Multi-machine cooperative floor grinding method and system based on anchor point electronic fence

Abstract

The application discloses a kind of multi-machine collaborative floor grinding method and system based on anchor point electronic fence, and grinding method includes the following steps: 1) setting anchor point generates fence;2) site modeling and identification;3) task planning and distribution;4) collaborative construction and dynamic monitoring;5) end, automatically generate construction report.The application constructs a grinding system of main machine and multiple slave machines, reduces overall cost;And by movable anchor point, electronic fence is constructed, and flexible, reliable definition of construction safety area is realized.

Description

Technical Field

[0001] This invention relates to the field of floor grinding technology, and in particular to a multi-machine collaborative floor grinding method and system based on anchor point electronic fences. Background Technology

[0002] Floor grinding is a process that uses specialized machinery and abrasives to grind and polish concrete, stone, or epoxy resin surfaces, making the surface clean, bright, and smoother, thereby improving the aesthetics of the floor.

[0003] Currently, automated floor grinding construction faces two major bottlenecks: high cost, as each autonomous grinding machine requires a complete set of sensors and computing units; and insufficient safety, lacking reliable spatial boundary protection in complex construction sites (such as those with pits, wet areas, or stairwells), posing a risk of equipment falling or being damaged. Existing technologies either rely on expensive environmental recognition algorithms (such as visual semantic segmentation) or require pre-laid physical guide rails, both of which suffer from poor adaptability, high cost, and cumbersome deployment. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the existing technology, it is desirable to provide a multi-machine collaborative floor grinding method and system based on anchor point electronic fence, to build a grinding system with one master machine and multiple slave machines, thereby reducing the overall cost; and to build an electronic fence through movable anchor points, thereby achieving flexible and reliable delineation of the construction safety area.

[0005] This invention provides a multi-machine collaborative floor grinding method based on anchor point electronic fences, comprising the following steps: 1) Set up anchor points to generate a fence; Several movable anchor points are set up at intervals along the boundary of the grinding area, the position of each movable anchor point is identified, and an electronic fence is generated. 2) Site modeling and identification; Traverse the area within the electronic fence, model and generate a map, and identify the roughness and flatness of the ground. 3) Task planning and allocation; 31) Record the key command signals of the original remote controllers of each actuator through the multi-protocol remote control learning module, generate driver files, and complete the binding of each actuator; 32) Draw ground grids in the generated map, and allocate the corresponding number of grinding passes according to the roughness and flatness of each ground grid; 33) A greedy algorithm is used to initially allocate grid tasks to each executor, and grinding paths are generated for each executor according to the grid tasks; The actuators include multiple remote-controlled floor grinders from at least one brand; 4) Collaborative construction and dynamic monitoring; The grinding path and grinding instructions are sent to each actuator. The actuators automatically move from the standby area to the starting point in sequence and start grinding operations along the corresponding grinding path. The position and status of each actuator are monitored in real time, and the roughness and flatness of each ground grid are detected and evaluated in real time, and the grid task and grinding path are dynamically adjusted. 5) End; Once the roughness and flatness of all ground grids meet the requirements, each actuator returns to the standby area; after grinding is completed, a construction report is automatically generated.

[0006] Furthermore, in step 33), each actuator maintains a safe distance of at least 1m while moving along the corresponding grinding path.

[0007] Furthermore, in step 4), when a sudden obstacle is detected during the movement of each actuator, the corresponding actuator stops and reports it. After the construction personnel confirm the obstacle, they can choose to replan the grinding path or remove the obstacle and continue construction.

[0008] Furthermore, in step 4), when the distance between the actuator and the electronic fence is less than 0.5m, a deceleration command is triggered; when the distance between the actuator and the electronic fence is less than 0.2m, the machine is forced to stop and an alarm is triggered.

[0009] Furthermore, when a new prohibited grinding area appears within the electronic fence during construction, a new movable anchor point is added or its position is adjusted to remove it from the electronic fence, and a new grinding path is generated.

[0010] In addition, the present invention also provides a grinding system employing the above-mentioned multi-machine collaborative floor grinding method based on anchor point electronic fence, including an automatic driving host, several actuators and several movable anchor points; The autonomous driving host is used to identify the location of each of the movable anchor points, and generate one or more closed electronic fences in the digital map in combination with the connection operation of the construction personnel or preset rules; the autonomous driving host maps and plans the grinding area, and detects and evaluates the roughness and flatness of the ground in real time, and controls each of the actuators to carry out collaborative grinding operations within the area defined by the electronic fence.

[0011] Furthermore, the autonomous driving host adopts a four-wheel drive mobile chassis, with a 16-line LiDAR installed on the top and an RGB-D camera installed at the front. The autonomous driving host has a built-in industrial control computer, a UWB positioning base station module, a multi-protocol remote control learning module, and a 4G / Wi-Fi communication module. The multi-protocol remote control learning module is used to learn and adapt to the control protocols of the original remote controls of various brands of actuators, so as to uniformly control the actuators of various brands.

