A floor boundary detection method, device, equipment and storage medium

Abstract

The embodiment of the invention discloses a floor boundary detection method, device, equipment and storage medium. Obtain the point cloud data of the horizontal reinforcement, and determine the maximum height grid map and the maximum height grid mask corresponding to the maximum height grid map based on the pre-established mapping relationship between the point cloud data and the grid points in the initial grid map The film map, according to the height value corresponding to each grid point in the maximum height grid mask map, determines the height of the reference plane, and determines the vertical object area mask map corresponding to the point cloud data of the vertical object located at the height of the reference plane, The effective area is extracted according to the vertical object area mask map and the maximum height grid mask map, and the floor boundary detection result is further obtained according to the effective area detection result. The purpose of improving the accuracy of the floor boundary detection results is achieved, which is conducive to ensuring the precise operation of the robot in the leveling process and the grinding process and improving the operating efficiency.

Description

technical field [0001] Embodiments of the present invention relate to surveying and mapping technology, and in particular to a floor boundary detection method, device, equipment and storage medium. Background technique [0002] With the decline of the demographic dividend, the construction industry has put forward higher and higher requirements and demands for the automation of surveying and mapping technology. In recent years, the emergence of semi-automated self-elevating building equipment has replaced some repetitive and labor-intensive tasks. Correspondingly, the automation level of surveying and mapping technology needs to be improved accordingly. In the field of construction, the formation of floors and floors requires the execution of construction techniques such as grouting, troweling, and leveling in turn. Among them, during the troweling and leveling process of building construction equipment, it is necessary to obtain the working area information in advance, tha...

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Problems solved by technology

[0003] In the prior art, the height of the ground around the building is generally used directly as the height of the building’s reference level, and the floor boundary after the construction is completed is extracted, and the extracted area is used as the boundary of the floor, but the ground height around the building cannot accurately reflect the height of the building. The height of the base level of the object, the extracted area cannot accurately reflect the effective working area, making the floor boundary detection result inaccurate, which in turn affects the operation efficiency of the leveling process and the grinding process

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