All-in-one robot based on Beidou and multi-mode sensing technology

Abstract

The invention discloses an all-in-one robot based on Beidou and a multi-mode sensing technology, and the all-in-one robot is provided with robot hardware and robot software. The robot hardware comprises an AGV trolley, an automatic total station, a satellite receiver, a multi-view camera, a force mode sensor, an acoustic mode sensor, an optical mode sensor, an electric mode sensor and an auxiliary device. The AGV trolley, the automatic total station, the satellite receiver, the multi-view camera, the force mode sensor, the acoustic mode sensor, the optical mode sensor and the electric mode sensor are detachable and are provided with multiple combination modes, and the robot software comprises a construction digital twin system. And the digital twinning system is combined to realize the functions of surveying and paying-off, station bypassing, routing inspection and acceptance inspection.

Description

Technical Field

[0001] The present invention relates to the technical field of construction surveying, and particularly relates to a "multi-in-one" robot based on Beidou and multi-modal sensing technologies. Background Art

[0002] Construction layout refers to the surveying work of setting out the plane position and elevation of engineering buildings on the design drawings onto the actual site using certain surveying instruments and methods, also known as construction setting out. Mapping work is to measure the topographic feature points on the ground using control points and scale them onto the drawing. Construction layout is the opposite. Based on the design dimensions of the building, the geometric relationships between the feature points of each part of the building and the control points are found, and the layout data such as distances, angles, elevations, and coordinates are calculated. Then, using the control points, the feature points of the building are determined on the actual site for construction.

[0003] In traditional construction layout, the plane drawing is the main form of design expression, which is difficult to intuitively display complex construction processes, resulting in construction workers having difficulty understanding complex construction steps and details. Due to the limitations of plane drawings, construction workers usually need to undergo specialized training and be under the guidance of designers to complete construction projects, which not only consumes manpower and time but also greatly increases project costs.

[0004] In traditional construction layout, the original layout data extracts coordinates through CAD drawings and then imports them into instruments such as GPS RTK, total station, and level for measurement. However, RTK technology is vulnerable to obstacles and radio wave interference. Although total stations and levels are less affected by environmental factors, they are cumbersome to operate and have low efficiency, and are prone to confusion and errors when there are many points. Summary of the Invention

[0005] Object of the Invention: The object of the present invention is to solve the deficiencies in the prior art and provide a "multi-in-one" robot based on Beidou and multi-modal sensing technologies.

[0006] Technical Solution: The "multi-in-one" robot of the present invention based on Beidou and multi-modal sensing technologies is provided with robot hardware and robot software. The robot hardware includes an AGV cart, an automatic total station, a satellite receiver, a multi-camera, a force modality sensor, a sound modality sensor, a light modality sensor, an electrical modality sensor, and auxiliary equipment. The AGV cart, automatic total station, satellite receiver, multi-camera, force modality sensor, sound modality sensor, light modality sensor, and electrical modality sensor are detachable and have various combination methods. The robot software includes a construction digital twin system.

[0007] A further improvement of the present invention lies in combining an automatic total station and a satellite receiver to collect data of a control network, and transmitting it back to the construction digital twin system for calculation and storage, which is used for the measurement of the construction control network.

[0008] A further improvement of the present invention lies in combining an automatic total station, a satellite receiver and an AGV cart. In the construction digital twin system, the relative position relationship between the points to be lofted and the construction control network is calculated according to the flow section, functional area and working procedure, and the generated point layout data table is provided to the automatic total station to guide the intelligent line laying of the AGV cart.

[0009] A further improvement of the present invention lies in combining a force modal sensor, a sound modal sensor, a light modal sensor, an electrical modal sensor, an automatic total station, a satellite receiver and a multi-camera. After combination, it is fixedly installed at the construction site to continuously collect the coordinates, images and various sensor data of the construction sites of four typical dangerous and large-scale projects, namely foundation pits, high-supported formworks, steel structure jacking or sliding, and large-volume concrete large-span beams in real time, and transmit them back to the digital twin system for quality and safety monitoring and process acceptance.

[0010] A further improvement of the present invention lies in combining an AGV cart, an automatic total station and a multi-camera. After combination, it travels autonomously in the construction area to collect coordinate and image data of the construction scenes within the driving path, and transmit them back to the digital twin system for quality and safety monitoring and process acceptance.

