Digital twin line drawing robot system and operation method

Abstract

The invention discloses a digital twin line drawing robot system and an operation method. A digital twinning interface module and a data processing unit are arranged in the operation terminal, the middle-low altitude mobile platform and the digital twinning interface module are both connected with the data processing unit, the power supply control module is connected with the digital twinning interface module, and the data processing unit generates instructions after processing construction data. The command is transmitted to the physical entity line drawing robot so as to control the operation mode of the physical entity line drawing robot; the method comprises the steps that construction data are uploaded to the operation terminal, the operation terminal processes the construction data, then generates a control instruction and transmits the control instruction to the physical entity line drawing robot, and the physical entity line drawing robot conducts construction operation under the control instruction of the data processing unit. By simulating the operation process and optimizing the operation process, the operation route can be quickly adjusted and perfected, the operation planning time is shortened, the construction cost is reduced, and the construction quality is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a digital twin line drawing robot system and an operation method. Background Art

[0002] In various road construction and maintenance projects such as highways and expressways, the marking of various types of traffic markings is a huge amount of work. At present, in the marking construction, hand-held marking machines and manned vehicle-mounted marking machines are mainly used, which have a large workload, an unfriendly working environment, and a large number of people involved or involved. The construction quality is seriously dependent on manual experience, resulting in uneven engineering quality, low operating efficiency and high costs. The existing technology, such as a marking machine for highway construction proposed by the utility model patent with authorization announcement number CN 221721337 U, and a fully automatic marking machine proposed by the invention patent with authorization announcement number CN 108000474 B, although it realizes automatic feeding, uniform pushing, etc., and improves efficiency and yield rate, it is still mainly manual operation, and the degree of intelligence is still very low. The existing technology lacks a highly intelligent digital twin marking robot system that can create and edit operation content on an operating terminal such as a computer or mobile terminal, and then transmit the operation instructions to the marking robot to complete the operation. Summary of the invention

[0003] In order to solve the problems existing in the background technology, the purpose of the present invention is to provide a digital twin line drawing robot system and operation method, which effectively solves the problems of low construction efficiency, engineering quality dependence on experience, large number of operators and high construction cost by combining robots, visual perception and digital twin technology.

[0004] The technical solution adopted by the present invention is:

[0005] 1. A digital twin line drawing robot system:

[0006] It includes several physical line drawing robots, medium and low altitude mobile platforms and operation terminals; the operation terminal is equipped with a digital twin interface module and a data processing unit, the medium and low altitude mobile platforms and the digital twin interface module are connected to the data processing unit, and the physical line drawing robot and the digital twin interface module are connected to each other. The data processing unit generates instructions after processing the construction data, and transmits the instructions to the physical line drawing robot to control the operation mode of the physical line drawing robot.

[0007] The physical entity line drawing robot comprises a fuselage, a Mecanum wheel, a spray painting module, a feeding module, a floating balloon, a binocular camera, a centrifugal fan and a power control module; the Mecanum wheel is installed at the bottom of the fuselage, the centrifugal fan, the spray painting module and the feeding module are all installed on the fuselage, the spray painting module and the feeding module are connected, the floating balloon is connected to the fuselage through a cable, the binocular camera is installed at the bottom of the floating balloon through a shaking mechanism, the Mecanum wheel is connected to a Mecanum wheel drive motor, and the shaking mechanism, the centrifugal fan and the Mecanum wheel drive motor are all connected to the power control module.

[0008] The spray painting module includes a pen holder, a pen stand, a worm gear assembly, a screw and a servo; the outer shell of the servo is fixedly installed on the fuselage, the output shaft of the servo is connected to the outer shell of the screw motor, the output shaft of the screw motor is connected to the screw, the top of the pen holder is installed on the pen stand through a spring, a pen head is provided at the bottom of the pen holder, and the screw is connected to the pen stand through the worm gear assembly.

[0009] The worm gear assembly comprises a worm, a worm wheel and a worm gear motor; the outer shell of the worm gear motor can be movably mounted on the screw rod up and down, the output shaft of the worm gear motor is connected to the worm wheel, the worm and the worm wheel are meshingly connected, the worm and the pen holder are fixedly connected, the worm is driven to rotate by the worm wheel, and then the pen holder is driven to rotate around the axial direction of the worm.

