CN114543763B - Working method, device, equipment and medium of terrace equipment - Google Patents
Working method, device, equipment and medium of terrace equipment Download PDFInfo
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- CN114543763B CN114543763B CN202011330391.5A CN202011330391A CN114543763B CN 114543763 B CN114543763 B CN 114543763B CN 202011330391 A CN202011330391 A CN 202011330391A CN 114543763 B CN114543763 B CN 114543763B
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- 238000000034 method Methods 0.000 title claims abstract description 90
- 239000011248 coating agent Substances 0.000 claims description 24
- 238000000576 coating method Methods 0.000 claims description 24
- 238000007599 discharging Methods 0.000 claims description 23
- 238000007790 scraping Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 12
- 239000003973 paint Substances 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000010345 tape casting Methods 0.000 description 2
- SMZOUWXMTYCWNB-UHFFFAOYSA-N 2-(2-methoxy-5-methylphenyl)ethanamine Chemical compound COC1=CC=C(C)C=C1CCN SMZOUWXMTYCWNB-UHFFFAOYSA-N 0.000 description 1
- NIXOWILDQLNWCW-UHFFFAOYSA-N 2-Propenoic acid Natural products OC(=O)C=C NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003822 epoxy resin Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 229920000647 polyepoxide Polymers 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Coating Apparatus (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention discloses a working method, a device, equipment and a medium of terrace equipment. The method comprises the following steps: acquiring a first distance value between an actuator of terrace equipment and an external corner wall surface in the moving process along a first direction, and determining an external corner starting point position according to the first distance value; controlling an actuator of the terrace equipment to start along a second direction based on the external corner starting point position until reaching an external corner end point position, wherein the second direction is opposite to the first direction, and the external corner end point position is determined according to a second distance value between the actuator of the terrace equipment and the external corner wall surface, which is received in the operation process; and acquiring a third distance value between the actuator of the terrace equipment and the internal corner wall surface, determining an internal corner starting point position based on the third distance value, and controlling the actuator of the terrace equipment to operate based on the internal corner starting point position. The method has the advantages that the positioning accuracy and efficiency of the internal and external corners are improved, and the construction quality and efficiency of the floor paint are improved.
Description
Technical Field
The embodiment of the invention relates to a building construction technology, in particular to a working method, a device, equipment and a medium of terrace equipment.
Background
At present, at the construction stage of a building, along with the improvement of the quality requirement of people on the floors, various floor paint constructions are derived, such as epoxy resin floor paint, acrylic acid floor paint, waterproof anti-electricity floor paint and the like.
The combined type yin and yang angle occupies a relatively high proportion in the actual working environment, and the combined type yin and yang angle refers to the condition that a column is connected with a wall surface. In general, the robot can separately process the situations, and sequentially position and operate by adopting a mode of positioning external corners and internal corners respectively. However, when the internal corner formed by the pillar and the wall surface is shorter, the problem that the internal corner cannot be positioned is caused. And the process of locating the internal corner and the external corner respectively is complex, so that the robot work efficiency is low.
Disclosure of Invention
The embodiment of the invention provides a working method, a device, equipment and a medium of terrace equipment, which are used for realizing the effects of improving the positioning accuracy and efficiency of a yin and yang angle and further improving the construction quality and efficiency of terrace paint.
In a first aspect, an embodiment of the present invention provides a working method of a terrace device, where the method includes:
acquiring a first distance value between an actuator of terrace equipment and an external corner wall surface in the moving process along a first direction, and determining an external corner starting point position according to the first distance value;
controlling an actuator of the terrace equipment to start along a second direction based on the external corner starting point position until reaching an external corner end point position, wherein the second direction is opposite to the first direction, and the external corner end point position is determined according to a second distance value between the actuator of the terrace equipment and the external corner wall surface, which is received in the operation process;
and acquiring a third distance value between the actuator of the terrace equipment and the internal corner wall surface, determining an internal corner starting point position based on the third distance value, and controlling the actuator of the terrace equipment to operate based on the internal corner starting point position.
In a second aspect, an embodiment of the present invention further provides a working device of a terrace apparatus, where the device includes:
the external corner starting point position determining module is used for obtaining a first distance value between the actuator of the terrace equipment and the external corner wall surface in the moving process of the actuator along the first direction, and determining the external corner starting point position according to the first distance value;
the actuator control module is used for controlling the actuator of the terrace equipment to start on the basis of the external corner starting point position and conduct operation along a second direction until reaching an external corner end point position, wherein the second direction is opposite to the first direction, and the external corner end point position is determined according to a second distance value between the actuator of the terrace equipment and the external corner wall surface, which is received in the operation process;
the internal corner starting point position determining module is used for obtaining a third distance value between an actuator of the terrace equipment and an internal corner wall surface, determining an internal corner starting point position based on the third distance value, and controlling the actuator of the terrace equipment to operate based on the internal corner starting point position.
