Walking construction control system of wall plastering robot

Abstract

The invention provides a wall plastering robot walking construction control system which comprises a construction and moving reference determining module used for determining the construction reference and the moving reference of a plastering robot, and the moving reference is the control reference of longitudinal movement and rotary movement of a robot chassis; the site reference determination module takes the left / right wall as a site reference to obtain the distance between the plastering robot and the left / right wall; the cross beam / ceiling height acquisition module is used for acquiring height information of a top cross beam / ceiling; the beam boundary acquisition module is used for acquiring position information of a left boundary and a right boundary of a top beam; and the plastering planning module is used for controlling the current plastering height according to the height information of the top cross beam / ceiling and carrying out next plastering planning according to the distance between the plastering robot and the left / right wall and the position information of the left boundary and the right boundary of the top cross beam. The automation degree and stability of the plastering robot in the semi-structured environment can be improved, the construction process is shortened, and the plastering coverage rate is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of construction robots, and in particular to a walking construction control system of a wall plastering robot. Background Art

[0002] The wall plastering robot is a ground omnidirectional mobile robot, and the chassis has three degrees of freedom in the x, y, and yaw directions, where the x direction is horizontal, the y direction is vertical, and the yaw direction is the angle direction. The wall plastering robot works in a clockwise order in the room, that is, when looking at the construction wall from the robot body, the robot always moves to the right to complete the construction task. The existing plastering robot uses SLAM (Simultaneous localization and mapping) positioning for walking control, which has the following problems:

[0003] 1. The wall plastering robot needs to move in a semi-open environment for construction. Its characteristics are simple movement trajectory and high construction process precision requirements.

[0004] 2. In the existing SLAM solutions, single-line laser radar SLAM has high accuracy and low computing power requirements, and can meet the above requirements. However, the construction environment is often accompanied by large ground undulations, which in turn causes odometer distortion and feature mutation problems, which can easily lead to inaccurate SLAM positioning or even positioning loss.

[0005] 3. In non-residential scenarios such as factories and office buildings, there is often a problem of missing SLAM positioning benchmarks in construction scenarios. SLAM positioning is difficult and places higher requirements on the ranging range of lidar in large-scale scenarios.

[0006] 4. To ensure the verticality of the plastering, the construction basis of the plastering process is a manually arranged laser marking device, while the SLAM technology uses the wall as the basis for positioning and navigation. It is easy to cause positioning deviation due to the deviation between the map model and the environment, which in turn causes the automatic construction process to be disconnected.

[0007] 5. Wall construction robots usually work in similar but different environments. In order to ensure navigation accuracy, each room needs to be modeled and planned offline. The robot operator needs to confirm the room and import the corresponding map. In addition, technical requirements are imposed on the operator to initialize the positioning of the robot, which creates obstacles to the promotion of automated construction of wall plastering robots.

[0008] 6. Because the wall plastering robot needs to change the working scene frequently and the ground environment is accompanied by dust and water, it is impossible to use pre-buried tracks, laying reflective strips, pasting ground QR codes, etc. to guide the AGV robot to carry out construction.

[0009] With respect to the above technical problems, no effective solutions have been proposed in the relevant technologies. Summary of the invention

[0010] In view of the defects in the prior art, the purpose of the present invention is to provide a walking construction control system for a wall plastering robot.

[0011] The present invention provides a wall plastering robot walking construction control system, the system comprising:

[0012] A construction and movement reference determination module, used to determine the construction reference and movement reference of the plastering robot, wherein the movement reference is the control reference of the longitudinal movement and rotational movement of the robot chassis;

[0013] The site reference determination module is used to obtain the distance between the plastering robot and the left / right wall by taking the right / left wall as the site reference;

[0014] The beam / ceiling height acquisition module is used to obtain the height information of the top beam / ceiling perpendicular to the wall to be constructed within the robot's width projection range at the robot's current position;

[0015] The beam boundary acquisition module is used to obtain the left boundary and right boundary position information of the top beam within the robot width projection range at the position of one robot width shifted left / right;

[0016] The plastering planning module controls the current plastering height according to the height information of the top beam / ceiling, and plans the next plastering according to the distance between the plastering robot and the left / right wall and the position information of the left and right boundaries of the top beam.

