Scheduling method and system of movable sentry robot

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By dividing the area on the two-dimensional floor plan of the construction site and setting color values, combining the working ability of the movable sentinel robot and the neural network model, the dynamic allocation of the robot position is achieved, solving the problem of uneven supervision on the construction site, and ensuring that the supervision of the construction area is in place.

CN119882728APending Publication Date: 2025-04-25XIANYANG JINGWEI INVESTMENT CO LTD +1

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Patent Information

Application Number: CN202411943268.9
Authority / Receiving Office: CN · China
Patent Type: Applications(China)
Current Assignee / Owner
Filing Date: 2024-12-27
Publication Date: 2025-04-25

AI Technical Summary

Technical Problem

In the prior art, the supervision of movable sentinel robots at construction sites in different regions is uneven, resulting in excessive supervision in some areas and insufficient supervision in some areas.

Method used

By drawing a two-dimensional plan of the construction site, dividing it into multiple construction areas, and setting color values for each area according to construction needs. According to the working ability of the movable sentry robot and the needs of the construction link, the color value and working range are set to it, and the position of the robot is adjusted through the neural network model and feature value comparison to ensure that supervision is in place.

Benefits of technology

Dynamic dispatch of movable sentinel robots at the construction site is realized to ensure that supervision in each area is in place and avoid the problem of uneven supervision.

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Abstract

The invention discloses a scheduling method and system for a movable sentry robot. The scheduling method comprises the following steps: drawing a two-dimensional plane graph of a construction site; according to the current construction link, the two-dimensional plane graph of the construction site is divided into a plurality of construction areas, and corresponding color values are set for all points of each construction area according to the construction requirements; according to the working capability of each movable sentinel robot in each construction link, setting a color value corresponding to the current construction link and a working range of the movable sentinel robot for each movable sentinel robot; and according to the working range of each movable sentry robot, the color value corresponding to the current construction link and the two-dimensional plane graph of the construction site of the current construction link, deploying the movable sentry robots of the construction site. According to the construction progress and the working capacity of each movable sentry robot, the movable sentry robots are dispatched in the whole construction site, and it is ensured that all areas of all links of construction are supervised in place.

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Description

Technical Field

[0001] The present invention relates to the technical field of mobile sentinel robots, and in particular to a scheduling method and system for mobile sentinel robots. Background Art

[0002] With the development of intelligence and its integration into all walks of life, it has effectively and significantly improved the development trend of all walks of life, significantly improved the work efficiency of all walks of life, and played a significant role in promoting the development of society. In the construction industry, mobile sentinel robots have also been introduced. These mobile sentinel robots shuttle back and forth at the construction site to escort the progress of the construction.

[0003] At present, in a construction project, multiple mobile sentinel robots are often used. These mobile sentinel robots work together to inspect and supervise the progress of construction in various links of the construction. However, the requirements and construction projects of each link of the construction are different. If the mobile sentinel robots are fixed in the set areas, some areas will be over-supervised and others will be under-supervised. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a scheduling method and system for a mobile sentinel robot in response to the above-mentioned deficiencies in the prior art. According to the progress of construction and the working capacity of each mobile sentinel robot, the mobile sentinel robots are scheduled throughout the construction site to ensure that each area of each link of the construction is properly supervised.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a dispatching method of a movable sentinel robot, comprising:

[0006] Draw a 2D plan of the construction site;

[0007] According to the current construction stage, the two-dimensional plane map of the construction site is divided into multiple construction areas, and the corresponding color values are set for each point in each construction area according to the construction needs;

[0008] According to the working ability of each mobile sentinel robot in each construction link, the color value corresponding to the current construction link and the working range of the mobile sentinel robot are set;

[0009] The movable sentinel robots at the construction site are deployed according to the working range of each movable sentinel robot, the color value corresponding to the current construction link, and the two-dimensional plan of the construction site of the current construction link.

[0010] Furthermore, the setting of the working range of the movable sentinel robot includes:

[0011] According to the indicator parameters of the mobile sentinel robot, the level parameters of the mobile sentinel robot are obtained through the pre-trained neural network model;

[0012] According to the level parameters of the mobile sentinel robot and the set coefficient, the working radius of the mobile sentinel robot is determined;

[0013] Determine the working range of the mobile sentinel robot according to the working radius of the mobile sentinel robot;

[0014] The neural network model is trained by taking the indicator parameters of the movable sentinel robot as input and the level parameters of the movable sentinel robot as output.

[0015] Furthermore, the set coefficient is determined according to the construction link, and each construction link corresponds to a set coefficient.

