Pre-marking robot for tunnel construction and measurement and control method thereof

Abstract

The invention relates to a pre-marking robot for tunnel construction and a measurement and control method of the pre-marking robot. The pre-marking robot comprises a robot trolley, a paint spraying device, a control module, a first range finder and a second range finder. The first range finder and the second range finder are arranged on the same side of the robot trolley in the first direction, and the second range finder is movably arranged relative to the robot trolley. The paint spraying device and the control module are arranged on the robot trolley. Wherein the control module determines the pose error of the robot trolley relative to a target pre-marked line to be marked in real time according to the distance between the first range finder and the tunnel reference object and the distance between the second range finder and the tunnel reference object in the measuring direction of the robot trolley, so that the robot trolley is controlled to walk, and the paint spraying device is made to mark the ground according to the target pre-marked line; the first direction is the advancing direction of the robot trolley; the tunnel reference object comprises a tunnel side wall or a tunnel curb. The positioning precision of the pre-marking robot in the tunnel can be improved, so that the marking precision and effect of the pre-marking line are improved.

Description

Technical Field

[0001] The present application relates to the technical field of road construction, and in particular to a pre-marking robot for tunnel construction and a measurement and control method thereof. Background Art

[0002] Road markings, such as lane lines and lane boundaries, are primarily used to indicate lane and road boundaries. The typical process for traffic marking construction begins with the application of a thin baseline, known as a pre-marking line, to guide large road marking machines along the pre-marking line. This pre-marking, serving as a baseline, is crucial; its accuracy and smoothness directly impact the effectiveness of subsequent road markings.

[0003] Traditional manual pre-marking methods are inefficient, prone to large human errors, and labor-intensive, and can no longer meet my country's growing road construction needs. In recent years, pre-marking robots have begun to be used in road construction. In some related technologies, satellite positioning technology can be used to automatically and efficiently mark pre-marking on open roads. However, in tunnel scenarios, satellite positioning technology cannot provide accurate position information for robots, making it difficult to apply to road pre-marking in tunnels. In other related technologies, lidar matching positioning technology or laser SLAM positioning technology is used to solve the positioning problem of robots in tunnels. Although lidar has a wide measurement range, the amount of data calculation is relatively large, and accordingly, the data errors are also large. In addition, lidar equipment is expensive and its positioning accuracy can only reach the centimeter level, which makes it difficult to support the high-precision position measurement needs of road marking robots. Summary of the Invention

[0004] Based on the above description, the present application provides a pre-marking robot for tunnel construction and a measurement and control method thereof, which solves the problem of low positioning accuracy of the pre-marking robot in the tunnel, so as to improve the accuracy and effect of pre-marking.

[0005] According to a first aspect, the present application provides a pre-marking robot for tunnel construction, comprising: a robot car, a paint spraying device, a control module, a first rangefinder, and a second rangefinder; the first rangefinder and the second rangefinder are disposed on the same side of the robot car along a first direction, and the second rangefinder is movably disposed relative to the robot car; the paint spraying device and the control module are disposed on the robot car;

[0006] The control module determines in real time the position error of the robot car relative to the tunnel reference object based on the distances from the first rangefinder and the second rangefinder to the tunnel reference object along their own measurement directions, so as to control the movement of the robot car and enable the paint spraying device to mark the ground according to the target pre-marked line;

[0007] The first direction is the forward direction of the robotic vehicle; the tunnel reference object includes a tunnel side wall or a tunnel curb.

[0008] In one or more embodiments, a rotating structure is provided between the second rangefinder and the robot car so that the measuring direction of the second rangefinder can be adjusted; the measuring direction of the first rangefinder is parallel to the width direction of the robot car.

[0009] In one or more embodiments, along the forward direction of the robot vehicle, the second rangefinder is located in front of the first rangefinder; and / or

[0010] Along the width direction of the robot vehicle, the first rangefinder is aligned with the spray head on the painting device.

[0011] According to a second aspect, the present application provides a measurement and control method for a pre-marking robot for tunnel construction, comprising:

[0012] Determining and adjusting the measurement direction of the second rangefinder based on a tunnel marking task, a preset detection spacing, and the installation dimensions of the robotic vehicle; the tunnel marking task includes a vertically set distance between a target pre-marked line to be marked and a tunnel reference object; the detection spacing is the distance between the measurement points generated by the first rangefinder and the second rangefinder on the tunnel reference object;

[0013] Obtaining the distances from the first rangefinder and the second rangefinder to the tunnel reference object along their own measurement directions respectively, so as to determine the posture error of the robot car relative to the preset target pre-marked line;

[0014] According to the posture error of the robot car, the robot car is controlled to complete the position and posture adjustment, and the paint spraying device is made to draw a line on the ground according to the target pre-marked line.

[0015] In one or more embodiments, determining the measurement direction of the second rangefinder according to the tunnel marking task, the preset detection distance, and the installation size of the robotic vehicle includes:

[0016] The measuring direction of the second rangefinder is determined according to the following formula:

[0017]

[0018] Wherein, α represents the angle between the measuring direction of the second rangefinder and the second direction; L M Indicates the detection distance; L indicates the preset vertical distance between the target pre-marking line to be marked and the tunnel reference object; D indicates the distance parameter between the first rangefinder and the second rangefinder; W indicates the width parameter of the fuselage; and the second direction is the width direction of the robot car.

