Building robot integrating automatic point fixing and line drawing functions and path planning method thereof

Abstract

The invention discloses a building robot integrating automatic point fixing and scribing functions and a path planning method of the building robot. The building scribing robot comprises a robot body (3), a chassis (4), a navigation system, a control system, a prism (1), a total station (7), a laser radar (2), a camera and a scribing mechanism (5). The method comprises the following steps: 1) based on a prism (1) and a total station (7), carrying out secondary positioning on the building robot to obtain position information of the building robot; 2) based on the position information of the building robot, the control system drives the building robot to reach the nearest marking path point (6); the laser radar in the SLAM technology is adopted to realize preliminary positioning and obstacle avoidance planning of the robot, automatic positioning and lineation can be realized, the workload of manual measurement and lineation is reduced, and the construction efficiency and accuracy are improved.

Description

Technical Field

[0001] The invention relates to the technical field of building construction, and in particular to a construction robot integrating automatic point-fixing and line-marking functions and a path planning method thereof. Background Art

[0002] The problems existing in the traditional measurement and marking process make the research of robot measurement and marking system very necessary. As a new measurement and marking method, the robot measurement and marking system changes the traditional marking method into robot intelligent automatic marking. This new marking method can greatly improve construction efficiency, reduce human operation errors, improve marking construction accuracy, and reduce the labor intensity of construction personnel. The mobile robot in the robot measurement and marking system is the most core and key part. The mobile robot is responsible for the chassis movement and the mechanism carrying the measuring equipment and the related marking mechanism in the system. Therefore, the precise positioning, posture control and path tracking of the mobile robot are crucial links in the robot measurement and marking system.

[0003] Therefore, there is an urgent need for a method to improve the robot's marking accuracy. Summary of the invention

[0004] The object of the present invention is to provide a construction marking robot with integrated automatic point-fixing and marking functions, including a robot body, a chassis, a navigation system, a control system, a prism, a total station, a laser radar, a camera, and a marking mechanism;

[0005] The chassis is connected to the robot body and is used to drive the robot body to perform omnidirectional movement and spin movement;

[0006] The marking mechanism is mounted on the robot body and is used for marking;

[0007] The prism, laser radar and camera are fixed on the robot body;

[0008] The laser radar and camera are used to sense the environment information of the robot body and transmit it to the navigation system;

[0009] The navigation system generates a building scene map based on environmental information perceived by the laser radar and the camera;

[0010] The navigation system obtains the robot positioning information and obstacle avoidance information based on the building scene map and transmits it to the control system;

[0011] The total station monitors the robot's posture information and transmits it to the control system;

[0012] The control system generates precise positioning information of the robot based on the positioning information and posture information of the robot;

[0013] The control system controls the movement of the robot based on the precise positioning information and obstacle avoidance information of the robot, and adjusts the posture of the prism so that the direction of the prism follows the direction of the total station lens.

[0014] Further, it also includes a bracket;

[0015] The prism is fixed on the robot body through a bracket;

[0016] The control system adjusts the posture of the prism by adjusting the horizontal rotation angle of the bracket.

[0017] Further, the control system includes an embedded processor and a motion control board;

[0018] The embedded processor generates precise positioning information of the robot based on the positioning information and posture information of the robot, and transmits the information to the motion control board;

[0019] The motion control board controls the robot's motion and adjusts the prism's posture based on the robot's precise positioning information and obstacle avoidance information.

[0020] Furthermore, the laser radar includes single-line and / or multi-line laser radar

[0021] The laser radar performs environment perception through SLAM technology.

[0022] Furthermore, the total station exchanges information with the control system of the building marking robot through the communication module.

[0023] Furthermore, the marking mechanism is located at the center in front of the robot body and is used for spraying and marking.