[0017] Optionally, the process of determining the construction benchmark and movement benchmark of the plastering robot by the construction and movement benchmark determination module includes:

[0018] The area camera senses the laser line emitted by the laser marking instrument to obtain an RGB image;

[0019] Convert the RGB image into an HSV image;

[0020] According to the characteristics of green, high brightness and high saturation of laser line imaging, the HSV image is binarized in three dimensions: H, S and V;

[0021] Obtain the position and angle of the laser line on the image through straight line fitting;

[0022] The longitudinal displacement δ of the laser line relative to the center of the image is used as the longitudinal motion control benchmark of the plastering robot;

[0023] The angle θ of the laser line relative to the horizontal direction of the picture is used as the reference for the rotational motion control of the plastering robot.

[0024] Optionally, the process of determining the site reference of the plastering robot by the site reference determination module includes:

[0025] Get the LiDAR point cloud data of the left / right wall;

[0026] Performing through filtering on the point cloud data;

[0027] Perform straight line fitting on the filtered point cloud data;

[0028] Determine whether the slope of the fitted straight line is parallel to the robot's x-axis within the allowable error range;

[0029] If it is within the allowable error range, the distance between the plastering robot and the left / right wall is output; if it is not within the allowable error range, the used fitting points are excluded and fitting continues until the number of point clouds is less than the set minimum number of fitting points and a straight line that meets the requirements cannot be fitted, then an alarm is issued for extraction failure.

[0030] Optionally, when the plastering robot moves between sites, absolute distance collision avoidance and distance mutation anomaly detection from the robot to the site benchmark are performed.

[0031] Optionally, the site reference determination module uses any sensor capable of distance measurement including but not limited to a laser radar, a point laser, a millimeter wave radar and an ultrasonic sensor.

[0032] Optionally, the process of the beam / ceiling height acquisition module acquiring height information of the top beam / ceiling perpendicular to the wall to be constructed includes:

[0033] Obtain the point cloud data of the top beam perpendicular to the wall to be constructed;

[0034] In a Cartesian coordinate system, a through-filter is performed on the robot width projection range of the top crossbeam point cloud data at the current position of the robot;

[0035] The filtered data is used to perform straight line / plane fitting, and the normal vector of the fitted straight line / plane is parallel to the gravity direction within the error range;

[0036] Repeat the straight line / plane fitting steps until no new straight line / plane can be fitted, and take the straight line / plane with the smallest height as the height of the top beam / ceiling.

[0037] Optionally, the process of the beam boundary acquisition module acquiring the top beam boundary information perpendicular to the wall to be constructed includes:

[0038] Obtain the point cloud data of the top beam perpendicular to the wall to be constructed;

[0039] In a Cartesian coordinate system, the point cloud data of the top crossbeam is subjected to through-filtering within the robot width projection range at a position shifted to the left / right by one robot width;

[0040] The filtered data is used to perform straight line / plane fitting, and the normal vector of the fitted straight line / plane is parallel to the gravity direction within the error range;

[0041] Repeat the straight line / plane fitting steps until no new straight line / plane can be fitted, take the straight line / plane with the smallest height as the height of the top beam / ceiling, and determine the position information of the left and right boundaries of the top beam based on the straight line / plane with the smallest height.