[0019] In one or more embodiments, before respectively obtaining the distances of the first rangefinder and the second rangefinder to the tunnel reference object along their own measurement directions, the method further includes:

[0020] The position of a virtual intersection is determined based on the spacing parameters between the first rangefinder and the second rangefinder, and the measurement direction of the second rangefinder; the virtual intersection is the intersection of a line extending in the opposite direction of the first rangefinder along its own measurement direction and a line extending in the opposite direction of the second rangefinder along its own measurement direction.

[0021] In one or more embodiments, respectively obtaining the distances of the first rangefinder and the second rangefinder along their own measurement directions to the tunnel reference object to determine the posture error of the robot vehicle relative to the target pre-marking line to be marked includes:

[0022] Determine, based on the position of the virtual intersection and the distances of the first rangefinder and the second rangefinder along their respective measurement directions to the tunnel reference object, a first distance from the virtual intersection along the measurement direction of the first rangefinder to the tunnel reference object and a second distance from the virtual intersection along the measurement direction of the second rangefinder to the tunnel reference object;

[0023] Determining a position error and an attitude error of a nozzle position of the paint spraying device on the robotic vehicle relative to the target pre-marked line to be marked based on the first distance, the second distance, the angle between the measuring direction of the second rangefinder and the second direction, and the vertical distance between the target pre-marked line to be marked and a tunnel reference object;

[0024] Wherein, the second direction is the width direction of the robot vehicle.

[0025] In one or more embodiments, the position error E of the nozzle position of the paint spraying device on the robot vehicle relative to the current pre-marked line segment on the target pre-marked line is determined according to the following calculation formula: p :

[0026]

[0027] The posture error E of the nozzle position of the paint spraying device on the robot car relative to the current pre-marked line segment on the target pre-marked line is determined according to the following calculation formula: y :

[0028]

[0029] Among them, L1 represents the first distance; L2 represents the second distance; L0 represents the distance from the position of the virtual intersection along the second direction to the nozzle position of the paint spraying device; L represents the preset vertical distance from the target pre-marking line to be marked to the tunnel reference object; α represents the angle between the measuring direction of the second rangefinder and the second direction; θ represents the angle between the forward direction of the robot car and the vertical plane where the current pre-marking line segment on the target pre-marking line is located.

[0030] In one or more embodiments, controlling the robot car to complete position and posture adjustment based on the posture error of the robot car, and causing the paint spraying device to mark the ground according to the target pre-marked line, includes:

[0031] Determining the radius of the trajectory arc according to the position error, posture error and preset detection distance of the robot car;

[0032] Determining the rotational speed of the differential wheel on the robot car according to the radius of the trajectory arc and a preset differential wheel model;

[0033] According to the rotation speed of the differential wheel on the robot car, the differential wheel is controlled to rotate to complete the position and posture adjustment of the robot car, so that the painting device can spray paint according to the target pre-marked line.

[0034] In one or more embodiments, controlling the robot car to complete position and posture adjustment based on the posture error of the robot car, and causing the paint spraying device to mark the ground according to the target pre-marked line, includes:

[0035] Determining the target angular velocity of the robot car based on the position error and attitude error of the robot car and a preset PID control algorithm;

[0036] Determining the rotational speed of the differential wheels on the robot car according to the target angular velocity of the robot car;

[0037] According to the rotation speed of the differential wheel on the robot car, the differential wheel is controlled to rotate to complete the position and posture adjustment of the robot car, so that the painting device can spray paint according to the target pre-marked line.

[0038] Compared with the prior art, the technical solution of this application has the following beneficial technical effects:

[0039] In the pre-marking robot and its measurement and control method for tunnel construction of the present application, a first rangefinder and a second rangefinder are arranged on the robot car, which can control the position measurement error of the robot car to the millimeter level, and the control module reads the distances of the first rangefinder and the second rangefinder to the tunnel reference object along their own measurement directions in real time, and the position error of the nozzle position of the paint spraying device on the robot car relative to the preset target pre-marking line can be accurately calculated. Therefore, by adjusting the position of the robot car, the robot car can be moved and the paint spraying device can be made to mark the ground according to the target pre-marking line, effectively improving the marking accuracy and effect of the pre-marking in the tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of reference objects, road pre-markings and road markings in a tunnel in the prior art;

[0041] Figure 2 This is a schematic structural diagram of a pre-marking robot for tunnel construction provided in one embodiment of the present application;

[0042] Figure 3 for Figure 2 Schematic diagram of the measurement principle of the first rangefinder and the second rangefinder;

[0043] Figure 4 This is a flow chart of a measurement and control method for a pre-marking robot for tunnel construction provided in one embodiment of the present application;

[0044] Figure 5 A schematic diagram of calculating the measurement direction of the second rangefinder and the position of the virtual intersection in an embodiment of the present application;

[0045] Figure 6 Schematic diagram of calculating the distances from a virtual intersection point to a tunnel reference object via a first distance meter and a second distance meter, respectively, in an embodiment of the present application;

[0046] Figure 7 Schematic diagram of calculating the pose error between the nozzle position of the paint spraying device on the robot vehicle and the target pre-marked line in an embodiment of the present application;

[0047] Figure 8 Schematic diagram of calculating the radius of a trajectory arc in an embodiment of the present application.

