A path optimization system and method for a smart stringing robot

Abstract

The application discloses a path optimization system and method for an intelligent stringing robot, and relates to the technical field of artificial intelligence.The application realizes intelligent stringing robot path optimization through multi-dimensional innovation.Work sub-regions are divided according to power and dynamically matched with work ranges, device endurance and task requirements are accurately adapted, multi-machine collaborative scheduling efficiency is improved, and efficient execution of stringing tasks is ensured.A tilt detection system is constructed by means of vertical marker light and auxiliary analysis light, light projection deviation is quantified by combining image sensors, the tilt angle of the work area is accurately calculated, and reliable data is provided for path optimization.With the aid of tilt data interaction between multiple machines and the reference distance proportion compensation mechanism, the stringing path is dynamically corrected at the boundary of adjacent sub-regions, error accumulation caused by terrain differences is eliminated, and cable laying accuracy is ensured.Error analysis sets are established to realize data tracing and provide systematic support for construction process optimization, and work performance and construction quality are comprehensively improved.

Description

A path optimization system and method for intelligent wire-laying robots Technical Field

[0001] This invention relates to the field of artificial intelligence technology, specifically a path optimization system and method for intelligent wire-laying robots. Background Technology

[0002] In the field of modern engineering construction, intelligent cable laying robots have significantly improved the efficiency and standardization of operations in cable laying and building construction due to their automated operation capabilities, effectively reducing human error and labor intensity. Especially in scenarios where traditional manual labor is difficult to access, such as complex terrain and high-risk environments, their autonomous positioning and precise cable laying characteristics are irreplaceable. However, the cumulative error caused by environmental differences during multi-robot collaborative operations severely restricts construction accuracy and efficiency. Therefore, there is an urgent need for innovative technologies to optimize their path planning and error compensation mechanisms to further unleash the application potential of intelligent cable laying robots in the field of engineering automation.

[0003] In the coordinated operation of multiple intelligent cable laying robots, environmental differences such as terrain inclination and surface unevenness in different work areas can lead to inconsistent laying benchmarks and deviations in laying trajectories among the robots. This makes it difficult to guarantee the accuracy of the cable laying path, and cumulative errors can easily occur at the junction of adjacent robot work areas, affecting the accuracy and consistency of the overall cable laying operation and reducing construction quality and efficiency. Therefore, there is an urgent need for a path optimization method for intelligent cable laying based on environmental differences to improve laying accuracy and construction efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a path optimization system and method for intelligent wire-laying robots to solve the problems raised in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a path optimization method for an intelligent wire-laying robot, the path optimization method comprising the following steps:

[0006] Step S1: Divide the working area of ​​the intelligent wire-laying robot into multiple sub-areas based on the wire-laying distance supported by the intelligent wire-laying robot's battery power, and match the corresponding working area according to the battery power of the intelligent wire-laying robot.

[0007] Step S1-1: Obtain the maximum wire laying distance that the intelligent wire laying robot can support when fully charged, as well as the power consumption data for completing the wire laying work per unit distance;

[0008] Step S1-2: Obtain the total length of the area to be constructed. According to the maximum laying distance of the intelligent laying robot, divide the work area into several continuous sub-areas from the starting end to the end, ensuring that the laying length of each sub-area does not exceed the maximum laying distance of the intelligent laying robot.

[0009] Steps S1-3: For each sub-region, calculate the power required for laying the cable in that sub-region by using the cable laying length and power consumption per unit distance.

[0010] Steps S1-4: Based on the current remaining power of the intelligent wire-laying robot, select the sub-regions from all sub-regions whose required power does not exceed the remaining power, and determine the sub-region with the smallest difference between the remaining power and the required power of the sub-region as the current working area of ​​the intelligent wire-laying robot.

[0011] By dividing the work area and matching sub-areas according to the battery level, the working range of the intelligent wire-laying robot can be dynamically adapted to the battery level, avoiding work interruptions due to insufficient power and improving the utilization rate of the equipment's battery life. At the same time, by allocating sub-areas on demand, the task scheduling efficiency of multi-machine collaborative operations is optimized, ensuring the continuous and efficient execution of wire-laying tasks.

[0012] Step S2: Set the inclination detection light of the working area of ​​the intelligent cable laying robot. The inclination detection light includes a vertical marking light and an auxiliary marking light. The movement trajectory of the inclination detection light is consistent with the cable path laid by the intelligent cable laying robot.

[0013] Step S2-1: A vertical marking light emitting device and an auxiliary marking light emitting device are installed above the cable laying of the intelligent cable laying robot to ensure that the emission direction of the slope detection light is consistent with the cable laying path of the robot. The vertical marking light emitting device is equipped with two sets of emitting units to emit light perpendicular to the ground.

