1. A screw hole plugging path planning method is characterized by comprising the following steps:

determining the real position information of the screw hole on the operation wall surface based on the first position information of the screw hole on each operation wall surface and the second position information of the screw hole on the operation wall surface model;

determining a first operation path for performing screw hole plugging on each operation wall surface by plugging equipment based on the real position information of the screw hole on the operation wall surface;

determining a second operation path of the plugging device moving among the operation wall surfaces based on the first parameter information of each operation wall surface and the operation sequence of each operation wall surface;

determining a target path for the plugging device based on the first and second work paths.

2. The method of claim 1, wherein determining a target path for the plugging device based on the first working path and the second working path comprises:

respectively determining the operation positions of the plugging equipment on the first operation path and the second operation path;

determining an operation time set of each operation position according to the operation parameters of the plugging equipment, the plugging time of each screw hole and the operation sequence of each operation position in the target path;

and generating the target path according to the operation position and the operation time set.

3. The method of claim 2, wherein the operational parameters of the plugging device include: the movement speed and the rotation speed of the occlusion device;

the set of job times includes: a time to reach the work location and a time to leave the work location.

4. The method of claim 1, wherein determining the actual position information of the screw hole on the work wall surface based on the first position information of the screw hole on each work wall surface and the second position information of the screw hole on the work wall surface model comprises:

performing visual point cloud scanning on each operation wall surface to acquire first position information of a screw hole on each operation wall surface;

acquiring second position information of a screw hole on each operation wall surface model based on the building information model system;

and performing cross comparison correction on the first position information and the second position information to determine the real position information of the screw hole.

5. The method of claim 4, wherein the step of performing position information correction on the first position information and the second position information to determine the real position information of the screw hole comprises the steps of:

respectively performing linear fitting on the first position information and the second position information to obtain first linear data and second linear data;

and performing cross comparison on the first linear data and the second linear data by taking the first position information as a reference point, and performing position information correction on the first position information and the second position information according to a comparison result to determine the real position information of the screw hole.

6. The method of claim 5, wherein the modifying the first location information and the second location information according to the comparison comprises:

and if second position information in the second linear data is inoperable in the comparison result of the cross comparison of the first linear data and the second linear data, correcting the position information of the second position information which is not corresponding to the first position information.

7. The method of claim 5, wherein the modifying the first location information and the second location information according to the comparison comprises:

and if the comparison result of the cross comparison of the first linear data and the second linear data is not matched, translating the second linear data to a position matched with the first linear data for position information correction.

8. The method of claim 5, further comprising, prior to said linearly fitting the first and second location information, respectively:

and converting a coordinate system of the first position information or the second position information to enable the coordinate systems of the first position information and the second position information to be the same.

9. The method of claim 4, after obtaining the first location information of the screw hole on each work wall surface, further comprising:

filtering the first position information of the screw hole to filter out the first position information of the inoperable pseudo screw hole.

10. The method of claim 1, wherein the first parameter information comprises: a safe walking boundary area of the operation wall surface;

wherein, the determining a second operation path of the plugging device moving between the operation wall surfaces based on the first parameter information of each operation wall surface and the operation sequence of each operation wall surface comprises:

and in the building model information system, based on the safe walking boundary area of the operation wall surface and the operation sequence of each operation wall surface, determining a feasible path of the plugging device, which does not touch the obstacles outside the safe walking boundary area of the operation wall surface in the moving process of the plugging device between the operation wall surfaces, as a second operation path.

11. The method of claim 10, wherein the first parameter information comprises: pre-buried pipelines and pipelines in the operation wall surface;

wherein, the determining a second operation path of the plugging device moving between the operation wall surfaces based on the first parameter information of each operation wall surface and the operation sequence of each operation wall surface comprises:

and in the building model information system, based on the positions of the embedded pipelines and the pipelines, determining a feasible path of the plugging equipment which does not touch the embedded pipelines and the pipelines in the moving process of the plugging equipment between the operation wall surfaces as a second operation path.

12. The method of claim 10, wherein the second work path comprises a first travel path and a second travel path;

the first moving path includes: the plugging equipment moves among the operation wall surfaces according to the operation sequence;

the second moving path includes: and the plugging equipment is not a moving path for jumping between any two operation wall surfaces according to the operation sequence.

13. The utility model provides a screw hole shutoff route planning device which characterized in that includes:

the position determining module is used for determining the real position information of the screw hole on the operation wall surface based on the first position information of the screw hole on each operation wall surface and the second position information of the screw hole on the operation wall surface model;

the first operation path determining module is used for determining a first operation path for plugging the screw hole on each operation wall surface by plugging equipment based on the real position information of the screw hole on the operation wall surface;

the second operation path determining module is used for determining a second operation path of the plugging device moving among the operation wall surfaces based on the first parameter information of each operation wall surface and the operation sequence of each operation wall surface;

and the target path determining module is used for determining a target path of the plugging equipment based on the first working path and the second working path.