[0012] Furthermore, the movable anchor point is equipped with a triangular bracket at its bottom, with a built-in UWB tag and RGB indicator lights and a power display on its surface.

[0013] Furthermore, the actuator is modified from a commercially available remote-controlled floor grinder, with the addition of a UWB tag, communication module, and ultrasonic obstacle avoidance sensor.

[0014] Compared with the prior art, the beneficial effects of the present invention are: (1) The present invention constructs a master-slave grinding system, which only equips the master with high-end sensors, the actuator is modified at low cost, the anchor point structure is simple, and the cost is significantly reduced.

[0015] (2) The electronic fence defined by the present invention through physical anchor points provides an absolutely reliable spatial safety boundary, effectively preventing equipment from falling or entering dangerous areas, and greatly improving safety; the anchor points can be moved at will, and the electronic fence can be quickly redefined, adapting to various complex and non-standard construction sites, and the deployment is flexible and efficient.

[0016] (3) The present invention provides a differentiated grinding strategy based on ground identification, which ensures the uniformity and high standard of construction quality.

[0017] (4) The autonomous driving host of the present invention is equipped with a multi-protocol remote control learning module, which is compatible with mainstream brand equipment on the market. It has strong compatibility, so that most users' existing equipment can continue to be used with slight modifications, thus protecting users' existing investment.

[0018] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0019] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a flowchart of a multi-machine collaborative floor grinding method based on anchor point electronic fences. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] Please refer to Figure 1 The present invention provides a multi-machine collaborative floor grinding method based on anchor point electronic fences, comprising the following steps: 1) Set up anchor points to generate a fence; Several movable anchor points are set up at intervals along the boundary of the grinding area, the position of each movable anchor point is identified, and an electronic fence is generated. 2) Site modeling and identification; Traverse the area within the electronic fence, model and generate a map, and identify the roughness and flatness of the ground. 3) Task planning and allocation; 31) Record the key command signals of the original remote controllers of each actuator through the multi-protocol remote control learning module, generate driver files, and complete the binding of each actuator; 32) Draw ground grids in the generated map, and allocate the corresponding number of grinding passes according to the roughness and flatness of each ground grid; 33) A greedy algorithm is used to initially allocate grid tasks to each executor, and a grinding path is generated for each executor according to the grid task; each executor maintains a safe distance of at least 1m while moving along the corresponding grinding path; The actuators include multiple remote-controlled floor grinders from at least one brand; 4) Collaborative construction and dynamic monitoring; The grinding path and grinding instructions are sent to each actuator. The actuators automatically move from the standby area to the starting point in sequence and start grinding operations along the corresponding grinding path. The position and status of each actuator are monitored in real time, and the roughness and flatness of each ground grid are detected and evaluated in real time, and the grid task and grinding path are dynamically adjusted. If a sudden obstacle is detected during the movement of each actuator, the corresponding actuator will stop and report the incident. After the construction personnel confirm the obstacle, they can choose to replan the grinding path or remove the obstacle before continuing construction. When the distance between the actuator and the electronic fence is less than 0.5m, a deceleration command is triggered; when the distance between the actuator and the electronic fence is less than 0.2m, the actuator is forced to stop and an alarm is triggered. When a new prohibited grinding area appears within the electronic fence during construction, add a new movable anchor point or adjust the position of the movable anchor point to remove it from the electronic fence and regenerate the grinding path. 5) End; Once the roughness and flatness of all ground grids meet the requirements, each actuator returns to the standby area; after grinding is completed, a construction report is automatically generated.

[0023] In this embodiment, a grinding system consisting of an autonomous driving host and multiple actuators is used for floor grinding operations. Only the autonomous driving host is equipped with high-end sensors, the actuators are modified at low cost, and the movable anchor point structure is simple, which significantly reduces costs.

[0024] The electronic fence formed by movable anchor points provides an absolutely reliable spatial safety boundary, effectively preventing equipment from falling or entering dangerous areas, and greatly improving safety; the movable anchor points can be moved at will, and the electronic fence can be quickly redefined, adapting to various complex and non-standard construction sites, and making deployment flexible and efficient.

[0025] A differentiated grinding strategy based on ground recognition ensures uniformity and high standards of construction quality. The autonomous driving host is equipped with a multi-protocol remote control learning module, compatible with mainstream brand equipment on the market. Its strong compatibility allows most users to continue using their existing equipment with minor modifications, protecting their existing investment.

