Intelligent control system for building robot

Abstract

The invention discloses an intelligent control system for a building robot, and the system comprises a monitoring module which comprises a three-dimensional scanning module for scanning an original building base layer in a construction area, a robot state monitoring module, and an operation environment monitoring module; the AI simulation system comprises an obstacle recognition module, a working environment simulation module and a path planning module, the obstacle recognition module carries out 3D modeling and obstacle recognition on the obtained original building base layer information, and the working environment simulation module carries out track simulation on the obtained working environment information; the path planning module plans the motion path of the building robot based on the working environment development trajectory simulation diagram and the obstacle information; and the control driving system comprises a chassis driving module and a mechanical arm driving module. Compared with a conventional construction operation mode, the system has the advantages of being high in efficiency, low in failure rate, capable of achieving automatic correction and reset, capable of achieving multi-machine interaction linkage operation and full-automatic, intelligent and efficient in control.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to an intelligent control system for a construction robot. Background Art

[0002] With the rapid advancement of urbanization, the coverage rate of buildings has increased, and the rationality of distribution has been optimized, which has put forward new and more challenging requirements for the safety and efficiency of construction operations in the construction industry. Especially under dangerous working conditions, while ensuring construction efficiency, ensuring the safety of construction workers has become a key issue of concern. In order to solve the above problems, scientific researchers are researching and developing construction robots that can meet the requirements of high-quality and high-standard construction operations in high-temperature, high-pressure, high-altitude, deep-water, chemical and even nuclear radiation environments, so as to improve the efficiency of construction operations while reducing the input of personnel in high-risk construction environments and reducing the physical and mental damage to personnel.

[0003] At present, remote-controlled and fully automated robots have been increasingly used in industries such as home services and industrial inspections. However, in the construction industry, due to its harsh working environment, high load requirements for robots, and complex on-site conditions, high requirements for the balance performance and flexibility of mobile construction of fully automated robots, robots are less used in this field. When some robots that have achieved automated construction operations face complex terrain and harsh environments, they have poor structural flexibility, resulting in shaking, tipping, and suspension of the chassis drive structure and inability to move during the construction process, which affects construction efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent control system for construction robots in order to solve the problem that conventional construction mostly adopts manual methods, which is inefficient and unsafe, and automated construction robots have poor flexibility in their own structures when facing complex terrain and harsh environments, which may cause shaking, tipping, chassis drive structure suspension, inability to move and other faults during the construction process, thereby affecting construction efficiency.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: an intelligent control system for a construction robot, comprising:

[0006] A monitoring module, which is used for scanning the original building base in the construction area and monitoring the working environment, including a three-dimensional scanning module for scanning the original building base in the construction area, a robot state monitoring module for monitoring the chassis and mechanical arm position and state of the construction robot, and a working environment monitoring module;

[0007] The AI ​​simulation system includes an obstacle recognition module, an operating environment simulation module, and a path planning module. The obstacle recognition module performs 3D modeling based on the original building base information obtained by the stereoscopic scanning module and identifies obstacles on the corresponding surface of the model, which are composed of pits and protrusions. The operating environment simulation module performs trajectory simulation based on the operating environment information obtained by the operating environment monitoring module. The path planning module plans the motion path of the construction robot based on the obstacle information and the operating environment development trajectory simulation diagram obtained by the operating environment simulation module.

[0008] The control drive system includes a chassis drive module and a mechanical arm drive module for driving the construction robot structure based on the construction robot movement route obtained by the path planning module.

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

[0010] The three-dimensional scanning module is composed of 3D scanners arranged at multiple points, different heights and directions.

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

[0012] The working environment simulation module comprises a pneumatic simulation module and a ground vibration simulation module respectively associated with the environmental airflow monitoring module and the ground vibration monitoring module of the working environment monitoring module.

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

[0014] The pneumatic simulation module simulates the airflow trajectory of the environmental airflow information acquired by the environmental airflow monitoring module through real-time monitoring, and the ground motion simulation module simulates the vibration wave trajectory of the ground vibration wave information acquired by the ground vibration monitoring module through real-time monitoring.