[0042] Optionally, when there is no crossbeam on the top, the plastering planning module performs plastering planning based on the left / right wall, such as Figure 6 As shown, the plastering planning is carried out based on the right wall. Each time the wall is replaced, the maximum wall construction width d at each station is taken into consideration. max , Minimum wall construction width d min , and d min <d max <2*d min , the overlap width between the two wipes is the joint width s and the distance between the robot and the left / right wall d wall Carry out site planning for the entire wall and split the single-site plastering width, including:

[0043] Set n temp =floor(d wall / (d max -s));

[0044] Wipe number n = d wall -d max *n temp >d min ?n temp +2:n temp +1;

[0045] If n>2, the width of the first n-2 wipes is d max , the lateral displacement distance is d max -s, the width of the last two strokes is (d wall -(n-3)*(d max -s)) / 2, the lateral displacement distance is (d wall -(n-3)*(d max -s)) / 2-s;

[0046] If n = 2, the width of the first stroke is d max , the second width is d wall , the lateral displacement distance is d wall -s;

[0047] If n = 1, then d max Complete the first task and no longer move sideways.

[0048] Optionally, in the case where there is a beam on the top, the plastering planning module performs plastering planning based on the left / right wall and beam position information, and plans the plastering height at the current position according to the current beam / ceiling height. At each station, combined with the maximum wall construction width d at each station, max , Minimum wall construction width d min , and d min <d max <2*d min The overlap width between the two strips is the joint width s, and the left edge position of the beam is d left , beam right boundary position d right The distance d between the right side of the robot and the right wall wall Plan the next work site, such as Figure 8 and Fig. 9 As shown, plastering planning is performed based on the right wall and beam position information, and the plastering height at the current position is planned according to the current beam / ceiling height, including:

[0049] If d wall <d min , then the plastering cycle ends after the current plastering;

[0050] If d wall >=d min &&d wall <d max , then the width of the next plastering is d wall ;

[0051] If d wall >=d max &&d wall <2*d min , then the next plastering width is min(d wall ,d max );

[0052] If d wall >=2*d min &&d wall <2*d max , then the next plastering width is min(max(d left ,d min ),d wall / 2);

[0053] If d wall >=2*d max &&d left <dmin , then the width of the next plastering is d max ;

[0054] If d wall >=2*d max &&d left >=d min , then the width of the next plastering is d left .

[0055] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0056] 1. The present invention unifies the construction and movement benchmarks of the plastering robot, avoiding the secondary adjustment of the chassis based on the construction benchmark; using the determined benchmark as the movement benchmark and construction benchmark of the wall construction robot, avoiding the collision risks caused by the loss of SLAM positioning due to uncontrollable scenes, and mismatching due to similar scenes; using the existing construction benchmark as the robot's movement tracking control benchmark, there is no need to specially arrange the chassis tracking movement benchmark, which is more flexible and quick.

[0057] 2. The plastering height of the present invention can change with the height of the wall and the top obstacle. There is no need to stop the equipment frequently to change the plastering height. The construction continuity is good. Compared with the traditional manual measurement method, the measurement is more accurate and convenient. The current plastering height is controlled and the next plastering width is planned according to the position of the top obstacle and the distance between the robot and the left / right wall. It is more flexible, can improve the plastering coverage rate, and reduce the repair work of personnel after plastering.

[0058] 3. The present invention does not require pre-work such as mapping and offline planning, shortens the automated construction process, reduces construction confirmation items, reduces the difficulty of operation, and is more conducive to the promotion of automated plastering operations. The present invention can improve the automation level and stability of mobile robots for wall construction in semi-structured environments, reduce the operating requirements for operators, and reduce the communication costs between planners and construction personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0060] Figure 1 This is a laser radar sensing area for sensing beams / ceilings in one embodiment of the present invention (oblique view);

[0061] Figure 2 The laser radar sensing area of ​​the sensing beam / ceiling in one embodiment of the present invention (front view);

[0062] Figure 3 This is an example of chassis movement control application in one embodiment of the present invention (oblique view);

[0063] Figure 4 This is an example of a chassis movement control application in one embodiment of the present invention (top view);

