A robot control method, control system, and robot

Abstract

The application provides a robot control method, a control system and a robot, and relates to the technical field of robot control.The robot control method comprises the following steps: controlling a robot to explore an unknown area inside a building, and generating a preliminary map and an obstacle map of the unknown area by using data obtained by a sensor group and a sensor holder; obtaining optimal scanning parameters of the sensor group and the sensor holder according to the preliminary map, the obstacle map, and scanning characteristics of the sensor group and the sensor holder; generating full-coverage path points and static scanning points in the preliminary map according to the optimal scanning parameters; controlling the robot to autonomously scan according to the full-coverage path points and the static scanning points, so as to obtain three-dimensional point cloud data by using the sensor group and the sensor holder; and generating a BIM three-dimensional model of the inside of the building by performing point cloud registration on the three-dimensional point cloud data.The application greatly improves the efficiency of reconstructing the inside environment of a building.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and more specifically, to a robot control method, a control system, and a robot. Background Technology

[0002] Building Information Modeling (BIM) creates a virtual 3D model of a building project and uses digital technology to provide this model with a complete and accurate database of building information. However, in current technologies, operators manually measure relevant data during and after construction, which is time-consuming and labor-intensive, significantly reducing the efficiency of reconstructing the building's interior environment. Summary of the Invention

[0003] The technical problem this invention aims to solve is how to efficiently reconstruct the interior environment of a building.

[0004] On one hand, the present invention provides a robot control method, comprising:

[0005] The robot is controlled to explore unknown areas inside a building, and a preliminary map and obstacle map of the unknown areas are generated using data obtained from the sensor array and sensor gimbal.

[0006] The optimal scanning parameters for the sensor group and the sensor gimbal are obtained based on the preliminary map, the obstacle map, and the scanning characteristics of the sensor group and the sensor gimbal.

[0007] Generate full-coverage path points and static scan points in the preliminary map based on the optimal scan parameters;

[0008] The robot is controlled to autonomously scan based on the full-coverage path points and the static scanning points, so as to acquire three-dimensional point cloud data through the sensor group and the sensor gimbal.

[0009] After the three-dimensional point cloud data is registered as a point cloud, a BIM three-dimensional model of the building's interior is generated.

[0010] Optionally, the controlled robot explores unknown areas inside the building and generates a preliminary map and obstacle map of the unknown areas using data obtained from the sensor array and sensor gimbal, including:

[0011] S1. Control the robot to explore and guide the path planning, and quickly scan the unknown area through the sensor group and the sensor gimbal during the movement;

[0012] S2. Fuse the data obtained from the sensor group and the sensor pan-tilt unit;

[0013] S3. When the fused data meets the first preset condition, a preliminary map and an obstacle map of the unknown area are generated.

[0014] S4. If the fused data does not meet the first preset condition, repeat steps S1 and S2 until the fused data meets the first preset condition.

[0015] Optionally, the path planning for controlling the robot's exploration guidance includes:

[0016] Based on data obtained from the robot's own coordinate system, the sensor group, and the sensor gimbal, the robot moves forward along one side of the robot while avoiding obstacles until it has to turn, repeating this process until a loop is formed.

[0017] Optionally, controlling the robot to autonomously scan based on the full-coverage path points and the static scan points to acquire 3D point cloud data through the sensor group and the sensor pan-tilt unit includes:

[0018] The robot's movement is controlled based on the full-coverage path points;

[0019] When the robot reaches the static scanning point, control the robot to stop, and change the scanning parameters of the sensor group and sensor gimbal to the optimal scanning parameters until it passes through all the full-coverage path points and the static scanning point.

[0020] Optionally, before the controlled robot explores unknown areas inside the building and generates a preliminary map and obstacle map of the unknown area using data obtained from the sensor array and sensor gimbal, the process includes:

[0021] Initialize the robot's pose information and calibrate the sensor group and sensor gimbal installed on the robot.

