Control method, device and readable storage medium of a cable laying robot

Abstract

The application discloses a control method and device of a wire laying robot and a readable storage medium, the method comprising: determining corresponding robot coordinates according to response information fed back by the robot after the robot moves; determining a local wire laying pattern corresponding to the robot coordinates, and generating a local wire laying instruction according to the local wire laying pattern and the robot coordinates, wherein the local wire laying instruction comprises control parameters for controlling a wire laying assembly of the robot to complete a local wire laying action according to the local wire laying pattern; and sending the local wire laying instruction to the robot and entering a waiting connection mode, thereby effectively solving the technical problem that only one wire laying robot can be tracked to lay a wire in the related art, leading to low wire laying efficiency, and further achieving the technical effect of coordinating multiple wire laying robots to lay a wire in a wire laying area and improving wire laying efficiency.

Description

Technical Field

[0001] This application relates to the field of robot control, and more particularly to a control method for a wire-laying robot, a control device for a wire-laying robot, and a computer-readable storage medium. Background Technology

[0002] Setting out lines is an indispensable part of engineering surveying, affecting the quality and accuracy of construction. On construction sites, in order to strictly follow the design drawings, it is necessary to mark the axis lines of the buildings on site. The main idea behind this is to transfer the dimensions from the design drawings to the construction site.

[0003] In related technologies, robots associated with calibrated total stations have been introduced. These robots extract three-dimensional curves and points for laying out lines from CAD data, and generate a set laying trajectory based on the three-dimensional curves and points. The robot is then controlled to complete the laying out according to the laying trajectory.

[0004] However, during the laying process, the total station needs to track the robot's position in real time. When tracking, the total station needs to track the laser head at the end of the robotic arm for laying, which means that only one robot can be tracked at a time, resulting in low laying efficiency. Summary of the Invention

[0005] This application provides a control method, control device, and computer-readable storage medium for a line-laying robot. It solves the technical problem in related technologies that a total station can only track the coordinates of one robotic arm's end at a time, resulting in low line-laying efficiency because only one line-laying robot can be tracked. This application achieves the technical effect of simultaneously controlling multiple line-laying robots to lay lines, thereby improving line-laying efficiency.

[0006] This application provides a control method for a wire-laying robot, the control method of which includes:

[0007] After the robot completes its movement, the corresponding robot coordinates are determined based on the response information fed back by the robot.

[0008] A local layout pattern corresponding to the robot coordinates is determined, and a local layout instruction is generated based on the local layout pattern and the robot coordinates. The local layout instruction includes control parameters for controlling the robot's layout component to complete the local layout action based on the local layout image.

[0009] Send the partial cable laying command to the robot and enter the connection waiting mode.

[0010] Optionally, the step of determining the local layout pattern corresponding to the robot coordinates and generating a local layout instruction based on the local layout pattern and the robot coordinates includes:

[0011] Obtain the base coordinates of the wire-laying assembly of the robot;

[0012] The local layout pattern is determined based on the base coordinates and the working radius of the layout assembly.

[0013] Extract the layout nodes from the local layout pattern, and generate a local layout path based on the layout nodes;

[0014] Determine the coordinate error, and based on the coordinate error and the local layout path, determine the local layout instruction.

[0015] Optionally, after the step of sending the partial cable laying command to the robot and entering the connection-ready mode, the following steps are included:

[0016] After the robot finishes laying out the line, the corresponding robot coordinates are determined based on the response information fed back by the robot.

[0017] The target point coordinates are determined based on the robot coordinates, and a movement command is generated based on the difference between the target point coordinates and the robot coordinates, wherein the movement command includes control parameters for controlling the chassis assembly of the robot to move from the robot coordinates to the target point coordinates;

[0018] Send the movement command to the robot and enter the connection waiting mode.

[0019] Optionally, the step of determining the target point coordinates based on the robot coordinates and generating a movement command based on the difference between the target point coordinates and the robot coordinates includes:

[0020] Obtain the map to be laid out and the working coordinates;

[0021] The target point coordinates are determined based on the robot coordinates and the working coordinates.

[0022] The movement path is determined based on the robot coordinates and the target point coordinates, and the movement command is generated based on the movement path.

[0023] Optionally, before the step of determining the corresponding robot coordinates based on the response information fed back by the robot after the robot has completed its movement, the following steps are included:

[0024] Receive station setup information from the total station module and obtain the coordinates of the synchronization point;

[0025] Based on the station construction information and the coordinates of the synchronization point, the coordinate system of the drawing to be laid out is converted into the coordinate system of the total station.

[0026] Optionally, before the step of determining the corresponding robot coordinates based on the response information fed back by the robot after the robot has completed its movement, the following steps are included:

[0027] Based on the collected laser data and / or image data, a radar scan map of the location to be laid is constructed;

[0028] The radar scan image is aligned with the line drawing to be laid out to determine the line drawing;

[0029] Based on the sequence of movement, the working coordinates are determined in the map to be laid out.

