Building robot multi-machine linkage construction method and system based on intelligent scheduling

Abstract

The invention discloses a building robot multi-machine linkage construction method and system based on intelligent scheduling, electronic equipment and a storage medium, and relates to the technical field of construction control. The method comprises the following steps: acquiring design drawing information and landform environment information of a to-be-constructed area; based on the design drawing information and the landform environment information, constructing a BIM model of the to-be-constructed area; determining process stages of a plurality of construction points in the to-be-constructed area, and matching building robot selection schemes corresponding to the construction points based on the process stages; for each construction point, according to the position of the construction point in the target BIM model, determining navigation paths of a plurality of different types of building robots in the building robot selection scheme; and receiving preset operation tasks corresponding to the different types of building robots, and controlling the different types of building robots to construct the construction site in combination with the navigation paths and the preset operation tasks. By implementing the technical scheme provided by the invention, the effect of improving the building construction efficiency is achieved.

Description

Technical Field

[0001] The present application relates to the field of construction control technology, and in particular to a method, system, electronic equipment and storage medium for construction by multi-machine linkage of construction robots based on intelligent scheduling. Background Art

[0002] With the advancement of technology in the construction industry, the construction industry is constantly seeking technological innovation to improve construction efficiency and quality and reduce dependence on manual labor. Smart construction sites and intelligent construction are the new directions of development in the current construction industry. The application of smart construction sites and construction robots has not only greatly improved construction efficiency, but also improved construction quality while reducing operational risks.

[0003] At present, the existing construction method based on construction robots is to set up independent construction robots in fixed construction areas for construction. However, in actual applications, due to the complex environment of the construction area, when construction is carried out at multiple points, only by setting up independent construction robots in fixed construction areas for construction, the construction robots are independent of each other and it is difficult to cooperate in construction, which consumes a lot of construction time, resulting in low construction efficiency. Summary of the invention

[0004] The present application provides a method, system, electronic equipment and storage medium for construction by multi-machine linkage of construction robots based on intelligent scheduling, which has the effect of improving the efficiency of construction.

[0005] In a first aspect, the present application provides a construction method for multi-machine linkage construction of construction robots based on intelligent scheduling, comprising: Obtain design drawing information and geomorphic environment information of the area to be constructed; Based on the design drawing information and the landform environment information, construct a BIM model of the area to be constructed; Determine the process stages of multiple construction points in the area to be constructed, and match the construction robot selection scheme corresponding to each construction point based on the process stages; For each of the construction points, determining navigation paths of a plurality of different types of construction robots in the construction robot selection scheme according to the position of the construction point in the target BIM model; Receive the preset work tasks corresponding to the different types of construction robots, and control the different types of construction robots to perform construction on the construction site in combination with the navigation paths and the preset work tasks.

[0006] In a second aspect of the present application, a multi-machine linkage construction system of construction robots based on intelligent scheduling is provided, the system comprising: An information acquisition module is used to obtain design drawing information and geomorphic environment information of the area to be constructed; A BIM model determination module, used to construct a BIM model of the area to be constructed based on the design drawing information and the landform environment information; A navigation path determination module is used to determine the process stage of multiple construction points in the area to be constructed, and based on the process stage, match the construction robot matching scheme corresponding to each construction point; for each construction point, determine the navigation path of multiple different types of construction robots in the construction robot matching scheme according to the position of the construction point in the target BIM model; The robot control module is used to receive the preset work tasks corresponding to the different types of construction robots, and control the different types of construction robots to perform construction on the construction point in combination with the navigation paths and the preset work tasks.

[0007] In the third aspect of the present application, an electronic device is provided, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when loaded and executed by the processor, can implement a construction method of multi-machine linkage of construction robots based on intelligent scheduling.

[0008] In a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement a construction method of multiple construction robots in coordinated manner based on intelligent scheduling.

[0009] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: By adopting the above technical solutions, obtaining design drawings and topographic information to build a BIM model, it is possible to achieve digital restoration of the construction scene and establish a real-life environment for subsequent path planning and construction robot selection. Subsequently, by matching the multi-machine selection plan, the robots can be reasonably deployed according to different construction stages to improve configuration efficiency. Then, based on the BIM scenario, a navigation path is planned for each robot, so that the robot can reach the work point safely and efficiently. Finally, combining path planning with task control robots to work together, accurate division of labor can be achieved for each construction point, improving the efficiency of construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a flowchart of a construction method of multi-machine linkage construction of construction robots based on intelligent scheduling provided by an embodiment of the present application; Figure 2It is a structural schematic diagram of a construction system of multiple construction robots linked together based on intelligent scheduling provided by an embodiment of the present application; Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0011] Description of reference numerals: 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. DETAILED DESCRIPTION

[0012] In order to enable technicians in this field to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0013] In the description of the embodiments of the present application, words such as "for example" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "for example" or "for example" is intended to present related concepts in a specific way.