14. An apparatus, characterized in that the apparatus comprises:

one or more processors;

storage means for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the screw hole blockage path planning method of any one of claims 1-12.

15. A storage medium containing computer executable instructions for performing the screw hole plugging path planning method of any one of claims 1-12 when executed by a computer processor.

Background

When the screw hole is constructed for the cast-in-place concrete wall, the hole left after the original split bolt is disassembled is one of the important problems to be solved at present by better plugging the screw hole.

At present, the plugging of screw holes is mostly pure manual plugging, such mode of operation, the operating efficiency is low, and the manual work can't be incessant continuous operation, influences the shutoff operation progress in screw hole, and it can not be fine satisfies the operation demand of present screw hole shutoff.

Disclosure of Invention

The embodiment of the invention provides a method, a device, equipment and a storage medium for planning a screw hole plugging path, which aim to realize the effect of planning the plugging path of a screw hole efficiently and automatically.

In a first aspect, an embodiment of the present invention provides a method for planning a screw hole plugging path, where the method includes:

determining the real position information of the screw hole on the operation wall surface based on the first position information of the screw hole on each operation wall surface and the second position information of the screw hole on the operation wall surface model;

determining a first operation path for performing screw hole plugging on each operation wall surface by plugging equipment based on the real position information of the screw hole on the operation wall surface;

determining a second operation path of the plugging device moving among the operation wall surfaces based on the first parameter information of each operation wall surface and the operation sequence of each operation wall surface;

determining a target path for the plugging device based on the first and second work paths.

In a second aspect, an embodiment of the present invention further provides a screw hole plugging path planning device, where the device includes:

the position determining module is used for determining the real position information of the screw hole on the operation wall surface based on the first position information of the screw hole on each operation wall surface and the second position information of the screw hole on the operation wall surface model;

the first operation path determining module is used for determining a first operation path for plugging the screw hole on each operation wall surface by plugging equipment based on the real position information of the screw hole on the operation wall surface;

the second operation path determining module is used for determining a second operation path of the plugging device moving among the operation wall surfaces based on the first parameter information of each operation wall surface and the operation sequence of each operation wall surface;

and the target path determining module is used for determining a target path of the plugging equipment based on the first working path and the second working path.

In a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:

one or more processors;

storage means for storing one or more programs;

when the one or more programs are executed by the one or more processors, the one or more processors implement the method for planning the screw hole plugging path according to any embodiment of the present invention.

In a fourth aspect, the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the method for planning a screw hole plugging path according to any one of the embodiments of the present invention.

According to the technical scheme of the embodiment of the invention, the real position information of the screw hole on the operation wall surface is determined based on the first position information of the screw hole on each operation wall surface and the second position information of the screw hole on the operation wall surface model, so that the acquired real position information of the operation wall surface is more accurate, and accurate screw hole plugging paths are planned in the following process. The method comprises the steps that a first operation path for plugging the screw hole on each operation wall surface by plugging equipment is determined based on the real position information of the screw hole on the operation wall surface, so that after the first operation path is planned, the subsequent plugging equipment can plug the screw hole on each operation wall surface according to the first operation path, and the situation that the plugging equipment directly operates according to a received operation task is avoided. And determining a second operation path of the plugging device moving among the operation wall surfaces based on the first parameter information of each operation wall surface and the operation sequence of each operation wall surface, so that after the second operation path is planned, the subsequent plugging device moves among the operation wall surfaces according to the second operation path and is combined with the first operation path to form a complete plugging operation path, and thus, the situation that the plugging device directly operates according to the received operation task is avoided, and if the operation path is not feasible in the operation process or other reasons, the operation task cannot be performed, and the waste of time and resources is caused. And determining a target path of the plugging equipment based on the first operation path and the second operation path, so that the plugging equipment performs plugging operation on the screw hole according to the obtained target path and the real position information of the screw hole, the automatic operation flow of plugging the whole screw hole is completed, and the effect of efficiently and automatically planning the plugging path of the screw hole is realized.

Drawings

Fig. 1 is a flowchart of a screw hole plugging path planning method according to a first embodiment of the present invention;

FIG. 2 is a diagram illustrating a second generated operation path according to a first embodiment of the present invention;

FIG. 3 is a flowchart of a screw hole plugging path planning method according to a second embodiment of the present invention;

FIG. 4 is a diagram illustrating the effect of fitting the second location information to the filtered first location information according to the second embodiment of the present invention;

fig. 5 is a schematic structural diagram of a screw hole plugging path planning device in the third embodiment of the present invention;

fig. 6 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a flowchart of a screw hole blocking path planning method according to an embodiment of the present invention, where the present embodiment is applicable to a situation of blocking a screw hole, the method may be executed by a screw hole blocking path planning device, the screw hole blocking path planning device may be implemented by software and/or hardware, and the screw hole blocking path planning device may be configured on a computing device, and specifically includes the following steps:

s110, determining the real position information of the screw hole on the operation wall surface based on the first position information of the screw hole on each operation wall surface and the second position information of the screw hole on the operation wall surface model.