[0030] This application also provides a control method for a wire-laying robot, applied to a wire-laying robot, the wire-laying robot including a wire-laying assembly and a movable chassis assembly, the control method of the wire-laying robot including:

[0031] Execute the received instructions to be executed, wherein the instructions to be executed include partial laying instructions or movement instructions;

[0032] After the instruction to be executed is completed, a response message is generated based on the execution result and sent to the central control unit, which then controls its own mechanism to stop moving.

[0033] Optionally, the step of executing the received instruction to be executed includes:

[0034] When the instruction to be executed is a partial wiring instruction, the chassis assembly is kept stationary.

[0035] The local laying-out command controls the movement of the laying-out component to draw the local laying-out pattern corresponding to the local laying-out command.

[0036] Furthermore, this application also proposes a control device for a wire-laying robot, which includes a memory, a processor, and a control program for the wire-laying robot stored in the memory and executable on the processor. When the processor executes the control program for the wire-laying robot, it implements the steps of the control method for the wire-laying robot as described above.

[0037] Furthermore, this application also proposes a computer-readable storage medium storing a control program for a wire-laying robot, wherein the control program for the wire-laying robot, when executed by a processor, implements the steps of the control method for the wire-laying robot as described above.

[0038] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0039] 1. By employing a method that determines the robot's coordinates based on its feedback after movement, determines a local layout pattern based on these coordinates, generates a local layout command based on the robot's coordinates and the local layout pattern, sends this command to the robot, and enters a connection-ready mode, the technical problem of low layout efficiency caused by only being able to track one layout robot in related technologies is effectively solved. This achieves the technical effect of coordinating multiple layout robots within the layout area, thereby improving layout efficiency.

[0040] 2. Because the method involves determining the corresponding robot coordinates based on the response information fed back by the robot after the robot has finished laying the line; determining the target point coordinates based on the robot coordinates; and generating a movement command based on the difference between the target point coordinates and the robot coordinates, wherein the movement command includes control parameters for controlling the robot's chassis assembly to move from the robot coordinates to the target point coordinates; sending the movement command to the robot; and entering the waiting-to-connect mode, the technical problem of low line laying efficiency caused by only being able to track one line laying robot in related technologies is effectively solved. This achieves the technical effect of coordinating multiple line laying robots to lay line within the waiting-to-lay area, thereby improving line laying efficiency.

[0041] 3. By employing a method where the chassis assembly is kept stationary when the instruction to be executed is a partial laying-out instruction, and the laying-out assembly is controlled to move according to the partial laying-out instruction to draw the partial laying-out pattern corresponding to the instruction, the technical problem of consuming computational resources in related technologies—where only one laying-out robot can be tracked for laying-out, and the method of correcting the robot arm's error while moving—is effectively solved. This achieves the technical effect of coordinating multiple laying-out robots within the laying-out area while improving the efficiency of correcting the movement error of the laying-out assembly. Attached Figure Description

[0042] Figure 1 This is a flowchart illustrating an embodiment of the control method for the wire-laying robot of this application;

[0043] Figure 2 This is a detailed flowchart of step S120 in Embodiment 1 of the control method for the wire-laying robot of this application;

[0044] Figure 3 This is a flowchart illustrating a second embodiment of the control method for the wire-laying robot of this application.

[0045] Figure 4 This is a flowchart illustrating an example of the control method for the wire-laying robot in Embodiment 3 of this application;

[0046] Figure 5This is a schematic diagram of the hardware structure involved in the control device embodiment of the wire-laying robot of this application. Detailed Implementation

[0047] In related technologies, total stations determine the end-effector coordinates of a wire-laying robot by tracking a prism at the end of its robotic arm using optical lenses. Therefore, a total station can only track one wire-laying robot at a time, and since the robot operates by laying wire while moving, the total station needs to track the end-effector coordinates in real time for error calibration, resulting in low wire-laying efficiency. The main technical solution adopted in this application is as follows: after the robot completes its movement, the robot coordinates are determined based on the robot's feedback response information; a partial wire-laying pattern is determined based on the robot coordinates, and a partial wire-laying command is generated based on the robot coordinates and the partial wire-laying pattern; the partial wire-laying command is sent to the robot, and the robot enters a connection-ready mode. This asynchronously controls the robot's wire-laying component and chassis component, thereby enabling the control of multiple wire-laying robots to perform wire-laying operations and improving wire-laying efficiency.

[0048] To better understand the above technical solutions, exemplary embodiments of this application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0049] Example 1

[0050] Embodiment 1 of this application discloses a control method for a wire-laying robot, referring to... Figure 1 The control method for the wire-laying robot includes:

[0051] Step S110: After the robot completes its movement, determine the corresponding robot coordinates based on the response information fed back by the robot.

[0052] In this embodiment, after the robot completes its movement and line laying, it sends corresponding response information to the central control unit. The robot coordinates are the coordinates of the current position of the line-laying robot on the map to be laid.

[0053] As an optional implementation, after the wire-laying robot completes its movement, it generates response information based on its own robot coordinates and sends it to the central control unit. The central control unit then determines the robot coordinates of the wire-laying robot based on the received response information.