[0014] In the description of the embodiments of the present application, the meaning of the term "multiple" refers to two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The terms "include", "comprise", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0015] The present application embodiment provides a construction method for multiple construction robots based on intelligent scheduling. In one embodiment, please refer to Figure 1 , Figure 1 This is a flow chart of a construction method for multi-machine linkage construction of construction robots based on intelligent scheduling provided by an embodiment of the present application. The method can be implemented by a computer program, which can be integrated in an application or run as an independent tool application. The method can also be implemented by a single-chip microcomputer or run on a multi-machine linkage construction system for construction robots based on intelligent scheduling based on a von Neumann system. Specifically, the method can include the following steps: Step 101: Obtain design drawing information and geomorphic environment information of the area to be constructed; and construct a BIM model of the area to be constructed based on the design drawing information and geomorphic environment information.

[0016] Among them, the design drawing information refers to the relevant drawing materials that reflect the building design plan. In the embodiment of the present application, it can be understood as the design blueprint of the building project to be constructed, including two-dimensional drawings such as floor plans, elevations, and sections.

[0017] Geomorphic environment information refers to three-dimensional data information that describes the terrain, objects, etc. of the construction site. In the embodiment of the present application, it can be understood as the specific terrain data of the construction site collected by equipment such as lidar, which is used to generate a three-dimensional terrain model.

[0018] BIM model refers to Building Information Model, which can be understood as a virtual model of a three-dimensional digital building and its related information constructed by computer-aided design software in the embodiment of the present application.

[0019] Specifically, by obtaining design drawing information and geomorphic environment information, a BIM model of the construction site is constructed on this basis. Among them, the design drawing information is a two-dimensional design blueprint including a plan view, elevation view, and section view, which reflects the design details of the building such as the size, material, and structure; the geomorphic environment information is the three-dimensional terrain data of the construction site collected using equipment such as laser radar. First, obtain the architectural design drawings from the design department, and use BIM software to convert them into a three-dimensional building model. At the same time, use scanning equipment to obtain the site geomorphic environment information, build a terrain model, and then merge the two to generate a unified BIM model. In addition, it is also necessary to collect material information and add it to the model to further enrich the content of the BIM model. By constructing this high-precision three-dimensional BIM model, the virtual restoration of the actual building structure and site environment is realized, providing a virtual platform for subsequent robot collaborative construction planning and simulation, so that the design and optimization of the construction plan can be completed in a virtual environment to guide the actual construction, thereby improving the construction efficiency and quality.

[0020] Based on the above embodiment, as an optional embodiment, in step 101: constructing a BIM model of the area to be constructed based on the design drawing information and the landform environment information, this step may also include the following steps: Step 201: Convert the two-dimensional plan view, elevation view and section view in the design drawing information into a three-dimensional model, and generate a terrain model of the area to be constructed based on the landform environment information.

[0021] Among them, two-dimensional plan, elevation and section refer to the three basic drawings in architectural design drawings. In the embodiment of the present application, it can be understood as a plan that reflects the horizontal layout of the building, an elevation that reflects the vertical three-dimensional effect of the building, and a section that represents the internal cross-section of the building. These three types of two-dimensional design drawings contain all-round design information of the building, which are used to guide the formulation of construction plans and the implementation of construction work.

[0022] A three-dimensional model refers to a three-dimensional digital model that reflects the shape and structure of a physical object, which is constructed using three-dimensional modeling software. In the embodiment of the present application, it can be understood as a three-dimensional digital expression of a building generated by conversion using BIM software.

[0023] The terrain model refers to a three-dimensional digital elevation model that reflects the actual terrain conditions and is generated by a three-dimensional reconstruction algorithm. In the embodiment of the present application, it can be understood as a three-dimensional model of the topography of the construction site constructed based on lidar point cloud data.

[0024] Specifically, after obtaining the design drawings and landform information, these data need to be converted into the three-dimensional model required for building BIM. The purpose of the conversion is to adapt the original data to the model construction requirements of the BIM environment. The two-dimensional plan, elevation and section drawings are imported into the BIM software, the positional relationship of each drawing is specified, and then the three-dimensional model of the building is finally synthesized by adjusting the viewing angle, stretching, embedding and other operations. The point cloud processing algorithm is used to filter and align the landform point cloud data obtained from the original scan to generate a gridded three-dimensional terrain model. Through this conversion process, a three-dimensional model reflecting the building structure and site terrain is obtained, which provides a basis for the subsequent BIM environment construction. The precise geometric structure and dimensional data in the three-dimensional model can meet the requirements of the BIM software for environmental information, making the robot multi-machine collaborative simulation and planning in the BIM environment closer to the actual situation and improving the reliability of the solution.

[0025] Step 202: The three-dimensional model is integrated with the terrain model to obtain an initial BIM model.

[0026] Among them, the initial BIM model refers to the initial BIM model obtained by integrating the three-dimensional building model and the three-dimensional terrain model. In the embodiment of the present application, it can be understood as a BIM model that only contains basic building structure information and terrain information, and has not yet added materials, components and related detailed information.

[0027] Specifically, after obtaining the three-dimensional building model and the three-dimensional terrain model, the two need to be fused to form a unified virtual environment to construct the initial BIM model. The reason for fusion is that the BIM model needs to contain both the building structure and the site environment information to simulate the actual situation. First, import the three-dimensional building model and the terrain model into the BIM software and place them in the corresponding positions. Then perform spatial registration to align the two models in the same coordinate system. Then perform model cropping, highlighting and other processing to solve the problem of cross-occlusion between models. Finally, unify the perspective and display style of the model, perform global rendering, and obtain the fused initial BIM model. Through this fusion process, an initial BIM model including the building structure and the construction environment is formed, which provides three-dimensional environment support for subsequent scheme design, simulation and multi-machine collaboration. Enable the robot collaboration process to be arranged and planned in a virtual space with complete and accurate information.