[0010] The feeding module includes a paint bucket and an air pump. The paint bucket is fixedly mounted on the machine body. Paint is stored in the paint bucket. The paint bucket is connected to the pen holder through a paint tube. The paint bucket and the air pump are connected. The air pump is used to transport the paint in the paint bucket to the pen holder.

[0011] The pen tip is one of a spray paint pen tip and a smear pen tip.

[0012] 2. An operation method of a digital twin line drawing robot system, comprising the following steps:

[0013] Step S1: First, upload construction data to the operation terminal; the construction data is a construction drawing or construction environment data of the area to be constructed collected by a medium or low altitude mobile platform;

[0014] Step S2: the data processing unit in the operation terminal processes the construction data, generates a control instruction, and transmits it to the physical entity line drawing robot;

[0015] Step S3: After entering the construction area, the physical entity line drawing robot collects local environmental data of the construction area. The data processing unit updates the control instructions based on the local environmental data. The physical entity line drawing robot performs construction operations under the control instructions of the data processing unit.

[0016] The step S2 is specifically as follows:

[0017] Step S2.1, the data processing unit in the operation terminal extracts the working environment information of the robot system from the construction data, and constructs a global navigation map according to the working environment information;

[0018] Step S2.2, the data processing unit constructs a virtual construction environment in the global navigation map;

[0019] Step S2.3: The data processing unit generates a control instruction according to the virtual construction environment and sends it to the line drawing robot, so that the line drawing robot enters the respective construction site.

[0020] The step S3 is specifically as follows:

[0021] Step S3.1, after entering the construction area, the physical entity line drawing robot collects local environmental data of the construction area, constructs a local navigation map and uploads it to the operation terminal;

[0022] Step S3.2, the data processing unit obtains the positioning data of the physical entity line drawing robot in the global navigation map according to the local environment data;

[0023] Step S3.3, the data processing unit assigns work content to the physical entity line drawing robot according to the global navigation map, plans the construction operation motion trajectory in the local navigation map, and converts the trajectory planning results into control instructions, which are passed to the physical entity line drawing robot to provide navigation and guidance for the construction of the physical entity line drawing robot.

[0024] The pen holder is equipped with a worm gear motor and a worm mechanism, which can adjust the pitch angle of the pen holder, thereby expanding the range and flexibility of line drawing. The up and down movement of the pen barrel is achieved by a screw, which further enhances the ability of the physical entity line drawing robot to operate in complex environments, especially in three-dimensional space. In terms of pigment supply, the pigment is transported from the paint bucket on the fuselage to the spray painting module through the paint tube, and the paint in the paint bucket is driven by the air pump to be sent into the pen holder. When the physical entity line drawing robot is spraying paint, the booster device sprays the pigment onto the target plane; and when the painting operation is performed, the feeding device evenly transports the pigment to the coating nozzle, and the roller flattens it. In order to optimize the vertical working environment, when the physical entity line drawing robot is working on a vertical wall or rock wall, the paint tube can be connected to the paint bucket on the ground, thereby reducing the load of the physical entity line drawing robot, improving endurance and enhancing stability.

[0025] The communication control unit preferably adopts wireless communication and a PLC controller, is responsible for receiving control instructions from the data processing unit, performing real-time data processing and decision-making, and outputting precise control signals to the power control module of the physical entity line drawing robot to achieve precise control;

[0026] The vehicle-mounted environmental perception unit is preferably a camera or a point cloud scanning device carried by an air-floating balloon, wherein the air-floating balloon is tethered to the physical line drawing robot by more than three cables, and an oscillating mechanism is provided under the air-floating balloon, and the camera or the point cloud scanning device is provided at the end of the oscillating mechanism for collecting local environmental information around the line drawing robot.

[0027] The medium-to-low altitude mobile platform carrying the sensor array preferably adopts a drone carrying a camera or a point cloud scanning device, which is used to collect global construction environment data and monitor and inspect the operating status of the line drawing robot.

