Concrete precast slab trowelling robot and method

Abstract

The invention relates to the technical field of industrial automation, in particular to a concrete prefabricated slab trowelling robot and method.The robot comprises a truss type mechanical arm, a six-axis robot, a trowelling tool arranged at the tail end of the six-axis robot, an electrical control system and a visual recognition system; the visual identification system is used for carrying out image acquisition on the concrete precast slab loaded on the mold table before trowelling operation and carrying out image analysis based on the acquired precast slab image so as to determine the position of an operation original point; the electrical control system is used for establishing a prefabricated slab operation coordinate system based on the operation original point position and controlling the truss type mechanical arm and the six-axis robot to move cooperatively, so that the trowelling tool moves to the operation original point position and is adjusted to a preset trowelling operation height; the electrical control system is further used for generating a trowelling operation path for avoiding the concrete prefabricated plate embedded part; and the six-axis robot drives a trowelling tool to trowelling the surface of the concrete prefabricated slab according to the trowelling operation path.

Description

Technical Field

[0001] This application relates to the field of industrial automation technology, and in particular to a robot and method for smoothing precast concrete slabs. Background Technology

[0002] Precast concrete slabs, as a crucial component of prefabricated buildings, are widely used in residential, public, and industrial structures. During the production of precast concrete slabs, the surface smoothing process is a critical step affecting their appearance quality, dimensional accuracy, and subsequent assembly performance. Currently, the smoothing of precast concrete slabs mainly relies on manual operation or semi-automated equipment.

[0003] In manual smoothing, operators typically rely on experience to smooth the surface of precast concrete slabs. This method is labor-intensive, inefficient, and the smoothing quality is greatly affected by the operator's skill level and fatigue, making it difficult to guarantee consistency between different batches of products. Furthermore, manual smoothing can easily result in localized over-smoothing or missed areas on the precast slab surface, affecting its flatness and surface quality.

[0004] To improve production efficiency, some production lines have introduced mechanized or semi-automatic troweling equipment. However, most existing mechanized troweling equipment operates using fixed trajectories or preset programs, and its troweling path is usually planned based on the ideal position of the precast slab. In actual production, the placement of the precast concrete slab on the mold table often has a certain translational or rotational deviation. This can cause problems such as troweling position deviation, insufficient edge coverage, or interference with embedded parts on the precast slab when the mechanical equipment operates according to a fixed trajectory. These issues affect the troweling effect and may even damage the equipment. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, this application provides a concrete precast slab smoothing robot and method, which solves the technical problems of the prior art that the smoothing operation relies on manual calibration, the smoothing path is fixed and it is difficult to avoid embedded parts.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solutions adopted in this application include:

[0009] In a first aspect, embodiments of this application provide a concrete precast slab smoothing robot, comprising: a truss-type robotic arm, a six-axis robot mounted on the truss-type robotic arm, a smoothing tool disposed at the end of the six-axis robot, an electrical control system, and a vision recognition system;

[0010] The formwork for loading precast concrete slabs is located within the working area of ​​the truss-type robotic arm, which is positioned above the formwork.

[0011] The visual recognition system is used to acquire images of the precast concrete slabs loaded on the mold before the smoothing operation, and to perform image analysis based on the acquired images of the precast slabs to determine the actual spatial position of the precast concrete slabs in the mold, and thereby determine the position of the work origin point set on the precast concrete slabs.

[0012] The electrical control system is used to establish a precast slab operation coordinate system based on the operation origin position, with the operation origin as the coordinate origin and the coordinate axis direction consistent with the geometric direction of the concrete precast slab surface, and to control the truss robotic arm and the six-axis robot to move together, so that the smoothing tool moves to the operation origin position and is adjusted to the preset smoothing operation height.

[0013] The electrical control system is also used to generate a smoothing operation path for avoiding embedded parts of the precast concrete slab within the precast slab operation coordinate system, based on the pre-acquired BIM drawing data corresponding to the precast concrete slab.

[0014] The six-axis robot drives the smoothing tool to smooth the surface of the precast concrete slab according to the smoothing operation path in the precast slab operation coordinate system.

[0015] Preferably, in some embodiments of this application, the BIM drawing data is pre-established BIM model data corresponding to the design of precast concrete slab structures, and a BIM drawing coordinate system is established in the BIM drawing data;

[0016] The BIM drawing data pre-sets a work reference point, which is the geometric center point of the precast concrete slab in the BIM drawing coordinate system and is used to characterize the reference position of the precast concrete slab in the BIM drawing coordinate system.

[0017] The mold platform is provided with a fixed reference point, which is the center point of the positioning hole and / or the center point of the positioning pin provided on the mold platform.

[0018] A pre-established correspondence exists between the BIM drawing coordinate system and the actual coordinate system of the mold platform. This correspondence includes: the geometric center point in the BIM drawing corresponds to a fixed reference point on the mold platform; and the coordinate axis direction of the BIM drawing coordinate system is consistent with the standard direction of the actual coordinate system of the mold platform.

[0019] The standard direction of the actual coordinate system of the mold platform is the direction of the coordinate axis where the fixed reference point on the mold platform is located. The X and Y directions of the actual coordinate system of the mold platform are along the long side and the wide side of the mold platform, respectively, and the Z direction is perpendicular to the surface of the mold platform.

[0020] Preferably, in some embodiments of this application, the process of the visual recognition system determining the location of the work origin set on the precast concrete slab specifically includes:

[0021] The visual recognition system acquires images of precast concrete slabs mounted on a mold platform and performs image analysis on the acquired images to obtain the outer contour features of the precast concrete slabs.

[0022] Based on the outer contour features, the visual recognition system calculates the translational offset and rotational deflection of the precast concrete slab relative to the actual coordinate system of the mold table, thereby determining the actual spatial position of the precast concrete slab in the mold table.

[0023] The visual recognition system maps the geometric center point of the precast concrete slab in the BIM drawing data to the actual coordinate system of the mold table based on the determined actual spatial position of the precast concrete slab, thereby obtaining the actual position of the geometric center point in the mold table.

[0024] The actual position of the geometric center point in the mold table is determined as the work origin position set on the precast concrete slab.

[0025] Preferably, in some embodiments of this application, image analysis is performed on the acquired precast slab images to obtain the outer contour features of the precast concrete slab, specifically including:

[0026] The precast slab image is converted into a grayscale image, and noise is removed by filtering. Then, a binary image of the precast slab outline is generated by binarization.

[0027] Based on the binary image, an edge detection algorithm is used to extract the set of edge pixels that form the outer contour of the precast concrete slab.

[0028] The edge pixel set is subjected to closed contour detection and morphological processing to generate a complete closed outer contour;

[0029] The pixels of the closed outer contour are arranged in order to form a contour point set, and the contour point set is used as the outer contour feature of the precast concrete slab.

[0030] Preferably, in some embodiments of this application, the visual recognition system calculates the translational offset and rotational deflection of the precast concrete slab relative to the actual coordinate system of the mold based on the outer contour features, thereby determining the actual spatial position of the precast concrete slab in the mold, specifically including:

[0031] Based on the set of contour points, the geometric center position of the outer contour of the precast concrete slab is calculated, and the geometric center position of the outer contour of the precast concrete slab is taken as the center position of the precast concrete slab in the actual coordinate system of the mold table.

