An intelligent robot and an assisting method for assisting construction work

Abstract

The application discloses a kind of intelligent robots and auxiliary methods for assisting construction in the technical field of construction robot, including: mobile robot, rotating mechanical arm installed on mobile robot, rotating clamp with end cloud platform connected to one end of rotating mechanical arm;Further comprising: control unit for controlling the movement of mobile robot, rotating mechanical arm, end cloud platform and rotating clamp, the control unit includes: positioning module, for positioning the coordinates of mobile robot located in indoor position;Calculation control module is used to calculate the position, posture, speed and acceleration of rotating clamp based on the coordinates of mobile robot located in indoor position according to the motion state parameters of rotating mechanical arm and end cloud platform, and trajectory planning and control are carried out.It can switch the working state, when moving in a large range, the end moving path is sensed, and the rotating clamp is moved by mobile robot, rotating mechanical arm, when moving in a small range, the movement of tool is assisted by end cloud platform.

Description

Technical Field

[0001] This invention relates to the technical field of construction operation robots, and in particular to an intelligent robot and auxiliary method for assisting construction operations. Background Technology

[0002] Construction site operations involve the extensive use of small tools, such as electric drills, brick clamps, vibrators, and woodworking tools. In addition to performing technical operations, users often have to contend with the weight of the tools themselves, which limits further improvements in efficiency.

[0003] Some companies have developed robots for construction operations, but they have not solved the problem of positioning the robots after they move. They often require a lot of calibration. Moreover, the purpose of these robots is generally to perform "full-process" operations, such as plastering an entire wall, but they are difficult to handle "repair-type" needs or are extremely inefficient, such as partial plastering. The intelligence level of this type of robot has not yet reached the level of "completely eliminating the need for human intervention", but it also excludes the intervention and role of human intelligence, putting it in an awkward position.

[0004] Currently, while small tools on construction sites have achieved electrification, they haven't addressed the issues of overcoming their own weight and vibration. The cost of these factors is ultimately borne by human labor, limiting further efficiency. Current construction robots have very low degrees of freedom in their own movement and the movement of their end effectors, typically relying on fixed programs and remote control, making it difficult to meet the demands of rapid maneuvering during construction. Furthermore, the level of intelligence among robots currently operating on the work surface is generally low; developing a single functional program requires significant time and effort, for example, for tasks like bricklaying and plastering, hindering the development and widespread use of such robots. Finally, the variety of tasks on construction sites is vast; customizing each function would incur substantial costs, impeding the industry's rapid development. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of the invention, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] Therefore, the purpose of this invention is to provide an intelligent robot and auxiliary method for assisting construction operations, which can switch operating states. When moving over a large area, it senses the movement path of the end effector and moves the rotating clamp by moving the robot and rotating the mechanical arm. When moving over a small area, the end effector gimbal cooperates with the movement of the tool.

[0007] To solve the above-mentioned technical problems, the present invention provides an intelligent robot and auxiliary method for assisting construction operations, adopting the following technical solution: including:

[0008] The system includes a mobile robot, a rotating robotic arm mounted on the mobile robot, and a rotating gripper with an end effector connected to one end of the rotating robotic arm. It also includes a control unit for controlling the movement of the mobile robot, the rotating robotic arm, the end effector, and the rotating gripper. The control unit comprises: a positioning module for locating the coordinates of the mobile robot's indoor position; and a calculation control module for calculating the position, attitude, velocity, and acceleration of the rotating gripper based on the coordinates of the mobile robot's indoor position and the motion state parameters of the rotating robotic arm and the end effector, and for trajectory planning and control.

[0009] Optionally, the mobile robot adopts an omnidirectional wheel robot base, and the rotating robotic arm adopts a six-axis robotic arm. One end of the rotating robotic arm is equipped with two motors that control the vertical and horizontal rotation of the rotating gripper, respectively.

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

[0011] Optionally, the calculation control module is used to calculate the angular changes a and b between the rotation states of the two motors relative to the initial state; and to calculate the angular changes c and d between the rotation states of the end-effector gimbal and the initial state.

