Intelligent linkage system of building construction robot and sensor

Abstract

The invention discloses an intelligent linkage system of a building construction robot and a sensor, and the system comprises a camera module which is used for shooting the periphery of the construction robot; the obstacle position calculation module is used for calculating the position of an obstacle in a picture shot by the camera module; the sensor module is used for measuring the safety distance of the construction robot; the processing module carries out judgment according to the position of the obstacle and the safe distance, if the position of the obstacle is outside the safe distance, the construction robot is located in a safe area, and if the position of the obstacle is within the safe distance, the construction robot is located in a dangerous area; and the alarm module receives the processing result of the processing module. The method can solve the problem that the construction robot is prone to being crashed and collided in the working process due to the fact that the number of falling objects on the construction site is large, and the positions of the falling objects cannot be pre-judged in advance.

Description

Technical Field

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

[0002] With the development of modern industry, robots have been increasingly used to replace humans in complex and tedious tasks. They not only reduce human labor intensity, but also greatly improve work efficiency.

[0003] There are many types of construction robots. According to the construction process, robots are divided into demolition, construction surveying, intelligent construction robots combined with construction sites for excavation and walling, prefabricated panels, construction, steel beam welding, steel wire and carbon fiber weaving, concrete spraying, decoration, ground laying, cleaning, construction service robots, etc., which can build houses, towers, bridges, subways and castles. In the later stage of construction, robots are divided into security, property management services, cleaning services, butler services, intelligent building management service robots, etc., mainly serving the maintenance, repair, transportation, cleaning, security, rescue, and monitoring of buildings. According to their common technologies, they can be summarized into three types: high-tech operation, high-tech energy-saving, and self-diagnosis of faults.

[0004] Since construction robots are usually large in weight and size, there are many falling objects at construction sites, and falling objects cannot be predicted in advance, which makes it easy for construction robots to be hit or injured during work. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent linkage system of a construction robot and a sensor in order to solve the problem that there are many falling objects on construction sites and the location of the falling objects cannot be predicted in advance, resulting in the construction robot being easily hit or injured during work.

[0006] In order to achieve the above object, the present invention provides an intelligent linkage system of a construction robot and a sensor, which comprises:

[0007] A camera module, wherein the camera module is used to photograph the surroundings of the construction robot;

[0008] An obstacle position calculation module, the obstacle position calculation module is used to calculate the obstacle position in the photo taken by the camera module;

[0009] A sensor module, wherein the sensor module is used to measure a safety distance of the construction robot;

[0010] A processing module, wherein the processing module makes a judgment based on the obstacle position and the safety distance. If the obstacle position is outside the safety distance, the construction robot is in a safe area; if the obstacle position is within the safety distance, the construction robot is in a dangerous area;

[0011] An alarm module receives the processing result of the processing module, and issues an alarm when the construction robot is in a dangerous area, prompting the construction robot to move to a safe area.

[0012] As a further description of the above technical solution:

[0013] The system also includes a speed sensor module, which is used to detect the driving speed of the construction robot.

[0014] As a further description of the above technical solution:

[0015] The obstacle position calculation module includes a falling object trajectory tracking submodule and a fixed obstacle shape judgment submodule. The falling object trajectory tracking submodule is used to calculate the motion trajectory of the falling object, and the fixed obstacle shape judgment submodule is used to determine whether the construction robot can cross the obstacle. If the construction robot can cross the obstacle, the construction robot directly passes over the obstacle. If the construction robot cannot cross the obstacle, the construction robot re-plans the walking path.

[0016] As a further description of the above technical solution:

[0017] The system also includes a recording and learning module, which is connected to the processing module and is used to record and memorize obstacles that do not need to be detected.

[0018] As a further description of the above technical solution:

[0019] The camera module includes a plurality of cameras, and at least one camera is disposed at the front, rear, left, right and top of the construction robot.

[0020] As a further description of the above technical solution:

[0021] The alarm module includes a sound alarm submodule, a light alarm submodule and a visual alarm submodule. The sound alarm submodule is used to emit an alarm sound, the light alarm submodule is used to emit an alarm light, and the visual alarm submodule is used to display a dynamic image of the position of the obstacle and the construction robot.

[0022] As a further description of the above technical solution:

[0023] The dynamic image at least includes the real-time position, real-time collision time and collision area of ​​the obstacle.

[0024] As a further description of the above technical solution:

[0025] The collision area is marked and distinguished by using a bright and eye-catching color.

[0026] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0027] The present invention provides an intelligent linkage system of a construction robot and a sensor, comprising a camera module, an obstacle position calculation module, a sensor module, a processing module and an alarm module. The camera module is composed of a plurality of cameras and can capture images around the construction robot in real time. The obstacle position calculation module can calculate the motion trajectory of the obstacle in the image through the image. The sensor module can determine whether an intersection area occurs between the motion trajectory and a safety distance detected by the sensor module, thereby determining in advance whether the construction robot will be hit or injured by an obstacle during movement. The intelligent linkage of the construction robot and the sensor can avoid the construction robot from being hit or injured in advance, thereby improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] 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.

[0029] Figure 1 The figure is a schematic diagram of the structure of an intelligent linkage system of a construction robot and a sensor. DETAILED DESCRIPTION

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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, or an indirect connection through an intermediate medium, or it can be a connection between the 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.

