Methods, devices, equipment, and media for grinding path planning of steel templates using grinding robots

Abstract

This invention discloses a method, apparatus, equipment, and medium for planning grinding paths for steel formwork using a grinding robot, belonging to the field of grinding robot technology. The method includes: based on the scanning results of the steel formwork, determining the attributes of pits requiring deep grinding, including location, diameter, and depth; determining the required grinding time for each pit based on the pit attribute information and the working efficiency of each grinding head of the grinding robot; determining the single grinding end state of the grinding robot after grinding each pit, based on the required grinding time; generating multiple grinding paths based on the single grinding end state of the grinding robot and the pit attributes, and calculating the total grinding time for each grinding path; and selecting the optimal grinding path based on the total grinding time. This method can improve the grinding effect of small pits in steel formwork, and further improve the grinding efficiency of small pits by optimizing the grinding paths.

Description

Technical Field

[0001] This invention relates to the field of grinding robot technology, and in particular to a grinding robot method, apparatus, equipment and medium for planning grinding paths of steel templates. Background Technology

[0002] Precast pier construction is characterized by high precision, short construction period, and low environmental impact, and is widely used in the construction of various cross-sea bridges. The core function of steel formwork is to ensure that the pier concrete is precisely cast according to the designed shape and dimensions. Through high-strength steel and customized design, the formwork can strictly constrain the flow of concrete, improving the accuracy of the pier casting shape.

[0003] Steel formwork can be reused. Before use, residual concrete and rust on the formwork need to be ground off to ensure better pouring quality. In existing technology, grinding robots can replace manual labor, using a reciprocating motion along a pre-set grinding path to complete the overall grinding of the steel formwork.

[0004] In the process of developing this invention, the inventors discovered the following problem: Due to long-term external placement, steel templates develop pitting corrosion, and impurities and segregation, or internal defects in the cast billet, leading to small pits that make grinding difficult. Grinding these pits requires continuous adjustment of the grinding head's angle and depth, along with a grinding robot moving in a circular motion around the pit. However, traditional reciprocating grinding methods cannot remove rust from these pits. Furthermore, if each pit is ground deeply using traditional reciprocating grinding methods, the overall grinding time is significantly prolonged, thus reducing the overall grinding efficiency of the steel template. Summary of the Invention

[0005] This invention provides a method, apparatus, equipment, and medium for planning grinding paths for steel formwork using a grinding robot, in order to solve the technical problem of reduced grinding efficiency caused by using traditional grinding paths when grinding small pits in steel formwork by a grinding robot in the prior art.

[0006] In a first aspect, embodiments of the present invention provide a method for planning the grinding path of a steel template using a grinding robot, comprising:

[0007] Based on the scanning results of the steel template, the properties of the pits that need to be ground to a certain depth are determined according to the scanning results. The properties include: location, diameter and depth.

[0008] The required grinding time for each pit is determined based on the pit's attribute information and the working efficiency of each grinding head of the grinding robot.

[0009] Based on the required grinding time for each pit, determine the single grinding end state of the grinding robot after each pit is ground;

[0010] Multiple grinding paths are generated based on the single grinding completion state of the grinding robot and the attributes of the pits, and the total grinding time of each grinding path is calculated.

[0011] Select the optimal polishing path based on the total polishing time.

[0012] Secondly, embodiments of the present invention also provide a grinding robot steel template grinding path planning device, comprising:

[0013] The attribute determination module is used to determine the attributes of the pits that need to be ground to a certain depth based on the scanning results of the steel template. The attributes include: location, diameter and depth.

[0014] The single grinding time determination module is used to determine the grinding time required for each pit based on the pit's attribute information and the working efficiency of each grinding head of the grinding robot.

[0015] The end state determination module is used to determine the single grinding end state of the grinding robot after each pit is ground, based on the grinding time required for each pit.

[0016] The total time calculation module is used to generate multiple grinding paths based on the single grinding end state of the grinding robot and the attributes of the pits, and to calculate the total grinding time of each grinding path.