[0032] Based on the set of contour points, the main direction of the outer contour of the precast concrete slab is determined, and the main direction is compared with the standard direction of the actual coordinate system of the mold table to obtain the rotation angle of the precast concrete slab relative to the mold table.

[0033] Among them, the main direction of the outer contour of the precast concrete slab is determined by least squares fitting of the major axis direction;

[0034] The translational offset of the precast concrete slab relative to the mold table is determined based on the relationship between the geometric center position of the outer contour of the precast concrete slab and the position of the fixed reference point in the actual coordinate system of the mold table.

[0035] Based on the translation offset and the rotation angle, the actual spatial position of the precast concrete slab in the formwork is determined.

[0036] Preferably, in some embodiments of this application, determining the actual spatial position of the precast concrete slab in the formwork based on the translational offset and the rotational deflection angle specifically includes:

[0037] The calculated translation offset is added along the X and Y directions of the actual coordinate system of the mold table to the reference position of the geometric center point of the precast concrete slab in the BIM drawing in the actual coordinate system of the mold table, so as to obtain the translation correction position of the precast concrete slab.

[0038] Using the geometric center point as the rotation center, the calculated rotation angle is applied to the outer contour of the precast concrete slab or the work reference coordinate in the BIM drawing, so that the direction of the precast concrete slab is aligned with the standard direction of the actual coordinate system of the formwork.

[0039] By combining the translational correction position and the rotational correction results, the actual spatial position of the precast concrete slab in the formwork is determined.

[0040] The actual spatial position includes: the X, Y, and Z spatial coordinates of the geometric center point of the precast concrete slab in the actual coordinate system of the mold platform, which are used to characterize the translational position of the precast concrete slab on the mold platform; and the rotation angle of the precast concrete slab relative to the standard direction of the actual coordinate system of the mold platform, which are used to characterize the rotation direction of the precast concrete slab on the mold platform.

[0041] The Z-space coordinate of the geometric center point of the precast concrete slab in the actual coordinate system of the mold table is the preset surface height of the precast concrete slab.

[0042] Preferably, in some embodiments of this application, the actual spatial position of the precast concrete slab in the mold is P. 实际;

[0043] Among them, P 实际 =R(θ)×P BIM +T;

[0044] P BIM R(θ) represents the geometric center point position in the BIM drawing, R(θ) is the rotation matrix around the vertical direction, θ is the rotation angle, and T is the translation offset.

[0045] .

[0046] Preferably, in some embodiments of this application, the electrical control system is further configured to generate a smoothing operation path including embedded part avoidance constraints within the precast slab operation coordinate system, based on pre-acquired BIM drawing data corresponding to the precast concrete slab, specifically including:

[0047] Based on the information on the outer contour of the precast concrete slab and the location of the embedded parts in the BIM drawing data, a three-dimensional geometric model of the precast concrete slab operation area is established.

[0048] Based on the three-dimensional geometric model and the actual spatial position P of the precast concrete slab, the work reference point in the BIM drawing coordinate system is mapped to the precast slab work coordinate system.

[0049] Within the work coordinate system, a smoothing path is generated to ensure that the smoothing tool avoids pre-defined embedded parts in the BIM drawings during its movement.

[0050] Preferably, in some embodiments of this application, within the working coordinate system, the smoothing path is generated using the location information of the embedded parts, specifically including:

[0051] The surface of the precast concrete slab is divided into several path points at a preset interval, and generated uniformly along the X and Y directions to form a two-dimensional grid. Each path point has three-dimensional spatial coordinates (X, Y, Z), and the Z coordinate is the height of the precast concrete slab surface.

[0052] Based on the predefined locations of embedded parts in the BIM drawing data, establish avoidance zones. Each avoidance zone is a cube, with the center being the coordinates of the embedded part. The side length of the avoidance zone is determined by adding a safety clearance to the actual size of the embedded part.

[0053] Determine whether each path point falls within the avoidance area. If it does, shift the path point out of the avoidance area along the boundary of the avoidance area.

[0054] If the three-dimensional spatial distance d between adjacent path points in the set of offset path points is greater than Δ, then insert new path points with equal spacing along a straight line between the two points, so that the spacing between the inserted path points is no greater than Δ; Δ is the pre-set standard spacing between path points.

[0055] If the three-dimensional spatial distance d between adjacent path points in the set of offset path points is less than Δ / 2, then the path points with too small a distance will be merged with the path points before and after, so that the distance between path points is not less than Δ / 2.

[0056] If the three-dimensional spatial distance d between adjacent path points in the set of offset path points satisfies Δ / 2≤d≤Δ, then the adjacent path points are kept and no adjustment is made.

[0057] Set the Z-coordinate of each path point to the corresponding surface height of the precast concrete slab to ensure that the smoothing tool makes consistent contact with the slab surface.

[0058] Generate a smoothing path by connecting the path points in sequence;

[0059] The path point order is the order in which path points in the two-dimensional grid are visited sequentially. The paths in adjacent rows are arranged alternately to connect the path points and form a continuous path, ensuring that the robot covers the entire surface of the precast concrete slab while avoiding embedded parts.

[0060] On the other hand, this embodiment also provides a method for smoothing precast concrete slabs, which is performed by the aforementioned precast concrete slab smoothing robot.

[0061] (III) Beneficial Effects

[0062] The concrete precast slab smoothing robot and method of this application, by acquiring and analyzing images of the concrete precast slab mounted on the mold before the smoothing operation, can accurately obtain the actual spatial position of the precast slab in the mold and determine the work origin position accordingly, thus achieving precise positioning of the concrete precast slab. Based on this work origin, the electrical control system establishes a work coordinate system consistent with the geometric direction of the concrete precast slab surface, enabling the truss-type robotic arm and the six-axis robot to move collaboratively, ensuring that the smoothing tool can accurately move to the work origin position and maintain a preset height for operation. Combined with pre-acquired BIM drawing data, this application can generate a smoothing operation path that avoids the embedded parts of the precast slab, ensuring that there is no interference with the embedded parts during the smoothing process, avoiding the problems of incomplete coverage, repetitive work, or damage to embedded parts caused by positional deviations or fixed paths in traditional smoothing operations. Through the above technical measures, the embodiments of this application realize the automation, intelligence and high precision of the troweling operation of precast concrete slabs, improve production efficiency, reduce labor intensity, and at the same time ensure the consistency and reliability of troweling quality, providing an efficient, stable and widely applicable technical solution for the industrial production of precast concrete slabs. Attached Figure Description

[0063] Figure 1 This is a schematic diagram of the structure of a precast concrete slab smoothing robot according to an embodiment of this application;

[0064] Figure 2 This is a flowchart illustrating the process of determining the origin location of the operation according to this application.

[0065] Figure Labels

[0066] 1: X-axis gantry-type robotic arm;

[0067] 2: Y-axis gantry-type robotic arm;

[0068] 3: Six-axis robot;

[0069] 4: Smoothing tools;

[0070] 5: Electrical control system;

[0071] 6: Visual recognition system. Detailed Implementation

[0072] To better explain and facilitate understanding of this application, the following detailed description of the application is provided in conjunction with the accompanying drawings and specific embodiments.