[0011] A further improvement of the present invention lies in combining an automatic total station and a satellite receiver to establish a Beidou high-precision control network for the construction process.

[0012] A further improvement of the present invention lies in that the AGV cart performs high-precision intelligent line laying indoors and outdoors of building construction.

[0013] A further improvement of the present invention lies in that a force modal sensor, a sound modal sensor, a light modal sensor, an electrical modal sensor, an automatic total station, a satellite receiver and a multi-camera perform fixed-point quality digital on-site supervision for intelligent monitoring of specific dangerous and large-scale projects and digital acceptance of processes.

[0014] A further improvement of the present invention lies in combining an AGV cart, an automatic total station and a multi-camera, and being used for quality and safety mobile intelligent inspection and digital acceptance of processes according to the whole process of building construction.

[0015] Compared with the prior art, the "multi-in-one" robot based on Beidou and multi-modal sensing technology provided by the present invention has at least achieved the following beneficial effects: The set force modality sensor, sound modality sensor, light modality sensor, electrical modality sensor, total station, satellite receiver, and multi-camera for fixed-point quality digital on-site monitoring can be used for safety intelligent monitoring and process digital acceptance. It has high-precision measurement capabilities, can meet the engineering requirements for accuracy, avoids the errors and repetitive work of traditional measurement methods. The hardware devices of the measurement and layout robot are all detachable and have multiple combination methods. Combined with the digital twin system, it can realize functions such as measurement layout, on-site monitoring, inspection, and acceptance, achieving the "integration" of measurement layout, on-site monitoring, inspection, and acceptance functions, which is convenient and reliable. Brief Description of the Drawings

[0016] Figure 1 This is the schematic diagram of the "all-in-one" robot based on Beidou and multi-modal sensing technology of the present invention. Detailed Embodiments

[0017] Now, various exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention.

[0018] The following description of at least one exemplary embodiment is actually merely illustrative and in no way restricts the present invention and its application or use. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the specification.

[0019] In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0020] As Figure 1 shown, for the "all-in-one" robot based on Beidou and multi-modal sensing technology, the "all-in-one" robot is provided with robot hardware and robot software. The robot hardware includes an AGV cart, total station, satellite receiver, multi-camera, force modality sensor, sound modality sensor, light modality sensor, electrical modality sensor, and auxiliary equipment. The AGV cart, total station, satellite receiver, multi-camera, force modality sensor, sound modality sensor, light modality sensor, and electrical modality sensor are detachable and have multiple combination methods. The robot software includes a construction digital twin system.

[0021] To further explain this embodiment, it should be noted that the total station and the satellite receiver are combined to collect data from the control network, which is transmitted back to the construction digital twin system for calculation and storage, and is used for the measurement of the construction control network.

[0022] To further explain this embodiment, it should be noted that an automatic total station, a satellite receiver, and an AGV cart are combined. In the construction digital twin system, the relative position relationship between the points to be lofted and the construction control network is calculated based on the construction section A, the functional area F, and the construction process P. The generated point lofting data table is provided to the automatic total station to guide the intelligent line laying of the AGV cart.

[0023] To further explain this embodiment, it should be noted that a force modal sensor, a sound modal sensor, a light modal sensor, an electrical modal sensor, an automatic total station, a satellite receiver, and a multi-camera are combined. After combination, they are fixed at the construction site to continuously collect the coordinates, images, and various sensor data of the construction sites of four typical dangerous and major projects, namely, foundation pits, high formwork supports, steel structure jacking or sliding, and large-volume concrete large-span beams in real time, and transmit them back to the digital twin system for quality and safety monitoring and process acceptance.

[0024] To further explain this embodiment, it should be noted that an AGV cart, an automatic total station, and a multi-camera are combined. After combination, they move autonomously within the construction area to collect coordinate and image data of the construction scenes within the driving path, and transmit them back to the digital twin system for quality and safety monitoring and process acceptance.

[0025] To further explain this embodiment, it should be noted that an automatic total station and a satellite receiver are combined to establish a Beidou high-precision control network for the construction process.

[0026] To further explain this embodiment, it should be noted that the AGV cart performs high-precision intelligent line laying both indoors and outdoors of building construction.

[0027] To further explain this embodiment, it should be noted that a force modal sensor, a sound modal sensor, a light modal sensor, an electrical modal sensor, an automatic total station, a satellite receiver, and a multi-camera perform fixed-point quality digital on-site supervision for intelligent monitoring and process digital acceptance of specific dangerous and major projects.

