CN113524164B - Method and device for determining operation information and operation equipment - Google Patents
Method and device for determining operation information and operation equipment Download PDFInfo
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- CN113524164B CN113524164B CN202010283537.9A CN202010283537A CN113524164B CN 113524164 B CN113524164 B CN 113524164B CN 202010283537 A CN202010283537 A CN 202010283537A CN 113524164 B CN113524164 B CN 113524164B
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000010276 construction Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 9
- 230000003245 working effect Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 241001270131 Agaricus moelleri Species 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010422 painting Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
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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
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The application provides a method, a device and a working device for determining working information, wherein the method comprises the steps of obtaining the distance between the working device and the whole working surface of a working object, wherein the whole working surface comprises at least one working surface to be worked; determining the size of each surface to be operated according to the distance; and determining target operation information of a target operation surface according to each size and operation requirement, wherein the target operation surface belongs to at least one to-be-operated surface. According to the application, the actual operation information of the target operation surface can be determined according to the distance between the operation equipment and the whole operation surface, so that the operation of the operation equipment is effectively assisted, and the operation effect of the operation equipment is ensured.
Description
Technical Field
The present application relates to the field of building technologies, and in particular, to a method and an apparatus for determining operation information, and an operation device.
Background
In the related art, working devices (e.g., construction robots) are self-moving, and they automatically travel on the ground or surface of a work area to perform corresponding work, for example, painting a work object (wall surface) with the working device, or the like. In controlling a working device to perform a working task, theoretical working information of a surface to be worked (for example, a wall surface) is generally determined from a configured command file.
In this way, since the actual working scene often has unpredictable special conditions (e.g., uneven working surface, rough working surface, etc.), at this time, the working task is still executed with theoretical working information, which may cause errors in the working and poor working effect of the working equipment.
Disclosure of Invention
The present application aims to solve at least one of the technical problems in the related art to some extent.
Therefore, the application aims to provide a method and a device for determining operation information and an operation device, which can determine actual operation information of a target operation surface according to the distance between the operation device and the whole operation surface, effectively assist the operation of the operation device and ensure the operation effect of the operation device.
In order to achieve the above object, a method for determining job information according to an embodiment of the first aspect of the present application includes: acquiring the distance between the working equipment and an integral working surface of a working object, wherein the integral working surface comprises at least one surface to be worked; determining the size of each surface to be worked according to the distance; and determining target job information of a target job face according to each size and job requirement, wherein the target job face belongs to the at least one to-be-job face.
According to the method for determining the operation information, which is provided by the embodiment of the first aspect of the application, by acquiring the distance between the operation equipment and the whole operation surface of the operation object, the whole operation surface comprises at least one operation surface to be operated, determining the size of each operation surface to be operated according to the distance, and determining the target operation information of the target operation surface according to each size and operation requirement, wherein the target operation surface belongs to at least one operation surface to be operated, and the actual operation information of the target operation surface can be determined according to the distance between the operation equipment and the whole operation surface, so that the operation of the operation equipment is effectively assisted, and the operation effect of the operation equipment is ensured.
To achieve the above object, an apparatus for determining job information according to an embodiment of the present application includes: the acquisition module is used for acquiring the distance between the operation equipment and the whole operation surface of the operation object, wherein the whole operation surface comprises at least one surface to be operated; the first determining module is used for determining the size of each working surface to be worked according to the distance; and the second determining module is used for determining target job information of a target job surface according to the sizes and the job requirements, wherein the target job surface belongs to the at least one to-be-job surface.
According to the determining device for the operation information provided by the embodiment of the second aspect of the application, the distance between the operation equipment and the whole operation surface of the operation object is obtained, the whole operation surface comprises at least one operation surface to be operated, the size of each operation surface to be operated is determined according to the distance, the target operation information of the target operation surface is determined according to each size and the operation requirement, the target operation surface belongs to at least one operation surface to be operated, the actual operation information of the target operation surface can be determined according to the distance between the operation equipment and the whole operation surface, the operation of the operation equipment is effectively assisted, and the operation effect of the operation equipment is guaranteed.
To achieve the above object, an embodiment of the present application provides a working apparatus, including: the second aspect of the present application provides a device for determining job information.