For example, the working wall surface may be a wall surface with screw holes, and the screw holes on the wall surface need to be plugged. The first position information may be acquired position information of a screw hole on the work wall surface, and the second position information may be acquired position information of the screw hole on the work wall surface according to a model of the work wall surface. According to the acquired first position information of the screw hole on each operation wall surface and the second position information of the screw hole on the operation wall surface model, the real position information of the screw hole on the operation wall surface can be determined based on a certain calculation rule, so that the acquired real position information of the operation wall surface is more accurate, and an accurate screw hole plugging path can be planned subsequently.

S120, determining a first operation path for plugging the screw hole on each operation wall surface by the plugging device based on the real position information of the screw hole on the operation wall surface.

For example, the first working path may be a path in which the plugging device performs a screw hole plugging work on each working wall surface. According to the real position information of the screw hole on the operation wall surface, a path of the plugging device for plugging the screw hole on each operation wall surface can be planned in the building information model. Wherein, the first operation path can be determined and generated based on the minimum length principle.

Therefore, after the first operation path is planned, the subsequent plugging equipment can plug the screw hole on each operation wall surface according to the first operation path, so that the situation that the plugging equipment directly performs operation according to the received operation task is avoided, and if the operation path is not feasible in the operation process or due to other reasons, the operation task cannot be performed, and the waste of time and resources is caused.

S130, determining a second operation path of the plugging device moving among the operation wall surfaces based on the first parameter information of each operation wall surface and the operation sequence of each operation wall surface.

For example, the second work path may be a movement path between work walls, for example, in a house with two walls in a living room, the second work path may be a movement path between the plugging device moving from one wall to the other wall. The first parameter information may be operation information on a work wall surface, and optionally, may be at least one item of information such as a beam, an embedded pipeline, and a pipeline. The operation sequence of the operation wall surfaces can be that when a second operation path between the operation wall surfaces is planned, the operation sequence in front of each operation can be planned according to a certain rule, so that when the plugging equipment performs operation, the plugging operation can be performed on each operation wall surface in sequence according to the operation sequence of each operation wall surface. Specifically, a three-dimensional wall surface segmentation and sequencing information extraction technology can be utilized, each operation wall surface is automatically segmented based on a building information model, so that a single-side operation wall surface is extracted, each single-side operation wall surface is numbered, the operation sequence of each single-side operation wall surface is determined, and the plugging device can operate according to the operation sequence of each single-side operation wall surface. Taking a single-face operation wall surface as an example, a living room house is taken as an example, a living room and a bedroom can share one wall, the living room has one wall body, the bedroom also has one wall body, and screw holes to be blocked are arranged on the wall bodies of the living room and the bedroom, so that the wall body shared by the living room and the bedroom is numbered firstly in the blocking process, and the wall body of the living room or the wall body of the bedroom is operated firstly. Therefore, the single-sided work wall surface is extracted, and the situation that the work wall surface is not operated is avoided. Therefore, after the second operation path is planned, the plugging device can move between the operation wall surfaces according to the acquired second operation path and can be combined with the first operation path to form a complete plugging operation path, and the situation that the plugging device directly operates according to the received operation task is avoided.

Optionally, the first parameter information may be a safe walking boundary area of the working wall surfaces, wherein the second working path of the plugging device moving between the working wall surfaces is determined based on the first parameter information of each working wall surface and the working sequence of each working wall surface, and may be: and in the building model information system, based on the safe walking boundary area of the operation wall surface and the operation sequence of each operation wall surface, determining a feasible path of the plugging device, which does not touch the obstacles outside the safe walking boundary area of the operation wall surface in the moving process of the plugging device between the operation wall surfaces, as a second operation path.