[0028] To further explain this embodiment, it should be noted that an AGV cart, an automatic total station, and a multi-camera are combined and used for quality and safety mobile intelligent inspection and process digital acceptance according to the entire process of building construction.

[0029] As can be seen from the above embodiments, the "all-in-one" robot based on Beidou and multi-modal sensing technology provided by the present invention has at least achieved the following beneficial effects: The set force modality sensors, acoustic modality sensors, optical modality sensors, electrical modality sensors, total station theodolites, satellite receivers, and multi-camera fixed-point quality digital on-site inspections can be used for safety intelligent monitoring and digital acceptance of processes. They have high-precision measurement capabilities, can meet the engineering requirements for accuracy, avoid the errors and repetitive work of traditional measurement methods. The hardware equipment of the measurement and layout robot is detachable and has multiple combination methods. Combined with the digital twin system, it can realize functions such as measurement and layout, on-site inspection, patrol inspection, and acceptance, achieving the "integration" of measurement and layout, on-site inspection, patrol inspection, and acceptance functions, which is convenient and reliable and greatly improves the measurement efficiency.

[0030] Although some specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration and not for limiting the scope of the present invention. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. An "all-in-one" robot based on Beidou and multimodal sensing technology, characterized in that: The "all-in-one" robot is equipped with robot hardware and robot software. The robot hardware includes an AGV cart, an automatic total station, a satellite receiver, a multi-eye camera, a force modal sensor, an acoustic modal sensor, an optical modal sensor, an electric modal sensor and auxiliary equipment. The AGV cart, automatic total station, satellite receiver, multi-eye camera, force modal sensor, acoustic modal sensor, optical modal sensor, electric modal sensor are detachable and can be arranged in a variety of combinations. The robot software includes a construction digital twin system.

2. The "all-in-one" robot based on Beidou and multimodal sensing technology according to claim 1, characterized in that: The automatic total station and the satellite receiver are combined to collect data on the control network, and the data is transmitted back to the construction digital twin system for solution and storage, so as to be used for the measurement of the construction control network.

3. The "all-in-one" robot based on Beidou and multimodal sensing technology according to claim 1, characterized in that: The automatic total station, satellite receiver and AGV are combined, and the relative position relationship between the points to be laid out and the construction control network is calculated according to the flow section (A), functional area (F) and process (P) in the construction digital twin system. The generated point layout data table is provided to the automatic total station for guiding the AGV to lay out intelligently.

4. The "all-in-one" robot based on Beidou and multimodal sensing technology according to claim 1, characterized in that: The force modal sensor, acoustic modal sensor, optical modal sensor, electric modal sensor, automatic total station, satellite receiver and multi-camera are combined and installed at a fixed point at the construction site to collect coordinates, images and various sensor data of four typical dangerous and major construction sites, namely foundation pits, high formwork, steel structure jacking or sliding, and large-volume concrete large-span beams, in real time and continuously, and transmit them back to the digital twin system for quality and safety monitoring and process acceptance.

5. The "all-in-one" robot based on Beidou and multimodal sensing technology according to claim 1, characterized in that: The AGV cart, automatic total station, and multi-eye camera are combined to move autonomously in the construction area, collect coordinate and image data of the construction scene in the driving path, and transmit them back to the digital twin system for quality and safety monitoring and process acceptance.

6. The "all-in-one" robot based on Beidou and multimodal sensing technology according to claim 2, characterized in that: The automatic total station and satellite receiver combination establishes a Beidou high-precision control network for the construction process.

7. The "all-in-one" robot based on Beidou and multimodal sensing technology according to claim 3, characterized in that: The AGV vehicle performs high-precision intelligent layout for indoor and outdoor construction.

8. The "all-in-one" robot based on Beidou and multimodal sensing technology according to claim 4, characterized in that: The force modal sensor, acoustic modal sensor, optical modal sensor, electric modal sensor, automatic total station, satellite receiver and multi-camera fixed-point quality digital monitoring are used for intelligent monitoring of specific dangerous and major projects and digital acceptance of work processes.

9. The "all-in-one" robot based on Beidou and multimodal sensing technology according to claim 5, characterized in that: The AGV cart, automatic total station, and multi-camera combination are used for mobile intelligent inspection of quality and safety and digital acceptance of processes based on the entire process of construction.

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