CN114610006B - Working method and device of terrace equipment, terrace equipment and storage medium - Google Patents
Working method and device of terrace equipment, terrace equipment and storage medium Download PDFInfo
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- CN114610006B CN114610006B CN202011330475.9A CN202011330475A CN114610006B CN 114610006 B CN114610006 B CN 114610006B CN 202011330475 A CN202011330475 A CN 202011330475A CN 114610006 B CN114610006 B CN 114610006B
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- 238000010276 construction Methods 0.000 abstract description 30
- 238000010586 diagram Methods 0.000 description 18
- 238000007790 scraping Methods 0.000 description 7
- 238000009435 building construction Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
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Abstract
The embodiment of the invention discloses a working method and a device of terrace equipment, terrace equipment and a storage medium, wherein the method comprises the following steps: acquiring first distance data of the terrace equipment relative to the external corner object in a preset direction in the process of controlling the terrace equipment to move along a first moving direction; if the first distance data meets the preset distance standard, the current position of the terrace equipment is used as a starting point position, and the terrace equipment is controlled to execute a work task along a second moving direction based on the starting point position; acquiring second distance data of the terrace equipment relative to the external corner object in a preset direction; and if the second distance data meets the preset distance standard, controlling the terrace equipment to stop executing the working task. The embodiment of the invention solves the problem that the terrace equipment cannot automatically operate in the external corner area, and improves the construction efficiency and the construction quality of terrace construction.
Description
Technical Field
The embodiment of the invention relates to the technical field of constructional engineering, in particular to a working method and device of terrace equipment, terrace equipment and a storage medium.
Background
In the technical field of building engineering, the existing building construction process is mainly finished by relying on manpower, wherein terrace construction is a monotonic and high-working-strength repetitive work, and the work of distributing, scraping, rolling and the like on indoor or outdoor terraces is mainly finished. With the continuous improvement of the requirements of people on the quality of building construction, the experience and skill level of each constructor are different, so that the quality of the building construction is uneven. The construction process under a certain scene may also cause damage to human health, for example, floor construction may involve fully mixing various materials, and performing a large-area scraping operation, wherein part of the materials contain organic matters harmful to human bodies, and during the scraping operation, constructors inhale the bodies to cause great damage to heart and lung.
In particular, the external corner area formed by the building structure belongs to a relatively complex construction area in terrace construction, and the problems of missing scraping, uneven scraping coating quality and low construction efficiency exist in manual construction. The existing floor robot does not have the working capacity aiming at complex areas such as external corners and the like.
Disclosure of Invention
The embodiment of the invention provides a working method and device of terrace equipment, terrace equipment and a storage medium, so as to improve the terrace construction efficiency and quality of an external corner area.
In a first aspect, an embodiment of the present invention provides a working method of a terrace device, where the method includes:
Acquiring first distance data of the terrace equipment relative to the external corner object in a preset direction in the process of controlling the terrace equipment to move along a first moving direction; the preset direction is perpendicular to the moving direction of the terrace equipment;
if the first distance data meets a preset distance standard, taking the current position of the terrace equipment as a starting point position, and controlling the terrace equipment to execute a work task along a second moving direction based on the starting point position; wherein the second direction of movement is opposite to the first direction of movement;
acquiring second distance data of terrace equipment relative to the external corner object in the preset direction in the process of executing the work task;
and if the second distance data meets a preset distance standard, controlling the terrace equipment to stop executing the work task.
In a second aspect, an embodiment of the present invention further provides a working device of a terrace apparatus, where the device includes:
The first distance data acquisition module is used for acquiring first distance data of the terrace equipment relative to the external corner object in a preset direction in the process of controlling the terrace equipment to move along the first moving direction; the preset direction is perpendicular to the moving direction of the terrace equipment;
The working task execution module is used for taking the current position of the terrace equipment as a starting point position and controlling the terrace equipment to execute a working task along a second moving direction based on the starting point position if the first distance data meets a preset distance standard; wherein the second direction of movement is opposite to the first direction of movement;
The second distance data acquisition module is used for acquiring second distance data of the terrace equipment relative to the external corner object in the preset direction;
And the working task stopping execution module is used for controlling the terrace equipment to stop executing the working task if the second distance data meets a preset distance standard.
In a third aspect, an embodiment of the present invention further provides a terrace apparatus, including: the device comprises a driving device, a working assembly, a distance measuring device and a controller;
the driving equipment is used for controlling the terrace equipment to move;
the working component is used for executing a working task;
the distance measuring equipment is used for acquiring distance data of the terrace equipment relative to the external corner object along a preset direction;
the controller comprises one or more processors and a memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of operating the floor arrangement of any of the above-mentioned references.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions which, when executed by a computer processor, are used to perform a method of operating any of the above-mentioned floor installations.