[0012] Optionally, the control unit further includes a self-learning module for sensing and recording the movement path of the rotating fixture, and automatically learning and executing it.

[0013] Optionally, the control unit further includes an artificial intelligence emergence module, which includes initial state parameters and a movement path. The initial state parameters and the movement path are matched with the characteristic attributes of the task type. Based on the initial state parameters, the artificial intelligence emergence module is randomly run within the movement path range to simulate the actual state of the task type, thereby emerging agent behavior characteristics.

[0014] Optionally, a visualization platform is also included for visualizing operations via an end-point gimbal.

[0015] It also includes an auxiliary method for intelligent robots to assist in construction operations, specifically comprising the following steps:

[0016] S1: Visualization of the end-effector gimbal enables tool clamping by controlling the movement of the mobile robot, rotating robotic arm, and rotating gripper through the control unit;

[0017] S2: Based on the coordinates of the mobile robot's indoor location determined by the positioning module, switch the operation state. When moving over a large area, the mobile robot and rotating robotic arm drive the rotating gripper to move. When moving over a small area, the end effector gimbal drives the rotating gripper to move.

[0018] S3: Through the self-learning module, it senses and records the movement path of the rotating fixture, and automatically learns and executes;

[0019] S4: Through the artificial intelligence emergence module, the actual state of the virtual job type is randomly run to emerge the behavioral characteristics of the intelligent agent.

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

[0021] 1. To address the issues of weight and vibration load on small tools during construction operations, integrate the small tools onto a robot, allowing workers to focus on moving the small tools for their tasks.

[0022] 2. To address the need for high-frequency free movement at the end of a robot's operation, the intelligent robot of this invention uses a gimbal at the end as a sensor to sense the worker's body movement path and drive the intelligent robot or its mounted robotic arm to move, thereby quickly and conveniently achieving "following" free movement at the robot's end.

[0023] 3. To solve the problem of high difficulty in developing construction operation function programs, the intelligent robot of this invention can sense and record the movement paths of workers and tools through the combination of a robotic arm and an end-effector gimbal. After a simple "teaching" by the worker, it can automatically learn and execute the function.

[0024] 4. To solve the problem of discrete development of work surface robots, the intelligent robot of this invention can sense and record the movement paths of workers and tools, and based on the collected data, it is trained by combining neural network and other technologies, so that it has the ability to intelligently "emerge" on the basis of massive data, and gradually has the ability to self-learn and break through all work processes. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0028] Figure 3 This is a flowchart of the method of the present invention.

[0029] Explanation of reference numerals in the attached diagram: 1. Mobile robot; 2. Control unit; 3. Rotating robotic arm; 4. End-effector gimbal; 5. Rotating gripper; 6. Positioning module; 7. Computational control module; 8. Autonomous learning module; 9. Artificial intelligence emergence module; 10. Visualization platform. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0031] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" 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 an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] Example 1

[0034] Reference Figure 1 and Figure 2 This invention discloses an intelligent robot for assisting construction operations, comprising:

[0035] The system comprises a mobile robot 1, a rotating robotic arm 3 mounted on the mobile robot 1, and a rotating gripper 5 with an end effector gimbal 4 connected to one end of the rotating robotic arm 3. It also includes a control unit 2 for controlling the movement of the mobile robot 1, the rotating robotic arm 3, the end effector gimbal 4, and the rotating gripper 5. The end effector gimbal 4 is a 360° rotatable end effector gimbal, and the rotating gripper 5 can be used to grip various small tools. The mobile robot 1 uses an omnidirectional wheel robot base, and the rotating robotic arm 3 is a six-axis robotic arm. One end of the rotating robotic arm 3 has two motors that control the vertical and horizontal rotation of the rotating gripper 5, respectively. The control mechanisms and structures of the mobile robot 1, the rotating robotic arm 3, and the rotating gripper 5 utilize existing products. The control unit 2 controls the coordinated movements of the mobile robot 1, the rotating robotic arm 3, and the rotating gripper 5 to achieve movement of the gripper 5 from a large range to a small range.

