Concrete leveling robot integrating real-time positioning and emergency response interaction functions

Abstract

The invention discloses a concrete leveling robot integrated with real-time positioning and emergency response interaction functions, comprising: an operation control system comprising a parameter monitoring module and an emergency stop control module, the parameter monitoring module monitoring operation parameters of the leveling robot in real time, and triggering the emergency stop control module when the leveling robot is in an emergency state; the positioning communication system comprises a mode switching module, a real-time positioning module, a communication module and an integration storage module, the real-time positioning module obtains real-time position data of the leveling robot, and the integration storage module integrates the operation parameters and the real-time position data and transmits the operation parameters and the real-time position data to the remote monitoring platform through the communication module in a timing mode; and the remote monitoring platform is wirelessly associated with the sudden stop control module. The problems that an existing concrete leveling robot cannot achieve real-time feedback of position information and operation state parameters, and therefore early warning and rescue and maintenance work cannot be conducted in time when an emergency event occurs can be solved.

Description

Technical Field

[0001] This invention relates to the field of concrete leveling robot technology, specifically a concrete leveling robot that integrates real-time positioning and emergency response interaction functions. Background Technology

[0002] A concrete leveling robot is an automated construction device mainly used for surface leveling operations after concrete pouring in building, bridge and other engineering projects. Its core functions include: high-precision leveling, which adjusts the height in real time through sensors and algorithms to ensure minimal surface flatness error; continuous operation, which can cover a large area and reduce manual intervention; and intelligent navigation, with some models supporting laser or GPS positioning to adapt to complex terrain.

[0003] However, existing concrete leveling robots have the following drawbacks:

[0004] 1. Insufficient positioning accuracy and delayed emergency response: The lack of accurate real-time positioning function makes it difficult to quickly locate equipment failures or personnel in distress in complex construction environments such as large construction sites and mountain roads, resulting in delays in rescue opportunities (e.g., it takes 1-2 hours to manually locate the equipment after failure).

[0005] 2. Lack of remote data transmission and insufficient risk warning: Traditional equipment lacks a stable remote data link, making it impossible to transmit operating status parameters such as motor temperature and vibration frequency in real time. Emergency events (such as circuit failures and overturning risks) cannot be warned in a timely manner, resulting in a 30% increase in equipment damage rate.

[0006] 3. Inefficient information transmission and weak decision support: Emergency response relies on manual reporting, information transmission is delayed (e.g., it takes ≥10 minutes for workers to report by phone after discovering a fault), and there is a lack of standardized data such as location coordinates and fault type, which seriously affects the efficiency of rescue decision-making. Summary of the Invention

[0007] The purpose of this invention is to provide a concrete leveling robot that integrates real-time positioning and emergency response interaction functions, in order to solve the problem that existing concrete leveling robots cannot provide real-time feedback of location information and operating status parameters, thus making it impossible to provide timely early warning and rescue and maintenance operations when emergency events occur.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a concrete leveling robot integrating real-time positioning and emergency response interaction functions, comprising:

[0009] The operation control system includes a parameter monitoring module and an emergency stop control module. The parameter monitoring module monitors the operating parameters of the leveling robot in real time. When the leveling robot is in an emergency state, it generates a corresponding fault code and triggers the emergency stop control module to realize the emergency stop control of the drive mechanism that drives the leveling robot to walk and perform leveling operations.

[0010] The positioning and communication system includes a mode switching module, a real-time positioning module, a communication module, and an integrated storage module. The mode switching module switches the normal and emergency operation modes of the real-time positioning and communication modules based on the real-time monitoring results of the leveling robot's operating parameters. The real-time positioning module acquires the real-time position data of the leveling robot through a data acquisition module. The integrated storage module integrates and stores the operating parameters, real-time position data, and corresponding fault codes based on a time dimension, and transmits the integrated and packaged data packets to a remote monitoring platform at regular intervals through the communication module. The remote monitoring platform is wirelessly connected to the emergency stop control module.

[0011] As a further description of the above technical solution:

[0012] The real-time positioning module is associated with a communication base station. The communication base station receives base station positioning data sent by the satellite system and calculates a correction value by combining it with the known precise coordinates of the communication base station. The real-time positioning module receives robot positioning data sent by the satellite system and performs coordinate correction using the correction value to form the real-time position data.