[0014] Step S2-2: An auxiliary light source emission point is set at the midpoint between the two sets of vertical marker light emission units to emit auxiliary analysis light. The auxiliary analysis light consists of two sets of light rays, which are emitted from the auxiliary light source emission point toward the projection points of the two sets of vertical marker light rays respectively.

[0015] Step S2-3: The two sets of vertical marker light emitting units simultaneously emit vertical marker light to the ground, forming two projection points on the ground. The auxiliary analysis light emitted by the intelligent line laying robot on the horizontal ground intersects with the two sets of vertical marker light at the two projection points respectively.

[0016] Step S2-4: According to the design requirements of the cable laying of the intelligent cable laying robot, the standard distance between the two vertical marking rays on the horizontal ground is preset, and the auxiliary analysis ray emitted by the auxiliary light source emission point intersects with the two sets of vertical marking rays at the two projection points respectively. After the rays intersect, the relative emission angle between the auxiliary light source emission point and the two sets of emission units in the vertical marking ray emission device is fixed.

[0017] By setting up vertical marker rays and auxiliary marker rays that are consistent with the cable laying path, a standardized light detection system is constructed. The two sets of vertical rays form a projection point reference. Combined with the cross positioning of the auxiliary analysis rays, the light emission angle is fixed in advance, which can realize the accurate quantitative detection of the tilt of the working area. This provides a reliable data basis for subsequent cable laying error compensation and ensures the accuracy and stability of cable laying operations.

[0018] Step S3: Use an image sensor to acquire image data of the cable path laid by the intelligent cable laying robot, construct a slope detection ray analysis set based on the acquired image data, and perform slope analysis on the working area of ​​the intelligent cable laying robot through the slope detection ray analysis set.

[0019] Step S3-1: Install an image sensor on the intelligent cable laying robot. Use the image sensor to acquire image data of the cable path laid by the intelligent cable laying robot and construct a slope detection light analysis set. The slope detection light analysis set includes light image data of the ground formed by two sets of vertical marker light emitting units simultaneously emitting vertical marker light to the ground, and light image data of the ground formed by auxiliary analysis light emitted by the auxiliary light source emitting point.

[0020] Step S3-2: Based on the image data of the vertical marker rays forming on the ground and the image data of the auxiliary analysis rays forming on the ground, determine the tilt of the working area of ​​the intelligent wire-laying robot. The tilt of the working area is obtained by analyzing the relative positions of the two sets of auxiliary analysis rays and the two sets of vertical marker rays. The specific process is as follows:

[0021] The intelligent line-laying robot obtains the projection point of the vertical marking light on the ground and the intersection point of the auxiliary analysis light on the ground. The standard distance and standard angle of the vertical marking light projection point on the horizontal ground are preset. The actual position of each group of light intersection points is identified, and the actual distance of the vertical marking light projection point and the actual angle of the auxiliary analysis light are calculated. The actual distance and actual angle are compared with the standard distance and standard angle respectively. The tilt angle of the working area in the horizontal and vertical directions is calculated by the difference. Then, the horizontal and vertical tilt angles are synthesized by spatial vector to obtain the comprehensive tilt of the working area.

[0022] The horizontal and vertical tilt angles are calculated using the following formulas:

[0023]

[0024] In the formula, Δo x This is represented by the angle of lateral tilt; ΔO y Expressed as the angle of longitudinal tilt; ΔL x ΔL represents the lateral deviation between the actual horizontal distance and the standard distance from the point of projection of the vertically marked ray; y This represents the longitudinal deviation between the actual horizontal distance and the standard distance of the vertical marker ray projection point; h represents the vertical height of the vertical marker ray emitting device from the ground.

[0025] The formula for calculating the combined tilt angle is as follows:

[0026]

[0027] In the formula, Oall represents the overall tilt angle of the working area;

[0028] By using an image sensor to acquire cable path light image data and constructing an analysis set, and by comparing the actual projection positions of the vertically marked light rays and the auxiliary analysis light rays with the pre-set standard distances and angles, the horizontal and vertical tilt angles are accurately calculated, and the comprehensive tilt is synthesized to achieve a quantitative analysis of the terrain tilt state of the working area, providing accurate environmental parameter basis for subsequent path optimization and error compensation.

[0029] Step S4: Based on the tilt analysis results of the working area of ​​the intelligent wire laying robot, the intelligent wire laying robot data information of the adjacent sub-areas is located through the working area matching and positioning in step S1, and the current working area tilt analysis result data is sent to the intelligent wire laying robots of the adjacent sub-areas; the intelligent wire laying robots of each adjacent sub-area perform multi-machine joint error compensation through the working area tilt analysis data.

[0030] Step S4-1: Based on the work area positioning information established in step S1, use the preset communication protocol and positioning coordinates to retrieve the intelligent line-laying robot in the adjacent sub-area that overlaps with the current work area, and obtain the device ID, real-time coordinates and reference spacing data of the intelligent line-laying robot.

