Concrete leveling robot control method and system

Abstract

The invention discloses a concrete leveling robot control method and system. Construction tasks are input through an interaction system; the central control system generates an optimal construction path based on a path algorithm and controls a walking driving motor and a steering motor, so that the robot moves in each construction area based on the construction path, and automatic deviation correction of the moving path is realized in cooperation with positioning data obtained after data fusion is performed by the sensing positioning module based on multiple positioning modules; during operation, the servo motor, the leveling mechanism and other equipment are all automatically controlled and are matched with a sensor system to achieve robot body leveling and laser leveling, so that it is ensured that the operation leveling head is always kept in a horizontal state, and the leveling quality is improved. The full-automatic leveling machine has the advantage of full-automatic operation, so that the leveling operation is more intelligent and efficient.

Description

Technical Field

[0001] The present invention relates to the technical field of construction robots, and more specifically, to a control method and system for a concrete leveling robot. Background Art

[0002] Traditional concrete leveling machines need to be controlled by specialized operators. During their operation, each function and each action, such as the chassis walking, steering, and the lifting and tilting adjustment of the leveling head on the leveling mechanism, requires corresponding manual control buttons to operate, making the operation rather cumbersome. Moreover, this method has high requirements for the operator's leveling operation skills and the operation ability of the leveling machine. For the control of keeping the leveling head horizontal and the control of the construction path, the operation ability ranges of different operators are quite large, resulting in large fluctuations in the quality and efficiency of the leveling operation and poor stability. Summary of the Invention

[0003] The purpose of the present invention is to provide a control method and system for a concrete leveling robot to solve the problems that the traditional concrete leveling method is rather cumbersome, and different operators have a large range of control abilities for keeping the leveling head horizontal and controlling the construction path, resulting in large fluctuations in the quality and efficiency of the leveling operation and poor stability.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions: A control method for a concrete leveling robot, comprising the following steps:

[0005] Step 1: Create a task through an interaction system, set construction parameters, create a construction task, and send the task to a central control system. The central control system performs path algorithm calculation, generates a construction path, and synchronizes the task information to an Internet of Things platform;

[0006] Step 2: Start the machine. A perception and positioning module continuously obtains positioning data. The central control system controls the walking drive motor and the steering motor on the robot chassis to control the robot to automatically walk along the pre-generated construction path and reach each construction site one by one;

[0007] Among them, the perception and positioning module includes but is not limited to an RTK positioning module, a laser SLAM positioning module, a visual SLAM positioning module, and an IMU positioning module. After fusing data through multiple positioning modules, the positioning data of the robot is formed;

[0008] Step 3: Level the robot body. The central control system sends action instructions to a leveling electric push rod and a jacking electric push rod respectively. The jacking electric push rod drives the working leveling head to lower. The central control system continuously obtains the data information of an inclination sensor and simultaneously controls the leveling electric push rod to act to ensure that the working leveling head always remains in a horizontal state;

[0009] Step 4: Laser leveling. According to the size and shape of the construction site, set up laser transmitters around the site, determine the height of the leveling reference plane, and input the relevant data into the central control system. The central control system reads the data of the left laser receiver and the right laser receiver respectively and adjusts their heights to always keep them at the set height corresponding to the laser transmitter.

[0010] Step 5: Start the robot to start working. After laser leveling, the central control system sends instructions to the walking drive motor and the steering motor, and at the same time sends a vibration start instruction to the vibration motor, so that the robot starts to walk and level the ground in real-time with deviation correction. During the operation, the central control system controls the walking drive motor and the steering motor according to the real-time positioning data of the perception and positioning module to ensure that the robot always walks on the planned construction path.

[0011] Step 6: Stop working. The central control system sends a stop instruction to the vibration motor, and sends reset instructions to the leveling electric push rod and the jacking electric push rod respectively to retract the leveling head. When reaching the designated stop working station, send stop instructions to the walking drive motor and the steering motor. The robot repeats steps 1 to 6 to perform operations in the remaining areas and complete the construction task.

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

[0013] In step 1, the central control system synchronizes the task information to the Internet of Things platform through a wireless local area network or a WLAN network.

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

[0015] In step 1, the path algorithm automatically plans and generates the robot operation path according to the map data. The operation path is the optimal path generated based on the construction index data. The construction index data includes the measured coverage rate of the robot movement range and the construction efficiency. The optimal path includes N stations, and the stations include position coordinate information and heading angle information.

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

[0017] In step 2, the central control system determines multiple positioning data obtained by the RTK positioning module, the laser SLAM positioning module, and the visual SLAM positioning module according to the operation scenario type, and automatically calculates the final positioning data based on the multi-sensor data fusion algorithm. Among them, when the operation scenario type is outdoor, the RTK positioning module has a higher priority, and when the operation scenario type is indoor, the laser SLAM positioning module has a higher priority.