In a third aspect, an embodiment of the present invention further provides a terrace apparatus, where the terrace apparatus includes:
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement a method of operating a floor device as provided by any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, on which a computer program is stored, where the program, when executed by a processor, implements a method for operating a terrace device as provided in any embodiment of the present invention.
According to the embodiment of the invention, the position of the starting point of the external corner is determined according to a first distance value between the actuator of the terrace equipment and the external corner wall surface in the moving process of the actuator along the first direction; controlling an actuator of the terrace equipment to start along a second direction based on the external corner starting point position until reaching an external corner end point position, wherein the second direction is opposite to the first direction, and the external corner end point position is determined according to a second distance value between the actuator of the terrace equipment and the external corner wall surface, which is received in the operation process; the method comprises the steps of obtaining a third distance value between an actuator of terrace equipment and an internal corner wall surface, determining an internal corner starting point position based on the third distance value, controlling the actuator of terrace equipment to operate based on the internal corner starting point position, solving the problems that continuous internal and external corners are positioned in a disassembling mode, complicacy in process and working efficiency of terrace equipment are reduced, improving internal and external corner positioning accuracy and efficiency, and further improving construction quality and efficiency of terrace paint.
Drawings
Fig. 1 is a flowchart of a method of operating a floor apparatus according to a first embodiment of the present invention;
fig. 2 is a schematic workflow diagram of a terrace device in a second embodiment of the present invention;
fig. 3 is a structural diagram of a working device of a terrace apparatus in a third embodiment of the present invention;
fig. 4 is a schematic structural view of a floor apparatus according to a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a working method of a terrace device according to a first embodiment of the present invention, where the embodiment is applicable to a case of positioning continuous yin and yang angles, and the method may be performed by a working apparatus of the terrace device, and specifically includes the following steps:
s110, acquiring a first distance value between an actuator of the terrace equipment and the external corner wall surface in the moving process along the first direction, and determining the external corner starting point position according to the first distance value.
The construction site is complex and various, including underground garage, processing workshop, sport area etc., because the construction structure of construction site can form continuous reentrant corner and external corner between the parallel wall in two sides, perhaps when the one side of support column is connected with the wall body, support column and wall can form two external corners and two internal corners, and two external corners and two internal corners also can form continuous internal corner and external corner. When the terrace equipment carries out coating operation on a construction site, when encountering continuous internal corners and external corners, accurate positioning is required to be carried out on the continuous internal corners and external corners, so that the terrace equipment and the wall surface are prevented from collision, and the coating operation efficiency of the terrace equipment is improved.
Optionally, obtaining a first distance value between the actuator of the terrace device and the external corner wall surface in the moving process along the first direction includes: and controlling the first distance value between the actuator of the terrace equipment and the external corner wall surface, wherein the first distance value is sent by the ranging device in real time in the moving process of the actuator of the terrace equipment along the first direction. When the external corner starting point is positioned, the actuator of the terrace equipment is controlled to move along the external corner wall surface, the distance between the actuator of the terrace equipment and the external corner wall surface is measured in real time through the distance measuring device in the moving process of the actuator of the terrace equipment, and the position of the external corner starting point is determined through the distance between the actuator of the terrace equipment and the external corner wall surface. Alternatively, the actuator of the floor device may be a mechanical arm of the floor device, or a chassis of the floor device. When the actuator of the terrace equipment is a mechanical arm, the chassis of the terrace equipment keeps unchanged in position, and the mechanical arm is controlled to move along the external corner wall surface. When the actuator of the terrace equipment is a chassis, the chassis drives the mechanical arm to move along the external corner wall surface.