[0013] As a further description of the above technical solution:

[0014] The real-time positioning module is a GPS module based on GPS technology. It also includes a data parsing module and a position estimation module. The data parsing module parses the positioning type information of the GSA frame data in the robot positioning data. If the positioning type information shows no positioning, the position estimation module calculates the relative distance data based on the CELLID module and RSSI module, combined with the communication base station, and estimates the real-time position data. The real-time positioning module also includes a Beidou positioning module.

[0015] As a further description of the above technical solution:

[0016] The real-time positioning module collects minute-level real-time location data in normal mode and second-level real-time location data in emergency mode.

[0017] As a further description of the above technical solution:

[0018] In normal mode, the communication module incrementally transmits data packets containing the operating parameters and real-time location data to the remote monitoring platform. In emergency mode, it transmits encrypted data packets containing the real-time location data and fault codes to the remote monitoring platform with the highest priority.

[0019] As a further description of the above technical solution:

[0020] The communication module also includes a signal monitoring module and a transmission adjustment module. The signal monitoring module monitors the signal strength in real time. If the signal is weak, the transmission adjustment module automatically switches to a low-speed transmission state. If there is no signal, the transmission stops. The integrated storage module performs offline data caching. When the signal monitoring module detects a signal, the communication module retransmits the offline cached data to the remote monitoring platform in chronological order.

[0021] As a further description of the above technical solution:

[0022] The communication module also includes a feedback monitoring module, which monitors the confirmation signal received by the remote monitoring platform after receiving the data packet. If the confirmation signal is not received, the communication module retransmits the data packet for that period.

[0023] As a further description of the above technical solution:

[0024] The positioning and communication system also includes a boundary crossing detection module. The boundary crossing detection module forms regional limitation data corresponding to the latitude and longitude coordinate interval based on the construction area of ​​the leveling robot. When the latitude and longitude coordinates corresponding to the real-time location data approach or exceed the boundary of the latitude and longitude coordinate interval, the boundary crossing warning information is transmitted to the remote monitoring platform through the communication module, or the boundary crossing information is transmitted to the remote monitoring platform and the emergency stop control module is triggered.

[0025] As a further description of the above technical solution:

[0026] The positioning and communication system also includes a UWB module, which senses the sensing devices worn by construction workers around the leveling robot.

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

[0028] The remote monitoring platform automatically generates electronic archives from the received data packets and the operational process data of the operation control system and positioning communication system.

[0029] In summary, due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0030] 1. The concrete leveling robot of the present invention deeply integrates the real-time positioning module and the communication module into the concrete leveling robot control system, and constructs an integrated mechanism of "real-time positioning - emergency alarm - remote interaction". It breaks through the traditional passive management mode of "manual reporting + offline positioning". The real-time positioning module dynamically collects the latitude and longitude coordinates of the robot, and the communication module transmits the location information and robot operation parameters to the remote monitoring platform in real time. When an emergency condition is triggered, an alarm information containing precise coordinates is automatically pushed, realizing proactive emergency response and interaction with the remote monitoring platform.

[0031] 2. By designing normal and emergency modes and different operating parameters for the real-time positioning and communication modules, the accuracy of data in daily operation and the timeliness of data in emergency operation can be improved. The real-time operation status of the leveling robot is fed back to the remote monitoring platform, enhancing process visualization and facilitating reasonable remote control. The real-time positioning module is linked to communication base stations and satellite systems, and includes data parsing and position estimation modules, ensuring accurate robot position information under varying signal strengths. The communication module employs different data transmission priorities in normal and emergency modes to guarantee low-energy, high-efficiency data transmission in daily operation and timely exchange of crucial information with the remote monitoring platform in emergency situations. The system enables remote decision-making and control; the communication module, through signal monitoring and transmission adjustment modules, can adapt to data transmission under different signal strengths, ensuring that important data is fully transmitted to the remote monitoring platform; the boundary detection module can monitor the robot's activity range in real time, and issue an early warning when it moves out of the construction area to prevent it from leaving the control range and signal coverage; the UWB module is used for the robot to sense on-site auxiliary construction personnel to achieve avoidance, collision prevention, and location of trapped personnel and robots in emergency scenarios to facilitate rescue operations; the system can automatically generate electronic archives containing all operational process data (including various monitoring data and processing flow data), supports integration with the project management platform, and provides a traceable data chain for safety assessment and accident analysis. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a system module block diagram of a concrete leveling robot that integrates real-time positioning and emergency response interaction functions.