[0048] Description of reference numerals:

[0049] Robot car 10, body 11, driver 12, universal wheel 13, differential wheel 14;

[0050] Paint spraying device 20, paint tank 21, spray head 22;

[0051] Control module 30;

[0052] a first rangefinder 40;

[0053] a second rangefinder 50;

[0054] Rotating structure 60;

[0055] Power supply 70;

[0056] First direction F1 and second direction F2. DETAILED DESCRIPTION

[0057] To facilitate understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The accompanying drawings provide embodiments of the present application. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0059] Traditional manual road marking methods are inefficient, prone to human error, and labor-intensive, making them unable to meet the growing demand for road construction in China. In recent years, road marking robots have begun to be used in road construction. A related automated road marking robot system and its operating method utilize satellite positioning technology to automatically and efficiently mark road markings on open roads. However, in tunnels, satellite positioning technology cannot provide the robot with precise location information, making it difficult to apply to road marking within tunnels.

[0060] In order to measure the position of the robot in the tunnel, the tunnel structure can be used as a reference. For example, the tunnel wall, curbstone, etc., these reference surfaces are continuous and smooth, and extend forward along the road. Road markings are usually spaced a fixed distance from the reference and parallel to it. By using this feature, the robot can be kept at a fixed distance from the reference by measuring the relative position of the robot and the reference, thereby guiding the robot to move forward. The schematic diagram of the reference objects, road pre-markings, and road markings in the tunnel is shown in the figure below. Figure 1 shown.

[0061] In another related technology, an automatic pre-marking device and working method for road marking is used. A laser radar is installed on the robot to scan the tunnel side wall, and the shortest distance in the scan data is taken as the real-time distance from the robot to the side wall. Based on the deviation between the set distance and the real-time distance, the marking robot is controlled to maintain a fixed distance from the side wall and mark the line. However, the technical principle of this related technology is single-point ranging, which makes it difficult to quickly respond to curves and other measurement interference, affecting the marking accuracy and effect. Other related technologies, such as a robot laser positioning method in a long-distance tunnel scenario and a highway tunnel quality inspection and obstacle avoidance method and system based on multi-line laser radar, also use laser radar matching positioning technology or laser SLAM positioning technology to solve the problem of robot positioning in the tunnel. Although the laser radar has a wide measurement range, the amount of data calculation is relatively large, and accordingly, the data error is also large. In addition, the laser radar equipment is expensive and the positioning accuracy can only reach the centimeter level, which is difficult to support the high-precision position measurement requirements of the marking robot.

[0062] Based on this, an embodiment of the present application provides a pre-marking robot for tunnel construction and a measurement and control method thereof, which solves the problem of low positioning accuracy of the pre-marking robot in the tunnel, so as to improve the accuracy and effect of pre-marking.

[0063] See Figure 2 , Figure 2 FIG1 shows a schematic diagram of the structure of a pre-marking robot for tunnel construction provided by an embodiment of the present application. It should be noted that, for ease of description, only the parts related to this embodiment are shown, and Figure 2 The figure shown in is a top view of the pre-marking robot, so some internal structures are indicated by dotted boxes.

[0064] One embodiment of the present application provides a pre-marking robot for tunnel construction, including: a robot car 10, a paint spraying device 20, a control module 30, a first rangefinder 40 and a second rangefinder 50; the first rangefinder 40 and the second rangefinder 50 are arranged on the same side of the robot car 10 along the first direction F1, and the second rangefinder 50 is arranged to be movable relative to the robot car 10; the paint spraying device 20 and the control module 30 are arranged on the robot car 10; wherein, the control module 30 determines the posture error of the robot car 10 relative to the target pre-marking line to be marked in real time according to the distance from the first rangefinder 40 and the second rangefinder 50 to the tunnel reference object along its own measurement direction, so as to control the movement of the robot car 10 and enable the paint spraying device 20 to mark the ground according to the target pre-marking line; the first direction F1 is the forward direction of the robot car 10; the tunnel reference object includes the tunnel side wall or the tunnel curb. It should be noted that the first direction F1 can also be regarded as the length direction of the robot car, and Figure 2 The second direction F2 is the width direction of the robot car.

[0065] Specifically, in this embodiment, the robot car 10 is relatively small, for example, the length of the robot car 10 is within 1 meter, and the driving speed is low, for example, the driving speed is within 1 meter per second. Therefore, during the driving process of the robot car 10, it is only necessary to pay attention to the changes in the curvature of the road within a local range (for example, 2 meters) in front of the robot car 10. In this way, the amount of data calculation is small, which is conducive to the precise positioning of the robot car 10. Some related technologies use laser radar measurement equipment. Although the measurement range is wide, the cost is high, a large amount of measurement data is invalid, and the calculation burden of the controller is increased. The data calculation error is large, and the measurement error is at the centimeter level. In addition, some related technologies use single-point position measurement, which can only reflect the single-point position error of the robot and cannot measure local posture information. In this embodiment, a single-point laser rangefinder is used. The single-point laser rangefinder is a common distance measurement equipment in the industrial field, with low cost and measurement accuracy at the millimeter level. Specifically, this embodiment employs two single-point laser rangefinders—a first rangefinder 40 and a second rangefinder 50—to monitor the curvature of the road within a local area of ​​the robotic vehicle 10, resulting in more streamlined, accurate, and cost-effective measurement data. Furthermore, this embodiment incorporates a paint sprayer 20, which is used to spray paint onto the ground for marking. The target pre-marking refers to a virtual pre-marking defined during the marking task, serving as a reference for the robotic vehicle's marking.