[0016] Further, the deployment of the movable sentinel robots at the construction site according to the working range of each movable sentinel robot and the color value corresponding to the current construction link, and the two-dimensional plane map of the construction site of the current construction link, includes:

[0017] Establish a distribution map of mobile sentinel robots, and display the positions of each mobile sentinel robot and its corresponding working range in the mobile sentinel robot distribution map in the form of color values;

[0018] The distribution map of the movable sentinel robots in the current construction phase and the two-dimensional plane map of the construction site are divided into a plurality of sub-maps respectively;

[0019] Calculating the characteristic values of each sub-graph in the distribution map of the mobile sentinel robot and the two-dimensional plane map of the construction site respectively, and arranging the characteristic values of each sub-graph into an array to obtain a characteristic array;

[0020] Compare the feature arrays corresponding to the distribution map of the movable sentinel robots and the two-dimensional plan view of the construction site. If the two feature arrays are similar, output the current positions of each movable sentinel robot. Otherwise, adjust the positions of each movable sentinel robot and jump to the establishment of the distribution map of the movable sentinel robot again.

[0021] The movable sentinel robots at the construction site are deployed according to the output of the current positions of each movable sentinel robot.

[0022] Furthermore, the adjusting the position of each movable sentinel robot includes:

[0023] Generate a plurality of random positions by a random algorithm, wherein the number of the plurality of random positions is equal to the number of the movable sentinel robots;

[0024] The plurality of random positions are respectively assigned to each of the movable sentinel robots.

[0025] Furthermore, the deployment of the mobile sentinel robot at the construction site includes:

[0026] According to the output of the current position of each movable sentinel robot and the position of the movable sentinel robot in the current construction link, determining the distance between each movable sentinel robot having the same color value in the working range of the two;

[0027] A combination of the shortest distances between the movable sentinel robots is selected, and the position between the two is changed accordingly.

[0028] Based on the same inventive concept, the present invention also proposes a dispatching system for a mobile sentinel robot, comprising:

[0029] Image drawing module, used to draw a two-dimensional plan of the construction site;

[0030] The construction site drawing module is used to divide the two-dimensional plane map of the construction site into multiple construction areas according to the current construction stage, and set corresponding color values for each point in each construction area according to the construction needs;

[0031] The robot situation drawing module is used to set the color value corresponding to the current construction link and the working range of the movable sentinel robot according to the working ability of each movable sentinel robot in each construction link;

[0032] The robot deployment module is used to deploy the movable sentinel robots at the construction site according to the working range of each movable sentinel robot and the color value corresponding to the current construction link, as well as the two-dimensional plan of the construction site of the current construction link.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] The present invention provides a scheduling method and system for a movable sentinel robot. According to the progress of construction, the work of each robot is displayed on a map in the form of color values, and the robot is assigned a value in the form of color values according to the work capacity. The robots are allocated on the map in the form of color values, and the allocation and mobilization are performed in the form of characteristic values. Finally, the instructions are executed on the robot side, thereby completing the scheduling of the movable sentinel robot in the entire construction site, ensuring that the supervision of each area in each link of the construction is in place.

[0035] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of the overall process of a dispatching method for a mobile sentinel robot provided by the present invention.

[0037] Figure 2 A schematic diagram of the overall structure of a dispatching system for a mobile sentinel robot provided by the present invention. DETAILED DESCRIPTION

[0038] like Figure 1-2 As shown, the present invention provides a scheduling method for a mobile sentinel robot, such as Figure 1 As shown, including:

[0039] Step 1: Draw a 2D plan of the construction site;

[0040] Step 2: According to the current construction stage, divide the two-dimensional plane map of the construction site into multiple construction areas, and set corresponding color values for each point in each construction area according to the construction requirements;

[0041] Step 3: According to the working capabilities of each mobile sentinel robot in each construction link, set the color value corresponding to the current construction link and the working range of the mobile sentinel robot;

[0042] Step 4: Deploy the movable sentinel robots at the construction site according to the working range of each movable sentinel robot and the color value corresponding to the current construction link, as well as the two-dimensional plan of the construction site of the current construction link.

[0043] The invention displays the work of each robot on the map in the form of color values according to the progress of the construction, and assigns values to the robots in the form of color values according to the working capacity. The robots are allocated on the map in the form of color values, and the characteristic values are used for allocation and mobilization during allocation. Finally, the instructions are executed on the robot side, thereby completing the dispatch of the mobile sentinel robots in the entire construction site, ensuring that the supervision of each area in each link of the construction is in place.

[0044] In step 1, the construction site is drawn into a two-dimensional plan, so that the situation of the entire construction site can be displayed in an image, that is, the size of the construction site and the construction projects on the construction site, paving the way for the subsequent use of pixel points.

[0045] In step 2, since the construction project generally has multiple construction links according to the construction process, and the construction method of each link is different, the movable sentinel robot is required to perform different supervisions in different construction areas. Therefore, the present invention divides the two-dimensional plan view of the current link of the construction site into multiple construction areas, and each construction area requires different supervision due to different construction requirements. Therefore, the present invention sets corresponding color values for each point in each construction area according to the construction requirements.

