Safety protection robot for factory roof demolition and protection method thereof

Abstract

The application discloses a kind of safety protection robots for factory roof demolition and its protection method, comprising: multiple positioners, each work personnel is equipped with positioner;Robot body, equipped with buffer protection piece and UWB positioning module, UWB positioning module signal connection is positioned in positioner;Controller, including control module, evaluation module, first calculation module, monitoring module, second calculation module, control module is connected to robot body and UWB positioning module, evaluation module, first calculation module and second calculation module are connected to control module respectively, and control module is in response to optimal residence position, or optimal response pose and instantaneous speed control law to make robot body in position protection.The application solves the problem that existing safety protection technology lacks multi-target continuous tracking capability during factory roof demolition operation.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, specifically to a safety protection robot and its protection method for demolishing factory roofs. Background Technology

[0002] During factory roof demolition work, workers typically need to work at heights or near the roof edges. The open workspace and frequent worker movement create a high risk of falls. To reduce the probability of falls from heights, current technologies primarily employ personal protective equipment (PPE), fixed protective gear, and mobile protective gear for safety.

[0003] In terms of personal protective equipment (PPE), workers are typically equipped with safety belts, safety ropes, and helmets, and anchor points or lifelines are installed on the roof structure to restrict their movement. This type of PPE relies heavily on workers' proper operating procedures and safety awareness. However, in actual demolition work, factors such as construction efficiency and frequent process changes can lead to situations where workers do not wear or use safety equipment correctly. In the event of a fall or structural damage, the protective effect is limited.

[0004] For fixed protection, common methods include installing safety nets or protective canopies under the roof. These types of protective facilities usually need to be deployed in advance, and their protection range is relatively fixed, making it difficult to flexibly adjust them as the demolition work area changes.

[0005] Furthermore, in multi-person collaborative demolition operations, the positions and risk levels of different workers vary significantly. For example, some workers may be on the edge of a roof or not wearing safety protective equipment, making their fall risk significantly higher than that of others. Current technologies generally do not differentiate risks or prioritize multiple workers, making it impossible to rationally allocate protective resources based on risk levels.

[0006] Meanwhile, the interior of the factory building is usually obstructed by steel structures, has high dust concentration, and complex lighting conditions. A single visual perception method is easily interfered with in the process of personnel positioning and tracking, and the positioning stability and continuity are insufficient, making it difficult to meet the needs of construction sites for continuous tracking of multiple targets and real-time protection decision-making.

[0007] In summary, existing safety protection technologies for factory roof demolition operations generally suffer from several drawbacks, including responding only to single targets or events, lacking the ability to continuously track multiple targets, failing to differentiate the risk levels of workers, and exhibiting insufficient positioning reliability in complex construction environments. These limitations make it difficult to achieve proactive and continuous safety protection for workers. Summary of the Invention

[0008] To overcome the shortcomings of existing technologies, a safety protection robot and its protection method for factory roof demolition are provided to solve the problem that existing safety protection technologies lack the ability to continuously track multiple targets during factory roof demolition operations.

[0009] To achieve the above objectives, a safety protection robot for factory roof demolition is provided, comprising: Multiple locators for sending location signals of workers performing roof demolition work, each of the workers being equipped with one of the locators; The robot body is equipped with a buffer protective device for catching falling workers and a UWB positioning module for calculating the distance between the locator and the robot body and the position of the locator. The UWB positioning module is signal-connected to the locator. The controller includes a control module, an evaluation module for calculating the risk value of the operator based on the position of the locator, a first calculation module for calculating the optimal dwell position of the robot body based on the risk values ​​of multiple operators, the distance, and a preset risk potential energy function, a monitoring module for monitoring the rate of change of the risk potential energy function in the time dimension and generating a fast response signal after the rate of change increases significantly, and a second calculation module for calculating the instantaneous optimal response pose and instantaneous velocity control law of the robot body based on the fast response signal and a preset instantaneous response potential energy function. The control module is connected to the robot body and the UWB positioning module. The evaluation module, the first calculation module, and the second calculation module are respectively connected to the control module. The control module responds to the optimal dwell position, or the optimal response pose and the instantaneous velocity control law, to position the robot body for protection.