According to the working equipment provided by the embodiment of the third aspect of the application, the distance between the working equipment and the whole working surface of the working object is obtained, the whole working surface comprises at least one working surface to be worked, the size of each working surface to be worked is determined according to the distance, the target working information of the target working surface is determined according to each size and the working requirement, the target working surface belongs to at least one working surface to be worked, the actual working information of the target working surface can be determined according to the distance between the working equipment and the whole working surface, the working of the working equipment is effectively assisted, and the working effect of the working equipment is guaranteed.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments and the accompanying drawings, in which:
FIG. 1 is a flow chart illustrating a method for determining job information according to an embodiment of the present application;
FIG. 2 is a flow chart illustrating a method for determining job information according to another embodiment of the present application;
FIG. 3 is a schematic view of an overall working surface according to an embodiment of the present application;
FIG. 4 is a schematic illustration of an application of an embodiment of the present application;
FIG. 5 is a schematic diagram of another application of an embodiment of the present application;
fig. 6 is a schematic structural diagram of a device for determining job information according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a device for determining job information according to another embodiment of the present application;
fig. 8 is a schematic structural diagram of a working apparatus according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application. On the contrary, the embodiments of the application include all alternatives, modifications and equivalents as may be included within the spirit and scope of the appended claims.
Fig. 1 is a flowchart illustrating a method for determining job information according to an embodiment of the present application.
The present embodiment is exemplified in a determination method of job information configured as a determination device of job information.
The method for determining the job information in the present embodiment may be configured in the apparatus for determining the job information, and the apparatus for determining the job information may be provided in a server, or may be provided in a job device, which may be, for example, a construction robot, which is not limited in the embodiment of the present application.
The present embodiment takes an example in which the method of determining the job information is configured in the micro controller of the working device.
The execution body of the embodiment of the present application may be, for example, a server or a microcontroller in hardware, and may be, for example, a related background service in the server or the microcontroller in software, which is not limited thereto.
The operation device in the embodiment of the present application is configured with a laser rangefinder and a micro controller, where the actual application function of the laser rangefinder may refer to related technologies, and will not be described herein again.
Referring to fig. 1, the method includes:
s101: the distance between the working equipment and the whole working surface of the working object is obtained, and the whole working surface comprises at least one working surface to be worked.
In the embodiment of the application, the working equipment is taken as a building robot, and the working object is taken as a building wall surface for illustration, so that the application is not limited.
The entire working surface of the working object may be, for example, an entire building wall surface of the working object, or other entity working surfaces capable of being worked on by the working object, and the entire working surface includes at least one working surface to be worked on, for example, an upper beam, a window, a door opening, etc. in the entire building wall surface of the working object.
According to the embodiment of the application, the operation information of each surface to be operated can be determined according to the distance between the operation equipment and the whole operation surface of the operation object.
The working equipment in the embodiment of the application can be further provided with the laser anti-collision radar and the locator, so that when the distance between the working equipment and the whole working surface of the working object is determined, the locator can be used for sending the current position of the working equipment to the server, and the distance between the working equipment and the whole working surface of the working object is determined by the structural information in the server and the working object and the geographical position of the working object, so that the working equipment can receive the distance determined and sent by the server.
In other embodiments, the distance between the working device and the whole working surface of the working object may be measured directly by the laser range finder built in the working device, which is not limited.
In the embodiment of the application, in order to effectively ensure the accuracy of distance measurement between the working equipment and the whole working surface of the working object and realize accurate and rapid determination of the distance in the dynamic movement process of the working equipment, the path to be worked of the working equipment can be obtained, the plan view nearby the working equipment can be obtained, the current position of the working equipment can be obtained through matching calculation according to the plan view and the path to be worked, and the distance between the working equipment and the whole working surface of the working object can be obtained according to the current position of the working equipment.
The above-mentioned step of obtaining the to-be-operated path of the operation device may specifically be performed by analyzing the operation requirement to obtain the to-be-operated path of the operation device in the operation object, for example, analyzing the operation requirement to obtain the to-be-operated path of the operation device in the building.
Wherein the plan view in the vicinity of the work equipment may specifically be generated from a BIM (Building Information Modeling, building information model) which can be used to intuitively present the structural information of the interior of the building.