[0046] The purpose of this step is to represent the construction requirements of each area in each construction link through color values, that is, to express the need for mobile sentinel robots to complete supervision, and further convert the construction site into color values and represent it through images to simplify subsequent matching.

[0047] In step 3, the capabilities of each mobile sentinel robot are quantified in terms of color and range, and the mobile sentinel robots are converted into color values and color ranges in the image. Therefore, according to the working capabilities of each mobile sentinel robot in each construction link, the color value corresponding to the current construction link and the working range of the mobile sentinel robot are set.

[0048] The setting of the working range of the movable sentinel robot includes:

[0049] According to the indicator parameters of the mobile sentinel robot, the level parameters of the mobile sentinel robot are obtained through the pre-trained neural network model;

[0050] According to the level parameters of the mobile sentinel robot and the set coefficient, the working radius of the mobile sentinel robot is determined;

[0051] Determine the working range of the mobile sentinel robot according to the working radius of the mobile sentinel robot;

[0052] The neural network model is trained by taking the indicator parameters of the movable sentinel robot as input and the level parameters of the movable sentinel robot as output.

[0053] The above-mentioned method of setting the working range is to determine the working range based on the mobile sentinel robot itself and its own performance and characteristics. The performance and characteristics of the mobile sentinel robot are determined by the index parameters of the mobile sentinel robot, and these index parameters depend on the standards produced by the manufacturer who customized the mobile sentinel robot, and the set coefficient is set according to the conditions of the construction site. In the present invention, the set coefficient is determined according to the construction link, and each construction link corresponds to a set coefficient.

[0054] In step 4, since the image transformation of the construction site and the image transformation of the mobile sentinel robot have been determined above, this step completes the deployment of the mobile sentinel robot by processing the image pixel value. That is, the deployment of the mobile sentinel robot at the construction site according to the working range of each mobile sentinel robot and the color value corresponding to the current construction link, as well as the two-dimensional plane map of the construction site at the current construction link, includes:

[0055] Establish a distribution map of mobile sentinel robots, and display the positions of each mobile sentinel robot and its corresponding working range in the mobile sentinel robot distribution map in the form of color values;

[0056] The distribution map of the movable sentinel robots in the current construction phase and the two-dimensional plane map of the construction site are divided into a plurality of sub-maps respectively;

[0057] Calculating the characteristic values of each sub-graph in the distribution map of the mobile sentinel robot and the two-dimensional plane map of the construction site respectively, and arranging the characteristic values of each sub-graph into an array to obtain a characteristic array;

[0058] Compare the feature arrays corresponding to the distribution map of the movable sentinel robots and the two-dimensional plan view of the construction site. If the two feature arrays are similar, output the current positions of each movable sentinel robot. Otherwise, adjust the positions of each movable sentinel robot and jump to the establishment of the distribution map of the movable sentinel robot again.

[0059] The movable sentinel robots at the construction site are deployed according to the output of the current positions of each movable sentinel robot.

[0060] The above-mentioned allocation method adopts the characteristic value method after the color value. If the two arrays are similar, it means that the matched movable sentinel robot matches the construction requirements of the current construction link. Therefore, the present invention determines whether the matching is completed by re-arranging the movable sentinel robot and then calculating.

[0061] Wherein, adjusting the position of each movable sentinel robot comprises:

[0062] Generate a plurality of random positions by a random algorithm, wherein the number of the plurality of random positions is equal to the number of the movable sentinel robots;

[0063] The plurality of random positions are respectively assigned to each of the movable sentinel robots.

[0064] The present invention changes the position of the movable sentinel robot in a random manner, so that the movable sentinel robot can be redistributed.

[0065] In the present invention, the deployment of the movable sentinel robot at the construction site includes:

[0066] According to the output of the current position of each movable sentinel robot and the position of the movable sentinel robot in the current construction link, determining the distance between each movable sentinel robot having the same color value in the working range of the two;

[0067] A combination of the shortest distances between the movable sentinel robots is selected, and the position between the two is changed accordingly.

[0068] The two described in the present invention, one is the output of the current position of each movable sentinel robot, that is, the position of the movable sentinel robot after allocation, and the other is the position of the movable sentinel robot in the current construction link, that is, the position of the movable sentinel robot before allocation, and each movable sentinel robot between the two corresponds one to one.

[0069] In the present invention, the shortest distance between each movable sentinel robot is the shortest distance between each corresponding movable sentinel robot, and then the shortest distances are combined. In this way, the distance moved by each movable sentinel robot when changing its position can be the shortest, which plays a role in fast and efficient switching of construction links.