[0010] Furthermore, the operator wears a support structure, and the locator is mounted on the support structure.

[0011] Furthermore, the buffer protection component is an air cushion, which is elastically mounted on the robot body.

[0012] Furthermore, the robot body is equipped with a millimeter-wave radar, which is connected to the control module.

[0013] Furthermore, the assessment module calculates the risk value using a weighted linear model, which is: F i =αr i1 +βr i2 ; in, ri1 For workers, the marginal risk factor; r i2 Risk factors for the movement trends of workers; α , β These are the weighting coefficients.

[0014] This invention provides a protection method using a safety protection robot for factory roof demolition, comprising the following steps: Multiple workers installed the locators and carried out the demolition work on the roof, while the robot body was placed below the roof. Multiple locators send location signals to the workers; The UWB positioning module acquires multiple positioning signals to calculate the distance between the locator and the robot body and the position of the locator. The controller's control module acquires the distance and position of multiple locators; Based on the location of the locator, the assessment module calculates the risk value of the worker. Based on the risk values ​​of multiple operators, the distance, and a preset risk potential energy function, the first calculation module calculates the optimal dwelling position of the robot body. The control module responds to the optimal dwell position to position the robot body for protection; The monitoring module monitors the rate of change of the risk potential function over time and generates a rapid response signal when the rate of change increases significantly. Based on the fast response signal and the preset instantaneous response potential energy function, the second calculation module calculates the instantaneous optimal response pose and instantaneous velocity control law of the robot body. The control module responds to the optimal response pose and the instantaneous velocity control law to enable the robot body to quickly and urgently take into protective position.

[0015] The beneficial effects of this invention lie in the fact that the safety protection robot for factory roof demolition, by constructing a position tracking and risk assessment mechanism for multi-person dynamic work scenarios, achieves proactive following and protection of workers. This safety protection robot for factory roof demolition utilizes a multi-target worker position tracking mechanism to construct a multi-source fusion perception system of "positioning signal reception + UWB high-precision positioning." Workers wear locators and periodically send positioning signals containing identification and timestamps. The robot itself collects these signals through a UWB positioning module and, combined with ranging data from UWB positioning reference nodes, updates the personnel's position and velocity status based on a discrete-time kinematics model. This safety protection robot for factory roof demolition, while meeting the rapid protection requirements under high-risk conditions, also ensures the stability and adaptability of long-term equipment operation, enhancing the system's practical value in actual construction applications. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of a safety protection robot for demolishing factory roofs, according to an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the robot body according to an embodiment of the present invention.

[0018] Figure 3 This is a schematic diagram of the support structure according to an embodiment of the present invention.

[0019] Figure label: Positioner 1; 2. Robot body; 21. UWB positioning module; 22. Buffer protection component; Controller 3, Control Module 31, Evaluation Module 32, First Calculation Module 33, Monitoring Module 34, Second Calculation Module 35; Support structure 4; Millimeter-wave radar 5. Detailed Implementation

[0020] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] Reference Figure 1 to Figure 3 As shown, the present invention provides a safety protection robot for the demolition of factory roofs, comprising: a locator 1, a robot body 2, and a controller 3.

[0023] There are multiple locators 1. Locators 1 are used to send location signals to the workers performing roof demolition. Each worker is equipped with a locator 1.

[0024] In this embodiment, refer to Figure 3 As shown, the worker is wearing a support structure 4. In some embodiments, the support structure is a safety vest. A positioner 1 is mounted on the support structure 4.

[0025] Multiple workers are carrying out roof demolition work. Each worker periodically sends out location signals via a locator.

[0026] The support structure is used to secure the positioner to the worker's body. Based on the existing safety vest design, it can be adjusted according to the worker's body shape to ensure that there is no significant shaking or displacement due to large movements during operation, thereby improving the stability of the positioning data.