When the plan view near the operation equipment is obtained, the path to be operated can be matched with the BIM model, and the plan view near the operation equipment can be determined according to the structural information matched with the path to be operated in the BIM model, or the operation equipment can scan the surrounding environment information by 360 degrees through the navigation radar to generate the corresponding plan view.
S102: and determining the size of each surface to be worked according to the distance.
The size of each surface to be worked may be, for example, the outline size of each surface to be worked, for example, when the surface to be worked is a wall surface, the size is the length, width and height of the wall surface, which is not limited.
After the distance between the working device and the whole working surface of the working object is determined, the size of each working surface to be worked included in the whole working surface can be determined based on the distance, so that the subsequent determination of the target working information of the target working surface is assisted, and the target working surface can be the working surface to be worked for which the working information is required to be determined currently in each working surface to be worked.
S103: and determining target operation information of a target operation surface according to each size and operation requirement, wherein the target operation surface belongs to at least one to-be-operated surface.
The current working surface to be worked determined according to the working requirement can be called a target working surface, and the target working surface belongs to at least one working surface to be worked divided.
The job information of the target job surface may be referred to as target job information.
The target job information may specifically be, for example, area data of the target job surface or perimeter data of the target job surface, which is not limited.
The determining the target job information of the target job surface according to each size and job requirement may be determining the target job surface from at least one to-be-job surface according to the job requirement, and determining the target size of the target job surface; determining actual operation information according to the target size; analyzing the operation requirement to obtain theoretical operation information; determining the information fit degree between actual operation information and theoretical operation information; the actual job information and the information matching degree are used as target job information.
Alternatively, the actual job information may be determined according to the target size, or the area data of the target job surface may be determined according to the target size, so that the area data is taken as the actual job information, or the flatness data of the target job surface may be determined according to the target size, so that the flatness data is taken as the actual job information, which is not limited.
The actual job information is job information calculated from the target size of the target job surface.
The theoretical job information is determined directly according to the job requirement.
It will be appreciated that generally actual job scenarios tend to have unpredictable special conditions (e.g., uneven job surfaces, rough job surfaces, etc.), and thus actual job information and theoretical job information tend to have certain errors.
In the related art, the operation information of the theory is referred to assist the operation equipment to execute the operation task, and the operation information of the theory is combined with the operation information actually surveyed to assist the operation equipment to execute the operation task, so that the actual application condition can be combined into the operation control logic of the operation equipment, and the operation effect of the operation equipment is effectively improved.
In the embodiment of the application, the information matching degree between the actual operation information and the theoretical operation information can be determined, the information matching degree can be used for describing the matching degree (namely, the similarity) between the actual operation information and the theoretical operation information, and the information matching degree can also be used for describing the deviation degree between the actual operation information and the theoretical operation information, so that the method is not limited.
In the present application, the information matching degree between the actual job information and the theoretical job information is determined, and the actual job information and the information matching degree are used together as the target job information. The operation device can not only operate according to actual operation information during operation, but also correspondingly adjust an actual operation mode according to the information fit degree, and can ensure the operation efficiency of the operation device by mutually checking theoretical operation information and actual operation information in a simulation system.
In this embodiment, by obtaining the distance between the working device and the whole working surface of the working object, where the whole working surface includes at least one working surface to be worked, determining the size of each working surface to be worked according to the distance, and determining the target working information of the target working surface according to each size and the working requirement, the target working surface belongs to at least one working surface to be worked, and determining the actual working information of the target working surface according to the distance between the working device and the whole working surface, working of the working device is effectively assisted, and the working effect of the working device is guaranteed.
Fig. 2 is a flowchart of a method for determining job information according to another embodiment of the present application.
Referring to fig. 2, the method includes:
s201: the current location of the work equipment is determined.
S202: the overall working surface is divided to obtain a plurality of working surface units.
Referring to fig. 3, fig. 3 is a schematic diagram of an overall working surface of an embodiment of the present application, where the overall working surface 30 of the working object includes three working surfaces 31, each working surface 31 adopts different gray scales, and the working surfaces 31 are respectively an upper beam, a wall surface, and a door opening.