[0054] Optionally, before step S110, the following steps are included:

[0055] Step S1: Receive the station setup information from the total station module and obtain the coordinates of the synchronization point.

[0056] Step S2: Based on the station construction information and the coordinates of the synchronization point, convert the coordinate system of the drawing to be laid out into the coordinate system of the total station.

[0057] In this embodiment, the total station module communicates with the central control computer. The total station tracks the prism or other markers at the end of the wire-laying robot's wire-laying assembly using its optical lens, then calculates and derives the coordinates of the wire-laying assembly's end, sending these coordinates to the central control computer. The user operates the total station to obtain the station construction information for the location to be laid out. The user sets a synchronization point target at the location and then obtains the coordinates of the target using the total station to determine the synchronization point coordinates.

[0058] As an optional implementation, the central control unit receives the station setup information and synchronization point coordinates sent by the total station module. Based on the station setup information and synchronization point coordinates, it converts the coordinate system of the drawing to be laid out in the BIM software into the total station coordinate system. After the total station module establishes the station, the coordinate system of the total station becomes the coordinate system of the drawing to be laid out.

[0059] Optionally, before step S110, the following steps are also included:

[0060] Step S3: Construct a radar scan map of the location to be laid based on the collected laser data and / or image data.

[0061] As an optional implementation, the wire-laying robot is controlled to move around the location to be laid, and laser data and / or image data of the location are collected using onboard laser sensors and / or image sensors. A radar scan map corresponding to the location to be laid is then constructed based on the laser data and / or image data.

[0062] As another optional implementation, the control robot moves around the location to be laid out, and collects panoramic cloud data of the location through the onboard LiDAR module. Based on the panoramic cloud data, a SLAM (Simultaneous Localization and Mapping) radar scan map of the location to be laid out is generated, which includes obstacle information of the location.

[0063] Step S4: Align the radar scan image with the line-laying drawing to determine the line-laying map.

[0064] As an optional implementation, the drawing to be laid out is obtained, and the radar scan image and the drawing to be laid out are aligned in coordinates based on a preset algorithm to generate a map to be laid out for navigation at the location to be laid out.

[0065] For example, after a radar scan, a rectangular map with raster coordinates is generated. Walls, pillars, people, and other 3D obstacles in the map are represented by blue lines or dots. The raster coordinates at the bottom left corner of the image are always (0,0), and the coordinates at the top right corner are always (maximum x-coordinate and maximum y-coordinate of the map raster). Raster coordinates = actual size (unit: meters) * conversion factor. The radar scan is then overlaid on the drawing to be laid out in BIM software, and aligned using pillars, walls, or other 3D markers.

[0066] Step S5: Determine the working coordinates in the map to be laid out based on the marching sequence.

[0067] As an optional implementation, based on a preset robot movement sequence and a preset area to be laid out, the working coordinates in the map to be laid out are determined, wherein each working coordinate is associated with one or more local laying out patterns.

[0068] For example, based on the layout points in the drawing to be laid out, the coordinates of each layout point in the map to be laid out are determined as the working coordinates. Based on the drawing range in the drawing and the working radius of the layout robot, the motion path of the chassis components is planned manually or automatically. After the conversion in step S4, the layout points on the drawing are converted from spatial coordinate system (x, y) format to raster coordinate format, i.e., the working coordinates are in raster coordinate format.

[0069] For example, the number of line-laying robots is obtained, and the line-laying map is divided into a corresponding number of local line-laying areas based on the line-laying points. The local line-laying areas are matched one-to-one with the line-laying robots, and the travel sequence of each line-laying robot through the line-laying points is planned within its corresponding local line-laying area. The working coordinates of each line-laying robot in the line-laying map are determined.

[0070] Step S120: Determine the local layout pattern corresponding to the robot coordinates, and generate a local layout instruction based on the local layout pattern and the robot coordinates, wherein the local layout instruction includes control parameters for controlling the robot's layout component to complete the local layout action based on the local layout image;

[0071] In this embodiment, each robot coordinate corresponds to one or more partial layout patterns. The partial layout pattern is the pattern to be laid out at the point corresponding to that robot coordinate. The partial layout image is stored in the map to be laid out and associated with the corresponding working coordinate.

[0072] As an optional implementation, a partial layout pattern corresponding to the robot coordinates is determined based on the map to be laid out. The starting point and ending point of the layout are determined based on the partial layout pattern. A partial layout command is generated based on the coordinates of the end of the layout component in the total station coordinate system to control the layout robot to lay out the line according to the command and draw the corresponding partial layout pattern.

[0073] As another optional implementation, the coordinates of the end of the laying-out component are obtained, the base coordinates of the laying-out component are calculated through the pose matrix, and the laying-out path corresponding to the local laying-out pattern is generated by combining the base coordinates, the coordinates of the end of the laying-out component, and the working radius of the laying-out component; based on the laying-out path and coordinate error, a local laying-out instruction is generated.

[0074] Optionally, step S120 includes:

[0075] Step S121: Obtain the base coordinates of the wire-laying assembly of the robot.