[0064] Figure 5 The longitudinal and rotational control reference (top view) based on the laser line in one embodiment of the present invention;

[0065] Figure 6 It is a schematic diagram (front view) of the planning effect of only considering the distance to the right wall and ignoring the cross beam in one embodiment of the present invention;

[0066] Figure 7 It is a schematic diagram of a planning process in which only the right wall distance is considered and the beam is not considered in one embodiment of the present invention;

[0067] Figure 8 Schematic diagram of the planning effect of simultaneously considering the right wall distance and the beam in one embodiment of the present invention Figure 1 (front view);

[0068] Fig. 9 Schematic diagram of the planning effect of simultaneously considering the right wall distance and the beam in one embodiment of the present invention Figure 2 (front view);

[0069] Fig.10 The figure is a schematic diagram of a planning process for simultaneously considering the right wall distance and the crossbeam in one embodiment of the present invention. DETAILED DESCRIPTION

[0070] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0071] An embodiment of the present invention provides a wall plastering robot walking construction control system, comprising a construction and movement benchmark determination module, a site benchmark determination module, a beam / ceiling height acquisition module, a beam boundary acquisition module and a plastering planning module, wherein: the construction and movement benchmark determination module is used to determine the construction benchmark and movement benchmark of the plastering robot, wherein the movement benchmark is the control benchmark for the longitudinal movement and rotational movement of the robot; the site benchmark determination module is used to use the left / right wall as the site benchmark to obtain the distance between the plastering robot and the left / right wall, wherein the left / right wall can be a natural wall, that is, the left / right side wall perpendicular to the wall to be constructed when the robot stands facing the wall to be constructed, or it can be an artificially arranged wall, for example Manually arranged baffles are used. For example, according to construction needs, a curtain or baffle with a length greater than 1m is arranged on the left / right side of the plastering robot; the beam / ceiling height acquisition module is used to obtain the height information of the top beam / ceiling perpendicular to the wall to be constructed within the robot width projection range at the current position of the robot; the beam boundary acquisition module is used to obtain the left and right boundary position information of the top beam within the robot width projection range at a position one robot width to the left / right; the plastering planning module controls the current plastering height according to the height information of the top beam / ceiling, and plans the next plastering according to the distance between the plastering robot and the left / right wall and the position information of the left and right boundaries of the top beam.

[0072] Since the automatic plastering robot needs to use the laser line of the laser marking instrument as a reference, the area camera recognizes the laser line as a high-precision wall construction reference, and the robot movement also uses this as a reference to unify the construction and movement reference of the plastering robot. Figure 1-Figure 4 In some embodiments, the laser line emitted by the laser marking instrument is sensed by the surface camera to control the wall to be constructed, and the process of the construction and movement reference determination module determining the construction reference and movement reference of the plastering robot includes: acquiring an RGB image by sensing the laser line emitted by the laser marking instrument through the surface camera; converting the acquired RGB image into an HSV image; binarizing the HSV image in three dimensions of H, S, and V according to the characteristics of green, high brightness, and high saturation of the laser line imaging; acquiring the position and angle of the laser line on the image by straight line fitting; using the longitudinal offset δ of the laser line relative to the center of the image as the longitudinal motion control (front and rear position control) reference of the plastering robot; using the angle θ of the laser line relative to the horizontal direction (x-axis) of the image as the rotational motion control reference of the plastering robot, such as Figure 5 As shown in the figure, the plastering robot controls the forward push distance and angle of the plastering head (end effector) by the position and angle relationship between the laser line and the plastering machine. The construction benchmark determined by the laser line limits the posture relationship between the robot and the wall to be constructed.

[0073] In the embodiment of the present invention, the robot's longitudinal and angular control is performed based on the laser marking instrument. The wall plastering robot can always move based on the laser marking instrument, which can solve the problem of positioning deviation caused by the deviation of the map model compared to the environment, thereby causing the disconnection of the automatic construction process.

