Autonomous navigation system of building vibrating robot and use method of autonomous navigation system

Abstract

The invention discloses an autonomous navigation system of a building vibrating robot and a use method thereof. The autonomous navigation system comprises a sensing module used for dynamically collecting surrounding environment information and motion information of the robot in real time; the data fusion module dynamically constructs a global coordinate system in real time based on the environment information, and the data fusion module is connected with the sensing module; the path planning module is used for calculating an optimal path from the current position of the robot to the to-be-constructed position based on the global coordinate system, and the path planning module is connected with the data fusion module; the motion control module is used for controlling the robot to move based on the optimal route and the motion information of the robot, the motion control module is connected with the route planning module and the sensing module, and the construction efficiency is improved by arranging the autonomous navigation system.

Description

Technical Field

[0001] The present invention relates to the technical field of construction robots, and in particular to an autonomous navigation system of a construction vibrating robot and a use method thereof. Background Art

[0002] Building robotization is a development trend in the modern construction industry. Building robots can use existing advanced science and technology to improve construction efficiency, reduce costs and improve safety performance. In the construction process, concrete vibration is an important step to ensure the strength and durability of the structure. Vibration can eliminate bubbles inside the concrete, increase the density, and thus improve the overall quality of the structure. However, because some concrete vibration construction sites are more dangerous, automated vibration equipment has emerged.

[0003] Although the existing automated vibration equipment can reduce the labor intensity of workers to a certain extent, it still faces many technical limitations in complex and changeable construction environments, such as insufficient environmental perception accuracy, poor path planning adaptability, and lack of autonomous obstacle avoidance. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the prior art and provide an autonomous navigation system for a construction vibrating robot and a method of using the system, which can automatically plan the best travel route of the robot and move based on the best travel route, and can also autonomously avoid obstacles when facing emergencies.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is an autonomous navigation system for a building vibrating robot, comprising:

[0006] A perception module for real-time dynamic collection of surrounding environment information and robot motion information;

[0007] A data fusion module for dynamically constructing a global coordinate system in real time based on the environmental information, wherein the data fusion module is connected to the perception module;

[0008] A path planning module for calculating an optimal route from the current position of the robot to the position to be constructed based on the global coordinate system, wherein the path planning module is connected to the data fusion module;

[0009] A motion control module controls the movement of the robot based on the optimal route and the motion information of the robot, and the motion control module is connected to the path planning module and the perception module.

[0010] A further improvement of the autonomous navigation system of the construction vibrator robot of the present invention is that the perception module includes a laser radar for collecting information on surrounding obstacles, a camera for real-time monitoring of road conditions and the surrounding environment, an infrared rangefinder for measuring the distance between the robot and surrounding obstacles, and an IMU sensor for real-time monitoring of the robot's motion information.

[0011] A further improvement of the autonomous navigation system of the building vibrating robot of the present invention is that the data fusion module includes a radar SLAM system.

[0012] A further improvement of the autonomous navigation system of the building vibrating robot of the present invention is that the path planning module includes a move_base function package for implementing path planning and an amcl function package for real-time positioning of the robot.

[0013] A further improvement of the autonomous navigation system of the building vibrating robot of the present invention is that the motion control module uses the NVIDIA Jetson Xavier NX development board as the host computer, and the host computer uses the CAN communication protocol to convert the optimal route into motion control instructions and transmit them to the slave computer, and the slave computer controls the operation of the driving motor of the robot.

[0014] A further improvement of the autonomous navigation system of the building vibrator robot of the present invention is that the autonomous navigation system also includes an anti-collision module, which includes a data microprocessor for receiving obstacle information from the laser radar, distance information from obstacles from the infrared rangefinder, and robot motion information from the IMU sensor. The data microprocessor analyzes possible collision risks based on an obstacle avoidance algorithm and dynamically adjusts the motion trajectory of the robot. The data microprocessor is connected to the perception module and the motion control module.

[0015] A method for using the autonomous navigation system of a construction vibrating robot as described above is characterized by comprising the steps of:

[0016] Step 1: Use the perception module to obtain the surrounding environment information and robot motion information in real time;

[0017] Step 2: Use the data fusion module to fit the environmental information and construct a global coordinate system;

[0018] Step 3: Calculate the best route from the current position of the robot to the position to be constructed in the global coordinate system using a path planning module;

[0019] Step 4: Use the motion control module to control the robot to move along the optimal route until it reaches the location to be constructed.

[0020] Compared with the prior art, the advantages of the present invention are:

[0021] The autonomous navigation method can realize global path planning, local path dynamic adjustment and real-time obstacle avoidance of robot movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0023] Figure 1 The figure is a general structural block diagram of the autonomous navigation system of the building vibrating robot of the present invention.