[0066] The control module 30 reads the distances from the first rangefinder 40 and the second rangefinder 50 to the tunnel reference object (for example, the tunnel side wall) along their own measurement directions in real time, and accurately calculates the position error of the nozzle 22 of the paint spraying device 20 on the robot car 10 relative to the preset target pre-marking line. By adjusting the position of the robot car 10, the robot car 10 can be moved and the paint spraying device 20 can be made to draw lines on the ground according to the target pre-marking line.

[0067] Compared to the related art's LiDAR measurement solution, which has a measurement error at the centimeter level, the rangefinder measurement solution used in this embodiment achieves a measurement error at the millimeter level, resulting in more accurate measurements. Furthermore, compared to the related art's single-point measurement technique, which can only measure the position error of the fuselage 11 relative to a tunnel reference object, this embodiment, through the first rangefinder 40 and the second rangefinder 50, can measure both position error and attitude error, resulting in more comprehensive measurement results.

[0068] Continue reading Figure 2 , and combined with Figure 3 , Figure 3 Shown Figure 2 Schematic diagram of the measurement principle of the first rangefinder 40 and the second rangefinder 50.

[0069] In some embodiments, a rotating structure 60 is provided between the second rangefinder 50 and the robotic vehicle 10 to enable adjustment of the measurement direction of the second rangefinder 50. The measurement direction of the first rangefinder 40 is parallel to the width direction of the robotic vehicle 10. Furthermore, along the forward direction of the robotic vehicle 10, the second rangefinder 50 is located in front of the first rangefinder 40. Furthermore, along the width direction of the robotic vehicle 10, the first rangefinder 40 is aligned with the spray head 22 of the paint spraying device 20.

[0070] It should be noted that the first rangefinder 40 and the second rangefinder 50 use the optical ranging principle to measure the distance between the side walls of the tunnel; the first rangefinder 40 is fixedly installed on the side of the fuselage 11 of the robot car 10, and its position is aligned with the nozzle 22 on the paint spraying device 20. The measuring direction of the first rangefinder 40 is perpendicular to the axial outward direction of the fuselage 11 (for example, vertically to the right), that is, parallel to the width direction of the robot car 10; the second rangefinder 50 is installed on the front side of the fuselage 11 through a rotating structure 60 (for example, an automatic turntable), and the measuring direction of the second rangefinder 50 can be automatically rotated and adjusted between 0° and 90°. The measuring directions and measured values ​​of the two rangefinders are shown in the figure below. Figure 3 As shown. In addition, in this embodiment, the first rangefinder 40 and the second rangefinder 50 are both arranged on the right side of the robot car 10 along its forward direction, and the model calculation involved in the measurement and control method below is also specifically implemented based on this arrangement of the robot car 10 and the rangefinders. In other embodiments, the first rangefinder 40 and the second rangefinder 50 can also be arranged on the left side of the robot car 10 along its forward direction, and the model calculation involved in the measurement and control method can also be implemented through transformation.

[0071] In this embodiment, the measuring direction of the second rangefinder 50 can be adjusted manually or automatically controlled by the control module 30. In addition, along the driving direction of the robot car 10, the second rangefinder 50 is located in front of the first rangefinder 40. In this way, by fixing the first rangefinder 40 and setting the second rangefinder 50, the measuring direction of the second rangefinder 50 can be adjusted according to the preset vertical distance between the robot car 10 and the tunnel reference object (for example, the tunnel side wall), so that the distance between the measuring points generated by the first rangefinder 40 and the second rangefinder 50 on the tunnel side wall (that is, the distance between the measuring points generated by the first rangefinder 40 and the second rangefinder 50 on the tunnel side wall) is equal to the vertical distance between the robot car 10 and the tunnel reference object (for example, the tunnel side wall). Figure 3 The distance between the measured point 1 and the measured point 2) can always be maintained within a certain range, so that only the road curvature changes within the local range in front of the robot car 10 are obtained, reducing invalid measurement data, which is conducive to improving the position and posture measurement accuracy of the robot car 10.

[0072] In some embodiments, the robot car 10 includes a body 11, a wheel component and a driver 12; the wheel component is installed at the bottom of the body 11; wherein, the wheel component includes a universal wheel 13 and a differential wheel 14, the differential wheel 14 is connected to the driver 12, and the driver 12 is electrically connected to the control module 30.

[0073] Specifically, the robotic vehicle 10 includes a body 11, a wheel assembly, and a driver 12. It may also include a power source 70 (e.g., a battery), which is connected to the control module 30 and the driver 12 for power supply. The wheel assembly includes a universal wheel 13 and two differential wheels 14. The universal wheel 13 is mounted on the front bottom of the body 11 for support. The two differential wheels 14 are mounted on the rear bottom of the body 11. The two differential wheels 14 are connected to the driver 12 and are controlled by the driver 12 to generate corresponding rotational speeds, achieving movement and steering functions. The driver 12 is electrically connected to and controlled by the control module 30. The control module 30 is installed within the body 11 and, based on data obtained from the first rangefinder 40 and the second rangefinder 50, calculates instructions for the two differential wheels 14 and sends them to the driver 12, thereby adjusting the position and posture of the body 11.