[0017] The selection module is used to choose the optimal polishing path based on the total polishing time.

[0018] Thirdly, embodiments of the present invention also provide an apparatus, comprising:

[0019] One or more processors;

[0020] Storage device for storing one or more programs.

[0021] When the one or more programs are executed by the one or more processors, the one or more processors implement the grinding robot steel template grinding path planning method provided in the above embodiments.

[0022] Fourthly, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to execute the grinding robot steel template grinding path planning method provided in the above embodiments.

[0023] The present invention provides a method, apparatus, equipment, and medium for planning grinding paths for steel templates using a grinding robot. Based on the scanning results of the steel template, the system determines the attributes of pits requiring deep grinding, including location, diameter, and depth. Based on the pit attribute information and the working efficiency of each grinding head of the grinding robot, it determines the required grinding time for each pit. Based on the required grinding time for each pit, it determines the single grinding completion state of the grinding robot after grinding each pit. Based on the single grinding completion state of the grinding robot and the pit attributes, it generates multiple grinding paths and calculates the total grinding time for each path. Finally, it selects the optimal grinding path based on the total grinding time. The system can determine the attributes of each small pit that needs to be polished based on the scanning results. It can also determine the required polishing time and the single polishing completion state of the robot when polishing a particular pit is finished, based on the attributes of each pit and the robot's working efficiency. By considering the attributes of each pit and its completion state, the system iterates through all possible polishing paths and calculates the total time required for each path. The path with the shortest polishing time is then selected as the optimal path. This improves the polishing effect of small pits in steel formwork, and further optimization of the polishing path enhances the polishing efficiency. Attached Figure Description

[0024] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0025] Figure 1 This is a flowchart illustrating the grinding path planning method for steel template grinding using a grinding robot provided in Embodiment 1 of the present invention.

[0026] Figure 2 This is a flowchart illustrating the grinding robot steel template grinding path planning method provided in Embodiment 2 of the present invention;

[0027] Figure 3 This is a schematic diagram of the steel template grinding path planning device for the grinding robot provided in Embodiment 3 of the present invention;

[0028] Figure 4 This is a structural diagram of the device provided in Embodiment 4 of the present invention. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0030] Example 1

[0031] Figure 1 This is a flowchart of a grinding robot path planning method for steel formwork grinding, provided in Embodiment 1 of the present invention. This embodiment is applicable to the case of path planning for grinding small pits in steel formwork. This method can be executed by a grinding robot steel formwork grinding path planning device and can be integrated into the equipment. Specifically, it includes the following steps:

[0032] S110, based on the scanning results of the steel template, determine the attributes of the pit that needs to be ground to a certain depth, including: location, diameter and depth.

[0033] For example, high-precision inspection equipment such as laser scanners and 3D vision sensors can be used to comprehensively scan the surface of the steel formwork. These devices can accurately acquire three-dimensional data of the steel formwork surface, including information such as the location, diameter, and depth of the pits. The scanned data is processed to generate a point cloud model or mesh model containing all the features of the pits. Filtering and segmentation operations can be performed on the original point cloud data to extract the boundary and depth information of the pits. This allows for the determination of the diameter and depth of the pits.

[0034] S120 determines the required grinding time for each pit based on the pit's attribute information and the working efficiency of each grinding head of the grinding robot.

[0035] In this embodiment, the polishing robot may include three polishing heads. The middle polishing head is the main polishing head, which can be adjusted vertically relative to the polishing surface and can also adjust the polishing angle by rotating its axis. The other two polishing heads are arranged on either side of the main polishing head as auxiliary polishing heads, which can extend horizontally to increase the polishing area. Since the pit has depth and slope, it is mainly polished by the main polishing head, while the other two polishing heads can assist in polishing the curved surface with the maximum depth and the outer area. For example, it may include: determining the minimum rotation range of the main polishing head's polishing pitch angle based on the diameter of the pit; determining the vertical adjustment height of the main polishing head based on the depth of the pit; and determining the required polishing time for each pit using the minimum rotation range of the polishing pitch angle and the vertical adjustment height. Using the above method, the required polishing time for each pit can be calculated.