[0022] Optionally, the three-dimensional point cloud data is acquired by a scanning point cloud sensor group consisting of a scanning lidar, a radar pan-tilt unit, a high-resolution radar, and an industrial camera mounted on the robot.

[0023] Optionally, the sensor gimbal includes a radar gimbal, which drives the scanning lidar to move.

[0024] Optionally, the sensor group also acquires navigation information, which is obtained by a navigation radar and an RGBD camera mounted on the robot.

[0025] On the other hand, the present invention provides a robot control system, comprising:

[0026] Point cloud data acquisition unit, used to acquire three-dimensional point cloud data inside the building;

[0027] The navigation data acquisition unit is used to acquire the robot's navigation information;

[0028] The control unit is used to control the robot to explore unknown areas inside the building, and to generate a preliminary map and an obstacle map of the unknown area using data obtained from the sensor group and the sensor gimbal; to obtain the optimal scanning parameters of the sensor group and the sensor gimbal based on the preliminary map, the obstacle map, and the scanning characteristics of the sensor group and the sensor gimbal; to generate full-coverage path points and static scan points in the preliminary map based on the optimal scanning parameters; to control the robot to autonomously scan based on the full-coverage path points and static scan points to acquire three-dimensional point cloud data through the sensor group and the sensor gimbal; and to generate a BIM three-dimensional model of the building's interior after registering the three-dimensional point cloud data.

[0029] In another aspect, the present invention provides a robot, including the robot control system described above.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] When it is necessary to reconstruct the interior environment of a building, the robot is controlled to explore unknown areas inside the building and generate preliminary maps and obstacle maps of the unknown areas using data obtained from sensor arrays and sensor pan-tilt units. Based on the preliminary maps, obstacle maps, and the scanning characteristics of the sensor arrays and sensor pan-tilt units, the optimal scanning parameters of the sensor arrays and sensor pan-tilt units are obtained. Based on the optimal scanning parameters, full-coverage path points and static scan points are generated in the preliminary maps. The robot is then controlled to autonomously scan based on the full-coverage path points and static scan points to acquire 3D point cloud data through the sensor arrays and sensor pan-tilt units. After the 3D point cloud data is registered, a BIM 3D model of the building's interior is generated. The robot collects relevant data, eliminating the need for manual measurement, which not only saves manpower and resources but also greatly improves the efficiency of reconstructing the interior environment of a building. Attached Figure Description

[0032] Figure 1 This is a flowchart illustrating one embodiment of the robot control method of the present invention;

[0033] Figure 2 This is a structural schematic diagram of one embodiment of the robot of the present invention.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. Wheeled mobile chassis; 11. Mounting bracket; 2. Scanning LiDAR; 3. Radar pan-tilt unit; 4. High-resolution radar; 5. Industrial camera; 6. RGBD camera. Detailed Implementation

[0036] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0037] In the attached diagram, the Z-axis represents the vertical direction, i.e., up and down. The positive direction of the Z-axis (where the arrow points) indicates up, and the negative direction (opposite to the positive Z-axis) indicates down. In the attached diagram, the Y-axis represents the longitudinal direction, i.e., forward and backward. The positive direction of the Y-axis (where the arrow points) indicates forward, and the negative direction (opposite to the positive Y-axis) indicates backward. In the attached diagram, the X-axis represents the horizontal direction, i.e., left and right. The positive direction of the X-axis (where the arrow points) indicates left, and the negative direction (opposite to the positive X-axis) indicates right.

[0038] It should also be noted that the meanings of the aforementioned Z-axis, X-axis and Y-axis are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0039] like Figure 1 As shown, an embodiment of the present invention provides a robot control method, including:

[0040] S100: Control the robot to explore unknown areas inside the building, and generate a preliminary map of the unknown area and an obstacle map using data obtained from the sensor group and sensor gimbal.

[0041] S200. Based on the preliminary map, obstacle map, and scanning characteristics of the sensor group and sensor pan-tilt unit, obtain the optimal scanning parameters for the sensor group and sensor pan-tilt unit.