[0034] Figure 2This is a system module block diagram of a concrete leveling robot that integrates real-time positioning and emergency response interaction functions, including a real-time positioning module, a communication base station, and a satellite system.

[0035] Figure 3 This is a system block diagram of the real-time positioning module in a concrete leveling robot that integrates real-time positioning and emergency response interaction functions.

[0036] Figure 4 This is a system block diagram of the communication module in a concrete leveling robot that integrates real-time positioning and emergency response interaction functions. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0039] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0040] In the description of the embodiments of the present invention, it should be noted that the terms "upper" and "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0041] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0042] Example 1:

[0043] Please see Figure 1-4 This invention provides a technical solution: a concrete leveling robot integrating real-time positioning and emergency response interaction functions, comprising:

[0044] The operation control system includes a parameter monitoring module and an emergency stop control module. The parameter monitoring module monitors the operating parameters of the leveling robot in real time. When the leveling robot is in an emergency state (such as circuit failure, risk of overturning when the equipment tilt angle is ≥15°), it generates a corresponding fault code and triggers the emergency stop control module to realize emergency stop control of the drive mechanism that drives the leveling robot to walk and perform leveling operations. The emergency stop control module is triggered in two ways: automatic (when the leveling robot is in an emergency state: equipment tilt angle ≥15°, speed change ≥5m / s, operating temperature ≥80℃, etc.) and manual (emergency stop button in the cab, alarm button on the handheld remote control).

[0045] The positioning and communication system includes a mode switching module, a real-time positioning module, a communication module, and an integrated storage module. The mode switching module switches the normal and emergency operation modes of the real-time positioning and communication modules based on real-time monitoring results of the leveling robot's operating parameters. The real-time positioning module acquires the leveling robot's real-time location data through a data acquisition module. The integrated storage module integrates and stores the operating parameters, real-time location data, and corresponding fault codes based on a time dimension, and transmits the integrated packaged data packets to a remote monitoring platform periodically via the communication module. The remote monitoring platform is wirelessly connected to the emergency stop control module. The communication module uses the MQTT protocol for encrypted data transmission, prioritizing emergency alarm information over regular data to ensure alarm information reaches the monitoring platform within 10 seconds. The remote monitoring platform's functions include: real-time display of the device's location trajectory (updated once per second), an operating parameter dashboard; automatic pop-up windows upon receiving alarm information; one-click navigation to the incident location (integrated with Gaode / Baidu Maps API); and the ability to send remote commands to the device (such as activating backup power or unlocking the emergency stop).

[0046] The concrete leveling robot of this invention deeply integrates the real-time positioning module and the communication module into the concrete leveling robot control system, constructing an integrated mechanism of "real-time positioning - emergency alarm - remote interaction". This breaks through the traditional passive management mode of "manual reporting + offline positioning". The real-time positioning module dynamically collects the robot's latitude and longitude coordinates, and the communication module transmits the location information and robot operation parameters to the remote monitoring platform in real time. When an emergency condition is triggered, an alarm information containing precise coordinates is automatically pushed, realizing proactive emergency response and interaction with the remote monitoring platform.

[0047] Furthermore, construction site dust and rainwater can easily cause short circuits in traditional communication modules, and signal coverage is weak in remote areas (such as rural road construction), resulting in an emergency information transmission failure rate of ≥20%. In this invention, the real-time positioning module and communication module adopt an IP67 protection design, the communication module supports multi-band switching (compatible with China Mobile / China Unicom / China Telecom frequency bands), and with the offline caching function (storing data when the network is disconnected and automatically uploading it after reconnection), the communication success rate is increased to 99%.

