Intelligent robot for assisting construction operation and assisting method

Abstract

The invention discloses an intelligent robot for assisting construction operation and an assisting method, and belongs to the technical field of construction operation robots. The intelligent robot comprises a mobile robot, a rotating mechanical arm installed on the mobile robot, and a rotating clamp connected to one end of the rotating mechanical arm and provided with a tail end holder. The control unit is used for controlling the movement of the mobile robot, the rotating mechanical arm, the tail end holder and the rotating clamp, and the control unit comprises a positioning module used for positioning the coordinates of the indoor position of the mobile robot; and the calculation control module is used for calculating the position, the posture, the speed and the accelerated speed of the rotating clamp according to the movement state parameters of the rotating mechanical arm and the tail end holder on the basis of the coordinates of the indoor position of the mobile robot and carrying out track planning and control. The working states can be switched, the moving path of the tail end is sensed during large-range movement, the rotating clamp is driven to move through the moving robot and the rotating mechanical arm, and the tail end holder is matched with the tool to move during small-range movement.

Description

Technical Field

[0001] The present invention relates to the technical field of construction operation robots, and in particular to an intelligent robot assisting construction operation and an assisting method. Background Art

[0002] There is a large number of small tools used in construction site operations, such as electric drills, brick clamps, vibrators, woodworking tools, etc. In addition to technical operations, users often need to resist the weight of the tools, which limits the further improvement of their efficiency;

[0003] Some companies have developed robots for construction work, but have not solved the problem of positioning the robots after they move, and often require a lot of calibration. In addition, this type of robot is generally intended for "full-process" operations, such as plastering an entire wall, but it is difficult to handle "repair-type" needs or is extremely inefficient, such as partial plastering. The intelligence level of this type of robot cannot yet reach the level of "completely eliminating the need for human labor", but it also excludes the involvement and use of human intelligence, which is an awkward situation.

[0004] At present, the small tools on the construction site have solved the problem of electrification of operation, but have not solved the problem of resisting their own weight and vibration. The cost of this resistance is actually borne by manpower, which limits the further development of work efficiency; the current construction robots have very low freedom of movement of their own and end tools, and are generally carried out through fixed programs, remote control, etc., which makes it difficult to adapt to the needs of "rapid turning and moving" during construction operations; the current level of intelligence of robots performing construction operations on the work surface is generally not high, and it takes a lot of time and energy to develop a set of functional programs, such as bricklaying and plastering, which restricts the development and promotion of such robots; there are many types of operations on the construction site. If customized development is done for each function, a lot of cost will be invested, which is not conducive to the rapid development of the industry. Summary of the invention

[0005] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of the present invention to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0006] Therefore, the purpose of the present invention is to provide an intelligent robot and an assisting method for assisting construction operations, which can switch the operating state, sense the terminal moving path when moving in a large range, and drive the rotating clamp to move by moving the robot and rotating the mechanical arm; when moving in a small range, the terminal pan-tilt head cooperates with the movement of the tool.

[0007] In order to solve the above technical problems, the present invention provides an intelligent robot and an assisting method for assisting construction work, which adopts the following technical solutions: including:

[0008] A mobile robot, a rotating mechanical arm installed on the mobile robot, and a rotating clamp connected to one end of the rotating mechanical arm and having an end pan-tilt table; also includes: a control unit for controlling the movement of the mobile robot, the rotating mechanical arm, the end pan-tilt table and the rotating clamp, the control unit includes: a positioning module for locating the coordinates of the mobile robot at an indoor position; a calculation control module for calculating the position, posture, speed and acceleration of the rotating clamp based on the coordinates of the mobile robot at the indoor position and the motion state parameters of the rotating mechanical arm and the end pan-tilt table, and performing trajectory planning and control.

[0009] Optionally, the mobile robot adopts an omnidirectional wheel robot base, the rotating mechanical arm adopts a six-axis mechanical arm, and one end of the rotating mechanical arm is provided with two motors for respectively controlling the vertical rotation and horizontal rotation of the rotating fixture.

[0010] Optionally, the positioning module is used to resolve the motion state parameters of the rotating clamp into the initial position of the rotating clamp and the motion acceleration vector of the rotating clamp, calculate the fuzzy position of the rotating clamp on the electronic map through the motion feature algorithm model, and calibrate the fuzzy position according to the relevant parameters of the rotating clamp and the WIFIAP at a fixed position in the motion environment during the movement of the rotating clamp, so as to obtain the motion trajectory of the rotating clamp on the electronic map.