[0076] Step S122: Determine the local layout pattern based on the base coordinates and the working radius of the layout assembly.

[0077] As an optional implementation, the base coordinates of the laying-out component are solved based on the coordinates and pose of the end of the laying-out component obtained by the total station module; a circle is determined in the map to be laid out, with the base coordinates as the center and the working radius of the laying-out component as the radius; and the laying-out pattern within the circle is the local laying-out pattern.

[0078] For example, the central control unit sends a command to the layout component to adjust its posture so that the end prism aligns with the total station module. After the total station module tracks the tool end prism, it continuously returns the prism coordinates to the central control unit every 0.5 seconds. The central control unit then sends another command to the layout component to execute the positioning program. The end of the layout component with the prism will move according to a preset specific posture, such as rotation or translation. During the positioning program, the central control unit stores the TCP (tool center position) coordinates and axis values ​​within the layout component at the specific posture, along with the prism coordinates returned by the total station module at that time. Then, it performs calculations to inversely solve for the position coordinates of the layout component's base coordinates in the total station coordinate system. After the total station module establishes the station, the total station's coordinate system becomes the coordinate system of the map to be laid out. Using the calculated base coordinates as the center and the working range of the layout component as the radius, a circle can be drawn on the map to be laid out. The line segments on the map to be laid out within the circle represent the lines that the laying-out component can draw when the chassis is at the point corresponding to the robot's coordinates.

[0079] Step S123: Extract the layout nodes from the local layout pattern and generate a local layout path based on the layout nodes.

[0080] As an optional implementation, the corresponding line segments in the local layout pattern are extracted into layout nodes according to a preset algorithm, and the local layout path of the layout component is generated by combining the base coordinates.

[0081] Step S124: Determine the coordinate error, and determine the local layout instruction based on the coordinate error and the local layout path.

[0082] As an optional implementation, the coordinate error is determined based on the base coordinates, the coordinates of the end of the pay-off assembly, and the processing error of the pay-off assembly itself. The pay-off command corresponding to the local pay-off path is then corrected based on the coordinate error to determine the local pay-off command.

[0083] Optionally, step S120 includes:

[0084] Step S125: Obtain the local layout pattern associated with the robot coordinates, and determine the layout start point and layout end point based on the local layout pattern.

[0085] In this embodiment, the starting point of the layout is the coordinate of the starting point of the line path of the partial layout pattern; the ending point of the layout is the coordinate of the ending point of the line path of the partial layout pattern; there may be one or more process points between the starting point and the ending point of the layout, and the partial layout pattern is constituted by the starting point, the ending point and the process points.

[0086] As an optional implementation, based on the robot coordinates, a local layout pattern associated with those coordinates in the map to be laid out is determined; the local layout pattern is decomposed to determine the layout start point and the layout end point, and the points before and after the layout path deviates in direction are taken as process points. This allows the layout component to start from the layout start point, pass through the process points, and finally end at the layout end point, thus drawing the local layout pattern.

[0087] Step S126: Obtain the base coordinates of the wire-laying component of the robot, and determine the local wire-laying path based on the wire-laying start point, the wire-laying end point, the base coordinates, and the working radius of the wire-laying component.

[0088] As an optional implementation, the coordinates of the end of the wire laying component are determined based on the data collected by the optical lens of the total station module; the base coordinates of the wire laying component of the wire laying robot are obtained; based on the base coordinates and the coordinates of the end of the wire laying component, a first movement path is determined for the end of the wire laying component to move from its current position to the position corresponding to the wire laying start point; based on the wire laying start point, wire laying end point, and process points, and combined with the working radius of the wire laying component, a second wire laying path is determined; and a local wire laying path is determined based on the first wire laying path and the second wire laying path.

[0089] Step S127: Determine the coordinate error based on the base coordinates.

[0090] Step S128: Determine the local layout instruction based on the coordinate error and the local layout path.

[0091] In this embodiment, coordinate error refers to the error between the coordinates of the points actually drawn by the end of the laying-out component as it moves along the local laying-out path and the coordinates of the points corresponding to the laying-out path.

[0092] As an optional implementation, the coordinate error is determined based on the base coordinates, the coordinates of the end of the pay-off assembly, and the processing error of the pay-off assembly itself. The pay-off command corresponding to the local pay-off path is then corrected based on the coordinate error to determine the local pay-off command.

[0093] Step S130: Send the partial cable laying command to the robot and enter the connection waiting mode.

[0094] In this embodiment, the waiting-to-connect mode refers to the central control unit being in a connectable state, where the central control unit can only maintain a connection with one robot at a time. Once the central control unit receives a response from the robot indicating completion of movement or laying of the cable, it exits the waiting-to-connect mode.

[0095] As an optional implementation, a partial cable laying instruction is sent to the robot corresponding to the response information, and after the robot receives the partial cable laying instruction, it enters the waiting-to-connect mode.