[0031] Step S4-2: Standardize and encapsulate the tilt analysis results of the current working area. The data content should include at least the tilt angle, tilt direction vector and laying error. Send the data to the intelligent laying robot in the adjacent sub-area through the preset communication protocol.

[0032] Step S4-3: The calculation process of the line laying error is as follows: Determine the standard spacing of the vertical marker light projection points on the horizontal ground and the standard angle of the auxiliary analysis light. Then, the intelligent line laying robot emits light, collects the actual position data of the light projection points and intersections on the ground, calculates the deviation of the actual spacing and actual angle from the standard value, converts the spacing and angle deviations into horizontal and vertical tilt angle errors, and finally obtains the overall tilt error of the robot through spatial vector synthesis.

[0033] Step S4-4: After receiving data, the intelligent line-laying robot in the adjacent sub-region calculates the ratio of its own reference distance to the reference distance of the data-sending robot as the reference distance ratio coefficient. Then, based on the received tilt error value and the ratio coefficient, it obtains the compensation offset and determines the component of the compensation offset in the horizontal or vertical direction in combination with the tilt direction, thus determining the offset direction.

[0034] Step S4-5: Based on the calculated compensation offset and direction, correct the original laying trajectory at the boundary of adjacent sub-regions: generate the corrected laying path coordinate sequence, and translate each point on the original path along the offset direction by a distance equal to the compensation offset.

[0035] The formula for calculating the offset vector for line laying error compensation is as follows:

[0036]

[0037] In the formula, △E represents the compensation offset; Ebasis represents the coordinate position of the current intelligent wire-laying robot; Edis represents the coordinate position of the adjacent intelligent wire-laying robot; and △R represents the received tilt error value.

[0038] The following formula is used to supplement the offset direction decomposition:

[0039] ΔE x =ΔE×cosα;

[0040] ΔE y =ΔE×sinα;

[0041] In the formula, ΔE x Represented as the directional compensation component along the horizontal x-axis; ΔE y It is represented by the directional compensation component of the vertical y-axis; α is represented by the angle between the tilt direction vector and the horizontal axis.

[0042] By quickly retrieving neighboring robots using the regional positioning information established in step S1, and combining tilt analysis data to achieve multi-robot data interaction and collaborative compensation, the laying error is quantified by the deviation of the light projection point, the compensation offset is dynamically calculated based on the benchmark spacing ratio, and the trajectory is corrected at the regional boundary. This can effectively eliminate the accumulation of laying errors caused by terrain differences and ensure the continuity and accuracy consistency of cable laying in adjacent sub-regions.

[0043] Step S5: Store and record the cable laying path after multi-machine joint error compensation and the data of the intelligent cable laying robot to form a cable laying error analysis set, and send it to the control terminal after the intelligent cable laying robot completes the cable laying task;

[0044] After the multi-machine joint error compensation is completed, the intelligent cable laying robot collects the starting and ending coordinates of the cable laying path, as well as the intelligent cable laying robot's own tilt measurement value and compensation offset working data, and establishes a cable laying error analysis set including sub-area identification, original planned path, actual execution path and multi-machine joint error compensation data. After the cable laying task is completed, it is sent to the control terminal through the preset communication protocol.

[0045] By collecting data such as the coordinates of the cable laying path after multi-machine joint error compensation, the robot tilt measurement value, and the compensation offset, a cable laying error analysis set including sub-area identifiers, original planned paths, actual execution paths, and compensation data is established. After the task is completed, the data is sent to the control terminal to realize the systematic storage and traceability of multi-machine collaborative operation data, providing data support for subsequent construction process optimization, equipment parameter adjustment, and error source tracing.

[0046] Furthermore, a path optimization system for an intelligent wire-laying robot includes a region division module, a light distribution module, a tilt analysis module, an error compensation module, and a data storage module.

[0047] The region division module is used to divide the working area of ​​the intelligent wire-laying robot into multiple sub-regions and match the working area according to the power supply; the light deployment module is used to install and fix the tilt detection light emission device of the intelligent wire-laying robot; the tilt analysis module is used to acquire light image data and analyze the tilt of the working area; the error compensation module is used to realize data interaction and wire-laying trajectory correction between adjacent intelligent wire-laying robots; the data storage module is used to collect and record wire-laying data and send it to the control terminal.

[0048] The output of the region division module is electrically connected to the input of the ray beam layout module; the output of the ray beam layout module is electrically connected to the input of the tilt analysis module; the output of the tilt analysis module is electrically connected to the input of the error compensation module; and the output of the error compensation module is electrically connected to the input of the data storage module.