[0028] The operation terminal adopts a computer, a tablet computer or a mobile phone as a control center. A digital twin interface module is provided in the operation terminal. The digital twin interface module uses a software engine to complete the construction of a two-dimensional map or a three-dimensional map based on the image or point cloud data collected by the sensor array and the actual structure of the physical entity line drawing robot, and uses robot simulation software to perform kinematic calculations and dynamic simulations to simulate the movement and interaction of the physical entity line drawing robot; the operation terminal is also provided with a data processing unit, which provides a graphical human-computer interaction interface to optimize the control logic, is used to receive mobile sensor array data, perform image processing and geometric processing on the sensor data, realize effect evaluation, and perform task planning according to the data processing results, optimize its motion path and operation efficiency, design control algorithms, form control instructions, and control the physical entity line drawing robot and its corresponding digital twin interface module. The digital twin interface module is built on the basis of the above-mentioned software and hardware. Through the secondary development interface of the robot simulation platform, it exchanges real-time data with the data processing unit and the power control module, realizes the seamless connection between the robot simulation platform and the computing environment, and the two-way real-time communication with the robot system, ensuring the dynamic synchronization and interactive optimization of the physical robot and the virtual model, the actual road environment and the virtual road environment under a certain delay.

[0029] A digital twin line-drawing robot system proposed in the present invention creates a virtual construction environment by inputting construction drawings or using a mobile platform equipped with a camera or point cloud scanning device to build a construction map, maps the physical line-drawing robot to the virtual construction environment, creates, edits, modifies, optimizes, and previews the line-drawing work content on an operating terminal such as a computer or mobile phone, and then transmits the work instructions to the line-drawing robot to complete the work. At the same time, real-time feedback on the work status is collected to update the virtual construction environment, thereby forming a digital twin system.

[0030] The digital twin line drawing robot system has broad application prospects and market demand. By combining digital twin technology, it is possible to realize the functions of accurate simulation, efficient optimization, real-time monitoring and autonomous decision-making in the construction operation of the line drawing robot, improve the construction efficiency, operation quality and intelligence level of the robot, and reduce the engineering cost. Therefore, the proposal of the present invention has important practical significance and broad application prospects.

[0031] The beneficial effects of the present invention are:

[0032] 1. The special design of the centrifugal fan and the spray painting module in the physical entity line drawing robot of the present invention enables the system to operate on steep walls or vertical walls, greatly enriching the application scenarios and expanding the scope of application.

[0033] 2. The medium and low altitude mobile platforms of the present invention, such as drones, are flexible and have a wide field of vision, and can efficiently construct a global construction map.

[0034] 3. The robot's on-board environmental perception unit has a short observation distance, high accuracy, low cost, easy control, accurate positioning and navigation, and a high degree of overlap with the observation field of view of the medium and low altitude mobile platform, which is convenient for simplifying data processing algorithms such as image or point cloud registration. It can also accompany the robot for a long time, monitor and avoid obstacles in real time, and play a role in compensating for mapping when the residence time and observation field of view of the medium and low altitude mobile platform are limited or obstructed. The two effectively play their respective advantages and make up for each other's shortcomings, which is conducive to improving operation accuracy, efficiency and quality.

[0035] 4. By utilizing the operation cycle prediction capability and real-time virtual display of the digital twin interface module, the position and operation status of the line-drawing robot can be understood at any time, which increases transparency and stability. By simulating and optimizing the operation process, the operation route can be quickly adjusted and improved, which facilitates the identification of bottlenecks and problems in the operation process, facilitates rapid iteration and innovation of operation content, and shortens the operation planning time. The comparison between the dynamically updated physical environment and the virtual environment can quickly discover the abnormal behavior and cause of failure of the robot, and provide corresponding response plans.

[0036] 5. With the help of advanced communication technologies such as 5G and high-performance computing technologies, the present invention can realize remote synchronous operation and cluster operation, reduce manual intervention and labor costs, reduce construction costs, and improve construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0038] Figure 1 It is a top-down axonometric diagram of a physical entity robot in an embodiment of a digital twin line drawing robot system of the present invention;

[0039] Figure 2 This is an axonometric diagram of a physical entity robot in an embodiment of the digital twin line drawing robot system of the present invention from a bottom-up perspective;

[0040] Figure 3 This is a front view of a physical entity robot in an embodiment of a digital twin line drawing robot system of the present invention;

[0041] Figure 4 It is a side view of a physical entity robot of an embodiment of the digital twin line drawing robot system of the present invention;

[0042] Figure 5 A bottom view of a physical entity robot in an embodiment of a digital twin line drawing robot system of the present invention;

