Control method, device and system for gantry truss cantilever building robot

Abstract

The invention discloses a control method, device and system for a gantry truss cantilever building robot, and relates to the technical field of intelligent construction, and the method comprises the steps: obtaining a target pose of a building component based on a rotation matrix and a displacement vector generated by the point cloud data of the building component; based on the target pose and the position coordinate of the cantilever building robot, obtaining the pose relationship between the two; based on force balance constraint analysis, the point cloud data and the pose relation are utilized to obtain the machining pose; the servo motor drives the cantilever building robot to execute building operation based on a motor control signal generated by the motor control instruction; in the construction operation process, the deviation value between the construction operation parameters and the preset expected parameter value is obtained, if the deviation value is larger than the preset interval, the parameter control rate is generated based on the negative feedback control loop by means of the deviation value, and the programmable logic controller adjusts the working parameters. According to the intelligent building robot, the building operation precision of the building robot is greatly improved, so that a more satisfactory intelligent building execution effect can be obtained.

Description

Technical Field

[0001] The present invention relates to the field of intelligent construction technology, and in particular to a control method, device and system for a gantry truss cantilever construction robot. Background Art

[0002] The gantry truss cantilever construction robot is an automated construction equipment using a truss structure, which is usually used for operations such as grasping, processing, assembling and transporting construction components in the construction industry. The gantry truss cantilever construction robot can efficiently and accurately perform difficult tasks, thereby improving production efficiency and reducing labor costs. In the existing control method for the gantry truss cantilever construction robot, the gantry truss cantilever construction robot is usually directly controlled to perform related operations after the posture of the construction component is determined, and the posture relationship of the construction component relative to the cantilever construction robot and the importance of the processing posture are not taken into account, resulting in insufficient processing accuracy of the cantilever construction robot for the relevant construction components. When the cantilever construction robot grasps, processes, assembles or transports the components, the construction components may be damaged, and even the construction components may be damaged, affecting the reliability of the automated construction operation of the gantry truss cantilever construction robot. At the same time, since the actual robot construction operation will be subject to external disturbances or changes in internal performance, there will be a certain deviation between its working parameters and the actual expected values. Usually, the output signal is generated by the coordinated control system to adjust the working parameters of the cantilever construction robot. However, since the coordinated control system cannot guarantee the stability and accuracy of the parameter adjustment, this method cannot guarantee the safety of the construction operation process, resulting in insufficient operating accuracy of the gantry truss cantilever construction robot and failure to obtain satisfactory construction operation execution results. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a control method, device and system for a gantry truss cantilever construction robot, which greatly improves the construction operation accuracy of the construction robot, thereby achieving a more satisfactory intelligent construction execution effect.

[0004] In order to solve the above technical problems, the present invention provides a control method for a gantry truss cantilever construction robot, comprising an industrial computer, a cantilever construction robot and a programmable logic controller, wherein the cantilever construction robot comprises a servo driver and a servo motor, wherein the industrial computer establishes a communication connection with the servo driver of the cantilever construction robot, the servo driver establishes a signal connection with the servo motor, and the servo motor of the cantilever construction robot establishes a signal connection with the programmable logic controller; the method comprises:

[0005] Acquire point cloud data of a building component, acquire a rotation matrix and an average displacement vector based on the point cloud data, and acquire a target position and posture of the building component based on the rotation matrix and the average displacement vector;

[0006] Acquire the position coordinates of the cantilever construction robot, and acquire the position and posture relationship of the construction component relative to the cantilever construction robot based on the target position and posture and the position coordinates of the cantilever construction robot;

[0007] Based on the force balance constraint analysis, the processing posture of the cantilever construction robot on the construction component is obtained by using the point cloud data and the posture relationship;

[0008] The industrial computer generates a motor control instruction based on the posture relationship and the processing posture, and transmits the motor control instruction to the servo driver. The servo driver generates a motor control signal based on the motor control instruction, and transmits the motor control signal to the servo motor. The servo motor drives the cantilever construction robot to perform construction operations on the building components based on the motor control signal.

[0009] During the process of the cantilever construction robot performing construction operations on building components, construction operation parameters are obtained in real time, and the deviation between the construction operation parameters and the preset expected parameter values ​​is calculated. If the deviation is greater than the preset interval, the deviation is used to generate a parameter control rate based on a negative feedback control loop, and the programmable logic controller adjusts the working parameters of the cantilever construction robot based on the parameter control rate.

[0010] Optionally, the obtaining a rotation matrix and an average displacement vector based on the point cloud data, and obtaining a target position and posture of a building component based on the rotation matrix and the displacement vector, includes:

[0011] Perform feature extraction based on the point cloud data to obtain a point cloud feature set;

[0012] Performing matrix calculation on the point cloud feature set based on a random sampling consistency algorithm to obtain an essential matrix and a homography matrix, and generating a rotation matrix based on the essential matrix and the homography matrix;

[0013] generating an initial posture based on the point cloud data, decomposing the initial posture to obtain a plurality of displacement vectors, and obtaining an average displacement vector based on the plurality of displacement vectors;

[0014] The position and posture are smoothed based on the rotation matrix and the average displacement vector to obtain the target position and posture.

[0015] Optionally, the acquiring the posture relationship of the building component relative to the cantilever construction robot based on the target posture and the position coordinates of the cantilever construction robot comprises:

[0016] Establishing a feature descriptor based on the target pose and the position coordinates of the cantilever construction robot, and determining an initial correspondence relationship based on the feature descriptor;

[0017] Based on the initial corresponding relationship, a coordinate system transformation is performed using a transformation matrix to obtain a reference coordinate system corresponding to the building component and the cantilever building robot;

[0018] Acquire a base coordinate system of the cantilever construction robot, acquire a transformation matrix based on the reference coordinate system and the base coordinate system, and generate a relative pose matrix based on the transformation matrix using preset DH parameters;

[0019] A posture relationship of the construction component relative to the cantilever construction robot is generated based on the relative posture matrix.

[0020] Optionally, the obtaining of the processing posture of the cantilever construction robot on the building component by using the point cloud data and posture relationship based on the force balance constraint analysis includes:

[0021] Extracting edge contours of building components based on the point cloud data to obtain target edge contours;

[0022] Based on the target edge contour and posture relationship, a linear relationship between the X-axis component, the Y-axis component and the Z-axis component of the building component in the reference coordinate system of the cantilever construction robot is determined by using a three-dimensional friction constraint and an internal force balance constraint, and a machinable area model is generated based on the linear relationship between the X-axis component, the Y-axis component and the Z-axis component;

[0023] A target sliding frame is generated based on preset processing rules, and a processing posture of the cantilever construction robot on the construction component is determined in the processable area model based on the target sliding frame.

[0024] Optionally, generating the machinable area model based on the linear relationship among the X-axis component, the Y-axis component and the Z-axis component includes:

[0025] A reference point is selected in the reference coordinate system, and a plane straight line group is obtained using the reference point based on a linear relationship among an X-axis component, a Y-axis component, and a Z-axis component, and an intersection point between a straight line in the plane straight line group and the target edge contour is determined, and a plurality of model region points are determined based on the intersection point using a preset judgment distance;

[0026] A machinable region model is generated based on a number of model region points.

[0027] Optionally, the servo driver generates a motor control signal based on the motor control instruction, and transmits the motor control signal to the servo motor, including:

[0028] When the servo driver establishes a signal connection with the servo motor, motor feedback information of the servo motor is obtained in real time;

[0029] The servo driver parses the motor control instruction to obtain the parsed motor control instruction, generates a corresponding motor control signal based on the parsed motor control instruction and motor feedback information, and transmits the corresponding motor control signal to the servo motor.