[0074] In some embodiments, the paint spraying device 20 includes a paint tank 21 and a spray head 22 . The spray head 22 and the first rangefinder 40 are spaced apart along the second direction F2 , which is the width direction of the robot vehicle 10 .

[0075] Specifically, the paint tank 21 is installed on the upper part of the fuselage 11 for easy disassembly; the nozzle 22 is installed at the bottom of the central axis of the fuselage 11, and the nozzle 22 is connected to the paint bucket 21. It is controlled by the start and stop of the control module 30 and can spray paint onto the ground to achieve pre-marking.

[0076] See Figure 2 、 Figure 4 and Figure 5 , Figure 4 The figure shows a flow chart of a measurement and control method of a pre-marking robot for tunnel construction provided in one embodiment of the present application. Figure 5 A schematic diagram of calculating the measurement direction of the second rangefinder 50 and the position of the virtual intersection in an embodiment of the present application is shown.

[0077] Based on the same inventive concept, an embodiment of the present application further provides a measurement and control method for a pre-marking robot for tunnel construction, comprising the following steps:

[0078] S101. Determine and adjust the measurement direction of the second rangefinder 50 based on the tunnel marking task, the preset detection spacing, and the size of the robotic vehicle 10; the tunnel marking task is the preset vertical distance between the target pre-marked line to be marked and the tunnel reference object; the detection spacing is the distance between the measurement points generated by the first rangefinder 40 and the second rangefinder 50 on the tunnel reference object.

[0079] It should be noted that if Figure 5 As shown, the tunnel marking task includes a preset vertical distance L between the target pre-marked line to be marked and the tunnel reference object (for example, the tunnel side wall); a detection spacing L f The detection distance L is the distance between the measurement points generated by the first rangefinder 40 and the second rangefinder 50 on the tunnel reference object. f is between 1.5m and 2.5m. In this embodiment, the detection distance L f Take 2m. In other embodiments, the detection distance L f The installation dimensions of the robot vehicle 10 include the width parameter W of the body 11 and the distance parameter D between the first rangefinder 40 and the second rangefinder 50 .

[0080] Specifically, according to the tunnel marking task, the preset vertical distance between the target pre-marking line to be marked and the tunnel reference object is obtained, and the measuring direction of the second rangefinder 50 is calculated according to the preset detection spacing and the installation size of the robot car 10. According to the calculation result, the control module 30 can control the automatic turntable to rotate to adjust the measuring direction of the second rangefinder 50, or the measuring direction of the second rangefinder 50 can be adjusted by manual adjustment.

[0081] S102 , respectively obtain the distances from the first rangefinder 40 and the second rangefinder 50 to the tunnel reference object along their own measurement directions to determine the position error and attitude error of the robotic vehicle 10 relative to the target pre-marking line to be marked.

[0082] Specifically, after starting the automatic marking function of the paint spraying device 20 on the robot car 10, the control module 30 reads the measurement data of the first rangefinder 40 and the second rangefinder 50 in real time, and after processing through the filtering algorithm, obtains the first measurement value, that is, the distance from the first rangefinder 40 to the tunnel reference object along its own measurement direction, and the second measurement value, that is, the distance from the second rangefinder 50 to the tunnel reference object along its own measurement direction, and then calculates the position error and posture error of the robot car 10 relative to the target pre-marking line to be marked.

[0083] S103 , according to the position error and posture error of the robot car 10 , control the robot car 10 to complete position and posture adjustment, and make the paint spraying device 20 mark the ground according to the target pre-marked line.

[0084] Specifically, the control module 30 calculates the wheel speed instruction based on the position error and posture error of the robot car 10 and sends it to the driver 12, controlling the robot car 10 to complete the position and posture adjustment, thereby achieving precise tracking control, so that the paint spraying device 20 can spray paint and mark the ground according to the target pre-marked line.

[0085] In some embodiments, the measuring direction of the second rangefinder 50 is determined according to the following formula (1):

[0086]

[0087] Among them, L f represents the detection distance, L represents the vertical distance between the target pre-marking line to be marked and the tunnel reference object, D represents the distance parameter between the first rangefinder 40 and the second rangefinder 50, and W represents the width parameter of the fuselage 11.

[0088] Specifically, given the small size and low speed of the robot car 10, only the position of the robot car 10 relative to the target pre-marked line within the local area in front of the robot car 10 needs to be considered. If the measurement range is too far, invalid measurement data will be generated. If the measurement range is too close, the robot car 10 will not have time to respond. By calculating and adjusting the measurement direction of the second rangefinder 50, the detection range of the first rangefinder 40 and the second rangefinder 50 can be maintained within the set detection distance range.

[0089] In some embodiments, before respectively obtaining the distances of the first rangefinder 40 and the second rangefinder 50 from the tunnel reference object along their own measurement directions in step S102, the method of this embodiment further includes:

[0090] The position of the virtual intersection is determined based on the spacing parameters of the first rangefinder 40 and the second rangefinder 50, as well as the measurement direction of the second rangefinder 50. The virtual intersection is the intersection of the reverse extension line of the first rangefinder 40 along its own measurement direction and the reverse extension line of the second rangefinder 50 along its own measurement direction.