[0026] In addition, embodiments of the present invention also provide a grinding system employing the above-described multi-machine collaborative floor grinding method based on anchor point electronic fences, including an autonomous driving host, several actuators, and several movable anchor points; The autonomous driving host is used to identify the location of each movable anchor point, and combined with the connection operation of the construction personnel or preset rules, generate one or more closed electronic fences in the digital map; the autonomous driving host maps and plans the grinding area, and detects and evaluates the roughness and flatness of the ground in real time, and controls each actuator to carry out collaborative grinding operations within the area defined by the electronic fence. The autonomous driving host adopts a four-wheel drive mobile chassis, with a 16-line LiDAR installed on the top and an RGB-D camera installed at the front. The autonomous driving host has a built-in industrial control computer, a UWB positioning base station module, a multi-protocol remote control learning module and a 4G / Wi-Fi communication module. The multi-protocol remote control learning module is used to learn and adapt to the control protocols of the original remote controls of various brands of actuators, so as to unify the control of actuators of various brands. The movable anchor point has a triangular bracket at the bottom, a built-in UWB tag, and RGB indicator lights and a power display on the surface. The actuator was modified from a commercially available remote-controlled floor grinder, with the addition of UWB tags, a communication module, and an ultrasonic obstacle avoidance sensor.

[0027] In this embodiment, the construction workers placed eight movable anchor points at intervals along the outer boundary of the approximately 800-square-meter construction area inside the factory building; and placed four movable anchor points as the inner boundary in a cable trench of approximately 2 square meters in the middle of the factory building; then activated each movable anchor point.

[0028] The autonomous driving host enters the site from the entrance and scans and calculates the three-dimensional coordinates of each movable anchor point through the UWB positioning base station module. Construction workers click on the icons of the eight outer movable anchor points in sequence on the touch screen of the autonomous driving host to generate an outer construction fence; then they select the four movable anchor points in the middle to generate an inner restricted area, which, together with the outer construction fence, forms an electronic fence defining the construction area, highlighted in red on the map interface.

[0029] The autonomous driving host traverses the area within the electronic fence in a "bow" shape, while the LiDAR simultaneously constructs a point cloud map with centimeter-level precision. RGB-D cameras acquire ground images, and a pre-trained lightweight convolutional neural network (CNN) model identifies and labels a 0.5m × 0.5m ground grid in real time, including roughness and smoothness.

[0030] Power on actuators A, B, and C and place them in the starting area. The multi-protocol remote control learning module of the autopilot host enters learning mode, records key command signals such as "forward," "backward," "left turn," "right turn," and "grinding start / stop" from the original remote controls of each actuator, and generates driver files. After binding is complete, the autopilot host can send motion commands to the three actuators simultaneously.

[0031] The autonomous driving host assigns an appropriate number of grinding passes to each task grid based on the ground properties. For example, a ground grid with high "roughness" and poor "smoothness" is assigned a weight of 3 (requiring 3 grinding passes), while a ground grid with low "roughness" and good "smoothness" is assigned a weight of 1 (requiring 1 grinding pass).

[0032] Based on the grinding width, efficiency model, and current power consumption of the three actuators, a greedy algorithm is used to initially allocate grid tasks to ensure that the total time consumption is roughly balanced.

[0033] Based on the assigned grid task, generate grinding paths (such as back-and-forth sweeping) for each actuator, and ensure that all path points are within the electronic fence, and that each actuator maintains a safe distance of at least 1m while moving along the grinding path.

[0034] The automated driving host sends the planned path sequence and grinding instructions to each actuator. The actuators then automatically travel from the standby area to the starting point to begin grinding. The automated driving host monitors the position and status of all actuators in real time via UWB. Each actuator reports its own operating status (such as motor load and dust bag fullness) through its communication module. When actuator B issues a warning due to a nearly full dust bag, the automated driving host immediately plans the shortest path to the cleaning point for it and temporarily reassigns its remaining grid space to actuators A and C.

[0035] If any equipment (autonomous driving host or actuator) detects a sudden obstacle (such as a fallen tool) while in motion, it will immediately stop partially and report to the autonomous driving host. Construction personnel will then confirm the obstacle and choose to either replan the grinding path or remove the obstacle before continuing construction. If the sudden obstacle is a fallen tool, the construction personnel will remove it and choose to continue construction. If the sudden obstacle is an immovable new building structure, the construction personnel will choose to replan the grinding path to avoid the sudden obstacle. When the equipment approaches an electronic fence (distance <0.5m), a deceleration command will be triggered, and it will be forced to stop and trigger an alarm when the distance is <0.2m.

[0036] Because floor grinding takes a long time, changes often occur in the construction area during the grinding process. For example, if other construction workers build a new curtain wall, the grinding cannot be completed along the original path. Depending on the location of the area, movable anchor points are added or their positions are adjusted. The area is then removed from the original electronic fence, and a new grinding path is generated to avoid it.