[0036] Therefore, the grinding time required for each pit can be estimated based on the grinding capabilities of each grinding head for different situations, the directional distance that the grinding robot needs to move during the grinding process, and whether grinding can be carried out normally during the movement.

[0037] For example, the calculation can be performed in the following manner:

[0038]

[0039] in, The required polishing time for the pit The main grinding head volume removal rate is the volume of material removed by the main grinding head per unit time. The volumetric removal rate of the auxiliary grinding head is the volume removed by the auxiliary grinding head per unit time. D The diameter of the pit opening. H For the depth of the pit, This refers to the vertical feed speed of the auxiliary head, i.e., the speed at which it moves downwards. This represents the maximum effective grinding depth of the secondary grinding head. The adjustment time coefficient corresponding to the minimum rotation range of the main grinding head pitch angle is used to characterize the adjustment efficiency of the main grinding head pitch angle; Mainly adjusts the grinding head descent speed; The speed of the grinding robot base when the three grinding heads move in unison along the circumference of the pit opening.

[0040] This can be considered as the grinding volume of the area that can be ground by two auxiliary grinding heads;

[0041] This can be considered as the time required for the main grinding head to adjust the grinding angle during the overall grinding process;

[0042] This can be considered as the time required for the main grinding head to move downwards, and its specific downward feed amount can also be finely adjusted with reference to the current position;

[0043] This can be considered as the time required for the grinding robot to move while grinding the pit.

[0044] Furthermore, ,in, This is the set grinding thickness. In fact, the total volume to be ground is assumed to be a spherical cap, and the total volume to be ground is roughly calculated using the volume calculation method for a spherical cap.

[0045] S130 determines the single grinding end state of the grinding robot after each pit is finished, based on the grinding time required for each pit.

[0046] Based on the pit grinding trajectory and robot motion trajectory set for each grinding head, combined with the required grinding time, the single grinding end state of the grinding robot after each pit grinding is completed can be determined.

[0047] For example, the state of the grinding robot after finally finishing grinding each pit can be determined based on the grinding time required for each pit calculated in the above steps as a single grinding completion state. For example, this can include information such as the height of the main grinding head, the grinding tilt angle, the extension length of the auxiliary grinding head, and the final position and orientation of the grinding robot at the end of grinding.

[0048] For example, the single grinding completion state may include: the state of each grinding head when the grinding of a single pit is completed, and the orientation of the grinding robot;

[0049] S140: Generate multiple polishing paths based on the single polishing end state of the polishing robot and the attributes of the pits, and calculate the total polishing time for each polishing path.

[0050] For example, starting from the nearest pit at the initial point, multiple polishing paths can be generated with the goal of traversing all nodes corresponding to all pits. The total polishing time for each path is calculated. Since different paths correspond to pits of varying depths, after the polishing robot completes the polishing of the current pit, if minimal adjustments to the polishing and moving parts are needed, polishing can commence directly after a short movement, significantly saving adjustment time. Therefore, a comprehensive time function can be obtained using a heuristic function approach. For example, the total time function for polishing the pit can be created based on the corresponding time relationships of all actions performed on that pit, and then the time function for the next pit can be calculated by integrating these functions based on the applicability of the last action state to the next pit. This process is repeated until the total polishing time for each path is obtained.

[0051] S150 selects the optimal polishing path based on the total polishing time.

[0052] The time required for each sanding path can be calculated based on the above steps. Therefore, the path can be selected based on the time. For example, the path with the shortest total sanding time can be selected as the optimal sanding path.

[0053] This embodiment iterates through various possible grinding paths by considering the attributes of each small pit to be ground and the state at the end of grinding that pit, and calculates the total time required for each grinding path. Based on the total time, the grinding path with the shortest time is selected as the optimal grinding path. This can improve the grinding effect of small pits in steel formwork. Furthermore, by optimizing the grinding path of small pits, the grinding efficiency of small pits in steel formwork can be further improved.