Optionally, controlling the first distance value between the actuator of the terrace device and the external corner wall surface, where the first distance value is sent by the ranging device in real time in the moving process of the actuator of the terrace device along the first direction, includes: acquiring a distance value between an actuator of the terrace equipment and the external corner wall surface, and adjusting the distance between the actuator of the terrace equipment and the external corner wall surface according to the distance value; when the distance value is within a preset safety distance range, controlling the actuator of the terrace equipment to move along the first direction, and acquiring a first distance value between the actuator of the terrace equipment and the external corner wall surface in the moving process of the actuator of the terrace equipment along the first direction in real time. Before the first distance value between the actuator of the terrace equipment and the external corner wall surface in the moving process of the actuator of the terrace equipment along the first direction is obtained, the distance between the actuator of the terrace equipment and the external corner wall surface is controlled to be within a preset safety distance range, and the actuator of the terrace equipment is prevented from being collided with the external corner wall surface in the moving process. When the distance value between the actuator of the terrace equipment and the external corner wall surface is within a preset safety distance range, the actuator of the terrace equipment is controlled to move along a first direction, and the first distance value between the actuator of the terrace equipment and the external corner wall surface is obtained in real time.
Optionally, adjusting the distance between the actuator of the terrace device and the external corner wall surface according to the distance value includes: when the distance value is smaller than a preset safety distance range, controlling an actuator of the terrace equipment to be far away from the external corner wall surface so as to increase the distance between the terrace equipment and the wall surface; and when the distance value is larger than a preset safety distance range, controlling an actuator of the terrace equipment to be close to the wall surface so as to reduce the distance between the actuator and the external corner wall surface. Before an actuator of the terrace equipment moves along a first direction to search for an external corner starting point position, a distance value between the current position of the actuator of the terrace equipment and an external corner wall surface is obtained. When the distance value is smaller than the preset safety distance range, the actuator of the terrace equipment is in danger of collision with the external corner wall surface, so that the actuator of the terrace equipment is controlled to move in a direction away from the external corner wall surface, and the distance between the actuator of the terrace equipment and the external corner wall surface is increased. When the distance value is larger than the preset safe distance range, the fact that the distance between the actuator of the terrace equipment and the external corner wall surface is too large is indicated, when the measuring range of the used distance measuring device is smaller, if the distance between the actuator of the terrace equipment and the external corner wall surface is too large, the distance between the actuator of the terrace equipment and the external corner wall surface cannot be detected by the measuring device, positioning of the external corner starting point position is not facilitated, and therefore the terrace equipment needs to be moved in the direction close to the external corner wall surface, the distance between the actuator of the terrace equipment and the external corner wall surface is reduced, and the distance between the actuator of the terrace equipment and the external corner wall surface is enabled to be within the preset safe distance range.
Optionally, determining the external corner starting point position according to the first distance value includes: and determining an external corner starting point position when the first distance value is changed from within a preset safety distance range to exceed a preset threshold range or the distance between an actuator of the floor equipment and a wall surface in the moving direction of the actuator of the floor equipment is received within the preset safety distance range. When the distance between the actuator of the terrace equipment and the external corner wall surface is within the preset safe distance range, the actuator of the terrace equipment is controlled to move along the first direction, and a first distance value between the actuator of the terrace equipment and the external corner wall surface is obtained in real time through the distance measuring device. When the external corner wall surface is the wall surface where the support column is located, the first distance value is changed from being within a preset safety distance range to exceeding a preset threshold range, the fact that the actuator of the terrace equipment reaches the boundary of the external corner wall surface is indicated, and the current position of the actuator of the terrace equipment is determined to be the external corner starting point position. When continuous yin and yang angles are formed by two parallel wall surfaces, when the distance between the actuator of the floor equipment and the wall surface in the moving direction of the actuator of the floor equipment is within a preset safe distance range, the fact that the actuator of the floor equipment reaches the boundary of the external angle wall surface is indicated, and the current position of the actuator of the floor equipment is determined to be the external angle starting point position.
S120, controlling an actuator of the terrace equipment to start on the basis of the external corner starting point position, and performing operation along a second direction until reaching an external corner end point position, wherein the second direction is opposite to the first direction, and the external corner end point position is determined according to a second distance value between the actuator of the terrace equipment and an external corner wall surface, which is received in the operation process.
After the external corner starting point position is determined, an actuator of the terrace equipment is controlled to start coating operation. The actuator controlling the floor apparatus moves in a direction opposite to the first direction and starts the coating operation.
Optionally, the terrace device comprises a blade coating device, and a preset distance is reserved between the blade coating device and the distance measuring device. The floor is coated by a blade coating device. In order to ensure that an actuator of the terrace equipment can timely respond to the guidance of the ranging device, a certain distance exists between the installation position of the ranging device and the installation position of the doctor-blade device, the front real-time detection of the ranging device is ensured, and the doctor-blade device performs rapid processing according to the data of the ranging device.