[0030] Optionally, generating a parameter control rate by using the deviation based on the negative feedback control loop includes:

[0031] Generate an error performance function based on the deviation and robot kinematics;

[0032] Based on the error performance function, the inverse function is obtained by using the properties of the hyperbolic tangent function to obtain the corresponding inverse function, and the order derivatives are calculated based on the corresponding inverse function to obtain the first-order time derivative and the second-order time derivative;

[0033] The negative feedback control loop generates a parameter control rate using a sliding mode function based on the first and second order time derivatives.

[0034] Optionally, the programmable logic controller adjusts the working parameters of the cantilever construction robot based on the parameter control rate, including:

[0035] The programmable logic controller determines an adjustment value of an operating parameter based on the parameter control rate, generates a parameter adjustment signal based on the adjustment value of the operating parameter, and transmits the parameter adjustment signal to the cantilever construction robot;

[0036] The cantilever construction robot adjusts working parameters based on the parameter adjustment signal.

[0037] In addition, the present invention also provides a control device for a gantry truss cantilever construction robot, comprising an industrial computer, a cantilever construction robot and a programmable logic controller, wherein the cantilever construction robot comprises a servo driver and a servo motor, wherein the industrial computer establishes a communication connection with the servo driver of the cantilever construction robot, the servo driver establishes a signal connection with the servo motor, and the servo motor of the cantilever construction robot establishes a signal connection with the programmable logic controller; the device comprises:

[0038] A target pose acquisition module is used to acquire point cloud data of a building component, acquire a rotation matrix and an average displacement vector based on the point cloud data, and acquire a target pose of the building component based on the rotation matrix and the average displacement vector;

[0039] A posture relationship acquisition module: used to acquire the position coordinates of the cantilever construction robot, and acquire the posture relationship of the construction component relative to the cantilever construction robot based on the target posture and the position coordinates of the cantilever construction robot;

[0040] A processing posture module: used for obtaining the processing posture of the cantilever construction robot on the building component by using the point cloud data and posture relationship based on force balance constraint analysis;

[0041] Signal transmission and construction operation module: used for the industrial computer to generate a motor control instruction based on the posture relationship and the processing posture, and transmit the motor control instruction to the servo driver. The servo driver generates a motor control signal based on the motor control instruction, and transmits the motor control signal to the servo motor. The servo motor drives the cantilever construction robot to perform construction operations on building components based on the motor control signal.

[0042] Working parameter adjustment module: used for obtaining construction operation parameters in real time during the process of the cantilever construction robot performing construction operations on building components, calculating the deviation between the construction operation parameters and the preset expected parameter values, and if the deviation is greater than the preset interval, using the deviation to generate a parameter control rate based on a negative feedback control loop, and the programmable logic controller adjusts the working parameters of the cantilever construction robot based on the parameter control rate.

[0043] In addition, the present invention also provides a control system for a gantry truss cantilever construction robot, the system comprising an industrial computer, a cantilever construction robot and a programmable logic controller, the cantilever construction robot comprising a servo drive and a servo motor, wherein the industrial computer establishes a communication connection with the servo drive of the cantilever construction robot, the servo drive establishes a signal connection with the servo motor, and the servo motor of the cantilever construction robot establishes a signal connection with the programmable logic controller; wherein the system is configured to execute the above-mentioned control method of the gantry truss cantilever construction robot.

[0044] In the embodiment of the present invention, since the rotation matrix and the average displacement vector have different data characteristics, the target posture of the building component can be obtained through the rotation matrix and the average displacement vector to achieve posture smoothing, thereby improving the accuracy of the target posture. The posture relationship of the building component relative to the cantilever construction robot is obtained through the target posture of the building component and the coordinate position of the cantilever construction robot. The robot can be guided to process smoothly through the posture relationship. At the same time, the processing posture of the building component can be more accurately obtained through the posture relationship. The posture relationship and processing posture of the building component relative to the robot are also added to the consideration of related operations, which can improve the operation success rate for the building component and avoid damage to the building component during the robot assembly or handling operation. The deviation is used to generate a parameter control rate through a negative feedback control loop, and the programmable logic controller adjusts the working parameters according to the parameter control rate, so that the parameters remain bounded during the readjustment process, ensuring the stability and accuracy of the parameter adjustment during the robot operation process, overcoming the influence of external disturbances and internal performance changes, and greatly improving the construction operation accuracy of the construction robot, so that a more satisfactory intelligent construction execution effect can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 is a flow chart of a control method of a gantry truss cantilever construction robot in an embodiment of the present invention;

[0047] Figure 2 Schematic diagram of the structure of the control device of the gantry truss cantilever construction robot in the embodiment of the present invention;

[0048] Figure 3 It is a schematic diagram of the structural composition of the control system of the gantry truss cantilever construction robot in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with 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 of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Embodiment 1

[0051] See also Figure 1 , Figure 1 It is a flow chart of a control method of a gantry truss cantilever construction robot in an embodiment of the present invention.

[0052] like Figure 1 As shown, a control method for a gantry truss cantilever construction robot includes an industrial computer, a cantilever construction robot and a programmable logic controller, wherein the cantilever construction robot includes a servo driver and a servo motor, wherein the industrial computer establishes a communication connection with the servo driver of the cantilever construction robot, the servo driver establishes a signal connection with the servo motor, and the servo motor of the cantilever construction robot establishes a signal connection with the programmable logic controller; the method includes:

[0053] S11: acquiring point cloud data of a building component, acquiring a rotation matrix and an average displacement vector based on the point cloud data, and acquiring a target position and posture of the building component based on the rotation matrix and the average displacement vector;

[0054] In the specific implementation process of the present invention, the method of obtaining a rotation matrix and an average displacement vector based on the point cloud data, and obtaining a target posture of a building component based on the rotation matrix and the displacement vector, includes: performing feature extraction based on the point cloud data to obtain a point cloud feature set; performing matrix calculation on the point cloud feature set based on a random sampling consistency algorithm to obtain an essential matrix and a homography matrix, and generating a rotation matrix based on the essential matrix and the homography matrix; generating an initial posture based on the point cloud data, decomposing the initial posture to obtain a plurality of displacement vectors, and obtaining an average displacement vector based on the plurality of displacement vectors; performing posture smoothing based on the rotation matrix and the average displacement vector to obtain a target posture.