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

[0019] In step five, the perception and positioning module judges the position of the robot in real time, and compares the actual position of the robot with the construction path in real time. If the actual position of the robot deviates from the construction path, it automatically calculates the subsequent moving direction and distance, forms construction path correction parameters, and drives the walking drive motor and the steering motor to automatically complete the deviation correction.

[0020] A control system for a concrete leveling robot, comprising:

[0021] A central control system, which includes a perception and positioning module, a planning and control module, a decision-making and control module, and a wireless communication module;

[0022] An interaction system, which is associated with the wireless communication module;

[0023] An Internet of Things platform, which is associated with the wireless communication module;

[0024] Servo motors, including a driving servo motor and a steering servo motor that respectively drive the movement of the moving wheels on the robot chassis and the orientation adjustment;

[0025] A leveling mechanism, on which a leveling electric push rod and a jacking electric push rod are respectively arranged to drive the inclination adjustment and lifting of the leveling head of the robot;

[0026] A sensor system, including an inclination sensor, a left laser receiver and a right laser receiver that are movably arranged on the robot body and correspond to laser transmitters around the construction site.

[0027] As a further description of the above technical solution:

[0028] The servo motors, the leveling mechanism, and the sensor system are all associated with the central control system.

[0029] As a further description of the above technical solution:

[0030] Left and right electric push rods for driving the lifting of the left and right laser receivers are arranged on the robot body.

[0031] In summary, due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0032] 1. The concrete leveling robot control method and system of the present invention input construction tasks through an interaction system; the central control system generates an optimal construction path based on a path algorithm, and controls the walking drive motor and the steering motor, so that the robot moves within each construction area based on the construction path, and cooperates with the positioning data obtained after data fusion based on multiple positioning modules by the perception positioning module to achieve automatic deviation correction of the moving path; during operation, devices such as servo motors and leveling mechanisms are all automatically controlled, and cooperate with the sensor system to achieve leveling of the robot body and laser leveling, thereby ensuring that the operation leveling head always remains horizontal and improving the leveling quality; several stop operation stations are planned on the construction path, where the robot can dock, facilitating its adjustment and maintenance. It has the advantage of fully automatic operation, making the leveling operation more intelligent and efficient.

[0033] 2. The construction path is automatically planned and formed based on map data and combined with construction index data including the calculated coverage rate of the robot's moving range and construction efficiency, ensuring the optimality of the path; multiple positioning technologies based on RTK positioning module, laser SLAM positioning module, visual SLAM positioning module, and IMU positioning module are automatically selected and fused, so that the formed robot positioning data has high precision in various different scenarios such as indoors and outdoors. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0035] Figure 1 It is a flowchart of the working process of a concrete leveling robot control method.

[0036] Figure 2 It is a schematic structural diagram of a concrete leveling robot control system.

[0037] Figure 3 It is a schematic structural diagram of the perception positioning module in a concrete leveling robot control system. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] To make the objectives, 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 some, but not all, of the embodiments of the present invention. Usually, 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.

[0039] Accordingly, 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 claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0040] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0041] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "upper", "inner", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0042] In the description of the present invention, it should also be noted that unless otherwise clearly defined and limited, the terms "set", "installed", "connected", "connected" 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 directly connected, or indirectly connected through an intermediate medium, and can also be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] Please refer to Figures 1-3 , the present invention provides a technical solution: a control method for a concrete leveling robot and a concrete leveling robot control system corresponding to the control method. The control system includes:

[0044] A central control system, which includes a perception and positioning module, a planning and control module, a decision-making and control module, and a wireless communication module;

[0045] An interaction system, which is associated with the wireless communication module;

[0046] An Internet of Things platform, which is associated with the wireless communication module;

[0047] Servo motors, including drive servo motors and steering servo motors that respectively drive the moving wheels on the robot chassis to move and adjust the orientation;

[0048] A leveling mechanism, on which there are provided a leveling electric push rod and a jacking electric push rod that respectively drive the inclination adjustment and lifting of the robot's leveling head;

[0049] A sensor system, including an inclination sensor, a left laser receiver movably arranged on the robot body and corresponding to a laser transmitter around the construction site, and a right laser receiver.

[0050] Wherein, the servo motor, the leveling mechanism, and the sensor system are all associated with the central control system.

[0051] Left and right electric push rods for driving the left and right laser receivers to lift and lower respectively are arranged on the robot body.