[0054] Example 2

[0055] Figure 2This is a flowchart illustrating the steel template grinding path planning method for a grinding robot provided in Embodiment 2 of the present invention. This embodiment is an optimization based on the above embodiment, and the following steps can be added: Determine special grinding areas based on the grinding path, and determine ordinary grinding areas based on the special grinding areas; calculate the grinding time of the ordinary grinding areas based on their area and location; construct a grinding plan based on the scanning results of the steel template; calculate the ideal total grinding time based on the grinding plan; calculate the absolute value of the difference between the ideal total grinding time, the grinding time of the ordinary grinding areas, and the grinding time corresponding to the optimal grinding path; when the absolute value of the difference is greater than a preset time difference threshold, determine the un-grinded areas between each special grinding area in the optimal grinding path; calculate the connectivity probability of the un-grinded areas; when the connectivity probability is less than a preset probability threshold, adjust the optimal grinding path.

[0056] See Figure 2 The grinding robot steel template grinding path planning method includes:

[0057] S210: Based on the scanning results of the steel template, determine the attributes of the pits that need to be ground to a certain depth. Based on the attribute information of the pits and the working efficiency of each grinding head of the grinding robot, determine the grinding time required for each pit.

[0058] S220: Based on the required grinding time for each pit, determine the single grinding end state of the grinding robot after grinding each pit; generate multiple grinding paths based on the single grinding end state of the grinding robot and the attributes of the pit, and calculate the total grinding time for each grinding path.

[0059] S230, determine the special polishing area based on the polishing path, and determine the ordinary polishing area based on the special polishing area; calculate the polishing time of the ordinary polishing area based on the area and location of the ordinary polishing area.

[0060] In this embodiment, the special polishing area can be the polishing area corresponding to the pit, and correspondingly, the ordinary polishing area can be the area that can be polished normally on a flat surface.

[0061] It can also calculate the required sanding time for normal sanding based on the area and location of the normal sanding area. The location can be used to account for the necessary time to move to that location.

[0062] S240, construct a grinding plan based on the scanning results of the steel template; calculate the ideal total grinding time based on the grinding plan.

[0063] For example, this could include: determining the thickness of the rust within the pit based on its depth; determining the area of ​​the corresponding normal flat surface based on the thickness of the rust within the pit; and constructing a grinding plan based on the area of ​​the normal flat surface. Using this method, the pit can be converted into a corresponding planar rust plan, and extended based on the rust thickness to match the thickness of the template plane. After obtaining the grinding plan, the ideal total grinding time can be calculated by calculating the grinding area per unit time using the most efficient reciprocating grinding path for this rust thickness with the grinding robot.

[0064] S250, calculate the absolute value of the difference between the ideal total polishing time and the polishing time of the ordinary polishing area and the polishing time corresponding to the optimal polishing path. When the absolute value of the difference is greater than the preset time difference threshold, determine the unpolished area between each special polishing area in the optimal polishing path.

[0065] In the above steps, the ideal total polishing time can be calculated. Since the ideal total time is theoretically the minimum polishing time for a flat surface, the difference between the sum of the polishing time for the ordinary polishing area, the polishing time corresponding to the optimal polishing path, and the ideal total polishing time can be calculated. If the difference exceeds a preset time difference threshold, it indicates that some polishing time has not fully utilized the polishing efficiency of the polishing robot. This situation usually occurs when the main polishing head is polishing pits, while other polishing heads are idle. Therefore, the unpolished areas between the various special polishing areas in the polishing robot's path can be considered as potential optimization directions.

[0066] S260, Calculate the connectivity probability of the unpolished area, and adjust the optimal polishing path when the connectivity probability is less than a preset probability threshold.

