumption and grinding power consumption for each concrete residue based on the grinding and cleaning time and grinding method of each concrete residue;

[0104] Multiple grinding operation areas are determined based on the grinding head consumption and the service life of a single grinding head, the grinding power consumption and the total battery power, and the location of each concrete residue.

[0105] Accordingly, the steel template grinding and cleaning path planning method provided in this embodiment specifically includes:

[0106] S301, performing multispectral processing and laser radar irradiation processing on the surface of the steel template, and collecting multispectral data and laser point cloud data of the surface of the steel template.

[0107] S302: using the multispectral data and the laser point cloud data, identifying the concrete residue on the surface of the steel formwork, generating concrete residue data, calculating the area, height, and volume of each concrete residue, and determining the shape type of each concrete residue.

[0108] S303: Determine a grinding method for each concrete residue based on the shape, type, and area of ​​each concrete residue, and calculate a grinding and cleaning time for each concrete residue based on the height and volume of each concrete residue.

[0109] S304: Calculate the grinding head consumption and grinding power consumption of each concrete residue according to the grinding and cleaning time and grinding method of each concrete residue.

[0110] According to the grinding method, the grinding direction and the required number of grinding heads for each concrete residue can be determined. According to the grinding and cleaning time, the usage time of each grinding head is calculated as the grinding head consumption. For example, when the required number of grinding heads is 1, only the consumption of the corresponding grinding head is calculated based on the grinding and cleaning time. When the required number of grinding heads is 2, the consumption of the grinding head in the middle and the consumption of the grinding heads on one side are calculated based on the grinding direction. The two grinding heads on both sides alternately participate in the grinding and cleaning of the required number of grinding heads of 2. When the required number of grinding heads is 3, the grinding head consumption of all three grinding heads is calculated based on the grinding and cleaning time. When the number of grinding heads required is 1, the grinding head with the least grinding head consumption is assigned to participate in the grinding operation. This distributes the time each grinding head spends in the operation as evenly as possible, making the consumption as even as possible among the three grinding heads. This allows all three grinding heads to be replaced at once when the grinding heads are replaced, reducing the frequency of grinding head replacements while ensuring that there is minimal waste in the service life of the grinding heads. The power consumption of each concrete residue is then calculated based on the number of grinding heads required and the grinding and cleaning time. Since the power consumption of each grinding head per unit time is the same, the power consumption of each concrete residue can be calculated by multiplying the power of a single grinder, the number of grinding heads required, and the grinding and cleaning time.

[0111] S305 , determining multiple grinding operation areas according to the grinding head consumption and the service life of a single grinding head, the grinding power consumption and the total battery power, and the location of each concrete residue.

[0112] Using the grinding head consumption and the service life of a single grinding head, we estimate how many concrete residues the grinding head will be completely consumed after grinding. At the same time, based on the grinding power consumption and the total battery power, we estimate how many concrete residues the total battery power can supply for grinding. The smaller value is taken between the two. Combined with the location of the concrete residues, we determine which concrete residues can be ground and cleaned in what order during a single operation by the wall-climbing robot. The order of grinding and cleaning is determined according to the rule that the concrete residue is at the bottom and closest to the wall-climbing robot. It is also important to note that repeated cleaning is not allowed, that is, the cleaned concrete residue is not considered when determining the next cleaning order. This can avoid debris from attaching to the concrete residue below when cleaning the upper concrete residue, which increases the difficulty of cleaning the lower concrete residue. The concrete residues that can be cleaned by the wall-climbing robot in one operation are arranged in a determined order to determine the grinding operation area.

[0113] It should be noted that when calculating the respective limit values ​​of the grinding head consumption and the grinding power consumption, the frequency and rationality of the wall-climbing robot's return maintenance need to be considered. It is necessary to reasonably plan the timing of replacing the grinding head while charging based on the percentage of the grinding head consumption in the total service life and the percentage of the grinding power consumption in the total battery power. For example, in actual grinding operations, the battery power is often consumed faster, and the grinding head often needs to be charged multiple times within its service life. For example, if the service life of the grinding head is 50 hours and the total battery power can power the wall-climbing robot for 6 hours of operation, then the grinding head should be replaced when the wall-climbing robot returns to charge after the 8th operation.

[0114] S306: Generate a grinding and cleaning path for each grinding operation area according to the position of the concrete residue and the grinding method in each grinding operation area.

