Concrete leveling robot with positioning and wireless communication functions

Abstract

The invention discloses a concrete leveling robot with positioning and wireless communication functions, and the robot comprises a positioning module which is used for obtaining the real-time position information of the concrete leveling robot; the wireless communication module comprises a parameter monitoring module, a position integration module and a wireless transmission module, the parameter monitoring module monitors attitude information of the concrete leveling robot and state information of airborne equipment on the concrete leveling robot, and the position integration module is associated with the positioning module and integrates and stores the real-time position information; and the wireless transmission module sends the attitude information, the state information and the real-time position information to a remote monitoring terminal in real time. The concrete leveling robot can solve the problem that an existing concrete leveling robot cannot fully control the operation state and the construction process of the robot and airborne equipment of the robot by remote control personnel so as to carry out more reasonable remote control operation.

Description

Technical Field

[0001] The invention relates to the technical field of construction robots, in particular to a concrete leveling robot with positioning and wireless communication functions. Background Art

[0002] With the improvement of production technology, all links have basically been automated. With the development of the Internet of Things and wireless communications, automated construction robots, such as concrete leveling robots, have gradually moved towards remote control to achieve construction management, thereby realizing unmanned construction sites to reduce casualties during construction. However, the existing remote control technology for concrete leveling robots is not mature enough, and it is impossible to achieve high transparency of the operating status of the robot and its equipment, and the robot's moving construction path and position cannot be fed back with high precision, making it impossible for remote control personnel to fully grasp the robot's operation and construction process in order to perform more reasonable remote control operations. Summary of the invention

[0003] The purpose of the present invention is to provide a concrete leveling robot with positioning and wireless communication functions in order to solve the problem that the existing concrete leveling robots cannot enable the remote control personnel to fully grasp the operating status of the robot and its onboard equipment and the construction progress to perform more reasonable remote control operations.

[0004] In order to achieve the above object, the present invention adopts the following technical solution: a concrete leveling robot with positioning and wireless communication functions, comprising:

[0005] A positioning module, which is used to obtain the real-time position information of the concrete leveling robot;

[0006] The wireless communication module includes a parameter monitoring module, a position integration module and a wireless transmission module. The parameter monitoring module monitors the posture information of the concrete leveling robot and the status information of the onboard equipment thereon. The position integration module is associated with the positioning module, which integrates and stores the real-time position information. The wireless transmission module sends the posture information, status information and real-time position information to the remote monitoring terminal in real time.

[0007] As a further description of the above technical solution:

[0008] The positioning module includes a signal receiving module, and the signal receiving module is used to receive the position information of the GPS or Beidou system to perform real-time positioning of the concrete leveling robot.

[0009] As a further description of the above technical solution:

[0010] The remote monitoring terminal includes a remote monitoring center and communication equipment consisting of a mobile phone and a computer.

[0011] As a further description of the above technical solution:

[0012] The remote monitoring terminal is also used to receive control instructions sent by the remote monitoring terminal.

[0013] As a further description of the above technical solution:

[0014] The wireless transmission module is associated with a control system on the concrete leveling robot. The control system receives the control instruction and adjusts the operating parameters of the concrete leveling robot and the onboard equipment thereon accordingly.

[0015] In summary, due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0016] The present invention can realize the real-time positioning of the concrete leveling robot through the setting of the positioning module and the wireless transmission module, and carry out real-time monitoring and acquisition of the posture information of the leveling robot and the status information of the onboard equipment, and send the real-time position, posture information and status information of the onboard equipment to the remote monitoring center in real time, and receive the control instructions of the remote monitoring center at the same time to ensure the normal operation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 The figure is a schematic diagram of the module structure of a concrete leveling robot with positioning and wireless communication functions. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0021] It should be noted that similar reference numerals and letters refer to similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in the subsequent drawings.

[0022] In the description of the embodiments of the present invention, it should be noted that the terms "upper", "inner", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0023] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, an indirect connection through an intermediate medium, or the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] See also Figure 1 The present invention provides a technical solution: a concrete leveling robot with positioning and wireless communication functions, comprising:

[0025] A positioning module, which is used to obtain the real-time position information of the concrete leveling robot;

[0026] The wireless communication module includes a parameter monitoring module, a position integration module and a wireless transmission module. The parameter monitoring module monitors the posture information of the concrete leveling robot and the status information of the onboard equipment thereon. The position integration module is associated with the positioning module, which integrates and stores the real-time position information. The wireless transmission module sends the posture information, status information and real-time position information to the remote monitoring terminal in real time.

