Autonomous 3D excavation construction robot

Abstract

Provided is an autonomous 3D excavation construction robot. Automatic and intelligent 3D excavation construction operation is achieved by utilizing a machine vision, satellite positioning and automatic control device, a 3D digital model and the like, in a specific unstructured area, a satellite positioning system is utilized for measuring position and posture information, a machine vision system is utilized for sensing and perceiving operation environment information, and the traveling path, traveling speed, bucket operation positions and postures and the like of the excavation robot are determined autonomously. The satellite positioning system adopts a satellite positioning receiving unit to sense the position and posture of the excavation robot in real time. The machine vision system adopts a fixed base line camera to sense surroundings and AR augmented reality capacity of the excavation robot. An autonomous control system is based on a CAN bus and is composed of an upper control computer and a lower controller. The lower controller comprises an engine controller, a traveling controller, a bucket operation controller, a fault diagnosis controller and the like. The autonomous 3D excavation construction robot can be manually driven or operated remotely.

Description

technical field [0001] The invention belongs to the technical field of construction machinery, in particular to an autonomous 3D digging construction robot. Background technique [0002] The mechanization of engineering construction in my country has become a long-term development trend. Among them, excavators are responsible for heavy earthwork tasks in various construction projects such as civil engineering, water conservancy, mining, agriculture and forestry, oil fields, and national defense. They are indispensable key equipment in construction. In recent years, with the continuous development of microprocessors, the practicality of low-cost computers, sensing and communication technologies has increased, making engineering construction automation technologies, especially digging robots and bulldozing robots possible. [0003] Construction machinery automation technology is an advanced mechanization technology, which can make some important cycle work become routine, ther...

AI Technical Summary

Problems solved by technology

Second, the randomness and inhomogeneity of filling in the working environment

The third is the reciprocating nature of the excavation operation, which requires several processes of digging, lifting, unloading and retreating

[0007] At present, there is no corresponding technology for autonomous excavating robots in the field of engineering construction at home and abroad.

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