[0115] This embodiment calculates the consumption of each grinding head based on the grinding and cleaning time and grinding method of each concrete residue, and evenly distributes the grinding time of each grinding head to make the grinding head consumption more even. Then, the grinding power consumption of each concrete residue is calculated based on the number of grinding heads required for each concrete residue and the grinding and cleaning time. Then, based on the grinding head consumption and grinding head lifespan, as well as the grinding power consumption and total battery power, the order in which concrete residues need to be polished and cleaned in a single grinding operation is planned to form a grinding operation area. By partitioning the grinding and cleaning of concrete residues on steel formwork, it is easier to plan the operation path of the wall-climbing robot. By controlling the frequency of the wall-climbing robot's return maintenance, the efficiency of the concrete residue grinding and cleaning operation can be improved, reducing operating costs.

[0116] An optional implementation of this embodiment is that the method further includes:

[0117] Based on the concrete residue data, the location of each concrete residue is extracted.

[0118] After extracting concrete residue using multispectral data and laser point cloud data, the edge coordinates of each concrete residue can be calculated using the concrete residue edge shapes in the laser point cloud and multispectral data, thereby determining the edge coordinate range of each concrete residue. Multispectral data and laser point cloud data can be used to establish a grid coordinate system on the surface of the steel formwork to be cleaned, thereby determining the coordinates of all concrete residue edges and the coordinates of the wall-climbing robot's initial position, which are used to calculate subsequent movement distance and power consumption.

[0119] The power consumption of the initial movement is calculated based on the distance between the position of the first concrete residue in each grinding operation area and the initial position of the wall-climbing robot.

[0120] To more accurately calculate the power consumption of the wall-climbing robot, in addition to calculating the power consumption during grinding, it is also necessary to calculate the power consumed by the wall-climbing robot's movement. When the wall-climbing robot moves from its initial position to the location of the first concrete residue to be removed within the grinding operation area, it moves to the edge coordinate closest to the initial position. From this edge coordinate, the current concrete residue is cleaned in the direction determined by its shape and type. Therefore, the distance from the initial position to the edge coordinate closest to the initial position is used as the power consumption of the initial movement.

[0121] The power consumption of intermediate movement is calculated based on the distance between each two adjacent concrete residues in each grinding operation area except the first concrete residue.

[0122] After completing the grinding and cleaning of the previous concrete residue, the wall-climbing robot moves directly from the position at the time of completion to the edge coordinate of the next concrete residue closest to the current position. Therefore, the distance between the current position of the wall-climbing robot and the edge coordinate of the next concrete residue closest to the current position is moved, and the power consumption of the intermediate movement is calculated.

[0123] The power consumption of the return movement is calculated based on the distance between the position of the last concrete residue in each grinding operation area and the initial position of the wall-climbing robot.

[0124] After completing the grinding and cleaning of all concrete residues in the grinding operation area, the wall-climbing robot needs to return to its initial position from its current position when the last concrete residue was polished and cleaned. Therefore, the distance from the position where the wall-climbing robot was when the last concrete residue was polished and cleaned to its initial position is used to calculate the power consumption of the return movement.

[0125] Corrections are made to the multiple grinding operation areas based on the initial movement power consumption, intermediate movement power consumption, return movement power consumption, and the grinding power consumption of all concrete residues in each grinding operation area.

[0126] The initial movement power consumed when the wall-climbing robot moves from the initial position to the first concrete residue, the intermediate movement power consumed when moving between concrete residues, the return movement power consumed when moving from the last concrete residue back to the initial position, and the total power consumption when grinding all concrete residues are accumulated to evaluate whether the total battery power can complete the task of the grinding operation area. That is, the total movement power consumption generated by the entire movement distance is considered on the basis of the grinding power consumption. If the total battery power cannot meet the total power consumption, the grinding operation area needs to be corrected to reduce the appropriate amount of concrete residue to ensure that the wall-climbing robot has enough power to return to the initial position for maintenance. The concrete residue removed from the current grinding operation area is counted in the next adjacent grinding operation area. Each subsequent grinding operation area can be corrected according to the same method. Although it may eventually lead to an increase in the number of grinding operation areas, it can still reduce the operation risk and unnecessary trouble while ensuring the efficiency of the grinding and cleaning operation.

[0127] Optionally, the S302 includes:

[0128] The multispectral data is subjected to binarization processing to obtain multispectral residual data.

[0129] Since the metal surfaces of concrete and steel formwork have different spectral reflectances in different bands, multispectral images can be used to identify concrete residues on the surface of steel formwork. By binarizing the multispectral image, the white area in the obtained binary image is the area of ​​concrete residue, and the black part is the surface of the steel formwork, multispectral residue data can be generated.