[0052] The control method specifically includes the following steps:

[0053] Step 1: Create a task through the interaction system, set construction parameters, create a construction task, and send the task to the central control system. The central control system performs path algorithm calculation, generates a construction path, and synchronizes the task information to the Internet of Things platform; the above process is mainly implemented by the planning control module;

[0054] Step 2: Start the machine. The perception and positioning module continuously obtains positioning data in real time. The central control system controls the walking drive motor and the steering motor on the robot chassis to control the robot to automatically walk along the pre-generated construction path and reach each construction site one by one;

[0055] Wherein, the perception and positioning module includes but is not limited to an RTK positioning module, a laser SLAM positioning module, a visual SLAM positioning module, and an IMU positioning module. After data fusion through multiple positioning modules, the positioning data of the robot is formed;

[0056] RTK (Real-time Kinematic) is a real-time kinematic carrier phase differential technology, mainly used for satellite positioning measurement; laser SLAM and visual SLAM (Simultaneous Localization and Mapping) are robot perception technologies used to simultaneously determine the position of the robot and build a map in an unknown environment; the full name of IMU is Inertial Navigation System;

[0057] Step 3: Level the robot body. The central control system sends action instructions to the leveling electric push rod and the jacking electric push rod respectively. The jacking electric push rod drives the operation leveling head to lower. The central control system continuously obtains the data information of the inclination sensor, and at the same time controls the action of the leveling electric push rod to adjust the inclination of the leveling head to ensure that the operation leveling head always maintains a horizontal state;

[0058] Step 4: Laser leveling. According to the size and shape of the construction site, set up laser transmitters around the site, determine the height of the leveling reference plane, and input the relevant data into the central control system. The central control system reads the data of the left laser receiver and the right laser receiver respectively and adjusts their heights through the left electric push rod and the right electric push rod to keep them always at the set height corresponding to the laser transmitter:

[0059] Step 5: Start the robot to start working. After laser leveling, the central control system sends instructions to the walking drive motor and the steering motor, and at the same time sends a vibration start instruction to the vibration motor, so that the robot starts to walk and level in real-time with deviation correction; during the operation, the central control system controls the walking drive motor and the steering motor according to the real-time positioning data of the perception and positioning module to ensure that the robot always walks on the planned construction path;

[0060] Step 6: Stop working. The central control system sends a stop instruction to the vibration motor, and sends reset instructions to the leveling electric push rod and the lifting electric push rod respectively to retract the leveling head; when reaching the designated stop working station, send stop instructions to the walking drive motor and the steering motor; the robot repeats steps 1 to 6 to perform operations on the remaining areas and complete the construction task.

[0061] Among them, in step 1, the central control system synchronizes the task information to the Internet of Things platform through a wireless local area network or a WLAN network.

[0062] In step 1, the path algorithm automatically plans and generates the robot operation path according to the map data. The operation path is the optimal path generated based on the construction index data. The construction index data includes the measured coverage rate of the robot movement range and the construction efficiency. The optimal path includes N stations, and the stations include position coordinate information and heading angle information.

[0063] In step 2, the central control system determines multiple positioning data obtained by the RTK positioning module, the laser SLAM positioning module, and the visual SLAM positioning module according to the operation scenario type, and automatically calculates the final positioning data based on the multi-sensor data fusion algorithm. Among them, when the operation scenario type is outdoor, the RTK positioning module has a higher priority, and when the operation scenario type is indoor, the laser SLAM positioning module has a higher priority. The above process is mainly implemented by the decision control module.

[0064] In step five, the perception and positioning module determines the position of the robot in real time and compares the actual position of the robot with the construction path in real time. If the actual position of the robot deviates from the construction path, it automatically calculates the subsequent moving direction and distance to form construction path correction parameters, and drives the walking drive motor and the steering motor to automatically complete the deviation correction.

[0065] In summary, due to the adoption of the above technical solutions, a concrete leveling robot control method and system according to an embodiment of the present invention have the following beneficial effects compared with the prior art:

[0066] 1. The concrete leveling robot control method and system of the present invention input construction tasks through the interaction system; the central control system generates the optimal construction path based on the path algorithm, and controls the walking drive motor and the steering motor, so that the robot moves within each construction area based on the construction path, and cooperates with the perception and positioning module to obtain positioning data after data fusion based on a variety of positioning modules, realizing automatic deviation correction of the moving path; during operation, equipment such as servo motors and leveling mechanisms are all automatically controlled, and cooperate with the sensor system to realize the leveling of the robot body and laser leveling, thereby ensuring that the operation leveling head always maintains a horizontal state and improving the leveling quality; several stop operation stations are planned on the construction path, where the robot can dock, facilitating its adjustment and maintenance. It has the advantage of fully automatic operation, making the leveling operation more intelligent and efficient.

