Simulation operation simulation method and system of building robot

Abstract

The invention provides a simulation operation simulation method and system of a building robot. The method comprises the following steps: receiving task planning data of a to-be-constructed area; according to the task planning data, executing a construction simulation process and acquiring motion state information of the robot in a simulation environment; according to the motion state information, whether interference exists between a robot body and a building scene or not is judged; if the interference does not exist, calculating various index data of simulation construction in real time according to the motion state information and the construction execution condition; and displaying a simulation result of the simulation construction. The construction precision, safety and efficiency can be improved, the adaptive capacity of the building robot in the complex construction environment is effectively improved, and the research and development and application cost of the building robot is reduced.

Description

Technical Field

[0001] The present invention relates to the field of building automation, and in particular to a simulation method and system for a construction robot's simulated operation. Background Art

[0002] In the construction industry, construction robot technology is gradually emerging, aiming to improve construction efficiency and quality through automation. At present, this field mainly relies on sensor technology to perceive the environment, robot control technology to achieve precise movement, artificial intelligence to improve decision-making capabilities, and multi-sensor fusion to improve positioning and navigation accuracy. However, robots in existing technologies have poor adaptability in complex construction environments, high costs, and lack of unified standards, which makes it difficult for robots from different manufacturers to collaborate and share data, affecting decision-making efficiency and construction accuracy. In addition, when simulating construction actions, existing simulation technologies lack detailed control and observation, making it difficult to detect and correct potential collision problems in a timely manner. Summary of the invention

[0003] In view of the defects in the prior art, the object of the present invention is to provide a simulation method and system for simulated operation of a construction robot.

[0004] According to one aspect of the present invention, there is provided a method for simulating a simulated operation of a construction robot, comprising:

[0005] Receive task planning data for the area to be constructed;

[0006] According to the task planning data, a construction simulation process is executed and motion state information of the robot in the simulation environment is obtained;

[0007] According to the motion state information, determining whether there is interference between the robot body and the building scene;

[0008] If there is no interference, various index data of the simulated construction are calculated in real time according to the motion state information and the construction execution status;

[0009] The simulation results of the simulated construction are displayed.

[0010] Furthermore, the task planning data of the area to be constructed includes operation path node information, action instruction sequence and speed parameters.

[0011] Furthermore, the construction simulation process is executed and the motion state information of the robot in the simulation environment is obtained, wherein the construction simulation process includes switching between path nodes and switching between construction actions.

[0012] Further, performing the construction simulation process and obtaining the motion state information of the robot in the simulation environment includes: executing the construction simulation actions with variable speed, and / or pausing at any frame to observe the details of the construction actions.

[0013] Further, the motion state information of the robot in the simulation environment includes the motion trajectory and attitude change.

[0014] Further, judging whether there is interference between the robot body and the building scene according to the motion state information includes:

[0015] Setting virtual geometric regions for the robot body and the objects in the environment respectively;

[0016] According to the motion state information, when the robot body moves in the environment, it is detected in real time whether there is an overlap between the geometric region of the robot body and the geometric regions of the objects in the environment;

[0017] If there is an overlap between the two regions, there is interference between the robot body and the objects in the environment; otherwise, there is no interference.

[0018] Further, after judging whether there is interference between the robot body and the building scene, it includes: if there is interference between the robot body and the building scene, generating a collision warning message, and displaying the collision position and the collision path node information, and ending the simulation of the construction simulation.

[0019] Further, after the simulation of the construction simulation ends, it includes: adjusting the task planning data according to the collision position and the collision path node information.

[0020] Further, the various index data of the simulated construction include at least one of the time consumption, construction efficiency, coverage rate, and proportion of construction actions.

[0021] According to another aspect of the present invention, there is provided a simulation operation and simulation system for a construction robot, including:

[0022] An input module for receiving the task planning data of the area to be constructed;

[0023] A processing module, including a motion simulation sub-module, a collision detection sub-module, and a construction index calculation sub-module. The motion simulation sub-module is used to perform the construction simulation process and obtain the motion state information of the robot in the simulation environment according to the task planning data; the collision detection sub-module is used to judge whether there is interference between the robot body and the building scene according to the motion state information; the construction index calculation sub-module is used to calculate the various index data of the simulated construction in real time according to the motion state information and the construction execution situation.

[0024] An output module for presenting the simulation results of the simulated construction.

[0025] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0026] 1. Improve construction accuracy and safety: Through precise simulation, it is possible to verify in detail the operation path and actions of the construction robot before construction. By detecting the interference between the robot body and the construction scene during the simulation process, potential collision problems can be discovered and corrected before actual construction, thus effectively avoiding safety accidents during construction.