[0027] The robot body 2 is equipped with a buffer protective component 22 and a UWB positioning module 21. The UWB positioning module 21 is connected to the positioner 1. The UWB positioning module 21 uses ultra-wideband communication technology to achieve high-precision distance measurement and position calculation between the operator and the moving robot body, providing basic data support for the position tracking of multi-target operators.

[0028] The robot body is located at the bottom of the safety protection robot and adopts a differential robot body design. The robot body is equipped with six independently driven drive wheels. Each drive wheel is driven by an independent drive motor. By adjusting the speed difference between the left and right drive wheels, the forward, backward, and turning movements of the mobile safety protection robot can be achieved.

[0029] In this embodiment, the robot body can adapt to the dust, debris and uneven ground present during the demolition of the factory roof, and can bear the overall weight generated by the buffer protective components and the possible instantaneous impact load.

[0030] The cushioning device 22 is used to catch workers who fall. In a preferred embodiment, the cushioning device 22 is an air cushion. The air cushion is elastically mounted on the robot body 2.

[0031] The buffer protection component is located on top of the differential robot body. The overall outer contour of the buffer protection component is a rounded rectangle to expand the effective protection area.

[0032] The cushioning and protective components adopt an inflatable structure, an elastic cushioning structure, or a combination thereof to absorb the impact energy generated during the fall.

[0033] UWB positioning module 21 is used to calculate the distance between locator 1 and robot body 2 and the position of locator 1.

[0034] The UWB positioning module is located at the side corner of the differential robot body, avoiding the obstruction range of the buffer protection device. It is used to receive positioning signals from the positioning device worn by the operator, obtain the operator's spatial position information, and provide basic data support for the mobile safety protection robot to determine the operator's relative position.

[0035] The controller 3 includes a control module 31, an evaluation module 32, a first calculation module 33, a monitoring module 34, and a second calculation module 35.

[0036] The control module 31 is connected to the robot body 2 and the UWB positioning module 21. The evaluation module 32, the first calculation module 33, and the second calculation module 35 are respectively connected to the control module 31.

[0037] The control module 31 receives positioning information from the UWB positioning module and controls the movement of the robot body. The evaluation module 32 calculates the risk value of the operator based on the position of the locator 1; the first calculation module 33 calculates the optimal dwell position of the robot body 2 based on the risk values ​​of multiple operators, distances, and a preset risk potential energy function; the monitoring module 34 monitors the rate of change of the risk potential energy function over time and generates a rapid response signal after the rate of change increases significantly; and the second calculation module 35 calculates the instantaneous optimal response pose and instantaneous velocity control law of the robot body 2 based on the rapid response signal and a preset instantaneous response potential energy function. When the rate of change of the risk potential function in the time dimension is stable, the control module 31 responds to the optimal dwell position so that the robot body 2 is in place at the optimal dwell position for protection.

[0038] When the rate of change of the risk potential energy function in the time dimension increases significantly, the control module 31 responds to the optimal response pose and instantaneous velocity control law to enable the robot body 2 to quickly and urgently take up its protective position.

[0039] The safety protection robot for factory roof demolition of the present invention is applied to factory roof demolition operation scenarios to sense the position of workers and assess their operational risks when multiple workers are present.

[0040] During the positioning and protection process of the robot body 2, a millimeter-wave radar 5 is installed on the robot body 2 to avoid obstacles and ensure its movement. The millimeter-wave radar 5 is connected to the control module 31.

[0041] Millimeter-wave radar 5 is positioned on the circumferential outer side of the differential robot body to detect obstacle information in the robot's path. Millimeter-wave radar 5 detects ground obstacles, structural edges, or temporary debris, thereby preventing the mobile safety protection robot from colliding or falling while following personnel.

[0042] This invention provides a protection method using a safety protection robot for factory roof demolition, comprising the following steps: S1. Multiple workers install the locator 1 and carry out demolition work on the roof, while the robot body 2 is placed below the roof.