Illustratively, referring to the generated second operation path schematic diagram shown in fig. 2, the arabic numerals beside the wall surfaces are numbered as the operation sequence of the operation wall surfaces, and the cross line area B is the non-movable area C of the chassis of the plugging device and is the cast-in-place concrete wall. The safe walking boundary area of the operation wall surface can be a walking area where the plugging device does not touch obstacles such as a house beam and the like in the operation process. Because the mechanical arm of the plugging device may touch obstacles such as a house beam and the like when the plugging device moves between the operation wall surfaces, in the building model information system, a safe walking area of the operation wall surfaces is planned, based on the safe walking boundary area of the operation wall surfaces and the operation sequence of each operation wall surface, a feasible path of the plugging device, which does not touch the obstacles outside the safe walking boundary area of the operation wall surfaces, can be determined in the moving process of the plugging device between the operation wall surfaces, and the feasible path is used as a second operation path. Specifically, the mechanical arm combining the three-dimensional space obstacle avoidance algorithm with the screw hole plugging equipment cannot touch the structural beam with the space dimensionality in different operation postures and operation heights, and other protruding components such as a lower hanging beam are adopted, the motion heights of the mechanical arm in different plugging postures and operation scenes of the robot are compared with the elevations of the structural components of the space structure extracted based on the model (the zero-height reference surface can be the upper layer of the floor slab and can be the ceiling), obstacle avoidance planning is carried out, if collision occurs, the motion of the multi-axis mechanical arm of the plugging equipment can be controlled through the adjustment of the data structure, and therefore collision is avoided. Therefore, the plugging device is prevented from being damaged by touching obstacles in the moving process of the plugging device between the operation wall surfaces, the cost is saved, and the operation efficiency is improved.

Optionally, the first parameter information may be embedded pipelines and pipes in the operation wall surfaces, wherein the second operation path of the plugging device moving between the operation wall surfaces is determined based on the first parameter information of each operation wall surface and the operation sequence of each operation wall surface, and may be: and in the building model information system, based on the positions of the embedded pipelines and the pipelines, determining a feasible path of the plugging equipment which does not touch the embedded pipelines and the pipelines in the moving process of the plugging equipment between the operation wall surfaces as a second operation path.

For example, as shown in fig. 2, in a large building species, some pipelines and pipes (area a) may be embedded in the ground, and the plugging device may roll over the pipelines and pipes during the movement between the working wall surfaces, therefore, in the building model information system, positions of the pre-embedded pipelines and pipes are planned first, and based on the positions of the pre-embedded pipelines and pipes, a feasible path of the plugging device, which does not touch the pre-embedded pipelines and pipes between the working wall surfaces during the movement between the working wall surfaces, may be determined, and the feasible path is taken as a second working path. Specifically, a two-dimensional space collision avoidance algorithm may be used, a safety reserved distance of a preset length (for example, 100mm) is added according to the known and determined size of the plugging device, collision avoidance is performed through the range profile of the operation wall surface extracted from the building information model or the range profile of the embedded pendant (embedded pipeline and pipeline), and therefore collision between the plugging device and the peripheral structural member and the embedded pendant in a two-dimensional plane dimension is avoided by controlling the walking route, and the purpose of obstacle avoidance is achieved. Therefore, the situation that the pre-buried pipeline and the pipeline are damaged due to the fact that the plugging equipment rolls to the pre-buried pipeline and the pipeline in the moving process of each operation wall surface is avoided, the cost is saved, and the operation efficiency is improved.

It should be noted that, in other embodiments, the first parameter information may include a safe walking boundary area of the working wall surface, and an embedded pipeline and a pipeline in the working wall surface, so as to plan a working path that does not touch an obstacle nor crush the embedded pipeline and the pipeline, such as a cross line area B in fig. 2, the area is a non-walking area formed based on a three-dimensional space obstacle avoidance algorithm and a two-dimensional space collision avoidance algorithm, that is, the center of the chassis of the plugging device cannot walk in the area, so as to avoid collision occurring in the space and the plane dimensions, and the remaining blank areas are movable areas of the chassis of the plugging device, and the arabic number numbers 1, 2, 3, … …, and 10 beside the working wall surface shown in the figure are generated based on a three-dimensional wall surface segmentation and sorting information extraction technology, and are used for segmenting and sorting the wall body to be plugged on each surface, the job sequence is formed and dominates the path travel direction so that the second job path may be a combination of the two second job paths described above.

The second working path includes a first moving path and a second moving path, wherein the first moving path includes: the path along which the plugging device moves between the work wall surfaces in the work order, that is, the path along which the plugging device moves between the work wall surfaces in the work order of the work wall surfaces, for example, the plugging device performs the work between the work wall surfaces in the work order 1, 2, 3, … …, 10 of the work wall surfaces in fig. 2. The second moving path includes: the plugging device does not jump between any two operation wall surfaces according to the operation sequence, that is, the plugging device can jump between any two wall surfaces in the operation area, for example, as shown in fig. 2, the dotted line is a transition path required by the plugging robot to temporarily jump the operation wall surfaces, and the jump path can be used for the plugging device to quickly jump the operation wall surfaces under special conditions. Therefore, under special conditions, the plugging equipment can perform jumping operation between any two operation wall surfaces, and the operation efficiency is improved.

In addition, it should be noted that the method for planning the second working path is also applicable to the planning of the first working path in step S120, and the first working path that does not touch the obstacle or crush the embedded pipeline and the pipeline may be planned, or the working path that does not touch the obstacle or crush the embedded pipeline and the pipeline may be planned.