[0130] The laser point cloud data is used to perform plane fitting processing to obtain a steel template reference plane.

[0131] After preprocessing such as removing flying points and filtering and denoising, the laser point cloud data can be fitted using the RANSAC algorithm to determine the steel formwork reference plane, which is used to distinguish concrete residues protruding from the steel formwork plane.

[0132] The multispectral residual data is mapped to the steel formwork reference plane to extract the concrete residual point cloud data.

[0133] The multispectral residue data is aligned with the point cloud coordinates and mapped to the steel formwork reference plane obtained by fitting the laser point cloud data. The concrete residue point cloud data is then extracted. The high recognition rate of concrete residue using spectral data is used to obtain multispectral classification results for the concrete area. Furthermore, by fusing multispectral data with laser point cloud data, the concrete point cloud is screened and identified for concrete residue with high recognition accuracy.

[0134] According to the concrete residue point cloud data and the steel formwork reference plane, the boundary coordinate data of each concrete residue is formed as the concrete residue data, and the height and area of ​​each concrete residue are calculated.

[0135] The concrete residue point cloud data is projected onto the steel formwork reference plane. The concrete residue point cloud data, filtered from multispectral data, exhibits excellent burr-removal properties. The Alpha-Shape algorithm is used to extract the projected contours and identify collective features such as protrusions, depressions, and edges. This allows for more accurate identification of the boundary coordinate data for each concrete residue. The boundary coordinate data sets for all concrete residues constitute the concrete residue data, marking the location of the concrete residue on the steel formwork surface. The area of ​​each concrete residue can be calculated by calculating the polygonal area of ​​the extracted contours. It should be noted that the area of ​​the concrete residue is the maximum projected area because all portions of the concrete residue must be polished and removed. The height of the concrete residue is determined by the distance from the highest point in the concrete residue point cloud data to the steel formwork plane.

[0136] Each concrete residue point cloud data is subjected to normal layered slicing and Delaunay triangulation to construct a multi-layer triangular prism. The volume of each concrete residue is calculated using the volume of all triangular prisms.

[0137] Since the shape of concrete residue is irregular, and the volume of concrete residue is a key value affecting the time required for grinding, a more accurate calculation result is required. First, the three-dimensional shape formed by the concrete residue point cloud data is sliced ​​in the normal direction, that is, the layering is performed along the normal direction of the steel formwork reference plane, the same slice thickness is set, and the point cloud is divided into multiple layers parallel to the steel formwork reference plane according to the height. Then, Delaunay triangulation is performed on each layer of point cloud, and the three-dimensional point cloud is projected onto a two-dimensional plane and divided into multiple triangular meshes. The corresponding relationship between the triangular mesh layers is then used to construct the inter-layer triangular prisms of each layer. The volumes of all triangular prisms are accumulated, and the total obtained is the volume of each concrete residue. The calculation complexity is low, it can adapt to complex curved surfaces, and is suitable for the volume calculation of irregular concrete residues.

[0138] The shape type of each concrete residue is determined according to the boundary coordinate data and the area of ​​each concrete residue.

[0139] According to the boundary coordinate data of the concrete residue, the maximum projection contour of the concrete residue can be obtained. First, the minimum circumscribed rectangle of the contour is determined, and the ratio of the long side to the short side of the rectangle is calculated. If the ratio is greater than the preset threshold, it is regarded as a long strip. If the ratio is less than the preset threshold, the minimum circumscribed circle of the contour is determined, and the ratio of the area of ​​the concrete residue to the area of ​​the minimum circumscribed circle is calculated. If the ratio is greater than the preset threshold, it is determined to be a circle. Finally, the contour is wrapped with a rubber band simulation line, and the ratio of the number of convex points of the rubber band simulation line to the number of vertices of the contour (including both convex points and concave points) is calculated. If the ratio is greater than the preset threshold, it is determined to be a long strip. If the ratio is less than the preset threshold, it is determined to be a star (an irregularly radiating polygon). In this way, the shape type of each concrete residue is determined for selecting the appropriate grinding direction. For example, when the ratio of the long side to the short side of the minimum circumscribed rectangle is greater than 4, it can be regarded as a long strip shape; when the ratio is less than 1.5, it is closer to a circle; when the ratio of the area of ​​the concrete residue to the area of ​​the minimum circumscribed circle is greater than 0.85, it is very close to a circle and can be determined as a type close to a circle; when the ratio of the number of convex points of the rubber band simulation line to the number of contour vertices is greater than 0.9, the outer contour of the concrete residue is relatively flat and can be confirmed as a long strip type; if the ratio is less than 0.9, the outer contour of the concrete residue has many potholes or thorns, and can be determined as a star type.

