CN-121994241-A - Path planning method, system, equipment and storage medium for ground leveling robot

CN121994241ACN 121994241 ACN121994241 ACN 121994241ACN-121994241-A

Abstract

The invention discloses a path planning method, a system, equipment and a storage medium of a ground leveling robot, and relates to the technical field of intelligent building construction automation. And carrying out operation path calculation and generating leveling path data by combining equipment parameters of the ground leveling robot. And in each construction sub-operation area, taking a straight line path consistent with the direction of the dividing seam as a reference, and planning a serpentine round trip path according to the standard that the distance between adjacent paths is less than or equal to the effective length of the vibration ruler minus the overlapping amount. The starting point of the path is positioned at a position which is not less than half of the effective length of the vibration ruler from the edge in the boundary of the sub-operation area, and the turning point calculates an arc track according to the minimum turning radius. The method of the invention has better effects in the aspects of path planning automation, path constraint calculation, direction matching precision and execution continuity.

Inventors

XU YANG
LI CHANG
WANG ZHENGYONG
WANG CONGJUN
ZHANG BIAO
YE PING

Assignees

中岩数字科技(浙江)有限公司
方远建设集团股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260205

Claims (10)

1. A path planning method of a floor leveling robot, comprising: extracting design elevation information and construction area division parameter information; Performing a work path calculation in combination with equipment parameters of the ground leveling robot and generating leveling path data, wherein, In each construction sub-operation area (100), taking a straight line path consistent with the direction of a dividing seam as a reference, and planning a serpentine round trip (S) path according to the standard that the distance between adjacent paths is less than or equal to the effective length of a vibration ruler minus the overlapping amount; The initial point of the path is positioned at a position which is not less than half of the effective length of the vibration ruler from the edge in the boundary of the sub-operation area (100), and the turning point calculates the arc track according to the minimum turning radius.
2. The path planning method of a floor leveling robot according to claim 1, wherein the construction area division includes, Extracting and preprocessing BIM model data; Determining the maximum size of a sub-operation area; dividing the grids of the sub-operation areas in the sub-bin areas; defining the number and the coordinates of the sub-operation area; And (5) verifying and optimizing partition results.
3. The path planning method of a floor leveling robot according to claim 2, wherein the sub-operation area meshing within the binning area includes, Setting a sub-operation area (100) division rule in a single sub-bin area; When the non-construction area is close to the boundary of the set sub-operation area (100), the boundary is contracted by a boundary vector deviation algorithm; When the non-construction area is positioned in the sub-operation area (100), the partial special-shaped cutting is performed through a geometric Boolean difference set algorithm.
4. A path planning method of a floor leveling robot according to any one of claims 1 to 3, wherein the working path calculation includes, Calculating a serpentine round trip (S) path starting point; calculating a serpentine round trip (S) path travel direction; and calculating the turning points of the serpentine round trip (S) path.
5. The path planning method of a ground leveling robot of claim 4 wherein calculating a serpentine round trip (S) path start point comprises, Setting a starting point constraint when the travelling direction is along Axis travel, calculating the starting point transverse coordinates as the travel direction along The shaft advances, and a starting point longitudinal coordinate is calculated; calculating the direction of travel of the serpentine round trip (S) path includes calculating by binning seam endpoint coordinates Axial direction vector An axial direction vector; When (when) The axial direction vector is greater than Axial vector, robot edge In the axial direction of travel when The axial direction vector is smaller than Axial vector, robot edge Advancing in the axial direction; when the dividing slits are oblique, the advancing direction is the same as the dividing slit angle; calculating the turning points of the serpentine round trip (S) path comprises setting the constraint of the turning points, and calculating the distance between adjacent paths and the number of paths through the effective length of the vibration ruler and the width of the sub-operation area (100); and calculating the turning point coordinates through the starting point transverse coordinates, the starting point longitudinal coordinates, the adjacent path distance and the path number.
6. A path planning method for a floor screeding robot as claimed in any one of claims 1 to 3 and 5 wherein said generating screeding path data comprises, Pouring concrete according to the designed mixing proportion, and paving the concrete to a target elevation by adopting a paver; The ground leveling robot performs ground leveling along the direction of the dividing seam according to the starting point, the advancing direction and the turning point.
7. A path planning method for a floor screeding robot as claimed in any one of claims 1 to 3 and 5 wherein said generating screeding path data further comprises, Carrying out orthographic scanning and infrared focusing on a construction area through an unmanned aerial vehicle; generating a surface point cloud model from visible light data obtained through orthographic scanning, comparing the surface point cloud model with a target elevation, and marking local convex and concave areas; identifying a temperature abnormal region by using infrared data obtained by infrared focusing through a gradient difference method, and taking the temperature abnormal region as a dangerous point; outputting the local convex and concave areas and the dangerous point mark graph.
8. A path planning system of a ground leveling robot, adopting the path planning method of the ground leveling robot according to any one of claims 1-7, characterized by comprising an information extraction module, a working path calculation module and a leveling path data generation module; The information extraction module is used for extracting design elevation information and construction area division parameter information; the operation path calculation is used for calculating a starting point, a travelling direction and a turning point of a serpentine round trip (S) path; The leveling path data generation module is used for pouring concrete according to the designed mixing proportion, paving the concrete to a target elevation by adopting a paver, leveling the ground according to the planned path, carrying out orthographic scanning and infrared focusing on a construction area by using an unmanned aerial vehicle, and outputting local convex and concave areas and dangerous point marks.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the path planning method of a floor levelling robot according to any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the steps of the path planning method of a floor screeding robot as claimed in any one of claims 1 to 7.