[0067] 2. The construction path is automatically planned and formed based on map data and combined with construction index data including the calculated coverage rate of the robot's moving range and construction efficiency, ensuring the optimality of the path; the multiple positioning technologies based on the RTK positioning module, laser SLAM positioning module, visual SLAM positioning module, and IMU positioning module are automatically selected and fused, so that the formed robot positioning data has high precision in various different scenarios such as indoors and outdoors.

[0068] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. A concrete leveling robot control method, characterized in that: The following steps are involved: Step 1: Create a task through the interactive system, set construction parameters, create a construction task, and send the task to the central control system. The central control system performs path algorithm calculation, generates a construction path, and synchronizes the task information to the Internet of Things platform; Step 2: Start the machine, the sensing and positioning module obtains positioning data in real time, and the central control system controls the walking drive motor and the steering motor on the robot chassis to control the robot to automatically walk along the pre-generated construction path and reach the construction sites one by one; The perception and positioning module includes but is not limited to an RTK positioning module, a laser SLAM positioning module, a visual SLAM positioning module, and an IMU positioning module, which forms the positioning data of the robot after data fusion through multiple positioning modules; Step 3: The robot body is leveled. The central control system sends action instructions to the leveling electric push rod and the lifting electric push rod respectively. The lifting electric push rod drives the working leveling head to lower. The central control system obtains the inclination sensor data information in real time and controls the action of the leveling electric push rod to ensure that the working leveling head always remains in a horizontal state. Step 4: Laser leveling: according to the size and shape of the construction site, laser transmitters are set around the site to determine the height of the leveling reference plane, and the relevant data is input into the central control system. The central control system reads the data of the left laser receiver and the right laser receiver respectively and adjusts their heights to keep them at the set height corresponding to the laser transmitter at all times. Step 5: Start the robot and start the operation. After laser leveling, the central control system sends instructions to the walking drive motor and the steering motor, and sends a vibration start instruction to the vibration motor, so that the robot starts walking and leveling in real time with deviation correction. During the operation, the central control system controls the walking drive motor and the steering motor according to the real-time positioning data of the perception and positioning module to ensure that the robot always walks on the planned construction path. Step six: stop the operation, the central control system sends a stop command to the vibrating motor, and sends a reset command to the leveling electric push rod and the lifting electric push rod respectively, so that the leveling head is retracted; when arriving at the designated stop operation site, a stop command is sent to the travel drive motor and the steering motor; the robot repeats steps one to six to perform operations in the remaining areas to complete the construction task.

2. A concrete leveling robot control method according to claim 1, characterized in that: In step one, the central control system synchronizes the task information to the Internet of Things platform via a wireless local area network or a WLAN network.

3. A concrete leveling robot control method according to claim 1, characterized in that: The path algorithm in step one automatically plans and generates the robot's operating path according to the map data. The operating path is the optimal path generated based on the construction index data. The construction index data includes the measured robot movement range coverage and construction efficiency. The optimal path includes N sites, and the sites include location coordinate information and heading angle information.

4. A concrete leveling robot control method according to claim 1, characterized in that: In step 2, the central control system determines the multiple positioning data obtained by the RTK positioning module, laser SLAM positioning module, and visual SLAM positioning module according to the type of the operation scene, and automatically calculates the final positioning data based on the multi-sensor data fusion algorithm. When the operation scene type is outdoor, the RTK positioning module has a higher priority, and when the operation scene type is indoor, the laser SLAM positioning module has a higher priority.

5. A concrete leveling robot control method according to claim 1, characterized in that: The perception and positioning module described in step five determines the robot position in real time, and compares the actual position of the robot with the construction path in real time. If the actual position of the robot deviates from the construction path, it automatically calculates the subsequent moving direction and distance, forms the construction path correction parameters, and drives the walking drive motor and steering motor to automatically complete the deviation correction.

6. A concrete leveling robot control system, characterized in that: include: The central control system includes a sensing and positioning module, a planning and control module, a decision-making and control module, and a wireless communication module; an interactive system associated with the wireless communication module; An Internet of Things platform, which is associated with the wireless communication module; Servo motors, including a driving servo motor and a steering servo motor for driving the moving wheels on the robot chassis to walk and adjust the direction respectively; The leveling mechanism is provided with a leveling electric push rod and a lifting electric push rod for driving the robot leveling head to adjust the inclination and lift respectively; The sensor system includes a tilt sensor, a left laser receiver and a right laser receiver movably arranged on the robot body and corresponding to laser transmitters around the construction site.

7. A concrete leveling robot control system according to claim 6, characterized in that: The servo motor, leveling mechanism and sensor system are all associated with the central control system.

8. A concrete leveling robot control system according to claim 6, characterized in that: The robot body is provided with a left electric push rod and a right electric push rod for respectively driving the left laser receiver and the right laser receiver to rise and fall.

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