[0067] For example, calculating the connectivity probability of the unpolished area may include: calculating the widths of the special polishing areas at both ends of the unpolished area; calculating a first ratio of the widths of the special polishing areas; calculating a second ratio of the maximum width to the polishing width formed by the three polishing heads of the polishing robot; and calculating the connectivity probability of the unpolished area based on the first and second ratios. As can be seen from the above calculation method, the connectivity probability reflects the consistency of path polishing between two adjacent pits. When the connectivity probability is less than a preset probability threshold, the possible path between these two pits can be excluded, adjusted to other pits, and the subsequent path adjusted before connecting the pits.

[0068] This embodiment adds the following steps: determining special grinding areas based on the grinding path, and determining ordinary grinding areas based on the special grinding areas; calculating the grinding time for ordinary grinding areas based on their area and location; constructing a grinding plan based on the scanning results of the steel template; calculating the ideal total grinding time based on the grinding plan; calculating the absolute value of the difference between the ideal total grinding time, the grinding time of the ordinary grinding area, and the grinding time corresponding to the optimal grinding path; when the absolute value of the difference is greater than a preset time difference threshold, determining the un-grinded areas between the special grinding areas in the optimal grinding path; calculating the connectivity probability of the un-grinded areas; and adjusting the optimal grinding path when the connectivity probability is less than a preset probability threshold. By considering grinding the rust around the path as the grinding robot moves along the pit, the overall grinding efficiency of the steel template is further improved.

[0069] Example 3

[0070] Figure 3 This is a schematic diagram of the steel template grinding path planning device for the grinding robot provided in Embodiment 2 of the present invention, as shown below. Figure 3 As shown, the device includes:

[0071] The attribute determination module 310 is used to determine the attributes of the pits that need to be ground to a certain depth based on the scanning results of the steel template. The attributes include: location, diameter and depth.

[0072] The single grinding time determination module 320 is used to determine the grinding time required for each pit based on the pit's attribute information and the working efficiency of each grinding head of the grinding robot.

[0073] The end state determination module 330 is used to determine the single grinding end state of the grinding robot after the grinding of each pit is completed, based on the grinding time required for each pit.

[0074] The total time calculation module 340 is used to generate multiple grinding paths based on the single grinding end state of the grinding robot and the attributes of the pits, and to calculate the total grinding time of each grinding path.

[0075] Select module 350 to select the optimal polishing path based on the total polishing time.

[0076] The steel formwork grinding path planning device provided in this embodiment can determine the attributes of each small pit to be ground based on the scanning results. It can also determine the grinding time required for each pit and the single grinding completion state of the grinding robot at the end of grinding each pit, based on the attributes of each pit and the working efficiency of the grinding robot. By considering the attributes of each pit and the completion state, it traverses various possible grinding paths and calculates the total time required for each path. Based on the total time, it selects the grinding path with the shortest time as the optimal grinding path. This improves the grinding effect of small pits in steel formwork and further enhances the grinding efficiency by optimizing the pit grinding path.

[0077] Based on the above embodiments, the device further includes:

[0078] The general polishing area determination module is used to determine the special polishing area based on the polishing path, and to determine the general polishing area based on the special polishing area.

[0079] The general sanding area calculation module is used to calculate the sanding time of the general sanding area based on its area and location.

[0080] Based on the above embodiments, the device further includes:

[0081] The plan view construction module is used to construct a grinding plan view based on the scanning results of the steel template;

[0082] The ideal total time calculation module is used to calculate the ideal total time for sanding based on the sanding plan.

[0083] The absolute value difference calculation module is used to calculate the absolute value of the difference between the ideal total polishing time and the polishing time of the ordinary polishing area and the polishing time corresponding to the optimal polishing path. When the absolute value of the difference is greater than the preset time difference threshold, the unpolished area between each special polishing area in the optimal polishing path is determined.

[0084] The adjustment module is used to calculate the connectivity probability of the unpolished area and adjust the optimal polishing path when the connectivity probability is less than a preset probability threshold.