[0049] The region division module includes a power calculation unit and a region matching unit; the power calculation unit is used to obtain the robot's power parameters and calculate the power required for laying lines in the sub-region; the region matching unit is used to determine the current working area based on the remaining power.

[0050] The light deployment module includes a device mounting unit and an angle fixing unit; the device mounting unit is used to set up vertical and auxiliary marker light emitting devices; the angle fixing unit is used to set standard light parameters and fix the relative angle of the emitting devices.

[0051] The tilt analysis module includes an image acquisition unit and a tilt calculation unit; the image acquisition unit is used to acquire light projection images to construct an analysis set; the tilt calculation unit is used to compare the actual position of the light rays with the standard position to calculate the comprehensive tilt.

[0052] The error compensation module includes a data interaction unit and a trajectory correction unit; the data interaction unit is used to retrieve and transmit tilt data; the trajectory correction unit is used to calculate the compensation offset and correct the laying trajectory.

[0053] The data storage module includes an information acquisition unit and a data transmission unit; the information acquisition unit is used to record cable paths and robot working data, and the data transmission unit is used to generate error analysis sets and complete data transmission.

[0054] Compared with the prior art, the beneficial effects of the present invention are:

[0055] 1. This invention divides the working sub-areas based on the battery power of the intelligent wire-laying robot and dynamically matches the working range, thereby achieving precise matching between the equipment's battery life and the work tasks. This avoids interruptions caused by insufficient battery power, improves the efficiency of multi-machine collaborative task scheduling, ensures continuous and efficient execution of wire-laying tasks, and optimizes the robot's work process and resource utilization.

[0056] 2. This invention constructs a tilt detection system by setting up vertical marker rays and auxiliary analysis rays, and uses an image sensor to quantitatively analyze the ray projection deviation, accurately calculates the horizontal, vertical and comprehensive tilt angles of the working area, provides reliable environmental parameters for path optimization, solves the problem of inconsistent baselines for laying out lines in complex terrain, and lays the data foundation for high-precision operations.

[0057] 3. This invention uses a multi-machine tilt analysis data interaction and a benchmark spacing ratio compensation mechanism to dynamically correct the laying path at the boundary of adjacent sub-regions, effectively eliminating the accumulation of errors caused by terrain differences, ensuring the continuity and accuracy of cable laying, and establishing an error analysis set to achieve data traceability, providing systematic support for the optimization of construction technology. Attached Figure Description

[0058] Figure 1 is a flowchart illustrating a path optimization method for an intelligent wire-laying robot according to the present invention.

[0059] Figure 2 is a schematic diagram of the path optimization system for an intelligent wire-laying robot according to the present invention. Detailed Implementation

[0060] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] Example 1: As shown in Figure 1, the present invention provides a technical solution, a path optimization method for an intelligent wire-laying robot, the path optimization method including the following steps:

[0062] Step S1: Divide the working area of ​​the intelligent wire-laying robot into multiple sub-areas based on the wire-laying distance supported by the intelligent wire-laying robot's battery power, and match the corresponding working area according to the battery power of the intelligent wire-laying robot.

[0063] Step S1-1: Obtain the maximum wire laying distance that the intelligent wire laying robot can support when fully charged, as well as the power consumption data for completing the wire laying work per unit distance;

[0064] Step S1-2: Obtain the total length of the area to be constructed. According to the maximum laying distance of the intelligent laying robot, divide the work area into several continuous sub-areas from the starting end to the end, ensuring that the laying length of each sub-area does not exceed the maximum laying distance of the intelligent laying robot.

[0065] Steps S1-3: For each sub-region, calculate the power required for laying the cable in that sub-region by using the cable laying length and power consumption per unit distance.

[0066] Steps S1-4: Based on the current remaining power of the intelligent wire-laying robot, select the sub-regions from all sub-regions whose required power does not exceed the remaining power, and determine the sub-region with the smallest difference between the remaining power and the required power of the sub-region as the current working area of ​​the intelligent wire-laying robot.

[0067] In practical implementation, taking a certain power transmission line project as an example, the dynamic allocation of the work area is achieved through the linear relationship between power consumption and laying distance. Attention should be paid to the impact of terrain undulation on power consumption to correct the power consumption data per unit distance, so as to avoid unreasonable sub-region division due to the deviation between theoretical value and actual energy consumption.

[0068] Step S2: Set the inclination detection light of the working area of ​​the intelligent cable laying robot. The inclination detection light includes a vertical marking light and an auxiliary marking light. The movement trajectory of the inclination detection light is consistent with the cable path laid by the intelligent cable laying robot.

[0069] Step S2-1: A vertical marking light emitting device and an auxiliary marking light emitting device are installed above the cable laying of the intelligent cable laying robot to ensure that the emission direction of the slope detection light is consistent with the cable laying path of the robot. The vertical marking light emitting device is equipped with two sets of emitting units to emit light perpendicular to the ground.