[0073] In existing precast concrete slab smoothing technology, mechanized or semi-automated smoothing equipment typically relies on fixed trajectories or preset programs. The smoothing path is planned based on the ideal position of the precast slab, lacking effective perception of translational or rotational deviations of the precast slab on the mold during actual production. This leads to problems such as smoothing position misalignment, insufficient edge coverage, repetitive work, and even interference with embedded parts on the precast slab, affecting smoothing quality and production efficiency. Meanwhile, existing solutions usually require manual intervention to calibrate the position or correct the path of the precast slab, increasing labor intensity and making it difficult to guarantee the consistency and automation level of smoothing across different batches. Although some technologies attempt to introduce visual inspection or robot assistance, existing vision solutions often only acquire two-dimensional positional information, failing to accurately reflect the three-dimensional spatial position of the precast slab. Furthermore, they lack the ability to dynamically map precast slab design data (such as BIM drawing data) to actual production coordinates, resulting in insufficient flexibility in smoothing path planning and an inability to automatically avoid embedded parts.

[0074] To address the aforementioned technical problems, the concrete precast slab smoothing robot and method provided in this application utilize a vision recognition system to acquire and analyze images of the concrete precast slab mounted on the mold before smoothing operations. This allows for precise acquisition of the actual spatial position of the precast slab within the mold, and the determination of the work origin position accordingly. The electrical control system establishes a work coordinate system aligned with the geometric direction of the concrete precast slab surface based on this work origin, enabling the gantry-type robotic arm and the six-axis robot to move collaboratively. This ensures the smoothing tool accurately reaches the work origin position and adjusts to a preset height for operation. Simultaneously, by combining pre-acquired BIM drawing data, a smoothing path is generated that avoids embedded parts in the precast slab, achieving automation, precision, and efficiency in the smoothing operation. This solution not only reduces manual intervention and improves production efficiency but also ensures the consistency and reliability of the smoothing quality of the concrete precast slab surface, providing a widely applicable intelligent solution for the industrial production of concrete precast slabs.

[0075] To better understand the above technical solutions, exemplary embodiments of this application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application can be understood more clearly and thoroughly, and that the scope of this application can be fully conveyed to those skilled in the art.

[0076] Figure 1 This is a structural schematic diagram of a precast concrete slab smoothing robot according to one embodiment of this application. Figure 1 As shown, the concrete precast slab smoothing robot includes: a truss-type robotic arm, a six-axis robot 3 mounted on the truss-type robotic arm, a smoothing tool 4 set at the end of the six-axis robot, an electrical control system 5, and a vision recognition system 6.

[0077] The visual recognition system 6 includes an industrial camera, which is mounted on the Y-axis of the gantry robotic arm 2. (See also...) Figure 1 In this embodiment, the gantry-type robotic arm includes an X-axis gantry-type robotic arm 1 and a Y-axis gantry-type robotic arm 2. Through two-axis linkage, an industrial camera located on the Y-axis can be quickly moved above the precast slab to achieve omnidirectional photography of the mold table. The image information captured by the industrial camera is analyzed by a vision recognition system. This system extracts the contour features of the precast slab through image processing algorithms and calculates the geometric center and work origin position of the precast slab. This position information is sent to the robot control system to provide accurate reference for subsequent smoothing operations.

[0078] The formwork for loading precast concrete slabs is located within the working area of ​​the truss-type robotic arm, which is positioned above the formwork.

[0079] The visual recognition system is used to acquire images of the precast concrete slabs loaded on the mold before the smoothing operation, and to perform image analysis based on the acquired images of the precast slabs to determine the actual spatial position of the precast concrete slabs in the mold, and thereby determine the position of the work origin point set on the precast concrete slabs.

[0080] The electrical control system is used to establish a precast slab operation coordinate system based on the operation origin position, with the operation origin as the coordinate origin and the coordinate axis direction consistent with the geometric direction of the concrete precast slab surface, and to control the truss robotic arm and the six-axis robot to move together, so that the smoothing tool moves to the operation origin position and is adjusted to the preset smoothing operation height.

[0081] The electrical control system is also used to generate a smoothing operation path for avoiding embedded parts of the precast concrete slab within the precast slab operation coordinate system, based on the pre-acquired BIM drawing data corresponding to the precast concrete slab.

[0082] The BIM drawing data is a pre-established BIM model data corresponding to the design of the precast concrete slab structure, and a BIM drawing coordinate system is established in the BIM drawing data;

[0083] The BIM drawing data pre-sets a work reference point, which is the geometric center point of the precast concrete slab in the BIM drawing coordinate system and is used to characterize the reference position of the precast concrete slab in the BIM drawing coordinate system.

[0084] The mold platform is provided with a fixed reference point, which is the center point of the positioning hole and / or the center point of the positioning pin provided on the mold platform.

[0085] A pre-established correspondence exists between the BIM drawing coordinate system and the actual coordinate system of the mold platform. This correspondence includes: the geometric center point in the BIM drawing corresponds to a fixed reference point on the mold platform; and the coordinate axis direction of the BIM drawing coordinate system is consistent with the standard direction of the actual coordinate system of the mold platform.

[0086] The standard direction of the actual coordinate system of the mold platform is the direction of the coordinate axis where the fixed reference point on the mold platform is located. The X and Y directions of the actual coordinate system of the mold platform are along the long side and the wide side of the mold platform, respectively, and the Z direction is perpendicular to the surface of the mold platform.

[0087] The six-axis robot drives the smoothing tool to smooth the surface of the precast concrete slab according to the smoothing operation path in the precast slab operation coordinate system.

[0088] For example, in actual industrial production, suppose a 3m × 1.5m precast concrete slab is loaded onto a precast slab mold. Due to manual handling or mold loading errors, the slab's position on the mold may slightly shift or rotate. When traditional fixed-track smoothing equipment performs its work, if it still follows the ideal path, the smoothing tool may not be able to completely cover the surface of the precast slab, resulting in uneven edges or repetitive work in certain areas. It may also collide with embedded parts inside or on the surface of the precast slab, affecting construction quality. To address these issues, the precast concrete slab smoothing robot in this embodiment first acquires images of the precast slab loaded on the mold using a vision recognition system mounted on a truss-type robotic arm before operation. Taking this 3m × 1.5m precast slab as an example, the vision system can acquire images of the precast slab surface using a high-resolution camera and use algorithms such as edge detection and closed contour analysis to identify the actual contour of the precast slab, thereby calculating the translational offset and rotation angle of the precast slab relative to the actual coordinate system of the mold. Assuming the detection results show that the precast slab is offset by 5 mm in the X direction and 3 mm in the Y direction relative to the mold table, and rotated 1 degree counterclockwise, the actual spatial position of the precast slab in the mold table can be determined, and the geometric center point of the precast slab can be mapped as the work origin. Subsequently, the electrical control system establishes a work coordinate system consistent with the geometric direction of the precast slab surface, using the work origin as the coordinate origin, and controls the coordinated movement of the gantry robotic arm and the six-axis robot to precisely move the smoothing tool to the starting position of the work and adjust it to the preset smoothing height. For example, in this example, the smoothing tool can automatically descend to 5 mm above the concrete surface to ensure that the initial contact will not damage the surface. Combining the pre-established BIM drawing data, the three-dimensional position and size information of all embedded parts on the precast slab are obtained, such as the position of the cable conduit embedded in the middle of the slab, and an avoidance constraint area is generated in the work coordinate system. When the robot performs the smoothing operation, the path is automatically planned to cover the entire slab surface but avoid these embedded parts. For example, if the center of the embedded pipe is located in the center of the slab surface, the robotic smoothing tool will automatically avoid the pipe area when it approaches, and regenerate a continuous smoothing path around the pipe along a safe gap to ensure complete coverage and avoid collision with the embedded parts. Through the above process, the robot of this application can achieve precise positioning, automatic obstacle avoidance, and high-precision smoothing of precast slabs without relying on manual calibration. This method not only significantly improves the efficiency and reliability of smoothing operations, but also ensures the consistency of smoothing quality among different batches of precast slabs, avoiding problems such as edge omissions, repetitive work, or damage to embedded parts, while reducing the labor intensity of workers and realizing the intelligentization and automation of the production process.