According to the embodiment of the invention, the distance data of the terrace equipment relative to the external corner object is obtained, and the starting point position and the end point position of the external corner object are determined based on the distance data, so that the problem that the terrace equipment cannot realize automatic operation on the external corner area is solved, the construction efficiency and the construction quality of terrace construction are improved, and the safety of terrace construction is ensured while the manpower is saved.
Drawings
Fig. 1 is a flowchart of a working method of a terrace device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a working process of a terrace device according to a first embodiment of the present invention.
Fig. 3 is a flowchart of a working method of the terrace device according to the second embodiment of the present invention.
Fig. 4 is a flowchart of a specific example of a working method of a terrace device according to the second embodiment of the present invention.
Fig. 5 is a flowchart of a working method of a terrace device according to the third embodiment of the present invention.
Fig. 6 is a schematic diagram of ranging by a ranging apparatus according to a third embodiment of the present invention.
Fig. 7 is a schematic diagram of a working device of a terrace apparatus according to a fourth embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a terrace device according to a fifth embodiment of the present invention.
Fig. 9 is a schematic structural diagram of a specific example of a terrace device according to a fifth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a working method of a terrace device according to a first embodiment of the present invention, where the embodiment is applicable to a case where the terrace device performs a task for an external corner area in a working area, the method may be performed by a working device of the terrace device, the device may be implemented in a software and/or hardware manner, and the device may be configured in the terrace device. The method specifically comprises the following steps:
s110, acquiring first distance data of the terrace equipment relative to the external corner object in a preset direction in the process of controlling the terrace equipment to move along the first moving direction.
The working site of the terrace device can be an underground garage, a processing workshop, a sport place and the like, and the external corner object can be a support column or a wall body. Specifically, when the external corner object is a support column, the number of external corners of the external corner object is 4, and the number of external corner edges is 4. When the external corner object is a wall body, the number of external corners of the external corner object is 2, and the number of external corner edges is three. In this embodiment, both ends of the external corner edge corresponding to the first moving direction are external corners. Illustratively, when the external corner object is a support column, the number of external corner edges satisfying the above conditions is 4, and when the external corner object is a wall, the number of external corner edges satisfying the above conditions is 1.
Wherein, control terrace equipment removes, and the exemplary, the chassis that specifically can refer to control on the terrace equipment removes or control the work subassembly on the terrace equipment removes, and exemplary, work subassembly can be the arm.
In this embodiment, the preset direction is perpendicular to the moving direction of the floor apparatus. Specifically, the preset direction is perpendicular to the external corner edge corresponding to the external corner. The method comprises the steps of setting a distance measuring device on a terrace device, and acquiring first distance data, in a preset direction, of the terrace device, acquired by the distance measuring device, relative to an external corner object.
In one embodiment, optionally, before controlling the floor apparatus to move in the first movement direction, the method further comprises: acquiring a path map corresponding to a working area to which terrace equipment belongs; wherein the path map includes a movement path between the reset point to at least one external corner initial point; and controlling the terrace equipment to move from the reset point to the target external corner initial point based on the moving path.
In this case, at least two spatial coordinate points and a movement path between the spatial coordinate points are provided in the working area. Specifically, the working area is divided to obtain at least one object area, and at least one spatial coordinate point is set based on each object area. Among these, the object area may be an external corner area, an internal corner area, a large area, a border area, an entrance area, and the like, by way of example. Wherein, specifically, the space coordinate point comprises a complex point and at least one external corner initial point. Illustratively, the resetting point may be a coordinate point where the terrace device is located after completing the current work task or before executing the current work task, and illustratively, the resetting point may be disposed in the entrance and exit area. The external corner initial point may be a spatial coordinate point corresponding to the external corner region.
The working assembly on the terrace device is in a lifting state in the process of controlling the terrace device to move along the first moving direction.
And S120, if the first distance data meets the preset distance standard, taking the current position of the terrace equipment as a starting point position, and controlling the terrace equipment to execute a work task along a second moving direction based on the starting point position.
In one embodiment, optionally, the preset distance criterion includes a change from less than the preset distance data to greater than or equal to the preset distance data or a change from span distance data to oversspan distance data. Specifically, when the first distance data meets a preset distance standard, the terrace equipment moves from one end of the external corner edge of the external corner object to the other end, and the current position of the terrace equipment is taken as a starting point position.
