Intelligent paving robot for automatic path planning

Abstract

The invention provides an intelligent paving robot for automatic path planning, and belongs to the field of paving robots. The problems that an existing paving robot adopts a single steering wheel chassis, the bearing capacity is poor, and the operation precision is low are solved. The system comprises an industrial personal computer, a Slam navigation system, a CPU processor, an AGV controller and a double-steering-wheel type chassis, the industrial personal computer is connected with the CPU processor, the Slam navigation system and the AGV controller are both connected with the CPU processor, and the AGV controller is further connected with the Slam navigation system and the double-steering-wheel type chassis; the double-steering-wheel type chassis comprises two wheel sets, the two wheel sets are arranged at intervals in the advancing direction of the intelligent paving robot, each wheel set comprises a driving steering wheel and a driven steering wheel, and the driving steering wheels and the driven steering wheels are arranged at intervals in the width direction of the double-steering-wheel type chassis; the two driving steering wheels are arranged diagonally, and the two driven steering wheels are arranged diagonally. Universal movement and transverse movement can be achieved, the bearing capacity is high, and the operation precision is high.

Description

Technical Field

[0001] The invention belongs to the field of paving robots, and in particular relates to an intelligent paving robot with automatic path planning. Background Art

[0002] With the continuous advancement of automation technology, the application of paving robots in industry and daily life has become increasingly widespread. Paving robots can automatically perform paving work to replace manual labor, save labor costs, and improve production or transportation efficiency. In intelligent building projects, paving robots need to bear heavy loads and work in a small environment, which puts forward requirements for chassis wheels with large loads and small turning radius. However, existing paving robots are not yet able to perform automatic path planning, and existing paving robots generally use a single steering wheel chassis with poor load-bearing capacity and low operating accuracy. Summary of the invention

[0003] In view of this, in order to solve the problem that the existing paving robots are not capable of automatic path planning and the existing paving robots generally adopt a single steering wheel chassis with poor load-bearing capacity and low operating accuracy, the present invention proposes an intelligent paving robot with automatic path planning.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] An intelligent paving robot with automatic path planning comprises: an industrial computer, a Slam navigation system, a CPU processor, an AGV controller and a dual-steering wheel chassis, wherein the industrial computer is connected to the CPU processor, the Slam navigation system and the AGV controller are both connected to the CPU processor, and the AGV controller is also connected to the Slam navigation system and the dual-steering wheel chassis respectively;

[0006] The dual-steering wheel chassis includes two wheel groups, and the two wheel groups are arranged at intervals along the forward direction of the intelligent paving robot. The wheel groups include an active steering wheel and a driven steering wheel, and the active steering wheel and the driven steering wheel are arranged at intervals along the width direction of the dual-steering wheel chassis; the active steering wheels of the two wheel groups are arranged diagonally, and the driven steering wheels of the two wheel groups are arranged diagonally.

[0007] As a preferred solution for the above-mentioned intelligent paving robot with automatic path planning, the dual-steering wheel chassis also includes two driving structures, and the two driving structures drive the two wheel groups one by one. The driving structure includes a steering wheel motor driver and a steering wheel motor. The AGV controller is connected to the steering wheel motor driver, and the steering wheel motor driver is connected to the steering wheel motor. The steering wheel motor can drive the active steering wheel to rotate.

[0008] As a preferred solution of the above-mentioned intelligent paving robot with automatic path planning, the driving structure also includes a turning motor driver and a turning motor, the AGV controller is connected to the turning motor driver, the turning motor driver is connected to the turning motor, and the turning motor can drive the active steering wheel to turn.

[0009] As a preferred solution of the above-mentioned intelligent paving robot with automatic path planning, the number of the active steering wheels of each wheel set is two, and the two active steering wheels of the wheel set are arranged at intervals.

[0010] As a preferred solution of the above-mentioned intelligent paving robot with automatic path planning, the steering wheel motor is equipped with a built-in encoder.

[0011] As a preferred solution of the above-mentioned intelligent paving robot with automatic path planning, the dual-steering wheel chassis also includes a wheel odometer, which is arranged on the active steering wheel and connected to the encoder.

[0012] As a preferred solution of the above-mentioned intelligent paving robot with automatic path planning, the intelligent paving robot with automatic path planning also includes a lithium battery, which is used to power the CPU processor, the Slam navigation system, the AGV controller and the dual-steering wheel chassis.