[0024] A method for path planning for a construction robot comprises the following steps:

[0025] 1) Obtaining a construction site drawing, and selecting a plurality of path points in the construction site drawing as marking path points, thereby generating marking path information of a construction robot;

[0026] 2) Based on SLAM technology, the construction robot is initially positioned using laser radar;

[0027] 3) Based on the prism and total station, the construction robot is re-positioned to obtain the location information of the construction robot;

[0028] 4) Based on the position information of the construction robot, the control system drives the construction robot to reach the nearest marking path point;

[0029] 5) The construction robot marks the line according to the marking path information.

[0030] Further, in step 3), the step of performing secondary positioning on the construction robot includes:

[0031] 3.1) The total station emits a beam of light to the prism;

[0032] 3.2) The prism reflects the light beam emitted by the total station;

[0033] 3.3) The total station receives the light beam reflected by the prism, and uses the time difference between the transmitted light beam and the received light beam to calculate the distance between the total station and the prism. The angle between the total station and the prism is then calculated using the built-in encoder, and the construction robot is repositioned based on the angle information.

[0034] Furthermore, during the marking process, if the laser radar senses an obstacle in front of the marking path, the construction robot will stop marking and issue a reminder to clear the obstacle; after the obstacle disappears, the robot will continue marking.

[0035] The technical effect of the present invention is unquestionable. The present invention realizes automatic positioning and marking through the cooperation of the robot and the total station. The total station provides the robot with high-precision positioning information to realize high-precision automatic marking. The robot marking path can be automatically generated through CAD drawing conversion, which reduces the workload of manual measurement and marking and improves construction efficiency and accuracy. At the same time, the robot's preliminary positioning and obstacle avoidance capabilities are realized by using SLAM technology, so that the robot has path tracking and obstacle avoidance planning, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A diagram of the apparatus of the method of the present invention;

[0037] Figure 2 is a step diagram of the method of the present invention;

[0038] Figure 3 Schematic diagram of the robot's autonomous line drawing;

[0039] Figure 4 It is the original CAD drawing;

[0040] Figure 5 Convert CAD drawings to csv format data result diagram;

[0041] Figure 6 The robot's path diagram after converting csv data;

[0042] In the figure: 1. Prism; 2. LiDAR; 3. Robot body; 4. Chassis; 5. Marking mechanism; 6. Path point; 7. Total station. DETAILED DESCRIPTION

[0043] The present invention is further described below in conjunction with the embodiments, but it should not be understood that the above subject matter of the present invention is limited to the following embodiments. Without departing from the above technical ideas of the present invention, various substitutions and changes are made according to the common technical knowledge and customary means in the art, which should all be included in the protection scope of the present invention.

[0044] Embodiment 1:

[0045] See also Figures 1 to 6 , a construction marking robot integrating automatic point positioning and marking functions, comprising a robot body 3, a chassis 4, a navigation system, a control system, a prism 1, a total station 7, a laser radar 2, a camera, and a marking mechanism 5;

[0046] The chassis 4 is connected to the robot body 3 and is used to drive the robot body 3 to perform omnidirectional movement and spin movement;

[0047] The marking mechanism 5 is mounted on the robot body 3 and is used for marking;

[0048] The prism 1, laser radar 2, and camera are fixed on the robot body 3;

[0049] The laser radar 2 and the camera are used to sense the environment information of the robot body 3 and transmit it to the navigation system;

[0050] The navigation system generates a building scene map based on the environmental information perceived by the laser radar 2 and the camera;

[0051] The navigation system obtains the robot positioning information and obstacle avoidance information based on the building scene map and transmits it to the control system;

[0052] The total station 7 is located in the construction site to monitor the robot's posture information and transmit it to the control system;

[0053] The control system generates precise positioning information of the robot based on the positioning information and posture information of the robot;

[0054] The control system controls the movement of the robot based on the precise positioning information and obstacle avoidance information of the robot, and adjusts the posture of the prism 1 so that the direction of the prism follows the direction of the lens of the total station 7.

[0055] The construction marking robot also includes a bracket;

[0056] The prism 1 is fixed on the robot body 3 through a bracket;

[0057] The control system adjusts the posture of the prism 1 by adjusting the horizontal rotation angle of the bracket.