[0042] S300: Generate full-coverage path points and static scan points in the preliminary map based on the optimal scan parameters;

[0043] S400: Control the robot to scan autonomously based on full-coverage path points and static scanning points to acquire 3D point cloud data through sensor arrays and sensor gimbals;

[0044] S500: After registering the 3D point cloud data, a BIM 3D model of the building's interior is generated.

[0045] In this embodiment, the sensor group comprises two main parts: a scanning point cloud sensor group and a navigation scanning sensor group. The scanning point cloud sensor group includes a scanning LiDAR 2, a high-resolution radar 4, and an industrial camera 5, which work together to acquire 3D point cloud data. The navigation scanning sensor group includes a navigation radar and an RGBD camera 6, which work together to build a rough map for navigation and obstacle avoidance. The sensor gimbal includes a radar gimbal 3, which drives the movement of the scanning LiDAR 2.

[0046] When it is necessary to reconstruct the interior environment of a building, the robot is controlled to explore unknown areas inside the building and generate preliminary maps and obstacle maps of the unknown areas using data obtained from sensor arrays and sensor pan-tilt units. Based on the preliminary maps, obstacle maps, and the scanning characteristics of the sensor arrays and sensor pan-tilt units, the optimal scanning parameters of the sensor arrays and sensor pan-tilt units are obtained. Based on the optimal scanning parameters, full-coverage path points and static scan points are generated in the preliminary maps. The robot is then controlled to autonomously scan based on the full-coverage path points and static scan points to acquire 3D point cloud data through the sensor arrays and sensor pan-tilt units. After the 3D point cloud data is registered, a BIM 3D model of the building's interior is generated. The robot collects relevant data, eliminating the need for manual measurement, which not only saves manpower and resources but also greatly improves the efficiency of reconstructing the interior environment of a building.

[0047] Optionally, step S100 includes:

[0048] S1. Control the robot to explore and plan the path, and quickly scan the unknown area through the sensor group and sensor gimbal during the movement;

[0049] S2. Fuse the data obtained from the sensor group and the sensor pan-tilt unit;

[0050] S3. When the fused data meets the first preset condition, a rough map of the unknown area and an obstacle map are generated.

[0051] S4. When the fused data does not meet the first preset condition, repeat steps S1 and S2 until the data obtained by the sensor group meets the first preset condition.

[0052] Among them, the path planning for robot exploration includes:

[0053] Based on data obtained from the robot's own coordinate system, sensor array, and sensor gimbal, the robot moves forward along one side of itself while avoiding obstacles until it has to turn, repeating this process until a loop is formed (i.e., repeatedly reaching the same point). In this way, the sensor array and sensor gimbal can obtain relatively complete data during the robot's movement, thus providing support for subsequent data fusion.

[0054] In this embodiment, the fused data includes three-dimensional point cloud data, and the first preset condition is that the three-dimensional point cloud data can fit the boundaries of the rough map and the obstacle map.

[0055] In step S200, the optimal scanning parameters include the scanning modes and parameter configurations of the scanning lidar, high-resolution radar, and industrial camera, the motion trajectory following the robot chassis (rotating in place or moving in a straight line), and the rotational motion parameters of the sensor gimbal. Based on the obtained preliminary map and obstacle map, and combined with the scanning characteristics of the sensor group and sensor gimbal, the optimal scanning parameters of the sensor group and sensor gimbal are calculated, thereby facilitating the robot to obtain more 3D point cloud data when scanning again.

[0056] In step S300, after obtaining the optimal scanning parameters for the sensor group and sensor gimbal, full-coverage path points and static scan points are generated in the preliminary map. The full-coverage path points are the path points that the robot needs to traverse when scanning again, and the static scan points are generally located between two path points, representing the points where the robot needs to transform to the optimal scanning parameters. This facilitates the acquisition of more 3D point cloud data.