[0074] For a wall plastering robot that performs contact operations, it has a high-precision end effector positioning reference parallel to the wall, and this existing reference can be used as a reference for the movement of the wall construction robot.

[0075] The wall plastering robot needs to stop at a position to complete the plastering operation with a width of w. Affected by the material supply and the changes in the wall, the plastering edge may be uneven. After completing the plastering operation at this position, the chassis needs to move a distance of ws and stop before continuing the construction operation. s is the fault tolerance distance to ensure that the two plasters can overlap stably, that is, the joint width, so the robot's lateral position needs to be controlled. Since the wall plastering robot operates in a counterclockwise / clockwise order in the room, the station reference is the left / right wall. The station reference (left / right wall) limits the robot's lateral position. During the robot's movement to the left / right, the change in its distance from the left / right wall is its lateral distance. Therefore, the lateral movement control is performed based on the wall on the left / right side of the robot.

[0076] Wall construction robots require sites. During the lateral movement parallel to the wall, the robot needs to sense the lateral movement distance. Wheel odometers cannot be used as site benchmarks due to their insufficient accuracy and inability to sense the length of the wall to be constructed for advance planning. In some embodiments, laser radar is used to plan and control the benchmark perpendicular to the wall to be constructed, and the process of the site benchmark determination module determining the site benchmark of the plastering robot includes: obtaining laser radar point cloud data of the left / right wall; performing straight-through filtering on the point cloud data; performing straight-line fitting on the filtered point cloud data; setting an error tolerance range based on the theoretical slope of the left / right wall in the laser radar sensor coordinate system, the error is related to the sensor data deviation, the straight-line fitting deviation, the sensor installation error, the wall construction error and the angle deviation between the robot and the wall to be constructed, and judging whether the slope of the fitted straight line is within the error tolerance range and parallel to the robot x-axis; if it is within the error tolerance range, outputting the distance of the plastering robot from the left / right wall; if it is not within the error tolerance range, excluding the used fitting points and continuing to fit until the number of point clouds is less than the set minimum number of fitting points and still cannot fit a straight line that meets the requirements, then an alarm is issued that the site benchmark extraction has failed.

[0077] In some embodiments, when the plastering robot moves between sites, it performs absolute distance collision avoidance and distance mutation anomaly detection from the robot to the site benchmark. Absolute distance collision avoidance means that the movement is stopped when the distance to the left / right wall is less than a threshold; distance mutation anomaly means that in the wall fitting procedure, between two consecutive frames, the distance change to the left / right side wall may be greater than a threshold due to changes in the physical environment or extraction anomalies, and the movement needs to be stopped. This can further improve safety.

[0078] The site reference is the left / right wall (natural wall and artificial wall) perpendicular to the wall to be constructed. In some embodiments, according to the scene requirements, a sensor capable of distance measurement including but not limited to a laser radar, a point laser, a millimeter wave radar, and an ultrasonic sensor is used to obtain the distance d from the robot to the left / right wall. wall .

[0079] The above-mentioned embodiments of the present invention unify the construction benchmark and the moving benchmark of the wall construction robot, avoiding the secondary adjustment of the chassis based on the construction benchmark; using the determined benchmark as the moving benchmark of the wall construction robot, avoiding the collision risk caused by the loss of SLAM algorithm positioning due to the uncontrollable scene, and the mismatch caused by similar scenes; using the existing construction benchmark as the robot's mobile tracking control benchmark, there is no need to specially arrange the chassis tracking moving benchmark, which is more flexible and quick; there is no need to perform pre-operation of mapping and planning, shortening the construction process and reducing construction confirmation items; compared with the SLAM navigation method, the system operation difficulty in the embodiments of the present invention is lower, and it is more conducive to the promotion of automated plastering operations.