[0055] Specifically, point cloud data of building components are obtained by a laser scanner or a depth camera device, feature extraction is performed based on the point cloud data, a central data point is determined for the point cloud data, a distance between each data point in the point cloud data and the central data point is calculated based on the three-dimensional coordinate data of the point cloud data, the distance is compared with a preset distance threshold, corresponding data points less than the preset distance threshold are removed to obtain optimized point cloud data, filtering is performed on the optimized point cloud data to obtain optimized point cloud data after filtering, corresponding point cloud surface feature values ​​are obtained based on the optimized point cloud data after filtering, and a point cloud is generated based on the point cloud surface feature values. feature set; performing matrix calculation on the point cloud feature set based on a random sampling consistency algorithm, the random sampling consistency algorithm is a plane fitting algorithm for three-dimensional point clouds from observation data, performing plane fitting on the point cloud feature set to obtain matching feature point pairs, constructing an essential constraint equation based on a first preset constraint relationship, performing calculation using the essential constraint equation based on the matching feature point pairs to obtain an essential vector, performing element transformation on the essential vector to obtain an essential matrix, constructing a homography constraint equation based on a second preset relationship, performing calculation using the homography constraint equation based on the matching feature pairs to obtain a homography vector, performing element transformation on the homography vector, Obtain a homography matrix, generate a rotation matrix based on the essential matrix and the homography matrix, decompose the essential matrix and the homography matrix to obtain several groups of rotation matrices, calculate the reprojection error of each group of rotation matrices, and use the rotation matrix with the smallest reprojection error as the final rotation matrix; generate an initial pose based on the point cloud data. Since the point cloud data is three-dimensional data, the corresponding initial pose can be generated from the point cloud data, and the initial pose is decomposed. The initial matrix includes an initial rotation matrix and a displacement vector. A simple decomposition of the initial pose is required to obtain several displacement vectors, and the rotation matrix cannot calculate its matrix, so the essential matrix is ​​used. The matrix and the homography matrix generate the final rotation matrix. The rotation matrix has been generated, and for the average displacement vector, the displacement vector includes displacements in three directions of x, y and z. The displacements of several displacement vectors in three directions are mathematically averaged to obtain the average displacement vector; based on the rotation matrix and the average displacement vector, posture smoothing is performed, the posture of the building component is represented by the rotation matrix, the position of the building component is represented by the average displacement vector, and the target posture can be formed by the rotation matrix and the average displacement vector. At the same time, the rotation matrix is ​​rotationally smoothed in three directions and the average displacement vector is displacement-smoothed in three directions to obtain the target posture.

[0056] S12: Acquire the position coordinates of the cantilever construction robot, and acquire the position and posture relationship of the construction component relative to the cantilever construction robot based on the target position and posture and the position coordinates of the cantilever construction robot;

[0057] In the specific implementation process of the present invention, the posture relationship of the building component relative to the cantilever construction robot is obtained based on the target posture and the position coordinates of the cantilever construction robot, including: establishing a feature descriptor based on the target posture and the position coordinates of the cantilever construction robot, and determining an initial corresponding relationship based on the feature descriptor; performing a coordinate system transformation using a transformation matrix based on the initial corresponding relationship to obtain a reference coordinate system corresponding to the building component and the cantilever construction robot; obtaining the base coordinate system of the cantilever construction robot, obtaining a transformation matrix based on the reference coordinate system and the base coordinate system, and generating a relative posture matrix based on the transformation matrix using preset DH parameters; generating the posture relationship of the building component relative to the cantilever construction robot based on the relative posture matrix.

[0058] Specifically, the position coordinates of the cantilever construction robot are obtained through a detection device, a feature descriptor is established based on the target posture and the position coordinates of the cantilever construction robot, the current point cloud data of the cantilever construction robot is obtained, a local coordinate system is constructed through the position coordinates of the cantilever construction robot and the target posture of the building component, a number of spatial regions are divided in the local coordinate system through the target posture and the current point cloud data, each spatial region is represented by a local histogram, each local histogram is divided into a number of cells, adjacent cells in the local histogram and the same cell of the adjacent local histogram are subjected to quartic linear interpolation to obtain a normal vector histogram, the normal vector histogram is used as a feature descriptor, an initial correspondence is determined based on the feature descriptor, and the feature descriptor is matched with all descriptors in a database. , so that the initial corresponding relationship can be determined; based on the initial corresponding relationship, the coordinate system is transformed using the transformation matrix, and the coordinate system needs to be transformed to obtain the row-to-pose relationship, so the initial coordinate system needs to be converted into a global reference coordinate system, and the initial local coordinate system is directly linearly transformed using the transformation matrix to obtain the global reference coordinate system, that is, to obtain the reference coordinate system corresponding to the building component and the cantilever construction robot; obtain the base coordinate system of the cantilever construction robot, and the base coordinate system is established by the position coordinates of the cantilever construction robot. Based on the reference coordinate system and the base coordinate system, a conversion matrix is ​​obtained to obtain the azimuth axis rotation and pitch angle rotation between the reference coordinate system and the base coordinate system, and a conversion matrix is ​​established based on the azimuth axis rotation and pitch angle rotation. The expression of the conversion matrix is:

[0059]

[0060] Among them, α is the azimuth axis rotation, β is the pitch angle rotation, σ is the compensation coefficient, R ZA conversion matrix is ​​provided, and a relative posture matrix is ​​generated based on the conversion matrix using preset DH parameters. The Denavit-Hartenberg (DH) parameter value is a parameter used to describe the kinematic characteristics of a robot arm. The DH parameter value can describe the rotation angle, rotation direction and rotation axis of each joint of the cantilever construction robot. The posture of the joint fixed relationship of the cantilever construction robot can be obtained through the DH parameters. The relative posture matrix can be obtained through the posture of the joint fixed relationship and the target posture using the conversion matrix; the posture relationship of the building component relative to the cantilever construction robot is calculated based on the relative posture matrix, and the posture relationship between the building component and the cantilever construction robot can be obtained through the relative posture matrix using the target posture.

[0061] S13: obtaining the processing posture of the cantilever construction robot on the building component by using the point cloud data and posture relationship based on force balance constraint analysis;

[0062] In the specific implementation process of the present invention, the force balance constraint analysis is based on using the point cloud data and posture relationship to obtain the processing posture of the cantilever construction robot for the building component, including: extracting the edge contour of the building component based on the point cloud data to obtain the target edge contour; based on the target edge contour and posture relationship, using three-dimensional friction constraints and internal force balance constraints to determine the linear relationship between the X-axial component, Y-axial component and Z-axial component of the building component in the reference coordinate system of the cantilever construction robot, and generating a processable area model based on the linear relationship between the X-axial component, Y-axial component and Z-axial component; generating a target sliding frame based on preset processing rules, and determining the processing posture of the cantilever construction robot for the building component in the processable area model based on the target sliding frame.

[0063] Furthermore, the method of generating a machinable area model based on the linear relationship among the X-axis component, the Y-axis component and the Z-axis component includes: selecting a reference point in the reference coordinate system, obtaining a plane straight line group using the reference point based on the linear relationship among the X-axis component, the Y-axis component and the Z-axis component, and determining the intersection points of the straight lines in the plane straight line group with the target edge contour, determining a plurality of model area points based on the intersection points using a preset judgment distance; and generating a machinable area model based on the plurality of model area points.