[0037] During each grinding operation, the autonomous driving host detects and evaluates the roughness and flatness of the ground grids after grinding in real time. If there are ground grids that do not meet the requirements, the grinding path is replanned and a new number of grinding passes are allocated. The ground grids that do not meet the requirements are included in the new grinding path and ground again.

[0038] Once the roughness and flatness of all ground grids meet the requirements, the autonomous driving host notifies each actuator to return to the standby area. Construction data (map, grinding area, energy consumption, duration) is automatically generated into a construction report. Users can summarize experience through historical construction reports, providing a theoretical basis for subsequent process improvements and achieving continuous optimization and improvement of the construction process.

[0039] In the description of this specification, the terms "connection," "installation," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0040] In the description of this specification, the terms "one embodiment," "some embodiments," 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.

[0041] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A multi-machine collaborative floor grinding method based on anchor point electronic fences, characterized in that, Includes the following steps: 1) Set up anchor points to generate a fence; Several movable anchor points are set up at intervals along the boundary of the grinding area, the position of each movable anchor point is identified, and an electronic fence is generated. 2) Site modeling and identification; Traverse the area within the electronic fence, model and generate a map, and identify the roughness and flatness of the ground. 3) Task planning and allocation; 31) Record the key command signals of the original remote controllers of each actuator through the multi-protocol remote control learning module, generate driver files, and complete the binding of each actuator; 32) Draw ground grids in the generated map, and allocate the corresponding number of grinding passes according to the roughness and flatness of each ground grid; 33) A greedy algorithm is used to initially allocate grid tasks to each executor, and grinding paths are generated for each executor according to the grid tasks; The actuators include multiple remote-controlled floor grinders from at least one brand; 4) Collaborative construction and dynamic monitoring; The grinding path and grinding instructions are sent to each actuator. The actuators then automatically move from the standby area to the starting point and begin grinding operations along the corresponding grinding path. The position and status of each actuator are monitored in real time, and the roughness and flatness of the surface mesh are detected and evaluated in real time, and the mesh task and grinding path are dynamically adjusted. 5) End; Once the roughness and flatness of all ground grids meet the requirements, each actuator returns to the standby area; after grinding is completed, a construction report is automatically generated.

2. The multi-machine collaborative floor grinding method based on anchor point electronic fences according to claim 1, characterized in that, In step 33), each actuator maintains a safe distance of at least 1m as it moves along the corresponding grinding path.

3. The multi-machine collaborative floor grinding method based on anchor point electronic fences according to claim 1, characterized in that, In step 4), when a sudden obstacle is detected during the movement of each actuator, the corresponding actuator stops and reports it. After the construction personnel confirm the obstacle, they can choose to replan the grinding path or remove the obstacle and continue construction.

4. The multi-machine collaborative floor grinding method based on anchor point electronic fences according to claim 1, characterized in that, In step 4), when the distance between the actuator and the electronic fence is less than 0.5m, a deceleration command is triggered; when the distance between the actuator and the electronic fence is less than 0.2m, the machine is forced to stop and an alarm is triggered.

5. The multi-machine collaborative floor grinding method based on anchor point electronic fences according to claim 1, characterized in that, When a new prohibited grinding area appears within the electronic fence during construction, a new movable anchor point is added or its position is adjusted to remove it from the electronic fence, and a new grinding path is generated.

6. A grinding system employing the multi-machine collaborative floor grinding method based on anchor point electronic fences as described in any one of claims 1-5, characterized in that, It includes an autonomous driving host, several actuators, and several movable anchor points; The autonomous driving host is used to identify the location of each of the movable anchor points, and generate one or more closed electronic fences in the digital map in combination with the connection operation of the construction personnel or preset rules; the autonomous driving host maps and plans the grinding area, and detects and evaluates the roughness and flatness of the ground in real time, and controls each of the actuators to carry out collaborative grinding operations within the area defined by the electronic fence.

7. The grinding system according to claim 6, characterized in that, The autonomous driving host adopts a four-wheel drive mobile chassis, with a 16-line LiDAR installed on the top and an RGB-D camera installed at the front. The autonomous driving host has a built-in industrial control computer, a UWB positioning base station module, a multi-protocol remote control learning module and a 4G / Wi-Fi communication module. The multi-protocol remote control learning module is used to learn and adapt to the control protocols of the original remote controls of various brands of actuators, so as to uniformly control the actuators of various brands.

8. The grinding system according to claim 7, characterized in that, The movable anchor point is equipped with a triangular bracket at its bottom, a built-in UWB tag, and an RGB indicator light and a power display on its surface.

9. The grinding system according to claim 7, characterized in that, The actuator is a commercially available remote-controlled floor grinder that has been modified with the addition of a UWB tag, a communication module, and an ultrasonic obstacle avoidance sensor.

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