[0096] The technical solutions described in the embodiments of this application have at least the following technical effects or advantages:

[0097] By employing a method that determines the robot's coordinates based on its feedback after movement, determines a local layout pattern based on these coordinates, generates a local layout command based on the robot's coordinates and the local layout pattern, sends this command to the robot, and then enters a connection-ready mode, the technical problem of low layout efficiency caused by only being able to track one layout robot in related technologies is effectively solved. This allows for the coordinated layout of multiple robots within the layout area, thereby improving layout efficiency.

[0098] Example 2

[0099] Based on Embodiment 1, Embodiment 2 of this application proposes a control method for a wire-laying robot, referring to... Figure 3 After step S130, the following steps are included:

[0100] Step S210: After the robot finishes laying the line, determine the corresponding robot coordinates based on the response information fed back by the robot.

[0101] As an optional implementation, after the robot finishes laying the line, it generates response information based on its current robot coordinates and sends it to the central control unit. The central control unit then determines the robot coordinates of the robot to which the connection is established based on the received response information.

[0102] Step S220: Determine the target point coordinates based on the robot coordinates, and generate a movement command based on the difference between the target point coordinates and the robot coordinates, wherein the movement command includes control parameters for controlling the chassis assembly of the robot to move from the robot coordinates to the target point coordinates.

[0103] In this embodiment, the target point coordinates are the coordinates of the next line-laying point that the robot needs to move to.

[0104] As an optional implementation, the next laying point, i.e. the target working point, is determined based on the position of the robot coordinates on the map to be laid out, and the coordinates of the laying point are used as the target point coordinates. Based on the coordinate difference between the robot coordinates and the target point coordinates, as well as the obstacle information in the map to be laid out, a movement command is generated, so that the robot moves according to the parameters corresponding to the movement command, from the point corresponding to the robot coordinates to the point corresponding to the target point coordinates, and bypasses the obstacles along the way.

[0105] Optionally, step S220 includes:

[0106] Step S221: Obtain the map to be laid out and the working coordinates;

[0107] In this embodiment, the working coordinates are the coordinates of the laying-out point on the map to be laid out.

[0108] As an optional implementation, a map to be laid out and a local laying out area in the map associated with robot coordinates are obtained, and the coordinates of the laying out points in the local laying out area are determined as working coordinates.

[0109] Step S222: Determine the target point coordinates based on the robot coordinates and the working coordinates;

[0110] As an optional implementation, based on the laying point corresponding to the robot coordinates, the next laying point closest to the laying point in the local laying area is determined, and the working coordinates corresponding to the laying point are used as the target point coordinates.

[0111] As another optional implementation, the path planning algorithm determines the travel order of each laying point in the local laying area; the laying point corresponding to the robot coordinates is determined, as well as the laying points that the robot has already laid in the local laying area, and the target laying point is determined based on the travel order, with the working coordinates of the target laying point as the target point coordinates.

[0112] Step S223: Determine the movement path based on the robot coordinates and the target point coordinates, and generate the movement command based on the movement path.

[0113] In this embodiment, based on the map to be laid out, the line connecting the robot coordinates and the target point coordinates is determined, and the obstacles involved in the line are identified; the movement path from the robot coordinates to the target point coordinates is determined based on the obstacle avoidance algorithm, and movement commands are generated according to the movement path.

[0114] Step S230: Send the movement command to the robot and enter the connection waiting mode.

[0115] As an optional implementation, a movement command is sent to the robot corresponding to the response information, and after confirming that the robot has received the movement command, it enters the waiting connection mode.

[0116] The technical solutions described in the embodiments of this application above have at least the following technical effects or advantages:

[0117] By employing the following steps: after the robot completes the line laying, the corresponding robot coordinates are determined based on the response information fed back by the robot; the target point coordinates are determined based on the robot coordinates; and a movement command is generated based on the difference between the target point coordinates and the robot coordinates, wherein the movement command includes control parameters for controlling the robot's chassis assembly to move from the robot coordinates to the target point coordinates; the movement command is sent to the robot, and the robot enters the waiting-to-connect mode. Therefore, this effectively solves the technical problem in related technologies where only one line laying robot can be tracked for line laying, resulting in low line laying efficiency. This achieves the technical effect of coordinating multiple line laying robots within the line laying area, thereby improving line laying efficiency.

[0118] Example 3

[0119] Based on the above embodiments, Embodiment 3 of this application proposes a control method for a wire-laying robot, applied to a wire-laying robot. The wire-laying robot includes a wire-laying component and a movable chassis component, wherein the wire-laying component is used to perform wire-laying actions and draw corresponding wire-laying patterns. The control method for the wire-laying robot includes:

[0120] Step S310: Execute the received instruction to be executed, wherein the instruction to be executed includes a partial laying instruction or a movement instruction.

[0121] Step S320: After the instruction to be executed is completed, a response message is generated based on the execution result and sent to the central control unit, and the mechanism is controlled to stop moving.

[0122] In this embodiment, the instructions to be executed are those sent by the central control unit, including but not limited to partial wire laying instructions, movement instructions, and instructions for adjusting the pose of the wire laying component. The terms "wire laying robot" and "robot" are used interchangeably, referring to a robot with a movable chassis assembly and a wire laying assembly.