[0064] Specifically, the edge contour of the building component is extracted based on the point cloud data, the point cloud data is denoised to obtain the denoised point cloud data, the denoised point cloud data is circularly sorted to obtain the circular sorting result, the denoised point cloud data is clustered and segmented based on the circular sorting result to obtain the clustering segmentation result, the edge curvature is used to generate corresponding straight line points and curve points based on the clustering segmentation result, and the corresponding straight line points and curve points are segmented to obtain the target edge contour; based on the target edge contour and the position and posture relationship, the three-dimensional friction constraint and the internal force balance constraint are used to determine the X-axis component, the Y-axis component and the Z-axis component of the building component in the reference coordinate system of the cantilever construction robot The linear relationship between the two is obtained, and a three-dimensional friction constraint is introduced as an anti-slip boundary condition through the target edge contour and posture relationship. Since the contour and posture of the building components may have irregular shapes, a three-dimensional friction constraint needs to be added to reduce the sliding of the cantilever building robot when grasping the building components. The robot characteristics are introduced through the target edge contour and posture relationship to simplify the three-dimensional friction constraint into an XZ plane friction constraint to determine the linear relationship between the X-axis component and the Z-axis component. The Y-axis force balance is analyzed according to the internal force balance constraint, and the internal force minimization requirement is introduced at the same time. The linear relationship between the X-axis component and the Y-axis component and the linear relationship between the Z-axis component and the Y-axis component are determined through the Y-axis force balance; a reference point is selected in the reference coordinate system , based on the linear relationship between the X-axis component, the Y-axis component and the Z-axis component, a plane straight line group is obtained by using the reference point, and according to the linear relationship between the X-axis component, the Y-axis component and the Z-axis component, a plurality of straight lines parallel to the Y-axis direction are extracted through the reference point to form a plane straight line group, and a plurality of intersection points can be obtained by performing intersection judgment with the target edge contour according to each straight line in the plane straight line group, and a plurality of model area points are determined based on the intersection points using a preset judgment distance, and for every three adjacent intersection points, the leftmost and rightmost intersection points are retained, the middle point is discarded, and the distance between the two intersection points is calculated, and if the distance between the two intersection points is less than the preset judgment distance, the two intersection points are used as model area points until the intersection points are All intersection points are judged and several model area points are obtained; a processable area model is generated based on several model area points; a target slide frame is generated based on preset processing rules, and the processing posture of the cantilever construction robot to the building component is determined in the processable area model based on the target slide frame. The relative dynamic balance position is detected in the processable area model through the target slide frame, that is, the control of the mechanical pressure for processing the building component is detected, and the concave and convex points in the contour are detected through the target slide frame, and then the dynamic force balance analysis of the XOY plane and the XOZ plane is performed according to the linear relationship between the X-axial component, the Y-axial component and the Z-axial component, and the processing posture of the cantilever construction robot to the building component is determined by the force balance analysis result.

[0065] S14: the industrial computer generates a motor control instruction based on the posture relationship and the processing posture, and transmits the motor control instruction to the servo driver. The servo driver generates a motor control signal based on the motor control instruction, and transmits the motor control signal to the servo motor. The servo motor drives the cantilever construction robot to perform construction operations on the building components based on the motor control signal.

[0066] In the specific implementation process of the present invention, the servo driver generates a motor control signal based on the motor control instruction, and transmits the motor control signal to the servo motor, including: when the servo driver establishes a signal connection with the servo motor, the motor feedback information of the servo motor is obtained in real time; the servo driver parses the motor control instruction to obtain the parsed motor control instruction, and generates a corresponding motor control signal based on the parsed motor control instruction and the motor feedback information, and transmits the corresponding motor control signal to the servo motor.

[0067] Specifically, the industrial computer generates a motor control instruction based on the posture relationship and the processing posture, and transmits the motor control instruction to the servo driver through a communication connection. When the servo driver establishes a signal connection with the servo motor, the motor feedback information of the servo motor is obtained in real time; the servo driver parses the motor control instruction to obtain the parsed motor control instruction, and generates a corresponding motor control signal based on the parsed motor control instruction and the motor feedback information, and transmits the corresponding motor control signal to the servo motor. The servo motor drives the cantilever construction robot to perform construction operations on the building components based on the motor control signal, that is, drives the cantilever construction robot to perform construction operations such as processing, assembly or transportation of the building components.

[0068] S15: When the cantilever construction robot is executing the construction operation of the building components, the construction operation parameters are acquired in real time, and the deviation between the construction operation parameters and the preset expected parameter values ​​is calculated. If the deviation is greater than the preset interval, the deviation is used to generate a parameter control rate based on a negative feedback control loop, and the programmable logic controller adjusts the working parameters of the cantilever construction robot based on the parameter control rate.

[0069] In the specific implementation process of the present invention, the parameter control rate is generated by using the deviation amount based on the negative feedback control loop, including: generating an error performance function based on the deviation amount in combination with the robot kinematics; obtaining the inverse function based on the error performance function using the properties of the hyperbolic tangent function to obtain the corresponding inverse function, and calculating the order derivatives based on the corresponding inverse function to obtain the first-order time derivative and the second-order time derivative; the negative feedback control loop generates the parameter control rate based on the first-order time derivative and the second-order time derivative using the sliding mode function.

[0070] Furthermore, the programmable logic controller adjusts the working parameters of the cantilever construction robot based on the parameter control rate, including: the programmable logic controller determines the adjustment value of the working parameter based on the parameter control rate, and generates a parameter adjustment signal based on the adjustment value of the working parameter, and transmits the parameter adjustment signal to the cantilever construction robot; the cantilever construction robot adjusts the working parameter based on the parameter adjustment signal.

[0071] Specifically, during the process of the cantilever construction robot performing construction operations on building components, construction operation parameters are obtained in real time, and the task parameters include the real-time grasping angle, strength, position, and moving speed of the cantilever construction robot on the building components. The construction operation parameters are subtracted from the preset expected parameter values ​​to obtain a deviation, and the deviation is compared with a preset interval, which is an allowable deviation interval. If the deviation is greater than the preset interval, an error performance function is generated based on the deviation combined with the robot kinematics, and forward kinematic analysis and inverse kinematic analysis are obtained based on the deviation combined with the cantilever construction robot kinematics. An error performance function about time is constructed based on the forward kinematic analysis and the inverse kinematic analysis; based on the error performance function, the inverse function is obtained using the properties of the hyperbolic tangent function. The property of the hyperbolic tangent function is symmetric about the hyperbolic sine and the hyperbolic cosine at the origin. Therefore, based on its properties, the corresponding inverse function can be obtained, and the order derivative is calculated based on the corresponding inverse function, that is, the first-order derivative and the second-order derivative of time are obtained according to the inverse function to obtain the first-order time derivative and the second-order time derivative. The second-order time derivative is:

[0072]

[0073] in, is the second-order time derivative, λ is the error performance function, is the second-order derivative of λ, is the first-order derivative of λ, a is the inverse function, is the second-order derivative of a, δ is the compensation coefficient;

[0074] The negative feedback control loop generates a parameter control rate based on the first-order time derivative and the second-order time derivative using a sliding mode function. The negative feedback control loop is a common design in a control system, which is used to stabilize the system and reduce the difference between the system output and the expected value. The sliding mode function is an important concept in control theory. It is used in a control loop to achieve system stability and performance. At the same time, the sliding mode function is a nonlinear function that can switch the system at a certain critical value, thereby achieving stable control of the system. Auxiliary variables are defined by the sliding mode function, and the parameter control rate is obtained by combining the auxiliary variables with the first-order time derivative and the second-order time derivative, which is the input control rate of the cantilever construction robot; the programmable logic controller determines the adjustment value of the working parameter based on the parameter control rate. The programmable logic controller is used to simulate input and output in the cantilever construction robot for process control. Therefore, the programmable logic controller can determine the actual adjustment value of the working parameter of the cantilever construction robot through the parameter control rate, and generate a parameter adjustment signal based on the adjustment value of the working parameter, and transmit the parameter adjustment signal to the cantilever construction robot; the servo driver and servo motor of the cantilever construction robot adjust the working parameter based on the parameter adjustment signal.

[0075] In the embodiment of the present invention, since the rotation matrix and the average displacement vector have different data characteristics, the target posture of the building component can be obtained through the rotation matrix and the average displacement vector to achieve posture smoothing, thereby improving the accuracy of the target posture. The posture relationship of the building component relative to the cantilever construction robot is obtained through the target posture of the building component and the coordinate position of the cantilever construction robot. The robot can be guided to process smoothly through the posture relationship. At the same time, the processing posture of the building component can be more accurately obtained through the posture relationship. The posture relationship and processing posture of the building component relative to the robot are also added to the consideration of related operations, which can improve the operation success rate for the building component and avoid damage to the building component during the robot assembly or handling operation. The deviation is used to generate a parameter control rate through a negative feedback control loop, and the programmable logic controller adjusts the working parameters according to the parameter control rate, so that the parameters remain bounded during the readjustment process, ensuring the stability and accuracy of the parameter adjustment during the robot operation process, overcoming the influence of external disturbances and internal performance changes, and greatly improving the construction operation accuracy of the construction robot, so that a more satisfactory intelligent construction execution effect can be obtained.