[0027] 2. Optimize the construction plan and improve construction efficiency: The output simulated construction information provides a scientific reference basis for construction personnel, facilitating the optimization and adjustment of the construction plan, thereby significantly improving construction efficiency, shortening the construction period, and reducing construction costs.

[0028] 3. Reduce R & D and application costs: During the R & D stage of the construction robot, using the simulation technology of the present invention, the performance and functions of the robot can be comprehensively tested and verified in a virtual environment, reducing the number of actual prototype production and debugging times, thereby reducing R & D costs and time. During the application stage, by optimizing the construction plan in advance, reducing errors during construction, the rework costs and equipment maintenance costs caused by construction problems are reduced. In addition, the present invention can also improve the reliability and usability of the robot, making it easier to promote and apply, further reducing the usage threshold and cost of the construction robot.

[0029] 4. Enhance technical adaptability and collaboration: The present invention can effectively improve the adaptability of the construction robot in complex construction environments, enabling it to better cope with dynamic, unstructured, and variable construction sites. At the same time, by establishing unified technical standards and operation specifications, it promotes collaboration and data sharing among construction robots of different manufacturers, improves decision-making efficiency and construction accuracy, ensures the controllability of construction quality and progress, and reduces delivery risks. This helps to promote the standardized development of the construction robot industry. Description of the Drawings

[0030] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, objectives, and advantages of the present invention will become more apparent:

[0031] Figure 1 It is a schematic flow chart of the simulation operation method of the construction robot in an embodiment of the present invention. Detailed Embodiments

[0032] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made. These all belong to the protection scope of the present invention.

[0033] In view of the defects of the existing construction robot technology, such as poor adaptability to complex construction environments, high costs, lack of unified standards, and insufficient details in simulation technology, an embodiment of the present invention provides a simulation operation and simulation method for a construction robot. Referring to Figure 1 as shown, the method includes the following steps:

[0034] S1. Receive the task planning data of the area to be constructed;

[0035] S2. According to the task planning data, execute the construction simulation process and obtain the motion state information of the robot in the simulation environment;

[0036] S3. According to the motion state information, determine whether there is interference (collision) between the robot body and the building scene;

[0037] S4. If there is no interference, calculate the index data of the simulated construction in real time according to the motion state information and the construction execution situation;

[0038] S5. Display the simulation results of the simulated construction. The simulation results of the simulated construction include at least the index data of the simulated construction.

[0039] In the embodiment of the present invention, through precise simulation, the construction path and actions can be optimized in advance, which can improve the adaptability of the construction robot in complex construction environments, enable the robot to better cope with dynamic, unstructured and changeable construction sites, and reduce construction errors and adjustment costs caused by environmental factors. Through the simulation operation platform, users can select different navigation site planning strategies (for planning the position of the machine) and arm actuator waypoint generation strategies (for planning the arm execution actions of the machine at a certain site). According to different environments, on the premise of ensuring safety, the current plan can be iteratively verified as much as possible relying on the simulation platform, so as to achieve the optimal strategy and improve the operation efficiency.

[0040] In the embodiments of the present invention, through simulation optimization, the reliability and usability of the robot can be improved, making it easier to promote and apply, reducing the usage cost of the construction robot, avoiding the high-tech service cost caused by the mismatch between product design and customer requirements, and the training and usage costs increased due to the lack of standardized operation procedures. By establishing unified technical standards and operation specifications, the collaboration and data sharing between construction robots of different manufacturers can be promoted, the decision-making efficiency and construction accuracy can be improved, the controllability of construction quality and progress can be ensured, and the delivery risk can be reduced.

[0041] In some embodiments, the task planning data of the area to be constructed is the pre-planned robot operation path and action data, that is, a complete construction task planning file, including operation path node information, action instruction sequence, speed parameters, etc., and also including the performance parameters of the robot, etc. These data, as the basic input for simulation, can be input manually or imported from other design software, and are used to construct the movement trajectory and execution actions of the robot in the simulation environment.

[0042] In some embodiments, the construction actions of the simulated robot are run in the simulation environment according to the task planning data, and the motion state of the robot is calculated based on the provided robot operation path and action data. The construction simulation process includes the switching between path nodes and the switching between construction actions (i.e., the actions executed by the arm).