[0043] Figure 6 This is a top-down axonometric view of a physical entity robot spray painting module using a spray paint pen head in an embodiment of the digital twin line drawing robot system of the present invention;

[0044] Figure 7 This is a front view of a paint brush head used in a physical entity robot spray painting module of an embodiment of a digital twin line drawing robot system of the present invention;

[0045] Figure 8 This is an upward-looking axonometric view of the physical entity robot spray painting module of the digital twin line drawing robot system embodiment of the present invention using a smear pen head;

[0046] Fig. 9 This is a front view of a physical entity robot spray painting module using a smear pen head in an embodiment of the digital twin line drawing robot system of the present invention;

[0047] Fig.10 This is a line drawing robot operation flow chart of an embodiment of a digital twin line drawing robot system of the present invention;

[0048] Fig.11 This is a schematic diagram of the digital twin principle of the digital twin line drawing robot system embodiment of the present invention;

[0049] Fig.12 It is a schematic diagram of the principle of the model reference adaptive control law of the line drawing operation process of the digital twin line drawing robot system of the present invention.

[0050] In the figure: 1-fuselage; 2-Mecanum wheel; 3-spraying and painting module; 4-paint bucket; 5-air pump; 6-floating balloon; 7-binocular camera; 8-pull cable; 9-centrifugal fan; 10-power control module; 11-centrifugal fan outlet; 12-paint tube; 13-shaking mechanism; 14-Mecanum wheel drive motor; 15-pen holder; 16-pen holder; 17-spring; 18-worm; 19-worm gear; 20-worm gear motor; 21-screw; 22-screw motor; 23-servo; 24-spray paint pen tip; 25-apply pen tip; 26-apply nozzle; 27-roller. DETAILED DESCRIPTION

[0051] The present invention is described in detail below in conjunction with specific implementation cases. The following implementation cases will help those skilled in the art to further understand the present invention, but will not limit the present invention in any form.

[0052] like Figure 1 As shown, the system includes several physical line drawing robots, medium and low altitude mobile platforms and operation terminals; the operation terminal is provided with a digital twin interface module and a data processing unit, each physical line drawing robot is provided with a power control module 10, and the medium and low altitude mobile platform is installed with a sensor array. The power control module 10, the medium and low altitude mobile platform and the digital twin interface module of the physical line drawing robot are all connected to the data processing unit, and the power control module 10 and the digital twin interface module are connected to each other. The medium and low altitude mobile platform is used to collect the construction environment data of the line drawing robot system, and transmit the construction environment data to the data processing unit for processing. The data processing unit generates a control instruction after processing the construction data collected by the medium and low altitude mobile platform, and transmits the control instruction to the physical line drawing robot to control the operation mode of the physical line drawing robot.

[0053] In specific implementation, the medium- and low-altitude mobile platform carrying the sensor array can use a drone carrying a camera or point cloud scanning device to collect global construction environment data and monitor and inspect the operating status of the line-drawing robot to ensure real-time updating and analysis of environmental data during the operation process. The operation terminal can use a computer, tablet computer or mobile phone as the control center. A digital twin interface module is provided in the operation terminal. The digital twin interface module is based on the image or point cloud data (i.e., sensor array data) collected by the sensor array in the medium and low altitude mobile platform and the actual structure of the physical entity line drawing robot. The software engine Unity is used to complete the construction of a two-dimensional map or a three-dimensional map. At the same time, the robot simulation platform Coppeliasim in the digital operation terminal is used to perform kinematic calculations and dynamic simulations to simulate the movement and interaction of the physical entity line drawing robot; the operation terminal is also provided with a data processing unit based on Matlab, which provides a graphical human-computer interaction interface to optimize the control logic, is used to receive the sensor array data collected by the sensor array, performs image processing and geometric processing on the sensor array data, realizes effect evaluation, and performs task planning according to the data processing results, optimizes its motion path and operation efficiency, designs control algorithms, forms control instructions, controls the physical entity line drawing robot and its corresponding digital twin interface module, and adjusts key parameters in the operation process through real-time feedback.