S203: and acquiring the distance between the working equipment and each working surface unit according to the current position.
In the embodiment of the application, in order to effectively ensure the measurement accuracy, the whole working surface can be divided into as many working surface units as possible, so that the distance between the working equipment and each working surface unit is measured, and when the working information of the surface to be worked is determined by adopting the distance between the working equipment and each working surface unit, the effect of the working equipment can be more accurately and effectively assisted.
Alternatively, according to the current position, the distance between the working device and each working surface unit is obtained, and the working device is controlled to move in a direction parallel to the whole working surface step by taking the current position as a starting point and taking a set interval as a step; the distance between the working equipment and each working surface unit is acquired every time the set interval is moved.
When the distance between the working equipment and each working surface unit is acquired based on the moved position, specifically, the distance between the working equipment and each working surface unit is acquired by using a laser range finder based on the moved position.
Referring to fig. 3, the number indicated in each working surface unit in fig. 3 is the distance between the working device and the corresponding working surface unit measured by the laser range finder.
In this embodiment, the distance between the working device and each working surface unit is obtained at each movement setting interval, so that the distance indicated in fig. 3 may be an average value of the distances determined at a plurality of positions moved to for the same working surface unit, which is not limited, thereby effectively reducing the survey error and improving the referenceability of the surveyed distance.
In this embodiment, after each working surface unit is determined, the size of the working surface to be worked may be determined directly according to the distance of the working surface unit covered by the working surface to be worked.
S204: and determining the working face unit covered by the working face.
Referring to fig. 3, if the surface to be worked 31 is an upper beam, a plurality of working surface units covered by the upper beam can be determined, and the method can be used for the case that the surface to be worked 31 is a wall surface and the surface to be worked 31 is a door opening.
S205: and reading the distance between each covered working surface unit and the working equipment.
After the working surface units covered by the working surface to be worked are determined, the distance between each covered working surface unit and the working equipment can be directly read, so that the subsequent determination of the size of the working surface to be worked according to each distance is assisted.
S206: and determining the size of each working surface to be worked according to the distance between each working surface unit and the working equipment.
As an example, the frame size of the surface to be worked out is determined according to the distance of each working surface unit covered by the surface to be worked out and a certain mathematical algorithm is combined, and then the area data of the surface to be worked out according to the frame size of the surface to be worked out and used as actual working information, which is not limited.
S207: and determining target operation information of a target operation surface according to each size and operation requirement, wherein the target operation surface belongs to at least one to-be-operated surface.
The explanation of step S207 may be specifically referred to the above embodiments, and will not be repeated here.
In this embodiment, the whole working surface is divided into as many working surface units as possible, so that the distance between the working device and each working surface unit is measured, and when the working information of the surface to be worked is determined by adopting the distance between the working device and each working surface unit, the working effect of the working device can be more accurately and effectively assisted. Gradually controlling the operation equipment to move in a direction parallel to the whole operation surface by taking the current position as a starting point and taking the set interval as a step; the distance between the working equipment and each working surface unit is acquired every time the set interval is moved, thereby effectively reducing survey errors and improving the referenceability of the surveyed distance. The method comprises the steps of determining working face units covered by a working face, reading the distance between each covered working face unit and working equipment, determining the size of the working face according to each distance, determining target working information of a target working face according to each size and working requirements, collecting the distance between the working equipment and each working face unit in a concentrated mode, and directly reading the distance between each covered working face unit and the working equipment, so that the size of the working face is determined in an auxiliary and rapid mode, working information is determined, separation of a surveying and collecting process of data and a computing process of the working information is achieved, and execution efficiency of a determining method of the working information is improved.
As a specific example, see below, in an example process, reference may be made to fig. 3-5 together.
1) The work equipment is placed within a building environment and matched to the BIM model.
The distance between the working equipment and each working surface unit included in the whole working surface is measured step by taking the current position as a starting point and the set interval as a step by selecting a specific orientation, keeping the distance (distance from the whole working surface of the working object) and the direction (perpendicular to the whole working surface of the orientation), and the distance between the working equipment and each working surface unit included in the whole working surface is measured step by step, as shown in fig. 3 (if the measurement is not perpendicular, the measurement is required to be performed by using the pythagorean theorem or solving a triangle so as to obtain the size of the working surface according to the distance between the working surface units covered by the working surface).