[0015] As a further description of the above technical solution:

[0016] The path planning module performs preliminary construction robot movement trajectory planning based on the obstacles identified by the obstacle recognition module to obtain a preliminary route plan. The working environment simulation information obtained by the pneumatic simulation module and the seismic simulation module is combined with the real-time status information of the construction robot obtained by the robot status monitoring module and the various construction robot status information stored in the AI ​​simulation system to perform a comprehensive big data analysis and judgment of the construction robot's movement balance during the preliminary route, and screen out the movement route that meets the robot's movement balance to obtain the final route plan.

[0017] As a further description of the above technical solution:

[0018] The A1 simulation system also includes a force simulation module, which simulates the contact points between the construction robot and the ground at different paths, as well as the overall inclination of the construction robot, the offset position of the center of gravity, and the forces acting on it by the working environment, and determines the possibility of the construction robot tipping over and performs mobile balance analysis.

[0019] As a further description of the above technical solution:

[0020] The AI ​​simulation system also includes a multi-machine interaction module, which is used for comprehensive path planning and control of multiple construction robots. When the moving routes of a certain type of construction robots do not meet the mobile balance judgment, the corresponding category of robots are automatically analyzed to clear obstacles or repair the building base. After the repair or obstacle clearing is completed, the mobile balance judgment is performed again. This process is repeated until the mobile balance judgment of the construction robot is met.

[0021] As a further description of the above technical solution:

[0022] The control drive system also includes a posture correction module, which is composed of a plurality of correction arms arranged circumferentially on the chassis. When the robot state monitoring module detects that the driving wheel on the chassis is suspended and the construction robot cannot move, the correction arm is driven to adjust the tilt state of the chassis so that the driving wheel contacts the original building base.

[0023] In summary, due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0024] 1. When the construction robot moves and operates, the intelligent control system of the present invention scans and models the original building base through the three-dimensional scanning module, and relies on the obstacle recognition module to recognize obstacles to complete the preliminary movement route plan; the working environment such as environmental airflow and ground vibration is monitored and information is acquired, and the development trajectory of the working environment is simulated to serve as a reference for the influence of the working environment on the force of the construction robot during movement; the path planning module analyzes and determines the mobile balance performance of the construction robot when it moves on the preliminary route based on the robot's real-time status and usage status database and the working environment development trajectory diagram, and derives a feasible route plan, which is handed over to the control drive system to drive the construction robot to move and execute the operation.

[0025] 2. The force simulation module simulates and analyzes the force conditions of the construction robot when it moves on the preliminary route, and determines its mobile balance based on the lever principle at the three-dimensional level to prevent it from shaking or tipping over during movement; the multi-machine interaction module can realize the interaction and joint operation of different types of construction robots in pre-set different construction areas to ensure that the construction robot's mobile operation is efficient, low-loss and safe; the posture correction module can automatically correct the state of the construction robot and restore the mobile state when the construction robot is unable to move due to improper route planning caused by blind spots in the scanning and modeling of the original building base, or when the drive structure is suspended, so as to achieve fully automatic and efficient intelligent control of construction operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] Figure 1 The schematic diagram is a structural diagram of an intelligent control system for a construction robot. DETAILED DESCRIPTION

[0028] 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.

[0029] 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.

[0030] 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.

[0031] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0032] 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.

[0033] 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.

[0034] Embodiment 1:

[0035] See also Figure 1 The present invention provides a technical solution: an intelligent control system for a construction robot, comprising:

[0036] A monitoring module, which is used for scanning the original building base in the construction area and monitoring the working environment, including a three-dimensional scanning module for scanning the original building base in the construction area, a robot state monitoring module for monitoring the chassis and mechanical arm position and state of the construction robot, and a working environment monitoring module;

[0037] A l simulation system, including an obstacle recognition module, an operating environment simulation module, and a path planning module. The obstacle recognition module performs 3D modeling based on the original building base information obtained by the stereo scanning module and identifies obstacles on the corresponding surface of the model, which are composed of pits and protrusions. The operating environment simulation module simulates the trajectory of the operating environment information obtained by the operating environment monitoring module. The path planning module plans the motion path of the construction robot based on the obstacle information and the operating environment development trajectory simulation diagram obtained by the operating environment simulation module.

[0038] The control drive system includes a chassis drive module and a mechanical arm drive module for driving the construction robot structure based on the construction robot movement route obtained by the path planning module.