[0123] As an optional implementation, when the wire-laying robot is in a stopped state and receives a command to be executed from the central control unit, it executes the command to complete the corresponding action. After the command is executed, the robot's control mechanism stops moving, and it sends response information containing the robot's current coordinates to the central control unit based on the execution result. Only one of the wire-laying assembly and the chassis assembly can move at a time, and the wire-laying assembly is a robotic arm with multiple movable joints.

[0124] For example, when a partial laying instruction is received, the laying component is controlled to perform a partial laying action, and the chassis component is kept stationary; when a movement instruction is received, the chassis component is controlled to perform a movement action, and the laying component is kept stationary.

[0125] Optionally, step S310 includes:

[0126] Step S311: When the instruction to be executed is a partial wiring instruction, control the chassis assembly to be in a stationary state;

[0127] Step S312: Control the movement of the laying-out component according to the local laying-out command to draw the local laying-out pattern corresponding to the local laying-out command.

[0128] As an optional implementation, when the instruction to be executed is a partial layout instruction, the layout component is controlled to perform a partial layout action according to the control parameters corresponding to the partial layout instruction, so as to draw the partial layout pattern corresponding to the partial layout instruction, and the chassis component is kept stationary during the execution process.

[0129] Optionally, step S310 includes:

[0130] Step S313: When the instruction to be executed is a movement instruction, control the wire-laying assembly to be in a stationary state;

[0131] Step S314: Control the movement of the laying-out component according to the local laying-out command to draw the local laying-out pattern corresponding to the local laying-out command.

[0132] As an optional implementation, when the instruction to be executed is a movement instruction, the chassis component is controlled to move according to the control parameters corresponding to the movement instruction, so as to move from the current position to the laying point corresponding to the target point coordinates and avoid obstacles, while keeping the laying component in a stationary state during the execution process.

[0133] In this embodiment, when the central control unit receives response information, it determines the response type and robot coordinates corresponding to the response information, where the response type is either "layout complete" or "movement complete." Based on the response type and robot coordinates, it generates an execution command. Specifically, when the response type is "layout complete," a movement command is generated based on the robot coordinates; when the response type is "movement complete," a layout command is generated based on the robot coordinates. The execution command is sent to the robot corresponding to the response information, and the connection with that robot is disconnected. Simultaneously, when the robot's chassis assembly moves, the layout assembly does not perform any operation; when the robot's layout assembly is laying wire, the chassis assembly remains stationary. Furthermore, the robot is not connected to the central control unit when the chassis assembly moves or when the layout assembly is performing a layout action. Therefore, the central control unit achieves asynchronous control of multiple layout robots, improving layout efficiency. Since the chassis does not move during layout, it eliminates the need to use a total station to track the coordinates of the layout assembly's end for error calibration.

[0134] For example, refer to Figure 4 The robot enters the area to be laid out, and the operator moves the robot around the site until the SLAM radar scan of the entire site is completed and the radar scan map is sent to the central control unit. The central control unit overlays the radar scan map with the line-laying drawing to generate a line-laying map and plans SLAM target points according to the movement sequence and predetermined work area. Whenever the central control unit receives a "line-laying complete" command from the line-laying component, it sends the SLAM target point coordinates to the chassis component; if the central control unit does not receive a "line-laying complete" command, it remains in standby mode. After receiving the target point coordinates sent by the central control unit, the chassis component moves towards the target point. After the movement is completed, the chassis sends a "movement complete" command to the central control unit. The total station is established, and the coordinates are obtained by setting up synchronization point targets; the coordinates of the line-laying drawing in the BIM software are converted to the total station coordinate system using the synchronization point coordinates. If the total station does not receive the "movement complete" command, it remains in standby mode. If the total station receives the "movement complete" command, it searches for and tracks the end-effector coordinates of the wire laying component tool. The central control unit (CCU) calculates the robot arm's base coordinates using the pose matrix and extracts the local wire laying path based on the working radius. The CCU then calculates the robot arm's motion commands by coupling coordinate errors. The CCU sends the robot arm's path point motion commands to the robot arm. The end-effector of the robot arm, the wire laying tool, moves according to the commands. After wire laying is completed, the robot arm sends a "wire laying complete" command to the CCU.

[0135] By employing a method where the chassis assembly is kept stationary when the instruction to be executed is a partial laying-out instruction, and the laying-out assembly is controlled to move according to the partial laying-out instruction to draw the partial laying-out pattern corresponding to the instruction, this approach effectively solves the technical problem in related technologies where only one laying-out robot can be tracked for laying-out, and the method of correcting the robot arm's error while moving consumes a lot of computational resources. This achieves the technical effect of coordinating multiple laying-out robots within the laying-out area while improving the efficiency of correcting the movement error of the laying-out assembly.

[0136] This application also proposes a control device for a wire-laying robot, referring to... Figure 5 , Figure 5 This is a schematic diagram of the control device structure of the wire-laying robot in the hardware operating environment of the embodiment of this application.