2) As shown in fig. 4, fig. 4 is a schematic application diagram of an embodiment of the present application, where the surface of the whole working surface of the working object is rough, the measured or calculated result floats up and down around a fixed value in a plane, and the measured result is divided into three parts according to the belonging working surface by calculation and grouping, and different parts are marked with different gray scales.
3) As shown in fig. 5, fig. 5 is another application schematic diagram of the embodiment of the present application, in which fig. 5 includes three upper beams, wall surfaces and door openings on the surfaces to be worked, and coordinates of four boundaries of each surface to be worked are recorded as follows: a1, A2, A3, A4, B1, B2, B3, B4, C1, C2, C3, C4, thereby calculating the areas S1, S2, S3 of each work surface as follows:
S1＝(A1-A2)*(A1-A3)；
S3＝(C1-C2)*(C1-C3)；
S2＝(B1-B2)*(B1-B3)-S3。
the above assumption is that: s2 is the area of the wall surface of the surface to be operated, S1 is the area of the upper beam of the surface to be operated, S3 is the area of the door opening of the surface to be operated, and the target area data to be operated is obtained as actual operation information according to the operation requirement or the type of operation equipment.
Illustrating: the wallpaper paving robot only needs to obtain S2 if only needs to pave a wall surface main body, and the area needing to be paved is S1+S2 if the wall surface main body also needs to be paved on a beam.
In addition, if the working equipment is an indoor spraying robot, the working surface of the working equipment covers the beam bottom, and the actual working information needs to be added with the beam bottom area. S4= (A1-A2) × (difference between A3 and B1 depth), so the actual working information of the indoor painting robot is s1+s2+s4.
4) And sequentially measuring the whole working surfaces of the working object in four directions, and calculating and analyzing to obtain the whole working information of the working object.
5) In the simulation operation of the operation equipment, theoretical operation information of the operation object can be counted, and the theoretical operation information is compared with the calculated actual operation information, so that the degree of coincidence between data and actual data in the simulation calculation can be checked.
Fig. 6 is a schematic structural diagram of a device for determining job information according to an embodiment of the present application.
Referring to fig. 6, the apparatus 600 includes:
an obtaining module 601, configured to obtain a distance between an operation device and an overall operation surface of an operation object, where the overall operation surface includes at least one surface to be operated;
a first determining module 602, configured to determine a size of each surface to be worked according to the distance;
the second determining module 603 is configured to determine target job information of a target job surface according to each size and job requirement, where the target job surface belongs to at least one to-be-job surface.
Optionally, in some embodiments, the second determining module 603 is specifically configured to:
determining a target working surface from at least one working surface to be worked according to the working requirement, and determining the target size of the target working surface;
determining actual operation information according to the target size;
analyzing the operation requirement to obtain theoretical operation information;
determining the information fit degree between actual operation information and theoretical operation information;
the actual job information and the information matching degree are used as target job information.
Optionally, in some embodiments, referring to fig. 7, the acquiring module 601 includes:
a determining submodule 6011 for determining a current position of the working equipment;
a dividing submodule 6012 for dividing the whole working surface to obtain a plurality of working surface units;
an acquisition submodule 6013 is used for acquiring the distance between the working equipment and each working surface unit according to the current position.
It should be noted that the explanation of the embodiment of the method for determining the job information in the embodiment of fig. 1 to 5 is also applicable to the apparatus 600 for determining the job information in this embodiment, and the implementation principle is similar, and will not be repeated here.
In this embodiment, by obtaining the distance between the working device and the whole working surface of the working object, where the whole working surface includes at least one working surface to be worked, determining the size of each working surface to be worked according to the distance, and determining the target working information of the target working surface according to each size and the working requirement, the target working surface belongs to at least one working surface to be worked, and determining the actual working information of the target working surface according to the distance between the working device and the whole working surface, working of the working device is effectively assisted, and the working effect of the working device is guaranteed.
Fig. 8 is a schematic structural diagram of a working apparatus according to an embodiment of the present application.