[0058] The control system includes an embedded processor and a motion control board;

[0059] The embedded processor generates precise positioning information of the robot based on the positioning information and posture information of the robot, and transmits the information to the motion control board;

[0060] The motion control board controls the robot's motion and adjusts the posture of the prism 1 based on the robot's precise positioning information and obstacle avoidance information.

[0061] The laser radar 2 includes single-line and / or multi-line laser radars. When used, a relatively suitable laser radar is selected according to the requirements and complexity of the scene space size.

[0062] The laser radar 2 performs environment perception through SLAM technology.

[0063] The total station 7 exchanges information with the control system of the building marking robot through the communication module.

[0064] The marking mechanism 5 is located at the center of the robot body 3 and is used for spraying and marking.

[0065] Embodiment 2:

[0066] A method for performing path planning on the construction robot described in Example 1 comprises the following steps:

[0067] 1) Obtaining a construction site drawing, and selecting a plurality of path points in the construction site drawing as marking path points, thereby generating marking path information of a construction robot;

[0068] 2) Based on SLAM technology, the construction robot is initially positioned using LiDAR 2;

[0069] 3) Based on the prism 1 and the total station 7, the construction robot is re-positioned to obtain the position information of the construction robot; during the secondary positioning, the total station gives the robot accurate position information to correct the accumulated error of the imu and ensure the accuracy of the robot positioning.

[0070] 4) Based on the position information of the construction robot, the control system drives the construction robot to reach the nearest marking path point;

[0071] 5) The construction robot marks the line according to the marking path information.

[0072] In step 3), the step of performing secondary positioning on the construction robot includes:

[0073] 3.1) The total station 7 emits a light beam to the prism;

[0074] 3.2) The prism reflects the light beam emitted by the total station 7;

[0075] 3.3) The total station 7 receives the light beam reflected by the prism, and uses the time difference between the transmitted light beam and the received light beam to calculate the distance between the total station 7 and the prism. Then, the angle between the total station 7 and the prism is calculated through the built-in encoder, and the construction robot is repositioned based on the angle information.

[0076] During the marking process, if the laser radar 2 senses an obstacle in front of the marking path, the construction robot stops marking and issues a reminder to clear the obstacle; after the obstacle disappears, the robot continues marking.

[0077] Embodiment 3:

[0078] A construction marking robot with integrated automatic point positioning and marking functions, comprising a robot body 3, a chassis 4, a navigation system, a control system, a prism 1, a total station 7, a laser radar 2, a camera, and a marking mechanism 5;

[0079] The chassis 4 is connected to the robot body 3 and is used to drive the robot body 3 to perform omnidirectional movement and spin movement;

[0080] The marking mechanism 5 is mounted on the robot body 3 and is used for marking;

[0081] The prism 1, laser radar 2, and camera are fixed on the robot body 3;

[0082] The laser radar 2 and the camera are used to sense the environment information of the robot body 3 and transmit it to the navigation system;

[0083] The navigation system generates a building scene map based on the environmental information perceived by the laser radar 2 and the camera;

[0084] The navigation system obtains the robot positioning information and obstacle avoidance information based on the building scene map and transmits it to the control system;

[0085] The total station 7 monitors the robot's posture information and transmits it to the control system;

[0086] The control system generates precise positioning information of the robot based on the positioning information and posture information of the robot;

[0087] The control system controls the movement of the robot based on the precise positioning information and obstacle avoidance information of the robot, and adjusts the posture of the prism 1 so that the direction of the prism follows the direction of the lens of the total station 7.

[0088] Embodiment 4:

[0089] A construction marking robot integrating automatic point positioning and marking functions, the technical content is the same as that of embodiment 3, and further includes a bracket;

[0090] The prism 1 is fixed on the robot body 3 through a bracket;

[0091] The control system adjusts the posture of the prism 1 by adjusting the horizontal rotation angle of the bracket.