Optionally, the terrace equipment further comprises a discharging device; the actuator for controlling the terrace apparatus starts from the external corner starting point position, performs work in a second direction until an external corner end point position, and includes: controlling the discharging device to start discharging from the external corner starting point position, and controlling the blade coating device to operate along a second direction; and when the received second distance value is changed from the preset safe distance range to be more than the preset threshold range, controlling the discharging device to stop discharging, and controlling the scraping device to continue to operate until the scraping device reaches the external corner end position. When the actuator of the terrace equipment reaches the external corner starting point position, the discharging device is controlled to discharge, the actuator of the terrace equipment is controlled to move along a second direction opposite to the first direction, and meanwhile, the actuator of the doctor-blading equipment starts coating operation. And in the process of controlling the actuator of the terrace equipment to move along the second direction, receiving a second distance value between the actuator of the terrace equipment and the external corner wall surface in real time, and when the second distance value is changed from being in a preset safety distance range to exceeding a preset threshold range, indicating that the distance measuring device on the actuator of the terrace equipment has reached the external corner end position, and controlling the discharging device to stop discharging at the moment. Since the doctor blade device is at a certain distance from the distance measuring device, the doctor blade device does not reach the external corner end point, so that the doctor blade device is controlled to continue to perform coating operation along the second direction until the doctor blade device reaches the external corner end point. When the distance measuring device reaches the external corner end point, the discharge hole is controlled to stop discharging, so that the discharged surplus materials can be fully applied, and the conditions of stacking and waste are avoided.
130. And acquiring a third distance value between an actuator of the floor equipment and the internal corner wall surface, determining an internal corner starting point position based on the third distance value, and controlling the actuator of the floor equipment to operate based on the internal corner starting point position.
When the blade coating device reaches the external corner end point, the position of the internal corner start point starts to be determined. The inside corner wall surface comprises a first inside corner wall surface and a second inside corner wall surface. The first internal corner wall surface is a wall surface perpendicular to the external corner wall surface, and the second internal corner wall surface is a wall surface parallel to the external corner wall surface. The actuator of control terrace equipment still needs real-time measurement terrace equipment's actuator and first reentrant corner wall distance to the removal in-process of second reentrant corner wall, ensures that the distance between terrace equipment's actuator and the first reentrant corner wall is in the range of predetermineeing safe distance, prevents that the actuator of terrace equipment from sending the collision with first reentrant corner wall at the removal in-process. The distance between the first internal corner wall surface and the second internal corner wall surface is measured in real time through the two distance measuring devices in the process that the actuator of the terrace equipment moves to the first internal corner wall surface. When the distances measured by the two distance measuring devices are equal and are within the preset safe distance range, the actuator of the terrace equipment is controlled to keep the current gesture to move towards the second internal corner wall surface. When the distances measured by the two distance measuring devices are not equal, the rotation angle of the actuator of the terrace equipment is determined according to the distances measured by the two distance measuring devices, and the actuator of the terrace equipment is controlled to rotate according to the rotation angle until the distances measured by the two distance measuring devices are equal and within the preset safety distance range. And controlling the actuator of the terrace equipment to move towards the second internal corner wall surface in the rotated gesture.
Optionally, obtaining a third distance value between the actuator of the terrace device and the internal corner wall surface includes: when the knife coating device reaches the external corner end position, a third distance value between the actuator of the terrace equipment and the internal corner wall surface is obtained in real time through the distance measuring device in the process that the actuator of the terrace equipment moves to the internal corner wall surface. And controlling the actuator of the terrace equipment to move towards the second internal corner wall surface, and measuring the third distance between the actuator of the terrace equipment and the second internal corner wall surface through the distance measuring device in real time. And determining the internal corner starting point position according to the third distance.
Optionally, determining the internal corner starting position based on the third distance value includes: and determining the internal corner starting point position when the third distance value is changed from exceeding a preset threshold value range to be within a preset safety distance range. In the process of controlling the actuator of the terrace equipment to move towards the second internal corner wall surface, the distance between the actuator of the terrace equipment and the second internal corner wall surface is gradually reduced, so that when the third distance value is changed from exceeding the preset threshold value range to being within the preset safety distance range, the fact that the actuator of the terrace equipment reaches the internal corner wall surface is indicated, and the position of the actuator of the terrace equipment at the moment is determined to be the internal corner starting point position. An actuator controlling the floor apparatus starts a coating operation from the internal corner start position. Thereby realizing the positioning of the continuous internal corners and external corners and coating operation.