[0089] Specifically, in actual production, suppose a precast concrete slab production line needs to smooth a 3m x 1.5m precast concrete slab. To ensure the robot can accurately perform the smoothing operation, BIM drawing data for the precast slab is pre-established in the BIM model. This BIM drawing data not only includes the geometric dimensions and structural information of the slab but also establishes a BIM coordinate system. The geometric center point of the slab is set as the working reference point to characterize the reference position of the precast slab in the BIM coordinate system. For example, suppose the coordinates of the geometric center point in the BIM coordinate system are (X=1500mm, Y=750mm, Z=0mm). Simultaneously, fixed reference points are also set on the actual mold platform, such as the center points of the positioning holes or positioning pins at the four corners of the mold platform, to establish a correspondence with the BIM coordinate system. For example, the central fixed reference point on the mold platform might be located at the center of the mold platform, with coordinates (X=1498mm, Y=752mm, Z=0mm), with a slight loading error. By pre-establishing the correspondence between the BIM drawing coordinate system and the actual coordinate system of the mold platform, the BIM geometric center point is aligned with the fixed reference point of the mold platform. Simultaneously, the X and Y axes of the BIM drawing coordinate system are ensured to be consistent with the standard directions of the actual mold platform coordinate system; for example, the X direction is along the long side of the mold platform, the Y direction is along the wide side, and the Z direction is perpendicular to the mold platform surface. Based on this, after the vision recognition system acquires images and performs contour analysis on the precast slab actually mounted on the mold platform, the system can accurately calculate the actual translational offset and rotational angle of the precast slab relative to the mold platform. The geometric center point in the BIM drawing data is then mapped to the actual coordinate system of the mold platform, thus obtaining the actual spatial position of the precast slab on the mold platform. For example, if a precast slab is detected to be offset by +5mm in the X direction, -3mm in the Y direction, and rotated 0.8 degrees clockwise, the BIM geometric center point coordinates can be adjusted accordingly through translation and rotation correction, ensuring precise alignment between the starting point of the robot's leveling operation and the actual slab position.

[0090] In this way, the robot can accurately position each precast slab, avoiding situations where the smoothing tool deviates, resulting in repetitive work or missed smoothing areas due to slab loading errors. Simultaneously, because the BIM data establishes a correspondence with the actual coordinate system of the mold platform, the robot can incorporate information about embedded parts on the slab during path planning to avoid obstacles, further ensuring construction safety and quality. This solution not only improves smoothing accuracy and work efficiency but also significantly reduces the need for manual intervention, achieving intelligent and automated production lines.

[0091] See Figure 2 In this implementation, the process by which the visual recognition system determines the location of the work origin point set on the precast concrete slab specifically includes:

[0092] The visual recognition system acquires images of precast concrete slabs mounted on a mold platform and performs image analysis on the acquired images to obtain the outer contour features of the precast concrete slabs.

[0093] Based on the outer contour features, the visual recognition system calculates the translational offset and rotational deflection of the precast concrete slab relative to the actual coordinate system of the mold table, thereby determining the actual spatial position of the precast concrete slab in the mold table.

[0094] The visual recognition system maps the geometric center point of the precast concrete slab in the BIM drawing data to the actual coordinate system of the mold table based on the determined actual spatial position of the precast concrete slab, thereby obtaining the actual position of the geometric center point in the mold table.

[0095] The actual position of the geometric center point in the mold table is determined as the work origin position set on the precast concrete slab.

[0096] In detail, in this embodiment, the visual recognition system is used to accurately determine the origin position of the work on the precast concrete slab to ensure the accuracy of the robot's smoothing operation. Assume that a precast concrete slab measuring 3 meters × 1.5 meters is loaded on a mold table on the production line. Due to errors in manual placement or mechanical handling, the actual slab may have slight offsets or rotations, such as an offset of +6mm in the X direction, an offset of -4mm in the Y direction, and a clockwise rotation of approximately 1 degree. To address this issue, the visual recognition system first acquires images of the precast slab using a camera, converts the acquired color images to grayscale images, performs filtering, noise reduction, and binarization, and extracts the outer contour features of the slab. Subsequently, based on the set of contour points, the geometric center position of the slab's outer contour is calculated and used as the center position of the precast concrete slab in the actual coordinate system of the mold table. Simultaneously, the major axis direction of the slab contour is fitted using the least squares method to obtain the rotation angle of the slab relative to the standard direction of the mold table. Based on the correspondence between the geometric center point position and the fixed reference point of the mold table, the system can also calculate the translational offset of the precast concrete slab in the X and Y directions. After obtaining the translation offset and translation angle, the geometric center point of the precast slab in the BIM drawing data is mapped to the actual coordinate system of the mold table. This yields the actual position of the geometric center point on the mold table, and this position is defined as the work origin. For example, if the BIM geometric center point is (X=1500mm, Y=750mm) in the drawing coordinate system, after offset correction, it is mapped to (X=1506mm, Y=746mm) in the actual coordinate system of the mold table. After a 1-degree clockwise rotation correction, this becomes the starting coordinates and direction for the robot's smoothing operation. Through this process, the robot can achieve precise alignment and positioning on each precast slab, ensuring accurate contact between the smoothing tool and the slab surface, avoiding uneven smoothing or missed areas due to slab position deviations. Furthermore, since the determination of the work origin is based on the actual slab contour and BIM data mapping, even slight loading errors in the slab can be automatically corrected, improving the stability and repeatability of the smoothing operation, reducing manual adjustments and rework, and improving production efficiency and product quality. This method not only ensures the accuracy of the operation, but also automates and intelligentizes the smoothing operation, significantly enhancing the reliability and operability of the system.

[0097] Preferably, in some embodiments of this application, image analysis is performed on the acquired precast slab images to obtain the outer contour features of the precast concrete slab, specifically including:

[0098] The precast slab image is converted into a grayscale image, and noise is removed by filtering. Then, a binary image of the precast slab outline is generated by binarization.

[0099] Based on the binary image, an edge detection algorithm is used to extract the set of edge pixels that form the outer contour of the precast concrete slab.

[0100] The edge pixel set is subjected to closed contour detection and morphological processing to generate a complete closed outer contour;

[0101] The pixels of the closed outer contour are arranged in order to form a contour point set, and the contour point set is used as the outer contour feature of the precast concrete slab.