[0092] Embodiment 5:

[0093] A construction marking robot integrating automatic point positioning and marking functions, the technical content of which is the same as any one of Embodiments 3-4, and further, the control system includes an embedded processor and a motion control board;

[0094] The embedded processor generates precise positioning information of the robot based on the positioning information and posture information of the robot, and transmits the information to the motion control board;

[0095] The motion control board controls the robot's motion and adjusts the posture of the prism 1 based on the robot's precise positioning information and obstacle avoidance information.

[0096] Embodiment 6:

[0097] A construction marking robot integrating automatic point positioning and marking functions, the technical content of which is the same as any one of Examples 3-5, and further, the laser radar 2 includes a single-line and / or multi-line laser radar.

[0098] The laser radar 2 performs environment perception through SLAM technology.

[0099] Embodiment 7:

[0100] A construction marking robot integrating automatic point positioning and marking functions, the technical content of which is the same as any one of embodiments 3-6, and further, the total station 7 exchanges information with the control system of the construction marking robot through a communication module.

[0101] Embodiment 8:

[0102] A construction marking robot integrating automated point positioning and marking functions, the technical content of which is the same as any one of embodiments 3-7, and further, the marking mechanism 5 is located at the center position in front of the robot body 3 and is used for spray marking.

[0103] Embodiment 9:

[0104] A method for performing path planning on the construction robot described in any one of Embodiments 3-8 comprises the following steps:

[0105] 1. Obtain a construction site drawing, and select multiple path points in the construction site drawing as marking path points, so as to generate marking path information of the construction robot;

[0106] 2 Based on SLAM technology, the construction robot is initially positioned using LiDAR 2;

[0107] 3 Based on the prism 1 and the total station 7, the construction robot is re-positioned to obtain the position information of the construction robot;

[0108] 4 Based on the position information of the construction robot, the control system drives the construction robot to reach the nearest marking path point;

[0109] 5 The construction robot marks the line according to the marking path information.

[0110] Embodiment 10:

[0111] A method for performing path planning on the construction robot described in any one of Examples 3-8, the technical content is the same as that of Example 9, further, in step 3), the step of performing secondary positioning on the construction robot includes:

[0112] 3.1) The total station 7 emits a light beam to the prism;

[0113] 3.2) The prism reflects the light beam emitted by the total station 7;

[0114] 3.3) The total station 7 receives the light beam reflected by the prism, and uses the time difference between the transmitted light beam and the received light beam to calculate the distance between the total station 7 and the prism. Then, the angle between the total station 7 and the prism is calculated through the built-in encoder, and the construction robot is repositioned based on the angle information.

[0115] Embodiment 11:

[0116] A method for path planning for the construction robot described in any one of Examples 3-8, the technical content of which is the same as that of Example 9. Furthermore, during the marking process, if the laser radar 2 senses an obstacle in front of the marking path, the construction robot stops marking and issues a reminder to clear the obstacle; after the obstacle disappears, the robot continues marking.

[0117] Embodiment 12:

[0118] A method for accurately positioning the position and posture of a mobile robot by using a total station and then marking a line by loading a prism on a construction robot chassis, the method comprising the following steps:

[0119] 1) The construction robot is equipped with a laser radar for preliminary positioning based on SLAM technology;

[0120] 2) Select a series of path points based on the CAD drawing to convert the drawing information into robot-related marking path information;

[0121] 3) The prism carried by the robot interacts with the total station to determine the precise position, adjust the angle and position of the chassis, and allow the robot to accurately reach the nearest marking path point;

[0122] 4) After reaching the path point, start path tracking and marking according to the marking path of the CAD drawing.

[0123] Embodiment 13:

[0124] A construction marking robot with integrated automatic point positioning and marking functions includes a chassis, a navigation system, a control system, a bracket with a prism, a laser radar, a camera, a marking actuator and other components, wherein:

[0125] The chassis can perform omnidirectional and self-spinning movements through four wheels, and has good maneuverability and stability;

[0126] The navigation system uses LiDAR for the robot’s initial positioning and obstacle avoidance planning, and generates a map of the building scene in real time to enable the robot’s autonomous path tracking and obstacle avoidance.