[0013] As a preferred solution of the above-mentioned intelligent paving robot with automatic path planning, the intelligent paving robot with automatic path planning also includes a router, and the industrial computer exchanges data with the remote PC through the local area network provided by the router.

[0014] As a preferred solution of the above-mentioned intelligent paving robot with automatic path planning, the Slam navigation system is provided with a laser radar, and the laser radar is connected to the CPU processor.

[0015] As a preferred solution of the above-mentioned intelligent paving robot with automatic path planning, the intelligent paving robot with automatic path planning also includes a distance measuring sensor, and the distance measuring sensor is connected to the CPU processor.

[0016] Compared with the prior art, the intelligent paving robot with automatic path planning provided by the present invention has the following beneficial effects:

[0017] 1. The present invention provides an intelligent paving robot with automatic path planning. In the intelligent paving robot with automatic path planning, a dual-steering wheel chassis includes two wheel groups, two active steering wheels are diagonally arranged, and two driven steering wheels are diagonally arranged. The dual-steering wheel chassis also includes two drive structures, and the two drive structures drive the two wheel groups one by one. The steering wheel motor drives the active steering wheel to rotate around its own center to drive the intelligent paving robot forward. The turning motor can drive the active steering wheel to rotate with the vertical line passing through the contact point of the active steering wheel and the ground as the rotation axis, and can control the intelligent paving robot to turn left, turn right or move laterally. In addition, the two active steering wheels can be controlled by two drive structures respectively, and the speeds of the two active steering wheels can be different or the same. Considering the factors such as manufacturing cost, maintenance convenience and service life, it is most appropriate to adopt a dual-steering wheel chassis. Compared with the single-steering wheel chassis, the dual-steering wheel chassis has obvious advantages, can realize universal movement and lateral movement, has strong load-bearing capacity, and has high operating accuracy.

[0018] 2. The present invention provides an intelligent paving robot with automatic path planning. In the intelligent paving robot with automatic path planning, the intelligent paving robot with automatic path planning is mainly divided into a hardware part and a software part. The hardware part mainly includes an industrial computer, a Slam navigation system, a CPU processor, an AGV controller, and a dual-steering wheel chassis. The software part is centered on the Slam navigation system and includes modules such as positioning, mapping, sensor drive, motion control, and path planning. The intelligent paving robot can perform automatic path planning, achieve higher path optimization efficiency, and improve paving work efficiency, saving manpower and time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 It is a bottom view of a dual-steering wheel chassis of an intelligent paving robot with automatic path planning provided by a specific embodiment of the present invention;

[0021] Figure 2 It is a schematic diagram of the hardware part of the intelligent paving robot with automatic path planning provided by a specific embodiment of the present invention;

[0022] Figure 3 It is a schematic diagram of the software part of the intelligent paving robot with automatic path planning provided in a specific embodiment of the present invention.

[0023] In the figure:

[0024] 1. Active steering wheel; 2. Driven steering wheel. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0026] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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 mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between 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.

[0027] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0028] In the description of this embodiment, the terms "upper", "lower", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0029] See also Figure 1-3The present embodiment is described. The present invention provides an intelligent paving robot with automatic path planning. The intelligent paving robot with automatic path planning comprises: an industrial computer, a Slam navigation system, a CPU processor, an AGV controller and a dual-steering wheel chassis. The industrial computer is connected to the CPU processor, the Slam navigation system and the AGV controller are both connected to the CPU processor, and the AGV controller is also respectively connected to the Slam navigation system and the dual-steering wheel chassis; the dual-steering wheel chassis comprises two wheel sets, and the two wheel sets are spaced apart along the forward direction of the intelligent paving robot. The wheel sets comprise an active steering wheel 1 and a driven steering wheel 2, and the active steering wheel 1 and the driven steering wheel 2 are spaced apart along the width direction of the dual-steering wheel chassis; the active steering wheels 1 of the two wheel sets are diagonally arranged, and the driven steering wheels 2 of the two wheel sets are diagonally arranged.

[0030] In this intelligent paving robot with automatic path planning, a dual-steering wheel chassis is the most suitable one, taking into account factors such as manufacturing cost, maintenance convenience and service life. Compared with a single-steering wheel chassis, a dual-steering wheel chassis has obvious advantages, such as being able to achieve universal movement and lateral movement, having a strong load-bearing capacity and high operating accuracy.