[0076] Embodiment 2

[0077] See also Figure 2 , Figure 2 It is a schematic diagram of the structural composition of the control device of the gantry truss cantilever construction robot in an embodiment of the present invention.

[0078] like Figure 2As shown, a control device for a gantry truss cantilever construction robot includes an industrial computer, a cantilever construction robot and a programmable logic controller, wherein the cantilever construction robot includes a servo driver and a servo motor, wherein the industrial computer establishes a communication connection with the servo driver of the cantilever construction robot, the servo driver establishes a signal connection with the servo motor, and the servo motor of the cantilever construction robot establishes a signal connection with the programmable logic controller; the device includes:

[0079] The target posture acquisition module 21 is used to acquire point cloud data of the building component, acquire a rotation matrix and an average displacement vector based on the point cloud data, and acquire a target posture of the building component based on the rotation matrix and the average displacement vector;

[0080] In the specific implementation process of the present invention, the method of obtaining a rotation matrix and an average displacement vector based on the point cloud data, and obtaining a target posture of a building component based on the rotation matrix and the displacement vector, includes: performing feature extraction based on the point cloud data to obtain a point cloud feature set; performing matrix calculation on the point cloud feature set based on a random sampling consistency algorithm to obtain an essential matrix and a homography matrix, and generating a rotation matrix based on the essential matrix and the homography matrix; generating an initial posture based on the point cloud data, decomposing the initial posture to obtain a plurality of displacement vectors, and obtaining an average displacement vector based on the plurality of displacement vectors; performing posture smoothing based on the rotation matrix and the average displacement vector to obtain a target posture.

[0081] Specifically, point cloud data of building components are obtained by a laser scanner or a depth camera device, feature extraction is performed based on the point cloud data, a central data point is determined for the point cloud data, a distance between each data point in the point cloud data and the central data point is calculated based on the three-dimensional coordinate data of the point cloud data, the distance is compared with a preset distance threshold, corresponding data points less than the preset distance threshold are removed to obtain optimized point cloud data, filtering is performed on the optimized point cloud data to obtain optimized point cloud data after filtering, corresponding point cloud surface feature values ​​are obtained based on the optimized point cloud data after filtering, and a point cloud is generated based on the point cloud surface feature values. feature set; performing matrix calculation on the point cloud feature set based on a random sampling consistency algorithm, the random sampling consistency algorithm is a plane fitting algorithm for three-dimensional point clouds from observation data, performing plane fitting on the point cloud feature set to obtain matching feature point pairs, constructing an essential constraint equation based on a first preset constraint relationship, performing calculation using the essential constraint equation based on the matching feature point pairs to obtain an essential vector, performing element transformation on the essential vector to obtain an essential matrix, constructing a homography constraint equation based on a second preset relationship, performing calculation using the homography constraint equation based on the matching feature pairs to obtain a homography vector, performing element transformation on the homography vector, Obtain a homography matrix, generate a rotation matrix based on the essential matrix and the homography matrix, decompose the essential matrix and the homography matrix to obtain several groups of rotation matrices, calculate the reprojection error of each group of rotation matrices, and use the rotation matrix with the smallest reprojection error as the final rotation matrix; generate an initial pose based on the point cloud data. Since the point cloud data is three-dimensional data, the corresponding initial pose can be generated from the point cloud data, and the initial pose is decomposed. The initial matrix includes an initial rotation matrix and a displacement vector. A simple decomposition of the initial pose is required to obtain several displacement vectors, and the rotation matrix cannot calculate its matrix, so the essential matrix is ​​used. The matrix and the homography matrix generate the final rotation matrix. The rotation matrix has been generated, and for the average displacement vector, the displacement vector includes displacements in three directions of x, y and z. The displacements of several displacement vectors in three directions are mathematically averaged to obtain the average displacement vector; based on the rotation matrix and the average displacement vector, posture smoothing is performed, the posture of the building component is represented by the rotation matrix, the position of the building component is represented by the average displacement vector, and the target posture can be formed by the rotation matrix and the average displacement vector. At the same time, the rotation matrix is ​​rotationally smoothed in three directions and the average displacement vector is displacement-smoothed in three directions to obtain the target posture.

[0082] A posture relationship acquisition module 22: used to acquire the position coordinates of the cantilever construction robot, and acquire the posture relationship of the construction component relative to the cantilever construction robot based on the target posture and the position coordinates of the cantilever construction robot;

[0083] In the specific implementation process of the present invention, the posture relationship of the building component relative to the cantilever construction robot is obtained based on the target posture and the position coordinates of the cantilever construction robot, including: establishing a feature descriptor based on the target posture and the position coordinates of the cantilever construction robot, and determining an initial corresponding relationship based on the feature descriptor; performing a coordinate system transformation using a transformation matrix based on the initial corresponding relationship to obtain a reference coordinate system corresponding to the building component and the cantilever construction robot; obtaining the base coordinate system of the cantilever construction robot, obtaining a transformation matrix based on the reference coordinate system and the base coordinate system, and generating a relative posture matrix based on the transformation matrix using preset DH parameters; generating the posture relationship of the building component relative to the cantilever construction robot based on the relative posture matrix.

[0084] Specifically, the position coordinates of the cantilever construction robot are obtained through a detection device, a feature descriptor is established based on the target posture and the position coordinates of the cantilever construction robot, the current point cloud data of the cantilever construction robot is obtained, a local coordinate system is constructed through the position coordinates of the cantilever construction robot and the target posture of the building component, a number of spatial regions are divided in the local coordinate system through the target posture and the current point cloud data, each spatial region is represented by a local histogram, each local histogram is divided into a number of cells, adjacent cells in the local histogram and the same cell of the adjacent local histogram are subjected to quartic linear interpolation to obtain a normal vector histogram, the normal vector histogram is used as a feature descriptor, an initial correspondence is determined based on the feature descriptor, and the feature descriptor is matched with all descriptors in a database. , so that the initial corresponding relationship can be determined; based on the initial corresponding relationship, the coordinate system is transformed using the transformation matrix, and the coordinate system needs to be transformed to obtain the row-to-pose relationship, so the initial coordinate system needs to be converted into a global reference coordinate system, and the initial local coordinate system is directly linearly transformed using the transformation matrix to obtain the global reference coordinate system, that is, to obtain the reference coordinate system corresponding to the building component and the cantilever construction robot; obtain the base coordinate system of the cantilever construction robot, and the base coordinate system is established by the position coordinates of the cantilever construction robot. Based on the reference coordinate system and the base coordinate system, a conversion matrix is ​​obtained to obtain the azimuth axis rotation and pitch angle rotation between the reference coordinate system and the base coordinate system, and a conversion matrix is ​​established based on the azimuth axis rotation and pitch angle rotation. The expression of the conversion matrix is:

[0085]

[0086] Among them, α is the azimuth axis rotation, β is the pitch angle rotation, σ is the compensation coefficient, R ZA conversion matrix is ​​provided, and a relative posture matrix is ​​generated based on the conversion matrix using preset DH parameters. The Denavit-Hartenberg (DH) parameter value is a parameter used to describe the kinematic characteristics of a robot arm. The DH parameter value can describe the rotation angle, rotation direction and rotation axis of each joint of the cantilever construction robot. The posture of the joint fixed relationship of the cantilever construction robot can be obtained through the DH parameters. The relative posture matrix can be obtained through the posture of the joint fixed relationship and the target posture using the conversion matrix; the posture relationship of the building component relative to the cantilever construction robot is calculated based on the relative posture matrix, and the posture relationship between the building component and the cantilever construction robot can be obtained through the relative posture matrix using the target posture.