[0039] The stereoscopic scanning module is composed of 3D scanners arranged at multiple points, different heights and directions to ensure sufficient scanning and complete and detailed modeling of the original building base, so that the subsequent working environment trajectory simulation and construction robot movement balance analysis and judgment are more sufficient and accurate, the route planning is more reasonable, and the construction robot movement and construction operations are more stable and efficient.

[0040] The working environment simulation module comprises a pneumatic simulation module and a ground vibration simulation module respectively associated with the environmental airflow monitoring module and the ground vibration monitoring module of the working environment monitoring module.

[0041] The pneumatic simulation module simulates the airflow trajectory of the environmental airflow information acquired by the environmental airflow monitoring module in real time, and the ground vibration simulation module simulates the vibration wave trajectory of the ground vibration wave information acquired by the ground vibration monitoring module in real time. By taking into account the impact of the working environment on the mobile balance of the construction robot, the overall movement and operation of the construction robot are more efficient and stable.

[0042] The path planning module performs preliminary construction robot movement trajectory planning based on the obstacles identified by the obstacle identification module, and obtains a preliminary route plan. The working environment simulation information obtained by the pneumatic simulation module and the seismic simulation module is combined with the real-time state information of the construction robot obtained by the robot state monitoring module and the various construction robot state information stored in the AI ​​simulation system to perform a comprehensive big data analysis and judgment of the mobile balance of the construction robot during the preliminary route, and screen out the mobile route that meets the robot's mobile balance to obtain the final route plan. Among them, the various construction robot state information stored in the AI ​​simulation system mainly includes the use state of the construction robot composed of parameters such as the chassis tilt range and the range of mechanical arm activities, thereby forming a use state database; when the construction robot moves according to the route plan, its structural state changes at the same time to reduce the force of the working environment on the construction robot, reduce its shaking degree, and ensure mobile balance performance.

[0043] The working principle of an intelligent control system for a construction robot in this embodiment includes: when the construction robot moves and works, the original building base is scanned and modeled through the three-dimensional scanning module, and obstacles are identified by relying on the obstacle recognition module to complete the preliminary movement route plan; the working environment such as environmental airflow and ground vibration is monitored and information is acquired, and the development trajectory of the working environment is simulated to serve as a reference for the influence of the working environment on the force of the construction robot during movement; the path planning module analyzes and determines the mobile balance performance of the construction robot when moving on the preliminary route based on the robot's real-time status and usage status database and the working environment development trajectory diagram, and derives a feasible route plan, which is handed over to the control drive system to drive the construction robot to move and execute the operation.

[0044] Embodiment 2:

[0045] See also Figure 1 On the basis of the above-mentioned embodiment one, preferably, the A l simulation system also includes a force simulation module, which simulates the contact points between the construction robot and the ground at different paths, as well as the overall inclination of the construction robot, the offset position of the center of gravity, and the force of the working environment, and determines the possibility of the construction robot tipping over and performs mobile balance analysis.

[0046] The working principle of an intelligent control system for a construction robot in this embodiment includes: a force simulation module simulates and analyzes the force conditions of the construction robot when it moves on a preliminary route, and based on the lever principle at the three-dimensional level, determines its moving balance to prevent it from shaking or tipping over when moving.

[0047] Embodiment three:

[0048] See also Figure 1 On the basis of the above-mentioned embodiment 1, preferably, the A l simulation system also includes a multi-machine interaction module, which is used for comprehensive path planning and control of multiple construction robots. When the moving routes of a certain type of construction robots do not meet the mobile balance judgment, the corresponding category of robots are automatically analyzed to clear obstacles or repair the building base. After the repair or obstacle clearing is completed, the mobile balance judgment is performed again, and this process is repeated until the mobile balance judgment of the construction robot is met.

[0049] The working principle of an intelligent control system for a construction robot in this embodiment includes: a multi-machine interaction module can realize the interaction and joint operation of different types of construction robots in pre-set different construction work areas to ensure that the mobile operation of the construction robot is efficient, low-loss and safe.