[0080] The plastering height of a wall plastering robot is usually fixed. However, in large scenes such as commercial buildings and basements, there will be vertical beams on the top that interfere with the wall to be constructed. The height of the vertical beam from the ground will be lower than the height of the wall to be constructed. Therefore, it is necessary to measure the top beam and use it to update the plastering height of the plastering head.

[0081] The plastering height is determined by the height of the wall to be constructed and is limited by the beams perpendicular to the wall to be constructed. According to this requirement, lidar or depth camera can be used to identify the height of the beam / ceiling.

[0082] In some embodiments, a laser radar / depth camera is used to detect beams, and a beam / ceiling height acquisition module acquires height information of a top beam / ceiling perpendicular to a wall to be constructed, including: acquiring point cloud data of a top beam perpendicular to the wall to be constructed; in a Cartesian coordinate system, performing a straight-through filtering on the top beam point cloud data at the current position of the robot and the robot width projection range; performing straight-line / plane fitting using the filtered data, wherein if the sensor is a single-line laser radar, a straight-line fitting is performed; if the sensor is a multi-line laser radar or a depth camera, a plane fitting is performed, and the normal vector of the fitted straight line / plane is parallel to the gravity direction within an error range; repeating the straight line / plane fitting steps until no new straight line / plane can be fitted, the height of the beam is lower than the ceiling, and there are only the ceiling and the beam within the measurement range, so the straight line / plane with the smallest height is taken as the height of the top beam / ceiling, i.e., the current plastering height.

[0083] In some embodiments, the process of the beam boundary acquisition module acquiring the boundary information of the top beam perpendicular to the wall to be constructed includes: acquiring point cloud data of the top beam perpendicular to the wall to be constructed; in the Cartesian coordinate system, performing a straight-through filtering on the point cloud data of the top beam at a position shifted left / right by one robot width within the robot width projection range; using the filtered data to perform a straight line / plane fitting, and the normal vector of the fitted straight line / plane is parallel to the gravity direction within the error range; repeating the straight line / plane fitting steps until no new straight line / plane can be fitted, taking the straight line / plane with the smallest height as the height of the top beam / ceiling, and determining the position information of the left and right boundaries of the top beam according to the straight line / plane with the smallest height, that is, the coordinates of the left and right boundaries in the beam width direction in the sensor coordinate system.

[0084] In the above embodiment, the measurement is repeated n times (n≥2), and if the fluctuation of the plaster height and the left and right boundaries is less than a threshold value in the n measurements, it is considered that the extraction is successful.

[0085] In the case of no crossbeam on the top, the plastering planning module is based on the left / right wall for plastering planning. When the wall is changed each time, the maximum wall construction width d at each station is combined. max , Minimum wall construction width d min , and d min <d max <2*d min The overlap width between the two wipes is the joint width s and the distance d between the robot and the left / right wall wall Carry out site planning for the entire wall and split the plastering width of a single site, e.g. Figure 6-Figure 7 As shown, the plastering planning module is used as an example to explain the plastering planning based on the right wall. Plastering planning includes the following processes:

[0086] Set ntemp =floor(d wall / (d max -s));

[0087] Wipe number n = d wall -d max *n temp >d min ?n temp +2:n temp +1;

[0088] If n>2, the width of the first n-2 wipes is d max , the lateral displacement distance is d max -s, the width of the last two strokes is (d wall -(n-3)*(d max -s)) / 2, the lateral displacement distance is (d wall -(n-3)*(d max -s)) / 2-s;

[0089] If n = 2, the width of the first stroke is d max , the second width is d wall , the lateral displacement distance is d wall -s;

[0090] If n = 1, then d max Complete the first task and no longer move sideways.

[0091] Affected by the mechanical size and physical environment, the minimum plastering width of the wall plastering robot is d min , the maximum plastering width is d max , the left and right limits of the beam are specified to be d left and d right , when the left side of the beam appears on the right side of the robot’s left / right side and satisfies (d left <d max , d right >d max ), if the robot's lateral position is planned based on the robot's distance from the left / right wall, two consecutive strokes may not reach the top, such as Figure 6 shown.