[0054] Among them, the digital twin interface module is built on the basis of the above-mentioned operation terminal hardware. Through the secondary development interface of the robot simulation platform Coppeliasim, it exchanges real-time data with the data processing unit and the power control module (that is, the data processing unit and the power control module of the physical entity line drawing robot are connected through the digital twin interface module), realizing the seamless connection between the robot simulation platform and the computing environment, as well as two-way real-time communication with the power control module, ensuring the dynamic synchronization and interactive optimization of the physical robot and the virtual model, the actual road environment and the virtual road environment under a certain delay.

[0055] like Figure 4-Figure 5 As shown, the physical entity line drawing robot includes a fuselage 1, Mecanum wheels 2, a spray painting module 3, a feeding module, a floating balloon 6, a binocular camera 7, a centrifugal fan 9 and a power control module 10; four rollable Mecanum wheels 2 are installed at the bottom of the fuselage 1, and the Mecanum wheels 2 are used to drive the physical entity line drawing robot to move as a whole, so that the robot can achieve flexible driving in complex terrain, especially in narrow spaces and inclined surfaces. The robot can move smoothly, the power control module 10, the centrifugal fan 9, the spray painting module 3 and the feeding module are all installed on the fuselage 1, and the spray painting module 3 is connected to the feeding module. The feeding module is used to provide paint for the spray painting module 3, and the floating balloon 6 is connected to the fuselage 1 through a cable 8. Figure 3As shown, the binocular camera 7 is installed at the bottom of the floating balloon 6 through a swingable shaking mechanism 13. The binocular camera 7 can use a camera or a point cloud scanning device to collect local environmental information around the physical entity line drawing robot. The Mecanum wheel 2 is connected to the Mecanum wheel drive motor 14. The shaking mechanism 13, the centrifugal fan 9, the air pump 5 in the feeding module and the Mecanum wheel drive motor 14 are all connected to the power control module 10.

[0056] like Figure 2 As shown, a centrifugal fan outlet 11 is provided on one side of the centrifugal fan 9, and a Mecanum wheel drive motor 14 is used to drive the Mecanum wheel 2 to rotate. The four Mecanum wheels 2 in the physical entity line drawing robot constitute a moving and traveling module. The centrifugal fan 9 is used to form a negative pressure at the bottom of the physical entity line drawing robot to assist the physical entity line drawing robot to travel on a steep road surface or even a vertical wall. The centrifugal fan can form a negative pressure at the bottom of the robot to assist the robot to travel on a steep or vertical wall surface, ensuring that the robot can operate stably in various environments. The spray painting module 3 is used for spray painting and drawing lines. The physical entity line drawing robot also includes a communication control unit, which uses wireless communication and a PLC controller to receive control instructions from a data processing unit, perform real-time data processing and decision-making, and then output accurate control signals to the power control module 10 of the physical entity line drawing robot. The power control module 10 is used to control the speed of the centrifugal fan 9, the swing angle of the shaking mechanism 13, and the rotation of the Mecanum wheel 2 through the Mecanum wheel drive motor 14 to achieve precise control. The floating balloon 6 and the binocular camera 7 constitute an on-board environment perception unit. The floating balloon 6 carries a camera or a point cloud scanning device. The floating balloon 6 is tethered to the line drawing robot by three or more cables 8. The length of the cables 8 is adjustable to adjust the floating balloon 6 to the target height. A shaking mechanism 13 is provided below the floating balloon 6. The camera or the point cloud scanning device is provided at the end of the shaking mechanism 13 to collect local environment information around the line drawing robot.

[0057] The robot realizes two-way data exchange with the operation terminal through wireless communication and PLC controller. The on-board environment perception unit provides global perception of the surrounding environment through the air balloon 6 carrying a camera or a point cloud scanning device. The height of the air balloon 6 can be precisely controlled by adjusting the length of the cable 8, so that the height of the balloon can be adjusted according to the operation requirements to optimize the field of view of the sensor. The shaking mechanism 13 under the air balloon 6 enables the sensor to perform a full range of environmental scanning, thereby providing the robot with real-time and accurate environmental data for obstacle avoidance and autonomous positioning.

[0058] like Figure 6As shown, the spray painting module 3 includes a pen holder 15, a pen holder 16, a worm gear assembly, a screw 21, a screw motor 22 and a servo 23; the housing of the servo 23 is fixedly mounted on the body 1 of the physical entity line drawing robot, the output shaft of the servo 23 is connected to the housing of the screw motor 22, so that the screw motor 22 can rotate relative to the servo 23, the output shaft of the screw motor 22 is connected to the screw 21, the top of the pen holder 15 is mounted on the pen holder 16 through a spring 17, a pen head is provided at the bottom of the pen holder 15, the screw 21 is connected to the pen holder 16 through the worm gear assembly, so that the pen holder 15 can move up and down and swing.