[0035] See also Figure 1 The present invention provides an intelligent linkage system of a construction robot and a sensor, comprising:

[0036] A camera module, wherein the camera module is used to photograph the surroundings of the construction robot;

[0037] An obstacle position calculation module, the obstacle position calculation module is used to calculate the obstacle position in the photo taken by the camera module;

[0038] A sensor module, wherein the sensor module is used to measure a safety distance of the construction robot;

[0039] A processing module, wherein the processing module performs calculations based on the obstacle position and the safety distance. If the obstacle position is outside the safety distance, the construction robot is in a safe area; if the obstacle position is within the safety distance, the construction robot is in a dangerous area;

[0040] An alarm module receives the processing result of the processing module, and issues an alarm when the construction robot is in a dangerous area, prompting the construction robot to move to a safe area.

[0041] The system further includes a speed sensor module, which is used to detect the travel speed of the construction robot. The speed sensor module can detect the movement speed of the construction robot and can control the movement speed of the construction robot according to the calculation result of the processing module, so that the construction robot can avoid obstacles in time and improve safety.

[0042] The obstacle position calculation module includes a falling object trajectory tracking submodule and a fixed obstacle shape discrimination submodule. The falling object trajectory tracking submodule is used to calculate the motion trajectory of the falling object, and the fixed obstacle shape discrimination submodule is used to determine whether the construction robot can cross the obstacle. If the construction robot can cross the obstacle, the construction robot directly passes over the obstacle. If the construction robot cannot cross the obstacle, the construction robot replans the walking path. The falling object trajectory tracking submodule performs target tracking of falling objects based on the target tracking algorithm of Kalman filtering, which can monitor the motion trajectory of falling objects in real time, so as to avoid falling objects on the construction robot in advance.

[0043] The system also includes a recording and learning module, which is connected to the processing module and is used to record and memorize obstacles that do not need to be detected. The recording and learning module can avoid system false alarms caused by obstacles that do not affect the system, such as fallen leaves, shredded paper, and plastic, thereby improving the accuracy of early warning.

[0044] The camera module includes a plurality of cameras, and at least one of the cameras is disposed in front, rear, left, right and top of the construction robot. Sensor modules are also disposed in front, rear, left and right of the construction robot, and the sensor modules are distance sensors.

[0045] The alarm module includes a sound alarm submodule, a light alarm submodule and a visual alarm submodule, wherein the sound alarm submodule is used to emit an alarm sound, the light alarm submodule is used to emit an alarm light, and the visual alarm submodule is used to display a dynamic image of the position of the obstacle and the construction robot, so as to improve the prompt effect.

[0046] The dynamic image at least includes the real-time position, real-time collision time and collision area of ​​the obstacle. The collision area is marked and distinguished with a bright and eye-catching color. The dynamic image conveys more intuitive and accurate information to the operator. As the real-time distance gradually decreases, the operator is warned in the form of color gradient.

[0047] Working principle: The present invention provides an intelligent linkage system of a construction robot and a sensor, including a camera module, an obstacle position calculation module, a sensor module, a processing module and an alarm module. The camera module is composed of multiple cameras and can capture images around the construction robot in real time. The obstacle position calculation module can calculate the motion trajectory of the obstacle in the image through the image. The sensor module can determine whether there is an intersection between the motion trajectory and the safety distance detected by the sensor module, so as to determine in advance whether the construction robot will be hit or injured by the obstacle during movement. The intelligent linkage of the construction robot and the sensor can avoid the construction robot from being hit or injured in advance, thereby improving safety.

[0048] 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 linkage system of a construction robot and a sensor, characterized in that: include: A camera module, wherein the camera module is used to photograph the surroundings of the construction robot; An obstacle position calculation module, the obstacle position calculation module is used to calculate the obstacle position in the photo taken by the camera module; A sensor module, wherein the sensor module is used to measure a safety distance of the construction robot; A processing module, wherein the processing module makes a judgment based on the obstacle position and the safety distance. If the obstacle position is outside the safety distance, the construction robot is in a safe area; if the obstacle position is within the safety distance, the construction robot is in a dangerous area; An alarm module receives the processing result of the processing module, and issues an alarm when the construction robot is in a dangerous area, prompting the construction robot to move to a safe area.

2. The intelligent linkage system of a construction robot and a sensor according to claim 1, characterized in that: The system also includes a speed sensor module, which is used to detect the driving speed of the construction robot.

3. The intelligent linkage system of a construction robot and a sensor according to claim 1, characterized in that: The obstacle position calculation module includes a falling object trajectory tracking submodule and a fixed obstacle shape judgment submodule. The falling object trajectory tracking submodule is used to calculate the motion trajectory of the falling object, and the fixed obstacle shape judgment submodule is used to determine whether the construction robot can cross the obstacle. If the construction robot can cross the obstacle, the construction robot directly passes over the obstacle. If the construction robot cannot cross the obstacle, the construction robot re-plans the walking path.

4. The intelligent linkage system of a construction robot and a sensor according to claim 1, characterized in that: The system also includes a recording and learning module, which is connected to the processing module and is used to record and memorize obstacles that do not need to be detected.

5. The intelligent linkage system of a construction robot and a sensor according to claim 1, characterized in that: The camera module includes a plurality of cameras, and at least one camera is disposed at the front, rear, left, right and top of the construction robot.

6. The intelligent linkage system of a construction robot and a sensor according to claim 1, characterized in that: The alarm module includes a sound alarm submodule, a light alarm submodule and a visual alarm submodule. The sound alarm submodule is used to emit an alarm sound, the light alarm submodule is used to emit an alarm light, and the visual alarm submodule is used to display a dynamic image of the position of the obstacle and the construction robot.

7. The intelligent linkage system of a construction robot and a sensor according to claim 6, characterized in that: The dynamic image at least includes the real-time position, real-time collision time and collision area of ​​the obstacle.

8. The intelligent linkage system of a construction robot and a sensor according to claim 7, characterized in that: The collision area is marked and distinguished by using a bright and eye-catching color.

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