[0027] The positioning module includes a signal receiving module, and the signal receiving module is used to receive the position information of the GPS or Beidou system to perform real-time positioning of the concrete leveling robot.

[0028] The remote monitoring terminal includes a remote monitoring center and communication equipment consisting of a mobile phone and a computer.

[0029] The remote monitoring terminal is also used to receive control instructions sent by the remote monitoring terminal.

[0030] The wireless transmission module is associated with a control system on the concrete leveling robot. The control system receives the control instruction and adjusts the operating parameters of the concrete leveling robot and the onboard equipment thereon accordingly.

[0031] The present invention can realize the real-time positioning of the concrete leveling robot through the setting of the positioning module and the wireless transmission module, and carry out real-time monitoring and acquisition of the posture information of the leveling robot and the status information of the onboard equipment, and send the real-time position, posture information and status information of the onboard equipment to the remote monitoring center in real time, and receive the control instructions of the remote monitoring center at the same time to ensure the normal operation of the robot.

[0032] Among them, the parameter monitoring module monitors and records the operating parameters of each device on the leveling robot in real time, and transmits the acquired equipment parameter data to the remote monitoring terminal in real time through the wireless transmission module to ensure high transparency of the robot's remote construction situation.

[0033] The wireless transmission module is also associated with a path recording module, which includes a visual scanning module, a coordinate construction module, a direction monitoring module, a mobile drive monitoring module, a data correction module, a path simulation module, and a first storage module. The visual scanning module scans the construction area and forms dimension data. The coordinate construction module establishes the coordinates of the construction area based on the dimension data to form a coordinate system model. The direction monitoring module monitors the moving direction of the leveling robot during leveling construction in real time. The mobile drive monitoring module monitors the moving distance data of the leveling robot in real time. The data correction module corrects the moving distance data based on the equipment parameter data. The path simulation module simulates the moving path of the leveling robot based on the coordinate system model and the acquired moving direction data and moving distance data. The first storage module stores the simulated path simulation data and the third coordinate data representing the real-time position of the leveling robot.

[0034] The positioning module performs real-time position monitoring of the leveling robot, and receives and stores the formed first coordinate data and position change data. The position integration module compares, integrates and analyzes the acquired first coordinate data and third coordinate data, position change data and path simulation data, and wirelessly transmits the formed integrated coordinate data and integrated path data to the remote monitoring terminal through the wireless transmission module.

[0035] The concrete leveling robot of the present invention forms a path and coordinate simulation data based on equipment operating power conversion and sensor sensing through a path recording module, and cooperates with satellite observation coordinates and position change data obtained by the GPS or Beidou system to achieve multi-channel concrete leveling robot position coordinate acquisition, and through coordinate integration and verification, achieves high-precision, multi-scenario remote control robot positioning, operation status, and construction progress wireless communication functions, so as to facilitate high-transparency remote acquisition of construction conditions, improve the convenience of remote control, and improve the efficiency of automated construction.

[0036] The path recording module is associated with a coordinate mapping module, and the coordinate mapping module maps the first coordinate data to the coordinate system model, performs coordinate mapping, and forms second coordinate data, and the second coordinate data is used for comparison and integration analysis of the position integration module. This design can provide a more accurate model map of the construction area, so that the path simulation and the coordinate data formed after coordinate mapping of the data received from the GPS or Beidou system are more accurate, so as to ensure the high accuracy of the robot positioning, the upload and feedback of the construction process of its moving path.

[0037] The position integration module compares and integrates the second coordinate data with the third coordinate data, the position change data and the path simulation data. When the error of the coordinate data and the position path change distance is less than the set value, the integrated coordinate data and the integrated path data are formed and wirelessly transmitted to the remote monitoring terminal. Through the multi-channel position coordinate acquisition, coordinate integration and verification of the concrete leveling robot, the robot has a high-precision, multi-scenario remote control robot positioning, operation status, and construction process wireless communication function, so as to facilitate high-transparency remote acquisition of the construction status, improve the convenience of remote control, and improve the efficiency of automated construction.