In this embodiment, the second movement direction is opposite to the first movement direction. Specifically, after determining the starting point position, the floor equipment is controlled to move along the direction opposite to the current moving direction, and the working task is executed. The control terrace device moves along the opposite direction of the current moving direction, specifically, the control terrace device turns to move along the opposite direction, or the control terrace device directly moves along the opposite direction, wherein the terrace device is a bidirectional movable device.
The working assembly on the terrace device is switched from a lifting state to a descending state, so that the working assembly contacts the ground to execute a working task. In one embodiment, optionally, when the working component on the floor apparatus is a mechanical arm, the mechanical arm is controlled to perform a mechanical task in the second moving direction based on the starting point position. Wherein, for example, if a scraping plate is arranged on the mechanical arm, a scraping or paving task is executed; and if the mechanical arm is provided with a roller, performing a rolling task. The specific executable task of the terrace device is not limited herein, and may be determined according to the specific hardware structure of the terrace device.
S130, acquiring second distance data of the terrace equipment relative to the external corner object in a preset direction in the process of executing the work task.
And S140, if the second distance data meets the preset distance standard, controlling the terrace equipment to stop executing the working task.
Specifically, when the second distance data meets a preset distance standard, the current position of the terrace equipment is used as an end position, and the terrace equipment is controlled to stop executing the working task. In one embodiment, optionally, controlling the terrace device to stop executing the work task includes: and controlling the terrace equipment to stop moving after moving from the end position to the reset point.
Fig. 2 is a schematic diagram of a working process of a terrace device according to a first embodiment of the present invention. As shown in a diagram a of fig. 2, in the process that the terrace device moves along the first moving direction, a ranging signal is transmitted to an external corner object through a ranging device, and first distance data is collected. As shown in B diagram in fig. 2, when the first distance data satisfies the preset distance standard, the current position of the floor device is taken as the starting point position. As shown in a C diagram in fig. 2, the floor apparatus is controlled to perform a work task in a second moving direction based on the start point position, and second distance data of the floor apparatus with respect to the external corner object in a direction perpendicular to the second moving direction is acquired. As shown in fig. 2D, when the second distance data satisfies the preset distance standard, the work task is completed, and the floor equipment is controlled to stop moving.
According to the technical scheme, the distance data of the terrace equipment relative to the external corner object is obtained, and the starting point position and the end point position of the external corner object are determined based on the distance data, so that the problem that the terrace equipment cannot realize automatic operation on the external corner area is solved, the construction efficiency and the construction quality of terrace construction are improved, and further the safety of terrace construction is guaranteed while the manpower is saved.
Example two
Fig. 3 is a flowchart of a working method of the terrace device according to the second embodiment of the present invention, and the technical solution of this embodiment is further refinement based on the foregoing embodiment. Optionally, the method further comprises: in the moving process of the terrace equipment, adjusting the real-time distance of the terrace equipment relative to the external corner object in a preset direction based on distance data and a safe distance range corresponding to the moving direction of the terrace equipment; the distance data are first distance data when the moving direction of the terrace equipment is the first moving direction, and the distance data are second distance data when the moving direction of the terrace equipment is the second moving direction.
The specific implementation steps of the embodiment include:
S210, acquiring first distance data of the terrace equipment relative to the external corner object in a preset direction in the process of controlling the terrace equipment to move along the first moving direction.
S220, adjusting the real-time distance of the terrace equipment relative to the external corner object in the preset direction based on the first distance data and the safety distance range.
The safety distance range may be used to describe a safety distance of the terrace device relative to the external corner object in a preset direction. The maximum distance and the minimum distance of the safe distance range may be the same or different, and specifically, the safe distance range is a constant value when the maximum distance and the minimum distance of the safe distance range are the same.
In the present embodiment, the distance data is first distance data corresponding to the first moving direction.
When the terrace device is at the initial point of the target external corner, the distance between the terrace device and the external corner object may not be within the safe distance range due to the influence of positioning accuracy, and the real-time distance of the terrace device relative to the external corner object in the preset direction is adjusted based on the first distance data and the safe distance range so that the real-time distance is within the safe distance range.
In one embodiment, optionally, comparing the distance data with a maximum distance and a minimum distance of the safe distance range respectively, and determining an adjustment direction of the terrace device according to the comparison result; wherein the adjustment direction includes a direction approaching the external corner object or a direction departing from the external corner object; the terrace device is controlled to move along the adjustment direction so that the real-time distance is within the safe distance range.
In one embodiment, optionally, determining the adjustment direction of the floor device according to the comparison result includes: if the distance data is greater than the maximum distance of the safe distance range, adjusting the direction to be the direction close to the external corner object; if the distance data is less than the minimum distance of the safe distance range, the direction is adjusted to be the direction away from the male corner object.