[0043] S2, Multiple locators 1 send location signals to the workers.

[0044] Specifically, let there be *n* workers in the current work scenario, denoted as set *n*. W ={ W 1 ,W 2 ,…,W N}

[0045] Each worker W i All personnel are wearing positioners. The positioners periodically send positioning signals.

[0046] The positioning signal is represented as: Yes ={ ID i ,T i ,D i}; in, ID i For the identification of workers; T i The timestamp for the positioning signal; D i This represents signal data related to positioning.

[0047] S3, UWB positioning module 21 acquires multiple positioning signals to calculate the distance between locator 1 and robot body 2 and the position of locator 1.

[0048] The UWB positioning module 21 receives positioning signals from multiple workers, forming a multi-target positioning signal set. S ={ S 1,S 2 ,…,S N}

[0049] At the work site, a UWB positioning reference node was deployed, with the following spatial coordinates: a j =( x j ,y j ,z j ), j=1,2,…,M .

[0050] Operators W i The ranging results between the worn positioning device and each UWB reference node are as follows: d ij =‖ p i -a j ‖+ e ij ; in, p i This refers to the actual location of the workers. e ij This represents the ranging error.

[0051] Next, a weighted least squares localization model is established by constructing the objective function: ; W ij This is a weighting coefficient, the value of which is determined based on the quality of the ranging signal. , s ij To obtain the estimated position of the operator by minimizing the objective function described above, corresponding to the standard deviation of the ranging error.

[0052] Next, the position information of the workers is updated, and the three-dimensional state vector of the workers is defined as follows: ; The instantaneous position prediction formula is: ; in, t It represents an extremely short prediction time window.

[0053] S4, the control module 31 of the controller 3 obtains the distance and position of multiple locators 1.

[0054] S5. Based on the position of locator 1, the assessment module 32 calculates the risk value of the operator.

[0055] Based on the location and safety status information of the workers, risk factors are extracted: ; in, r i1 As a marginal risk factor; r i2 This is a risk factor for movement trends.

[0056] Marginal risk factors are: ; d iE This refers to the distance between the workers and the edge of the roof. The safe threshold distance.

[0057] The risk factors for movement trends are: ; v i The speed estimate of the workers as defined earlier; n E This is the normal vector pointing to the edge of the roof.

[0058] Assessment module 32 calculates the risk value using a weighted linear model, which is as follows: F i =αr i1 +βr i2 ; in, r i1 For workers, the marginal risk factor; r i2 Risk factors for the movement trends of workers; α , β These are weighting coefficients. In this embodiment, α Set to 0.6. β Set to 0.4.

[0059] Based on the extracted risk factors, the final risk assessment result is used to provide a basis for subsequent decision-making regarding the safety protection robot.

[0060] S6. Based on the risk values, distances, and preset risk potential energy functions of multiple operators, the first calculation module 33 calculates and obtains the optimal dwelling position of the robot body 2.

[0061] This invention is used in situations where there are multiple workers. Instead of following a single worker, the robot calculates the risk-weighted target location based on the spatial distribution of multiple high-risk workers, so that the safety protection robot is positioned in the center of the area where it can quickly respond to any high-risk worker.

[0062] Risk assessment results for each operator have been obtained. O i The risk assessment results for all operators will be retrieved from the risk assessment module. O ={ O 1 ,O 2 ,…,O N The risk assessment results of the workers are mapped to the work space to construct a risk weight spatial distribution model.

[0063] Specifically, the risk response potential function at any spatial point within the work area is defined as follows: ; in, This is the distance response function, used to characterize the response cost from the robot to the operator.

[0064] To suppress drastic changes in the target's dwell position between consecutive time intervals, a steady potential energy term is introduced: U s (p) =( m / 2 )×‖ pp prev || 2 ; in, p prev This is the target's dwell position calculated at the previous moment.