[0038] In addition, the leveling robot is equipped with a self-developed mobile terminal device and a GPS+4G / 5G communication module, which can upload the robot's position and posture and onboard equipment status information to the remote monitoring center in real time, and receive control instructions from the remote monitoring center to ensure the normal operation of the robot.

[0039] In order to further improve the accuracy of the path simulation results and reduce the interference of environmental and equipment factors, the data correction module corrects the moving distance data to form movement correction data. The movement correction data is used for the moving path simulation of the path simulation module to combine with the moving direction data to generate the path simulation data and the third coordinate data.

[0040] The moving distance data is obtained by converting the operating power parameters of the leveling robot moving system.

[0041] The working principle of a concrete leveling robot with positioning and wireless communication functions in this embodiment includes:

[0042] S1. The parameter monitoring module monitors and records the operating parameters of each device on the leveling robot in real time, and transmits them to the remote monitoring terminal in real time through the wireless transmission module;

[0043] S2. After the leveling robot enters the construction site and starts construction, it scans the construction area through the visual scanning module and generates dimension data;

[0044] S3, the coordinate construction module establishes the coordinates of the construction area based on the dimension data to form a coordinate system model;

[0045] S4, the signal receiving module receives the first coordinate data indicating the spatial position of the leveling robot sent by the GPS or Beidou system in real time, and maps it to the coordinate system model through the coordinate mapping module to form and store the second coordinate data and position change data;

[0046] S5. When the leveling robot is moving during construction, the direction monitoring module monitors its moving direction data in real time, and the mobile drive monitoring module monitors the moving distance data obtained by converting the operating power parameters of the mobile system of the leveling robot, and corrects the moving situation data to form movement correction data;

[0047] S6. The path simulation module simulates the moving path of the leveling robot based on the movement correction data and the coordinate system model, and forms and stores the path simulation data and the third coordinate data representing the real-time position of the leveling robot;

[0048] S7. The position integration module compares and integrates the second coordinate data and the third coordinate data, the position change data and the path simulation data. When the coordinate and distance errors are less than the set values, integrated coordinate data and integrated path data are formed and wirelessly transmitted to the remote monitoring terminal; otherwise, error factor analysis is performed to obtain more accurate data information from the second coordinate data and the third coordinate data, the position change data and the path simulation data, and wirelessly transmit them.

[0049] In summary, due to the adoption of the above technical solution, the concrete leveling robot with positioning and wireless communication functions in this embodiment has the following beneficial effects compared with the prior art:

[0050] The present invention can realize the real-time positioning of the concrete leveling robot through the setting of the positioning module and the wireless transmission module, and carry out real-time monitoring and acquisition of the posture information of the leveling robot and the status information of the onboard equipment, and send the real-time position, posture information and status information of the onboard equipment to the remote monitoring center in real time, and receive the control instructions of the remote monitoring center at the same time to ensure the normal operation of the robot.

[0051] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A concrete leveling robot with positioning and wireless communication functions, characterized in that: include: A positioning module, which is used to obtain the real-time position information of the concrete leveling robot; The wireless communication module includes a parameter monitoring module, a position integration module and a wireless transmission module. The parameter monitoring module monitors the posture information of the concrete leveling robot and the status information of the onboard equipment thereon. The position integration module is associated with the positioning module, which integrates and stores the real-time position information. The wireless transmission module sends the posture information, status information and real-time position information to the remote monitoring terminal in real time.

2. A concrete leveling robot with positioning and wireless communication functions according to claim 1, characterized in that: The positioning module includes a signal receiving module, and the signal receiving module is used to receive the position information of the GPS or Beidou system to perform real-time positioning of the concrete leveling robot.

3. The concrete leveling robot with positioning and wireless communication functions according to claim 1, characterized in that: The remote monitoring terminal includes a remote monitoring center and communication equipment consisting of a mobile phone and a computer.

4. The concrete leveling robot with positioning and wireless communication functions according to claim 1, characterized in that: The remote monitoring terminal is also used to receive control instructions sent by the remote monitoring terminal.

5. The concrete leveling robot with positioning and wireless communication functions according to claim 4, characterized in that: The wireless transmission module is associated with a control system on the concrete leveling robot. The control system receives the control instruction and adjusts the operating parameters of the concrete leveling robot and the onboard equipment thereon accordingly.

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