[0050] Embodiment 4:

[0051] See also Figure 1 On the basis of the above-mentioned embodiment one, preferably, the control drive system also includes a posture correction module, which is composed of a plurality of correction arms circumferentially arranged on the chassis. When the robot state monitoring module detects that the driving wheel on the chassis is suspended and the construction robot cannot move, the correction arm is driven to adjust the tilt state of the chassis so that the driving wheel contacts the original building base.

[0052] The working principle of an intelligent control system for a construction robot in this embodiment includes: a posture correction module can enable the construction robot to achieve automatic state correction and restore the mobile state when the route planning is improper, the driving structure is suspended, and the construction robot cannot move due to the original building base scanning and modeling blind spots, thereby realizing fully automatic and efficient construction operations.

[0053] 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. An intelligent control system for a construction robot, characterized in that: include: A monitoring module, which is used for scanning the original building base in the construction area and monitoring the working environment, including a three-dimensional scanning module for scanning the original building base in the construction area, a robot state monitoring module for monitoring the chassis and mechanical arm position and state of the construction robot, and a working environment monitoring module; The AI ​​simulation system includes an obstacle recognition module, an operating environment simulation module, and a path planning module. The obstacle recognition module performs 3D modeling based on the original building base information obtained by the stereoscopic scanning module and identifies obstacles on the corresponding surface of the model, which are composed of pits and protrusions. The operating environment simulation module performs trajectory simulation based on the operating environment information obtained by the operating environment monitoring module. The path planning module plans the motion path of the construction robot based on the obstacle information and the operating environment development trajectory simulation diagram obtained by the operating environment simulation module. The control drive system includes a chassis drive module and a mechanical arm drive module for driving the construction robot structure based on the construction robot movement route obtained by the path planning module.

2. The intelligent control system for a construction robot according to claim 1, characterized in that: The three-dimensional scanning module is composed of 3D scanners arranged at multiple points, different heights and directions.

3. The intelligent control system for a construction robot according to claim 1, characterized in that: The working environment simulation module comprises a pneumatic simulation module and a ground vibration simulation module respectively associated with the environmental airflow monitoring module and the ground vibration monitoring module of the working environment monitoring module.

4. The intelligent control system for a construction robot according to claim 3, characterized in that: The pneumatic simulation module simulates the airflow trajectory of the environmental airflow information acquired by the environmental airflow monitoring module through real-time monitoring, and the ground motion simulation module simulates the vibration wave trajectory of the ground vibration wave information acquired by the ground vibration monitoring module through real-time monitoring.

5. The intelligent control system for a construction robot according to claim 4, characterized in that: The path planning module performs preliminary construction robot movement trajectory planning based on the obstacles identified by the obstacle recognition module to obtain a preliminary route plan. The working environment simulation information obtained by the pneumatic simulation module and the seismic simulation module is combined with the real-time status information of the construction robot obtained by the robot status monitoring module and the various construction robot status information stored in the AI ​​simulation system to perform a comprehensive big data analysis and judgment of the construction robot's movement balance during the preliminary route, and screen out the movement route that meets the robot's movement balance to obtain the final route plan.

6. The intelligent control system for a construction robot according to claim 5, characterized in that: The AI ​​simulation system also includes a force simulation module, which simulates the contact points between the construction robot and the ground at different paths, as well as the overall inclination of the construction robot, the offset position of the center of gravity, and the forces acting on it by the working environment, and determines the possibility of the construction robot tipping over and performs mobile balance analysis.

7. The intelligent control system for a construction robot according to claim 1, characterized in that: The AI ​​simulation system also includes a multi-machine interaction module, which is used for comprehensive path planning and control of multiple construction robots. When the moving routes of a certain type of construction robots do not meet the mobile balance judgment, the corresponding category of robots are automatically analyzed to clear obstacles or repair the building base. After the repair or obstacle clearing is completed, the mobile balance judgment is performed again. This process is repeated until the mobile balance judgment of the construction robot is met.

8. The intelligent control system for a construction robot according to claim 1, characterized in that: The control drive system also includes a posture correction module, which is composed of a plurality of correction arms arranged circumferentially on the chassis. When the robot state monitoring module detects that the driving wheel on the chassis is suspended and the construction robot cannot move, the correction arm is driven to adjust the tilt state of the chassis so that the driving wheel contacts the original building base.

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