[0065] Finally, the risk potential function is obtained: U(p)=U r (p)+U s (p)。

[0066] By minimizing the risk potential energy function, the target dwelling position of the safety protection robot is determined, and the optimal dwelling position is defined as follows: p * = argmin p U(p) , The global optimal dwell position under the current risk distribution is updated using gradient descent.

[0067] First, calculate the risk potential gradient: ; in, .

[0068] The steady potential gradient is: U s (p) = μ(pp prev ) .

[0069] The combined gradient potential energy is: U(p)= U r (p)+ U s (p) .

[0070] Then, iteratively update the dwell position. p (k+1) =p (k) -or· U(p (k) ) ,in k The number of iterations. or This is the step size coefficient.

[0071] S7, the control module 31 responds to the optimal dwell position to position the robot body 2 for protection.

[0072] S8, Monitoring Module 34 monitors the rate of change of the risk potential function over time and generates a rapid response signal after the rate of change increases significantly.

[0073] When the monitoring module 34 detects a significant increase in the rate of change of the risk potential energy function over time, it triggers the instantaneous three-dimensional target pose prediction and rapid motion response mechanism of the safety protection robot to complete the spatial coverage of the potential danger area in the shortest possible time.

[0074] S9. Based on the fast response signal and the preset instantaneous response potential energy function, the second calculation module 35 calculates the instantaneous optimal response pose and instantaneous velocity control law of the robot body 2.

[0075] The dynamic risk weighting factor is: ; in, The time rate of change of the comprehensive potential energy function is given by k, which is the risk dynamic sensitivity coefficient.

[0076] Under dangerous transient conditions, construct the instantaneous response potential energy function: .

[0077] Solve for the instantaneous optimal response pose: .

[0078] pass p inst =p(t)-η inst ⋅ U inst (p(t)) Enables rapid updates. The current spatial pose of the safety protection robot is: q(t)=[x(t),y(t),z(t)] T .

[0079] The instantaneous velocity control law is calculated as follows: , where K is a positive definite matrix.

[0080] S10, the control module 31 responds to the optimal response pose and instantaneous speed control law to enable the robot body 2 to quickly and urgently take into position for protection.

[0081] The controller of this invention is used to drive a safety-protected robot body to move within the work area. The robot body adopts a differential drive chassis structure to realize forward, backward, and turning movements of the robot body in a plane.

[0082] The buffer protection device is located on top of the robot body to provide cushioning protection in the event of a fall or slip, thereby reducing the impact injury suffered by the operator.

[0083] The UWB positioning module receives positioning signals and identification information from the locators worn by workers to obtain spatial location data for multiple workers. The UWB positioning module performs multi-source fusion processing on the positioning signals to obtain real-time position and motion state estimates for each worker.

[0084] The controller is used to calculate the risk assessment results for each operator and, based on the results, calculate the target dwell position of the robot body, and drive the robot body to dwell or follow within the work area.

[0085] The controller updates the position state of the operator based on a discrete-time kinematic model and outputs the operator's state vector, which includes position and velocity estimates.

[0086] The safety protection robot for factory roof demolition of the present invention achieves active following and protection of workers by constructing a position tracking and risk assessment mechanism for dynamic multi-person operation scenarios.

[0087] The safety protection robot for factory roof demolition of the present invention utilizes a multi-target operator position tracking mechanism to construct a multi-source fusion perception system of "positioning signal reception + UWB high-precision positioning". The operator wears a locator and periodically sends a positioning signal containing identification and timestamp. The robot body collects the signal through the UWB positioning module and, combined with the ranging data of the UWB positioning reference node, updates the position and velocity status of the operator based on a discrete-time kinematics model.

[0088] The safety protection robot for factory roof demolition of the present invention addresses the problem that existing protection methods cannot distinguish the risk level of different workers and only provide passive protection. It defines risk factors directly related to high-altitude operations, comprehensively realizes dynamic risk assessment of workers, and achieves proactive and targeted safety protection through comprehensive analysis of risk factors.