According to the technical scheme, the first distance value between the actuator of the terrace equipment and the external corner wall surface in the moving process of the actuator along the first direction is obtained, and the external corner starting point position is determined according to the first distance value; controlling an actuator of the terrace equipment to start along a second direction based on the external corner starting point position until reaching an external corner end point position, wherein the second direction is opposite to the first direction, and the external corner end point position is determined according to a second distance value between the actuator of the terrace equipment and the external corner wall surface, which is received in the operation process; the method comprises the steps of obtaining a third distance value between an actuator of terrace equipment and an internal corner wall surface, determining an internal corner starting point position based on the third distance value, controlling the actuator of terrace equipment to operate based on the internal corner starting point position, solving the problems that continuous internal and external corners are positioned in a disassembling mode, complicacy in process and working efficiency of terrace equipment are reduced, improving internal and external corner positioning accuracy and efficiency, and further improving construction quality and efficiency of terrace paint.
Example two
Fig. 2 is a schematic workflow diagram of the terrace device according to the second embodiment of the present invention, and the procedure of the external corner according to the embodiment of the present invention is described in detail with reference to fig. 2.
Referring to fig. 2a, the external corner wall surface is the wall surface where the support column is located. And controlling the actuator of the terrace equipment to move to a range which is away from the external corner wall surface by a preset safety distance. As shown in fig. 2b, the actuator of the terrace device is controlled to move along the first direction, and a first distance value between the actuator of the terrace device and the external corner wall surface is obtained in real time through the distance measuring device. As shown in fig. 2c, when the actuator controlling the floor apparatus moves to the position as in fig. 2c, the first distance value acquired by the distance measuring device at this time is changed from being within the preset safety distance range to exceeding the preset threshold range, and the current position of the actuator of the floor apparatus is determined as the external angle start position. The actuator of the terrace equipment is controlled to move along a second direction opposite to the first direction from the external corner starting point, the discharging device is controlled to discharge, and the scraping device starts to carry out scraping operation. And in the process of controlling the actuator of the terrace equipment to move along the second direction, receiving a second distance value between the actuator of the terrace equipment and the external corner wall surface in real time, and when the second distance value is changed from being in a preset safety distance range to exceeding a preset threshold range, indicating that the distance measuring device on the actuator of the terrace equipment has reached the external corner end position, and controlling the discharging device to stop discharging at the moment. Since the doctor blade device is at a certain distance from the distance measuring device, the doctor blade device does not reach the external corner end point, so that the doctor blade device is controlled to continue to perform coating operation along the second direction until the doctor blade device reaches the external corner end point.
As shown in fig. 2d, the blade coating device has reached the external corner end point. When the blade coating device reaches the external corner end point, the position of the internal corner start point starts to be determined. The inside corner wall surface comprises a first inside corner wall surface and a second inside corner wall surface. The first internal corner wall surface is a wall surface perpendicular to the external corner wall surface, and the second internal corner wall surface is a wall surface parallel to the external corner wall surface. And controlling the actuator of the terrace equipment to measure the distance between the actuator of the terrace equipment and the first internal corner wall surface in real time in the moving process of the second internal corner wall surface, so as to ensure that the distance between the actuator of the terrace equipment and the first internal corner wall surface is within a preset safety distance range. The distance between the terrace equipment and the second reentrant corner wall in the process of moving to the first reentrant corner wall is measured in real time through the two distance measuring devices. When the distances measured by the two distance measuring devices are equal and are within the preset safe distance range, the actuator of the terrace equipment is controlled to keep the current gesture to move towards the second internal corner wall surface. When the distances measured by the two distance measuring devices are not equal, the rotation angle of the actuator of the terrace equipment is determined according to the distances measured by the two distance measuring devices, and the actuator of the terrace equipment is controlled to rotate according to the rotation angle until the distances measured by the two distance measuring devices are equal and within the preset safety distance range. And controlling the actuator of the terrace equipment to move towards the second internal corner wall surface in the rotated gesture.
As shown in fig. 2e, the actuator of the terrace device is controlled to move to the second internal corner wall surface, and the third distance between the actuator of the terrace device and the internal corner wall surface is measured in real time through the distance measuring device. And determining the internal corner starting point position according to the third distance. As shown in fig. 2f, the actuator controlling the floor apparatus starts the coating operation from the internal corner start position.