[0028] Step 203: Obtain material information of each building component in the area to be constructed; add the material information of each building component in the area to be constructed to the initial BIM model to obtain the BIM model of the area to be constructed.

[0029] Among them, the material information of building components refers to the information describing the types of building materials and related parameters used in each building component. In the embodiment of the present application, it can be understood as information such as the concrete material specifications of the wall, the number of wood layers of the floor, and the color steel plate coating of the roof.

[0030] Specifically, after obtaining the initial BIM model, in order to make the BIM model contain more abundant construction details, it is necessary to further obtain the component material information and add it to the model to generate the final complete BIM model. This is done because material information is an important content to describe the construction requirements and needs to be reflected in the BIM model. First, the material types and parameters used for the doors, windows, walls, roofs and other building components in the construction area are collected from the design drawings and material information database, such as concrete for the wall material and color steel plate for the roof material. Then, in the BIM software, these material information are assigned to the corresponding components, material mapping is added, material characteristic parameters are set, and color and details are adjusted. In this way, the integration of material information in the initial BIM model is realized. After completing the process, a refined BIM model containing detailed information of component materials is obtained. This model not only has a precise geometric structure, but also adds important material characteristic information, so that it can meet the design, simulation and guidance needs of the robot multi-machine collaborative construction plan.

[0031] Step 102: Determine the process stages of multiple construction points in the area to be constructed, and match the construction robot selection plan corresponding to each construction point based on the process stage.

[0032] Among them, the construction point refers to the specific location in the BIM model where construction work needs to be carried out. In the embodiment of the present application, it can be understood as the key part that requires robots to operate, which is calibrated through the BIM model. The construction point is the specific execution location of the robot's collaborative work. According to the different process stages of each construction point, targeted robot selection and work arrangement are required.

[0033] The process stage refers to the different construction operation links of the building construction. In the embodiment of the present application, it can be understood as different process stages of the building construction such as earthwork, concrete pouring, formwork installation, steel bar binding, etc. Different process stages need to complete their own specific construction content and tasks, so it is necessary to select robots that meet the process requirements to perform the operation.

[0034] The construction robot selection plan refers to a plan for matching and selecting suitable construction robots for different construction sites based on construction requirements. In the embodiment of the present application, it can be understood as determining the type and quantity of robots required for each construction site based on the process stage of each construction site.

[0035] Specifically, after the BIM model of the area to be constructed is completed, it is necessary to determine the process stage of multiple construction points in the BIM model, and match the construction robot matching scheme corresponding to each construction point accordingly. This is done because reasonable robot matching needs to consider the specific process requirements of each construction point, and different robots need to be equipped to complete the work at different process stages. First, multiple key points where construction work needs to be carried out are marked in the BIM model, and the current construction stage of each point is determined, such as ground cleaning at some locations and steel bar binding at some locations. Then, according to the process requirements of each construction point, and taking into account factors such as operation efficiency, accuracy, and energy consumption, the matching robot type and quantity are selected from the robot library to form a matching scheme, such as a wheeled cleaning robot at the ground cleaning point. Through this matching process, an adaptive robot matching scheme is formulated for each construction point, and different robots are commanded to carry out collaborative work in place according to subsequent operation scheduling to improve efficiency.

[0036] Based on the above embodiment, as an optional embodiment, in step 102: determining the process stages of multiple construction points in the area to be constructed, and matching the construction robot matching scheme corresponding to each construction point based on the process stage, this step may also include the following steps: Step 301: Based on the BIM model, extract the construction information of each construction point; match the construction information of each construction point with the preset process flow to determine the process stage of each construction point.

[0037] Among them, construction information refers to various data describing the relevant conditions of the construction site. In the embodiment of the present application, it can be understood as the location coordinates, work content, material type and other information of the construction point extracted from the BIM model.

[0038] The preset process flow refers to a standard completion process of a construction project that is set in advance. In the embodiments of the present application, it can be understood as a complete sequence of construction processes determined in accordance with the construction specifications. The preset process flow covers all construction links and sequences from civil engineering operations to decoration and decoration. In this technical solution, the preset process flow provides a standard basis for judging the process stage of each construction point, and by matching it with the actual situation of each construction point, the current process stage can be determined.

[0039] Specifically, after completing the construction of the BIM model, in order to develop a robot selection scheme suitable for each construction point, it is necessary to first determine the process stage of each construction point. This is because only by clarifying the process requirements of each point can targeted robot selection be carried out. First, extract the relevant information of each construction point in the BIM model, such as location coordinates, material type, operation content, etc. Then, according to a pre-set complete construction process, including all stages such as civil engineering, main body, and decoration, match and compare the information of each construction point with the standard process in turn. For example, by analyzing the materials and operation content of a certain construction point, it can be determined that the point is currently in the concrete pouring stage. By matching one by one with the preset process flow, the specific process stage of all construction points in the BIM model can be determined, providing a correct basis for subsequent robot selection. This can prevent the occurrence of improper robot selection due to misjudgment of the process requirements of the construction point.