[0140] Optionally, the step S306 includes:

[0141] A grinding and cleaning path for each grinding operation area is generated according to the grinding and cleaning sequence of the concrete residue in each grinding operation area, the boundary coordinate data of each concrete residue, and the grinding method of each concrete residue.

[0142] According to the grinding and cleaning sequence, the wall-climbing robot's trajectory between multiple concrete residues is first determined. Then, based on the boundary coordinate data of each concrete residue, the point closest to the wall-climbing robot is used as the starting point for the current concrete residue cleaning. Furthermore, based on the grinding method of each concrete residue, the wall-climbing robot's trajectory during the current concrete residue cleaning is determined. This generates a grinding and cleaning path: the wall-climbing robot starts from the initial position, then moves to the point closest to the boundary coordinate of the first concrete residue, moves to the trajectory of the current concrete residue cleaning, moves to the point closest to the boundary coordinate of the next concrete residue, and so on. Each grinding operation area is processed in the same manner to generate a grinding and cleaning path for each grinding operation area. After cleaning a grinding operation area, the wall-climbing robot returns to its initial position to recharge or replace the grinding head, and then starts from the initial position to move to the next grinding operation area.

[0143] An optional implementation of this embodiment is that the method further includes:

[0144] 90% of the service life of a single grinding head is used to determine the safe life of a single grinding head, and 85% of the total battery power is used to determine the safe battery power.

[0145] In order to leave redundancy for the use of grinding heads and battery power and improve the safety of grinding operations, 90% of the service life of a single grinding head is determined as the safe life of a single grinding head, and 85% of the total battery power is determined as the safe battery power.

[0146] Multiple grinding operation areas are determined based on the grinding head consumption and the safe life of a single grinding head, the grinding power consumption and the safe battery power, and the location of each concrete residue.

[0147] When determining the grinding operation area, that is, which concrete residues can be cleaned in what order each time, the grinding operation area should be planned according to the safe life of the grinding head and the safe battery power, and then according to the grinding head consumption and grinding power consumption to ensure the safety of the grinding and cleaning operations.

[0148] 90% of the total battery power is used to determine the battery return power. When the sum of the initial movement power consumption, intermediate movement power consumption, and grinding power consumption exceeds the battery return power, or the grinding head power consumption is greater than the safe life of a single grinding head, the wall-climbing robot is forced to return to its initial position.

[0149] In order to further ensure the safety of the grinding and cleaning operation and to prevent the wall-climbing robot from being disturbed by weather, environment, human factors, etc., which may lead to abnormal power consumption and insufficient remaining power to return to the starting point, 90% of the total battery power is determined as the battery return power. When the consumed power is greater than 90% of the total battery power, that is, when the remaining battery power is less than 10%, the wall-climbing robot is forced to return to the initial position, avoiding the risk of high-altitude operations in which the wall-climbing robot is unable to return to the starting point due to exhaustion of power and needs to be retrieved manually. At the same time, if the consumption of the grinding head is greater than the safe life of a single grinding head, in order to avoid the risk of the grinding head breaking, the wall-climbing robot will also be forced to return to the starting point to replace the grinding head. Exemplarily, the grinding head in this embodiment can be a grinding wheel, and similar components such as a BMS battery management system and a laser rangefinder can be set on the wall-climbing robot to realize the monitoring and management of the battery power and the service life of the grinding head and the corresponding functions in the above method.

[0150] Example 4

[0151] Figure 5 This is a schematic structural diagram of a steel template grinding and cleaning path planning device according to a fourth embodiment of the present invention. In this embodiment, the steel template grinding and cleaning path planning device includes:

[0152] The data acquisition module 810 is used to perform multispectral processing and laser radar irradiation processing on the surface of the steel template, and collect multispectral data and laser point cloud data of the surface of the steel template;

[0153] A concrete residue data generation module 820 is used to identify concrete residues on the surface of the steel formwork, generate concrete residue data, calculate the area, height and volume of each concrete residue, and determine the shape type of each concrete residue;

[0154] The grinding data generation module 830 is used to determine the grinding method for each concrete residue and calculate the grinding and cleaning time for each concrete residue;

[0155] a grinding operation area generating module 840 for determining a plurality of grinding operation areas based on the grinding and cleaning time and grinding method of the concrete residue, the location of the concrete residue, the service life of the grinding head, and the total battery charge of the wall-climbing robot;

[0156] The grinding and cleaning path generating module 850 is used to generate a grinding and cleaning path for each grinding operation area according to the location of the concrete residue and the grinding method in each grinding operation area.

