High-precision floor polisher with flatness measurement

Abstract

The application discloses a high-precision floor polisher with flatness measurement, which comprises a mobile polishing main machine, a laser range finder, a coordinate control point base station, a data processing module and an AR head-mounted terminal; the mobile polishing main machine is provided with a polishing disc; the laser range finder is arranged at the bottom of the mobile polishing main machine; the coordinate control point base station is arranged in a polishing area; the data processing module is in communication connection with the laser range finder array and the coordinate control point base station respectively, and is used for generating a ground three-dimensional point cloud model and planning a polishing path; the AR head-mounted terminal is in communication connection with the data processing module, the ground elevation data is scanned in real time through the laser range finder array, the ground three-dimensional point cloud model is rapidly generated in combination with the data processing module, the measurement and polishing are integrated, the time waste caused by the separation of traditional manual measurement and mechanical polishing processes is avoided, and the construction efficiency is significantly improved.

Description

Technical Field

[0001] This invention relates to the field of construction machinery technology, and in particular to a high-precision floor grinding machine with built-in flatness measurement. Background Technology

[0002] In building floor construction, traditional grinding equipment relies on manual measurement of ground elevation, and manual adjustment of grinding parameters after segmented testing with a level instrument. This results in problems such as low efficiency, poor accuracy, and inconsistent data.

[0003] Especially during large-scale construction, manual measurement cannot generate a real-time three-dimensional model of the entire ground, resulting in inaccurate control of grinding depth and easy rework.

[0004] Current technology lacks a device that can simultaneously perform ground scanning, elevation analysis, automatic planning of grinding paths, and provide real-time feedback. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a high-precision floor grinding machine with built-in flatness measurement to solve these issues.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] A high-precision floor grinding machine with built-in flatness measurement includes a mobile grinding host, a laser rangefinder, a coordinate control point base station, a data processing module, and an AR head-mounted display terminal. The mobile grinding host is equipped with a grinding disc for performing floor grinding operations. The laser rangefinder is distributed at the bottom of the mobile grinding host for collecting ground elevation data. The coordinate control point base station is deployed in the area to be ground to construct a global coordinate system. The data processing module is communicatively connected to the laser rangefinder array and the coordinate control point base station, respectively, for generating a three-dimensional point cloud model of the ground and planning the grinding path. The AR head-mounted display terminal is communicatively connected to the data processing module for displaying grinding-related information and overlaying it onto the real field of view.

[0008] Preferably, multiple laser rangefinders are provided, and the multiple laser rangefinders are evenly and circumferentially installed on the edge of the grinding disc, with an arc length interval of 5cm between adjacent laser rangefinders.

[0009] Preferably, the number of coordinate control point base stations is at least three, and wireless communication is established with the mobile grinding host through UWB technology or RTK technology.

[0010] Preferably, the data processing module calculates the flatness deviation based on the ground 3D point cloud model, divides the area into light grinding zones and heavy grinding zones, and automatically generates corresponding grinding paths for each zone. Specifically, this includes the following steps:

[0011] Step 1: Set the boundary parameters of the area to be polished as follows: ;in, This represents the maximum coordinate value along the X-axis within the region boundary. This represents the minimum coordinate value along the X-axis within the region boundary. This represents the maximum coordinate value along the Y-axis within the region boundary. This represents the minimum coordinate value along the Y-axis within the region boundary;

[0012] Step 2: Set the X-axis mesh precision and Y-axis mesh accuracy And calculate the number of grids for the X and Y axes based on the grid accuracy;

[0013] Step 3: Calculate the coordinates corresponding to the center of any indexed grid cell (i,j);

[0014] Step 4: Receive elevation data collected by the laser rangefinder array and calculate the average elevation of grid (i,j). ;

[0015] Step 5: Based on the coordinates of the center of the grid cell (i,j) obtained in Step 3 ( , and the average elevation of the grid cells (i,j) obtained in step 4. The connection is formed to create a grid cell (i,j) with three-dimensional spatial coordinates. , , A three-dimensional point cloud model of the ground is constructed based on three-dimensional spatial coordinates.

[0016] Step 6: Calculate the maximum elevation difference between grid cell (i,j) and its neighboring N(i,j). ;

[0017] Step 7: Determine whether the ground flatness of grid cell (i,j) meets the maximum allowable height difference set by the user. If it meets the requirements, the ground flatness of the grid unit (i,j) is qualified; if it does not meet the requirements, the ground flatness of the grid unit (i,j) is unqualified, and the data processing module (4) automatically divides the grinding area.