[0040] Step 302: Select the type of construction robot corresponding to each process stage from a preset construction robot database.

[0041] Among them, the preset construction robot database refers to a pre-established database that contains information on various types of construction robots. In the embodiment of the present application, it can be understood as a database containing detailed information such as working modes, performance parameters, etc. of different types of construction robots.

[0042] The type of construction robot refers to the classification based on the structural form and operating ability of the construction robot. In the embodiments of the present application, it can be understood as types such as crawling robots, self-grouting robots, spraying robots, etc.

[0043] Specifically, after clearly determining the process stage of each construction site, the next step is to start matching and selecting suitable construction robots. This is because different process stages require the use of different types of robots to perform operations, and only correct matching can improve efficiency. First, it is necessary to preset a database containing various types of construction robots, which records in detail the working mode, operating capacity and other parameters of each robot. Then, according to the process stage of each construction site determined in the previous steps, the corresponding robot type is searched in the database. For example, a magnetic crawling robot that can perform ground cleaning needs to be selected in the ground cleaning stage. By querying and selecting the database, at least one type of construction robot suitable for its process stage can be matched for each construction site. This lays the foundation for the subsequent determination of specific robot selection plans.

[0044] Step 303: Based on the types of construction robots corresponding to each process stage, a construction robot selection plan corresponding to each construction point is generated.

[0045] Specifically, after selecting the robot type corresponding to each construction point, it is necessary to further generate a complete robot matching plan. This is because the robot type alone cannot meet the construction needs, and the specific number and model of robots to be used must be determined. First, based on factors such as the space size and workload requirements of each construction point, determine the number of robots that need to be equipped at the point. For example, a larger construction area requires 3 spraying robots. Then, combined with the robot type selected previously, select the appropriate robot product model within this type. Finally, integrate the robot quantity and model information to form a complete construction robot matching plan for a certain construction point. Through this plan generation process, a construction robot matching plan tailored to the process stage of each construction point can be obtained, providing a specific robot application plan for subsequent multi-machine collaborative operations.

[0046] Step 103: For each construction point, according to the position of the construction point in the target BIM model, determine the navigation paths of multiple different types of construction robots in the construction robot selection scheme.

[0047] Among them, the navigation path refers to the spatial path that the robot needs to follow to move from the current position to the target position. In the embodiment of the present application, it can be understood as a moving route from the starting point to the working point pre-planned for each construction robot based on the construction point location in the BIM model.

[0048] Specifically, after determining the robot selection scheme for each construction point, the next step is to further develop the robot's navigation path. This is done because reasonable navigation path planning directly affects the robot's operating efficiency and accuracy. First, the precise position coordinates of each construction point are obtained in the BIM model. Then, according to the motion performance of different types of robots, different path planning algorithms are used to calculate the optimal navigation path from the current position to the target construction point to avoid collisions. For example, a crawling robot needs to plan a path along the edge of the floor slab. After determining the navigation path of each individual robot, further consider the collaborative efficiency, adjust the path sequence and operation time, and form an overall navigation plan for multiple machines. Through the determination of this navigation path, various types of robots can be guided to reach the operating position efficiently and quickly according to the collaborative plan, providing a prerequisite for subsequent precise operations, thereby improving the efficiency and quality of multi-machine collaboration.

[0049] Based on the above embodiment, as an optional embodiment, in step 103: determining the navigation paths of multiple different types of construction robots in the construction robot matching solution according to the position of the construction point in the target BIM model, this step may also include the following steps: Step 401: extracting a three-dimensional map of the construction site corresponding to the construction point from the target BIM model; marking the position of the construction point and the initial position of each construction robot in the three-dimensional map.

[0050] Specifically, in order to plan the navigation path of the robot, it is necessary to first obtain accurate working environment information. Therefore, it is necessary to extract the three-dimensional map of the construction site from the target BIM model. This is done because the three-dimensional map can provide key environmental data and provide a basis for path planning. First, use the three-dimensional components and annotation information in the BIM model to construct a high-precision three-dimensional map, which contains all the spatial structures, facilities and other environmental elements on site. Then, the spatial coordinates of each construction point and the initial placement position of each robot are accurately marked on the map. Through the map extraction and annotation, detailed three-dimensional scene information including the working target position and environmental obstacles can be obtained, which provides a key basis for the robot navigation path planning and makes the path planning conform to the actual situation.

[0051] Step 402: Construct a path planning map of the construction site based on the three-dimensional map and the preset obstacle area.

[0052] Among them, the preset obstacle area refers to an inaccessible area that needs to be confirmed before path planning. In the embodiment of the present application, it can be understood as a space area that the robot cannot pass through, such as stairwells and elevator shafts.

[0053] The path planning map refers to a simplified scene map used for robot path search. In the embodiment of the present application, it can be understood as a navigation-specific road network map representing the traversable areas and obstacles extracted on the basis of the three-dimensional map.

