Self-moving construction robot positioning method

Abstract

The present invention discloses a positioning method for a self - moving construction robot. By combining a laser tracker with the control system of the self - moving construction robot, system intercommunication is achieved, thereby enabling the self - moving construction robot to perform autonomous positioning with high positioning accuracy. Moreover, the self - moving construction robot only needs to be measured and positioned once in multiple spaces within the construction range on the same floor. During the self - moving process across spaces, it can achieve self - positioning without the need for professional surveyors to track, thus greatly improving work efficiency and reducing labor costs. On the other hand, it can enable the self - moving construction robot to maintain precise positioning during long - distance movement, avoiding the cumulative deviation of other positioning algorithms, reducing the continuous positioning and positioning correction time during construction, and improving work efficiency. The present invention solves the problem that existing construction robots require professional surveyors to assist in positioning, resulting in low efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and particularly relates to a positioning method for a self - moving construction robot. Background Art

[0002] In recent years, the construction industry has been developing at an accelerating speed, and construction robots have been widely used in production, construction, maintenance and other links. Construction robots are used to assist and replace "dangerous, complicated, dirty and heavy" construction operations. More and more construction robots have been developed, such as brick - laying robots, plastering robots, spraying robots, actual measurement robots, line - drawing robots, inspection, maintenance and demolition and recycling robots, etc.

[0003] At present, some of these robots only play an auxiliary role with single or a few functions and cannot achieve fully automatic operation. Especially for some robots that require precise positioning, they all need the continuous assistance of professional surveyors for positioning to work, with low efficiency and full - time occupation of total stations or intelligent total stations.

[0004] The information disclosed in this background art section is only intended to enhance the overall understanding of the present invention and should not be regarded as an admission or any form of implication that this information constitutes prior art already known to those of ordinary skill in the art. Summary of the Invention

[0005] In order to overcome the defects existing in the prior art, a positioning method for a self - moving construction robot is provided to solve the problem of low efficiency caused by the need for professional surveyors to assist in positioning for existing construction robots.

[0006] To achieve the above object, a positioning method for a self - moving construction robot is provided, including the following steps:

[0007] Set a plurality of active 360° prisms within the construction range of the self - moving construction robot;

[0008] Install a rotatable laser tracker on the self - moving construction robot, and connect the laser tracker to the controller of the self - moving construction robot, and the controller obtains the measurement data information of the laser tracker;

[0009] The controller measures and sets up a station according to the known coordinate points within the construction range;

[0010] Bind a plurality of the active 360° prisms to the laser tracker system, and the laser tracker rotates to sense the position of each of the active 360° prisms and measures and obtains the initial coordinate value of each of the active 360° prisms;

[0011] The self - moving construction robot moves and operates on its own based on the preset planned path coordinates. During the movement and operation, the controller performs calibration and positioning through the laser tracker based on a first preset time interval or the abnormal movement signal. The calibration and positioning includes the laser tracker rotating to sense the positions of at least two of the active 360° prisms and measuring to obtain the real - time coordinate values of the active 360° prisms. When the real - time coordinate values are inconsistent with the initial coordinate values, the laser tracker calibrates the coordinate values of the self - moving construction robot according to the initial coordinate values so that the controller obtains the new coordinate values of the self - moving construction robot, enabling the self - moving construction robot to move and operate based on the new coordinate values.

[0012] Further, during the movement and operation of the self - moving construction robot, based on a second preset time interval or after the active 360° prism moves to other known coordinate points, the controller calibrates the prism through the laser tracker. The calibration of the prism includes the laser tracker rotating to sense the position of the active 360° prism and measuring to obtain the new coordinate values of the active 360° prism to update the initial coordinate values of the active 360° prism.

[0013] Further, when the laser tracker measures and obtains the new coordinate values of multiple active 360° prisms and the number of active 360° prisms for which new coordinate values are not obtained is less than two, the controller suspends the movement or operation of the self - moving construction robot.

[0014] Further, after the controller suspends the movement or operation of the self - moving construction robot, the controller obtains a first instruction to continue controlling the self - moving construction robot to continue moving or operating, or the controller obtains a second instruction to re - measure and set up the station through the laser tracker.