Wherein, for example, when the difference between the distance data and the maximum distance of the safe distance range is 20mm, the terrace device is controlled to move 20mm along the direction approaching the external corner object, and when the difference between the minimum distance of the safe distance range and the distance data is 20mm, the terrace device is controlled to move 20mm along the direction departing from the external corner object.
In another embodiment, optionally, controlling the floor device to move in the adjustment direction includes: controlling the terrace equipment to move along the adjustment direction based on the unit adjustment distance until the real-time distance is within the safe distance range; the unit adjusting distance is used for representing the moving distance corresponding to the primary movement of the terrace equipment along the adjusting direction. Among them, the unit adjustment distance may be 1mm or 5mm, for example. In particular, assuming that the difference between the distance data and the maximum distance of the safety distance range is 20mm and the unit adjustment distance is 5mm, the single control floor device is moved 5mm in the direction approaching the external corner object. The advantage of this arrangement is that the real-time distance may change during the process of once adjusting the real-time distance, for example, from 20mm to 15mm, and the adjustment is still performed according to 20mm, so that the situation that the terrace device collides with the external corner object may occur, and the adjustment based on the unit adjustment distance may avoid the problem of real-time error caused by once adjustment, thereby reducing the probability of collision between the terrace device and the external corner object.
And S230, if the first distance data meets the preset distance standard, taking the current position of the terrace equipment as a starting point position, and controlling the terrace equipment to execute a work task along a second moving direction based on the starting point position.
S240, acquiring second distance data of the terrace equipment relative to the external corner object in a preset direction in the process of executing the work task.
S250, if the second distance data meets the preset distance standard, controlling the terrace equipment to stop executing the working task.
Fig. 4 is a flowchart of a specific example of a working method of a terrace device according to the second embodiment of the present invention. The same working area may correspond to a plurality of different working types, such as external corner working, internal corner working, large-area working and the like, and the terrace equipment obtains the working type in the received working instruction when resetting. When the working type is external angle working, the terrace equipment is controlled to move from the reset point to the external angle initial point, and the ranging equipment receives the high-level pulse signal to start ranging. And controlling the terrace equipment to search for a starting point position along a first moving direction, comparing the first distance data with a safe distance range in the process, controlling the terrace equipment to move close to the external corner object if the first distance data is larger than the maximum distance of the safe distance range, and controlling the terrace equipment to move far away from the external corner object if the first distance data is smaller than the minimum distance of the safe distance range. And if the first distance data is changed from the range data to the overscale data, taking the current position of the terrace equipment as a starting point position, controlling the terrace equipment to move along the second moving direction and starting to execute the operation task. And if the second distance data is changed from the range data to the oversrange data, taking the current position of the terrace equipment as the end position to finish the operation task.
It should be noted that, this embodiment provides a specific implementation manner of "in the process of moving the terrace device along the first moving direction, based on the first distance data and the safe distance range, adjusting the real-time distance of the terrace device relative to the external corner object in the preset direction". Of course, the technical solution further includes an embodiment of the step of adjusting the real-time distance between the terrace device and the external corner object in the direction perpendicular to the second moving direction based on the second distance data and the safe distance range during the moving process of the terrace device in the second moving direction, and of course, further includes a specific implementation of the step of adding the step of adjusting the real-time distance between the terrace device and the external corner object in the direction perpendicular to the second moving direction based on the second distance data and the safe distance range after S240 based on the embodiment.
According to the technical scheme, the distance data corresponding to the moving direction of the terrace equipment is compared with the safe distance range in the moving process of the terrace equipment, and the real-time distance of the terrace equipment relative to the external corner object in the preset direction is adjusted according to the comparison result, so that the problem that the terrace equipment collides with the external corner object is solved, the safety in the terrace construction process is improved, and the distance between the terrace equipment and the external corner object is accurately positioned so as to meet the construction requirement of the external corner area.
Example III
Fig. 5 is a flowchart of a working method of the terrace device according to the third embodiment of the present invention, and the technical solution of this embodiment is further refinement based on the foregoing embodiment. Optionally, the adjusting the real-time distance of the terrace device relative to the external corner object in the preset direction based on the distance data and the safe distance range corresponding to the moving direction of the terrace device includes: when the moving direction is the second moving direction, determining corrected second distance data of the terrace equipment relative to the external corner object in a preset direction based on a downsampling algorithm in an initial time period; the starting time of the initial time period is the time when the terrace equipment starts to move from the starting position, and the ending time is the time when the starting time passes through a preset time interval; and adjusting the real-time distance of the terrace equipment relative to the external corner object in a preset direction based on the corrected second distance data and the safety distance range.