[0054] Specifically, in order to reasonably plan the navigation path of the robot, a three-dimensional map alone is not enough, and a road network map dedicated to path planning needs to be constructed. This is done because the path map can clearly represent the accessibility between different locations, which is conducive to path search. First, on the basis of the three-dimensional map, key structural elements such as the ground and walls are extracted to form the main feasible area. Then, for inaccessible obstacle areas, such as stairways and elevator shafts, they need to be preset and excluded from the feasible area. Finally, a path planning map is formed with accessible areas as nodes and obstacle boundaries as constraints. Through the construction of this path planning map, the feasible domain and restricted areas of the site can be clearly depicted, providing direct input data for the subsequent path search algorithm to guide the robot to efficiently plan the best navigation path to avoid obstacles.

[0055] Based on the above embodiment, as an optional embodiment, in step 402: constructing a path planning map of the construction site based on the three-dimensional map and the preset obstacle area, this step may also include the following steps: Step 412: discretize the three-dimensional map into a three-dimensional grid structure, and identify obstacle units in the three-dimensional grid structure according to the preset obstacle area.

[0056] Among them, the three-dimensional grid structure refers to the grid expression form after the three-dimensional space environment is discretized. In the embodiment of the present application, it can be understood as dividing the continuous three-dimensional map into a set of small cubic grid units with vertex coordinates.

[0057] The obstacle unit refers to a grid unit representing an obstacle in a three-dimensional grid structure, and in the embodiment of the present application, it can be understood as a specially marked grid cube corresponding to the spatial position of the obstacle in the three-dimensional grid.

[0058] Specifically, in order to use three-dimensional map data for path planning, preprocessing is required to convert the continuous space into a discrete grid structure. The reason for this is that discrete grids are more conducive to computer spatial analysis and path search. First, the three-dimensional map environment is discretized into a three-dimensional grid structure composed of grid units using a three-dimensional construction algorithm. Then, according to the preset obstacle area, the grid units corresponding to the obstacle space are identified in the grid structure. Through this discretization and identification, the three-dimensional map environment can be converted into a computer-readable discrete data structure, while integrating important obstacle information, laying the foundation for the robot's grid path planning algorithm.

[0059] Step 422: Based on the size parameters of the construction robot, determine the inaccessible area corresponding to the obstacle unit.

[0060] Among them, the size parameters refer to various dimensional data indicating the size of the robot. In the embodiment of the present application, they can be understood as geometric dimensions such as the length, width, height, etc. of the robot that affect its passability.

[0061] The inaccessible area refers to an impassable spatial area that the robot needs to avoid during path planning. In the embodiment of the present application, it can be understood as a three-dimensional space range that is prohibited from entry and is expanded and set according to the robot size parameters with the obstacle unit as the center.

[0062] Specifically, after identifying the obstacle units, it is necessary to further determine the specific range of these obstacle areas. This is done because robots of different sizes have different requirements for the obstacle range and need to be adjusted. According to the three-dimensional size parameters of the robot, the minimum required passage space is calculated. Then, with each obstacle unit as the center, an inaccessible interval range that meets the robot size passage requirements is expanded. For example, the width of 2 units is increased to form a restricted area. By adjusting the inaccessible range according to the size of the robot, the absolute obstacles in the three-dimensional environment can be represented as passable information relative to the robot's body size, providing accurate environmental constraint information for grid path planning based on the robot size.

[0063] Based on the above embodiment, as an optional embodiment, in step 422: determining the impassable area corresponding to the obstacle unit based on the size parameters of the construction robot, this step may also include the following steps: Step 4221: Determine the maximum outer contour size of the construction robot in the size parameters; based on the maximum outer contour size, determine the minimum safety clearance distance corresponding to the construction robot.

[0064] Among them, the maximum outer contour size refers to the size of the minimum circumscribed rectangle that wraps the entire construction robot. In the embodiment of the present application, it can be understood as the three-dimensional size of the rectangular frame representing the overall shape size composed of the robot's length, width and height parameters.

[0065] The minimum safety clearance distance refers to the additional clearance considered on the basis of the maximum outer contour size. In the embodiment of the present application, it can be understood as the additional moving or turning clearance distance required on the premise of satisfying the maximum outer contour passing.

[0066] Specifically, in order to calculate the required passage space for the robot, it is first necessary to determine the maximum outer contour size of the robot. This is done because the outer contour determines the minimum passage space of the robot. The length, width and height of the construction robot are extracted according to the size parameters, and combined to form a minimum circumscribed rectangle as the maximum outer contour. Then, based on the empirical value or the standard of the safe clearance for passage, the minimum safety clearance distance expanded on this basis is determined. By determining the outer contour size and the safety clearance distance, the range of the passable space corresponding to the robot can be calculated, which provides an important parameter basis for adjusting the inaccessible area.

[0067] Step 4222: With the obstacle unit as the center, grid cells within a radius greater than the minimum safety clearance distance are determined as inaccessible areas.

[0068] Specifically, in order to adjust the impassable area that the robot actually needs to avoid, it is necessary to expand the range with the obstacle as the center. This is because only by expanding to the range that ensures the safety gap can the robot successfully avoid the obstacle. Taking the geometric center of each identified obstacle unit as the base point and the minimum safety gap distance as the radius to form a spherical range, all grid units within the range are determined as impassable areas. Through the range expansion centered on the obstacle unit, the three-dimensional impassable space that the robot needs to avoid can be accurately configured.