According to the technical scheme, the first distance value between the actuator of the terrace equipment and the external corner wall surface in the moving process of the actuator along the first direction is obtained, and the external corner starting point position is determined according to the first distance value; controlling an actuator of the terrace equipment to start along a second direction based on the external corner starting point position until reaching an external corner end point position, wherein the second direction is opposite to the first direction, and the external corner end point position is determined according to a second distance value between the actuator of the terrace equipment and the external corner wall surface, which is received in the operation process; the method comprises the steps of obtaining a third distance value between an actuator of terrace equipment and an internal corner wall surface, determining an internal corner starting point position based on the third distance value, controlling the actuator of terrace equipment to operate based on the internal corner starting point position, solving the problems that continuous internal and external corners are positioned in a disassembling mode, complicacy in process and working efficiency of terrace equipment are reduced, improving internal and external corner positioning accuracy and efficiency, and further improving construction quality and efficiency of terrace paint.
Example III
Fig. 3 is a structural diagram of a working device of a terrace apparatus according to a third embodiment of the present invention, where the working device of the terrace apparatus includes: the external corner starting point position determination module 310, the terrace equipment control module 320, and the internal corner starting point position determination module.
The external corner starting point position determining module 310 is configured to obtain a first distance value between the actuator of the terrace device and the external corner wall surface in the moving process along the first direction, and determine the external corner starting point position according to the first distance value; an actuator control module 320 of the terrace device, configured to control an actuator of the terrace device to perform a job in a second direction up to an external corner end position based on the external corner start position, where the second direction is opposite to the first direction, and the external corner end position is determined according to a second distance value between the actuator of the terrace device and the external corner wall surface received during the job; and the internal corner starting point position determining module 330 is configured to obtain a third distance value between the actuator of the terrace device and the internal corner wall surface, determine an internal corner starting point position based on the third distance value, and control the actuator of the terrace device to perform a job based on the internal corner starting point position.
In the solution of the above embodiment, the external corner starting point position determining module 310 includes:
the first distance value acquisition unit is used for controlling the first distance value, which is sent by the distance measuring device, between the actuator of the terrace equipment and the external corner wall surface in real time in the moving process of the actuator of the terrace equipment along the first direction.
In the technical solution of the foregoing embodiment, the first distance value obtaining unit includes:
the distance adjusting subunit is used for acquiring a distance value between the actuator of the terrace equipment and the external corner wall surface and adjusting the distance between the actuator of the terrace equipment and the external corner wall surface according to the distance value;
and the first distance value acquisition subunit is used for controlling the actuator of the terrace equipment to move along the first direction when the distance value is within a preset safety distance range, and acquiring the first distance value between the actuator of the terrace equipment and the external corner wall surface in the moving process of the actuator of the terrace equipment along the first direction in real time.
In the technical solution of the foregoing embodiment, the distance adjustment subunit is specifically configured to: when the distance value is smaller than a preset safety distance range, controlling an actuator of the terrace equipment to be far away from the external corner wall surface so as to increase the distance between the terrace equipment and the wall surface; and when the distance value is larger than a preset safety distance range, controlling an actuator of the terrace equipment to be close to the wall surface so as to reduce the distance between the actuator and the external corner wall surface.
In the solution of the foregoing embodiment, the external corner starting point position determining module 310 is specifically configured to: and determining an external corner starting point position when the first distance value is changed from within a preset safety distance range to exceed a preset threshold range or the distance between an actuator of the floor equipment and a wall surface in the moving direction of the actuator of the floor equipment is received within the preset safety distance range.
Optionally, the terrace device comprises a blade coating device, and a preset distance is reserved between the blade coating device and the distance measuring device.
Optionally, the terrace equipment further comprises a discharging device;
in the technical solution of the foregoing embodiment, the actuator control module 320 of the terrace apparatus includes:
the discharging start control unit is used for controlling the discharging device to start discharging from the external corner starting point position and controlling the blade coating device to operate along the second direction;
and the discharging stopping control unit is used for controlling the discharging device to stop discharging when the received second distance value is changed from the preset safety distance range to be more than the preset threshold range, and controlling the doctor-blade device to continue to operate until the doctor-blade device reaches the external corner end position.
In the solution of the above embodiment, the internal corner starting point position determining module 330 includes:
and the third distance value acquisition unit is used for acquiring a third distance value between an actuator of the terrace equipment and the internal corner wall surface through the distance measuring device when the blade coating device reaches the external corner end position.
In the technical solution of the foregoing embodiment, the third distance value obtaining unit is specifically configured to: and acquiring a third distance value between the actuator of the terrace equipment and the internal corner wall surface in the process of moving the actuator of the terrace equipment to the internal corner wall surface in real time by the distance measuring device.