[0048] The system adopts an "integrated protective cabin" design, integrating the real-time positioning module (based on GPS technology) and the communication module (based on 4G communication technology) into a single sealed cabin (200mm×150mm×80mm). Inside the cabin, a 1.5mm thick aluminum alloy partition separates the two modules, reducing electromagnetic interference from 4G radio frequency signals to the weak GPS signal (-160dBm) (tests show a 40% reduction in interference). The exterior of the cabin has pre-drilled standardized mounting holes (compatible with M6 bolts for the robot frame), and a 3mm thick silicone shock-absorbing pad (compression 10%-20%) is installed at the bottom to reduce the impact of body vibration (≤100Hz) on the module's crystal oscillator (positioning drift ≤0.5m). This achieves modular component integration and efficient spatial layout. Sealed cabin shell: die-cast aluminum alloy (2mm thick), with nitrile rubber sealing rings (30% compression) at the joints to resist dust intrusion and short-term water immersion (1m water depth for 30 minutes); Interfaces: GPS antenna interface (SMA-K) and 4G antenna interface (SMA-J) are both equipped with waterproof caps, and the cables are oil-resistant and cold-resistant cables (-40℃~85℃ working temperature) to adapt to the oil and low-temperature environment of the construction site.

[0049] The installation position was adjusted to further optimize module performance. The real-time positioning module was fixed to an unobstructed area on top of the robot (such as the frame beam) and a magnetic base was used in conjunction with a shock-absorbing bracket (shock reduction coefficient ≥80%) to prevent equipment vibration from affecting signal reception. The communication module was integrated inside the control box and connected to an external high-gain antenna (gain ≥5dBi) via an SMA interface. The antenna was installed on the side of the robot body 1.5 meters above the working surface to reduce the obstruction of concrete dust.

[0050] In addition, each system module draws power from the robot's 24V main power supply and outputs it separately via a DC-DC converter (efficiency ≥92%). The real-time positioning module: 3.3V / 100mA (peak 150mA), supports low-power mode (standby current ≤10mA); the communication module: 5V / 500mA (peak 2A, during transmission), equipped with a supercapacitor (1F / 5.5V) as a backup power source, capable of maintaining module operation for ≥30 minutes after a main power outage (ensuring the transmission of the last location information).

[0051] Example 2:

[0052] Please see Figure 1-4 Based on the above embodiment one, preferably, the real-time positioning module is associated with a communication base station. The communication base station receives base station positioning data sent by the satellite system and calculates a correction value by combining it with the known precise coordinates of the communication base station. The real-time positioning module receives robot positioning data sent by the satellite system and performs coordinate correction using the correction value to form the real-time location data. In the prior art, traditional positioning methods (such as base station positioning) have an error of ≥10 meters and are prone to failure in complex terrain (high-rise buildings blocking the view, valleys). However, this embodiment improves the positioning accuracy to ±1 meter by using the differential positioning technology of the above-mentioned real-time positioning module associated with the communication base station (which provides a relatively stable signal to the communication module) and the satellite system; at the same time, it uses 4G communication base station assisted positioning to ensure the continuity of positioning in areas with weak signals such as tunnels, reducing the rescue arrival time by ≥50%.

[0053] The real-time positioning module is a GPS module based on GPS technology. It also includes a data parsing module and a position estimation module. The data parsing module analyzes the positioning type information of the GSA frame data in the robot's positioning data. If the positioning type information indicates no positioning, the position estimation module calculates the relative distance data based on the CELLID module and RSSI module, combined with the communication base station, and estimates the real-time position data. By parsing the "positioning type" field of the GSA frame (e.g., 1 = no positioning, 3 = 3D positioning), if there is no positioning for 30 consecutive seconds, a 4G base station-assisted positioning is triggered (using CELLID+RSSI to estimate the position, with an error ≤5m), and an "assisted positioning" marker is added to the data. CELLID is a positioning technology that uses the communication device's ID to determine the specific location information of the communication device and the robot equipped with it. The real-time positioning module also includes a BeiDou positioning module. A Beidou positioning module is added to the GPS module to form dual-mode redundancy. When the signal of a single system is interfered with (such as electromagnetic interference), it automatically switches to the other system, improving the positioning continuity to 99.9%. It supports the Beidou short message function (when there is no 4G signal) and can send 140 characters of emergency information (including coordinates and fault codes).

