Communication connection method for total station and self-propelled lofting robot

Abstract

The invention discloses a communication connection method for a total station and a self-propelled lofting robot. The communication connection method comprises the following steps: establishing communication connection between the total station and the lofting robot; setting a search range on the total station; acquiring real position information of the lofting robot in the search range; and a control instruction is given to the lofting robot according to the real position information, so that lofting work is completed. According to the communication connection method for the total station and the self-propelled lofting robot, the position information of the lofting robot can be automatically obtained, and the lofting is planned according to the position information of the lofting robot and the information of the lofting point, so that the lofting efficiency is high, and the dependence on the experience of an operator is eliminated.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, and in particular to a communication connection method between a total station and a self-propelled layout robot. Background Technology

[0002] In construction work using a layout robot, in many cases, the layout robot's location is scanned by manually controlling a total station to obtain its position. The robot is then moved to the corresponding position based on the location of the layout point. This method relies on the operator's control, resulting in low overall construction efficiency and dependence on the operator's experience. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a communication connection method between a total station and a self-propelled staking robot, which can automatically acquire the position information of the staking robot and plan the staking based on the position information of the staking robot and the information of the staking points, resulting in high staking efficiency and eliminating the dependence on the experience of the operator.

[0004] This invention provides a method for communication connection between a total station and a self-propelled stakeout robot, comprising the following steps:

[0005] Establish a communication connection between the total station and the staking-out robot;

[0006] Set the search range on the total station;

[0007] Obtain the actual position information of the lofting robot within the search range;

[0008] The control instructions for the layout robot are given based on the actual location information to complete the layout work.

[0009] In one embodiment, establishing a communication connection between the total station and the stakeout robot further includes:

[0010] Set up the development environment for the total station control layer;

[0011] Analyzing the serial communication command set of a total station;

[0012] Based on the analysis results, a dynamic library prototype is created in the total station control layer, and the development of the dynamic library prototype is carried out.

[0013] Add a serial-to-Wi-Fi module to the serial port of the total station;

[0014] Establish a local area network environment for the total station and the staking robot.

[0015] In one embodiment, setting the search range on the total station further includes:

[0016] Determine the layout area;

[0017] The search range is set according to the lofting area.

[0018] In one embodiment, obtaining the actual location information of the lofting robot within the search range further includes:

[0019] Determine the initial position information of the total station;

[0020] The search logic is determined based on the initial location information;

[0021] The search logic is used to search the lofting robot within the search range to obtain the robot's true location information.

[0022] In one embodiment, the step of searching the lofting robot within the search range according to the search logic to obtain the location information of the lofting robot further includes:

[0023] The lofting robot is searched within the search range according to the search logic described above;

[0024] Obtain the measurement location information of the lofting robot based on the search results;

[0025] The measured position information is compared with the actual position information of the lofting robot to obtain the true position information.

[0026] In one embodiment, the step of giving control commands to the layout robot based on the actual location information to complete the layout work further includes:

[0027] Obtain the location information of the stakeout points;

[0028] Plan the movement path based on the location information of the stakeout points and the actual location information;

[0029] The layout robot moves along the movement path, and the total station tracks the layout robot in real time during the movement.

[0030] The communication connection method between the total station and the self-propelled staking robot provided by this invention can automatically acquire the position information of the staking robot and plan the staking based on the position information of the staking robot and the information of the staking points. The staking efficiency is high and it eliminates the dependence on the experience of the operator. Attached Figure Description

[0031] 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.

[0032] Figure 1 This is a schematic diagram of the communication connection method between a total station and a self-propelled stakeout robot provided by the present invention. Detailed Implementation

[0033] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. Based on the description of the present invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention.

[0034] In the description of this invention, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," etc., 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 mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0035] The terms “upper,” “lower,” “left,” “right,” “front,” “back,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are only for the convenience of description and simplification, 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 limitations on the present invention.

[0036] The terms “first,” “second,” “third,” etc., are used merely to distinguish elements with similar properties, not to indicate or imply relative importance or a specific order.

[0037] The terms “include,” “comprising,” or any other variation thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0038] Before introducing the following methods, let's briefly explain the relationship between total stations and self-propelled stakeout robots:

[0039] In construction layout, one person (A) operates the total station, while another person (B) operates the target (reflector or prism) to locate the point. A selects the layout point on the total station and rotates the total station to the target point according to its instructions. Meanwhile, B operates the target to work with A to repeatedly measure and adjust the horizontal distance between the target point and the station until the target point and the layout point coincide, completing the layout. A self-propelled layout robot essentially replaces the role of B. It establishes communication with the total station and the flat panel controller, and through wheel drive, it can receive commands to automatically find the layout point. In this system, the layout robot specifically refers to the Hitachi layout robot. The default system uses a Topcon LN150 total station. During operation, the LN150 tracks the prism mounted on the layout robot in real time, thus determining the robot's position. The controller interprets the layout point and sends the layout path to the robot. The robot then moves to the designated position according to the commands to print the layout.

[0040] Please see Figure 1 The communication connection method between a total station and a self-propelled stakeout robot provided by the present invention includes the following steps:

[0041] S1 establishes a communication connection between the total station and the staking-out robot.

[0042] It is understandable that the above steps may further include:

[0043] S101, setting up the development environment for the total station control layer;

[0044] S102, analyzes the serial communication command set of the total station.