[0059] The worm gear assembly includes a worm 18, a worm wheel 19 and a worm gear motor 20; the outer shell of the worm gear motor 20 can be movably mounted on the screw 21 up and down, the output shaft of the worm gear motor 20 is connected to the worm wheel 19, the worm 18 and the worm wheel 19 are meshingly connected, both ends of the worm 18 are fixedly connected to the pen holder 16, and the worm 18 is driven to rotate by the worm wheel 19, thereby driving the pen holder 15 and the pen holder 16 to rotate around the worm 18 axially.

[0060] The feeding module includes a paint bucket 4 and an air pump 5. The paint bucket 4 is fixedly mounted on the body 1 of the physical entity line drawing robot. Paint is stored in the paint bucket 4. The paint bucket 4 is connected to the top of the pen holder 15 through a paint tube 12. The paint bucket 4 and the air pump 5 are connected. The air pump 5 is used to transport the paint in the paint bucket 4 to the pen holder 15.

[0061] like Figure 7 -like Fig. 9 As shown, the pen tip is one of a spray pen tip 24 and a smear pen tip 25; the bottom of the smear pen tip 25 is provided with a coating nozzle 26 for conveying paint and a roller 27 for evenly applying the paint.

[0062] In a specific implementation, the worm 18 is arranged horizontally, and the screw 21 is arranged vertically. When the screw motor 22 drives the screw 21 to rotate, the worm motor 20 threadedly connected to the screw 21 can move up and down, thereby driving the pen holder 15 and the pen stand 16 to move up and down. The spray painting module 3 drives the pen stand 16 to move up and down through the screw 21, further expanding the range of line drawing of the spray painting module 3; the spray painting module 3 uses replaceable pen tips, and there are two types of pen tips: one is a spray paint pen tip 24, which can spray paint onto the target plane; the other is a smear pen tip 25, which includes two parts: a coating nozzle 26 at the rear is used to convey paint, and a roller 27 at the front is used to evenly apply paint. Relying on the spring 17 connected to the pen holder 15, the roller 27 can be close to the ground to ensure that the paint is evenly applied. ; The spring 17 cooperates with the pen holder 16 to ensure that the pen tip can be automatically retracted to protect the pen tip from the impact of uneven road surface; the upper end of the pen barrel 15 is connected to the paint bucket 4 on the fuselage 1 through the paint tube 12, and the paint bucket 4 transports the paint into the pen barrel 15 through the air pump 5. If a spray pen tip 24 is used, the paint is sprayed onto the target plane through a booster device external to the pen barrel 15; if a smearing pen tip 25 is used, the paint is evenly delivered to the coating nozzle 26 through a feeding device external to the pen barrel 15, and the paint is flattened by a roller 27.

[0063] The spray painting module 3 is equipped with a servo 23, which is used to drive the spray painting module 3 to rotate on a horizontal plane, so that the spray painting module 3 can adjust the spraying direction according to the operation requirements, ensuring that the line drawing operation can be flexibly carried out at different angles and areas, realizing the overall steering of the spray painting module 3, and enhancing the operation flexibility; when the line drawing robot is working on a vertical wall, the paint tube 12 can be connected to the paint bucket 4 on the ground to reduce the weight of the line drawing robot body and improve the endurance and stability. At the same time, the paint bucket 4 on the ground transports the paint to the pen holder 15 by air pressure pumping.

[0064] The embodiment of the present invention includes the following steps: Fig.10 As shown:

[0065] Step S1, first, the robot system is initialized, the planning mode of the robot system is determined on the operation terminal, and the construction data is uploaded to the operation terminal according to different planning modes, and the construction data is the existing construction drawing data or the construction environment data collected by the medium and low altitude mobile platform;

[0066] Step S2: the data processing unit in the operation terminal processes the construction data, generates a control instruction, and transmits it to the physical entity line drawing robot;

[0067] Step S3: After entering the construction area, the physical entity line drawing robot collects local environmental data of the construction area. The data processing unit updates the control instructions based on the local environmental data. The physical entity line drawing robot performs construction operations under the control instructions of the data processing unit.