[0054] The GPS module (using ublox-m8n, supporting dual-mode GPS / GLONASS) is connected to the UART2 port of the main control unit (STM32H743 microprocessor) via an RS232 serial port (baud rate 9600bps), outputting NMEA0183 protocol data (including GGA / GSA / RMC frames, parsing 16 parameters such as latitude, longitude, altitude, and positioning status). This enables the physical interface to work in conjunction with the main control unit.

[0055] The real-time positioning module collects minute-level real-time position data in the normal mode and second-level real-time position data in the emergency mode. Normal mode (non-emergency): The GPS module outputs a set of positioning data every 60 seconds. After being parsed by the main control, it is fused with the robot odometer data (encoder pulses) (using an extended Kalman filter) to correct the positioning error (static error ≤ 0.5 m); Emergency mode (triggering an alarm): The main control automatically increases the GPS sampling frequency to 1 Hz (one set of data per second). This improves the accuracy of data in the normal mode and the timeliness of data in the emergency mode.

[0056] Embodiment 3:

[0057] Please refer to Figure 1-4 , on the basis of the above Embodiment 1, preferably, the communication module incrementally transmits the data packet containing the operating parameters and real-time position data to the remote monitoring platform in the normal mode, and transmits the encrypted data packet containing the real-time position data and fault code to the remote monitoring platform with the highest priority in the emergency mode. Traditional manual reporting can only describe the approximate location and fault phenomenon, lacking device operation data (such as battery power, fault code), resulting in insufficient rescue preparation. In the present invention, the communication module transmits one set of data per second (including multiple parameters among 12 parameters such as position, temperature, vibration, etc.). The emergency alarm information is automatically attached with coordinates, fault type and device status. The monitoring platform can remotely retrieve historical data for auxiliary decision-making, reducing ineffective rescue actions. Normal mode (non-emergency): The 4G module packs and uploads the fusion data (including position, speed, and 3 key parameters) once every 5 minutes, and uses incremental transmission (only sending the changed amount) to reduce traffic consumption (daily traffic ≤ 50 MB); Emergency mode (triggering an alarm): The 4G module switches to the "alarm channel" and preferentially transmits the encrypted data packet (AES-128 encryption) containing the UTC timestamp, longitude and latitude (accurate to 0.0001°), and fault code (such as E01 = inclination angle exceeding the limit).

[0058] Among them, the communication module uses 4G communication technology. The 4G module (Huawei ME909s-821, compatible with the full frequency bands of LTE-FDD / TDD) is connected to the USB_HOST port of the main control through a USB2.0 interface, and uses the AT command set (such as AT+CGATT to attach to the network, AT+CMQTT to connect to the platform) to implement communication configuration, supporting a maximum downlink rate of 150 Mbps to meet the high-frequency data transmission requirements. The interface board integrates a surge protection circuit (TVS diode SMBJ6.5A) to resist the instantaneous high voltage in the construction environment (such as the starting impact of the motor), ensuring the communication stability of the module to achieve the linkage between the physical interface and the main control unit.

[0059] The communication module also includes a signal monitoring module and a transmission adjustment module. The signal monitoring module monitors the signal strength in real time. If the signal is weak, the transmission adjustment module automatically switches to a low-speed transmission state. If there is no signal, transmission stops. The integrated storage module performs offline data caching. When the signal monitoring module detects a signal, the communication module retransmits the offline cached data to the remote monitoring platform in chronological order. Real-time signal strength monitoring (RSSI ≥ -90dBm is normal) is performed. If the signal is weak (-110dBm ≤ RSSI < -90dBm), it automatically switches to low-speed transmission (transmitting only location and alarm information). If the network is down (RSSI < -110dBm), local caching (capacity ≥ 1000 records) is activated, and data is retransmitted in chronological order after the signal is restored.

[0060] The communication module also includes a feedback monitoring module, which monitors the confirmation signal received by the remote monitoring platform after receiving the data packet. If the confirmation signal is not received, the communication module retransmits the data packet for that period to enable the "retransmission mechanism" (if no confirmation is received from the platform within 10 seconds, it will automatically retransmit 3 times).