[0015] The beneficial effects of the present invention are as follows: The positioning method of the self - moving construction robot of the present invention combines the laser tracker with the control system of the self - moving construction robot to achieve system intercommunication, thereby enabling the self - moving construction robot to perform autonomous positioning with high positioning accuracy. Moreover, the self - moving construction robot only needs to be measured and positioned once in multiple spaces within the construction range on the same floor, and can achieve self - positioning during the cross - space self - movement process, without the need for professional surveyors to track, which greatly improves work efficiency and reduces labor costs. The positioning method of the self - moving construction robot of the present invention can enable the self - moving construction robot to maintain accurate positioning during long - distance movement, avoid the cumulative deviation of other positioning algorithms, reduce the continuous positioning and positioning correction time during construction, and improve work efficiency. In the positioning method of the self - moving construction robot of the present invention, when the self - moving construction robot has a deviation during construction, the controller issues a prompt to avoid rework caused by continuing to construct according to the wrong coordinates. Brief Description of the Drawings

[0016] Other features, objectives, and advantages of the present application will become more apparent by reading the detailed description of the non - restrictive embodiments with reference to the following drawings:

[0017] Figure 1 It is a schematic structural diagram of the self - moving construction robot according to an embodiment of the present invention. Detailed Embodiments

[0018] The present application will be further described in detail below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention and not to limit the invention. Additionally, it should be noted that for the sake of description, only the parts related to the invention are shown in the drawings.

[0019] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0020] Referring to Figure 1 As shown, the present invention provides a positioning method for a self - moving construction robot, including the following steps:

[0021] S1: Set a plurality of active 360° prisms 3 within the construction range of the self - moving construction robot 1.

[0022] A self - moving construction robot refers to a type of construction robot that can walk by itself. Specifically, the self - moving construction robot includes a controller, a frame, an electric walking mechanism, and an action mechanism for performing actions such as bricklaying, plastering, spraying, etc. The electric walking mechanism and the action mechanism are respectively installed on the frame. The controller is connected to the electric walking mechanism and the action mechanism. Construction workers control the movement and operation of the self - moving construction robot through the controller.

[0023] Before the self - moving construction robot works, at least 3 active 360° prisms 3 are arranged at appropriate positions within the visual range in combination with the construction range and the forward direction of the self - moving construction robot, and each active 360° prism 3 is assigned an ID number, such as Figure 1 As shown, they are ID01, ID02, ID03... respectively.

[0024] The active 360° prism is purchased from the Trimble Geospatial Platform (https: / / cn.geospatial.trimble.com / Optical-Accessories#OpticalPrismsTargets), part number: AT360. The active 360° prism actively tracks 360 targets, uses Trimble active tracking technology and selects from 8 different channels to maintain target lock.

[0025] S2: Install a rotatable laser tracker 2 on the self-propelled construction robot 1, and connect the laser tracker 2 to the controller of the self-propelled construction robot 1. The controller obtains the measurement data information of the laser tracker 2.

[0026] In this embodiment, the self-propelled construction robot is equipped with an electric pan-tilt head. The laser tracker is rotatably installed on the self-propelled construction robot through the electric pan-tilt head. The horizontal angle range of the laser tracker rotation is 360 degrees, the pitch angle range is from +79° to -59°, and its maximum measurement range is 1000 meters.

[0027] The laser tracker is equipped with 3 to 8 active 360° prisms with active tracking technology. Each active 360° prism is installed on a known coordinate point through a tripod 31. The laser tracker can communicate with the controller of the self-propelled construction robot to interactively measure data in real time. The laser tracker can communicate with the active 360° prism to identify its ID number, can quickly find a specific numbered prism and measure back its coordinate value. Laser tracker: horizontal angle range 360 degrees, pitch angle range from +79° to -59°, maximum measurement range up to 1000 meters.

[0028] The self-propelled construction robot can move autonomously and provide uninterrupted power to the laser tracker.