[0057] Optionally, step S400 includes:

[0058] Control the robot's movement based on full-coverage path points;

[0059] When the robot reaches the static scanning point, control the robot to stop, change the scanning parameters of the sensor and sensor gimbal to the optimal scanning parameters, until it passes through all full-coverage path points and static scanning points.

[0060] In this way, when the robot performs autonomous scanning again, it will no longer explore aimlessly, but will walk along the full-coverage path points and change to the best scanning parameters when passing through static scanning points in order to obtain more 3D point cloud data at the static scanning points.

[0061] Optionally, before step S100, the following steps are included:

[0062] Initialize the robot's pose information and calibrate the sensor group and sensor gimbal set on the robot.

[0063] In this embodiment, whenever the robot needs to autonomously explore an unknown area, it is necessary to initialize the robot's pose information and calibrate all the sensors and sensor gimbals installed on the robot, so as to facilitate the accuracy of the data acquired by the robot in the future.

[0064] Another embodiment of the present invention provides a robot control system, comprising:

[0065] Point cloud data acquisition unit, used to acquire three-dimensional point cloud data inside the building;

[0066] The navigation data acquisition unit is used to acquire the robot's navigation information;

[0067] The control unit is used to control the robot to explore unknown areas inside the building and generate a preliminary map and an obstacle map of the unknown area using data obtained from the sensor group and sensor pan-tilt unit. Based on the preliminary map, obstacle map, and scanning characteristics of the sensor group and sensor pan-tilt unit, the optimal scanning parameters for the sensor group and sensor pan-tilt unit are obtained. Based on the optimal scanning parameters, full-coverage path points and static scan points are generated in the preliminary map. The robot is then controlled to autonomously scan based on the full-coverage path points and static scan points to acquire 3D point cloud data through the sensor group. After registering the 3D point cloud data, a BIM 3D model of the building's interior is generated.

[0068] In this embodiment, the point cloud data acquisition unit is a scanning point cloud sensor group consisting of a scanning lidar 2, a high-resolution radar 4, and an industrial camera 5. The navigation data acquisition unit is a navigation scanning sensor group consisting of a navigation radar and an RGBD camera 6. The control unit is a control box.

[0069] The robot control system in this embodiment has the same beneficial effects as the robot control method described above compared to the prior art, so it will not be described again here.

[0070] Another embodiment of the present invention provides a robot, including the robot control system described above.

[0071] In this embodiment, as Figure 2 As shown, the robot also includes a wheeled mobile chassis 1. The wheeled mobile chassis 1 is equipped with motors that drive the wheels to rotate. Specifically, the wheeled robot chassis used in this embodiment is an Ackerman type, driven by four motors, with a wheelbase of 570mm and a track width of 500mm. A scanning lidar 2, a radar gimbal 3, a high-resolution radar 4, an industrial camera 5, and an RGBD camera 6 are mounted on a mounting bracket 11 of the wheeled mobile chassis 1. The connection methods between these four components and the mounting bracket 11 include, but are not limited to, fixed connections or connections via a gimbal structure. A control box can be located at the rear of the wheeled mobile chassis 1. It includes a computing platform and is electrically connected to each sensor and motor to achieve data transmission and power supply.

[0072] Optionally, the robot also includes a data link located at the rear of the wheeled mobile chassis 1. The data link comprises an internal data link and an external data link. The internal data link is used for communication between the computing platform and various sensors and motors, while the external data link is used for remote communication, enabling remote control of the robot. The external network of the data link uses 5G communication, while the internal network uses wired network communication.

[0073] The robot in this embodiment has the same beneficial effects as the robot control method described above compared to the prior art, so it will not be described again here.

[0074] Readers should understand that in the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0075] While the disclosure is as stated above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this invention.