[0061] Example 4:

[0062] Please see Figure 1-4 Based on the above embodiment one, preferably, the positioning communication system further includes a boundary crossing detection module. This module generates area limitation data corresponding to the latitude and longitude coordinate range of the leveling robot's construction area. When the latitude and longitude coordinates corresponding to the real-time location data approach or exceed the boundary of the latitude and longitude coordinate range, the communication module transmits boundary crossing warning information to the remote monitoring platform, or transmits boundary crossing information to the remote monitoring platform and triggers the emergency stop control module. The main controller is linked with the robot's motion controller (controlling walking and leveling mechanisms) via a CAN bus, converting GPS positioning data into an "electronic fence for the construction area" (e.g., setting a no-entry zone). When the device approaches the boundary, the 4G module sends a "boundary crossing warning" to the platform in advance. In emergency situations (e.g., when an emergency stop is triggered), the main controller simultaneously calls GPS and 4G module data to generate an "emergency data packet" (including the position trajectory and speed curve for the 10 seconds prior to triggering), which is pushed to the platform via the 4G module, supporting rescue personnel in reviewing the event process. Through the above-mentioned modular hardware integration, timing software coordination and fault-tolerant mechanism design, the GPS and 4G modules are deeply integrated with the robot control system in a "plug-and-play" manner, ensuring the high reliability of the positioning-communication link (mean time between failures ≥ 1000 hours).

[0063] The positioning and communication system also includes a UWB module, which senses the sensors worn by construction workers around the leveling robot. Integrating the UWB module establishes near-field positioning (accuracy ±0.3 meters) between the equipment and the workers' safety helmet tags. When personnel approach a dangerous area (e.g., within 3 meters of the robot's operating radius), the equipment automatically decelerates and sends a warning message to the monitoring platform. Combined with 4G remote alerts, this forms a three-way collaborative protection system involving the equipment, personnel, and platform. Technical benefits: Reduces the human-machine collision accident rate by ≥80%; in emergency scenarios, it can simultaneously locate both the equipment and trapped personnel, further improving rescue efficiency by 30%.

[0064] The remote monitoring platform automatically generates electronic archives from received data packets and operational data from the control and positioning communication systems. Existing emergency event records rely on paper ledgers, lacking timestamps and location tracking, making it difficult to trace responsibility (e.g., whether equipment malfunction was caused by improper operation). This invention automatically generates electronic emergency archives containing location coordinates and processing details, supporting integration with project management platforms and providing a traceable data chain for safety assessments and accident analysis.

[0065] In summary, due to the adoption of the above technical solutions, the concrete leveling robot integrating real-time positioning and emergency response interaction functions in this embodiment has the following advantages compared with the prior art:

[0066] 1. The concrete leveling robot of the present invention deeply integrates the real-time positioning module and the communication module into the concrete leveling robot control system, and constructs an integrated mechanism of "real-time positioning - emergency alarm - remote interaction". It breaks through the traditional passive management mode of "manual reporting + offline positioning". The real-time positioning module dynamically collects the latitude and longitude coordinates of the robot, and the communication module transmits the location information and robot operation parameters to the remote monitoring platform in real time. When an emergency condition is triggered, an alarm information containing precise coordinates is automatically pushed, realizing proactive emergency response and interaction with the remote monitoring platform.

[0067] 2. By designing normal and emergency modes and different operating parameters for the real-time positioning and communication modules, the accuracy of data in daily operation and the timeliness of data in emergency operation can be improved. The real-time operation status of the leveling robot is fed back to the remote monitoring platform, enhancing process visualization and facilitating reasonable remote control. The real-time positioning module is linked to communication base stations and satellite systems, and includes data parsing and position estimation modules, ensuring accurate robot position information under varying signal strengths. The communication module employs different data transmission priorities in normal and emergency modes to guarantee low-energy, high-efficiency data transmission in daily operation and timely exchange of crucial information with the remote monitoring platform in emergency situations. The system enables remote decision-making and control; the communication module, through signal monitoring and transmission adjustment modules, can adapt to data transmission under different signal strengths, ensuring that important data is fully transmitted to the remote monitoring platform; the boundary detection module can monitor the robot's activity range in real time, and issue an early warning when it moves out of the construction area to prevent it from leaving the control range and signal coverage; the UWB module is used for the robot to sense on-site auxiliary construction personnel to achieve avoidance, collision prevention, and location of trapped personnel and robots in emergency scenarios to facilitate rescue operations; the system can automatically generate electronic archives containing all operational process data (including various monitoring data and processing flow data), supports integration with the project management platform, and provides a traceable data chain for safety assessment and accident analysis.