The specific implementation steps of the embodiment include:
s310, acquiring first distance data of the terrace equipment relative to the external corner object in a preset direction in the process of controlling the terrace equipment to move along the first moving direction.
And S320, if the first distance data meets the preset distance standard, taking the current position of the terrace equipment as a starting point position, and controlling the terrace equipment to execute a work task along a second moving direction based on the starting point position.
S330, acquiring second distance data of the terrace equipment relative to the external corner object in a preset direction in the process of executing the work task.
S340, in the initial time period, determining corrected second distance data of the terrace equipment relative to the external corner object in a preset direction based on a downsampling algorithm.
In this embodiment, the start time of the initial period is the time when the floor apparatus starts to move from the start position, and the end time is the time after the start time passes through the preset time interval. The preset time interval may be, for example, 5 seconds, 10 seconds, or 12 seconds, among others.
Fig. 6 is a schematic diagram of ranging by a ranging apparatus according to a third embodiment of the present invention. As shown in fig. 6, the dashed lines in fig. 6 represent ranging rays emitted by the ranging device. As shown in a diagram in fig. 6, the ranging ray is completely perpendicular to the external corner object, but in practical application, a certain deflection angle exists between the ranging ray and the external corner object, when the deflection angle meets the condition shown in a diagram C in fig. 6, the condition is similar to that in the diagram a, in the process that the terrace device starts to move from the starting point position, when the ranging ray intersects with the external corner object, the second distance data can represent the distance between the terrace device and the target external corner edge of the external corner object. While when the deflection angle satisfies the condition shown in the B-chart of fig. 6, the first sets of second distance data may characterize the distance between the terrace data and the non-external corner edge of the external corner object when the ranging ray intersects the external corner object during the movement of the terrace device from the starting point position. In the case shown in the B diagram, the second distance data may guide the terrace device to move in a direction approaching the external corner object, thereby easily causing the terrace device to collide with the external corner object.
And determining second distance data corrected by the terrace equipment relative to the external corner object in a preset direction based on a downsampling algorithm, and specifically, acquiring the second distance data once every M-1 second distance data when the downsampling multiple is M times to obtain the second distance data corrected. The corrected second distance data satisfies the formula:
XN(n)＝X(nM)
Wherein X N is corrected second distance data, X N (n) is nth corrected second distance data, X represents second distance data acquired by the distance measuring device, and X (nM) represents nM second distance data.
S350, adjusting the real-time distance of the terrace equipment relative to the external corner object in the preset direction based on the corrected second distance data and the safe distance range.
And S360, if the corrected second distance data meets the preset distance standard, controlling the terrace equipment to stop executing the work task.
According to the technical scheme, the correction second distance data of the terrace equipment relative to the external corner object in the preset direction is determined based on the downsampling algorithm in the initial time period, and the real-time distance of the terrace equipment relative to the external corner object in the preset direction is adjusted based on the correction second distance data and the safety distance range, so that the problem that the real-time distance adjustment is inaccurate due to the fact that an included angle exists between the ranging equipment and the external corner object is solved, collision between the terrace equipment and the external corner object is avoided, and safety in the terrace construction process is improved.
Example IV
Fig. 7 is a schematic diagram of a working device of a terrace apparatus according to a fourth embodiment of the present invention. The embodiment can be suitable for the situation that the terrace equipment executes the operation task aiming at the external corner area in the working area, the device can be realized in a software and/or hardware mode, and the device can be configured in the terrace equipment. The working device of the terrace equipment comprises: a first distance data acquisition module 410, a work task execution module 420, a second distance data acquisition module 430, and a work task stop execution module 440.
The first distance data obtaining module 410 is configured to obtain first distance data of the terrace device in a preset direction relative to the external corner object in a process of controlling the terrace device to move along the first moving direction; the preset direction is perpendicular to the moving direction of the terrace equipment;
the work task execution module 420 is configured to, if the first distance data meets a preset distance criterion, take a current position of the floor device as a starting position, and control the floor device to execute a work task along a second moving direction based on the starting position; wherein the second direction of movement is opposite to the first direction of movement;
A second distance data obtaining module 430, configured to obtain second distance data of the terrace device in a preset direction relative to the external corner object;
the work task stopping execution module 440 is configured to control the floor device to stop executing the work task if the second distance data meets the preset distance criterion.