[0102] For example, suppose a 3m x 1.5m precast concrete slab is placed on a mold platform, and the image acquisition system captures a color panoramic image of the slab. This image is first converted to grayscale to reduce interference from color information on contour recognition. Then, Gaussian filtering is used to denoise the image, effectively eliminating noise caused by lighting fluctuations, dust, or slight reflections that may have occurred during the capture process. Subsequently, binarization is performed to separate the precast slab area from the background, generating a clear binary image of the contour, providing a reliable foundation for subsequent contour extraction. Based on this binary image, the visual recognition system uses algorithms such as Canny edge detection to extract the set of pixels representing the outer contour of the precast concrete slab, forming preliminary contour data. In actual acquisition, contour discontinuities may occur due to occlusion at the edges of the mold platform or the gloss of the precast slab surface. Therefore, the system further performs closed contour detection and morphological processing on the extracted contour point set, such as dilation and erosion operations, to ensure complete contour closure, forming a standardized closed outer contour. Then, the pixels of the closed contour are arranged sequentially to generate a contour point set, which serves as the outer contour feature of the precast concrete slab. Through the above processing, the visual recognition system can accurately capture the actual boundary shape and size of the board, effectively overcoming errors caused by manual placement, mold vibration, or changes in lighting. For example, even if the board has slight tilting or corner damage, the true boundary of the board can still be determined through complete closed contour and morphological processing, providing an accurate basis for subsequent work origin positioning and smoothing path planning. Therefore, the smoothing robot can operate along the actual contour of the board, avoiding the smoothing tool from going beyond the boundary or missing areas, achieving consistency in board surface height and coverage, and improving construction quality. At the same time, this method has a high degree of automation, requiring no manual intervention, thus improving production efficiency.

[0103] Specifically, the visual recognition system calculates the translational offset and rotational deflection of the precast concrete slab relative to the actual coordinate system of the mold platform based on the outer contour features, thereby determining the actual spatial position of the precast concrete slab in the mold platform, specifically including:

[0104] Based on the set of contour points, the geometric center position of the outer contour of the precast concrete slab is calculated, and the geometric center position of the outer contour of the precast concrete slab is taken as the center position of the precast concrete slab in the actual coordinate system of the mold table.

[0105] Based on the set of contour points, the main direction of the outer contour of the precast concrete slab is determined, and the main direction is compared with the standard direction of the actual coordinate system of the mold table to obtain the rotation angle of the precast concrete slab relative to the mold table.

[0106] The main direction of the outer contour of the precast concrete slab is determined by least squares fitting of the major axis direction. The main direction is determined by least squares fitting of the contour point set to obtain the major axis direction, that is, fitting a straight line to minimize the sum of the squares of the perpendicular distances from the contour points to the straight line. This straight line direction is used as the main direction of the contour to calculate the rotation angle.

[0107] The translational offset of the precast concrete slab relative to the mold table is determined based on the relationship between the geometric center position of the outer contour of the precast concrete slab and the position of the fixed reference point in the actual coordinate system of the mold table.

[0108] Based on the translation offset and the rotation angle, the actual spatial position of the precast concrete slab in the formwork is determined.

[0109] For example, suppose a rectangular precast concrete slab, 3 meters long and 1.5 meters wide, is placed on a mold platform. After image analysis, a set of contour points is obtained. First, the geometric center of the precast concrete slab's outer contour is calculated using this set of contour points. This involves averaging the X and Y coordinates of all contour points to obtain the center coordinates (xc, yc) of the slab, and using this geometric center as the center position of the precast concrete slab in the actual coordinate system of the mold platform. This step ensures that the center point of the slab is accurately mapped to the mold platform coordinate system, providing a basis for locating the origin of the work. Subsequently, the contour point set is processed using a least-squares fitting algorithm to fit the major axis direction of the slab as its principal direction. Specifically, a straight line is found that minimizes the sum of the squares of the perpendicular distances from the contour points to the line; the direction of this fitted line is the principal direction of the precast concrete slab. By comparing this principal direction with the standard direction of the actual coordinate system of the mold platform, the rotation angle θ of the slab relative to the mold platform can be calculated. For example, if the fitted long axis of the slab deviates by 5° from the X-direction of the mold table along its long side, then the rotation angle θ is 5°, which can be used for rotational correction of the subsequent smoothing path. Furthermore, based on the coordinate relationship between the geometric center of the slab and a fixed reference point on the mold table (such as the center of a positioning hole or pin), the translational offset (ΔX, ΔY) of the slab on the mold table is calculated. For example, if the center of the slab deviates from the fixed reference point on the mold table by 10 mm, then ΔX or ΔY is 10 mm respectively. By combining the translational offset and the rotation angle, the system can determine the actual spatial position of the precast concrete slab in the mold table and use this spatial position as the origin and reference direction for the smoothing operation. Through this method, the visual recognition system can accurately compensate for the positional and angular deviations of the slab caused by manual placement or transportation, ensuring that the smoothing tool can be accurately aligned with the slab surface. This avoids problems such as tools going out of bounds, missing slab corners, or uneven smoothing during the smoothing process, thus improving construction quality. Meanwhile, this method is based on automatic calculation, eliminating the need for manual measurement of the panel position and angle, thus improving work efficiency, and maintaining high precision and consistency in continuous operation scenarios involving multiple precast panels. Furthermore, the least-squares fitting principal direction extraction method exhibits good robustness to slight panel deformation or contour noise, making the system more stable and reliable in real-world production environments.

[0110] Specifically, based on the translational offset and the rotational deflection angle, the actual spatial position of the precast concrete slab in the formwork is determined, including:

[0111] The calculated translation offset is added along the X and Y directions of the actual coordinate system of the mold table to the reference position of the geometric center point of the precast concrete slab in the BIM drawing in the actual coordinate system of the mold table, so as to obtain the translation correction position of the precast concrete slab.

[0112] Using the geometric center point as the rotation center, the calculated rotation angle is applied to the outer contour of the precast concrete slab or the work reference coordinate in the BIM drawing, so that the direction of the precast concrete slab is aligned with the standard direction of the actual coordinate system of the formwork.

[0113] By combining the translational correction position and the rotational correction results, the actual spatial position of the precast concrete slab in the formwork is determined.

[0114] The actual spatial position includes: the X, Y, and Z spatial coordinates of the geometric center point of the precast concrete slab in the actual coordinate system of the mold platform, which are used to characterize the translational position of the precast concrete slab on the mold platform; and the rotation angle of the precast concrete slab relative to the standard direction of the actual coordinate system of the mold platform, which are used to characterize the rotation direction of the precast concrete slab on the mold platform.

[0115] The Z-space coordinate of the geometric center point of the precast concrete slab in the actual coordinate system of the mold table is the preset surface height of the precast concrete slab.