[0092] In order to improve the plastering coverage rate and avoid the situation where two consecutive plasterings do not reach the top, the height of the beam / ceiling is identified and the position of the left and right boundaries of the beam is fed back. left d right , and according to the feedback beam left boundary d left and the distance d from the left / right wall wall Make plans for the next step.

[0093] In some embodiments, the plastering planning module performs plastering planning based on the left / right wall and beam position information, plans the plastering height at the current position according to the current beam / ceiling height, and at each site, combines the maximum wall construction width d at each site. max , Minimum wall construction width d min , and d min <d max <2*d min , the overlap width between the two strips is the joint width s, and the left edge position of the beam is d left , beam right boundary position d right and the distance d between the robot and the left / right wall wall Plan the next work site, such as Figure 8-Figure 10 As shown, the plastering planning module is used to explain the plastering planning based on the right wall and beam position information, including the following process:

[0094] If d wall <d min , then the plastering cycle ends after the current plastering;

[0095] If d wall >=d min &&d wall <d max , then the width of the next plastering is d wall ;

[0096] If d wall >=d max &&d wall <2*d min , then the next plastering width is min(d wall ,d max );

[0097] If d wall >=2*d min &&d wall <2*d max , then the next plastering width is min(max(d left ,d min ),d wall / 2);

[0098] If d wall >=2*d max &&d left <d min , then the width of the next plastering is d max ;

[0099] If d wall >=2*d max &&d left>=d min , then the width of the next plastering is d left .

[0100] It should be noted that the left wall is used as the site benchmark for plastering planning and the next work site planning. The specific process can refer to the above-mentioned implementation process using the right wall as the site benchmark, which will not be described in detail here.

[0101] In the embodiment of the present invention, the plastering height changes with the height of the wall and the top obstacle. There is no need to stop the equipment frequently to change the plastering height, and the construction continuity is good. Compared with the traditional manual measurement method, the measurement is high in accuracy and convenient. The embodiment of the present invention controls the current plastering height and plans the next plastering width according to the position of the top obstacle and the distance between the robot and the left / right wall. It is more flexible, can improve the plastering coverage rate, and reduce the repair work of personnel after plastering.

[0102] The above-mentioned embodiments of the present invention do not need to perform pre-operations of mapping and offline planning, thus shortening the automated construction process, reducing construction confirmation items, making the operation easier, and being more conducive to the promotion of automated plastering operations. The above-mentioned embodiments of the present invention can improve the automation level and stability of mobile robots for wall construction in semi-structured environments, reduce the operating requirements for operators, and reduce the communication costs between planners and construction personnel.

[0103] In the above description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0104] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the essence of the present invention. The above preferred features can be used in any combination without conflicting with each other.

Claims

1. A wall plastering robot walking construction control system, characterized in that: include: A construction and movement reference determination module, used to determine the construction reference and movement reference of the plastering robot, wherein the movement reference is the control reference of the longitudinal movement and rotational movement of the robot chassis; A site reference determination module is used to obtain the distance between the plastering robot and the left / right wall using the left / right wall as the site reference; The beam / ceiling height acquisition module is used to obtain the height information of the top beam / ceiling perpendicular to the wall to be constructed within the robot's width projection range at the robot's current position; A beam boundary acquisition module is used to obtain the position information of the left boundary and the right boundary of the top beam perpendicular to the wall to be constructed within the robot width projection range at a position shifted left / right by one robot width; The plastering planning module controls the current plastering height according to the height information of the top beam / ceiling, and plans the next plastering according to the distance between the plastering robot and the left / right wall and the position information of the left and right boundaries of the top beam.