[0127] The control system uses embedded processors and motion control boards to achieve precise positioning and control of the robot;

[0128] The bracket carrying the prism is controlled by the control system to adjust the position and posture of the prism;

[0129] The marking actuator realizes the marking function of the robot.

[0130] The laser radar is a laser radar used in laser SLAM technology, including single-line and / or multi-line laser radars. The corresponding radar can be selected according to the requirements and complexity of the scene space size.

[0131] The prism bracket in the device can adjust the position and posture of the prism according to the instructions of the control system, and can ensure the accurate placement and stability of the prism, and realize the real-time and accurate interaction with the total station.

[0132] The laser radar can scan the robot's surrounding environment, generate a map of the building scene, and provide the robot with positioning information and obstacle avoidance information required for path planning based on the map.

[0133] The total station is a wireless total station interconnected with the robot control system, and the total station can carry out relevant secondary development and can achieve information exchange with the robot.

[0134] The prism interacts with the total station to measure the position and attitude of the prism, thereby determining the precise position and attitude of the robot.

[0135] The control system in the device can realize accurate positioning and control of components such as chassis, laser radar, camera, marking mechanism and prism bracket, and can realize path tracking, obstacle avoidance and automatic marking of the robot.

[0136] In the process of selecting a series of path points from the CAD drawing, the construction marking information of the CAD drawing is converted into path point information that can be recognized by the robot through relevant technologies.

[0137] When the robot identifies an obstacle in front of the marking path that prevents it from marking during automatic marking, the robot will stop marking and issue a reminder to clear the obstacle. After the obstacle is cleared, the robot will continue marking.

[0138] The function of the total station is to improve the positioning accuracy of the robot and prevent the robot's positioning error from becoming larger and larger due to hardware and software related reasons. The high-precision positioning information provided by the total station can correct these positioning errors in real time so that the robot's positioning accuracy meets the marking requirements.

[0139] Embodiment 14:

[0140] A construction robot path planning method comprises the following steps:

[0141] Step 1: The construction robot performs preliminary positioning through the laser radar in the SLAM technology;

[0142] Step 2: Based on the CAD drawing input, convert the CAD drawing into the path point information that the robot needs to follow.

[0143] In step two, the robot converts the coordinate information in the CAD drawing into path points that the robot can follow. First, the robot imports the drawing into its internal system through the CAD software. Then, the robot analyzes the various elements in the drawing, such as lines, arcs, and curves, and converts them into path point information that the robot can recognize and follow. During this process, the robot performs a series of calculations and conversions based on the various elements in the drawing, converting the path point information in the drawing into a path and coordinate points that the robot can follow in actual operations.

[0144] Step 3: Robot marking preparation. The prism carried by the robot interacts with the total station to determine the precise position, and adjust the angle and position of the chassis to make the robot reach the nearest marking path point;

[0145] Step 4: The robot automatically draws the line. In the fourth step, the robot will draw the line strictly according to the path calculated and converted in the second step. The robot will automatically pass through each preset path point in turn.

[0146] Step 5: The robot autonomously avoids obstacles. During the marking process, the robot needs to ensure the safety of itself and the equipment. Therefore, the robot will use the laser radar in the SLAM technology to plan obstacle avoidance to avoid collision with obstacles in the venue. The robot can identify obstacles based on its own obstacle avoidance ability and stop the operation to issue relevant obstacle clearing reminders. When the obstacles are cleared, it will continue marking;

[0147] In the above step 1, the laser radar is used to scan the surrounding environment information, build a surrounding environment information map, provide information for the robot's initial positioning, and clarify the robot's own position in the actual environment.

[0148] In the above step 2, the CAD drawing information needs to provide a reference point in advance, match the coordinates in the CAD drawing with the actual coordinates, and then redevelop the CAD drawing through the program to convert the CAD drawing coordinate point information into a path point position information format that the robot can recognize.