[0116] For example, suppose the reference position of the geometric center point of a precast concrete slab in the BIM drawing within the actual coordinate system of the formwork is (X0, Y0, Z0), where Z0 is the preset surface height of the slab (1.2 meters), and X0 and Y0 are the coordinates along the long and wide sides of the formwork, respectively. After analyzing the outer contour of the slab using a visual recognition system, the translational offset of the slab relative to the formwork is calculated as ΔX = +12mm, ΔY = −8mm, and the rotation angle is θ = 4°. The system first adds the translational offset along the X and Y directions of the actual coordinate system of the formwork to the reference position of the geometric center point, that is, adding ΔX to the X coordinate X0 and ΔY to the Y coordinate Y0, to obtain the translational correction position of the slab (X1 = X0 + ΔX, Y1 = Y0 + ΔY). For example, if X0 = 1500mm and Y0 = 750mm, then the translational correction position is (1512mm, 742mm). Subsequently, the system uses this geometric center point as the rotation center and applies the calculated rotation angle θ to the outer contour or work reference coordinates of the precast concrete slab in the BIM drawing, aligning the slab's orientation with the standard direction of the actual coordinate system of the mold. Specifically, if the slab's major axis is deflected by 4° relative to the X direction of the mold, the system rotates the contour point or work path in the BIM model coordinates by 4° around the center point, ensuring that the actual slab corresponds perfectly to the planned work path. Finally, the translation correction and rotation correction results are combined to form the actual spatial position of the precast concrete slab in the mold. This actual spatial position includes: the X, Y, and Z coordinates of the geometric center point in the actual coordinate system of the mold, representing the slab's position on the plane and the preset surface height Z0; and the rotation angle θ relative to the standard direction of the mold, representing the slab's orientation. Through the above processing method, the offset and rotation of the slab caused by manual placement or transportation can be accurately compensated, ensuring that the smoothing tool is perfectly aligned with the slab surface during actual operation. For example, without translation and rotation correction, the smoothing tool may deviate from the corners of the board or misalign with the board's contour, resulting in uneven surface smoothing, or even missed or overlapping work areas. However, with the translation and rotation correction in this embodiment, even if there is an error of a few millimeters in the board's position or a slight angular deviation, the smoothing operation can still be guaranteed to be highly accurate and uniform, while reducing the need for manual correction and improving construction efficiency.

[0117] In this embodiment, the actual spatial position of the precast concrete slab in the formwork is P. 实际 ;

[0118] Among them, P 实际 =R(θ)×P BIM +T;

[0119] P BIM R(θ) represents the geometric center point position in the BIM drawing, R(θ) is the rotation matrix around the vertical direction, θ is the rotation angle, and T is the translation offset.

[0120] For example, suppose the geometric center point of a precast slab in the BIM drawing coordinate system is located at point P. BIM =(1500 mm, 750 mm, 1200 mm), the visual recognition system calculates the translational offset of the plate relative to the mold table as T=(12 mm, −8 mm, 0), and the rotation angle as θ=4°. Then the rotation matrix R(4°) can be calculated to be approximately equal to... By substituting the BIM geometric center point coordinates, rotation matrix, and translation amount into the formula, the actual spatial position of the precast slab in the mold table can be obtained: This calculation method not only obtains the precise translational position (X, Y, Z) of the precast slab on the mold platform, but also obtains the rotation angle information, thus achieving precise alignment of the slab in the plane.

[0121] In this embodiment, the electrical control system is further configured to generate a smoothing operation path containing embedded part avoidance constraints within the precast slab operation coordinate system, based on pre-acquired BIM drawing data corresponding to the precast concrete slab, specifically including:

[0122] Based on the information on the outer contour of the precast concrete slab and the location of the embedded parts in the BIM drawing data, a three-dimensional geometric model of the precast concrete slab operation area is established.

[0123] Based on the three-dimensional geometric model and the actual spatial position P of the precast concrete slab, the work reference point in the BIM drawing coordinate system is mapped to the precast slab work coordinate system.

[0124] Within the work coordinate system, a smoothing path is generated to ensure that the smoothing tool avoids pre-defined embedded parts in the BIM drawings during its movement.

[0125] Specifically, suppose a precast concrete slab has several reinforcing steel sleeves, embedded part holes, and pre-installed sockets. Their positions in the BIM drawing coordinate system are (300 mm, 400 mm), (1200 mm, 600 mm), and (800 mm, 1100 mm), respectively. These points must be avoided during the smoothing operation. The system first establishes a three-dimensional geometric model of the slab based on its outer contour and embedded part positions in the BIM drawing, including the slab length, width, thickness, and spatial coordinates of each embedded part. Then, based on the actual spatial position P of the precast concrete slab determined by visual recognition... 实际The process maps the work reference points in the BIM drawing coordinate system to the precast slab work coordinate system. For example, if the slab is offset by T = (12 mm, −8 mm) on the mold table and the rotation angle θ = 3°, the coordinates of all embedded parts in the BIM are translated and rotated using rotation matrices and offsets to obtain their actual positions in the precast slab work coordinate system. Based on this, the electrical control system plans the motion trajectory of the smoothing tool. When generating the path, a discrete grid or continuous curve is established along the slab surface, and collision detection is performed on each path point to ensure that the smoothing tool does not intersect with the embedded parts marked in the BIM during movement. For example, for areas near rebar sleeves, the path automatically avoids the 50mm radius safety zone of the sleeve while maintaining smoothing coverage of the entire slab surface. After the path is generated, the six-axis robot drives the smoothing tool to perform the work according to the smoothing path, covering the entire slab surface while completely avoiding the embedded parts.

[0126] Preferably, within the working coordinate system, a smoothing path is generated using the location information of the embedded parts, specifically including:

[0127] The surface of the precast concrete slab is divided into several path points at a preset interval, and generated uniformly along the X and Y directions to form a two-dimensional grid. Each path point has three-dimensional spatial coordinates (X, Y, Z), and the Z coordinate is the height of the precast concrete slab surface.

[0128] Based on the predefined locations of embedded parts in the BIM drawing data, establish avoidance zones. Each avoidance zone is a cube, with the center being the coordinates of the embedded part. The side length of the avoidance zone is determined by adding a safety clearance to the actual size of the embedded part.

[0129] Determine whether each path point falls within the avoidance area. If it does, shift the path point out of the avoidance area along the boundary of the avoidance area.

[0130] If the three-dimensional spatial distance d between adjacent path points in the set of offset path points is greater than Δ, then insert new path points with equal spacing along a straight line between the two points, so that the spacing between the inserted path points is no greater than Δ; Δ is the pre-set standard spacing between path points.

[0131] If the three-dimensional spatial distance d between adjacent path points in the set of offset path points is less than Δ / 2, then the path points with too small a distance will be merged with the path points before and after, so that the distance between path points is not less than Δ / 2.

[0132] If the three-dimensional spatial distance d between adjacent path points in the set of offset path points satisfies Δ / 2≤d≤Δ, then the adjacent path points are kept and no adjustment is made.

[0133] Set the Z-coordinate of each path point to the corresponding surface height of the precast concrete slab to ensure that the smoothing tool makes consistent contact with the slab surface.

[0134] Generate a smoothing path by connecting the path points in sequence;

[0135] The path point order is the order in which path points in the two-dimensional grid are visited sequentially. The paths in adjacent rows are arranged alternately to connect the path points and form a continuous path, ensuring that the robot covers the entire surface of the precast concrete slab while avoiding embedded parts.