Claims

1. A robot control method, characterized in that, include: The robot is controlled to explore unknown areas inside a building, and a preliminary map and obstacle map of the unknown areas are generated using data obtained from the sensor array and sensor gimbal. The optimal scanning parameters for the sensor group and the sensor gimbal are obtained based on the preliminary map, the obstacle map, and the scanning characteristics of the sensor group and the sensor gimbal. Generate full-coverage path points and static scan points in the preliminary map based on the optimal scan parameters; The robot is autonomously scanned based on the full-coverage path points and the static scan points to acquire 3D point cloud data through the sensor group and the sensor gimbal. Specifically, the robot is controlled to move based on the full-coverage path points; when the robot reaches the static scan point, the robot is stopped, and the scanning parameters of the sensor group and the sensor gimbal are changed to the optimal scanning parameters until all the full-coverage path points and the static scan points are passed. The full-coverage path points are the path points that the robot needs to pass through when scanning again, and the static scan points are located between two path points. After the three-dimensional point cloud data is registered as a point cloud, a BIM three-dimensional model of the building's interior is generated.

2. The robot control method according to claim 1, characterized in that, The controlled robot explores unknown areas inside the building and generates preliminary maps and obstacle maps of the unknown areas using data obtained from sensor arrays and sensor pan-tilt units, including: S1. Control the robot to explore and guide the path planning, and quickly scan the unknown area through the sensor group and the sensor gimbal during the movement; S2. Fuse the data obtained from the sensor group and the sensor pan-tilt unit; S3. When the fused data meets the first preset condition, a preliminary map and an obstacle map of the unknown area are generated. S4. If the fused data does not meet the first preset condition, repeat steps S1 and S2 until the fused data meets the first preset condition.

3. The robot control method according to claim 2, characterized in that, The path planning for controlling the robot's exploration guidance includes: Based on data obtained from the robot's own coordinate system, the sensor group, and the sensor gimbal, the robot moves forward along one side of the robot while avoiding obstacles until it has to turn, repeating this process until a loop is formed.

4. The robot control method according to claim 1, characterized in that, Before the controlled robot explores unknown areas inside the building and generates a preliminary map and obstacle map of the unknown area using data obtained from the sensor array and sensor gimbal, the following steps are included: Initialize the robot's pose information and calibrate the sensor group and sensor gimbal installed on the robot.

5. The robot control method according to claim 1, characterized in that, The three-dimensional point cloud data is acquired by a scanning point cloud sensor group consisting of a scanning lidar, a high-resolution radar, and an industrial camera mounted on the robot.

6. The robot control method according to claim 5, characterized in that, The sensor gimbal includes a radar gimbal, which drives the scanning lidar to move.

7. The robot control method according to claim 1, characterized in that, The sensor array also acquires navigation information, which is obtained by the navigation radar and RGBD camera mounted on the robot.

8. A robot control system, characterized in that, include: Point cloud data acquisition unit, used to acquire three-dimensional point cloud data inside the building; The navigation data acquisition unit is used to acquire the robot's navigation information; The control unit is used to control a robot to explore unknown areas inside a building, and to generate a preliminary map and an obstacle map of the unknown area using data obtained from a sensor array and a sensor pan-tilt unit. Based on the preliminary map, the obstacle map, and the scanning characteristics of the sensor array and the sensor pan-tilt unit, the control unit obtains optimal scanning parameters for the sensor array and the sensor pan-tilt unit. Based on the optimal scanning parameters, it generates full-coverage path points and static scan points in the preliminary map. Based on the full-coverage path points and static scan points, the control unit controls the robot to autonomously scan to acquire 3D point cloud data using the sensor array and the sensor pan-tilt unit. Specifically, the control unit moves the robot based on the full-coverage path points. When the robot reaches a static scan point, it stops and replaces the scanning parameters of the sensor array and the sensor pan-tilt unit with the optimal scanning parameters until all full-coverage path points and static scan points have been passed. The full-coverage path points are the path points the robot needs to traverse when scanning again, and the static scan points are located between two path points. The control unit registers the 3D point cloud data to generate a BIM 3D model of the building's interior.

9. A robot, characterized in that, Including the robot control system as described in claim 8.

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