[0149] The path information tracked in step 2 above is generated by connecting two path points to generate a straight line path, and path tracking can be achieved through a pure tracking algorithm. The curve can be converted into segments of straight lines through differential thinking, or it can be converted into segments of small arcs, and path tracking can be achieved by controlling the robot to perform circular motion.

[0150] In the above step 4, the robot passes through the path points in sequence and draws lines. The line drawing control command is judged based on the two conditions of whether the robot body is moving and whether it is walking on the specified path information, and the relevant command line drawing actuator is issued to control the line drawing actuator.

[0151] Embodiment 15:

[0152] A construction marking robot with integrated automatic point-fixing and marking functions mainly includes a robot body 3, a laser radar 2, a microcomputer, a marking mechanism 5, a prism 1, and a robot chassis 4. The marking mechanism is installed in the center of the front of the robot for spraying and marking. The microcomputer is installed in the robot body 3 for robot data processing and interaction with other devices, such as interacting with a total station to obtain the current precise position information of the robot. The marking mechanism 5 issues a marking instruction by the microcomputer. The prism 1 is a tool for the total station, which is mainly used to cooperate with the total station to obtain the robot's position information.

[0153] In the implementation of the present invention, the prism mounted on the robot chassis can be a standard prism or a reflective prism, depending on the specific application scenario and requirements. The direction of the prism is controlled by a controller so that the direction of the prism follows the direction of the total station lens.

[0154] In the implementation of the present invention, there will be real-time data interaction between the robot and the total station to correct the positioning error of the robot.

[0155] In the implementation of the present invention, a bracket carrying a prism and a laser radar are provided on the construction robot, and a total station equipped with a prism is used to adjust the position and posture of the robot.

[0156] In the implementation of the present invention, the robot's line marking accuracy is mainly affected by the positioning accuracy, and the positioning accuracy is jointly controlled by SLAM, IMU and total station. The positioning accuracy of traditional SLAM is only at the centimeter level, while the accuracy of the total station can reach the millimeter level. IMU has good positioning accuracy in the short term, but will accumulate large positioning errors over a long period of time. The IMU positioning error can be corrected by the total station. The combination of the three will greatly improve the positioning accuracy of the robot.

[0157] In the implementation of the present invention, the laser radar is used to perform three-dimensional scanning and positioning of the building scene, generate surrounding environment map information, and provide basic data and information sources for the robot's positioning and obstacle avoidance.

[0158] In specific operations, the robot needs to be initially positioned and obstacle-avoided by using the laser radar in SLAM technology. By scanning the surrounding environment, a map of the building scene is created, and the robot's position and posture information is updated in real time.

[0159] Then, the prism carried by the robot interacts with the total station to determine the precise position and angle information, and the position and attitude of the chassis are adjusted through the control system. Finally, the marking path is generated according to the CAD drawing input.

[0160] Specific as Figure 4 , Figure 5 and Figure 6 As shown: Figure 4 For CAD original drawings, convert the drawings into DXF format, and then extract various new types of drawings through related function packages and convert them into Figure 5 The csv format file shown is then converted from the csv format file to the following Figure 6 The path of the trolley.

[0161] After the marking path planning is completed, the robot starts the marking operation. When the robot is marking, it is necessary to select appropriate measurement methods and techniques according to the specific construction requirements. For example, the robot-mounted camera can be used for real-time shooting and measurement, or the robot-mounted laser rangefinder can be used for measurement.

[0162] The line path tracking can adopt a simple geometric tracking algorithm, such as a pure tracking algorithm.

[0163] During the marking process, if the robot detects an obstacle, it will automatically stop and send an alarm. At this time, the operator can observe the situation of the obstacle through the monitoring system and take corresponding actions.

[0164] In practical applications, the construction robot of the present invention can be applied to various construction scenes, such as subway tunnels, bridges, high-rise buildings, etc. The construction robot of the present invention can be designed and optimized accordingly according to different construction scenes and requirements to adapt to different application scenes and working environments.