S140, determining a target path of the plugging device based on the first working path and the second working path.

For example, the target path may be an actual walking path of the plugging device for plugging a screw hole of the working area. The combination of the first working path and the second working path is the target path of the plugging device. Therefore, the plugging equipment performs plugging operation on the screw hole according to the acquired target path and the real position information of the screw hole, the automatic operation flow of plugging the whole screw hole is completed, and the effect of efficiently and automatically performing plugging path planning on the screw hole is realized.

Optionally, determining the target path of the plugging device based on the first working path and the second working path may be: respectively determining the operation positions of the plugging equipment on the first operation path and the second operation path; determining an operation time set of each operation position according to the operation parameters of the plugging equipment, the plugging time of each screw hole and the operation sequence of each operation position in the target path; and generating the target path according to the operation position and the operation time set.

For example, the working position of the plugging device may be a working position of the plugging device in the first working path for plugging each screw hole on any one working wall surface, and a working position of the plugging device in the second working path during moving between the working wall surfaces. The operational parameters of the plugging device may be the movement speed and the rotation speed of the plugging device, i.e. the movement speed and the rotation speed of the plugging device on the first and second working path. The set of job times may include times to and from each job location. And determining a working time set of each working position according to the working parameters of the plugging equipment, the plugging time of each screw hole and the working sequence of each working position in the target path, and generating the target path according to the working position and the working time set. As shown in fig. 2, the dotted line is a target path automatically calculated based on the operation parameters of the screw hole plugging device and the algorithm of integrating and packing the working protocol, so that the generated target path is a path which does not touch the obstacle, does not roll the embedded pipeline and the pipeline, and is a planned automatic operation path of the screw hole plugging device according to time.

In addition, the operation time set can be obtained through a time dimension statistical algorithm, the time dimension statistical algorithm is combined with a three-dimensional wall surface segmentation and sequencing information extraction technology, the plugging time of the screw hole in the single-sided wall body can be determined, and then the fact that the double-sided screw hole opening is plugged in the single side within the preset time is determined, so that the problem of slurry leakage caused by the fact that mortar used for plugging the screw hole overflows is avoided. In addition, the time required for finishing the whole operation path, namely the time of the target path can be determined according to the plugging time of each screw hole, the number of the screw holes, the traveling time of the first path and the traveling time of the second path, and whether the mortar is completely coagulated can be evaluated according to the time of the target path.

According to the technical scheme of the embodiment of the invention, the real position information of the screw hole on the operation wall surface is determined based on the first position information of the screw hole on each operation wall surface and the second position information of the screw hole on the operation wall surface model, so that the acquired real position information of the operation wall surface is more accurate, and accurate screw hole plugging paths are planned in the following process. The method comprises the steps that a first operation path for plugging the screw hole on each operation wall surface by plugging equipment is determined based on the real position information of the screw hole on the operation wall surface, so that after the first operation path is planned, the subsequent plugging equipment can plug the screw hole on each operation wall surface according to the first operation path, and the situation that the plugging equipment directly operates according to a received operation task is avoided. And determining a second operation path of the plugging device moving among the operation wall surfaces based on the first parameter information of each operation wall surface and the operation sequence of each operation wall surface, so that after the second operation path is planned, the plugging device can move among the operation wall surfaces according to the acquired second operation path and can be combined with the first operation path to form a complete plugging operation path, and thus, the plugging device can be prevented from directly operating according to the received operation task, and if the operation path is not feasible in the operation process or other reasons, the operation task cannot be performed, and the waste of time and resources is caused. And determining a target path of the plugging equipment based on the first operation path and the second operation path, so that the plugging equipment performs plugging operation on the screw hole according to the obtained target path and the real position information of the screw hole, the automatic operation flow of plugging the whole screw hole is completed, and the effect of efficiently and automatically planning the plugging path of the screw hole is realized.

Example two

Fig. 3 is a flowchart of a screw hole plugging path planning method provided in the second embodiment of the present invention, and the technical solution of the second embodiment of the present invention is further optimized on the basis of the second embodiment, and specifically includes the following steps:

s210, performing visual point cloud scanning on each operation wall surface, and acquiring first position information of a screw hole on each operation wall surface.

For example, each work wall surface may be subjected to visual point cloud scanning based on a visual point cloud scanning technology, and first position information of a screw hole on each work wall surface is acquired. Therefore, the obtained position information of the screw hole on the working wall surface is obtained based on the actual wall surface, and the authenticity and the reliability of the first position information are ensured.

S220, filtering the first position information of the screw hole to filter out the first position information of the inoperable pseudo screw hole.