Description

Path planning method, system, equipment and storage medium for ground leveling robot Technical Field The invention relates to the technical field of intelligent building construction automation, in particular to a path planning method, a system, equipment and a storage medium of a ground leveling robot. Background In actual construction, a ground construction area is generally divided into a plurality of subareas according to the dividing seams, the shapes and the sizes of the subareas are different, and the areas which cannot be constructed such as floor drain, pipeline ports and equipment foundations exist. When facing the irregular areas, the existing robot system still needs to manually adjust the working range in the path planning software, thereby increasing the early preparation time and failing to ensure the planning precision and the construction continuity. When the shape of the construction area is complex or an obstacle exists, the robot running path is easy to cross or stop, and the overall construction efficiency is affected. Disclosure of Invention The present invention has been made in view of the above-described problems. The invention solves the technical problems that the existing path planning method of the ground leveling robot relies on manual presetting, does not consider matching of the direction of a construction partition seam and equipment physical parameters, is poor in construction continuity caused by uncoordinated path distance and effective length of a vibration ruler and uncoordinated turning radius and operation space, lacks an intelligent avoidance mechanism for obstacles and non-construction areas, and how to automatically generate a snake-shaped round trip path consistent with a construction process under the constraint of design elevation information and partition area parameters of a building BIM model, and realizes path distance self-adaption, intelligent calculation of a starting point and a turning point and automatic adjustment of a boundary of a sub-operation area through an algorithm. In order to solve the technical problems, the invention provides a path planning method of a ground leveling robot, which comprises the steps of extracting design elevation information and construction area division parameter information. And carrying out operation path calculation and generating leveling path data by combining equipment parameters of the ground leveling robot. Wherein, the And in each construction sub-operation area, taking a straight line path consistent with the direction of the dividing seam as a reference, and planning a serpentine round trip path according to the standard that the distance between adjacent paths is less than or equal to the effective length of the vibration ruler minus the overlapping amount. The starting point of the path is positioned at a position which is not less than half of the effective length of the vibration ruler from the edge in the boundary of the sub-operation area, and the turning point calculates an arc track according to the minimum turning radius. The method for planning the path of the ground leveling robot is characterized by comprising the steps of construction area division, BIM model data extraction and preprocessing, determination of maximum size of a sub-operation area, grid division of the sub-operation area in a sub-bin area, definition of numbers and coordinates of the sub-operation area, and verification and optimization of a partition result. The path planning method for the ground leveling robot is a preferable scheme, wherein the grid division of the sub-operation areas in the sub-bin areas comprises the step of setting sub-operation area division rules in a single sub-bin area. And when the non-construction area is close to the boundary of the set sub-operation area, the boundary is shrunk by a boundary vector offset algorithm. And when the non-construction area is positioned in the sub-operation area, carrying out local special-shaped cutting through a geometric Boolean difference set algorithm. As a preferable mode of the path planning method of the floor leveling robot according to the invention, wherein the work path calculation includes, Calculating the starting point of the serpentine round trip path; Calculating the travelling direction of the serpentine round trip path; And calculating the turning points of the serpentine round trip paths. As a preferable mode of the path planning method of the ground leveling robot of the invention, the calculating the starting point of the serpentine round trip path includes setting a starting point constraint when the traveling direction is alongAxis travel, calculating the starting point transverse coordinates as the travel direction alongThe axis travels and the starting point longitudinal coordinates are calculated. Calculating the travelling direction of the serpentine round trip path comprises calculating through the endpoint coordinates of the parting jointsAxi