In the solution of the foregoing embodiment, the internal corner starting point position determining module 330 is specifically configured to: and determining the internal corner starting point position when the third distance value is changed from exceeding a preset threshold value range to be within a preset safety distance range.
According to the technical scheme, the first distance value between the actuator of the terrace equipment and the external corner wall surface in the moving process of the actuator along the first direction is obtained, and the external corner starting point position is determined according to the first distance value; controlling an actuator of the terrace equipment to start along a second direction based on the external corner starting point position until reaching an external corner end point position, wherein the second direction is opposite to the first direction, and the external corner end point position is determined according to a second distance value between the actuator of the terrace equipment and the external corner wall surface, which is received in the operation process; the method comprises the steps of obtaining a third distance value between an actuator of terrace equipment and an internal corner wall surface, determining an internal corner starting point position based on the third distance value, controlling the actuator of terrace equipment to operate based on the internal corner starting point position, solving the problems that continuous internal and external corners are positioned in a disassembling mode, complicacy in process and working efficiency of terrace equipment are reduced, improving internal and external corner positioning accuracy and efficiency, and further improving construction quality and efficiency of terrace paint.
The working device of the terrace equipment provided by the embodiment of the invention can execute the working method of the terrace equipment provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 4 is a schematic structural diagram of a terrace device according to a fourth embodiment of the present invention, as shown in fig. 4, the terrace device includes a processor 410, a memory 420, an input device 430 and an output device 440; the number of processors 410 in the floor facility may be one or more, one processor 410 being taken as an example in fig. 4; the processor 410, memory 420, input device 430, and output device 440 in the floor appliance may be connected by a bus or other means, for example in fig. 4.
The memory 420 is used as a computer readable storage medium, and may be used to store a software program, a computer executable program, and a module, such as program instructions/modules corresponding to an operating method of the terrace apparatus in an embodiment of the present invention (for example, the external corner starting position determining module 310, the actuator control module 320, and the internal corner starting position determining module in an operating device of the terrace apparatus). The processor 410 executes various functional applications and data processing of the floor apparatus by running software programs, instructions and modules stored in the memory 420, i.e. implements the above-described operation method of the floor apparatus.
Memory 420 may include primarily a program storage area and a data storage area, wherein the program storage area may store an operating system, at least one application program required for functionality; the storage data area may store data created according to the use of the terminal, etc. In addition, memory 420 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 420 may further include memory remotely located with respect to processor 410, which may be connected to the floor appliance via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the floor appliance. The output 440 may include a display device such as a display screen.
Example five
A fifth embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are for performing a method of operating a floor appliance, the method comprising:
acquiring a first distance value between an actuator of terrace equipment and an external corner wall surface in the moving process along a first direction, and determining an external corner starting point position according to the first distance value;
controlling an actuator of the terrace equipment to start along a second direction based on the external corner starting point position until reaching an external corner end point position, wherein the second direction is opposite to the first direction, and the external corner end point position is determined according to a second distance value between the actuator of the terrace equipment and the external corner wall surface, which is received in the operation process;
and acquiring a third distance value between the actuator of the terrace equipment and the internal corner wall surface, determining an internal corner starting point position based on the third distance value, and controlling the actuator of the terrace equipment to operate based on the internal corner starting point position.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present invention is not limited to the method operations described above, and may also perform the related operations in the working method of the terrace apparatus provided in any embodiment of the present invention.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
It should be noted that, in the embodiment of the working device of the terrace apparatus, each unit and module included are only divided according to the functional logic, but not limited to the above-mentioned division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (12)
1. A method of operating a floor appliance comprising:
acquiring a first distance value between an actuator of terrace equipment and an external corner wall surface in the moving process along a first direction, and determining an external corner starting point position according to the first distance value;
controlling an actuator of the terrace equipment to start along a second direction based on the external corner starting point position until reaching an external corner end point position, wherein the second direction is opposite to the first direction, and the external corner end point position is determined according to a second distance value between the actuator of the terrace equipment and the external corner wall surface, which is received in the operation process;
acquiring a third distance value between an actuator of the terrace equipment and an internal corner wall surface, determining an internal corner starting point position based on the third distance value, and controlling the actuator of the terrace equipment to operate based on the internal corner starting point position; wherein, the reentrant corner wall includes first reentrant corner wall and second reentrant corner wall, first reentrant corner wall be with the perpendicular wall of external corner wall, the second reentrant corner wall be with the parallel wall of external corner wall.