[0136] For example, suppose a precast concrete slab is 3 meters long and 2 meters wide, with slight undulations in its surface height, and several metal bolts are pre-embedded on the slab as structural connectors. First, the surface of the precast concrete slab is divided into several path points at preset intervals of 0.1 meters. A two-dimensional grid is generated uniformly along the X and Y directions, and each path point records its three-dimensional spatial coordinates (X, Y, Z), where the Z coordinate corresponds to the slab surface height. This operation ensures the uniform distribution of path points on the slab surface, providing continuous and flat reference points for the smoothing tool. Next, based on the predefined locations of the embedded parts in the BIM drawing data, a clearance zone is established. Assuming a bolt diameter of 0.05 meters and a safety clearance of 0.05 meters, a cubic clearance zone with a side length of 0.1 meters is formed, with the bolt coordinates at its center. During the path point check, if a path point falls into the clearance zone, the path point is offset outside the clearance zone along the boundary direction of the cube. For example, if a path point was originally located directly above a bolt, after offsetting, it will move to a position at least 0.05 meters from the bolt's center, ensuring the smoothing tool won't collide with embedded parts during operation. In this way, the robot can automatically avoid embedded parts, reducing the risk of human intervention or manual correction, and improving construction safety and reliability. Adjusting the spacing of the offset path points can further optimize path continuity. For instance, if the three-dimensional spatial distance between two adjacent path points is d = 0.25 meters, and the preset standard spacing Δ = 0.2 meters, a new path point with a spacing of 0.125 meters is inserted along a straight line between the two points, ensuring the spacing is no greater than Δ. This ensures the smoothing tool doesn't create excessive gaps when moving along the path, preventing uneven smoothing. Conversely, if the distance between adjacent path points is too small, such as d = 0.08 meters < Δ / 2 = 0.1 meters, the path point is merged with the preceding and following path points, ensuring the path point spacing is no less than Δ / 2. This prevents the robot from moving too closely, causing repeated smoothing or mechanical wear. This dynamically adjusted spacing method balances path accuracy and execution efficiency, achieving a balance between surface flatness and work speed. After path generation, the Z-coordinate of each path point is set to the corresponding surface height, ensuring the smoothing tool remains in consistent contact with the surface and preventing uneven smoothing depth due to surface undulations. Path points are visited sequentially according to the two-dimensional grid, with the path directions of adjacent rows alternating to form a continuous serpentine trajectory. In this example, the robot first completes the first row along the X direction, then completes the second row in the opposite direction, and so on until the entire 3m x 2m surface is covered. This path planning method ensures the robot covers the entire surface and avoids embedded parts, reducing repetitive travel and missed tasks.

[0137] By pre-dividing path points and establishing avoidance zones using BIM embedded part data, intelligent and automatic generation of smoothing paths is achieved, avoiding manual intervention and construction collision risks, thus improving safety and reliability. Furthermore, by dynamically adjusting the path point spacing and matching it with the Z-coordinate height, the smoothing tool's precise adaptation to the slab height is ensured, improving smoothing uniformity and construction quality. Simultaneously, continuous path planning optimizes robot operating efficiency, saving operation time and energy consumption. In summary, this method enables high-precision, high-efficiency, and low-risk smoothing operations for precast concrete slabs in complex slab environments.

[0138] On the other hand, this embodiment also provides a method for smoothing precast concrete slabs, which is performed by the precast concrete slab smoothing robot described in the above embodiment.

[0139] This application's concrete precast slab smoothing robot achieves high-precision automatic positioning, path planning, and smoothing operations for precast slabs by combining a vision recognition system, BIM drawing data, and an electrical control system. First, before operation, the robot accurately acquires the actual spatial position of the precast slab on the mold platform using the vision recognition system, including translational offset and rotational angle. This automatically aligns the work origin with the actual position of the slab, avoiding situations where smoothing tools deviate, repetitive work occurs, or smoothing areas are missed due to human loading errors. For example, in actual production, even if a 3m × 1.5m precast slab experiences a few millimeters of translational offset or slight angular rotation, the robot can still automatically correct the slab position through image analysis and least-squares fitting algorithms, ensuring that the smoothing tool moves along the actual contour of the slab, resulting in uniform and complete smoothing. Second, this application establishes obstacle avoidance constraints in the smoothing path planning by combining the embedded part location information from the BIM drawing data, achieving automatic obstacle avoidance. The smoothing tool automatically adjusts its path along a safety clearance when approaching embedded parts, avoiding collisions that could damage them while ensuring consistent surface height and coverage. For example, rebar sleeves, embedded hole positions, and sockets are marked as cubic avoidance zones. Path points automatically shift to outside these zones and are inserted or merged as needed to maintain reasonable path spacing, ensuring smoothing continuity and uniformity. Thus, the robot can complete high-precision smoothing operations on complex surfaces and with multiple embedded parts without human intervention. Furthermore, the robot in this application achieves full automation and intelligence of the workflow. By establishing a correspondence between the BIM drawing coordinate system and the actual coordinate system of the mold platform, and performing path generation and three-dimensional spatial adjustment within the working coordinate system, the robot can adapt to the production requirements of different batches and sizes of precast slabs, ensuring operational consistency and repeatability. Simultaneously, automatic path generation and obstacle avoidance planning reduce the workload of manual measurement, adjustment, and operation, lowering labor intensity and improving production efficiency and construction safety. In summary, the technical solution of this application not only significantly improves the accuracy, reliability and efficiency of the smoothing operation of precast concrete slabs, but also realizes the intelligence and automation of the production process, providing a high-quality, low-cost and repeatable construction solution for precast slab production.

[0140] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0141] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0142] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0143] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0144] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A robot for smoothing precast concrete slabs, characterized in that, include: A truss-type robotic arm, a six-axis robot mounted on the truss-type robotic arm, a smoothing tool located at the end of the six-axis robot, an electrical control system, and a vision recognition system; The formwork for loading precast concrete slabs is located within the working area of ​​the truss-type robotic arm, which is positioned above the formwork. The visual recognition system is used to acquire images of the precast concrete slabs loaded on the mold before the smoothing operation, and to perform image analysis based on the acquired images of the precast slabs to determine the actual spatial position of the precast concrete slabs in the mold, and thereby determine the position of the work origin point set on the precast concrete slabs. The electrical control system is used to establish a precast slab operation coordinate system based on the operation origin position, with the operation origin as the coordinate origin and the coordinate axis direction consistent with the geometric direction of the concrete precast slab surface, and to control the truss robotic arm and the six-axis robot to move together, so that the smoothing tool moves to the operation origin position and is adjusted to the preset smoothing operation height. The electrical control system is also used to generate a smoothing operation path for avoiding embedded parts of the precast concrete slab within the precast slab operation coordinate system, based on the pre-acquired BIM drawing data corresponding to the precast concrete slab. The six-axis robot drives the smoothing tool to smooth the surface of the precast concrete slab according to the smoothing operation path in the precast slab operation coordinate system.

2. The concrete precast slab smoothing robot according to claim 1, characterized in that, The BIM drawing data is a pre-established BIM model data corresponding to the design of the precast concrete slab structure, and a BIM drawing coordinate system is established in the BIM drawing data; The BIM drawing data pre-sets a work reference point, which is the geometric center point of the precast concrete slab in the BIM drawing coordinate system and is used to characterize the reference position of the precast concrete slab in the BIM drawing coordinate system. The mold platform is provided with a fixed reference point, which is the center point of the positioning hole and / or the center point of the positioning pin provided on the mold platform. A pre-established correspondence exists between the BIM drawing coordinate system and the actual coordinate system of the mold platform. This correspondence includes: the geometric center point in the BIM drawing corresponds to a fixed reference point on the mold platform; and the coordinate axis direction of the BIM drawing coordinate system is consistent with the standard direction of the actual coordinate system of the mold platform. The standard direction of the actual coordinate system of the mold platform is the direction of the coordinate axis where the fixed reference point on the mold platform is located. The X and Y directions of the actual coordinate system of the mold platform are along the long side and the wide side of the mold platform, respectively, and the Z direction is perpendicular to the surface of the mold platform.