[0085] Based on the above embodiments, the adjustment module includes:

[0086] The first calculation unit is used to calculate the width of the special grinding areas at both ends of the un-grinded area, and to calculate the first ratio of the width of the special grinding areas;

[0087] The second calculation unit is used to calculate the second ratio between the maximum width and the grinding width formed when the three grinding heads of the grinding robot are working;

[0088] The third calculation unit is used to calculate the connectivity probability of the unpolished area based on the first ratio and the second ratio.

[0089] Based on the above embodiments, the single polishing time determination module includes:

[0090] The rotation range determination unit is used to determine the minimum rotation range of the grinding pitch angle of the main grinding head based on the diameter of the pit.

[0091] The height adjustment unit is used to determine the grinding height adjustment of the main grinding head according to the depth of the pit.

[0092] The grinding time determination unit is used to determine the grinding time required for each pit by using the minimum rotation range of the grinding pitch angle and the vertical adjustment height.

[0093] Based on the above embodiments, the single polishing completion state includes:

[0094] The status of each grinding head and the position of the grinding robot when a single pit is finished;

[0095] The end state determination module is used for:

[0096] Based on the pit grinding trajectory and robot motion trajectory set for each grinding head, and combined with the required grinding time, the single grinding end state of the grinding robot after each pit grinding is completed is determined.

[0097] Based on the above embodiments, the plan view construction module includes:

[0098] A thickness determination unit is used to determine the thickness of the rust in the pit based on the depth of the pit;

[0099] The flat surface area determination unit is used to determine the area of ​​the corresponding normal flat surface based on the thickness of the rust in the pit.

[0100] The building block is used to construct a grinding plan based on the area of ​​a normal flat surface.

[0101] The grinding robot steel template grinding path planning device provided in the embodiments of the present invention can execute the grinding robot steel template grinding path planning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0102] Example 4

[0103] Figure 4 This is a schematic diagram of the structure of a device provided in Embodiment 4 of the present invention. Figure 4 A block diagram of an exemplary device 12 suitable for implementing embodiments of the present invention is shown. Figure 4The device 12 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0104] like Figure 4 As shown, device 12 is represented as a general-purpose computing device. Components of device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and a bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0105] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0106] Device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by device 12, including volatile and non-volatile media, removable and non-removable media.

[0107] System memory 28 may include computer system readable media in the form of volatile memory, such as RAM 30 and / or cache 32. Device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4 Not shown; usually referred to as a "hard drive"). Although Figure 4 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and 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 the embodiments of the present invention.

[0108] 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 or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0109] Device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with device 12, and / or with any device that enables device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of device 12 via bus 18. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with 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.

[0110] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the grinding robot steel template grinding path planning method provided in the embodiments of the present invention.

[0111] Example 5

[0112] Embodiment 5 of the present invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to execute the grinding robot steel template grinding path planning method provided in the above embodiments.

[0113] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can 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 of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0114] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying 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. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0115] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0116] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or device. In cases involving remote computers, the remote computer can 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 can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0117] Note that the above description is merely a preferred embodiment 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 various obvious changes, readjustments, and substitutions can be made 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 which is determined by the scope of the appended claims.

Claims

1. A method for planning a grinding path of a grinding robot for grinding a steel formwork, characterized in that, The method comprises the following steps: Based on the scanning result of the steel template, the attributes of the pits requiring deep polishing are determined according to the scanning result, and the attributes comprise position, diameter and depth; Based on the attribute information of the pits and the working efficiency of each polishing head of the polishing robot, the polishing time required by each pit is determined; According to the polishing time required by each pit, the single polishing end state of the polishing robot after polishing of each pit is completed is determined; Based on the single polishing end state of the polishing robot and the attributes of the pits, a plurality of polishing paths are generated, and the total polishing time of each polishing path is calculated; According to the total polishing time, the optimal polishing path is selected; According to the polishing path, the special polishing area is determined, and the normal polishing area is determined according to the special polishing area; According to the area and position of the normal polishing area, the polishing time of the normal polishing area is calculated; According to the scanning result of the steel template, a polishing plan is constructed; Based on the polishing plan, the ideal total polishing time is calculated; The absolute value of the difference between the ideal total polishing time and the polishing time of the normal polishing area and the polishing time corresponding to the optimal polishing path is calculated, and when the absolute value of the difference is greater than a preset time difference threshold, the temporary polishing area between each special polishing area in the optimal polishing path is determined; The connectivity possibility of the temporary polishing area is calculated, and when the connectivity possibility is less than a preset possibility threshold, the optimal polishing path is adjusted.