For example, the pseudo screw hole may be a screw hole that is not operable due to a reason of manual plugging or a reason of incomplete cleaning of the screw hole, etc. when the first position information is acquired, on the wall surface, and may be information of a socket switch hole, unevenness of the wall surface, and a defect of the wall surface, etc. on the wall surface. Due to the existence of the pseudo screw hole, after the first position information is obtained, the first position information needs to be filtered firstly to filter the first position information of the inoperable pseudo screw hole, the first position information of the inoperable pseudo screw hole is not reflected during operation, and meanwhile, a plugging device is not provided, so that the screw holes for subsequent plugging are all screw holes capable of operating, the situation that the path planning of the inoperable pseudo screw hole information needs to be carried out because the first position information of the inoperable pseudo screw hole is reserved is avoided, and the path planning time is prolonged.

When filtering the first position information, because the data volume of the first position information is huge and the data density of the first position information is irregular, smoothing processing is needed, and the collected first position information is chaotic and complex, the first position information data can be structurally optimized and smoothed by using a radial basis function, invalid point clouds are filtered and deleted by defining the point cloud density, specifically, the invalid point clouds can be obtained by controlling the distance from the point coordinate information of any point X in the radial basis function to a certain center Xc (the average distance of k points nearby) according to the actual situation of a field screw hole and the characteristics of the outlier in the first position information obtained by multiple tests, namely, the processed first position information data is presented as Gaussian distribution, and the operable first position information set point with certain rich density can be obtained by controlling the corresponding average value and variance in the filter function, i.e. the first location information data point. The Gaussian kernel function is expressed in a specific form: k (| x-xc |) - | exp { - | | x-xc | |2/(2 × σ 2) }, where: xc is the center location of the kernel function, sigma is the range parameter of the function, namely the first location information data filtering condition, which can control the radial action range of the function and can control and eliminate the points outside the action range.

The main purpose of this filtering correction algorithm is to filter socket switch hole, the information of wall unevenness's information and wall defect, but the first position information of operation is kept through this filtering algorithm, but the first position information of rejecting the operation, when guaranteeing the accuracy of first position information data, the composition of first position information data structure has been optimized, the lightweight characteristic of first position information data has been ensured, it is convenient to provide data cross contrast and path planning in later stage, guarantee the high efficiency of operation, reduce data processing speed, the automated computing efficiency has been optimized.

And S230, acquiring second position information of the screw hole on each operation wall surface model based on the building information model system.

Illustratively, in the building information model system, according to each work wall model, second position information of a screw hole on each work wall model is obtained so as to be corrected with the filtered first position information.

And S240, converting a coordinate system of the first position information or the second position information to enable the coordinate systems of the first position information and the second position information to be the same.

For example, since the first position information is obtained by using a visual point cloud scan, which is equivalent to a coordinate system established based on an actual working wall surface, the second position information is obtained in the building information model, which is equivalent to a coordinate system established based on the building information model, and the coordinate systems of the position information of the two may be different, before the linear fitting of the two, the coordinate systems of the first position information or the second position information need to be converted so that the two are in the same scale in the same coordinate system, so as to perform the subsequent linear fitting.

S250, performing cross comparison correction on the first position information and the second position information, and determining the real position information of the screw hole.

For example, the first position information and the second position information are subjected to cross comparison correction based on a data cross comparison correction algorithm, so that the real position information of the screw hole is determined, and the determined real position information of the screw hole on the working wall surface is more accurate, so that an accurate screw hole plugging path can be planned subsequently.

Optionally, the cross-comparing and correcting the first position information and the second position information to determine the actual position information of the screw hole may be: respectively performing linear fitting on the first position information and the second position information to obtain first linear data and second linear data; and performing cross comparison on the first linear data and the second linear data by taking the first position information as a reference point, and performing position information correction on the first position information and the second position information according to a comparison result to determine the real position information of the screw hole.

For example, the first linear data and the second linear data are fitting values of the first position information and the second position information obtained by fitting the first position information and the second position information, respectively, which are equivalent to coordinate values of the first position information and the second position information. Referring to an effect diagram of fitting the second position information and the filtered first position information shown in fig. 4, the first position information and the second position information are respectively subjected to linear fitting to obtain first linear data and second linear data, as shown in fig. 4, the first position information is a concentrated point cloud in fig. 4, the second position information is a circle in fig. 4, then the same coordinate points in the first linear data and the second linear data are subjected to cross comparison, and the position information of the first position information and the second position information is corrected according to a comparison result, so that the real position information of the screw hole can be determined. Therefore, the first linear data and the second linear data are cross-compared, so that the fitting convergence effect of the first linear data can be improved, the stability and the accuracy of the first linear data are ensured, and meanwhile, the influence on the accurate operation of the robot caused by construction errors and inconsistency between the actual situation of a site and a design drawing can be fundamentally solved.