[0165] In summary, the present invention provides a method and device for accurately determining the position and posture of a mobile robot by using a total station on a construction robot chassis. The device uses a laser radar in SLAM technology to achieve preliminary positioning and obstacle avoidance planning of the robot, and can automatically locate and mark lines, reducing the workload of manual measurement and marking, and improving construction efficiency and accuracy. The present invention has industrial application value and market prospects, and can be widely used in fields such as construction.

Claims

1. A construction marking robot integrating automatic point positioning and marking functions, characterized in that: It comprises the robot body (3), a chassis (4), a navigation system, a control system, a prism (1), a total station (7), a laser radar (2), a camera, and a marking mechanism (5). The chassis (4) is connected to the robot body (3) and is used to drive the robot body (3) to perform omnidirectional movement and spin movement; The marking mechanism (5) is mounted on the robot body (3) and is used for marking; The prism (1), laser radar (2), and camera are fixed on the robot body (3); The laser radar (2) and the camera are used to sense the environment information of the robot body (3) and transmit it to the navigation system; The navigation system generates a building scene map based on environmental information sensed by the laser radar (2) and the camera; The navigation system obtains the robot positioning information and obstacle avoidance information based on the building scene map and transmits it to the control system; The total station (7) monitors the robot's posture information and transmits it to the control system; The control system generates precise positioning information of the robot based on the positioning information and posture information of the robot; The control system controls the movement of the robot based on the precise positioning information and obstacle avoidance information of the robot, and adjusts the posture of the prism (1) so that the direction of the prism follows the direction of the lens of the total station (7).

2. The construction marking robot with integrated automatic point-fixing and marking functions according to claim 1, characterized in that: Also includes a stand; The prism (1) is fixed on the robot body (3) via a bracket; The control system adjusts the posture of the prism (1) by adjusting the horizontal rotation angle of the bracket.

3. The precise positioning construction marking robot according to claim 1, characterized in that: The control system includes an embedded processor and a motion control board; The embedded processor generates precise positioning information of the robot based on the positioning information and posture information of the robot, and transmits the information to the motion control board; The motion control board controls the movement of the robot and adjusts the posture of the prism (1) based on the precise positioning information and obstacle avoidance information of the robot.

4. The construction marking robot with sophisticated integrated automatic point-fixing and marking functions according to claim 1, characterized in that: The laser radar (2) includes a single-line and / or multi-line laser radar; The laser radar (2) performs environmental perception through SLAM technology.

5. The construction marking robot with integrated automatic point-fixing and marking functions according to claim 1, characterized in that: The total station (7) exchanges information with the control system of the building marking robot through the communication module.

6. The construction marking robot with integrated automatic point-fixing and marking functions according to claim 1, characterized in that: The marking mechanism (5) is located at the center of the front of the robot body (3) and is used for spraying and marking.

7. A method for path planning for the construction robot according to any one of claims 1 to 6, characterized in that: The following steps are involved: 1) obtaining a construction site drawing, and selecting a plurality of path points in the construction site drawing as marking path points (6), thereby generating marking path information of the construction robot; 2) Based on SLAM technology, the construction robot is initially positioned using LiDAR (2); 3) Based on the prism (1) and the total station (7), the construction robot is re-positioned to obtain the position information of the construction robot; 4) Based on the position information of the construction robot, the control system drives the construction robot to reach the nearest marking path point (6); 5) The construction robot marks the line according to the marking path information.

8. The path planning method according to claim 7, characterized in that: In step 3), the step of performing secondary positioning on the construction robot includes: 3.1) The total station (7) emits a light beam to the prism; 3.2) The prism reflects the light beam emitted by the total station (7); 3.3) The total station (7) receives the light beam reflected by the prism, and uses the time difference between the transmitted light beam and the received light beam to calculate the distance between the total station (7) and the prism. The angle between the total station (7) and the prism is then calculated using a built-in encoder, and the construction robot is repositioned based on the angle information.

9. The path planning method according to claim 7, characterized in that: During the marking process, if the laser radar (2) senses an obstacle in front of the marking path, the construction robot stops marking and issues a reminder to clear the obstacle. After the obstacle disappears, the robot continues to draw the line.

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