According to the technical scheme, the distance data of the terrace equipment relative to the external corner object is obtained, and the starting point position and the end point position of the external corner object are determined based on the distance data, so that the problem that the terrace equipment cannot realize automatic operation on the external corner area is solved, the construction efficiency and the construction quality of terrace construction are improved, and further the safety of terrace construction is guaranteed while the manpower is saved.
On the basis of the above technical solution, optionally, the preset distance criterion includes changing from less than the preset distance data to greater than or equal to the preset distance data or changing from span distance data to oversspan distance data.
On the basis of the above technical solution, optionally, the apparatus further includes: a movement path acquisition module for:
Acquiring a path map corresponding to a working area to which terrace equipment belongs; wherein the path map includes a movement path between the reset point to at least one external corner initial point; and controlling the terrace equipment to move from the reset point to the target external corner initial point based on the moving path.
On the basis of the above technical solution, optionally, the apparatus further includes:
The real-time distance adjusting module is used for adjusting the real-time distance of the terrace equipment relative to the external corner object in the preset direction based on the distance data and the safe distance range corresponding to the moving direction of the terrace equipment in the moving process of the terrace equipment; the distance data is first distance data when the moving direction of the terrace equipment is the first moving direction, and the distance data is second distance data when the moving direction of the terrace equipment is the second moving direction.
On the basis of the above technical solution, optionally, the real-time distance adjustment module includes:
The adjusting direction determining unit is used for comparing the distance data with the maximum distance and the minimum distance of the safety distance range respectively and determining the adjusting direction of the terrace equipment according to the comparison result; wherein the adjustment direction includes a direction approaching the external corner object or a direction departing from the external corner object;
the terrace equipment adjusting unit is used for controlling the terrace equipment to move along the adjusting direction so that the real-time distance is within the safe distance range.
On the basis of the above technical solution, optionally, the direction adjustment determining unit is specifically configured to:
If the distance data is greater than the maximum distance of the safe distance range, adjusting the direction to be the direction close to the external corner object;
If the distance data is less than the minimum distance of the safe distance range, the direction is adjusted to be the direction away from the male corner object.
On the basis of the technical scheme, the floor equipment adjusting unit is optional and is specifically used for:
Controlling the terrace equipment to move along the adjustment direction based on the unit adjustment distance until the real-time distance is within the safe distance range; the unit adjusting distance is used for representing the moving distance corresponding to the primary movement of the terrace equipment along the adjusting direction.
On the basis of the above technical solution, optionally, the real-time distance adjustment module includes:
The second distance data correction unit is used for determining correction second distance data of the terrace equipment relative to the external corner object in a preset direction based on a downsampling algorithm in an initial time period when the moving direction is the second moving direction; the starting time of the initial time period is the time when the terrace equipment starts to move from the starting position, and the ending time is the time after the starting time passes a preset time interval;
And the real-time distance adjusting unit is used for adjusting the real-time distance of the terrace equipment relative to the external corner object in the preset direction based on the corrected second distance data and the safe distance range.
The working device of the terrace equipment provided by the embodiment of the invention can be used for executing the working method of the terrace equipment provided by the embodiment of the invention, and has the corresponding functions and beneficial effects of the execution method.
It should be noted that, in the embodiment of the working device of the terrace apparatus, each unit and module included are only divided according to the functional logic, but not limited to the above-mentioned division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Example five
Fig. 8 is a schematic structural diagram of a terrace device according to a fifth embodiment of the present invention, which provides services for implementing the working method of the terrace device according to the foregoing embodiment of the present invention, and may configure the working apparatus of the terrace device according to the foregoing embodiment of the present invention. Fig. 8 shows a block diagram of an exemplary floor device suitable for use in implementing embodiments of the invention. The floor apparatus provided in fig. 8 is merely an example, and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.
Wherein, terrace equipment includes: a driving device 51, a working assembly 52, a distance measuring device 53 and a controller 54; a driving device 51 for controlling the movement of the floor device; a work component 52 for performing a work task; a distance measuring device 53 for acquiring distance data of the terrace device relative to the external corner object in a preset direction; the controller 54 includes one or more processors and a memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of operating the floor apparatus of the above-described embodiments of the present invention.
In one embodiment, the working assembly optionally includes at least one of a squeegee, a cloth assembly, and a roller. Wherein, concretely, work subassembly can set up on the arm in the terrace equipment.
Fig. 9 is a schematic structural diagram of a specific example of a terrace device according to a fifth embodiment of the present invention. Fig. 9 illustrates a floor spray coating robot using a floor apparatus as a floor. As shown in fig. 9, the floor apparatus is mounted with two distance measuring apparatuses 53. The advantage of setting up like this is that at the in-process that terrace equipment moved along first direction of movement, gather distance data through the range finding equipment of one side, when terrace equipment change direction along second direction of movement, adopt the range finding equipment of opposite side to gather distance data.