3. The concrete precast slab smoothing robot according to claim 2, characterized in that, The process by which a visual recognition system determines the location of the work origin set on a precast concrete slab includes: The visual recognition system acquires images of precast concrete slabs mounted on a mold platform and performs image analysis on the acquired images to obtain the outer contour features of the precast concrete slabs. Based on the outer contour features, the visual recognition system calculates the translational offset and rotational deflection of the precast concrete slab relative to the actual coordinate system of the mold table, thereby determining the actual spatial position of the precast concrete slab in the mold table. The visual recognition system maps the geometric center point of the precast concrete slab in the BIM drawing data to the actual coordinate system of the mold table based on the determined actual spatial position of the precast concrete slab, thereby obtaining the actual position of the geometric center point in the mold table. The actual position of the geometric center point in the mold table is determined as the work origin position set on the precast concrete slab.

4. The concrete precast slab smoothing robot according to claim 3, characterized in that, Image analysis is performed on the acquired precast slab images to obtain the outer contour features of the precast concrete slabs, specifically including: The precast slab image is converted into a grayscale image, and noise is removed by filtering. Then, a binary image of the precast slab outline is generated by binarization. Based on the binary image, an edge detection algorithm is used to extract the set of edge pixels that form the outer contour of the precast concrete slab. The edge pixel set is subjected to closed contour detection and morphological processing to generate a complete closed outer contour; The pixels of the closed outer contour are arranged in order to form a contour point set, and the contour point set is used as the outer contour feature of the precast concrete slab.

5. The concrete precast slab smoothing robot according to claim 4, characterized in that, The visual recognition system calculates the translational offset and rotational deflection of the precast concrete slab relative to the actual coordinate system of the mold platform based on the outer contour features, thereby determining the actual spatial position of the precast concrete slab in the mold platform, specifically including: Based on the set of contour points, the geometric center position of the outer contour of the precast concrete slab is calculated, and the geometric center position of the outer contour of the precast concrete slab is taken as the center position of the precast concrete slab in the actual coordinate system of the mold table. Based on the set of contour points, the main direction of the outer contour of the precast concrete slab is determined, and the main direction is compared with the standard direction of the actual coordinate system of the mold table to obtain the rotation angle of the precast concrete slab relative to the mold table. Among them, the main direction of the outer contour of the precast concrete slab is determined by least squares fitting of the major axis direction; The translational offset of the precast concrete slab relative to the mold table is determined based on the relationship between the geometric center position of the outer contour of the precast concrete slab and the position of the fixed reference point in the actual coordinate system of the mold table. Based on the translation offset and the rotation angle, the actual spatial position of the precast concrete slab in the formwork is determined.

6. The concrete precast slab smoothing robot according to claim 5, characterized in that, Based on the translation offset and the rotation angle, the actual spatial position of the precast concrete slab in the formwork is determined, specifically including: The calculated translation offset is added along the X and Y directions of the actual coordinate system of the mold table to the reference position of the geometric center point of the precast concrete slab in the BIM drawing in the actual coordinate system of the mold table, so as to obtain the translation correction position of the precast concrete slab. Using the geometric center point as the rotation center, the calculated rotation angle is applied to the outer contour of the precast concrete slab or the work reference coordinate in the BIM drawing, so that the direction of the precast concrete slab is aligned with the standard direction of the actual coordinate system of the formwork. By combining the translational correction position and the rotational correction results, the actual spatial position of the precast concrete slab in the formwork is determined. The actual spatial position includes: the X, Y, and Z spatial coordinates of the geometric center point of the precast concrete slab in the actual coordinate system of the mold platform, which are used to characterize the translational position of the precast concrete slab on the mold platform; and the rotation angle of the precast concrete slab relative to the standard direction of the actual coordinate system of the mold platform, which are used to characterize the rotation direction of the precast concrete slab on the mold platform. The Z-space coordinate of the geometric center point of the precast concrete slab in the actual coordinate system of the mold table is the preset surface height of the precast concrete slab.

7. The concrete precast slab smoothing robot according to claim 6, characterized in that, The actual spatial position of the precast concrete slab in the formwork is P. 实际 ; Among them, P 实际 =R(θ)×P BIM +T; P BIM R(θ) represents the geometric center point position in the BIM drawing, R(θ) is the rotation matrix around the vertical direction, θ is the rotation angle, and T is the translation offset. 。 8. The concrete precast slab smoothing robot according to claim 6, characterized in that, The electrical control system is also used to generate a smoothing operation path, including embedded part avoidance constraints, within the precast slab operation coordinate system based on pre-acquired BIM drawing data corresponding to the precast concrete slab, specifically including: Based on the information on the outer contour of the precast concrete slab and the location of the embedded parts in the BIM drawing data, a three-dimensional geometric model of the precast concrete slab operation area is established. Based on the three-dimensional geometric model and the actual spatial position P of the precast concrete slab, the work reference point in the BIM drawing coordinate system is mapped to the precast slab work coordinate system. Within the work coordinate system, a smoothing path is generated to ensure that the smoothing tool avoids pre-defined embedded parts in the BIM drawings during its movement.

9. The concrete precast slab smoothing robot according to claim 8, characterized in that, Within the aforementioned work coordinate system, a smoothing path is generated using the location information of the embedded parts, specifically including: The surface of the precast concrete slab is divided into several path points at a preset interval, and generated uniformly along the X and Y directions to form a two-dimensional grid. Each path point has three-dimensional spatial coordinates (X, Y, Z), and the Z coordinate is the height of the precast concrete slab surface. Based on the predefined locations of embedded parts in the BIM drawing data, establish avoidance zones. Each avoidance zone is a cube, with the center being the coordinates of the embedded part. The side length of the avoidance zone is determined by adding a safety clearance to the actual size of the embedded part. Determine whether each path point falls within the avoidance area. If it does, shift the path point out of the avoidance area along the boundary of the avoidance area. If the three-dimensional spatial distance d between adjacent path points in the set of offset path points is greater than Δ, then insert new path points with equal spacing along a straight line between the two points, so that the spacing between the inserted path points is no greater than Δ; Δ is the pre-set standard spacing between path points. If the three-dimensional spatial distance d between adjacent path points in the set of offset path points is less than Δ / 2, then the path points with too small a distance will be merged with the path points before and after, so that the distance between path points is not less than Δ / 2. If the three-dimensional spatial distance d between adjacent path points in the set of offset path points satisfies Δ / 2≤d≤Δ, then the adjacent path points are kept and no adjustment is made. Set the Z-coordinate of each path point to the corresponding surface height of the precast concrete slab to ensure that the smoothing tool makes consistent contact with the slab surface. Generate a smoothing path by connecting the path points in sequence; The path point order is the order in which path points in the two-dimensional grid are visited sequentially. The paths in adjacent rows are arranged alternately to connect the path points and form a continuous path, ensuring that the robot covers the entire surface of the precast concrete slab while avoiding embedded parts.

10. A method for smoothing precast concrete slabs, characterized in that, The method is performed by the concrete precast slab smoothing robot according to any one of claims 1-9.

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