[0069] Step 432: Screen out the inaccessible areas in the three-dimensional grid structure, and construct the connection relationship between the grid cells in the three-dimensional grid structure to obtain a path planning map of the construction site.

[0070] The grid unit refers to the basic unit that constitutes the three-dimensional grid, and in the embodiment of the present application, it can be understood as a small cubic unit that constitutes the three-dimensional grid. The grid unit represents the target area through spatial discretization and is the smallest unit for grid analysis.

[0071] Specifically, after determining the impassable area, grid preprocessing is required for path search. This is done because it is necessary to construct a road network topology that the robot can pass through to provide input for the subsequent grid path planning algorithm. First, filter out the impassable cells and remove the corresponding grid cells. Then calculate the adjacency relationship between the remaining grid cells, and construct a topological structure of nodes and connecting edges as a path planning graph. Through this preprocessing, a clear navigation road network topology graph containing only the traversable area can be obtained.

[0072] Step 403: In the path planning diagram, determine the shortest path from the initial position to the construction point of each construction robot as the navigation path.

[0073] Specifically, after the path planning map is constructed, the actual path search and planning are performed on the map. The shortest path allows the robot to reach the work location with the lowest time cost, thereby improving efficiency. Taking the initial position of each robot as the starting point and the corresponding construction point position as the end point, the shortest feasible path is searched on the path planning map. The search process makes full use of the accessible domain information in the path map, avoids the pre-set obstacle area, and quickly plans the optimal navigation path from the starting point to the end point. Through the shortest path search guided by the path planning map, different robots can reach the work location in a safe and efficient manner, shortening the overall operation time and improving the efficiency of multi-machine collaboration.

[0074] Step 104: receiving preset work tasks corresponding to different types of construction robots, and controlling different types of construction robots to perform construction on the construction site in combination with each navigation path and each preset work task.

[0075] Among them, the preset work tasks refer to the designated construction content assigned to each construction robot. In the embodiment of the present application, it can be understood as work tasks such as spraying and grinding performed on the target location determined according to the robot type. The preset work tasks clarify the division of labor of each robot in the collaboration process.

[0076] Specifically, after planning an optimized navigation path for each robot, the next step is to organize them to work together efficiently. This is done to give full play to the functions of each robot and complete the overall construction tasks in a clear order. First, according to the different types of robots, they are assigned their own preset work content, such as spraying, polishing, etc. Then control each robot to go to the target construction point according to the planned navigation path. Finally, let the robots carry out collaborative work in the order of the work tasks until the project construction is completed. Through the close cooperation of this path planning and task allocation, it is possible to achieve seamless connection and orderly operation of multiple robots, maximize the effectiveness of equipment, and improve project construction efficiency.

[0077] Based on the above embodiment, as an optional embodiment, in step 104: combining each navigation path and each preset operation task, controlling each different type of construction robot to perform construction on the construction point, this step may also include the following steps: Step 501: Generate construction instructions corresponding to each construction robot in the BIM model according to each preset work task.

[0078] Among them, the construction instruction refers to the executable work control command issued to the construction robot, which can be understood in the embodiment of the present application as an instruction code organized according to technical specifications and containing robot motion control parameters.

[0079] Specifically, in order for the robot to understand and perform the task, the task content needs to be converted into a machine-readable instruction form. This is done because the robot needs to control its actions according to the parameters in the instructions. According to the preset spraying, polishing and other tasks, the paint data, nozzle path, polishing force and other action control parameters are generated in the corresponding BIM model area and organized into an instruction format that the robot can parse and execute. Through this BIM-based instruction generation, the conversion from abstract work content to specific machine action control parameters can be realized, so that the robot can standardize the operation according to the construction requirements.

[0080] Step 502: Associate each construction instruction with the navigation path of each construction robot to obtain the target instruction of each construction robot.

[0081] Among them, the target instruction refers to a combined operation command of the construction robot that combines the navigation path and the construction instruction. In the embodiment of the present application, it can be understood as a comprehensive task instruction including the robot's motion control parameters and operation action parameters.

[0082] Specifically, in order to achieve orderly operation of the robot, it is necessary to associate and combine the instructions with the navigation path. The reason for this is that the robot needs to perform the correct work content at the right time and place. Match the construction instructions of each robot with the corresponding work point in the trajectory path to form a matching table of timestamps and action parameters. Then integrate this matching relationship into a target instruction format that can be parsed by the robot. Through the association of this instruction with the path, the robot can implement the construction task according to the correct procedures and parameters after arriving at the designated work point, and realize precise and orderly collaborative work.

[0083] Step 503: Determine the task execution sequence corresponding to each construction robot according to each target instruction; send each task execution instruction to each construction robot to control each construction robot to perform construction on the construction point according to the corresponding task execution sequence.

[0084] Among them, the task execution sequence refers to the order of operation of multiple construction robots, which can be understood in the embodiment of the present application as the time priority order of the robots performing planned operations determined according to the target instructions.