[0087] Processing posture module 23: used for obtaining the processing posture of the cantilever construction robot on the building component by using the point cloud data and posture relationship based on force balance constraint analysis;

[0088] In the specific implementation process of the present invention, the force balance constraint analysis is based on using the point cloud data and posture relationship to obtain the processing posture of the cantilever construction robot for the building component, including: extracting the edge contour of the building component based on the point cloud data to obtain the target edge contour; based on the target edge contour and posture relationship, using three-dimensional friction constraints and internal force balance constraints to determine the linear relationship between the X-axial component, Y-axial component and Z-axial component of the building component in the reference coordinate system of the cantilever construction robot, and generating a processable area model based on the linear relationship between the X-axial component, Y-axial component and Z-axial component; generating a target sliding frame based on preset processing rules, and determining the processing posture of the cantilever construction robot for the building component in the processable area model based on the target sliding frame.

[0089] Furthermore, the method of generating a machinable area model based on the linear relationship among the X-axis component, the Y-axis component and the Z-axis component includes: selecting a reference point in the reference coordinate system, obtaining a plane straight line group using the reference point based on the linear relationship among the X-axis component, the Y-axis component and the Z-axis component, and determining the intersection points of the straight lines in the plane straight line group with the target edge contour, determining a plurality of model area points based on the intersection points using a preset judgment distance; and generating a machinable area model based on the plurality of model area points.

[0090] Specifically, the edge contour of the building component is extracted based on the point cloud data, the point cloud data is denoised to obtain the denoised point cloud data, the denoised point cloud data is circularly sorted to obtain the circular sorting result, the denoised point cloud data is clustered and segmented based on the circular sorting result to obtain the clustering segmentation result, the edge curvature is used to generate corresponding straight line points and curve points based on the clustering segmentation result, and the corresponding straight line points and curve points are segmented to obtain the target edge contour; based on the target edge contour and the position and posture relationship, the three-dimensional friction constraint and the internal force balance constraint are used to determine the X-axis component, the Y-axis component and the Z-axis component of the building component in the reference coordinate system of the cantilever construction robot The linear relationship between the two is obtained, and a three-dimensional friction constraint is introduced as an anti-slip boundary condition through the target edge contour and posture relationship. Since the contour and posture of the building components may have irregular shapes, a three-dimensional friction constraint needs to be added to reduce the sliding of the cantilever building robot when grasping the building components. The robot characteristics are introduced through the target edge contour and posture relationship to simplify the three-dimensional friction constraint into an XZ plane friction constraint to determine the linear relationship between the X-axis component and the Z-axis component. The Y-axis force balance is analyzed according to the internal force balance constraint, and the internal force minimization requirement is introduced at the same time. The linear relationship between the X-axis component and the Y-axis component and the linear relationship between the Z-axis component and the Y-axis component are determined through the Y-axis force balance; a reference point is selected in the reference coordinate system , based on the linear relationship between the X-axis component, the Y-axis component and the Z-axis component, a plane straight line group is obtained by using the reference point, and according to the linear relationship between the X-axis component, the Y-axis component and the Z-axis component, a plurality of straight lines parallel to the Y-axis direction are extracted through the reference point to form a plane straight line group, and a plurality of intersection points can be obtained by performing intersection judgment with the target edge contour according to each straight line in the plane straight line group, and a plurality of model area points are determined based on the intersection points using a preset judgment distance, and for every three adjacent intersection points, the leftmost and rightmost intersection points are retained, the middle point is discarded, and the distance between the two intersection points is calculated, and if the distance between the two intersection points is less than the preset judgment distance, the two intersection points are used as model area points until the intersection points are All intersection points are judged and several model area points are obtained; a processable area model is generated based on several model area points; a target slide frame is generated based on preset processing rules, and the processing posture of the cantilever construction robot to the building component is determined in the processable area model based on the target slide frame. The relative dynamic balance position is detected in the processable area model through the target slide frame, that is, the control of the mechanical pressure for processing the building component is detected, and the concave and convex points in the contour are detected through the target slide frame, and then the dynamic force balance analysis of the XOY plane and the XOZ plane is performed according to the linear relationship between the X-axial component, the Y-axial component and the Z-axial component, and the processing posture of the cantilever construction robot to the building component is determined by the force balance analysis result.

[0091] Signal transmission and construction operation module 24: used for the industrial computer to generate a motor control instruction based on the posture relationship and the processing posture, and transmit the motor control instruction to the servo driver. The servo driver generates a motor control signal based on the motor control instruction, and transmits the motor control signal to the servo motor. The servo motor drives the cantilever construction robot to perform construction operations on building components based on the motor control signal.

[0092] In the specific implementation process of the present invention, the servo driver generates a motor control signal based on the motor control instruction, and transmits the motor control signal to the servo motor, including: when the servo driver establishes a signal connection with the servo motor, the motor feedback information of the servo motor is obtained in real time; the servo driver parses the motor control instruction to obtain the parsed motor control instruction, and generates a corresponding motor control signal based on the parsed motor control instruction and the motor feedback information, and transmits the corresponding motor control signal to the servo motor.

[0093] Specifically, the industrial computer generates a motor control instruction based on the posture relationship and the processing posture, and transmits the motor control instruction to the servo driver through a communication connection. When the servo driver establishes a signal connection with the servo motor, the motor feedback information of the servo motor is obtained in real time; the servo driver parses the motor control instruction to obtain the parsed motor control instruction, and generates a corresponding motor control signal based on the parsed motor control instruction and the motor feedback information, and transmits the corresponding motor control signal to the servo motor. The servo motor drives the cantilever construction robot to perform construction operations on the building components based on the motor control signal, that is, drives the cantilever construction robot to perform construction operations such as processing, assembly or transportation of the building components.

[0094] Working parameter adjustment module 25: used for acquiring construction operation parameters in real time during the process of the cantilever construction robot executing the construction operation of the construction component, calculating the deviation between the construction operation parameters and the preset expected parameter value, and if the deviation is greater than the preset interval, using the deviation to generate a parameter control rate based on a negative feedback control loop, and the programmable logic controller adjusts the working parameters of the cantilever construction robot based on the parameter control rate.

[0095] In the specific implementation process of the present invention, the parameter control rate is generated by using the deviation amount based on the negative feedback control loop, including: generating an error performance function based on the deviation amount in combination with the robot kinematics; obtaining the inverse function based on the error performance function using the properties of the hyperbolic tangent function to obtain the corresponding inverse function, and calculating the order derivatives based on the corresponding inverse function to obtain the first-order time derivative and the second-order time derivative; the negative feedback control loop generates the parameter control rate based on the first-order time derivative and the second-order time derivative using the sliding mode function.

[0096] Furthermore, the programmable logic controller adjusts the working parameters of the cantilever construction robot based on the parameter control rate, including: the programmable logic controller determines the adjustment value of the working parameter based on the parameter control rate, and generates a parameter adjustment signal based on the adjustment value of the working parameter, and transmits the parameter adjustment signal to the cantilever construction robot; the cantilever construction robot adjusts the working parameter based on the parameter adjustment signal.