[0011] Optionally, the calculation control module is used to calculate the angle changes a and b formed by the rotation states of the two motors relative to the initial state; and is used to calculate the angle changes c and d formed by the rotation state of the terminal gimbal relative to the initial state.

[0012] Optionally, the control unit further includes an autonomous learning module for sensing and recording the moving path of the rotating fixture, and automatically learning and executing.

[0013] Optionally, the control unit also includes an artificial intelligence emergence module, which includes initial state parameters and a moving path, and the initial state parameters and the moving path match the characteristic attributes of the job type; based on the initial state parameters, the artificial intelligence emergence module is randomly operated within the range of the moving path to virtualize the actual state of the job type, thereby emerging intelligent agent behavior characteristics.

[0014] Optionally, a visualization platform is also included for visualizing operations through the terminal pan / tilt unit.

[0015] Also included is an assisting method of an intelligent robot for assisting construction work, which specifically includes the following steps:

[0016] S1: The visualization of the end gimbal controls the movement of the mobile robot, the rotating robot arm and the rotating fixture to achieve tool clamping through the control unit;

[0017] S2: Locate the coordinates of the mobile robot at the indoor position according to the positioning module, and switch the working state. When moving in a large range, the rotating fixture is driven to move by the mobile robot and the rotating mechanical arm. When moving in a small range, the rotating fixture is driven to move by the end pan / tilt.

[0018] S3: Through the autonomous learning module, the moving path of the rotating fixture is sensed and recorded, and the learning and execution are automatic;

[0019] S4: Through the artificial intelligence emergence module, random operation is performed to simulate the actual state of the job type, thereby emerging the behavior characteristics of the intelligent agent.

[0020] In summary, the present invention includes at least one of the following beneficial effects:

[0021] 1. Solve the deadweight and vibration load of small tools in construction work by integrating small tools into robots, so that workers can focus on moving small tools to perform operations;

[0022] 2. To solve the need for high-frequency free movement of the robot operation end, the intelligent robot of the present invention uses the pan-tilt platform at the end as a sensor to sense the worker's body movement path, drive the intelligent robot to move or its mechanical arm to move, and quickly and conveniently realize the "hand-following" free movement of the robot end;

[0023] 3. To solve the problem of difficulty in developing construction operation function programs, the intelligent robot of the present invention can sense and record the movement paths of workers and tools through the combination of mechanical arm + terminal gimbal, and automatically learn and execute the function after simple "teaching" by the workers;

[0024] 4. To solve the problem of discrete development of work surface robots, the intelligent robot of the present invention can sense and record the movement paths of workers and tools, and based on the collected data, it is trained in combination with technologies such as neural networks, so that it has the ability of intelligent "emergence" based on massive data, and gradually has the ability of self-learning and breakthrough in all work processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0026] Figure 1 It is a schematic diagram of the structure of the present invention;

[0027] Figure 2 This is a principle block diagram of the control unit of the present invention;

[0028] Figure 3 The figure is a flow chart of the method of the present invention.

[0029] Explanation of the accompanying drawings: 1. Mobile robot; 2. Control unit; 3. Rotating robotic arm; 4. End gimbal; 5. Rotating fixture; 6. Positioning module; 7. Computing control module; 8. Autonomous learning module; 9. Artificial intelligence emergence module; 10. Visualization platform. DETAILED DESCRIPTION

[0030] The following will combine the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all the embodiments. All other embodiments obtained by ordinary technicians in this field without creative work based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the 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 position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] Embodiment 1

[0034] Reference Figure 1 and Figure 2 The present invention discloses an intelligent robot for assisting construction work, comprising:

[0035] A mobile robot 1, a rotating mechanical arm 3 installed on the mobile robot 1, and a rotating fixture 5 having an end platform 4 connected to one end of the rotating mechanical arm 3; wherein, it also includes: a control unit 2 for controlling the movement of the mobile robot 1, the rotating mechanical arm 3, the end platform 4 and the rotating fixture 5, wherein the end platform 4 is a 360° rotating end platform, and the rotating fixture 5 can be used to clamp various small tools. The mobile robot 1 adopts an omnidirectional wheel robot base, the rotating mechanical arm 3 adopts a six-axis mechanical arm, and one end of the rotating mechanical arm 3 is provided with two motors for respectively controlling the vertical rotation and horizontal rotation of the rotating fixture 5. The respective control mechanisms and structures of the mobile robot 1, the rotating mechanical arm 3 and the rotating fixture 5 adopt existing products, and the control unit 2 controls the coordinated actions of the mobile robot 1, the rotating mechanical arm 3 and the rotating fixture 5 to realize the movement of the gripper of the rotating fixture 5 from a large range to a small range.