[0045] It is understandable that after completing the interface function framework development through the above analysis, the function return value is empty.

[0046] S103. Based on the analysis results, create a dynamic library prototype in the total station control layer and develop the dynamic library prototype.

[0047] Understandably, a corresponding control module is created in the total station control layer based on the parsed logic.

[0048] S104 adds a serial-to-WIFI module to the serial port of the total station.

[0049] Understandably, serial signals can be converted into Wi-Fi signals.

[0050] S105 provides a local area network environment for total stations and staking robots.

[0051] Understandably, a local area network (LAN) environment is used for the interaction between the total station and the staking robot, and the LAN environment can include routers.

[0052] S2, set the search range on the total station.

[0053] It is understandable that the above steps may further include:

[0054] S201, Determine the layout area.

[0055] It is understandable that the layout area is determined by the layout drawings, which have corresponding layout points, and each layout point has a corresponding coordinate position.

[0056] S202, set the search range according to the layout area.

[0057] Understandably, the search range and the size of the lofting area should remain consistent.

[0058] S3, obtain the actual position information of the lofting robot within the search range.

[0059] It is understandable that the above steps include:

[0060] S301, Determine the initial position information of the total station.

[0061] It is understandable that location information may include the angle information of the total station.

[0062] S302, determine the search logic based on the initial position information.

[0063] It is understandable that the search logic can be rotation method, rotation speed and rotation angle, etc., and the rotation can be driven by a magnetic drive servo motor.

[0064] S303: Search the lofting robot within the search range according to the search logic to obtain the true position information of the lofting robot.

[0065] Understandably, the staking robot carries a reflector or prism as a search target. The total station obtains the actual position information of the staking robot, determines the nearest staking point, and controls and guides the staking robot to move to that position for staking based on the position information of the nearest staking point. The above steps are repeated until the staking of all points is completed.

[0066] It is understood that step S303 above may further include:

[0067] S303a, Search the lofting robot within the search range according to the search logic;

[0068] S303b, obtain the measurement position information of the lofting robot based on the search results;

[0069] S303c compares the measured position information with the actual position information of the lofting robot to obtain the true position information.

[0070] S4 sends control instructions to the layout robot based on the actual location information to complete the layout work.

[0071] The above steps may further include;

[0072] S401, Obtain the location information of the stakeout points;

[0073] S402, Plan the movement path based on the location information of the stakeout points and the actual location information;

[0074] S403, the staking robot moves along the movement path, and the total station tracks the staking robot in real time during the movement.

[0075] Understandably, the layout work can be described in the above description. The tracking number of the layout robot can be for tracking reflectors or prisms.

[0076] It is known that when confirming the actual position of the staking robot, the actual position information of the staking robot can be obtained first, and then the measurement position information can be obtained through a total station. The two can be compared to determine the accuracy of the total station measurement. If it is not accurate, the total station can be adjusted and the measurement can be performed again until the accuracy of the measurement meets the requirements.

[0077] As described above, the communication connection method between the total station and the self-propelled staking robot provided by this invention can automatically acquire the position information of the staking robot and plan the staking based on the position information of the staking robot and the information of the staking points. The staking efficiency is high and it eliminates the dependence on the experience of the operator.

[0078] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A method for communication connection between a total station and a self-propelled stakeout robot, characterized in that, Includes the following steps: Establish a communication connection between the total station and the staking-out robot; Set the search range on the total station; Obtain the actual position information of the lofting robot within the search range; The control instructions for the layout robot are given based on the actual location information to complete the layout work.

2. The communication connection method between the total station and the self-propelled stakeout robot as described in claim 1, characterized in that, The establishment of a communication connection between the total station and the stakeout robot further includes: Set up the development environment for the total station control layer; Analyzing the serial communication command set of a total station; Based on the analysis results, a dynamic library prototype is created in the total station control layer, and the development of the dynamic library prototype is carried out. Add a serial-to-Wi-Fi module to the serial port of the total station; Establish a local area network environment for the total station and the staking robot.

3. The communication connection method between the total station and the self-propelled stakeout robot as described in claim 1, characterized in that, Setting the search range on the total station further includes: Determine the layout area; The search range is set according to the lofting area.

4. The communication connection method between the total station and the self-propelled stakeout robot as described in claim 1, characterized in that, The step of obtaining the actual position information of the lofting robot within the search range further includes: Determine the initial position information of the total station; The search logic is determined based on the initial location information; The search logic is used to search the lofting robot within the search range to obtain the robot's true location information.

5. The communication connection method between the total station and the self-propelled stakeout robot as described in claim 4, characterized in that, The step of searching the lofting robot within the search range according to the search logic to obtain the location information of the lofting robot further includes: The lofting robot is searched within the search range according to the search logic described above; Obtain the measurement location information of the lofting robot based on the search results; The measured position information is compared with the actual position information of the lofting robot to obtain the true position information.

6. The communication connection method between the total station and the self-propelled stakeout robot as described in claim 1, characterized in that, The step of issuing control commands to the layout robot based on the actual location information to complete the layout work further includes: Obtain the location information of the stakeout points; Plan the movement path based on the location information of the stakeout points and the actual location information; The layout robot moves along the movement path, and the total station tracks the layout robot in real time during the movement.

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