[0068] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A concrete finishing robot integrating real-time positioning and emergency response interaction functions, characterized in that, Comprise: A running control system, which comprises a parameter monitoring module, an emergency stop control module, the parameter monitoring module monitors the running parameters of the leveling robot in real time, generates the corresponding fault code and triggers the emergency stop control module when the leveling robot is in an emergency state, and realizes the emergency stop control of the driving mechanism driving the leveling robot to walk and level; A positioning communication system, which comprises a mode switching module, a real-time positioning module, a communication module, and an integrated storage module, the mode switching module switches the running mode of the real-time positioning module and the communication module between normal mode and emergency mode based on the real-time monitoring results of the leveling robot running parameters, the real-time positioning module obtains the real-time position data of the leveling robot through a data acquisition module, the integrated storage module integrates, stores, and transmits the integrated data packet to the remote monitoring platform in time based on the time dimension, and the remote monitoring platform is wirelessly associated with the emergency stop control module.

2. The concrete finishing robot integrated with real-time positioning and emergency response interaction function according to claim 1, characterized in that, The real-time positioning module is associated with a communication base station, the communication base station receives base station positioning data from a satellite system and calculates a correction value combined with the known precise coordinates of the communication base station, the real-time positioning module receives robot positioning data from the satellite system and performs coordinate correction through the correction value to form the real-time position data.

3. The concrete finishing robot integrating real-time positioning and emergency response interaction functions according to claim 2, characterized in that, The real-time positioning module is a GPS module based on GPS technology, which further comprises a data analysis module and a position estimation module, the data analysis module analyzes the positioning type information of the GSA frame data in the robot positioning data, if the positioning type information shows that the positioning is not completed, the position estimation module estimates the relative distance data based on the CELLID module and the RSSI module combined with the communication base station, and estimates the real-time position data, and the real-time positioning module further comprises a Beidou positioning module.

4. The concrete finishing robot of claim 1, wherein, The real-time positioning module collects minute-level real-time position data in normal mode, and collects second-level real-time position data in emergency mode.

5. The concrete finishing robot of claim 1, wherein, The communication module transmits the data packet containing the running parameters and real-time position data to the remote monitoring platform in normal mode, and transmits the encrypted data packet containing the real-time position data and fault code to the remote monitoring platform with the highest priority in emergency mode.

6. The concrete finishing robot of claim 1, wherein, The communication module further comprises a signal monitoring module and a transmission adjustment module, the signal monitoring module monitors the signal strength in real time, if the signal is weak, it automatically switches to a low-rate transmission state through the transmission adjustment module, if there is no signal, it stops transmission, and the integrated storage module performs offline data caching, when the signal monitoring module detects a signal, the communication module retransmits the offline cached data to the remote monitoring platform in time sequence.

7. The concrete finishing robot of claim 1, wherein, The communication module further comprises a feedback monitoring module, which is used to monitor the confirmation signal transmitted by the remote monitoring platform after receiving the data packet, if the confirmation signal is not received, the communication module retransmits the data packet in that period.

8. The concrete finishing robot of claim 1, wherein, The positioning communication system further comprises a boundary crossing detection module, which forms area limitation data corresponding to a latitude and longitude coordinate interval based on the construction area of the leveling robot, and when the latitude and longitude coordinates corresponding to the real-time position data are close to or exceed the boundary of the latitude and longitude coordinate interval, transmits boundary crossing warning information to the remote monitoring platform through the communication module, or transmits boundary crossing information to the remote monitoring platform and triggers the emergency stop control module.

9. The integrated real-time positioning and emergency response interaction functional concrete finishing robot according to claim 1, wherein, The positioning communication system further comprises a UWB module, which senses the sensing device worn by the construction personnel around the leveling robot.

10. The concrete finishing robot of claim 1, wherein, The remote monitoring platform automatically generates an electronic file for the received data packet and the running process data of the running control system and the positioning communication system.

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