[0029] S3: The controller measures and sets up a station through the laser tracker 2 and based on the known coordinate points within the construction range.

[0030] Specifically, switch the laser tracker 2 to the manual measurement mode, measure and set up a station according to the known coordinate points within the construction site (measuring and setting up a station is a basic operation of construction surveying and will not be elaborated here), and ensure that the self-propelled construction robot is consistent with the construction site coordinate system.

[0031] S4: Bind multiple active 360° prisms 3 to the laser tracker 2 system. The laser tracker 2 rotates to sense the position of each active 360° prism 3 and measures and obtains the initial coordinate value of each active 360° prism 3.

[0032] Specifically, switch the laser tracker to the automatic mode and automatically execute the "update coordinates" function. The laser tracker automatically updates its coordinate values according to the prism list. Coordinate update logic: The laser tracker first senses the position of the ID01 prism, automatically rotates and aligns to the ID01 prism, measures and records its coordinate values in the system, and then measures the coordinates of all the bound prisms in turn.

[0033] S5: The self - moving construction robot 1 moves and operates on its own based on the preset planned path coordinates. During the movement and operation, the controller performs calibration and positioning through the laser tracker 2 at a first preset time interval. The calibration and positioning includes the laser tracker 2 rotating to sense the positions of at least two active 360° prisms 3 and measuring and obtaining the real - time coordinate values of the active 360° prisms 3. When the real - time coordinate values are inconsistent with the initial coordinate values, the laser tracker 2 calibrates the coordinate values of the self - moving construction robot 1 according to the initial coordinate values so that the controller obtains the new coordinate values of the self - moving construction robot 1, enabling the self - moving construction robot 1 to move and operate based on the new coordinate values.

[0034] During the movement and operation of the self - moving construction robot 1, based on a second preset time interval or after the active 360° prism 3 moves to other known coordinate points, the controller calibrates the prism through the laser tracker 2. The prism calibration includes the laser tracker 2 rotating to sense the position of the active 360° prism 3 and measuring and obtaining the new coordinate values of the active 360° prism 3 to update the initial coordinate values of the active 360° prism 3.

[0035] When the laser tracker 2 measures and obtains the new coordinate values of multiple active 360° prisms 3 and the number of active 360° prisms 3 for which new coordinate values are not obtained is less than two, the controller aborts the movement or operation of the self - moving construction robot 1.

[0036] After the controller aborts the movement or operation of the self - moving construction robot 1, the controller obtains a first instruction to continue controlling the self - moving construction robot 1 to continue moving or operating, or the controller obtains a second instruction to re - measure and set up a station through the laser tracker 2.

[0037] The positioning method of the self - moving construction robot of the present invention endows the self - moving construction robot with "calibration and positioning function", "prism calibration function", and "re - setting up a station function", and triggers the corresponding functions under certain conditions.

[0038] Specifically, there are two triggering modes for the calibration and positioning function of the self - moving construction robot:

[0039] (1) Set the time interval for calibration and positioning on the system operation interface according to the construction workload and the complexity of the on - site environment, and the duration can be set as feasible.

[0040] (2) When the self - moving construction robot detects abnormal signals such as unexpected vibrations, external force movements, or sliding of itself, it automatically activates the calibration and positioning function.

[0041] The working logic of calibration and positioning: First, automatically measure the coordinate values of at least two active 360° prisms in a round - trip, analyze the deviation between the current coordinate values and the previous coordinate values. When there is no deviation, the calibration is completed directly. When there is a deviation, the coordinate values of the robot are calibrated according to the initial coordinate values of the prisms recorded in the system.

[0042] Two triggering modes of the calibration prism function:

[0043] (1) Set the time interval for calibration and positioning on the system operation interface according to the construction workload and the complexity of the on - site environment, and the duration can be set. The working logic of this mode: The laser tracker will detect the coordinate values of each bound active 360° prism at the set time interval. When there is a deviation, it will re - measure its coordinate values and update the records.

[0044] (2) Manual update. The working logic of this mode: You can select a specific active 360° prism for calibration on the control system panel. At this time, the tracker immediately finds the specified active 360° prism, measures its coordinate values, and updates the records. After moving a certain active 360° prism, it can be updated using the manual update mode, or the device can be set to automatically update after the time interval.