[0091] Specifically, such as Figure 5 As shown, the measuring direction of the first rangefinder 40 and the measuring direction of the second rangefinder 50 are extended in opposite directions, and the intersection of the reverse extension lines is defined as a virtual intersection point. The distance l from the virtual intersection point to the first rangefinder 40 is calculated respectively. 11 , the distance from the virtual intersection point to the second rangefinder 50 is l 21 , and the distance L0 from the virtual intersection point to the nozzle 22. In this embodiment, the position of the virtual intersection point is determined according to the following formula (2):

[0092]

[0093] It should be noted that L0>0 indicates that the virtual intersection point is located on the side of the nozzle 22, L0<0 indicates that the virtual intersection point is located on the right side of the nozzle 22, and L0=0 indicates that the virtual intersection point is located at the nozzle 22.

[0094] See Figure 6 and Figure 7 , Figure 6 A schematic diagram showing the calculation of the distances between a virtual intersection point and a tunnel reference object via the first distance meter 40 and the second distance meter 50 in an embodiment of the present application is shown; Figure 7 A schematic diagram of calculating the position error of the nozzle 22 position of the paint spraying device 20 on the robot vehicle 10 to the target pre-marked line in an embodiment of the present application is shown.

[0095] In some embodiments, respectively obtaining the distances from the first rangefinder 40 and the second rangefinder 50 to the tunnel reference object along their own measurement directions to determine the position error and attitude error of the robotic vehicle 10 relative to the target pre-marked line to be marked includes:

[0096] Determine, based on the position of the virtual intersection and the distances from the first rangefinder 40 and the second rangefinder 50 to the tunnel reference object along their respective measurement directions, a first distance from the virtual intersection to the tunnel reference object along the measurement direction of the first rangefinder 40 and a second distance from the virtual intersection to the tunnel reference object along the measurement direction of the second rangefinder 50;

[0097] Based on the first distance, the second distance, and the angle between the measuring direction of the second rangefinder 50 and the second direction F2, the position error and posture error of the nozzle 22 of the paint spraying device 20 on the robot car 10 relative to the target pre-marking line to be applied are determined; wherein the second direction F2 is the width direction of the robot car 10.

[0098] Specifically, the distance from the first rangefinder 40 to the tunnel reference object along its own measurement direction is the first measurement value l 12 , and the distance from the second rangefinder 50 to the tunnel reference object along its own measurement direction, i.e., the second measurement value l 22 The first distance L1 from the virtual intersection point to the tunnel reference object along the measuring direction of the first distance meter 40 is l 11 +l 12 The second distance L2 from the virtual intersection point to the tunnel reference object along the measuring direction of the second distance meter 50 is l 21 +l 22 ,like Figure 5 and Figure 6 shown.

[0099] like Figure 7 As shown, in some embodiments, the position error E of the nozzle 22 of the paint spraying device 20 on the robot vehicle 10 relative to the current pre-marked line segment on the target pre-marked line is determined according to the following calculation formula (3):p :

[0100]

[0101] It should be noted that when E p When >0, it means that the nozzle 22 is located on the left side of the target pre-marked line. p <0, indicating that the nozzle 22 is located on the right side of the target pre-marked line. p =0, it means that the nozzle 22 points are located on the target pre-marked line.

[0102] The posture error E of the nozzle 22 position of the paint spraying device 20 on the robot car 10 relative to the current pre-marked line segment on the target pre-marked line is determined according to the following calculation formulas (4) and (5): y :

[0103]

[0104] Wherein, L1 represents the first distance; L2 represents the second distance; L0 represents the distance from the virtual intersection point along the second direction F2 to the nozzle 22 of the paint spraying device 20; L represents the distance from the nozzle 22 of the paint spraying device 20 to the tunnel reference object along the second direction F2; α represents the angle between the measuring direction of the second rangefinder 50 and the second direction F2; θ represents the angle between the forward direction of the robot car 10 and the vertical plane where the current pre-marked line segment on the target pre-marked line is located. It should be noted that for the convenience of illustration, Figure 7 The included angle θ between the forward direction of the robot car 10 and the vertical plane where the tunnel reference object is located is used to illustrate that the vertical plane where the current pre-marked line segment on the target pre-marked line is located is parallel to the vertical plane where the tunnel reference object is located.

[0105] In this way, the control module 30 in this embodiment reads the distances relative to the tunnel reference object measured by the first rangefinder 40 and the second rangefinder 50 in real time, accurately calculating the position error and attitude error of the robotic vehicle 10 relative to the target pre-marked line. While conventional laser radar measurement methods result in centimeter-level errors, this embodiment utilizes rangefinder measurement methods, achieving millimeter-level errors. Therefore, this embodiment provides more accurate measurements. Conventional methods only measure the position error of the vehicle body 11 relative to the tunnel reference object, while this embodiment measures both position error and attitude error simultaneously, resulting in more comprehensive measurement results.

[0106] See Figure 8 , Figure 8 A schematic diagram of calculating the radius of a trajectory arc in an embodiment of the present application is shown.