As shown in fig. 4, when the same coordinate point in the first linear data and the second linear data is cross-compared by the cross-comparison correction algorithm, the following three cases may occur:

case 1: the first linear data and the second linear data can be matched after linear fitting

And after the first linear data and the second linear data are subjected to cross comparison, if the comparison result is matching, the first position information is taken as a datum point, the second linear data and the filtered first linear data are subjected to comparison fitting, and the second linear data are finally fitted into a straight line in a graph 4, so that accurate coordinates of each screw hole point position are formed and are extracted when the robot works.

Case 2: and if the second position information in the second linear data is inoperable in the comparison result of the cross comparison of the first linear data and the second linear data, correcting the position information of the second position information which is not corresponding to the first position information.

The hollow circles in fig. 4 indicate that there are screw holes in the second linear data, but the holes that cannot be operated due to human blocking or incomplete cleaning during actual point cloud scanning have been removed from the hollow circles in the drawing during the filtering of the first position information, and are not used as fitting parts, are not reflected in the operation coordinate information, and are not provided for the operation of the robot. Therefore, the position information of the screw hole after cross comparison and correction is ensured to be the real position information, so that the operable screw hole can be plugged according to the real position information of the screw hole in the following process, and a target path is planned.

Case 3: and if the comparison result of the cross comparison of the first linear data and the second linear data is not matched, translating the second linear data to a position matched with the first linear data for correcting the position information. Due to the fact that the first linear data and the second linear data of the screw hole are not matched due to carelessness and errors in template installation, the first linear data are required to be used as datum points, the second linear data are moved and matched with the straight line of the existing second linear data through changing the x dimension value, namely x +/-b, and the moving and matching can be stopped until the second linear data are matched and matched with the first linear data, so that a new screw hole data point position is obtained and used as new screw hole coordinate data for operation of plugging equipment to be extracted and used by the plugging equipment. As shown in fig. 4, the dotted line is the first position information after filtering obtained by the visual point cloud scanning, and the first linear data does not match the second linear data, so that it is necessary to perform the motion matching of the second linear data based on the second linear data (solid line) until the second linear data matches the first linear data (dotted line). And at the moment, obtaining new screw hole position information as the real position information of the screw hole, and providing the new screw hole position information to the plugging equipment so that the plugging equipment can operate according to the real position information of the screw hole. Therefore, the position information of the screw hole after cross comparison and correction is ensured to be the real position information, so that the operable screw hole can be plugged according to the real position information of the screw hole in the following process, and a target path is planned.

S260, determining a first operation path for plugging the screw hole on each operation wall surface by the plugging device based on the real position information of the screw hole on the operation wall surface.

S270, determining a second operation path of the plugging device moving between the operation wall surfaces based on the first parameter information of each operation wall surface and the operation sequence of each operation wall surface.

S280, determining a target path of the plugging device based on the first working path and the second working path.

According to the technical scheme of the embodiment, the first position information of the screw hole on each operation wall surface is obtained by performing visual point cloud scanning on each operation wall surface, so that the obtained position information of the screw hole on the operation wall surface is obtained based on the actual wall surface, and the authenticity and the reliability of the first position information are ensured. The acquired first position information of the screw hole is filtered to filter the first position information of the inoperable pseudo screw hole, so that the screw holes which are subsequently plugged are all screw holes which can be operated, and the situation that the path of the inoperable pseudo screw hole information needs to be planned due to the fact that the first position information of the inoperable pseudo screw hole is reserved is avoided, and the path planning time is prolonged. And acquiring second position information of the screw hole on each operation wall surface model based on the building information model system so as to correct the second position information subsequently and after filtering. And converting the coordinate system of the first position information or the second position information to enable the coordinate systems of the first position information and the second position information to be the same, so that linear fitting can be performed on the first position information and the second position information subsequently. And correcting the position information of the first position information and the second position information, and determining the real position information of the screw hole, so that the determined real position information of the screw hole on the operation wall surface is more accurate, and an accurate screw hole plugging path is planned in the following process.

EXAMPLE III

Fig. 5 is a schematic structural diagram of a screw hole plugging path planning device provided in the third embodiment of the present invention, and as shown in fig. 5, the device includes: a position determination module 31, a first work path determination module 32, a second work path determination module 33 and a target path determination module 34.

The position determining module 31 is configured to determine, based on first position information of a screw hole on each work wall and second position information of a screw hole on the work wall model, actual position information of the screw hole on the work wall;

the first operation path determining module 32 is configured to determine, based on the actual position information of the screw hole on the operation wall surface, a first operation path on each operation wall surface for performing screw hole plugging by the plugging device;

a second operation path determining module 33, configured to determine, based on the first parameter information of each operation wall surface and the operation sequence of each operation wall surface, a second operation path of the plugging device moving between the operation wall surfaces;

a target path determination module 34 configured to determine a target path of the plugging device based on the first working path and the second working path.