2. The method of claim 1, wherein obtaining a first distance value from the exterior corner wall surface during movement of the actuator of the floor apparatus in the first direction comprises:
and controlling the first distance value between the actuator of the terrace equipment and the external corner wall surface, wherein the first distance value is sent by the ranging device in real time in the moving process of the actuator of the terrace equipment along the first direction.
3. The method according to claim 2, wherein the controlling the actuator of the terrace device to receive, in real time, a first distance value from the actuator of the terrace device to the external corner wall surface, which is transmitted by the ranging device, in the moving process of the actuator of the terrace device along the first direction, includes:
acquiring a distance value between an actuator of the terrace equipment and the external corner wall surface, and adjusting the distance between the actuator of the terrace equipment and the external corner wall surface according to the distance value;
when the distance value is within a preset safety distance range, controlling the actuator of the terrace equipment to move along the first direction, and acquiring a first distance value between the actuator of the terrace equipment and the external corner wall surface in the moving process of the actuator of the terrace equipment along the first direction in real time.
4. A method according to claim 3, wherein said adjusting the distance of the actuator of the floor installation from the external corner wall surface according to the distance value comprises:
when the distance value is smaller than a preset safety distance range, controlling an actuator of the terrace equipment to be far away from the external corner wall surface so as to increase the distance between the terrace equipment and the wall surface;
and when the distance value is larger than a preset safety distance range, controlling an actuator of the terrace equipment to be close to the wall surface so as to reduce the distance between the actuator and the external corner wall surface.
5. The method of claim 1, wherein said determining an external angular starting position from said first distance value comprises:
and determining an external corner starting point position when the first distance value is changed from within a preset safety distance range to exceed a preset threshold range or the distance between an actuator of the floor equipment and a wall surface in the moving direction of the actuator of the floor equipment is received within the preset safety distance range.
6. The method of claim 2, wherein the floor apparatus comprises a blade coating device, the blade coating device being spaced a predetermined distance from the ranging device.
7. The method of claim 6, wherein the floor apparatus further comprises a discharge device;
the actuator for controlling the terrace apparatus starts from the external corner starting point position, performs work in a second direction until an external corner end point position, and includes:
controlling the discharging device to start discharging from the external corner starting point position, and controlling the blade coating device to operate along a second direction;
and when the received second distance value is changed from the range of the preset safety distance to the range exceeding the preset threshold value, controlling the discharging device to stop discharging, and controlling the scraping device to continue to operate until the scraping device reaches the external corner end position.
8. The method of claim 2, wherein the obtaining a third distance value of the actuator of the floor apparatus from the inside corner wall surface comprises:
when the scraping device reaches the external corner end position, a third distance value between the actuator of the terrace equipment and the internal corner wall surface is obtained in real time through the distance measuring device in the process that the actuator of the terrace equipment moves to the internal corner wall surface.
9. The method of claim 1, wherein said determining the reentrant angular starting point position based on the third distance value comprises:
and determining the internal corner starting point position when the third distance value is changed from exceeding a preset threshold value range to be within a preset safety distance range.
10. A working device of terrace equipment, characterized by comprising:
the external corner starting point position determining module is used for obtaining a first distance value between the actuator of the terrace equipment and the external corner wall surface in the moving process of the actuator along the first direction, and determining the external corner starting point position according to the first distance value;
the actuator control module is used for controlling the actuator of the terrace equipment to start on the basis of the external corner starting point position and conduct operation along a second direction until reaching an external corner end point position, wherein the second direction is opposite to the first direction, and the external corner end point position is determined according to a second distance value between the actuator of the terrace equipment and the external corner wall surface, which is received in the operation process;
the internal corner starting point position determining module is used for obtaining a third distance value between an actuator of the terrace equipment and an internal corner wall surface, determining an internal corner starting point position based on the third distance value, and controlling the actuator of the terrace equipment to operate based on the internal corner starting point position; wherein, the reentrant corner wall includes first reentrant corner wall and second reentrant corner wall, first reentrant corner wall be with the perpendicular wall of external corner wall, the second reentrant corner wall be with the parallel wall of external corner wall.
11. A floor apparatus, the floor apparatus comprising:
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of operating a floor arrangement of any of claims 1-9.
12. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements a method of operating a floor installation as claimed in any one of claims 1-9.
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| CN202011330391.5A CN114543763B (en) | 2020-11-24 | 2020-11-24 | Working method, device, equipment and medium of terrace equipment |
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| CN202011330391.5A CN114543763B (en) | 2020-11-24 | 2020-11-24 | Working method, device, equipment and medium of terrace equipment |
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