[0043] To achieve the switching between path nodes, in some embodiments, the optimal switching method of the actions executed by the arm between nodes is calculated offline. Specifically, for the switching between nodes (i.e., the robot at point A moves to point B), during the process of moving from point A to point B, the postures of the robotic arm include raising the arm, bringing the arm in front of the chest, and assuming the initial posture, etc. The adopted arm posture is determined according to the obstacle information between points A and B, the distance information between points A and B, etc. Exemplarily, if the arm needs to be raised at both point A and point B, and the distance between points A and B is very short, if the arm is brought in front of the chest at point A and then moved to point B and then opened, this process is more time-consuming compared to directly raising the arm at point A and moving to point B. When there is no collision safety hazard in the latter scheme, the latter strategy is executed.

[0044] To obtain more simulation technical details, in some embodiments, during the execution of the construction simulation process, the construction simulation actions are executed at variable speeds, and / or paused at any frame to observe the details of the construction actions, where variable speed means executing the construction simulation actions at multiple speeds or slow speeds.

[0045] In the above embodiments of the present invention, through double-speed simulation and slow-speed simulation during the simulation process, as well as pausing at any frame, the accuracy and detail control of the simulation technology are enhanced, high-precision simulation of construction actions is achieved, potential safety problems can be discovered and corrected in a timely manner, and more accurate and comprehensive reference information is provided for actual construction, thereby improving the overall performance and application value of the construction robot.

[0046] For the convenience of users to observe the details of construction actions, in some embodiments, the construction simulation process is presented in a visual manner.

[0047] In some embodiments, the motion state information (motion model) of the robot in the simulation environment includes the motion trajectory and attitude change. Through the real-time position and attitude of the robot, the three-dimensional model of the building scene, etc., the spatial relationship between the robot body and the building scene can be monitored to determine whether there is interference (collision).

[0048] To determine whether a collision occurs between the robot body and the building scene during the execution of the construction simulation process, in some embodiments, a detection mechanism based on geometric shapes is used to determine whether there is interference between the moving object and the surrounding environment. The specific implementation process is as follows:

[0049] S31. Define the collision area: First, a virtual geometric area is set for the moving object, i.e., the robot body, and the objects in the environment. Specifically, the objects in the environment include the objects that may come into contact with the robot body. The shapes of these geometric areas can be adjusted according to the actual shapes of the robot body and the objects in the environment to ensure that they can accurately reflect the boundaries of the objects. For example, a cube object can be surrounded by a cuboid area.

[0050] S32. Dynamic detection: According to the motion state information, when the robot body moves in the environment, the system will detect in real time whether there is an overlap between the geometric area of the robot body and the geometric areas of the objects in the environment. If there is an overlap between the two areas, it means that there is interference between the robot body and the object in the environment; otherwise, there is no interference.

[0051] Through the above method, the above embodiments of the present invention can effectively determine the interference situation between the moving object and the surrounding environment, and are applicable to various scenarios that require dynamic collision detection.

[0052] In some embodiments, after determining whether there is interference between the robot body and the building scene, it includes: S33. Event triggering and response: If it is detected that there is interference between the robot body and the building scene, the system will record the collision-related information, that is, generate a collision warning message, and display the collision position and the information of the collision path nodes, and the construction simulation ends.

[0053] In some embodiments, the collision warning information includes marking special components at the collision position, and by marking the collision position as a warning, it is convenient to adjust the construction planning result subsequently.

[0054] In some further embodiments, after the simulation of construction simulation is completed, it includes: triggering a corresponding processing mechanism, and adjusting the task planning data according to the collision position and the collision path node information. For example, a warning signal can be issued, the path of the moving object can be adjusted, or other preset operations can be executed.

[0055] In the above embodiments of the present invention, during the simulation of construction simulation, it is detected whether the body of the construction robot interferes (collides) with the construction scene, and when a collision occurs, the simulation is forced to stop. At the same time, special components are marked at the collision position as a warning, and the path node information of the collision is recorded. Thus, the collision problem can be discovered in time and it is convenient to adjust and correct in time, thereby improving the construction safety and efficiency of the construction robot.

[0056] In the above embodiments, the calculation of construction information and the execution of simulation actions are two relatively independent functions that occur in the same time period and are executed in parallel. The calculation of construction information is carried out in real time when the construction simulation action is executed. Therefore, the obtained construction information has the characteristics of dynamic change and real-time nature. In some embodiments, the construction execution situation includes the action execution time, the construction area range, etc. A timer is established in the simulation environment, and the frame rate is 60 (related to the refresh frequency), and the calculation of the simulated construction information is executed once for each frame; the index data of the simulated construction includes at least one of the time consumption of the simulated construction, the construction efficiency, the coverage rate, and the proportion of construction actions. Among them, the time consumption of the simulated construction is the ratio of the total project volume to the construction efficiency, the construction efficiency is the ratio of the completed project volume to the construction time, the coverage rate = actual coverage area / theoretical coverage area × 100%; the proportion of construction actions = the time (or number) of a certain action / the total action time (or number) × 100%; these key index information is displayed to the user in a visual form. In addition to the index data of the simulated construction, the simulation result of the simulated construction also includes the visualization of construction actions, collision warning information, etc. These data can be presented to the user in the form of charts, reports or real-time feedback, which is convenient for the user to observe the details of construction actions, evaluate the rationality of the construction plan, and adjust and optimize as needed.