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

[0037] Positioning module 6 is used to locate the coordinates of the mobile robot 1's indoor location;

[0038] Specifically, the positioning module 6 is used to parse 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. It calculates the fuzzy position of the rotating clamp 5 on the electronic map through the motion feature algorithm model, and calibrates 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 filtering module, used to receive and transmit in real-time wireless signals including motion state parameters of the rotating fixture 5 and relevant parameters of the rotating fixture 5 and the WIFIAP at a fixed position in the motion environment to the motion trajectory calculation module, and to receive and transmit relevant parameters from the sensors 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 based on the relevant parameters from the sensors at the fixed position, so as to obtain the accurate motion trajectory of the rotating fixture 5 on the electronic map. See details.

[0040] The calculation and control module 7 is used to calculate the position, attitude, speed and acceleration of the rotating gripper 5 based on the coordinates of the mobile robot 1's indoor location and the motion state parameters of the rotating robotic arm 3 and the end effector gimbal 4, and to perform trajectory planning and control.

[0041] Specifically, the calculation and control module 7 is used to calculate the angular changes a and b between the rotational states of the two motors relative to their initial states; and to calculate the angular changes c and d between the rotational states of the end effector 4 and its initial states. When the worker moves the tool in the fixture, the two motors of the end effector 4 change angles a and b relative to their initial positions. At this time, the control unit 2 of the intelligent robot will control the movement of the omnidirectional wheel robot base and the robotic arm, so that the rotational states of the two motors of the end effector 4 return to their initial states, and the small tool always maintains a certain working direction. This logic is suitable for the tool to move over a large range. When it is necessary to adjust the working direction of the small tool, it can be switched to another mode. In this mode, the end effector 4 changes angles c and d, so that the tool has a free orientation, but the angle change of the end effector 4 does not affect the movement of the robot. This logic is suitable for the tool to move over a small range.

[0042] The intelligent robot for assisting construction operations of this invention can reduce worker fatigue, reduce cable usage, and achieve real-time and rapid positioning to locate the work site.

[0043] The control unit 2 also includes a self-learning module 8, which can sense and record the movement paths of workers and tools. After a simple "teaching" by the worker, it can automatically learn and execute the function, and automatically correct itself in conjunction with vision and other sensor modules. The worker can also manually correct it at any time.

[0044] The control unit 2 also includes an artificial intelligence emergence module 9. This module includes initial state parameters and a movement path, which are matched with the characteristic attributes of the task type. Based on the initial state parameters, the module randomly runs within the movement path to simulate the actual state of the task type, thereby generating intelligent agent behavioral characteristics. By employing statistical machine learning, data mining, and deep learning methods to learn parameters from actual construction operations and determine the initial state parameters, computational experiments are conducted to analyze and vividly and parametrically explain complex macroscopic phenomena originating from the microscopic, thus better explaining the different levels of structure, function, and dynamic characteristics of complex construction operations. Based on collected, self-learning, or stored data, and combined with neural network technologies for training, it acquires the ability to intelligently "emerge" on massive amounts of data, gradually developing self-learning and breakthrough capabilities for all operational processes.

[0045] It also includes a visualization platform 10, which uses the end-effector gimbal 4 to capture images and visualize the work location.

[0046] Example 2

[0047] Reference Figure 3 Based on the same concept as Embodiment 1 above, this invention also includes an auxiliary method for an intelligent robot to assist in construction operations, specifically comprising the following steps:

[0048] S1: The visualization of the end-effector gimbal 4 is achieved by controlling the movement of the mobile robot 1, the rotating robotic arm 3, and the rotating gripper 5 through the control unit 2 to achieve tool clamping;

[0049] S2: Based on the coordinates of the indoor location of the mobile robot 1 located by the positioning module 6, switch the operation state. When moving over a large area, the mobile robot 1 and the rotating mechanical arm 3 drive the rotating gripper 5 to move. When moving over a small area, the end gimbal 4 drives the rotating gripper 5 to move.