[0018] In step 2, the number of grid cells along the X-axis Number of grid cells along the Y-axis .

[0019] In step 3, the formula for calculating the coordinates corresponding to the center of the indexed grid cell (i,j) is:

[0020] ;

[0021] ;

[0022] Where i represents the arrangement number of the grid cell (i,j) along the X-axis, and j represents the arrangement number of the grid cell (i,j) along the Y-axis. This represents the center coordinate of the index grid (i,j) along the X-axis. This represents the center coordinate of the grid at index (i,j) along the Y-axis.

[0023] Step 6 specifically includes:

[0024] a. Traverse all grid cells (k,l) within a radius R centered at grid cell (i,j) to obtain the neighborhood set N(i,j) of grid cell (i,j) and: ;in, Represents grid cells The sequence number along the X-axis. Represents grid cells The sequence number along the Y-axis;

[0025] b. Calculate the maximum elevation difference of grid cell (i,j). The calculation formula is as follows:

[0026] ;in, This represents the maximum elevation difference between grid cells (i,j). Represents the grid cells within the neighborhood set N(i,j) The average elevation.

[0027] In step 7, the maximum allowable height difference is compared with the user's settings. With maximum elevation difference Determine the flatness of the grid cell (i,j). If the ground flatness of the grid cell (i,j) is acceptable, then the flatness of the ground is acceptable. If the ground flatness of the grid cell (i,j) is not up to standard, then the ground flatness of the grid cell (i,j) is not up to standard.

[0028] The data processing module is based on the average elevation of grid cells (i,j). The maximum elevation difference between it and its relative neighborhood N(i,j) The maximum allowable height difference set by the user The difference is used to automatically divide the polishing area, and the shortest path between the areas is planned based on the Dijkstra algorithm to generate the polishing path.

[0029] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0030] 1. Improve measurement and grinding efficiency: Real-time scanning of ground elevation data using a laser rangefinder array, combined with a data processing module to quickly generate a 3D point cloud model of the ground, integrates measurement and grinding, avoiding the time waste caused by the separation of traditional manual measurement and mechanical grinding processes, and significantly improving construction efficiency.

[0031] 2. Enhance construction accuracy: Use a high-density laser rangefinder to collect ground elevation data and combine it with a global coordinate system constructed by coordinate control point base stations to achieve millimeter-level precision in 3D ground modeling, ensuring accurate control of grinding depth and avoiding over-grinding or under-grinding.

[0032] 3. Achieve data continuity for large-scale construction: Multiple coordinate control point base stations communicate with the mobile grinding host through UWB or RTK technology to build a unified global coordinate system, enabling accurate correlation of measurement data in each area during large-scale construction, avoiding local coordinate deviations, and ensuring data continuity and model integrity throughout the entire construction area.

[0033] 4. Reduce human judgment error: The AR head-mounted display terminal intuitively overlays the virtual polishing path and polishing depth level (red deep polishing area, yellow light polishing area, green standard area) onto the operator's real field of vision, providing accurate operation guidance and reducing polishing errors caused by human visual errors or lack of experience.

[0034] 5. Avoid rework: During the grinding process, the laser rangefinder continuously verifies the elevation data of the ground area, and the data processing module updates the 3D point cloud model in real time. If the elevation difference of the area is found to still exceed the threshold, the AR headset will immediately highlight the prompt for re-grinding, forming a closed-loop control of "measurement-grinding-verification", effectively avoiding rework and saving construction costs.

[0035] 6. Optimize grinding path planning: The data processing module automatically divides the grinding area based on the difference between the local elevation difference and the maximum allowable elevation difference. It sorts the areas according to the rule of prioritizing heavy grinding areas and then sorting the areas of the same priority from largest to smallest. Based on the Dijkstra algorithm, it plans the shortest path between areas and generates continuous grinding trajectories without repetition, which further improves grinding efficiency and construction quality. Attached Figure Description

[0036] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the overall structure of the mobile grinding host of the present invention;

[0038] Figure 2 This is a schematic diagram of the module connection relationship of the present invention;

[0039] Figure 3 This is a schematic diagram of the mesh division of the present invention;

[0040] Reference numerals in the attached diagram: 1. Mobile grinding host; 2. Laser rangefinder; 3. Grinding disc; 4. Data processing module; 5. Coordinate control point base station; 6. AR head-mounted display terminal. Detailed Implementation

[0041] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] Example

[0044] Reference Figures 1-3 The present invention discloses a high-precision floor grinding machine with built-in flatness measurement, including a mobile grinding host 1 (this is prior art, and its structure and principle will not be described in detail here), a laser rangefinder 2, a coordinate control point base station 5, a data processing module 4, and an AR head-mounted display terminal 6.