[0057] In the above embodiments of the present invention, after the simulation is completed, the task book and the controller coding package are exported as the adjusted and optimized task planning list.

[0058] In the method of the above embodiments of the present invention, by receiving a pre-planned operation path and actions, and running a simulation construction in a simulation environment, not only can the simulation process be accelerated or decelerated, but also it can be paused at any frame to observe the details of construction actions. If a collision occurs during the simulation process, it will immediately stop and mark the collision position, providing detailed path node information for timely adjustment. After the normal simulation ends, it can also output comprehensive construction information including the time consumption, construction efficiency, coverage rate, proportion of construction actions, etc., providing a scientific reference for actual construction.

[0059] The above embodiments of the present invention have significant advantages in the field of building robot simulation technology, can effectively improve the construction efficiency and safety of building robots, reduce construction costs and time, and provide strong support for the intelligent development of the construction industry.

[0060] Based on the same concept, another embodiment of the present invention provides a simulation operation simulation system for a building robot, which includes an input module, a processing module, and an output module, wherein: the input module is used to receive task planning data of the area to be constructed; the input module includes an interface module, which is used to connect with local design software and import pre-planned operation path and action data; the processing module includes a motion simulation sub-module, a collision detection sub-module, and a construction index calculation sub-module. The motion simulation sub-module is used to execute a construction simulation process according to the task planning data and obtain the motion state information of the robot in the simulation environment; the collision detection sub-module is used to judge whether there is interference between the robot body and the building scene according to the motion state information; the construction index calculation sub-module is used to calculate various index data of the simulation construction in real time according to the motion state information and the construction execution situation; the output module is used to display the simulation result of the simulation construction.

[0061] In the system of the above embodiments of the present invention, the data acquired by the input module includes path node coordinates, action instruction sequences, speed parameters, etc. The motion simulation sub-module is used to calculate the motion trajectory and attitude change of the robot in the simulation environment according to the input path and action data. After the motion simulation sub-module generates the motion model of the robot, it transmits the motion state data to the collision detection sub-module and the construction index calculation sub-module. The collision detection sub-module is used to monitor the spatial relationship between the robot body and the building scene in real time according to data such as the real-time position and attitude of the robot and the three-dimensional model of the building scene, and determine whether there is interference (collision). When a collision is detected, a collision warning message will be generated, and the collision position and relevant path node information will be transmitted to the output module for display. At the same time, the motion simulation sub-module will also be notified to stop the simulation. The construction index calculation sub-module is used to calculate various indexes of the simulated construction according to the motion data and the execution situation of the construction actions during the simulation process, including the motion trajectory of the robot, the action execution time, the construction area range, etc., such as the time consumption, construction efficiency, coverage rate, proportion of construction actions, etc. The calculated index data is called by the output module for the user to evaluate the performance of the construction plan.

[0062] For the technologies specifically implemented by each module in the above system embodiments of the present invention, the technical features corresponding to each step in the above method embodiments can be adopted, which will not be elaborated here.

[0063] In the above embodiments of the present invention, through precise simulation, it is possible to verify in detail the operation path and actions of the construction robot before construction. During the simulation process, the system can detect in real time the interference between the robot body and the building scene. Once a collision occurs, the simulation will be stopped immediately, and special components will be marked at the collision position as a warning, and at the same time, detailed collision path node information will be provided. This enables construction personnel to discover and correct potential collision problems in advance before actual construction, thereby effectively avoiding safety accidents during construction and improving construction accuracy and safety.

[0064] In the above embodiments of the present invention, it is possible to output detailed simulated construction information including time consumption, construction efficiency, coverage rate, proportion of construction actions, etc. These information provide a scientific reference basis for construction personnel, enabling them to optimize and adjust the construction plan. For example, according to the construction efficiency and coverage rate data, the operation path and action sequence of the robot can be reasonably arranged to reduce unnecessary repeated operations and waiting time; by analyzing the proportion of construction actions, the action design of the robot can be further optimized to improve the fluency and coherence of action execution and optimize the construction plan. The optimized construction plan can significantly improve construction efficiency, shorten the construction period, and reduce construction costs.