[0107] In some embodiments, step S103 controls the robot car 10 to adjust its position and posture according to the position error and posture error of the robot car 10, and causes the paint spraying device 20 to mark the ground along the target pre-marked line, including:

[0108] The radius of the trajectory arc is determined based on the position error, posture error and preset detection distance of the robot car 10; the rotation speed of the differential wheel 14 on the robot car 10 is determined based on the radius of the trajectory arc and the preset differential wheel 14 model; according to the rotation speed of the differential wheel 14 on the robot car 10, the rotation of the differential wheel 14 is controlled to complete the position and posture adjustment of the robot car 10, and enable the paint spraying device 20 to spray paint according to the target pre-marked line.

[0109] Specifically, the set driving speed v0 of the robot car 10 is obtained (for example, the driving speed is set to 0.5-1.0 m / s), and the formula for calculating the radius of the trajectory arc and the speed of the differential wheel is:

[0110]

[0111] Among them, R represents the radius of the trajectory arc; L f represents the detection distance; d represents the radius of the differential wheel on the robot car; w represents the wheel spacing parameter of the left and right differential wheels on the robot car; ω L Indicates the rotation speed of the left differential wheel on the robot car; ω R Indicates the rotational speed of the right differential wheel on the robot car.

[0112] In this embodiment, according to formula (5), the radius of the trajectory arc is calculated based on the position error and the posture error, and the radius of the trajectory arc is determined, such as Figure 8 As shown. The left and right wheel speeds of the robot car 10 are then calculated based on the differential wheel 14 model as shown in formula (6). The left and right wheel speed instructions are then sent to the driver 12 to control the left and right wheel rotations to adjust the position and posture of the robot car 10's body 11, allowing the spray head 22 to accurately spray paint along the target pre-marked lines.

[0113] In some embodiments, in step S103, the robot car 10 is controlled to complete position and posture adjustment according to the position error and posture error of the robot car 10, and the paint spraying device 20 is caused to mark the ground according to the target pre-marked line, including:

[0114] According to the position error and posture error of the robot car 10 and the preset PID control algorithm, the target angular velocity of the robot car 10 is determined; according to the target angular velocity of the robot car 10, the rotation speed of the differential wheel 14 on the robot car 10 is determined; according to the rotation speed of the differential wheel 14 on the robot car 10, the rotation of the differential wheel 14 is controlled to complete the position and posture adjustment of the robot car 10, so that the nozzle 22 can accurately spray paint according to the target pre-marked line.

[0115] Specifically, according to the following formula (7), the target angular velocity ω of the robot car 10 is calculated based on the position error and posture error of the robot car 10: d .

[0116] ω d =k1(k p1 E p +k i1 SE p +k d1 DE p )+k2(k p2 E y +k i2 SE y +k d2 DE y ) (7)

[0117] Among them, k p1 、k i1 、k d1 Represents the PID proportional, integral, and differential coefficients of the position, k p2 、k i2 、k d2 Represents the PID proportional, integral, and differential coefficients of the attitude, E p 、SE p 、DE p They represent the position error, the cumulative value of the position error, and the differential value of the position error, respectively. y 、SE y 、DE y They represent the attitude error, the cumulative value of the attitude error, and the differential value of the attitude error respectively. k1 and k2 represent the weight coefficients of position PID and attitude PID respectively.

[0118]

[0119] Where d represents the radius of the differential wheel on the robot car; w represents the wheel spacing parameter of the left and right differential wheels on the robot car; ω L Indicates the rotation speed of the left differential wheel on the robot car; ω R Indicates the rotational speed of the right differential wheel on the robot car.

[0120] According to formula (8), the left wheel speed and the right wheel speed of the robot car are calculated, and the left and right wheel speed instructions are sent to the driver 12 to control the rotation of the left and right wheels, thereby completing the position and posture adjustment of the body 11 of the robot car 10, so that the nozzle 22 can accurately spray paint and mark according to the target pre-marked line.

[0121] In summary, to address the issue of automatic pre-marking in tunnel scenarios, the first rangefinder 40 and the second rangefinder 50 are used to measure the position error and attitude error of the robotic vehicle 10 in a local area within the tunnel, achieving millimeter-level error measurement. Based on this position error data and in conjunction with the robot vehicle 10's motion model, the robotic vehicle 10 is guided to accurately track the target pre-marking and mark the line, thereby ensuring that the pre-marking effect better meets construction requirements. Compared to existing technical methods, this embodiment can effectively improve the accuracy and effectiveness of pre-marking in tunnels, ensuring the quality of pre-marking construction.

[0122] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A pre-marking robot for tunnel construction, characterized in that: include: A robotic vehicle, a paint spraying device, a control module, a first rangefinder and a second rangefinder; the first rangefinder and the second rangefinder are arranged on the same side of the robotic vehicle along a first direction, and the second rangefinder is arranged to be movable relative to the robotic vehicle; the paint spraying device and the control module are arranged on the robotic vehicle; The control module determines in real time the position error of the robot car relative to the target pre-marked line to be painted based on the distances of the first rangefinder and the second rangefinder to the tunnel reference object along their own measurement directions, so as to control the movement of the robot car and enable the painting device to paint the ground according to the target pre-marked line. The first direction is the forward direction of the robotic vehicle; the tunnel reference object includes a tunnel side wall or a tunnel curb.

2. The pre-marking robot for tunnel construction according to claim 1, characterized in that: A rotating structure is provided between the second rangefinder and the robot car so that the measuring direction of the second rangefinder can be adjusted; the measuring direction of the first rangefinder is parallel to the width direction of the robot car.