[0045] The mobile grinding host 1 is equipped with a grinding disc 3 for grinding the floor. Multiple laser rangefinders 2 are set up and are evenly distributed in a grid pattern on the mobile grinding host 1. Specifically, the multiple laser rangefinders 2 are evenly installed on the edge of the grinding disc 3, and the arc length interval between adjacent laser rangefinders 2 is 5cm. The laser rangefinders 2 are used to scan the ground elevation in real time and collect ground elevation data.

[0046] In this embodiment, there are at least 3 coordinate control point base stations 5, which are deployed in the area to be polished. They communicate with the mobile polishing host 1 through UWB or RTK technology to build a global coordinate system and provide coordinate reference for ground elevation data.

[0047] The data processing module 4 establishes data connections with both the laser rangefinder 2 and the coordinate control point base station 5, and integrates the ground elevation data collected by the laser rangefinder 2 array with the global coordinates constructed by the coordinate control point base station 5 to generate a ground three-dimensional point cloud model.

[0048] Furthermore, the data processing module 4 calculates the flatness deviation based on the ground 3D point cloud model, divides the area into light grinding zones and heavy grinding zones, and automatically generates corresponding grinding paths for each zone. Specifically, this includes the following steps:

[0049] Step 1: Set the boundary parameters of the area to be polished as follows: ;reference Figure 3 , This represents the maximum coordinate value along the X-axis within the region boundary. This represents the minimum coordinate value along the X-axis within the region boundary. This represents the maximum coordinate value along the Y-axis within the region boundary. This represents the minimum coordinate value along the Y-axis within the region boundary;

[0050] Step 2: Set the X-axis mesh precision and Y-axis mesh accuracy The number of grid cells along the X and Y axes is calculated based on the grid accuracy, specifically as follows:

[0051] ; ;in, Indicates the number of grid cells along the X-axis. Indicates the number of grid cells along the Y-axis;

[0052] Step 3: Calculate the coordinates corresponding to the center of any indexed grid cell (i,j), specifically:

[0053] ;

[0054] ;

[0055] Where i represents the arrangement index of the grid cell (i,j) along the X-axis (the value ranges from 0, 1, ...). -1), j represents the arrangement index of the grid cell (i,j) along the Y-axis (the value ranges from 0, 1, ...). -1), This represents the center coordinate of the index grid (i,j) along the X-axis. This represents the center coordinate of the grid at index (i,j) along the Y-axis.

[0056] Step 4: Receive the elevation data collected by the laser rangefinder array 2 and calculate the average elevation of grid (i,j). ;

[0057] Step 5: Based on the coordinates of the center of the grid cell (i,j) obtained in Step 3 ( , and the average elevation of the grid cells (i,j) obtained in step 4. The connection is formed to create a grid cell (i,j) with three-dimensional spatial coordinates. , , The data processing module 4 constructs a three-dimensional point cloud model of the ground based on the three-dimensional spatial coordinates.

[0058] Step 6: Calculate the maximum elevation difference between grid cell (i,j) and its neighborhood set N(i,j). Specifically:

[0059] a) Traverse all grid cells (k,l) within a radius R centered at grid cell (i,j) to form a neighborhood set N(i,j) of grid cell (i,j). In this embodiment, the user-defined range for single elevation difference determination is set to R. This value is input according to user requirements and is related to the user's requirements for local flatness of the ground. According to Article 5.1.7 of GB50209-2010 "Code for Acceptance of Construction Quality of Building Ground Engineering", R=2m. Wherein: ;in, Represents grid cells The sequence number along the X-axis. Represents grid cells The sequence number along the Y-axis;

[0060] b. Calculate the maximum elevation difference between grid cell (i,j) and its neighborhood set N(i,j). The calculation formula is as follows:

[0061] ;in, This represents the maximum elevation difference between grid cell (i,j) and its neighborhood set N(i,j). Represents the grid cells within the neighborhood set N(i,j) The average elevation is obtained by averaging the data from multiple measuring points within the grid collected by the laser rangefinder.