[0050] S3: Through the self-learning module 8, the movement path of the rotating fixture 5 is perceived and recorded, and the movement is automatically learned and executed;

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

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

Claims

1. An intelligent robot to assist in construction work, characterized by: The application relates to an intelligent robot for assisting work, which comprises a mobile robot (1), a rotating mechanical arm (3) mounted on the mobile robot (1), a rotating clamp (5) with a terminal holder (4) connected to one end of the rotating mechanical arm (3), and a control unit (2) for controlling the movement of the mobile robot (1), the rotating mechanical arm (3), the terminal holder (4) and the rotating clamp (5), The control unit (2) comprises: a positioning module (6) for positioning the coordinates of the indoor position of the mobile robot (1); a calculation control module (7) for calculating the position, posture, speed and acceleration of the rotating clamp (5) according to the motion state parameters of the rotating mechanical arm (3) and the terminal holder (4) based on the coordinates of the indoor position of the mobile robot (1), and for performing trajectory planning and control; The control unit (2) further comprises an artificial intelligence emergence module (9), which comprises initial state parameters and a moving path, and the initial state parameters and the moving path match the characteristic attributes of the work type; the artificial intelligence emergence module (9) is randomly run within the moving path range based on the initial state parameters to virtually simulate the actual state of the work type, so as to emerge the behavior characteristics of the intelligent agent. The mobile robot (1) adopts an omnidirectional wheel robot base, the rotating mechanical arm (3) adopts a six-axis mechanical arm, and two motors for respectively controlling the vertical rotation and the horizontal rotation of the rotating clamp (5) are arranged at one end of the rotating mechanical arm (3).

2. The intelligent robot for assisting construction work according to claim 1, characterized by: The positioning module (6) is used for analyzing 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), calculating the fuzzy position of the rotating clamp (5) on an electronic map through a motion characteristic algorithm model, and calibrating the fuzzy position according to the related parameters of the WIFI AP between the rotating clamp (5) and the fixed position in the motion environment during the motion process of the rotating clamp (5) to obtain the motion trajectory of the rotating clamp (5) on the electronic map.

3. The intelligent robot for assisting construction work according to claim 1, characterized by: The calculation control module (7) is used for calculating the angle changes a and b of the rotating state of the two motors relative to the initial state, and is used for calculating the angle changes c and d of the rotating state of the terminal holder (4) relative to the initial state.

4. The intelligent robot for assisting construction work according to claim 2, characterized by: The control unit (2) further comprises an autonomous learning module (8) for perceiving and recording the moving path of the rotating clamp (5) and automatically learning and executing.

5. The intelligent robot for assisting construction work according to any one of claims 1 to 4, characterized in that: A visualization platform (10) is further comprised for visualizing the work through the terminal holder (4).

6. The intelligent robot assisting construction work according to claim 5, characterized in that: The application further provides an auxiliary method of the intelligent robot for assisting work, which specifically comprises the following steps:

7. The intelligent robot for assisting construction work according to claim 1, characterized by: S1: the visualization of the terminal holder (4) is realized by controlling the movement of the mobile robot (1), the rotating mechanical arm (3) and the rotating clamp (5) through the control unit (2) to realize the clamping of the tool; S2: according to the positioning of the coordinates of the indoor position of the mobile robot (1) by the positioning module (6), the work state is switched, when moving in a large range, the mobile robot (1) and the rotating mechanical arm (3) drive the rotating clamp (5) to move, and when moving in a small range, the terminal holder (4) drives the rotating clamp (5) to move. ​ S3: Through the autonomous learning module (8), the moving path of the rotating clamp (5) is perceived and recorded, and automatic learning and execution are performed; S4: Through the artificial intelligence emergence module (9), the actual state of the virtual operation type is randomly run, so as to emerge the behavior characteristics of the intelligent agent.

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