[0085] Specifically, to ensure smooth and orderly collaboration of multiple machines, it is necessary to plan the order in which they execute tasks. This is done to avoid possible path or operation conflicts of the robots at the construction site. According to the target instructions of each robot, their motion trajectories and operation actions are analyzed, and the order is optimized to obtain a conflict-free task sequence. Then, execution instructions are sent to each robot one by one according to this sequence, guiding them to perform operations in strict accordance with the plan. Through the planning and instruction control of the task sequence, multiple robots can be scheduled and collaborated in an orderly manner, maximizing their efficiency and meeting the construction progress requirements.

[0086] Reference Figure 2 , is a construction robot multi-machine linkage construction system based on intelligent scheduling provided by an embodiment of the present application, the system includes: an information acquisition module, a BIM model determination module, a navigation path determination module, and a robot control module, wherein: An information acquisition module is used to obtain design drawing information and geomorphic environment information of the area to be constructed; The BIM model determination module is used to construct a BIM model of the area to be constructed based on the design drawing information and the landform environment information; The navigation path determination module is used to determine the process stage of multiple construction points in the area to be constructed, and match the construction robot matching scheme corresponding to each construction point based on the process stage; for each construction point, the navigation path of multiple different types of construction robots in the construction robot matching scheme is determined according to the position of the construction point in the target BIM model; The robot control module is used to receive preset work tasks corresponding to different types of construction robots, and control different types of construction robots to perform construction on construction sites in combination with each navigation path and each preset work task.

[0087] On the basis of the above embodiment, the BIM model determination module is also used to convert the two-dimensional plan, elevation and section in the design drawing information into a three-dimensional model, and generate a terrain model of the area to be constructed based on the landform environment information; merge the three-dimensional model with the terrain model to obtain an initial BIM model; obtain the material information of each building component in the area to be constructed; add the material information of each building component in the area to be constructed to the initial BIM model to obtain the BIM model of the area to be constructed.

[0088] Based on the above embodiments, the navigation path determination module is also used to extract the construction information of each construction point based on the BIM model; match the construction information of each construction point with the preset process flow to determine the process stage of each construction point; select the type of construction robot corresponding to each process stage from the preset construction robot database; and generate a construction robot selection plan corresponding to each construction point in combination with the type of construction robot corresponding to each process stage.

[0089] Based on the above embodiments, the navigation path determination module is also used to extract a three-dimensional map of the construction site corresponding to the construction point from the target BIM model; mark the location of the construction point and the initial position of each construction robot in the three-dimensional map; construct a path planning map of the construction site based on the three-dimensional map and the preset obstacle area; in the path planning map, determine the shortest path from the initial position to the location of the construction point of each construction robot as the navigation path.

[0090] Based on the above embodiments, the navigation path determination module is also used to discretize the three-dimensional map into a three-dimensional grid structure, and identify the obstacle units in the three-dimensional grid structure according to the preset obstacle area; determine the inaccessible area corresponding to the obstacle unit based on the size parameters of the construction robot; screen out the inaccessible area in the three-dimensional grid structure, and construct the connection relationship between each grid unit in the three-dimensional grid structure to obtain a path planning map of the construction site.

[0091] Based on the above embodiments, the navigation path determination module is also used to determine the maximum outer contour size of the construction robot in the size parameters; based on the maximum outer contour size, the minimum safety gap distance corresponding to the construction robot is determined; with the obstacle unit as the center, the grid units with a radius greater than the minimum safety gap distance are determined as inaccessible areas.

[0092] On the basis of the above embodiments, the robot control module is also used to generate construction instructions corresponding to each construction robot in the BIM model according to each preset work task; associate each construction instruction with the navigation path of each construction robot to obtain the target instruction of each construction robot; determine the task execution sequence corresponding to each construction robot according to each target instruction; send each task execution instruction to each construction robot to control each construction robot to perform construction on the construction point according to the corresponding task execution sequence.

[0093] It should be noted that: when the device provided in the above embodiment realizes its function, only the division of the above functional modules is used as an example. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0094] The present application also discloses an electronic device. Figure 3 , Figure 3The electronic device 300 may include: at least one processor 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .

[0095] The communication bus 302 is used to realize the connection and communication between these components.

[0096] The user interface 303 may include a display interface and a camera interface. Optionally, the user interface 303 may also include a standard wired interface and a wireless interface.

[0097] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0098] Among them, the processor 301 may include one or more processing cores. The processor 301 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the processor 301 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 301 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface diagrams and applications, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 301, and it can be implemented separately through a chip.

[0099] Among them, the memory 305 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 305 may optionally also be at least one storage device located away from the aforementioned processor 301. Refer to Figure 3 , the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an application program for a construction method of multi-machine linkage of construction robots based on intelligent scheduling.

[0100] exist Figure 3 In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain the data input by the user; and the processor 301 can be used to call the memory 305 to store an application program for a construction robot multi-machine linkage construction method based on intelligent scheduling. When executed by one or more processors 301, the electronic device 300 executes one or more methods in the above embodiments. It should be noted that for the aforementioned method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0101] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0102] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0103] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0104] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0105] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0106] The above are only exemplary embodiments of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the disclosure of the specification and the truth of practice, those skilled in the art will easily think of other embodiments of the present disclosure.