[0070] Step S2-2: An auxiliary light source emission point is set at the midpoint between the two sets of vertical marker light emission units to emit auxiliary analysis light. The auxiliary analysis light consists of two sets of light rays, which are emitted from the auxiliary light source emission point toward the projection points of the two sets of vertical marker light rays respectively.

[0071] Step S2-3: The two sets of vertical marker light emitting units simultaneously emit vertical marker light to the ground, forming two projection points on the ground. The auxiliary analysis light emitted by the intelligent line laying robot on the horizontal ground intersects with the two sets of vertical marker light at the two projection points respectively.

[0072] Step S2-4: According to the design requirements of the cable laying of the intelligent cable laying robot, the standard distance between the two vertical marking rays on the horizontal ground is preset, and the auxiliary analysis ray emitted by the auxiliary light source emission point intersects with the two sets of vertical marking rays at the two projection points respectively. After the rays intersect, the relative emission angle between the auxiliary light source emission point and the two sets of emission units in the vertical marking ray emission device is fixed.

[0073] In practical implementation, taking the cable laying scenario in mountainous areas as an example, the geometric relationship between the vertical marker light and the auxiliary analysis light is used to construct the tilt detection benchmark. When the transmitting device is installed, it is ensured that the light direction is strictly aligned with the cable path, and the standard distance between the two sets of vertical marker light is calibrated regularly to prevent the initial parameters from shifting due to equipment vibration.

[0074] Step S3: Use an image sensor to acquire image data of the cable path laid by the intelligent cable laying robot, construct a slope detection ray analysis set based on the acquired image data, and perform slope analysis on the working area of ​​the intelligent cable laying robot through the slope detection ray analysis set.

[0075] Step S3-1: Install an image sensor on the intelligent cable laying robot. Use the image sensor to acquire image data of the cable path laid by the intelligent cable laying robot and construct a slope detection light analysis set. The slope detection light analysis set includes light image data of the ground formed by two sets of vertical marker light emitting units simultaneously emitting vertical marker light to the ground, and light image data of the ground formed by auxiliary analysis light emitted by the auxiliary light source emitting point.

[0076] Step S3-2: Based on the image data of the vertical marker rays forming on the ground and the image data of the auxiliary analysis rays forming on the ground, determine the tilt of the working area of ​​the intelligent wire-laying robot. The tilt of the working area is obtained by analyzing the relative positions of the two sets of auxiliary analysis rays and the two sets of vertical marker rays. The specific process is as follows:

[0077] The intelligent line-laying robot obtains the projection point of the vertical marking light on the ground and the intersection point of the auxiliary analysis light on the ground. The standard distance and standard angle of the vertical marking light projection point on the horizontal ground are preset. The actual position of each group of light intersection points is identified, and the actual distance of the vertical marking light projection point and the actual angle of the auxiliary analysis light are calculated. The actual distance and actual angle are compared with the standard distance and standard angle respectively. The tilt angle of the working area in the horizontal and vertical directions is calculated by the difference. Then, the horizontal and vertical tilt angles are synthesized by spatial vector to obtain the comprehensive tilt of the working area.

[0078] In practical implementation, the tilt is calculated by capturing the geometric changes of the light projection point through the image sensor. The lighting conditions during image acquisition need to be considered in relation to the accuracy of light recognition. Filter lenses or dynamic threshold adjustment algorithms can be used to improve the reliability of image data under complex lighting conditions.

[0079] Step S4: Based on the tilt analysis results of the working area of ​​the intelligent wire laying robot, the intelligent wire laying robot data information of the adjacent sub-areas is located through the working area matching and positioning in step S1, and the current working area tilt analysis result data is sent to the intelligent wire laying robots of the adjacent sub-areas; the intelligent wire laying robots of each adjacent sub-area perform multi-machine joint error compensation through the working area tilt analysis data.

[0080] Step S4-1: Based on the work area positioning information established in step S1, use the preset communication protocol and positioning coordinates to retrieve the intelligent line-laying robot in the adjacent sub-area that overlaps with the current work area, and obtain the device ID, real-time coordinates and reference spacing data of the intelligent line-laying robot.

[0081] Step S4-2: Standardize and encapsulate the tilt analysis results of the current working area. The data content should include at least the tilt angle, tilt direction vector and laying error. Send the data to the intelligent laying robot in the adjacent sub-area through the preset communication protocol.

[0082] Step S4-3: The calculation process of the line laying error is as follows: Determine the standard spacing of the vertical marker light projection points on the horizontal ground and the standard angle of the auxiliary analysis light. Then, the intelligent line laying robot emits light, collects the actual position data of the light projection points and intersections on the ground, calculates the deviation of the actual spacing and actual angle from the standard value, converts the spacing and angle deviations into horizontal and vertical tilt angle errors, and finally obtains the overall tilt error of the robot through spatial vector synthesis.