[0097] Specifically, during the process of the cantilever construction robot performing construction operations on building components, construction operation parameters are obtained in real time, and the task parameters include the real-time grasping angle, strength, position, and moving speed of the cantilever construction robot on the building components. The construction operation parameters are subtracted from the preset expected parameter values ​​to obtain a deviation, and the deviation is compared with a preset interval, which is an allowable deviation interval. If the deviation is greater than the preset interval, an error performance function is generated based on the deviation combined with the robot kinematics, and forward kinematic analysis and inverse kinematic analysis are obtained based on the deviation combined with the cantilever construction robot kinematics. An error performance function about time is constructed based on the forward kinematic analysis and the inverse kinematic analysis; based on the error performance function, the inverse function is obtained using the properties of the hyperbolic tangent function. The property of the hyperbolic tangent function is symmetric about the hyperbolic sine and the hyperbolic cosine at the origin. Therefore, based on its properties, the corresponding inverse function can be obtained, and the order derivative is calculated based on the corresponding inverse function, that is, the first-order derivative and the second-order derivative of time are obtained according to the inverse function to obtain the first-order time derivative and the second-order time derivative. The second-order time derivative is:

[0098]

[0099] in, is the second-order time derivative, λ is the error performance function, is the second-order derivative of λ, is the first-order derivative of λ, a is the inverse function, is the second-order derivative of a, δ is the compensation coefficient;

[0100] The negative feedback control loop generates a parameter control rate based on the first-order time derivative and the second-order time derivative using a sliding mode function. The negative feedback control loop is a common design in a control system, which is used to stabilize the system and reduce the difference between the system output and the expected value. The sliding mode function is an important concept in control theory. It is used in a control loop to achieve system stability and performance. At the same time, the sliding mode function is a nonlinear function that can switch the system at a certain critical value, thereby achieving stable control of the system. Auxiliary variables are defined by the sliding mode function, and the parameter control rate is obtained by combining the auxiliary variables with the first-order time derivative and the second-order time derivative, which is the input control rate of the cantilever construction robot; the programmable logic controller determines the adjustment value of the working parameter based on the parameter control rate. The programmable logic controller is used to simulate input and output in the cantilever construction robot for process control. Therefore, the programmable logic controller can determine the actual adjustment value of the working parameter of the cantilever construction robot through the parameter control rate, and generate a parameter adjustment signal based on the adjustment value of the working parameter, and transmit the parameter adjustment signal to the cantilever construction robot; the servo driver and servo motor of the cantilever construction robot adjust the working parameter based on the parameter adjustment signal.

[0101] In the embodiment of the present invention, since the rotation matrix and the average displacement vector have different data characteristics, the target posture of the building component can be obtained through the rotation matrix and the average displacement vector to achieve posture smoothing, thereby improving the accuracy of the target posture. The posture relationship of the building component relative to the cantilever construction robot is obtained through the target posture of the building component and the coordinate position of the cantilever construction robot. The robot can be guided to process smoothly through the posture relationship. At the same time, the processing posture of the building component can be more accurately obtained through the posture relationship. The posture relationship and processing posture of the building component relative to the robot are also added to the consideration of related operations, which can improve the operation success rate for the building component and avoid damage to the building component during the robot assembly or handling operation. The deviation is used to generate a parameter control rate through a negative feedback control loop, and the programmable logic controller adjusts the working parameters according to the parameter control rate, so that the parameters remain bounded during the readjustment process, ensuring the stability and accuracy of the parameter adjustment during the robot operation process, overcoming the influence of external disturbances and internal performance changes, and greatly improving the construction operation accuracy of the construction robot, so that a more satisfactory intelligent construction execution effect can be obtained.

[0102] Embodiment 3

[0103] See also Figure 3 , Figure 3 It is a schematic diagram of the structural composition of the control system of the gantry truss cantilever construction robot in an embodiment of the present invention.

[0104] like Figure 3As shown, a control system of a gantry truss cantilever construction robot includes an industrial computer 31, a cantilever construction robot 32 and a programmable logic controller 33, wherein the cantilever construction robot 32 includes a servo driver 321 and a servo motor 322, wherein the industrial computer 31 establishes a communication connection with the servo driver 321 of the cantilever construction robot 32, the servo driver 321 establishes a signal connection with the servo motor 322, and the servo motor 322 of the cantilever construction robot 32 establishes a signal connection with the programmable logic controller 33, and the system is configured to execute any one of the above-mentioned control methods for the gantry truss cantilever construction robot.

[0105] In the specific implementation process of the present invention, the industrial computer 31 is used to control the system as a whole. The cantilever construction robot 32 is a gantry truss cantilever construction robot, which is a cantilever construction robot with a truss structure. The cantilever construction robot is used to grasp, process, assemble and transport construction components. The cantilever construction robot includes a servo driver 321 and a servo motor 322. The servo driver 321 is used to control the servo motor 322. The servo motor 322 is used to drive the cantilever construction robot 32 to operate. The programmable logic controller 33 is used to perform process control and logic control on the system, such as generating a control signal to adjust the parameters of the cantilever construction robot. The cantilever construction robot 32 may also include a transmission device and a manipulator, etc. Figure 3 The system shown does not constitute a limitation of all components, and may include more or less components than shown, or combine certain components.

[0106] In the specific implementation process of the present invention, the specific implementation methods of the system items can be referred to the above embodiments, which will not be repeated here.

[0107] In the embodiment of the present invention, since the rotation matrix and the average displacement vector have different data characteristics, the target posture of the building component can be obtained through the rotation matrix and the average displacement vector to achieve posture smoothing, thereby improving the accuracy of the target posture. The posture relationship of the building component relative to the cantilever construction robot is obtained through the target posture of the building component and the coordinate position of the cantilever construction robot. The robot can be guided to process smoothly through the posture relationship. At the same time, the processing posture of the building component can be more accurately obtained through the posture relationship. The posture relationship and processing posture of the building component relative to the robot are also added to the consideration of related operations, which can improve the operation success rate for the building component and avoid damage to the building component during the robot assembly or handling operation. The deviation is used to generate a parameter control rate through a negative feedback control loop, and the programmable logic controller adjusts the working parameters according to the parameter control rate, so that the parameters remain bounded during the readjustment process, ensuring the stability and accuracy of the parameter adjustment during the robot operation process, overcoming the influence of external disturbances and internal performance changes, and greatly improving the construction operation accuracy of the construction robot, so that a more satisfactory intelligent construction execution effect can be obtained.

[0108] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0109] In addition, the control method, device and system of a gantry truss cantilever construction robot provided by an embodiment of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A control method for a gantry truss cantilever construction robot, characterized in that: The invention comprises an industrial computer, a cantilever construction robot and a programmable logic controller, wherein the cantilever construction robot comprises a servo driver and a servo motor, wherein the industrial computer establishes a communication connection with the servo driver of the cantilever construction robot, the servo driver establishes a signal connection with the servo motor, and the servo motor of the cantilever construction robot establishes a signal connection with the programmable logic controller; the method comprises: Acquire point cloud data of a building component, acquire a rotation matrix and an average displacement vector based on the point cloud data, and acquire a target position and posture of the building component based on the rotation matrix and the average displacement vector; Acquire the position coordinates of the cantilever construction robot, and acquire the position and posture relationship of the construction component relative to the cantilever construction robot based on the target position and posture and the position coordinates of the cantilever construction robot; Based on the force balance constraint analysis, the processing posture of the cantilever construction robot on the construction component is obtained by using the point cloud data and the posture relationship; The industrial computer generates a motor control instruction based on the posture relationship and the processing posture, and transmits the motor control instruction to the servo driver. The servo driver generates a motor control signal based on the motor control instruction, and transmits the motor control signal to the servo motor. The servo motor drives the cantilever construction robot to perform construction operations on the building components based on the motor control signal. During the process of the cantilever construction robot performing construction operations on building components, construction operation parameters are obtained in real time, and the deviation between the construction operation parameters and the preset expected parameter values ​​is calculated. If the deviation is greater than the preset interval, the deviation is used to generate a parameter control rate based on a negative feedback control loop, and the programmable logic controller adjusts the working parameters of the cantilever construction robot based on the parameter control rate.