In the technical solution of the above embodiment, the target path determining module 34 includes:

a working position determining unit for determining the working positions of the plugging device on the first working path and the second working path respectively;

the operation time set determining unit is used for determining an operation time set of each operation position according to the operation parameters of the plugging equipment, the plugging time of each screw hole and the operation sequence of each operation position in the target path;

and the target path generating unit is used for generating the target path according to the operation position and the operation time set.

Optionally, the operation parameters of the plugging device include: the movement speed and the rotation speed of the occlusion device; the set of job times includes: a time to reach the work location and a time to leave the work location.

In the technical solution of the above embodiment, the position determining module 31 includes:

the first position information acquisition unit is used for performing visual point cloud scanning on each operation wall surface to acquire first position information of a screw hole on each operation wall surface;

a second position information acquiring unit configured to acquire second position information of a screw hole on each work wall surface model based on the building information model system;

and the position determining unit is used for performing cross comparison correction on the first position information and the second position information and determining the real position information of the screw hole.

In the technical solution of the above embodiment, the position determining unit includes:

the linear data acquisition subunit is used for respectively performing linear fitting on the first position information and the second position information to obtain first linear data and second linear data;

and the position determining subunit is configured to perform cross comparison on the first linear data and the second linear data by using the first position information as a reference point, perform position information correction on the first position information and the second position information according to a comparison result, and determine real position information of the screw hole.

In the technical solution of the above embodiment, the position determining subunit is specifically configured to:

and if second position information in the second linear data is inoperable in the comparison result of the cross comparison of the first linear data and the second linear data, correcting the position information of the second position information which is not corresponding to the first position information.

In the technical solution of the above embodiment, the position determining subunit is further specifically configured to:

and if the comparison result of the cross comparison of the first linear data and the second linear data is not matched, translating the second linear data to a position matched with the first linear data for position information correction.

In the technical solution of the above embodiment, the position determining unit further includes:

and the format conversion subunit is used for performing coordinate system conversion on the first position information or the second position information so as to enable the coordinate systems of the first position information and the second position information to be the same.

In the technical solution of the above embodiment, the position determining module 31 further includes:

and the information filtering unit is used for filtering the first position information of the screw hole so as to filter the first position information of the inoperable pseudo screw hole.

In the technical solution of the above embodiment, the first parameter information includes: the safe walking boundary area of the working wall surface, the second working path determining module 33 includes:

and the first operation path determining unit is used for determining a feasible path of the plugging device, which does not touch the obstacles outside the range of the safe walking boundary area of the operation wall surface in the moving process between the operation wall surfaces, as a second operation path based on the safe walking boundary area of the operation wall surface and the operation sequence of each operation wall surface in the building model information system.

In the technical solution of the above embodiment, the first parameter information includes: pre-buried pipeline and pipeline in the operation wall, second operation route determination module 33 includes:

and the second operation path determining unit is used for determining a feasible path, which does not touch the embedded pipeline and the pipeline, of the plugging device in the moving process between the operation wall surfaces as a second operation path in the building model information system based on the positions of the embedded pipeline and the pipeline.

Optionally, the second working path includes a first moving path and a second moving path; wherein the first moving path includes: the plugging equipment moves among the operation wall surfaces according to the operation sequence; the second moving path includes: and the plugging equipment is not a moving path for jumping between any two operation wall surfaces according to the operation sequence.

The screw hole plugging path planning device provided by the embodiment of the invention can execute the screw hole plugging path planning method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Example four

Fig. 6 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention, as shown in fig. 6, the apparatus includes a processor 40, a memory 41, an input device 42, and an output device 43; the number of processors 40 in the device may be one or more, and one processor 40 is taken as an example in fig. 6; the processor 40, the memory 41, the input device 42 and the output device 43 in the apparatus may be connected by a bus or other means, as exemplified by the bus connection in fig. 6.

The memory 41 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the screw hole blocking path planning method in the embodiment of the present invention (for example, the position determination module 31, the first working path determination module 32, the second working path determination module 33, and the target path determination module 34). The processor 40 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 41, that is, the screw hole blocking path planning method described above is implemented.

The memory 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 41 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, memory 41 may further include memory located remotely from processor 40, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 42 is operable to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the apparatus. The output device 43 may include a display device such as a display screen.

EXAMPLE five

The fifth embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are used to perform a method for planning a screw hole plugging path.

Of course, the storage medium provided by the embodiment of the present invention includes computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the screw hole plugging path planning method provided by any embodiment of the present invention.

From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.

It should be noted that, in the embodiment of the screw hole blocking path planning apparatus, each unit and each module included in the embodiment are only divided according to functional logic, but are not limited to the above division, as long as corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. 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, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.