[0062] Step 7: Determine whether the ground flatness of grid cell (i,j) meets the maximum allowable elevation difference of its neighborhood. Specifically, calculate the maximum elevation difference of grid cell (i,j). By comparing with the maximum allowable height difference set by the user With maximum elevation difference Determine the flatness of the grid cell (i,j). If the ground flatness of the grid cell (i,j) is acceptable, then the flatness of the ground is acceptable. If the ground flatness of the grid cell (i,j) is not up to standard, then the ground flatness of the grid cell (i,j) is not up to standard.

[0063] Data processing module 4 calculates the average elevation of grid cells (i,j). The maximum elevation difference between grid cell (i,j) and its neighborhood N(i,j). The maximum allowable height difference set by the user The difference is automatically used to divide the polishing area;

[0064] Specifically: When the required grinding depth is >2mm, it is marked as a red re-grinding area;

[0065] When the required grinding depth is 0.05-2mm, mark it as a light grinding area in yellow;

[0066] When the required grinding depth is <0.05mm, it is marked as a green compliant area;

[0067] The data processing module 4 first sorts the data according to the priority of grinding depth and marks the geometric center. Then, it calculates the shortest path between regions based on the Dijkstra algorithm. Finally, it generates grinding paths that are adapted to the grinding requirements in each region.

[0068] Furthermore, the priority sorting follows the rule that the heavy grinding area takes precedence over the light grinding area, and areas of the same priority are sorted from largest to smallest in area, with the track spacing dynamically adjusted according to the diameter of the grinding disc.

[0069] In this embodiment, the AR head-mounted display terminal 6 is communicatively connected to the data processing module 4, and is used to receive and display the ground three-dimensional point cloud model, the grinding area color markings (red heavy grinding area, yellow light grinding area, green qualified area) and the planned grinding path generated by the data processing module 4, and superimpose them on the operator's real ground view.

[0070] The working principle and beneficial effects of this invention are as follows:

[0071] This invention deploys at least three coordinate control point base stations 5 around the area to be polished, and constructs a global coordinate system based on UWB / RTK positioning technology to provide a unified spatial reference for all subsequent elevation data. This ensures that measurement data from different locations can be accurately correlated, avoids modeling errors caused by local coordinate deviations, and lays the foundation for consistency in large-area floor construction.

[0072] When the mobile grinding host 1 moves, the laser rangefinder 2 collects ground elevation data in real time. After receiving the laser rangefinder data and global coordinate data, the data processing module 4 constructs a three-dimensional point cloud model of the ground, then traverses all grid units to determine the maximum local elevation difference of the entire area and compares it with a preset threshold to determine whether the flatness of each area is qualified. The data processing module 4 automatically divides the grinding area according to the flatness analysis results: the grinding depth > 2mm is the red heavy grinding area, 0.05-2mm is the yellow light grinding area, and < 0.05mm is the green qualified area.

[0073] Then, the areas are sorted according to the rule that heavy grinding areas take priority over light grinding areas, and areas with the same priority are sorted from largest to smallest, and the geometric center of each area is marked. The shortest movement path between different areas is calculated based on the Dijkstra algorithm, and the trajectory spacing within the area is dynamically adjusted according to the diameter of the grinding disc to generate continuous and non-repeating grinding trajectories, ensuring maximum grinding efficiency.

[0074] The AR headset terminal 6 receives the 3D point cloud model, color-coded grinding area, and planned trajectory output by the data processing module 4, and overlays this virtual information onto the operator's real ground view, intuitively indicating the location of heavy and light grinding areas and the direction of movement. During the grinding process, the laser rangefinder array 2 continuously verifies the elevation data of the grounded area, and the data processing module 4 updates the 3D point cloud model in real time. If the elevation difference of a certain area still exceeds the threshold after grinding, the AR headset will immediately highlight the area to remind the operator to re-grind, forming a closed-loop control of "measurement-grinding-verification".

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-precision floor grinding machine with built-in flatness measurement, characterized in that, The system includes a mobile grinding host (1), a laser rangefinder (2), a coordinate control point base station (5), a data processing module (4), and an AR head-mounted display terminal (6). The mobile grinding host (1) is equipped with a grinding disc (3) for performing floor grinding operations. The laser rangefinder (2) is located at the bottom of the mobile grinding host (1) for collecting ground elevation data. The coordinate control point base station (5) is deployed in the area to be grounded for constructing a global coordinate system. The data processing module (4) is connected to the laser rangefinder (2) array and the coordinate control point base station (5) for generating a three-dimensional point cloud model of the ground and planning the grinding path. The AR head-mounted display terminal (6) is connected to the data processing module (4) for displaying grinding-related information and overlaying it onto the real field of view.