[0083] Step S4-4: After receiving data, the intelligent line-laying robot in the adjacent sub-region calculates the ratio of its own reference distance to the reference distance of the data-sending robot as the reference distance ratio coefficient. Then, based on the received tilt error value and the ratio coefficient, it obtains the compensation offset and determines the component of the compensation offset in the horizontal or vertical direction in combination with the tilt direction, thus determining the offset direction.

[0084] Step S4-5: Based on the calculated compensation offset and direction, correct the original laying trajectory at the boundary of adjacent sub-regions: generate the corrected laying path coordinate sequence, and translate each point on the original path along the offset direction by a distance equal to the compensation offset.

[0085] In practical implementation, taking the collaborative operation of sub-regions between two adjacent transmission towers as an example, the multi-machine error transmission compensation is realized based on the benchmark spacing ratio coefficient. Attention should be paid to the synchronization mechanism of timestamps in the communication protocol to ensure the time consistency between the tilt analysis data and the real-time coordinates of the intelligent cable laying robot, so as to avoid errors in the calculation of compensation offset due to time delay.

[0086] Step S5: Store and record the cable laying path after multi-machine joint error compensation and the data of the intelligent cable laying robot to form a cable laying error analysis set, and send it to the control terminal after the intelligent cable laying robot completes the cable laying task;

[0087] After the multi-machine joint error compensation is completed, the intelligent cable laying robot collects the starting and ending coordinates of the cable laying path, as well as the intelligent cable laying robot's own tilt measurement value and compensation offset working data, and establishes a cable laying error analysis set including sub-area identification, original planned path, actual execution path and multi-machine joint error compensation data. After the cable laying task is completed, it is sent to the control terminal through the preset communication protocol.

[0088] In practice, a closed-loop error analysis system is formed by recording multi-dimensional data. The cable laying error analysis set needs to be transmitted in encrypted form to prevent sensitive data such as geographical coordinates and equipment parameters from being leaked during transmission. At the same time, it is necessary to ensure that the disaster recovery backup mechanism of the control terminal data storage server is effective.

[0089] Example 2, as shown in Figure 2, the present invention provides a path optimization system for an intelligent wire-laying robot. The intelligent management system includes a region division module, a light distribution module, a tilt analysis module, an error compensation module, and a data storage module.

[0090] The region division module is used to divide the working area of ​​the intelligent wire-laying robot into multiple sub-regions and match the working area according to the power supply; the light deployment module is used to install and fix the tilt detection light emission device of the intelligent wire-laying robot; the tilt analysis module is used to acquire light image data and analyze the tilt of the working area; the error compensation module is used to realize data interaction and wire-laying trajectory correction between adjacent intelligent wire-laying robots; the data storage module is used to collect and record wire-laying data and send it to the control terminal.

[0091] The output of the region division module is electrically connected to the input of the ray beam layout module; the output of the ray beam layout module is electrically connected to the input of the tilt analysis module; the output of the tilt analysis module is electrically connected to the input of the error compensation module; and the output of the error compensation module is electrically connected to the input of the data storage module.

[0092] The region division module includes a power calculation unit and a region matching unit; the power calculation unit is used to obtain the robot's power parameters and calculate the power required for laying lines in the sub-region; the region matching unit is used to determine the current working area based on the remaining power.

[0093] The light deployment module includes a device mounting unit and an angle fixing unit; the device mounting unit is used to set up vertical and auxiliary marker light emitting devices; the angle fixing unit is used to set standard light parameters and fix the relative angle of the emitting devices.

[0094] The tilt analysis module includes an image acquisition unit and a tilt calculation unit; the image acquisition unit is used to acquire light projection images to construct an analysis set; the tilt calculation unit is used to compare the actual position of the light rays with the standard position to calculate the comprehensive tilt.

[0095] The error compensation module includes a data interaction unit and a trajectory correction unit; the data interaction unit is used to retrieve and transmit tilt data; the trajectory correction unit is used to calculate the compensation offset and correct the laying trajectory.

[0096] The data storage module includes an information acquisition unit and a data transmission unit; the information acquisition unit is used to record cable paths and robot working data, and the data transmission unit is used to generate error analysis sets and complete data transmission.