2. The wall plastering robot walking construction control system according to claim 1 is characterized in that: The process of determining the construction benchmark and movement benchmark of the plastering robot by the construction and movement benchmark determination module includes: The area camera senses the laser line emitted by the laser marking instrument to obtain an RGB image; Convert the RGB image into an HSV image; According to the characteristics of green, high brightness and high saturation of laser line imaging, the HSV image is binarized in three dimensions: H, S and V; Obtain the position and angle of the laser line on the image through straight line fitting; The longitudinal displacement δ of the laser line relative to the center of the image is used as the longitudinal motion control benchmark of the plastering robot; The angle θ of the laser line relative to the horizontal direction of the picture is used as the reference for the rotational motion control of the plastering robot.

3. The wall plastering robot walking construction control system according to claim 1 is characterized in that: The process of determining the site benchmark of the plastering robot by the site benchmark determination module includes: Get the LiDAR point cloud data of the left / right wall; Performing through filtering on the point cloud data; Perform straight line fitting on the filtered point cloud data; Determine whether the slope of the fitted straight line is parallel to the robot's x-axis within the allowable error range; If it is within the allowable error range, the distance between the plastering robot and the left / right wall is output; if it is not within the allowable error range, the used fitting points are excluded and fitting continues until the number of point clouds is less than the set minimum number of fitting points and a straight line that meets the requirements cannot be fitted, then an alarm is issued for extraction failure.

4. The wall plastering robot walking construction control system according to claim 3 is characterized in that: When the plastering robot moves between sites, the absolute distance collision avoidance and distance mutation anomaly detection between the robot and the site benchmark are performed.

5. The wall plastering robot walking construction control system according to claim 1 is characterized in that: The site reference determination module uses any sensor capable of distance measurement, including laser radar, point laser, millimeter wave radar and ultrasonic sensor.

6. The wall plastering robot walking construction control system according to claim 1, characterized in that: The process of the beam / ceiling height acquisition module acquiring the height information of the top beam / ceiling perpendicular to the wall to be constructed includes: Obtain the point cloud data of the top beam perpendicular to the wall to be constructed; In a Cartesian coordinate system, a through-filter is performed on the robot width projection range of the top crossbeam point cloud data at the current position of the robot; The filtered data is used to perform straight line / plane fitting, and the normal vector of the fitted straight line / plane is parallel to the gravity direction within the error range; Repeat the straight line / plane fitting steps until no new straight line / plane can be fitted, and take the straight line / plane with the smallest height as the height of the top beam / ceiling.

7. The wall plastering robot walking construction control system according to claim 1 is characterized in that: The process of the beam boundary acquisition module acquiring the top beam boundary information perpendicular to the wall to be constructed includes: Obtain the point cloud data of the top beam perpendicular to the wall to be constructed; In a Cartesian coordinate system, the point cloud data of the top crossbeam is subjected to through-filtering within the robot width projection range at a position shifted to the left / right by one robot width; The filtered data is used to perform straight line / plane fitting, and the normal vector of the fitted straight line / plane is parallel to the gravity direction within the error range; Repeat the straight line / plane fitting steps until no new straight line / plane can be fitted, take the straight line / plane with the smallest height as the height of the top beam / ceiling, and determine the position information of the left and right boundaries of the top beam based on the straight line / plane with the smallest height.

8. The wall plastering robot walking construction control system according to claim 1 is characterized in that: When there is no crossbeam on the top, the plastering planning module performs plastering planning based on the left / right wall. Each time the wall is changed, the maximum wall construction width, minimum wall construction width, joint width and distance between the robot and the left / right wall at each site are combined to perform site planning for the entire wall and split the plastering width of a single site.

9. The wall plastering robot walking construction control system according to claim 1, characterized in that: When there is a beam on the top, the plastering planning module performs plastering planning based on the left / right wall and beam position information, plans the plastering height at the current position according to the current beam / ceiling height, and plans the next work site based on the maximum wall construction width, minimum wall construction width, joint width, left boundary position of the beam, right boundary position of the beam and the distance between the robot and the left / right wall at each site.

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