[0031] The automatic path planning intelligent paving robot is mainly divided into hardware and software. Figure 2 As shown, the hardware part mainly includes an industrial computer, a Slam navigation system, a CPU processor, an AGV controller, and a dual-steering wheel chassis. The industrial computer is the brain of the intelligent paving robot, which is used to process and issue various tasks; the Slam navigation system is responsible for sensing the surrounding environmental information; sensing the direction information of the intelligent paving robot, and integrating this information with the wheeled walking mileage to improve the positioning accuracy; the AGV controller is used for information transmission between the Slam navigation system and the dual-steering wheel chassis. The industrial computer transmits control signals to the dual-steering wheel chassis through the CPU processor, and the dual-steering wheel chassis transmits encoder pulse counts to the CPU processor through the AGV controller. In this embodiment, the active steering wheel 1 is made of hard rubber to increase the service life of the wheel.

[0032] The software part is centered on the Slam navigation system, including modules such as positioning, mapping, sensor driving, motion control, and path planning. Figure 3 As shown in the figure. The positioning module is responsible for determining the position of the intelligent paving robot during its movement, the mapping module is responsible for building a grid map based on the environmental information obtained by the sensor, the Slam navigation system driver is responsible for running the two-dimensional laser radar, the AGV controller is responsible for sending speed instructions to the dual-steering wheel chassis, the full-map path planning module is responsible for planning a path from the starting point to the end point on the prior map to guide the running direction of the intelligent paving robot, and the local path planning module is responsible for planning the running path of the intelligent paving robot within a certain period of time on the posterior map so that it can avoid obstacles in the map.

[0033] Optionally, the Slam navigation system is equipped with a laser radar, which is connected to the CPU processor. Laser navigation technology brings extremely high positioning accuracy to the paving robot. The robot uses laser navigation to achieve millimeter-level construction errors. Through laser radar detection and positioning of the environment, it can accurately determine its own position and the laying position of tiles. Visual compensation precise positioning technology further improves the accuracy of the robot, adjusts the robot's posture and position in real time, and ensures the flatness and verticality of the laying of tiles.

[0034] Optionally, the dual-steering wheel chassis also includes two drive structures, and the two drive structures drive the two wheel sets one by one. The drive structure includes a steering wheel motor driver and a steering wheel motor. The AGV controller is connected to the steering wheel motor driver, and the steering wheel motor driver is connected to the steering wheel motor. The steering wheel motor can drive the active steering wheel 1 to rotate. In addition to the wheel set, the dual-steering wheel chassis mainly includes a steering wheel motor driver and a steering wheel motor. The AGV controller is used to receive and send steering wheel motor driver control instructions. The steering wheel motor driver can control the steering wheel motor. The steering wheel motor drives the active steering wheel 1 to rotate around its own center to drive the intelligent paving robot forward.

[0035] It can be understood that the two active steering wheels 1 can be controlled by two driving structures respectively, and the speeds of the two active steering wheels 1 can be different or the same.

[0036] Optionally, the steering wheel motor has a built-in encoder. The dual-steering wheel chassis also includes a wheel odometer, which is arranged on the active steering wheel 1 and connected to the encoder. During the mapping and navigation of the Slam navigation system, it is necessary to locate it at all times. In addition to using laser radar for positioning, a wheel odometer is also used to provide auxiliary positioning; the steering wheel motor has a built-in encoder for providing pulse counts to calculate the wheel odometer data.

[0037] Optionally, the driving structure also includes a turning motor driver and a turning motor, the AGV controller is connected to the turning motor driver, the turning motor driver is connected to the turning motor, and the turning motor can drive the active steering wheel 1 to turn. It can be understood that the turning motor is connected to the active steering wheel 1 through a transmission structure, and the turning motor can drive the active steering wheel 1 to rotate with the vertical line passing through the contact point between the active steering wheel 1 and the ground as the rotation axis, and can control the intelligent paving robot to turn left, turn right or move laterally. It can be understood that since the active steering wheels 1 in the two wheel groups are diagonally arranged, when the turning motor drives the active steering wheel 1 to rotate 90°, the intelligent paving robot can move laterally.