In this embodiment, optionally, the floor apparatus further includes a ranging apparatus fixing plate 55 connected to the ranging apparatus 53 and the floor apparatus main body, respectively, for fixing the ranging apparatus 53 on the floor apparatus main body. The distance measuring device 53 collects distance data by emitting distance measuring rays 56 to the external corner object. The working assembly 52 shown in fig. 9 is a doctor blade.
As shown in fig. 9, the distance measuring device 53 has a certain distance with respect to the end side of the working assembly 52, that is, the first distance data collected by the distance measuring device 53 is actually the distance data of the distance measuring device 53 on the terrace device in the preset direction with respect to the external corner object. In one embodiment, optionally, the maximum range data of the ranging device 53 is greater than the sum of the maximum distance of the safe distance range and the relative distance of the working assembly 52 with respect to the ranging device 53.
The memory is used as a computer readable storage medium for storing software programs, computer executable programs, and modules, such as program instructions/modules (e.g., a first distance data acquisition module 410, a work task execution module 420, a second distance data acquisition module 430, and a work task stop execution module 440) corresponding to the operation of the floor apparatus in the embodiment of the present invention. The processor executes various functional applications and data processing of the terrace device by running software programs, instructions and modules stored in the memory, namely, the working method of the terrace device is realized.
The storage may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the terminal, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, the memory may further include memory remotely located with respect to the processor, which may be connected to the floor appliance via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Through above-mentioned terrace equipment, solved the terrace equipment and to the problem that the regional automatic operation of can not be realized of external corner, improved the efficiency of construction and the construction quality of terrace construction, and then also guaranteed the security of terrace construction when using manpower sparingly.
Example six
The sixth embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are used to perform a method for operating a floor facility, the method comprising:
acquiring first distance data of the terrace equipment relative to the external corner object in a preset direction in the process of controlling the terrace equipment to move along a first moving direction; the preset direction is perpendicular to the moving direction of the terrace equipment;
If the first distance data meets the preset distance standard, the current position of the terrace equipment is used as a starting point position, and the terrace equipment is controlled to execute a work task along a second moving direction based on the starting point position; wherein the second direction of movement is opposite to the first direction of movement;
Acquiring second distance data of terrace equipment relative to the external corner object in a preset direction in the process of executing the work task;
And if the second distance data meets the preset distance standard, controlling the terrace equipment to stop executing the working task.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present invention is not limited to the above method operations, and may also perform the related operations in the working method of the terrace device provided in any embodiment of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (13)
1. A method of operating a floor appliance comprising:
Acquiring first distance data of the terrace equipment relative to the external corner object in a preset direction in the process of controlling the terrace equipment to move along a first moving direction; the preset direction is perpendicular to the moving direction of the terrace equipment;
if the first distance data meets a preset distance standard, taking the current position of the terrace equipment as a starting point position, and controlling the terrace equipment to execute a work task along a second moving direction based on the starting point position; wherein the second direction of movement is opposite to the first direction of movement;
acquiring second distance data of terrace equipment relative to the external corner object in the preset direction in the process of executing the work task;
and if the second distance data meets a preset distance standard, controlling the terrace equipment to stop executing the work task.
2. The method of claim 1, wherein the predetermined distance criterion comprises a change from less than a predetermined distance data to greater than or equal to a predetermined distance data or a change from span distance data to oversspan distance data.
3. The method of claim 1, further comprising, prior to controlling the movement of the floor apparatus in the first direction of movement:
acquiring a path map corresponding to a working area to which the terrace equipment belongs; wherein the path map includes a movement path between a reset point to at least one external corner initial point;
and controlling the terrace equipment to move from the reset point to a target external corner initial point based on the moving path.
4. The method according to claim 1, wherein the method further comprises:
In the moving process of the terrace equipment, adjusting the real-time distance of the terrace equipment relative to the external corner object in a preset direction based on distance data and a safe distance range corresponding to the moving direction of the terrace equipment; the distance data are first distance data when the moving direction of the terrace equipment is the first moving direction, and the distance data are second distance data when the moving direction of the terrace equipment is the second moving direction.
5. The method of claim 4, wherein adjusting the real-time distance of the floor device relative to the external corner object in the preset direction based on the distance data and the safe distance range corresponding to the movement direction of the floor device comprises:
Comparing the distance data with the maximum distance and the minimum distance of the safety distance range respectively, and determining the adjustment direction of the terrace equipment according to a comparison result; wherein the adjustment direction includes a direction approaching the external corner object or a direction departing from the external corner object;
And controlling the terrace equipment to move along the adjustment direction so that the real-time distance is within the safe distance range.