[0036] The control principle of control unit 2 is as follows Figure 2 As shown, including:

[0037] A positioning module 6, used to locate the coordinates of the indoor position of the mobile robot 1;

[0038] Specifically, the positioning module 6 is used to resolve the motion state parameters of the rotating clamp 5 into the initial position of the rotating clamp 5 and the motion acceleration vector of the rotating clamp 5, calculate the fuzzy position of the rotating clamp 5 on the electronic map through the motion feature algorithm model, and calibrate the fuzzy position according to the relevant parameters of the rotating clamp 5 and the WIFIAP at a fixed position in the motion environment during the movement of the rotating clamp 5, so as to obtain the motion trajectory of the rotating clamp 5 on the electronic map.

[0039] It also includes a parameter screening module, which is used to receive in real time and send wireless signals including the motion state parameters of the rotating fixture 5 and the wireless signals including the relevant parameters of the rotating fixture 5 and the WIFIAP at a fixed position in the motion environment during the motion of the rotating fixture 5 to the motion trajectory calculation module, and receive in real time and send the relevant parameters of the sensor at the fixed position to the motion trajectory correction module; the motion trajectory correction module is used to calibrate the positioning information of the rotating fixture 5 in real time according to the relevant parameters of the sensor at the fixed position, so as to obtain the accurate motion trajectory of the rotating fixture 5 on the electronic map. For details, refer to.

[0040] The calculation control module 7 is used to calculate the position, posture, speed and acceleration of the rotating fixture 5 based on the coordinates of the indoor position of the mobile robot 1 and the motion state parameters of the rotating mechanical arm 3 and the end pan-tilt head 4, and perform trajectory planning and control.

[0041] Specifically, the calculation control module 7 is used to calculate the angle changes a and b formed by the rotation states of the two motors relative to the initial state; and is used to calculate the angle changes c and d formed by the rotation state of the terminal gimbal 4 relative to the initial state. When the worker moves the tool in the fixture, the two motors of the terminal gimbal 4 form angle changes a and b relative to the initial position; at this time, the control unit 2 of the intelligent robot will control the movement of the omnidirectional wheel robot base and the mechanical arm to restore the rotation state of the two motors of the terminal gimbal 4 to the initial state, and the small tool always maintains a certain working direction. This logic is suitable for the tool to move in a large range; when the working direction of the small tool needs to be adjusted, it can be switched to another mode. At this time, the terminal gimbal 4 forms angle changes c and d to allow the tool to have a free direction, but the angle change of the terminal gimbal 4 does not affect the movement of the robot. This logic is suitable for the tool to move in a small range.

[0042] The intelligent robot for assisting construction work of the present invention can reduce work fatigue, reduce the use of cables, and can achieve real-time and rapid positioning to find the work position.

[0043] The control unit 2 also includes an autonomous learning module 8, which can sense and record the movement path of workers and tools, automatically learn and execute the function after a simple "teaching" by the worker, and automatically correct it with the help of the visual and other sensor modules, and the worker can manually correct it at any time;

[0044] The control unit 2 also includes an artificial intelligence emergence module 9, which includes initial state parameters and a moving path. The initial state parameters and the moving path match the characteristic attributes of the type of operation; based on the initial state parameters, the artificial intelligence emergence module 9 is randomly operated within the range of the moving path to simulate the actual state of the type of operation, thereby emerging the behavior characteristics of the intelligent body. With the help of statistical machine learning, data mining, deep learning and other methods, the initial state parameters are determined by learning the parameters of the actual construction operation, and computational experimental analysis is carried out to vividly and parametrically explain the complex macroscopic phenomena originating from the microscopic level, so as to better explain the structures, functions and dynamic characteristics of different levels of complex construction operations. Based on the collected autonomous learning or stored data, combined with neural network and other technologies for training, it has the ability of intelligent "emergence" based on massive data, and gradually has the ability of self-learning and breakthrough of all operation processes.

[0045] It also includes a visualization platform 10, which captures images through the terminal gimbal 4 to realize a visualization display of the working position.

[0046] Embodiment 2

[0047] Reference Figure 3 Based on the same concept as the first embodiment, the invention further includes an assisting method of an intelligent robot for assisting construction work, which specifically includes the following steps:

[0048] S1: The visualization of the end pan / tilt 4 controls the movement of the mobile robot 1, the rotating mechanical arm 3 and the rotating clamp 5 through the control unit 2 to achieve the clamping of the tool;

[0049] S2: Locate the coordinates of the indoor position of the mobile robot 1 according to the positioning module 6, and switch the working state. When moving in a large range, the mobile robot 1 and the rotating mechanical arm 3 drive the rotating fixture 5 to move. When moving in a small range, the terminal pan / tilt 4 drives the rotating fixture 5 to move.