[0038] Optionally, the number of active steering wheels 1 in each wheel set is two, and the two active steering wheels 1 of the wheel set are arranged at intervals. The load-bearing capacity and stability of the double-steering wheel type base can be enhanced. It can be understood that the steering wheel motor in each driving structure can drive the two active steering wheels 1 in one wheel set to rotate, and the turning motor in each driving structure can drive the two active steering wheels 1 in one wheel set to turn.

[0039] Optionally, the intelligent paving robot with automatic path planning also includes a lithium battery, which is used to power a CPU processor, a Slam navigation system, an AGV controller and a dual-steering wheel chassis.

[0040] Optionally, the intelligent paving robot with automatic path planning further includes a router, and the industrial computer exchanges data with the remote PC via the local area network provided by the router, thereby realizing remote data interaction.

[0041] Optionally, the intelligent paving robot with automatic path planning also includes a distance measuring sensor connected to the CPU processor. The distance measuring sensor can detect whether there is an obstacle in front, if there is, it will avoid the obstacle; if not, it will move forward to the target point.

[0042] In smart construction projects, smart paving robots use advanced laser navigation technology, which is 5-7 times more efficient than manual labor. The improvement in construction efficiency is mainly reflected in many aspects. First, smart paving robots can work continuously and can work for more than ten hours a day, while manual construction is limited by physical strength and working hours. Secondly, smart paving robots can complete various operations quickly and accurately. For example, smart paving robots can realize functions such as laying tile glue and laying tiles, and their operation speed is much faster than manual labor.

[0043] Obviously, the embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to specific implementation methods. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. An intelligent paving robot with automatic path planning, characterized in that: include: An industrial computer, a Slam navigation system, a CPU processor, an AGV controller and a dual-steering wheel chassis, wherein the industrial computer is connected to the CPU processor, the Slam navigation system and the AGV controller are both connected to the CPU processor, and the AGV controller is also respectively connected to the Slam navigation system and the dual-steering wheel chassis; the dual-steering wheel chassis comprises two wheel sets, the two wheel sets are arranged at intervals along the forward direction of the intelligent paving robot, the wheel sets comprise an active steering wheel (1) and a driven steering wheel (2), the active steering wheel (1) and the driven steering wheel (2) are arranged at intervals along the width direction of the dual-steering wheel chassis; the active steering wheels (1) of the two wheel sets are arranged diagonally, and the driven steering wheels (2) of the two wheel sets are arranged diagonally.

2. The intelligent paving robot with automatic path planning according to claim 1, characterized in that: The dual-steering wheel chassis also includes two driving structures, and the two driving structures drive the two wheel groups one by one. The driving structure includes a steering wheel motor driver and a steering wheel motor. The AGV controller is connected to the steering wheel motor driver, and the steering wheel motor driver is connected to the steering wheel motor. The steering wheel motor can drive the active steering wheel (1) to rotate.

3. The intelligent paving robot with automatic path planning according to claim 2, characterized in that: The driving structure further comprises a turning motor driver and a turning motor, the AGV controller is connected to the turning motor driver, the turning motor driver is connected to the turning motor, and the turning motor can drive the active steering wheel (1) to turn.

4. The intelligent paving robot with automatic path planning according to claim 2, characterized in that: The number of the active steering wheels (1) of each wheel set is two, and the two active steering wheels (1) of the wheel set are arranged at an interval.

5. The intelligent paving robot with automatic path planning according to claim 2, characterized in that: The steering wheel motor is equipped with an encoder.

6. The intelligent paving robot with automatic path planning according to claim 5, characterized in that: The dual-steering wheel chassis also includes a wheel odometer, which is arranged on the active steering wheel (1) and is connected to the encoder.

7. The intelligent paving robot with automatic path planning according to claim 1, characterized in that: It also includes a lithium battery, which is used to power the CPU processor, the Slam navigation system, the AGV controller and the dual-steering wheel chassis.

8. The intelligent paving robot with automatic path planning according to claim 1, characterized in that: It also includes a router, and the industrial computer exchanges data with the remote PC through the local area network provided by the router.

9. The intelligent paving robot with automatic path planning according to claim 1, characterized in that: The Slam navigation system is provided with a laser radar, and the laser radar is connected to the CPU processor.

10. The intelligent paving robot with automatic path planning according to claim 1, characterized in that: It also includes a distance measuring sensor, which is connected to the CPU processor.

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