6. The method of claim 5, wherein determining the direction of adjustment of the floor device based on the comparison result comprises:
If the distance data is greater than the maximum distance of the safe distance range, the adjustment direction is a direction approaching the external corner object;
The adjustment direction is a direction away from the external corner object if the distance data is less than a minimum distance of the safe distance range.
7. The method of claim 5, wherein said controlling the movement of the floor apparatus in the adjustment direction comprises:
Controlling the terrace equipment to move along the adjustment direction based on unit adjustment distance until the real-time distance is within the safe distance range; the unit adjustment distance is used for representing the movement distance corresponding to the primary movement of the terrace equipment along the adjustment direction.
8. The method of claim 4, wherein adjusting the real-time distance of the floor device relative to the external corner object in the preset direction based on the distance data and the safe distance range corresponding to the movement direction of the floor device comprises:
When the moving direction is the second moving direction, determining corrected second distance data of the terrace equipment relative to the external corner object in a preset direction based on a downsampling algorithm in an initial time period; the starting time of the initial time period is the time when the terrace equipment starts to move from the starting position, and the ending time is the time when the starting time passes through a preset time interval;
And adjusting the real-time distance of the terrace equipment relative to the external corner object in a preset direction based on the corrected second distance data and the safety distance range.
9. A working device of terrace equipment, characterized by comprising:
The first distance data acquisition module is used for acquiring first distance data of the terrace equipment relative to the external corner object in a preset direction in the process of controlling the terrace equipment to move along the first moving direction; the preset direction is perpendicular to the moving direction of the terrace equipment;
The working task execution module is used for taking the current position of the terrace equipment as a starting point position and controlling the terrace equipment to execute a working task along a second moving direction based on the starting point position if the first distance data meets a preset distance standard; wherein the second direction of movement is opposite to the first direction of movement;
The second distance data acquisition module is used for acquiring second distance data of the terrace equipment relative to the external corner object in the preset direction;
And the working task stopping execution module is used for controlling the terrace equipment to stop executing the working task if the second distance data meets a preset distance standard.
10. A floor apparatus, the floor apparatus comprising: the device comprises a driving device, a working assembly, a distance measuring device and a controller;
the driving equipment is used for controlling the terrace equipment to move;
the working component is used for executing a working task;
the distance measuring equipment is used for acquiring distance data of the terrace equipment relative to the external corner object along a preset direction;
The controller comprising one or more processors and a memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of operating the floor arrangement of any of claims 1-8.
11. The floor apparatus of claim 10, wherein the working assembly comprises at least one of a scraper, a cloth assembly, and a roller.
12. The floor apparatus of claim 10, wherein the maximum range data of the ranging apparatus is greater than a sum of a maximum distance of a safe distance range and a relative distance of the working assembly with respect to the ranging apparatus.
13. A storage medium containing computer executable instructions which, when executed by a computer processor, are used to perform a method of operating a floor installation as claimed in any one of claims 1 to 8.
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| CN202011330475.9A CN114610006B (en) | 2020-11-24 | 2020-11-24 | Working method and device of terrace equipment, terrace equipment and storage medium |
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| CN111290388A (en) * | 2020-02-25 | 2020-06-16 | 苏州科瓴精密机械科技有限公司 | Path tracking method, system, robot and readable storage medium |
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| KR100596481B1 (en) * | 2004-08-12 | 2006-07-03 | 주식회사 한울로보틱스 | Control Method of Mobile Robot with Function for Cleaning |
| JP2009265801A (en) * | 2008-04-23 | 2009-11-12 | Panasonic Corp | Autonomous traveling device and program for making the same device function |
| JP2013058043A (en) * | 2011-09-07 | 2013-03-28 | Toyota Motor Corp | Device, method and program for controlling travel of mobile body |
| US9630319B2 (en) * | 2015-03-18 | 2017-04-25 | Irobot Corporation | Localization and mapping using physical features |
| CN111595340B (en) * | 2020-04-20 | 2023-03-21 | 广东博智林机器人有限公司 | Path determining method and device and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106426225A (en) * | 2016-12-19 | 2017-02-22 | 徐州赛欧电子科技有限公司 | Paint brushing robot |
| CN111290388A (en) * | 2020-02-25 | 2020-06-16 | 苏州科瓴精密机械科技有限公司 | Path tracking method, system, robot and readable storage medium |
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