Concrete floor grinding is a process that uses a floor grinding machine to level and polish concrete surfaces. The primary objectives are to enhance the floor’s appearance, remove old coatings and contaminants, and prepare the surface for subsequent treatments. Ultra-flat floor grinding builds upon these processes by imposing higher flatness requirements based on specific application scenarios. These ultra-flat floors are essential for deploying Automated Guided Vehicles (AGVs), automated warehouses, very narrow aisle warehouses, industrial plants, and laboratories. Currently, the construction of ultra-flat floors relies heavily on manual grinding and adjustment. Existing floor grinding equipment has notable drawbacks: it produces uneven grinding, cannot actively control floor flatness,...[ Read more ]

Concrete floor grinding is a process that uses a floor grinding machine to level and polish concrete surfaces. The primary objectives are to enhance the floor’s appearance, remove old coatings and contaminants, and prepare the surface for subsequent treatments. Ultra-flat floor grinding builds upon these processes by imposing higher flatness requirements based on specific application scenarios. These ultra-flat floors are essential for deploying Automated Guided Vehicles (AGVs), automated warehouses, very narrow aisle warehouses, industrial plants, and laboratories. Currently, the construction of ultra-flat floors relies heavily on manual grinding and adjustment. Existing floor grinding equipment has notable drawbacks: it produces uneven grinding, cannot actively control floor flatness, and the final flatness depends on the worker’s skill level. Additionally, workers must measure the floor’s flatness themselves, often requiring repeated measurements and grinding to meet standards.

To address these challenges, this paper proposes the design of an automatic control system for floor grinding flatness and its application in an ultra-flat floor grinding robot. The goal is to control the grinding disc to remain parallel and equidistant to a reference plane provided by a laser level. To achieve this, the paper designs the following system: a 3-RPS parallel motion platform to drive the grinding head; a CCD-based height sensor to provide real-time height feedback for the grinding head; and an IMU to provide real-time angle feedback. A controller is designed to adjust the grinding head’s posture based on feedback from the CCD height sensor and the IMU. Experiments are conducted to validate the accuracy of the height measurement system and confirm that the flatness control system can automatically achieve ultra-flat floor grinding.