[0068] Wherein, step S1 is specifically as follows:

[0069] Step S1.1, determine the planning method of the robot system on the operation terminal, the planning methods include construction drawing method and construction site image method. If the construction site image method is adopted, proceed to step S1.2; if the construction drawing method is adopted, upload the existing construction drawings to the operation terminal and proceed to step S2;

[0070] Step S1.2, using a medium- and low-altitude mobile platform to collect construction environment data of the area to be constructed, the construction environment data being environment image data or point cloud data;

[0071] Step S1.3, uploading the collected construction environment data to the operation terminal.

[0072] Step S2 is specifically as follows:

[0073] Step S2.1, the data processing unit in the operation terminal extracts the working environment information of the robot system from the construction data, and constructs a low-resolution global navigation map according to the working environment information;

[0074] Step S2.2, the data processing unit constructs a virtual construction environment in the global navigation map through human-computer interaction, and creates, edits, modifies and previews the construction effect;

[0075] Step S2.3: The data processing unit generates a control instruction according to the virtual construction environment and sends it to the line drawing robot, so that the line drawing robot enters the respective construction site.

[0076] Specifically, step S3 is as follows:

[0077] Step S3.1, after entering the construction area, the physical line drawing robot uses its onboard environment perception unit to collect local environment data of the construction area, constructs a high-definition and high-precision local navigation map and uploads it to the operation terminal via network / wireless communication;

[0078] Step S3.2, the data processing unit obtains the positioning data of the physical entity line drawing robot in the global navigation map according to the local environment data;

[0079] Specifically, the data processing unit of the operating terminal completes the autonomous positioning of the physical entity line drawing robot in the global navigation map by extracting information such as feature points and feature lines and using image, point cloud and other data registration and data fusion methods;

[0080] Step S3.3, the data processing unit assigns work content to the physical entity line drawing robot according to the global navigation map, plans the motion trajectory of the construction work within an operation cycle in the local navigation map, and converts the trajectory planning results into control instructions according to the model reference adaptive control law, which are transmitted to the physical entity line drawing robot through network / wireless communication to provide navigation and guidance for the construction of the physical entity line drawing robot in the current operation cycle.

[0081] During the operation process, the physical line drawing robot uses its own on-board environmental perception unit to continuously update the high-definition and high-precision local navigation map, and transmits the local navigation map and on-site operation information to the operation terminal. The operation terminal monitors the accuracy of on-site construction in real time based on the existing virtual construction effects, and updates the construction status in the virtual construction environment until the current cycle operation is completed and the next operation cycle is entered. The working parameters are dynamically adjusted between operation cycles according to changes in the robot load and the working environment to ensure long-term stable operation.

[0082] The digital twin interface module exchanges data with the data processing unit and the physical entity line drawing robot in real time through the secondary development interface of the robot simulation platform Coppeliasim, realizing the seamless connection between the robot simulation platform and the computing environment, and ensuring the dynamic synchronization and interactive optimization of the physical robot and the virtual model, the actual road environment and the virtual road environment under a certain delay. The digital twin principle diagram of the digital twin of the present invention is shown in the figure. Fig.11 The schematic diagram of the model reference adaptive control law principle of the line drawing operation process of the digital twin line drawing robot system of the present invention is shown in FIG. Fig.12 As shown, where r is the reference input, i.e. the desired working line; y m is the estimated desired line output; y is the actual line output; e is the error between the estimated and desired line output; u is the controller command; and p is the parameter setting of the system.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A digital twin line drawing robot system, characterized in that: It includes several physical line drawing robots, medium and low altitude mobile platforms and operation terminals; the operation terminal is equipped with a digital twin interface module and a data processing unit, the medium and low altitude mobile platforms and the digital twin interface module are connected to the data processing unit, and the physical line drawing robot and the digital twin interface module are connected to each other. The data processing unit generates instructions after processing the construction data, and transmits the instructions to the physical line drawing robot to control the operation mode of the physical line drawing robot.

