Autonomous ground grinding robot control system based on multi-sensor

Abstract

The invention belongs to the field of robots, and relates to an autonomous ground grinding robot control system based on multi-sensor. The autonomous ground grinding robot control system comprises anindustrial personal computer, a touch screen, a laser sensor, an ultrasonic sensor, an encoder, and a router; the industrial personal computer is internally provided with a ground grinding control program based on a ROS operating system, wherein the ground grinding control program comprises a ground grinding unit, a screen touch unit, a coordinate transformation management unit, and a speed management unit; and the ground grinding unit comprises a map creation module, a positioning module, a path planning module, and a control module. According to the autonomous ground grinding robot control system, the best map creation method can be chosen according to different construction environments, an operation area map can be changed at any time, an uneven area is grinded for multiple times, andsafety protection capability is enhanced by using a multi-sensor fusion method.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a multi-sensor-based autonomous ground grinding robot control system. Background technique [0002] With the improvement of labor costs and the development of science and technology, robots have been widely used in the field of construction. Among them, after the building or factory building is completed, the ground robot is required to grind the concrete floor. However, the grinding robots currently on the market are generally only mechanized, and have not yet realized automation and intelligence. In actual operation, generally need a Or two workers operate in real time, and the grinding robot generally travels at a speed of 0.2m / s during the grinding process. If it is too high, it will cause uneven ground grinding. Moreover, during the grinding process of the machine, dust and noise will be generated, which will cause great harm to the workers' health, and with the increase o...

AI Technical Summary

Problems solved by technology

Although the existing technology has broadened the scope of the grinding robot's working ground and can polish more complex grounds, such as the foot line area on the wall and the step area, the grinding robot still needs human assistance to operate

[0004] There are also existing technologies that propose to obtain a three-dimensional map that characterizes the flatness of the ground in the working area through the contour scanning method, and then judge whether the three-dimensional map contains uneven areas. The unevenness of the three-dimensional map means that it is necessary to manually manipulate the robot to traverse the entire operation area. The workload of the human is still very large, and it is not suitable for grinding other large-scale concrete floors such as industrial plants, large shopping malls, and warehouses.

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