[0089] The safety protection robot for factory roof demolition of this invention constructs a comprehensive potential energy function of "risk response potential energy + stable potential energy", mapping the risk value of the workers to the work space, and solving for the optimal dwell position through the gradient descent algorithm to ensure that the robot covers all high-risk personnel; at the same time, the introduction of a stable potential energy term suppresses drastic fluctuations in the dwell position and improves motion stability. The safety protection robot for factory roof demolition of the present invention monitors the time change rate of the comprehensive potential energy function, triggers instantaneous three-dimensional pose prediction and rapid motion response, optimizes the response potential energy function based on the risk dynamic weight factor, and covers the potentially dangerous area in the shortest time to achieve safety protection for the workers.

[0090] The safety protection robot for factory roof demolition of the present invention meets the need for rapid protection under high-risk working conditions, while also taking into account the stability and adaptability of the equipment in long-term operation, thus enhancing the practical value of the system in actual construction applications.

[0091] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A safety protection robot for demolishing factory roofs, characterized in that, include: Multiple locators for sending location signals of workers performing roof demolition work, each of the workers being equipped with one of the locators; The robot body is equipped with a buffer protective device for catching falling workers and a UWB positioning module for calculating the distance between the locator and the robot body and the position of the locator. The UWB positioning module is signal-connected to the locator. The controller includes a control module, an evaluation module for calculating the risk value of the operator based on the position of the locator, a first calculation module for calculating the optimal dwell position of the robot body based on the risk values ​​of multiple operators, the distance, and a preset risk potential energy function, a monitoring module for monitoring the rate of change of the risk potential energy function in the time dimension and generating a fast response signal after the rate of change increases significantly, and a second calculation module for calculating the instantaneous optimal response pose and instantaneous velocity control law of the robot body based on the fast response signal and a preset instantaneous response potential energy function. The control module is connected to the robot body and the UWB positioning module. The evaluation module, the first calculation module, and the second calculation module are respectively connected to the control module. The control module responds to the optimal dwell position, or the optimal response pose and the instantaneous velocity control law, to position the robot body for protection.

2. The safety protection robot for factory roof demolition according to claim 1, characterized in that, The operator wears a support structure, and the locator is mounted on the support structure.

3. The safety protection robot for factory roof demolition according to claim 1, characterized in that, The buffer protection component is an air cushion, which is elastically installed on the robot body.

4. The safety protection robot for factory roof demolition according to claim 1, characterized in that, The robot body is equipped with a millimeter-wave radar, which is connected to the control module.

5. The safety protection robot for factory roof demolition according to claim 1, characterized in that, The assessment module calculates the risk value using a weighted linear model, which is: Φ i =αr i1 +βr i2 ； in, r i1 For workers, the marginal risk factor; r i2 Risk factors for the movement trends of workers; α , β These are the weighting coefficients.

6. A protection method employing a safety protection robot for factory roof demolition as described in any one of claims 1 to 5, characterized in that, Includes the following steps: Multiple workers installed the locators and carried out the demolition work on the roof, while the robot body was placed below the roof. Multiple locators send location signals to the workers; The UWB positioning module acquires multiple positioning signals to calculate the distance between the locator and the robot body and the position of the locator. The controller's control module acquires the distance and position of multiple locators; Based on the location of the locator, the assessment module calculates the risk value of the worker. Based on the risk values ​​of multiple operators, the distance, and a preset risk potential energy function, the first calculation module calculates the optimal dwelling position of the robot body. The control module responds to the optimal dwell position to position the robot body for protection; The monitoring module monitors the rate of change of the risk potential function over time and generates a rapid response signal when the rate of change increases significantly. Based on the fast response signal and the preset instantaneous response potential energy function, the second calculation module calculates the instantaneous optimal response pose and instantaneous velocity control law of the robot body. The control module responds to the optimal response pose and the instantaneous velocity control law to enable the robot body to quickly and urgently take into protective position.

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