[0157] In this embodiment, a data acquisition module collects multispectral data and laser point cloud data from the steel formwork surface. A concrete residue data generation module identifies concrete residue on the steel formwork surface, calculates the area, height, and volume of each concrete residue, and determines the shape type of each concrete residue. A grinding data generation module determines the grinding method for each concrete residue and calculates the grinding and cleaning time for each concrete residue. A grinding operation area generation module determines multiple grinding operation areas based on the grinding head service life and the total battery power of the wall-climbing robot. A grinding and cleaning path generation module generates a grinding and cleaning path for each grinding operation area. By collecting multispectral data and laser point cloud data from the steel formwork surface, concrete residue is identified, and the area, height, and volume of the concrete residue are calculated. The grinding and cleaning time for each concrete residue is calculated. Based on the grinding method corresponding to the concrete residue shape type, the power consumption of the grinding head and battery for each concrete residue cleaning is calculated. The grinding operation area that can be cleaned by the wall-climbing robot in one operation cycle is then determined. A grinding and cleaning path for each grinding operation area is generated based on the cleaning sequence, cleaning method, and boundary coordinates of the concrete residue within the grinding operation area. When each grinding operation area is completed, the robot can return to the maintenance point for charging and replacement of the grinding head. By calculating and evenly distributing the grinding head life consumption and battery power consumption, the life utilization rate of the grinding head is improved, and the frequency of the wall-climbing robot returning to the maintenance point to replace the grinding head or charge is reduced, thereby improving the efficiency of grinding and cleaning concrete residues and reducing the cost of grinding and cleaning operations.

[0158] The steel template grinding and cleaning path planning device provided in the embodiment of the present invention can execute the steel template grinding and cleaning path planning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0159] Example 5

[0160] Figure 6 This is a structural diagram of an electronic device according to a fifth embodiment of the present invention. Figure 6 A block diagram of an exemplary electronic device 12 suitable for implementing embodiments of the present invention is shown. Figure 6 The electronic device 12 shown is only an example and should not limit the functionality and scope of use of the embodiments of the present invention.

[0161] like Figure 6 As shown, electronic device 12 is implemented as a general-purpose computing device. Components of electronic device 12 may include, but are not limited to, one or more processors or processing units 16, system memory 28, and a bus 18 that connects various system components (including system memory 28 and processing unit 16).

[0162] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0163] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0164] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be configured to read and write non-removable, non-volatile magnetic media ( Figure 6 Not shown, usually called a "hard drive"). Although Figure 6Although not shown, a magnetic disk drive for reading and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), as well as an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0165] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 42 generally implement the functions and / or methodologies of the embodiments described herein.

[0166] The electronic device 12 can also communicate with one or more external devices 14 (e.g., a keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the electronic device 12 / server / computer, and / or any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). This communication can occur via an input / output (I / O) interface 22. Furthermore, the electronic device 12 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via a bus 18. It should be understood that, although not shown, other hardware and / or software modules can be used in conjunction with the electronic device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0167] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the steel template grinding and cleaning path planning method provided in an embodiment of the present invention.

[0168] Example 6

[0169] Embodiment 6 of the present invention further provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to execute the steel template grinding and cleaning path planning method provided in the above embodiment.

[0170] The computer storage medium of the embodiments of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0171] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0172] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0173] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0174] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A steel template grinding and cleaning path planning method, characterized in that: include: S101, performing multispectral processing and laser radar irradiation processing on the surface of the steel template, and collecting multispectral data and laser point cloud data of the surface of the steel template; S102, using the multispectral data and the laser point cloud data, identifying concrete residues on the surface of the steel formwork to generate concrete residue data, calculating the area, height, and volume of each concrete residue, and determining the shape type of each concrete residue; S103, determining a grinding method for each concrete residue based on the shape, type, and area of ​​each concrete residue, and calculating a grinding and cleaning time for each concrete residue based on the height and volume of each concrete residue; S104, determining multiple grinding operation areas based on the grinding and cleaning time and grinding method of the concrete residue, the location of the concrete residue, the service life of the grinding head, and the total battery power of the wall-climbing robot; S105 , generating a grinding and cleaning path for each grinding operation area according to the position of the concrete residue and the grinding method in each grinding operation area.