3. The pre-marking robot for tunnel construction according to claim 1 or 2, characterized in that: Along the forward direction of the robot car, the second rangefinder is located in front of the first rangefinder; and / or Along the width direction of the robot vehicle, the first rangefinder is aligned with the spray head on the painting device.

4. The measurement and control method of a pre-marking robot for tunnel construction according to any one of claims 1 to 3, characterized in that: include: Determine and adjust the measurement direction of the second rangefinder based on the tunnel marking task, the preset detection distance, and the installation dimensions of the robot vehicle; The tunnel marking task includes a vertical set distance between the target pre-marked line to be marked and the tunnel reference object; the detection distance is the distance between the measurement points generated by the first rangefinder and the second rangefinder on the tunnel reference object respectively; Obtaining the distances of the first rangefinder and the second rangefinder to the tunnel reference object along their own measurement directions respectively, so as to determine the posture error of the robot car relative to the target pre-marking line to be marked; According to the posture error of the robot car, the robot car is controlled to complete the position and posture adjustment, and the paint spraying device is made to draw a line on the ground according to the target pre-marked line.

5. The measurement and control method of the pre-marking robot for tunnel construction according to claim 4, characterized in that: The step of determining the measuring direction of the second rangefinder according to the tunnel marking task, the preset detection spacing, and the installation size of the robot vehicle includes: The measuring direction of the second rangefinder is determined according to the following formula: Wherein, α represents the angle between the measuring direction of the second rangefinder and the second direction; L M Indicates the detection distance; L indicates the preset vertical distance between the target pre-marking line to be marked and the tunnel reference object; D indicates the distance parameter between the first rangefinder and the second rangefinder; W indicates the width parameter of the fuselage; and the second direction is the width direction of the robot car.

6. The measurement and control method of the pre-marking robot for tunnel construction according to claim 4, characterized in that: Before respectively obtaining the distances of the first distance meter and the second distance meter to the tunnel reference object along their own measurement directions, the method further includes: The position of a virtual intersection is determined based on the spacing parameters between the first rangefinder and the second rangefinder, and the measurement direction of the second rangefinder; the virtual intersection is the intersection of a line extending in the opposite direction of the first rangefinder along its own measurement direction and a line extending in the opposite direction of the second rangefinder along its own measurement direction.

7. The measurement and control method of the pre-marking robot for tunnel construction according to claim 6, characterized in that: The method of respectively obtaining the distances of the first rangefinder and the second rangefinder along their own measurement directions to the tunnel reference object to determine the posture error of the robot car relative to the target pre-marking line to be marked includes: Determine, based on the position of the virtual intersection and the distances of the first rangefinder and the second rangefinder along their respective measurement directions to the tunnel reference object, a first distance from the virtual intersection along the measurement direction of the first rangefinder to the tunnel reference object and a second distance from the virtual intersection along the measurement direction of the second rangefinder to the tunnel reference object; Determining a position error and an attitude error of a nozzle position of the paint spraying device on the robotic vehicle relative to the target pre-marked line to be marked based on the first distance, the second distance, the angle between the measuring direction of the second rangefinder and the second direction, and the vertical distance between the target pre-marked line to be marked and a tunnel reference object; Wherein, the second direction is the width direction of the robot vehicle.

8. The measurement and control method of the pre-marking robot for tunnel construction according to claim 7, characterized in that: The position error E of the nozzle position of the paint spraying device on the robot car relative to the current pre-marked line segment on the target pre-marked line is determined according to the following calculation formula: p : The posture error E of the nozzle position of the paint spraying device on the robot car relative to the current pre-marked line segment on the target pre-marked line is determined according to the following calculation formula: y : Among them, L1 represents the first distance; L2 represents the second distance; L0 represents the distance from the position of the virtual intersection along the second direction to the nozzle position of the paint spraying device; L represents the preset vertical distance from the target pre-marking line to be marked to the tunnel reference object; α represents the angle between the measuring direction of the second rangefinder and the second direction; θ represents the angle between the forward direction of the robot car and the vertical plane where the current pre-marking line segment on the target pre-marking line is located.

9. The measurement and control method of the pre-marking robot for tunnel construction according to claim 4, characterized in that: According to the posture error of the robot car, the robot car is controlled to complete the position and posture adjustment, and the paint spraying device is caused to mark the ground according to the target pre-marked line, including: Determining the radius of the trajectory arc according to the position error, posture error and preset detection distance of the robot car; Determining the rotational speed of the differential wheel on the robot car according to the radius of the trajectory arc and a preset differential wheel model; According to the rotation speed of the differential wheel on the robot car, the differential wheel is controlled to rotate to complete the position and posture adjustment of the robot car, so that the painting device can spray paint according to the target pre-marked line.

10. The measurement and control method of the pre-marking robot for tunnel construction according to claim 4, characterized in that: According to the posture error of the robot car, the robot car is controlled to complete the position and posture adjustment, and the paint spraying device is caused to mark the ground according to the target pre-marked line, including: Determining the target angular velocity of the robot car based on the position error and attitude error of the robot car and a preset PID control algorithm; Determining the rotational speed of the differential wheels on the robot car according to the target angular velocity of the robot car; According to the rotation speed of the differential wheel on the robot car, the differential wheel is controlled to rotate to complete the position and posture adjustment of the robot car, so that the painting device can spray paint according to the target pre-marked line.

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