2. The control method of the gantry truss cantilever construction robot according to claim 1, characterized in that: The step of obtaining a rotation matrix and an average displacement vector based on the point cloud data, and obtaining a target position and posture of a building component based on the rotation matrix and the displacement vector, comprises: Perform feature extraction based on the point cloud data to obtain a point cloud feature set; Performing matrix calculation on the point cloud feature set based on a random sampling consistency algorithm to obtain an essential matrix and a homography matrix, and generating a rotation matrix based on the essential matrix and the homography matrix; generating an initial posture based on the point cloud data, decomposing the initial posture to obtain a plurality of displacement vectors, and obtaining an average displacement vector based on the plurality of displacement vectors; The position and posture are smoothed based on the rotation matrix and the average displacement vector to obtain the target position and posture.

3. The control method of the gantry truss cantilever construction robot according to claim 1, characterized in that: The step of obtaining the posture relationship of the building component relative to the cantilever construction robot based on the target posture and the position coordinates of the cantilever construction robot comprises: Establishing a feature descriptor based on the target pose and the position coordinates of the cantilever construction robot, and determining an initial correspondence relationship based on the feature descriptor; Based on the initial corresponding relationship, a coordinate system transformation is performed using a transformation matrix to obtain a reference coordinate system corresponding to the building component and the cantilever building robot; Acquire a base coordinate system of the cantilever construction robot, acquire a transformation matrix based on the reference coordinate system and the base coordinate system, and generate a relative pose matrix based on the transformation matrix using preset DH parameters; A posture relationship of the construction component relative to the cantilever construction robot is generated based on the relative posture matrix.

4. The control method of the gantry truss cantilever construction robot according to claim 1, characterized in that: The method of obtaining the processing posture of the cantilever construction robot on the building component by using the point cloud data and posture relationship based on the force balance constraint analysis includes: Extracting edge contours of building components based on the point cloud data to obtain target edge contours; Based on the target edge contour and posture relationship, a linear relationship between the X-axis component, the Y-axis component and the Z-axis component of the building component in the reference coordinate system of the cantilever construction robot is determined by using a three-dimensional friction constraint and an internal force balance constraint, and a machinable area model is generated based on the linear relationship between the X-axis component, the Y-axis component and the Z-axis component; A target sliding frame is generated based on preset processing rules, and a processing posture of the cantilever construction robot on the construction component is determined in the processable area model based on the target sliding frame.

5. The control method of the gantry truss cantilever construction robot according to claim 4, characterized in that: The step of generating a machinable region model based on a linear relationship among an X-axis component, a Y-axis component, and a Z-axis component includes: A reference point is selected in the reference coordinate system, and a plane straight line group is obtained using the reference point based on a linear relationship among an X-axis component, a Y-axis component, and a Z-axis component, and an intersection point between a straight line in the plane straight line group and the target edge contour is determined, and a plurality of model region points are determined based on the intersection point using a preset judgment distance; A machinable region model is generated based on a number of model region points.

6. The control method of the gantry truss cantilever construction robot according to claim 1, characterized in that: The servo driver generates a motor control signal based on the motor control instruction and transmits the motor control signal to the servo motor, including: When the servo driver establishes a signal connection with the servo motor, motor feedback information of the servo motor is obtained in real time; The servo driver parses the motor control instruction to obtain the parsed motor control instruction, generates a corresponding motor control signal based on the parsed motor control instruction and motor feedback information, and transmits the corresponding motor control signal to the servo motor.

7. The control method of the gantry truss cantilever construction robot according to claim 1, characterized in that: The generating a parameter control rate by using the deviation amount based on the negative feedback control loop includes: Generate an error performance function based on the deviation and robot kinematics; Based on the error performance function, the inverse function is obtained by using the properties of the hyperbolic tangent function to obtain the corresponding inverse function, and the order derivatives are calculated based on the corresponding inverse function to obtain the first-order time derivative and the second-order time derivative; The negative feedback control loop generates a parameter control rate using a sliding mode function based on the first and second order time derivatives.

8. The control method of the gantry truss cantilever construction robot according to claim 1, characterized in that: The programmable logic controller adjusts the working parameters of the cantilever construction robot based on the parameter control rate, including: The programmable logic controller determines an adjustment value of an operating parameter based on the parameter control rate, generates a parameter adjustment signal based on the adjustment value of the operating parameter, and transmits the parameter adjustment signal to the cantilever construction robot; The cantilever construction robot adjusts working parameters based on the parameter adjustment signal.

9. A control device for a gantry truss cantilever construction robot, characterized in that: The device comprises an industrial computer, a cantilever construction robot and a programmable logic controller, wherein the cantilever construction robot comprises a servo driver and a servo motor, wherein the industrial computer establishes a communication connection with the servo driver of the cantilever construction robot, the servo driver establishes a signal connection with the servo motor, and the servo motor of the cantilever construction robot establishes a signal connection with the programmable logic controller; the device comprises: A target pose acquisition module is used to acquire point cloud data of a building component, acquire a rotation matrix and an average displacement vector based on the point cloud data, and acquire a target pose of the building component based on the rotation matrix and the average displacement vector; A posture relationship acquisition module: used to acquire the position coordinates of the cantilever construction robot, and acquire the posture relationship of the construction component relative to the cantilever construction robot based on the target posture and the position coordinates of the cantilever construction robot; Processing posture module: used for obtaining the processing posture of the cantilever construction robot on the building component by using the point cloud data and posture relationship based on force balance constraint analysis; Signal transmission and construction operation module: used for the industrial computer to generate a motor control instruction based on the posture relationship and the processing posture, and transmit the motor control instruction to the servo driver. The servo driver generates a motor control signal based on the motor control instruction, and transmits the motor control signal to the servo motor. The servo motor drives the cantilever construction robot to perform construction operations on building components based on the motor control signal. Working parameter adjustment module: used for obtaining construction operation parameters in real time during the process of the cantilever construction robot performing construction operations on building components, calculating the deviation between the construction operation parameters and the preset expected parameter values, and if the deviation is greater than the preset interval, using the deviation to generate a parameter control rate based on a negative feedback control loop, and the programmable logic controller adjusts the working parameters of the cantilever construction robot based on the parameter control rate.

10. A control system for a gantry truss cantilever construction robot, characterized in that: The system includes an industrial computer, a cantilever construction robot and a programmable logic controller, the cantilever construction robot includes a servo drive and a servo motor, wherein the industrial computer establishes a communication connection with the servo drive of the cantilever construction robot, the servo drive establishes a signal connection with the servo motor, and the servo motor of the cantilever construction robot establishes a signal connection with the programmable logic controller; wherein the system is configured to execute the control method of the gantry truss cantilever construction robot described in any one of claims 1-8.

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