[0045] The re - establishment of the station function is that during the calibration and positioning process of the construction robot, when multiple active 360° prisms move simultaneously, and the number of non - moved prisms is less than 2 or does not meet the conditions for the robot's calibration and positioning, the self - moving construction robot stops working, and the controller prompts the construction personnel to continue working according to the existing coordinates or select "re - establish the station". If the construction personnel select "re - establish the station", the operation steps are executed according to S3 above.

[0046] The positioning method of the self - moving construction robot of the present invention realizes system intercommunication by combining the laser tracker with the control system of the self - moving construction robot, thereby enabling the self - moving construction robot to perform autonomous positioning with high positioning accuracy. Moreover, the self - moving construction robot only needs to be measured and positioned once in multiple spaces within the construction range of the same floor, and can achieve self - positioning during the cross - space self - moving process, without the need for professional surveyors to track, thus greatly improving work efficiency and reducing labor costs.

[0047] The positioning method of the self - moving construction robot of the present invention can enable the self - moving construction robot to maintain accurate positioning during long - distance movement, avoid the cumulative deviation of other positioning algorithms, reduce the continuous positioning and positioning correction time during construction, and improve work efficiency.

[0048] In the positioning method of the self - moving construction robot of the present invention, when the self - moving construction robot deviates during the construction process, the controller gives a prompt to avoid rework caused by continuing to construct according to the wrong coordinates.

[0049] The above description is only a preferred embodiment of the present application and an explanation of the technical principles applied. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solutions formed by the specific combination of the above - mentioned technical features. At the same time, it should also cover other technical solutions formed by any combination of the above - mentioned technical features or their equivalent features without departing from the inventive concept. For example, the technical solutions formed by mutually replacing the above - mentioned features with the (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A positioning method for a self - moving construction robot, characterized in that, it includes the following steps: Set multiple active 360° prisms within the construction range of the self - moving construction robot; Install a rotatable laser tracker on the self - moving construction robot, and connect the laser tracker to the controller of the self - moving construction robot, and the controller obtains the measurement data information of the laser tracker; The controller measures and sets up a station according to the known coordinate points within the construction range; Bind multiple active 360° prisms to the laser tracker system, and the laser tracker rotates to sense the position of each active 360° prism and measures and obtains the initial coordinate value of each active 360° prism; The self - moving construction robot moves and operates on its own based on the preset planned path coordinates. During the movement and operation, the controller performs calibration positioning through the laser tracker based on the first preset time interval. The calibration positioning includes the laser tracker rotating to sense the positions of at least two active 360° prisms and measuring and obtaining the real - time coordinate values of the active 360° prisms. When the real - time coordinate values are inconsistent with the initial coordinate values, the laser tracker calibrates the coordinate values of the self - moving construction robot according to the initial coordinate values so that the controller obtains the new coordinate values of the self - moving construction robot, and the self - moving construction robot moves and operates based on the new coordinate values.

2. The positioning method for a self - moving construction robot according to claim 1, characterized in that, During the movement and operation of the self - moving construction robot, based on the second preset time interval or after the active 360° prism moves to other known coordinate points, the controller calibrates the prism through the laser tracker. The calibration of the prism includes the laser tracker rotating to sense the position of the active 360° prism and measuring and obtaining the new coordinate value of the active 360° prism to update the initial coordinate value of the active 360° prism.

3. The positioning method for a self - moving construction robot according to claim 2, characterized in that, When the laser tracker measures and obtains the new coordinate values of multiple active 360° prisms and the number of active 360° prisms for which no new coordinate values are obtained is less than two, the controller suspends the movement or operation of the self - moving construction robot.

4. The positioning method for a self - moving construction robot according to claim 3, characterized in that, After the controller suspends the movement or operation of the self - moving construction robot, the controller obtains a first instruction to continue controlling the self - moving construction robot to continue moving or operating, or the controller obtains a second instruction to re - measure and set up a station through the laser tracker.

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