[0137] like Figure 5 As shown, the control device of the wire-laying robot may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0138] Those skilled in the art will understand that Figure 5 The structure shown does not constitute a limitation on the control device of the wire-laying robot, and may include more or fewer parts than shown, or combine certain parts, or have different arrangements of parts.

[0139] Optionally, the memory 1005 is electrically connected to the processor 1001. The processor 1001 can be used to control the operation of the memory 1005 and can also read the data in the memory 1005 to realize the control of the wire-laying robot.

[0140] Optionally, such as Figure 5As shown, the memory 1005, which serves as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and a control program for the wire-laying robot.

[0141] Optionally, in Figure 5 In the control device of the wire-laying robot shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in the control device of the wire-laying robot of this application can be set in the control device of the wire-laying robot.

[0142] like Figure 5 As shown, applied to the central control unit, the control device of the wire-laying robot calls the control program of the wire-laying robot stored in the memory 1005 through the processor 1001, and executes the relevant steps of the control method of the wire-laying robot provided in this application embodiment:

[0143] After the robot completes its movement, the corresponding robot coordinates are determined based on the response information fed back by the robot.

[0144] A local layout pattern corresponding to the robot coordinates is determined, and a local layout instruction is generated based on the local layout pattern and the robot coordinates. The local layout instruction includes control parameters for controlling the robot's layout component to complete the local layout action based on the local layout image.

[0145] Send the partial cable laying command to the robot and enter the connection waiting mode.

[0146] Optionally, the processor 1001 may call the control program of the wire-laying robot stored in the memory 1005, and further perform the following operations:

[0147] Obtain the base coordinates of the wire-laying assembly of the robot;

[0148] The local layout pattern is determined based on the base coordinates and the working radius of the layout assembly.

[0149] Extract the layout nodes from the local layout pattern, and generate a local layout path based on the layout nodes;

[0150] Determine the coordinate error, and based on the coordinate error and the local layout path, determine the local layout instruction.

[0151] Optionally, the processor 1001 may call the control program of the wire-laying robot stored in the memory 1005, and further perform the following operations:

[0152] After the robot finishes laying out the line, the corresponding robot coordinates are determined based on the response information fed back by the robot.

[0153] The target point coordinates are determined based on the robot coordinates, and a movement command is generated based on the difference between the target point coordinates and the robot coordinates, wherein the movement command includes control parameters for controlling the chassis assembly of the robot to move from the robot coordinates to the target point coordinates;

[0154] Send the movement command to the robot and enter the connection waiting mode.

[0155] Optionally, the processor 1001 may call the control program of the wire-laying robot stored in the memory 1005, and further perform the following operations:

[0156] Obtain the map to be laid out and the working coordinates;

[0157] The target point coordinates are determined based on the robot coordinates and the working coordinates.

[0158] The movement path is determined based on the robot coordinates and the target point coordinates, and the movement command is generated based on the movement path.

[0159] Optionally, the processor 1001 may call the control program of the wire-laying robot stored in the memory 1005, and further perform the following operations:

[0160] Receive station setup information from the total station module and obtain the coordinates of the synchronization point;

[0161] Based on the station construction information and the coordinates of the synchronization point, the coordinate system of the drawing to be laid out is converted into the coordinate system of the total station.

[0162] Optionally, the processor 1001 may call the control program of the wire-laying robot stored in the memory 1005, and further perform the following operations:

[0163] Based on the collected laser data and / or image data, a radar scan map of the location to be laid is constructed;

[0164] The radar scan image is aligned with the line drawing to be laid out to determine the line drawing map.

[0165] Based on the sequence of movement, the working coordinates are determined in the map to be laid out.

[0166] This invention relates to a wire-laying robot, which includes a wire-laying assembly and a movable chassis assembly. The control device of the wire-laying robot uses a processor 1001 to call the control program of the wire-laying robot stored in a memory 1005 and executes the relevant steps of the control method for the wire-laying robot provided in this embodiment of the application.

[0167] Execute the received instructions to be executed, wherein the instructions to be executed include partial laying instructions or movement instructions;

[0168] After the instruction to be executed is completed, a response message is generated based on the execution result and sent to the central control unit, which then controls its own mechanism to stop moving.

[0169] Optionally, the processor 1001 may call the control program of the wire-laying robot stored in the memory 1005, and further perform the following operations:

[0170] When the instruction to be executed is a partial wiring instruction, the chassis assembly is kept stationary.

[0171] The local laying-out command controls the movement of the laying-out component to draw the local laying-out pattern corresponding to the local laying-out command.

[0172] Furthermore, this application also proposes a computer-readable storage medium storing a control program for a wire-laying robot. When the control program for the wire-laying robot is executed by a processor, it implements the relevant steps of any embodiment of the control method for the wire-laying robot described above.