2. The high-precision floor grinding machine with built-in flatness measurement according to claim 1, characterized in that, Multiple laser rangefinders (2) are provided, and the multiple laser rangefinders (2) are evenly and circumferentially installed on the edge of the grinding disc (3), with an arc length interval of 5cm between adjacent laser rangefinders (2).

3. A high-precision floor grinding machine with built-in flatness measurement as described in claim 1, characterized in that, The number of coordinate control point base stations (5) is at least 3, and they establish wireless communication with the mobile polishing host (1) through UWB technology or RTK technology.

4. A high-precision floor grinding machine with built-in flatness measurement as described in claim 1, characterized in that, The data processing module (4) calculates the flatness deviation based on the ground three-dimensional point cloud model, divides the light grinding area and the heavy grinding area, and automatically generates the corresponding grinding path for the area. Specifically, it includes the following steps: Step 1: Set the boundary parameters of the area to be ground as follows: ;in, This represents the maximum coordinate value along the X-axis within the region boundary. This represents the minimum coordinate value along the X-axis within the region boundary. This represents the maximum coordinate value along the Y-axis within the region boundary. This represents the minimum coordinate value along the Y-axis within the region boundary; Step 2: Set the X-axis mesh precision and Y-axis mesh accuracy And calculate the number of grids for the X and Y axes based on the grid accuracy; Step 3: Calculate the coordinates corresponding to the center of any indexed grid cell (i,j); Step 4: Receive the elevation data collected by the laser rangefinder (2) and calculate the average elevation of grid (i,j). ; Step 5: Based on the coordinates of the center of the grid cell (i,j) obtained in Step 3 ( , and the average elevation of the grid cells (i,j) obtained in step 4. The connection is formed to create a grid cell (i,j) with three-dimensional spatial coordinates. , , A three-dimensional point cloud model of the ground is constructed based on three-dimensional spatial coordinates. Step 6: Calculate the maximum elevation difference between grid cell (i,j) and its neighboring N(i,j). ; Step 7: Determine whether the ground flatness of grid cell (i,j) meets the maximum allowable height difference set by the user. If it meets the requirements, the ground flatness of the grid unit (i,j) is qualified; if it does not meet the requirements, the ground flatness of the grid unit (i,j) is unqualified, and the data processing module (4) automatically divides the grinding area.

5. A high-precision floor grinding machine with built-in flatness measurement according to claim 4, characterized in that, In step 2, the number of grid cells along the X-axis Number of grid cells along the Y-axis .

6. A high-precision floor grinding machine with built-in flatness measurement according to claim 4, characterized in that, In step 3, the formula for calculating the coordinates corresponding to the center of the indexed grid cell (i,j) is: ； ； Where i represents the arrangement number of the grid cell (i,j) along the X-axis, and j represents the arrangement number of the grid cell (i,j) along the Y-axis. This represents the center coordinate of the index grid (i,j) along the X-axis. This represents the center coordinate of the grid at index (i,j) along the Y-axis.

7. A high-precision floor grinding machine with built-in flatness measurement according to claim 4, characterized in that, Step 6 specifically includes: a) traversing all grid cells (k,l) within a radius R centered at grid cell (i,j) to obtain the neighborhood set N(i,j) of grid cell (i,j) and: ;in, Represents grid cells The sequence number along the X-axis. Represents grid cells The sequence number along the Y-axis; b. Calculate the maximum elevation difference of grid cell (i,j). The calculation formula is as follows: ;in, This represents the maximum elevation difference between grid cells (i,j). Represents the grid cells within the neighborhood set N(i,j) The average elevation.

8. A high-precision floor grinding machine with built-in flatness measurement according to claim 4, characterized in that, In step 7, the maximum allowable height difference is compared with the user's settings. With maximum elevation difference Determine the flatness of the grid cell (i,j). If the ground flatness of the grid cell (i,j) is acceptable, then the flatness of the ground is acceptable. If the ground flatness of the grid cell (i,j) is not up to standard, then the ground flatness of the grid cell (i,j) is not up to standard.

9. A high-precision floor grinding machine with built-in flatness measurement according to claim 8, characterized in that, The data processing module (4) calculates the average elevation of the grid cells (i,j). The maximum elevation difference between it and its relative neighborhood N(i,j) The maximum allowable height difference set by the user The difference is used to automatically divide the polishing area, and the shortest path between the areas is planned based on the Dijkstra algorithm to generate the polishing path.

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