2. The method according to claim 1, characterized in that The S103 includes: According to the shape type of each concrete residue, the grinding direction of each concrete residue is determined; according to the area of ​​each concrete residue, the number of grinding heads required for each concrete residue is determined; according to the grinding direction and the number of grinding heads required, the grinding method of each concrete residue is formed; Calculate the efficiency coefficient of multi-grinding head collaboration based on the number of grinding heads required, the area of ​​a single grinding head, and the area of ​​each concrete residue; The grinding and cleaning time for each concrete residue is calculated based on the height, volume, number of grinding heads required, multi-grinding head collaborative efficiency coefficient and removal rate of a single grinding head.

3. The method according to claim 2, characterized in that The S104 includes: Calculate the grinding head consumption and grinding power consumption for each concrete residue based on the grinding and cleaning time and grinding method of each concrete residue; Multiple grinding operation areas are determined based on the grinding head consumption and the service life of a single grinding head, the grinding power consumption and the total battery power, and the location of each concrete residue.

4. The method according to claim 3, characterized in that The method further comprises: According to the concrete residue data, the location of each concrete residue is extracted; The power consumption of the initial movement is calculated based on the distance between the position of the first concrete residue in each grinding operation area and the initial position of the wall-climbing robot; Calculate the power consumption of intermediate movement based on the distance between each two adjacent concrete residues in each grinding operation area, excluding the first concrete residue; The power consumption of the return movement is calculated based on the distance between the last concrete residue in each grinding operation area and the initial position of the wall-climbing robot; Corrections are made to the multiple grinding operation areas based on the initial movement power consumption, intermediate movement power consumption, return movement power consumption, and the grinding power consumption of all concrete residues in each grinding operation area.

5. The method according to claim 1, wherein The S102 includes: performing binarization processing on the multispectral data to obtain multispectral residual data; Performing plane fitting processing using the laser point cloud data to obtain a steel template reference plane; Mapping the multispectral residual data to the steel formwork reference plane to extract concrete residual point cloud data; Based on the concrete residue point cloud data and the steel formwork reference plane, the boundary coordinate data of each concrete residue is formed as the concrete residue data, and the height and area of ​​each concrete residue are calculated; Each concrete residue point cloud data is processed by normal layered slicing and Delaunay triangulation to construct a multi-layer triangular prism. The volume of each concrete residue is calculated using the volume of all triangular prisms. The shape type of each concrete residue is determined according to the boundary coordinate data and the area of ​​each concrete residue.

6. The method according to claim 5, characterized in that The S105 includes: A grinding and cleaning path for each grinding operation area is generated according to the grinding and cleaning sequence of the concrete residue in each grinding operation area, the boundary coordinate data of each concrete residue, and the grinding method of each concrete residue.

7. The method according to claim 4, characterized in that The method further comprises: The safe life of a single grinding head is determined by 90% of its service life, and the safe battery capacity is determined by 85% of the total battery capacity. Determine multiple grinding operation areas based on grinding head consumption and the safe life of a single grinding head, grinding power consumption and battery safety power, and the location of each concrete residue; 90% of the total battery power is used to determine the battery return power. When the sum of the initial movement power consumption, intermediate movement power consumption, and grinding power consumption exceeds the battery return power, or the grinding head power consumption is greater than the safe life of a single grinding head, the wall-climbing robot is forced to return to its initial position.

8. A steel template grinding and cleaning path planning device, characterized in that: include: The data acquisition module is used to perform multispectral processing and laser radar irradiation processing on the surface of the steel template, and collect multispectral data and laser point cloud data of the steel template surface; A concrete residue data generation module is used to identify concrete residues on the surface of the steel formwork, generate concrete residue data, calculate the area, height and volume of each concrete residue, and determine the shape type of each concrete residue; A grinding data generation module is used to determine the grinding method for each concrete residue and calculate the grinding and cleaning time for each concrete residue; A grinding operation area generation module is used to determine multiple grinding operation areas based on the grinding and cleaning time and grinding method of concrete residues, the location of concrete residues, the service life of the grinding head, and the total battery power of the wall-climbing robot; The grinding and cleaning path generation module is used to generate a grinding and cleaning path for each grinding operation area according to the position of the concrete residue and the grinding method in each grinding operation area.

9. An electronic device, characterized in that: The device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the steel template grinding and cleaning path planning method as described in any one of claims 1-7.

10. A storage medium comprising computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to execute the steel template grinding and cleaning path planning method according to any one of claims 1 to 7.

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