[0173] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0174] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0175] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0176] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0177] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. This application can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0178] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0179] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A control method for a wire-laying robot, characterized in that, The control method for the wire-laying robot, applied to the central control unit, includes: After the robot completes its movement, the corresponding robot coordinates are determined based on the response information fed back by the robot. Based on the coordinates and pose of the end of the laying-out assembly obtained by the total station module, the base coordinates of the laying-out assembly are solved. Using the base coordinates as the center and the working radius of the laying-out component as the radius, a circle is determined in the map to be laid out, and the laying-out pattern within this circle is used as the local laying-out pattern. Extract the layout nodes from the local layout pattern, and generate a local layout path based on the layout nodes; Determine the coordinate error, and determine the local laying-out command based on the coordinate error and the local laying-out path, wherein the local laying-out command includes control parameters for controlling the laying-out component of the robot to complete the local laying-out action according to the local laying-out pattern; The central control unit (NCU) sends the partial layout instruction to the robot and enters a connection-ready mode. This connection-ready mode means the NCU is in a connectable state and can only maintain a connection with one robot at a time. The robot executes the received instructions, which may include partial layout instructions or movement instructions. When the instruction is a partial layout instruction, the chassis assembly is kept stationary. The layout assembly is then controlled to move according to the partial layout instruction to draw the corresponding partial layout pattern. When the instruction is a movement instruction, the layout assembly is kept stationary. The layout assembly is then controlled to move according to the partial layout instruction to draw the corresponding partial layout pattern. After the execution of the instruction is completed, a response message is generated based on the execution result and sent to the NCU, and the robot's own mechanism is stopped. After the robot finishes laying out the line, the corresponding robot coordinates are determined based on the response information fed back by the robot. The target point coordinates are determined based on the robot coordinates, and a movement command is generated based on the difference between the target point coordinates and the robot coordinates, wherein the movement command includes control parameters for controlling the chassis assembly of the robot to move from the robot coordinates to the target point coordinates; Send the movement command to the robot and enter the connection waiting mode.

2. The control method for the wire-laying robot as described in claim 1, characterized in that, The step of determining the target point coordinates based on the robot coordinates and generating a movement command based on the difference between the target point coordinates and the robot coordinates includes: Obtain the map to be laid out and the working coordinates; The target point coordinates are determined based on the robot coordinates and the working coordinates. The movement path is determined based on the robot coordinates and the target point coordinates, and the movement command is generated based on the movement path.

3. The control method for the wire-laying robot as described in claim 1, characterized in that, Before the step of determining the corresponding robot coordinates based on the response information fed back by the robot after the robot has completed its movement, the following steps are included: Receive station setup information from the total station module and obtain the coordinates of the synchronization point; Based on the station construction information and the coordinates of the synchronization point, the coordinate system of the drawing to be laid out is converted into the coordinate system of the total station.

4. The control method for the wire-laying robot as described in claim 1, characterized in that, Before the step of determining the corresponding robot coordinates based on the response information fed back by the robot after the robot has completed its movement, the following steps are included: Based on the collected laser data and / or image data, a radar scan map of the location to be laid is constructed; The radar scan image is aligned with the line drawing to be laid out to determine the line drawing map. Based on the sequence of movement, the working coordinates are determined in the map to be laid out.

5. A control method for a wire-laying robot, characterized in that, This invention relates to a wire-laying robot, which includes a wire-laying assembly and a movable chassis assembly. Only one of the wire-laying assembly and the chassis assembly can move at a time. The wire-laying assembly is a robotic arm with multiple movable joints. The control method for the wire-laying robot includes: The system executes received instructions to be executed, including partial layout instructions or movement instructions. When the instruction to be executed is a partial layout instruction, the chassis assembly is kept stationary; the layout assembly is moved according to the partial layout instruction to draw the partial layout pattern corresponding to the instruction. When the instruction to be executed is a movement instruction, the layout assembly is kept stationary; the layout assembly is moved according to the partial layout instruction to draw the partial layout pattern corresponding to the instruction. After the execution of the command to be executed is completed, a response message is generated based on the execution result and sent to the central control computer. The central control computer then controls its own mechanism to stop moving. The central control computer determines the corresponding robot coordinates based on the response message fed back by the robot. Based on the coordinates of the end of the laying component and the pose of the end of the laying component obtained by the total station module, the base coordinates of the laying component are solved. With the base coordinates as the center and the working radius of the laying component as the radius, a circle is determined in the map to be laid. The laying pattern within this circle is the local laying pattern. The laying nodes in the local laying pattern are extracted, and a local laying path is generated based on the laying nodes. The coordinate error is determined, and a local laying instruction is determined based on the coordinate error and the local laying path. The local laying instruction includes control parameters for controlling the robot's laying component to complete the local laying action according to the local laying pattern. The local laying instruction is sent to the robot, and the robot enters the waiting connection mode.

6. A control device for a wire-laying robot, characterized in that, The system includes a memory, a processor, and a control program for a wire-laying robot stored in the memory and executable on the processor. When the processor executes the control program for the wire-laying robot, it implements the steps of the control method for the wire-laying robot as described in any one of claims 1 to 5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a control program for a wire-laying robot, which, when executed by a processor, implements the steps of the control method for a wire-laying robot as described in any one of claims 1 to 5.

Images