[0024] Figure 2 The present invention is a flow chart of the method of using the autonomous navigation system of the building vibrating robot. DETAILED DESCRIPTION

[0025] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0026] The autonomous navigation system of the building vibrating robot and the method of using the same are further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0027] See also Figure 1-2 As shown, the autonomous navigation system of the building vibrating robot includes:

[0028] A perception module for real-time dynamic collection of surrounding environment information and robot motion information;

[0029] A data fusion module for dynamically constructing a global coordinate system in real time based on the environmental information, wherein the data fusion module is connected to the perception module;

[0030] A path planning module for calculating an optimal route from the current position of the robot to the position to be constructed based on the global coordinate system, wherein the path planning module is connected to the data fusion module;

[0031] A motion control module controls the movement of the robot based on the optimal route and the motion information of the robot, and the motion control module is connected to the path planning module and the perception module.

[0032] Specifically, the path planning module is based on a path planning strategy of a heuristic algorithm (such as an A* algorithm) and a dynamic window method (DWA), comprehensively considers specific road conditions and travel efficiency, and generates the optimal route.

[0033] Preferably, the perception module includes a laser radar for collecting information about surrounding obstacles, a camera for real-time monitoring of road conditions and the surrounding environment, an infrared rangefinder for measuring the distance between the robot and surrounding obstacles, and an IMU sensor for real-time monitoring of the robot's motion information.

[0034] By setting the IMU sensor, not only the motion information of the robot can be monitored, but also the posture changes of the robot, such as the tilt angles in the horizontal and vertical directions, can be monitored, helping the robot to always know its own posture in uneven or complex terrain, facilitating subsequent operations.

[0035] Specifically, the laser radar is a high-precision laser radar, the camera is a binocular depth camera, and the infrared rangefinder is a short-range infrared sensor.

[0036] Through the coordinated operation of these sensors, the full-range 360-degree environment can be scanned and detected, and the specific conditions, terrain features and dynamic changes of the surrounding environment can be perceived. The angle shielding and data deletion of the high-precision laser radar scanning data can eliminate the influence of spatial obstruction on the robot body. At the same time, the short-range infrared sensor is used to detect the existence of the area shielded by the high-precision laser radar, and the perception information of the shielded area is filled by analyzing the infrared radiation.

[0037] Preferably, the data fusion module includes a radar SLAM system.

[0038] Specifically, the radar SLAM system can construct the global coordinate system by self-scanning, and then couple the surrounding environment information collected by the perception module and the movement information of the robot, thereby improving the accuracy of the global coordinate system.

[0039] Specifically, the global coordinate system is a three-dimensional map, and the radar SLAM system can reduce the dimension of the global coordinate system to generate a planar two-dimensional map, thereby achieving accurate positioning and map construction of the robot in complex terrain, increasing the intuitiveness of map presentation and simplifying the travel planning algorithm.

[0040] Dimensionality reduction technology can be used to set the height of environmental obstacles, shielding the negligible low obstacle areas in the complex road conditions of the reinforced grid pavement at the construction site, making it more adaptable to the road conditions in the construction site environment.

[0041] Preferably, the path planning module includes a move_base function package for implementing path planning and an amcl function package for real-time positioning of the robot.

[0042] Specifically, the path planning module includes a global path planner and a local path planner, and the global path planner and the local path planner both include a move_base function package and the amcl function package.

[0043] By setting the global path planner, the optimal global route can be calculated first based on the existing environmental information when the global coordinate system is not fully constructed. The local path planner continuously fine-tunes the optimal global route as the vehicle moves, that is, as the global coordinate system is continuously improved.

[0044] Preferably, the motion control module uses an NVIDIA Jetson Xavier NX development board as a host computer, and the host computer uses a CAN communication protocol to convert the optimal route into a motion control instruction and transmit it to a slave computer, and the slave computer controls the operation of the driving motor of the robot.

[0045] Specifically, the lower computer is an STM32 central control computer.

[0046] Specifically, the CAN communication protocol generates precise steering, acceleration, deceleration and posture adjustment commands to the lower computer based on the result of the optimal route, and the lower computer controls the drive motor to execute after solving the commands.

[0047] Preferably, the autonomous navigation system also includes an anti-collision module, which includes a data microprocessor for receiving obstacle information from the laser radar, distance information from obstacles from the infrared rangefinder, and robot motion information from the IMU sensor. The data microprocessor analyzes possible collision risks based on an obstacle avoidance algorithm and dynamically adjusts the motion trajectory of the robot. The data microprocessor is connected to the perception module and the motion control module.

[0048] By setting up the anti-collision module, when an emergency occurs, such as a construction worker suddenly appears and blocks the robot's optimal route, the anti-collision module quickly responds and mobilizes the perception module and the motion control module to control the robot to avoid the emergency.