Referring to fig. 8, the working apparatus 800 includes:
the job information determining apparatus 600 in the above-described embodiment.
It should be noted that the explanation of the embodiment of the method for determining the job information in the embodiments of fig. 1 to 5 is also applicable to the job device 800 of this embodiment, and the implementation principle is similar, and will not be repeated here.
In this embodiment, by obtaining the distance between the working device and the whole working surface of the working object, where the whole working surface includes at least one working surface to be worked, determining the size of each working surface to be worked according to the distance, and determining the target working information of the target working surface according to each size and the working requirement, the target working surface belongs to at least one working surface to be worked, and determining the actual working information of the target working surface according to the distance between the working device and the whole working surface, working of the working device is effectively assisted, and the working effect of the working device is guaranteed.
It should be noted that in the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (8)
1. A method of determining job information, characterized by being applied to a job apparatus, the job apparatus being a construction robot, the method comprising:
the distance between the operation equipment and the whole operation surface of the operation object is obtained, the whole operation surface comprises at least one surface to be operated, and the surface to be operated is an upper beam or a window or a door opening in the whole building wall surface of the operation object;
determining the size of each surface to be worked according to the distance;
determining target operation information of a target operation surface according to each size and operation requirement, wherein the target operation surface belongs to the at least one to-be-operated surface;
the determining the target job information of the target job surface according to the sizes and the job demands comprises the following steps:
determining a target working surface from the at least one working surface to be worked according to the working requirement, and determining a target size of the target working surface;
determining actual operation information according to the target size;
analyzing the operation requirement to obtain theoretical operation information;
determining an information fit degree between the actual operation information and the theoretical operation information;
and taking the actual job information and the information fit degree together as the target job information.
2. The method for determining job information according to claim 1, wherein the obtaining the distance between the job equipment and the entire job surface of the job object comprises:
determining a current position of the work equipment;
dividing the whole working surface to obtain a plurality of working surface units;
and acquiring the distance between the working equipment and each working surface unit according to the current position.
3. The method for determining job information according to claim 2, wherein the obtaining a distance between the job equipment and each of the job surface units according to the current position includes:
gradually controlling the working equipment to move in a direction parallel to the whole working surface by taking the current position as a starting point and taking set intervals as steps;
and acquiring the distance between the working equipment and each working surface unit when the set interval is moved each time.
4. The method for determining job information according to claim 2, wherein the determining the size of each of the surfaces to be worked according to the distance comprises:
determining a working face unit covered by the working face to be worked;
reading the distance between each covered working surface unit and the working equipment;
and determining the size of each working surface to be worked according to the distance between each working surface unit and the working equipment.
5. The method for determining job information according to any one of claims 1 to 4, wherein the determining actual job information according to the target size comprises:
and determining the area data of the target working surface according to the target size, so that the area data is used as the actual working information.
6. A determination apparatus of job information, which is applied to a job equipment, the job equipment being a construction robot, the apparatus comprising:
the acquisition module is used for acquiring the distance between the operation equipment and the whole operation surface of the operation object, wherein the whole operation surface comprises at least one surface to be operated, and the surface to be operated is an upper beam or a window or a door opening in the whole building wall surface of the operation object;
the first determining module is used for determining the size of each working surface to be worked according to the distance;
the second determining module is used for determining target operation information of a target operation surface according to the sizes and the operation demands, wherein the target operation surface belongs to the at least one to-be-operated surface;
the second determining module is specifically configured to:
determining a target working surface from the at least one working surface to be worked according to the working requirement, and determining a target size of the target working surface;
determining actual operation information according to the target size;
analyzing the operation requirement to obtain theoretical operation information;
determining an information fit degree between the actual operation information and the theoretical operation information;
and taking the actual job information and the information fit degree together as the target job information.
7. The job information determining apparatus as set forth in claim 6, wherein the acquisition module includes:
a determining submodule for determining a current position of the working equipment;
the dividing sub-module is used for dividing the whole working surface to obtain a plurality of working surface units;
and the acquisition submodule is used for acquiring the distance between the working equipment and each working face unit according to the current position.
8. A work apparatus, comprising:
the job information determining apparatus according to any one of the preceding claims 6 to 7.
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