2. The method of claim 1, wherein, The calculation of the connectivity possibility of the temporary polishing area comprises: The width of the special polishing area at both ends of the temporary polishing area is calculated, and a first ratio of the width of the special polishing area is calculated; A second ratio of the maximum width to the polishing width formed by the three polishing heads of the polishing robot during work is calculated; The connectivity possibility of the temporary polishing area is calculated according to the first ratio and the second ratio.

3. The method of claim 1, wherein, The determination of the polishing time required by each pit based on the attribute information of the pits and the working efficiency of each polishing head of the polishing robot comprises: According to the diameter of the pit, the minimum rotation range of the polishing pitch angle of the main polishing head is determined; According to the depth of the pit, the up-down adjustment height of the main polishing head is determined; The polishing time required by each pit is determined by using the minimum rotation range of the polishing pitch angle and the up-down adjustment height.

4. The method of claim 3, wherein, The single polishing end state comprises: The state of each polishing head when the single pit polishing is completed, and the position of the polishing robot; The determination of the single polishing end state of the polishing robot after polishing of each pit is completed according to the polishing time required by each pit comprises: Based on the pit polishing trajectory and the robot motion trajectory set for each polishing head, the single polishing end state of the polishing robot after polishing of each pit is completed is determined in combination with the required polishing time.

5. The method of claim 1, wherein, The construction of the polishing plan according to the scanning result of the steel template comprises: The thickness of the rust in the pit is determined based on the depth of the pit; The area of the corresponding normal flat surface is determined according to the thickness of the rust in the pit; The polishing plan is constructed based on the area of the normal flat surface.

6. A polishing robot steel template polishing path planning device, characterized by, The method comprises the following steps: An attribute determination module is configured to determine the attributes of the pits requiring deep polishing based on the scanning result of the steel template according to the scanning result, and the attributes comprise position, diameter and depth; The single polishing duration determination module is configured to determine the polishing duration required for each pit based on the attribute information of the pits and the working efficiency of each polishing head of the polishing robot; The end state determination module is configured to determine the single polishing end state of the polishing robot after polishing of each pit is completed, according to the polishing duration required for each pit; The total duration calculation module is configured to generate a plurality of polishing paths based on the single polishing end state of the polishing robot and the attributes of the pits, and calculate the polishing total duration of each polishing path; The selection module is configured to select an optimal polishing path according to the polishing total duration; The normal polishing area determination module is configured to determine a special polishing area according to the polishing path, and determine a normal polishing area according to the special polishing area; The normal polishing area calculation module is configured to calculate the polishing duration of the normal polishing area according to the area and position of the normal polishing area; The plan view construction module is configured to construct a polishing plan view according to the scanning result of the steel template; The ideal total duration calculation module is configured to calculate a polishing ideal total duration based on the polishing plan view; The difference absolute value calculation module is configured to calculate the absolute value of the difference between the polishing ideal total duration and the polishing duration of the normal polishing area and the polishing duration corresponding to the optimal polishing path, and determine a temporarily unpolished area between each special polishing area in the optimal polishing path when the absolute value of the difference is greater than a preset duration difference threshold value; The adjustment module is configured to calculate the connectivity possibility of the temporarily unpolished area, and adjust the optimal polishing path when the connectivity possibility is less than a preset possibility threshold value.

7. An apparatus, comprising: The device comprises: one or more processors; a storage device configured to store 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 polishing robot steel template polishing path planning method as claimed in any one of claims 1-5.

8. A storage medium containing computer executable instructions for performing the polishing robot steel template polishing path planning method as claimed in any one of claims 1-5 when executed by a computer processor.

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