[0097] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A path optimization method for an intelligent wire-laying robot, characterized in that: The path optimization method includes the following steps: Step S1, dividing the working area of ​​the intelligent cable-laying robot into multiple sub-areas based on the cable-laying distance supported by the robot's battery power, and matching the corresponding working area according to the robot's battery power; Step S2, setting slope detection rays for the working area of ​​the intelligent cable-laying robot, the slope detection rays including vertical marker rays and auxiliary marker rays, the movement trajectory of the slope detection rays being consistent with the cable path laid by the intelligent cable-laying robot; Step S3, acquiring image data of the cable path laid by the intelligent cable-laying robot using an image sensor, constructing a slope detection ray analysis set based on the acquired image data, and using the slope detection rays... The line analysis set performs tilt analysis on the working area of ​​the intelligent cable laying robot; Step S4: Based on the tilt analysis results of the working area of ​​the intelligent cable laying robot, the intelligent cable laying robot data information of the adjacent sub-area is located through the working area matching in Step S1, and the current working area tilt analysis result data is sent to the intelligent cable laying robot of the adjacent sub-area; the intelligent cable laying robots of each adjacent sub-area perform multi-machine joint error compensation through the working area tilt analysis data; Step S5: The cable laying path and the data of the intelligent cable laying robot after multi-machine joint error compensation are stored and recorded to form a cable laying error analysis set, which is sent to the control terminal after the intelligent cable laying robot completes the cable laying task.

2. The path optimization method for an intelligent wire-laying robot according to claim 1, characterized in that: The specific steps of step S1 are as follows: Step S1-1: Obtain the maximum laying distance that the intelligent laying robot can support when fully charged, and the power consumption data for completing the laying work per unit distance; Step S1-2: Obtain the total length of the area to be constructed, and divide the working area into several continuous sub-areas from the starting end to the end according to the maximum laying distance of the intelligent laying robot, ensuring that the laying length of each sub-area does not exceed the maximum laying distance of the intelligent laying robot; Step S1-3: For each sub-area, calculate the power required for laying the wire in that sub-area by using the laying length of the sub-area and the power consumption per unit distance; Step S1-4: Based on the current remaining power of the intelligent laying robot, select the sub-area whose required power does not exceed the remaining power from all sub-areas, and determine the sub-area with the smallest difference between the remaining power and the required power as the current working area of ​​the intelligent laying robot.

3. The path optimization method for an intelligent wire-laying robot according to claim 2, characterized in that: The specific steps of step S2 are as follows: Step S2-1: A vertical marking light emitting device and an auxiliary marking light emitting device are installed above the cable laying of the intelligent cable laying robot to ensure that the emission direction of the inclination detection light is consistent with the cable laying path of the robot, and the vertical marking light emitting device is equipped with two sets of emitting units for emitting light perpendicular to the ground; Step S2-2: An auxiliary light source emitting point is set at the midpoint between the two sets of vertical marking light emitting units for emitting auxiliary analysis light. The auxiliary analysis light consists of two sets of light, which are emitted from the auxiliary light source emitting point to the projection points of the two sets of vertical marking light respectively.

4. The path optimization method for an intelligent wire-laying robot according to claim 3, characterized in that: Step S2 further includes: Step S2-3, where two sets of vertical marker light emitting units simultaneously emit vertical marker light to the ground, forming two projection points on the ground, and the auxiliary analysis light emitted by the intelligent cable laying robot on the horizontal ground intersects with the two sets of vertical marker light at the two projection points respectively; Step S2-4, according to the cable laying design requirements of the intelligent cable laying robot, the standard distance between the two vertical marker light on the horizontal ground is preset, and the auxiliary analysis light emitted by the auxiliary light source emitting point intersects with the two sets of vertical marker light at the two projection points respectively. After the light intersects, the relative emission angle between the auxiliary light source emitting point and the two sets of emitting units in the vertical marker light emitting device is fixed.

5. The path optimization method for an intelligent wire-laying robot according to claim 4, characterized in that: The specific steps of step S3 are as follows: Step S3-1: Install an image sensor on the intelligent cable laying robot. Use the image sensor to acquire image data of the cable path laid by the intelligent cable laying robot and construct a slope detection light analysis set. The slope detection light analysis set includes light image data formed on the ground by two sets of vertical marker light emitting units simultaneously emitting vertical marker light, and light image data formed on the ground by auxiliary analysis light emitted from auxiliary light source emitting points. Step S3-2: Based on the light image data formed on the ground by the vertical marker light and the light image data formed on the ground by the auxiliary analysis light, determine the slope of the intelligent cable laying robot's working area. This is achieved by analyzing the two sets of auxiliary light emitting units. The tilt of the working area is obtained by analyzing the relative positions of the auxiliary analysis ray and two sets of vertical marker rays. The specific process is as follows: The intelligent line laying robot obtains the projection point of the vertical marker ray on the ground and the intersection point of the auxiliary analysis ray on the ground. The standard distance and standard angle of the projection point of the vertical marker ray on the horizontal ground are preset. The actual position of the intersection point of each set of rays is identified. The actual distance of the projection point of the vertical marker ray and the actual angle formed by the auxiliary analysis ray are calculated. The actual distance and actual angle are compared with the standard distance and standard angle respectively. The tilt angle of the working area in the horizontal and vertical directions is calculated by the difference. Then, the horizontal and vertical tilt angles are synthesized by spatial vector to obtain the comprehensive tilt of the working area.