[0049] Specifically, the robot includes a trolley and a mechanical arm connected to the trolley, the autonomous navigation system controls the movement of the trolley, and a vibrating rod is clamped on the mechanical arm.

[0050] Specifically, the trolley is a tracked trolley.

[0051] By providing the crawler-type trolley, it is convenient to walk in a relatively complex terrain environment, and it is more stable when walking.

[0052] Specifically, it also includes a robotic arm control system for automatically controlling the robotic arm, wherein the robotic arm control system uses the NVIDIA Jetson Xavier NX development board as a host computer and the driver of the robotic arm as a slave computer.

[0053] Automatic control method of the robotic arm:

[0054] The robotic arm control system calls the camera to perform real-time visual recognition, obtains image data of the position to be vibrated, identifies the coordinate point of the position to be vibrated located in the global coordinate system through an image processing algorithm, and converts it into the local working coordinate system of the robotic arm through a coordinate transformation algorithm. The robotic arm control system calls the path planning module, calculates the optimal motion trajectory of the robotic arm moving to the position to be vibrated in the local working coordinate system, the upper computer converts the optimal motion trajectory into a control instruction and transmits it to the lower computer through Ethernet, and the lower computer controls the robotic arm to move to the position to be vibrated.

[0055] A method for using the autonomous navigation system of a construction vibrating robot as described above is characterized by comprising the steps of:

[0056] Step 1: Use the perception module to obtain the surrounding environment information and robot motion information in real time;

[0057] Step 2: Use the data fusion module to fit the environmental information and construct a global coordinate system;

[0058] Step 3: Calculate the best route from the current position of the robot to the position to be constructed in the global coordinate system using a path planning module;

[0059] Step 4: Use the motion control module to control the robot to move along the optimal route until it reaches the location to be constructed.

[0060] Specifically, when executing the above step 4, a closed-loop feedback control mechanism is used to control the movement of the robot.

[0061] By setting up the closed-loop feedback control mechanism, the anti-collision module intervenes at all times during the movement of the robot. When unexpected changes occur in the construction environment or the robot's posture is unstable, the anti-collision module responds quickly to prevent the robot from tipping over or colliding with on-site personnel, thereby reducing the occurrence of construction accidents.

[0062] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0063] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. An autonomous navigation system for a building vibrating robot, characterized in that: include: A perception module for real-time dynamic collection of surrounding environment information and robot motion information; A data fusion module for dynamically constructing a global coordinate system in real time based on the environmental information, wherein the data fusion module is connected to the perception module; A path planning module for calculating an optimal route from the current position of the robot to the position to be constructed based on the global coordinate system, wherein the path planning module is connected to the data fusion module; A motion control module controls the movement of the robot based on the optimal route and the motion information of the robot, and the motion control module is connected to the path planning module and the perception module.

2. The autonomous navigation system for a building vibrating robot according to claim 1, characterized in that: The perception module includes a laser radar for collecting information about surrounding obstacles, a camera for real-time monitoring of road conditions and the surrounding environment, an infrared rangefinder for measuring the distance between the robot and surrounding obstacles, and an IMU sensor for real-time monitoring of the robot's motion information.

3. The autonomous navigation system for a building vibrating robot according to claim 1, characterized in that: The data fusion module includes a radar SLAM system.

4. The autonomous navigation system for a building vibrating robot according to claim 1, characterized in that: The path planning module includes a move_base function package for implementing path planning and an amcl function package for real-time positioning of the robot.

5. The autonomous navigation system for a building vibrating robot according to claim 1, characterized in that: The motion control module uses the NVIDIA Jetson Xavier NX development board as the host computer. The host computer uses the CAN communication protocol to convert the optimal route into motion control instructions and transmit them to the slave computer. The slave computer controls the operation of the robot's drive motor.

6. The autonomous navigation system for a building vibrating robot according to claim 2, characterized in that: The fully autonomous navigation system also includes an anti-collision module, which includes a data microprocessor for receiving obstacle information from the laser radar, distance information from obstacles from the infrared rangefinder, and robot motion information from the IMU sensor. The data microprocessor analyzes possible collision risks based on an obstacle avoidance algorithm and dynamically adjusts the motion trajectory of the robot. The data microprocessor is connected to the perception module and the motion control module.

7. A method for using the autonomous navigation system of a construction vibrating robot as claimed in claim 1, characterized in that: Includes steps: Step 1: Use the perception module to obtain the surrounding environment information and robot motion information in real time; Step 2: Use the data fusion module to fit the environmental information and construct a global coordinate system; Step 3: Calculate the best route from the current position of the robot to the position to be constructed in the global coordinate system using a path planning module; Step 4: Use the motion control module to control the robot to move along the optimal route until it reaches the location to be constructed.

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