[0065] In the research and development stage of construction robots, by using the simulation technology in the above embodiments of the present invention, the performance and functions of the robots can be comprehensively tested and verified in a virtual environment, reducing the number of actual prototypes produced and debugged, thereby reducing the research and development costs and time. In the application stage, by optimizing the construction plan in advance, the errors and adjustments during the construction process are reduced, and the rework costs and equipment maintenance costs caused by construction problems are reduced, thereby reducing the application costs. In addition, the above embodiments of the present invention can also improve the reliability and ease of use of the robots, making them easier to promote and apply, and further reducing the usage threshold and costs of construction robots.

[0066] The above embodiments of the present invention can effectively enhance the adaptability and collaboration of construction robots in complex construction environments, enabling them to better cope with dynamic, unstructured and changeable construction sites. At the same time, by establishing unified technical standards and operation specifications, the collaboration and data sharing among construction robots of different manufacturers are promoted, the decision-making efficiency and construction accuracy are improved, the controllability of construction quality and progress is ensured, and the delivery risk is reduced. This helps to promote the standardized development of the construction robot industry and improve the technical level and competitiveness of the entire industry.

[0067] The output module in the above embodiments of the present invention can display the simulation results in an intuitive and easy-to-understand manner, including the visualization of construction actions, collision warning information, and various construction index data. Users can clearly observe every detail of the construction actions through the visualization interface, discover problems in a timely manner and make adjustments, improving the user experience. At the same time, the detailed and accurate construction index data provides strong decision-making support for users, helping users better evaluate the feasibility of construction plans, formulate reasonable construction plans, and improve the scientificity and effectiveness of project management.

[0068] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which does not affect the essence of the present invention. The above preferred features can be combined arbitrarily without conflict.

Claims

1. A construction robot simulation method, characterized in that: include: Receive task planning data for the area to be constructed; According to the task planning data, a construction simulation process is executed and motion state information of the robot in the simulation environment is obtained; According to the motion state information, determining whether there is interference between the robot body and the building scene; If there is no interference, various index data of the simulated construction are calculated in real time according to the motion state information and the construction execution status; Display the simulation results of simulated construction.

2. The construction robot simulation operation simulation method according to claim 1, characterized in that: The task planning data of the area to be constructed includes operation path node information, action instruction sequence and speed parameters.

3. The construction robot simulation operation simulation method according to claim 1, characterized in that: The construction simulation process is executed and the motion state information of the robot in the simulation environment is obtained, wherein the construction simulation process includes switching between path nodes and switching between construction actions.

4. The construction robot simulation operation simulation method according to claim 1, characterized in that: The executing of the construction simulation process and obtaining the motion state information of the robot in the simulation environment includes: executing the construction simulation action at a variable speed, and / or pausing at any frame to observe the details of the construction action.

5. The construction robot simulation operation simulation method according to claim 1, characterized in that: The motion state information of the robot in the simulation environment includes motion trajectory and posture changes.

6. The construction robot simulation operation simulation method according to claim 1, characterized in that: The determining, based on the motion state information, whether there is interference between the robot body and the building scene includes: Set virtual geometric areas for the robot body and objects in the environment respectively; According to the motion state information, when the robot body moves in the environment, detecting in real time whether there is overlap between the geometric area of ​​the robot body and the geometric area of ​​the object in the environment; If the two areas overlap, there is interference between the robot body and the objects in the environment; otherwise, there is no interference.

7. The construction robot simulation operation simulation method according to claim 1, characterized in that: After determining whether there is interference between the robot body and the building scene, it includes: if there is interference between the robot body and the building scene, a collision warning message is generated, and the collision position and collision path node information are displayed, and the simulated construction simulation ends.

8. The construction robot simulation operation simulation method according to claim 7, characterized in that: After the simulated construction simulation is finished, the method includes: adjusting task planning data according to the collision position and collision path node information.

9. The construction robot simulation operation simulation method according to claim 1, characterized in that: The various indicator data of the simulated construction include at least one of time consumption, construction efficiency, coverage rate and proportion of construction actions.

10. A construction robot simulation system, characterized in that: include: An input module, for receiving task planning data of the area to be constructed; A processing module, comprising a motion simulation submodule, a collision detection submodule and a construction index calculation submodule, wherein the motion simulation submodule is used to execute a construction simulation process and obtain motion state information of the robot in a simulation environment according to the task planning data; The collision detection submodule is used to determine whether there is interference between the robot body and the building scene according to the motion state information; the construction index calculation submodule is used to calculate various index data of the simulated construction in real time according to the motion state information and the construction execution status; Output module, used to display the simulation results of simulated construction.

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