6. The path optimization method for an intelligent wire-laying robot according to claim 5, characterized in that: The specific steps of step S4 are as follows: Step S4-1: Based on the work area positioning information established in step S1, through a preset communication protocol and positioning coordinates, retrieve the intelligent line-laying robots in adjacent sub-areas that overlap with the current work area, and obtain the device ID, real-time coordinates, and reference spacing data of the intelligent line-laying robots; Step S4-2: Standardize and encapsulate the tilt analysis results data of the current work area, the data content including at least the tilt angle, tilt direction vector, and line-laying error, and send it directionally to the intelligent line-laying robots in adjacent sub-areas through a preset communication protocol; Step S4-3: The calculation process of the line-laying error is as follows: determine the standard spacing of the vertically marked light projection points on the horizontal ground and the standard angle of the auxiliary analysis light, then have the intelligent line-laying robot emit light, and collect the actual distances of the light projection points and intersections on the ground. The location data is used to calculate the deviation between the actual spacing and actual angle and the standard value. The spacing and angle deviations are converted into horizontal and vertical tilt angle errors. Finally, the overall tilt error of the robot is obtained through spatial vector synthesis. Step S4-4: After receiving the data, the intelligent line-laying robot in the adjacent sub-region calculates the ratio of its own reference spacing to the reference spacing of the robot that sent the data as the reference spacing ratio coefficient. Then, based on the received tilt error value and the ratio coefficient, the compensation offset is obtained. Combined with the tilt direction, the component of the compensation offset in the horizontal or vertical direction is determined, and the offset direction is determined. Step S4-5: Based on the calculated compensation offset and direction, the original line-laying trajectory is corrected at the boundary of the adjacent sub-region: a corrected line-laying path coordinate sequence is generated, and each point on the original path is translated along the offset direction by a distance equal to the compensation offset.

7. A path optimization method for an intelligent wire-laying robot according to claim 6, characterized in that: In step S5, after the multi-machine joint error compensation is completed, the intelligent cable laying robot collects the starting coordinates and ending coordinates of the cable laying path, as well as the intelligent cable laying robot's own tilt measurement value and compensation offset working data, and establishes a cable laying error analysis set including sub-area identification, original planned path, actual execution path and multi-machine joint error compensation data. After the cable laying task is completed, it is sent to the control terminal through the preset communication protocol.

8. A path optimization system for an intelligent wire-laying robot, which is applied to the path optimization method for an intelligent wire-laying robot as described in any one of claims 1-7, characterized in that: The path optimization system includes a region division module, a light beam deployment module, a tilt analysis module, an error compensation module, and a data storage module. The region division module divides the working area of ​​the intelligent wire-laying robot into multiple sub-regions and matches the working area according to power requirements. The light beam deployment module installs and fixes the tilt detection light emission device of the intelligent wire-laying robot. The tilt analysis module acquires light image data and analyzes the tilt of the working area. The error compensation module enables data interaction and wire-laying trajectory correction between adjacent intelligent wire-laying robots. The data storage module collects and records wire-laying data and sends it to the control terminal. The output of the region division module is electrically connected to the input of the light beam deployment module. The output of the light beam deployment module is electrically connected to the input of the tilt analysis module. The output of the tilt analysis module is electrically connected to the input of the error compensation module. The output of the error compensation module is electrically connected to the input of the data storage module.

9. A path optimization system for an intelligent wire-laying robot according to claim 8, characterized in that: The region division module includes a power calculation unit and a region matching unit; the power calculation unit is used to acquire robot power parameters and calculate the power required for laying lines in sub-regions; the region matching unit is used to determine the current working area based on the remaining power; the light deployment module includes a device installation unit and an angle fixing unit; the device installation unit is used to set vertical and auxiliary marker light emission devices; the angle fixing unit is used to set standard light parameters and fix the relative angle of the emission devices; the tilt analysis module includes an image acquisition unit and a tilt calculation unit; the image acquisition unit is used to acquire light projection images to construct an analysis set; the tilt calculation unit is used to compare the actual and standard positions of the light to calculate the comprehensive tilt.

10. A path optimization system for an intelligent wire-laying robot according to claim 8, characterized in that: The error compensation module includes a data interaction unit and a trajectory correction unit; the data interaction unit is used to retrieve and transmit tilt data; the trajectory correction unit is used to calculate the compensation offset and correct the laying trajectory; the data storage module includes an information acquisition unit and a collection transmission unit; the information acquisition unit is used to record cable paths and robot working data, and the collection transmission unit is used to generate an error analysis set and complete data transmission.

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