[0107] This application is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art not recorded in the present disclosure. The description and examples are to be regarded as exemplary only.

Claims

1. A construction method for multi-machine linkage of construction robots based on intelligent scheduling, characterized in that: include: Obtain design drawing information and geomorphic environment information of the area to be constructed; Based on the design drawing information and the landform environment information, construct a BIM model of the area to be constructed; Determine the process stages of multiple construction points in the area to be constructed, and match the construction robot selection scheme corresponding to each construction point based on the process stages; For each of the construction points, determining navigation paths of a plurality of different types of construction robots in the construction robot selection scheme according to the position of the construction point in the target BIM model; Receive the preset work tasks corresponding to the different types of construction robots, and control the different types of construction robots to perform construction on the construction site in combination with the navigation paths and the preset work tasks.

2. The method for construction by multiple construction robots based on intelligent scheduling according to claim 1 is characterized in that: The constructing of the BIM model of the area to be constructed based on the design drawing information and the landform environment information includes: Convert the two-dimensional plan view, elevation view and section view in the design drawing information into a three-dimensional model, and generate a terrain model of the area to be constructed based on the landform environment information; The three-dimensional model is integrated with the terrain model to obtain an initial BIM model; Acquire material information of each building component in the area to be constructed; The material information of each building component in the area to be constructed is added to the initial BIM model to obtain the BIM model of the area to be constructed.

3. The method for construction by multiple construction robots based on intelligent scheduling according to claim 1 is characterized in that: The determining of the process stages of the plurality of construction points in the area to be constructed, and matching the construction robot matching scheme corresponding to each of the construction points based on the process stages, includes: Based on the BIM model, extract the construction information of each construction point; Matching the construction information of each construction point with the preset process flow to determine the process stage of each construction point; Selecting the type of construction robot corresponding to each process stage from a preset construction robot database; In combination with the types of construction robots corresponding to each of the process stages, a construction robot selection plan corresponding to each of the construction points is generated.

4. The method for construction by multiple construction robots based on intelligent scheduling according to claim 1 is characterized in that: Determining navigation paths of multiple different types of construction robots in the construction robot selection scheme according to the position of the construction point in the target BIM model includes: Extracting a three-dimensional map of the construction site corresponding to the construction point from the target BIM model; Marking the location of the construction point and the initial position of each of the construction robots in the three-dimensional map; Based on the three-dimensional map and the preset obstacle area, construct a path planning map of the construction site; In the path planning map, the shortest path from the initial position to the construction point of each construction robot is determined as a navigation path.

5. The method for construction by multiple construction robots based on intelligent scheduling according to claim 4 is characterized in that: The step of constructing a path planning map of the construction site based on the three-dimensional map and the preset obstacle area includes: Discretizing the three-dimensional map into a three-dimensional grid structure, and identifying obstacle units in the three-dimensional grid structure according to the preset obstacle area; Based on the size parameters of the construction robot, determining the inaccessible area corresponding to the obstacle unit; The inaccessible areas in the three-dimensional grid structure are screened out, and the connection relationship between the grid units in the three-dimensional grid structure is constructed to obtain a path planning map of the construction site.

6. The method for construction by multiple construction robots based on intelligent scheduling according to claim 5 is characterized in that: The step of determining the inaccessible area corresponding to the obstacle unit based on the size parameters of the construction robot includes: Determine the maximum outer contour size of the construction robot in the size parameters; Determining a minimum safety clearance distance corresponding to the construction robot according to the maximum outer contour size; Taking the obstacle unit as the center, grid units within a radius greater than the minimum safety gap distance are determined as inaccessible areas.

7. The method for construction by multiple construction robots based on intelligent scheduling according to claim 1 is characterized in that: The controlling of the different types of construction robots to perform construction on the construction site in combination with the navigation paths and the preset operation tasks includes: According to each of the preset work tasks, generating construction instructions corresponding to each of the construction robots in the BIM model; Associating each of the construction instructions with the navigation path of each of the construction robots to obtain a target instruction for each of the construction robots; Determine the task execution sequence corresponding to each of the construction robots according to each of the target instructions; Each of the task execution instructions is sent to each of the construction robots to control each of the construction robots to perform construction on the construction point according to the corresponding task execution sequence.

8. A construction system based on intelligent scheduling of multiple construction robots, characterized in that: The system comprises: An information acquisition module is used to obtain design drawing information and geomorphic environment information of the area to be constructed; A BIM model determination module, used to construct a BIM model of the area to be constructed based on the design drawing information and the landform environment information; A navigation path determination module is used to determine the process stage of multiple construction points in the area to be constructed, and based on the process stage, match the construction robot matching scheme corresponding to each construction point; for each construction point, determine the navigation path of multiple different types of construction robots in the construction robot matching scheme according to the position of the construction point in the target BIM model; The robot control module is used to receive the preset work tasks corresponding to the different types of construction robots, and control the different types of construction robots to perform construction on the construction point in combination with the navigation paths and the preset work tasks.

9. An electronic device, characterized in that: It includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes the construction method of multi-machine linkage of construction robots based on intelligent scheduling as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the construction method of multi-machine linkage construction of construction robots based on intelligent scheduling as described in any one of claims 1-7 is executed.

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