2. A digital twin line drawing robot system according to claim 1, characterized in that: The physical entity line drawing robot comprises a body (1), a Mecanum wheel (2), a spray painting module (3), a feeding module, a floating balloon (6), a binocular camera (7), a centrifugal fan (9) and a power control module (10); the Mecanum wheel (2) is mounted at the bottom of the body (1); the centrifugal fan (9), the spray painting module (3) and the feeding module are all mounted on the body (1); the spray painting module (3) and the feeding module are connected; the floating balloon (6) is connected to the body (1) via a cable (8); the binocular camera (7) is mounted at the bottom of the floating balloon (6) via a shaking mechanism (13); the Mecanum wheel (2) is connected to a Mecanum wheel drive motor (14); the shaking mechanism (13), the centrifugal fan (9) and the Mecanum wheel drive motor (14) are all connected to the power control module (10).

3. A digital twin line drawing robot system according to claim 2, characterized in that: The spray painting module (3) comprises a pen holder (15), a pen holder (16), a worm gear assembly, a screw (21) and a steering gear (23); the housing of the steering gear (23) is fixedly mounted on the fuselage (1), the output shaft of the steering gear (23) is connected to the housing of a screw motor (22), the output shaft of the screw motor (22) is connected to the screw (21), the top of the pen holder (15) is mounted on the pen holder (16) via a spring (17), a pen head is arranged at the bottom of the pen holder (15), and the screw (21) is connected to the pen holder (16) via the worm gear assembly.

4. A digital twin line drawing robot system according to claim 3, characterized in that: The worm gear assembly comprises a worm (18), a worm wheel (19) and a worm gear motor (20); the housing of the worm gear motor (20) is movably mounted on the screw (21) up and down, the output shaft of the worm gear motor (20) is connected to the worm wheel (19), the worm (18) and the worm wheel (19) are meshingly connected, the worm (18) and the pen holder (16) are fixedly connected, the worm (18) is driven to rotate by the worm wheel (19), and the pen holder (15) is driven to rotate axially around the worm (18).

5. A digital twin line drawing robot system according to claim 2, characterized in that: The feeding module comprises a paint bucket (4) and an air pump (5); the paint bucket (4) is fixedly mounted on the machine body (1); paint is stored in the paint bucket (4); the paint bucket (4) is connected to a pen holder (15) via a paint tube (12); the paint bucket (4) and the air pump (5) are connected; the air pump (5) is used to transport the paint in the paint bucket (4) to the pen holder (15).

6. A digital twin line drawing robot system according to claim 3, characterized in that: The pen tip is one of a spray paint pen tip (24) and a smear pen tip (25).

7. A digital twin line drawing robot system operation method applied to the robot system described in any one of claims 1 to 6, characterized in that: The following steps are involved: Step S1: First, upload construction data to the operation terminal; the construction data is construction drawings or construction environment data of the area to be constructed collected by a medium or low altitude mobile platform; Step S2: the data processing unit in the operation terminal processes the construction data, generates a control instruction, and transmits it to the physical entity line drawing robot; Step S3: After entering the construction area, the physical entity line drawing robot collects local environmental data of the construction area. The data processing unit updates the control instructions based on the local environmental data. The physical entity line drawing robot performs construction operations under the control instructions of the data processing unit.

8. The digital twin line drawing robot system operation method according to claim 1, characterized in that: The step S2 is specifically as follows: Step S2.1, the data processing unit in the operation terminal extracts the working environment information of the robot system from the construction data, and constructs a global navigation map according to the working environment information; Step S2.2, the data processing unit constructs a virtual construction environment in the global navigation map; Step S2.3: The data processing unit generates a control instruction according to the virtual construction environment and sends it to the line drawing robot, so that the line drawing robot enters the respective construction site.

9. The digital twin line drawing robot system operation method according to claim 1, characterized in that: The step S3 is specifically as follows: Step S3.1, after entering the construction area, the physical entity line drawing robot collects local environmental data of the construction area, constructs a local navigation map and uploads it to the operation terminal; Step S3.2, the data processing unit obtains the positioning data of the physical entity line drawing robot in the global navigation map according to the local environment data; Step S3.3, the data processing unit assigns work content to the physical entity line drawing robot according to the global navigation map, plans the construction operation motion trajectory in the local navigation map, and converts the trajectory planning results into control instructions, which are passed to the physical entity line drawing robot to provide navigation and guidance for the construction of the physical entity line drawing robot.

Images