[0050] S3: The autonomous learning module 8 senses and records the moving path of the rotating fixture 5, and automatically learns and executes;

[0051] S4: Through the artificial intelligence emergence module 9, the actual state of the virtual job type is randomly run to emerge the behavior characteristics of the intelligent agent.

[0052] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent robot for assisting construction work, characterized in that: include: A mobile robot (1), a rotating mechanical arm (3) mounted on the mobile robot (1), and a rotating fixture (5) connected to one end of the rotating mechanical arm (3) and having a terminal pan-tilt table (4); and further comprising: a control unit (2) for controlling the movement of the mobile robot (1), the rotating mechanical arm (3), the terminal pan-tilt table (4) and the rotating fixture (5), The control unit (2) comprises: A positioning module (6), used for locating the coordinates of the indoor position of the mobile robot (1); The calculation control module (7) is used to calculate the position, posture, speed and acceleration of the rotating fixture (5) based on the coordinates of the indoor position of the mobile robot (1) and the motion state parameters of the rotating mechanical arm (3) and the end pan-tilt platform (4), and to perform trajectory planning and control.

2. The intelligent robot for assisting construction work according to claim 1, characterized in that: The mobile robot (1) adopts an omnidirectional wheel robot base, the rotating mechanical arm (3) adopts a six-axis mechanical arm, and one end of the rotating mechanical arm (3) is provided with two motors for respectively controlling the vertical rotation and horizontal rotation of the rotating fixture (5).

3. The intelligent robot for assisting construction work according to claim 1, characterized in that: The positioning module (6) is used to resolve the motion state parameters of the rotating fixture (5) into the initial position of the rotating fixture (5) and the motion acceleration vector of the rotating fixture (5), calculate the fuzzy position of the rotating fixture (5) on the electronic map through the motion feature algorithm model, and calibrate the fuzzy position according to the relevant parameters of the rotating fixture (5) and the WIFIAP at a fixed position in the motion environment during the motion of the rotating fixture (5), so as to obtain the motion trajectory of the rotating fixture (5) on the electronic map.

4. The intelligent robot for assisting construction work according to claim 1, characterized in that: The calculation control module (7) is used to calculate the angle changes a, b formed by the rotation states of the two motors relative to the initial state; and is used to calculate the angle changes c, d formed by the rotation state of the terminal pan / tilt platform (4) relative to the initial state.

5. An intelligent robot for assisting construction work according to any one of claims 1 to 4, characterized in that: The control unit (2) also includes an autonomous learning module (8) for sensing and recording the moving path of the rotating fixture (5), and automatically learning and executing.

6. The intelligent robot for assisting construction work according to claim 5, characterized in that: The control unit (2) also includes an artificial intelligence emergence module (9), the artificial intelligence emergence module (9) includes initial state parameters and a moving path, the initial state parameters and the moving path match the characteristic attributes of the operation type; based on the initial state parameters, the artificial intelligence emergence module (9) is randomly operated within the range of the moving path to simulate the actual state of the operation type, thereby emerging intelligent agent behavior characteristics.

7. The intelligent robot for assisting construction work according to claim 5, characterized in that: It also includes a visualization platform (10) for visualizing operations through a terminal pan / tilt head (4).

8. The intelligent robot for assisting construction work according to claim 6, characterized in that: Also included is an assisting method of an intelligent robot for assisting construction work, which specifically includes the following steps: S1: The visualization of the end pan / tilt table (4) controls the movement of the mobile robot (1), the rotating mechanical arm (3) and the rotating clamp (5) through the control unit (2) to achieve the clamping of the tool; S2: The coordinates of the indoor position of the mobile robot (1) are located according to the positioning module (6), and the operation state is switched. When the mobile robot (1) and the rotating mechanical arm (3) are used to drive the rotating fixture (5) to move in a large range, and when the mobile robot (1) and the rotating mechanical arm (3) are used to drive the rotating fixture (5) to move in a small range, the terminal pan / tilt table (4) is used to drive the rotating fixture (5) to move; S3: sensing and recording the moving path of the rotating fixture (5) through the autonomous learning module (8), and automatically learning and executing; S4: Through the artificial intelligence emergence module (9), random operation is performed to simulate the actual state of the job type, thereby emerging the behavior characteristics of the intelligent agent.

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