[0070] Based on the above-mentioned dispatching method of a mobile sentinel robot, the present invention also proposes a dispatching system of a mobile sentinel robot, which is used as an execution unit of the above-mentioned method and is divided into the following four modules: Figure 2 As shown, including:

[0071] Image drawing module, used to draw a two-dimensional plan of the construction site;

[0072] The construction site drawing module is used to divide the two-dimensional plane map of the construction site into multiple construction areas according to the current construction stage, and set corresponding color values for each point in each construction area according to the construction needs;

[0073] The robot situation drawing module is used to set the color value corresponding to the current construction link and the working range of the movable sentinel robot according to the working ability of each movable sentinel robot in each construction link;

[0074] The robot deployment module is used to deploy the movable sentinel robots at the construction site according to the working range of each movable sentinel robot and the color value corresponding to the current construction link, as well as the two-dimensional plan of the construction site of the current construction link.

[0075] The above modules coordinate with each other and work together to implement the above-mentioned scheduling method of a movable sentinel robot.

[0076] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment based on the technical essence of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A method for dispatching a mobile sentinel robot, characterized in that: include: Draw a 2D plan of the construction site; According to the current construction stage, the two-dimensional plane map of the construction site is divided into multiple construction areas, and the corresponding color values are set for each point in each construction area according to the construction needs; According to the working ability of each mobile sentinel robot in each construction link, the color value corresponding to the current construction link and the working range of the mobile sentinel robot are set; The movable sentinel robots at the construction site are deployed according to the working range of each movable sentinel robot, the color value corresponding to the current construction link, and the two-dimensional plan of the construction site of the current construction link.

2. A method for dispatching a mobile sentinel robot according to claim 1, characterized in that: The setting of the working range of the movable sentinel robot includes: According to the indicator parameters of the mobile sentinel robot, the level parameters of the mobile sentinel robot are obtained through the pre-trained neural network model; According to the level parameters of the mobile sentinel robot and the set coefficient, the working radius of the mobile sentinel robot is determined; Determine the working range of the mobile sentinel robot according to the working radius of the mobile sentinel robot; The neural network model is trained by taking the indicator parameters of the movable sentinel robot as input and the level parameters of the movable sentinel robot as output.

3. A method for dispatching a mobile sentinel robot according to claim 2, characterized in that: The set coefficient is determined according to the construction link, and each construction link corresponds to a set coefficient.

4. A method for dispatching a mobile sentinel robot according to claim 1, characterized in that: The mobile sentinel robots at the construction site are deployed according to the working range of each mobile sentinel robot and the color value corresponding to the current construction link, as well as the two-dimensional plane map of the construction site of the current construction link, including: Establish a distribution map of mobile sentinel robots, and display the positions of each mobile sentinel robot and its corresponding working range in the mobile sentinel robot distribution map in the form of color values; The distribution map of the movable sentinel robots in the current construction phase and the two-dimensional plane map of the construction site are divided into a plurality of sub-maps respectively; Calculating the characteristic values of each sub-graph in the distribution map of the mobile sentinel robot and the two-dimensional plane map of the construction site respectively, and arranging the characteristic values of each sub-graph into an array to obtain a characteristic array; Compare the feature arrays corresponding to the distribution map of the movable sentinel robots and the two-dimensional plan view of the construction site. If the two feature arrays are similar, output the current positions of each movable sentinel robot. Otherwise, adjust the positions of each movable sentinel robot and jump to the establishment of the distribution map of the movable sentinel robot again. The movable sentinel robots at the construction site are deployed according to the output of the current positions of each movable sentinel robot.

5. A method for dispatching a mobile sentinel robot according to claim 4, characterized in that: The step of adjusting the position of each movable sentinel robot comprises: Generate a plurality of random positions by a random algorithm, wherein the number of the plurality of random positions is equal to the number of the movable sentinel robots; The plurality of random positions are respectively assigned to each of the movable sentinel robots.

6. A method for dispatching a mobile sentinel robot according to claim 4, characterized in that: The deployment of the movable sentinel robot at the construction site includes: According to the output of the current position of each movable sentinel robot and the position of the movable sentinel robot in the current construction link, determining the distance between each movable sentinel robot having the same color value in the working range of the two; A combination of the shortest distances between the movable sentinel robots is selected, and the position between the two is changed accordingly.

7. A dispatching system for a mobile sentinel robot, characterized in that: include: Image drawing module, used to draw a two-dimensional plan of the construction site; The construction site drawing module is used to divide the two-dimensional plane map of the construction site into multiple construction areas according to the current construction stage, and set corresponding color values for each point in each construction area according to the construction needs; The robot situation drawing module is used to set the color value corresponding to the current construction link and the working range of the mobile sentinel robot according to the working ability of each mobile sentinel robot in each construction link; The robot deployment module is used to deploy the movable sentinel robots at the construction site according to the working range of each movable sentinel robot and the color value corresponding to the current construction link, as well as the two-dimensional plan of the construction site of the current construction link.