Multi-source data fusion positioning device for low-altitude facade work of building robots

Abstract

This utility model discloses a multi-source data fusion positioning device for low-altitude facade operations of construction robots. It includes a microcontroller unit connected to a power module and a step-down module via circuitry; it also includes an installation component and a data acquisition component. In this solution, the microcontroller unit is signal-connected to each module of the data acquisition component. During use, it can collect and analyze raw satellite observation data, acceleration and angular velocity information, and visual positioning data. All types of collected data can be transmitted to a server via an antenna module. Employing multiple data acquisition methods enables the device to achieve high-precision, low-cost, and automated positioning in scenarios with varying heights, height obstructions, and changes in lighting conditions, thus providing accurate positioning data for low-altitude facade operations of construction robots.

Description

Technical Field

[0001] This utility model relates to the field of automation technology in the construction industry, specifically to a multi-source data fusion positioning device for low-altitude facade operations of construction robots. Background Technology

[0002] With the increasing automation in the construction industry, construction robots are being used more and more in the construction of high-rise building facades. However, existing positioning equipment such as total stations and lidar are costly, complex to deploy, and lack sufficient positioning accuracy and real-time performance in high-rise buildings, narrow areas, or low-altitude obstructed environments. GNSS positioning suffers from unstable signals in obstructed areas, IMUs exhibit drift errors, and visual positioning is significantly affected by changes in lighting and obstructions. Therefore, there is an urgent need for a comprehensive solution that can maintain stable and high-precision positioning even in complex construction environments. Utility Model Content

[0003] To address the shortcomings of existing technologies, this utility model proposes a multi-source data fusion positioning device for low-altitude facade operations of construction robots. This device combines multiple types of collected data to achieve high-precision, low-cost, and automated positioning in different working scenarios, providing support for robot operations and building layout and surveying.

[0004] The technical solution adopted in this utility model is: a multi-source data fusion positioning device for low-altitude facade operation of construction robots, including a visual target point and a microcontroller unit. The microcontroller unit is connected to a power supply module and a step-down module via a circuit. It also includes an installation component and a data acquisition component. The installation component includes a body shell, with L-shaped telescopic brackets on opposite sides of the body shell. The telescopic brackets are telescopically arranged at both ends. An image support arm and an antenna base are also provided on the upper end of the body shell. The data acquisition component includes a GNSS module, a vision module, an IMU module, an antenna module, a temperature sensor module, and a wind speed measurement module that are signal-connected to the microcontroller unit. The GNSS module, vision module, and antenna module are respectively installed on the telescopic brackets, the image support arm, and the antenna base. The temperature sensor module and the wind speed measurement module are respectively located inside and outside the body shell.

[0005] In this technical solution, the positioning device is mounted on the robot, and the visual target points are ideally positioned at the center of the robot's movement range projection on the ground and the roof of the podium building. The microcontroller unit's main module is signal-connected to each module of the acquisition components and powered by a power supply. During operation, a GNSS module is used to receive and process positioning data. The GNSS module is mounted on a telescopic bracket, and its distance from the main unit can be adjusted as needed. An IMU module is used to collect the robot's nine-axis attitude data, acceleration, and angular velocity information in real time. A vision module is used to acquire images of ground target points and perform identification, which is particularly suitable for low-altitude fine positioning. Various types of acquired data can be transmitted to the server via an antenna module. The microcontroller unit processes the received GNSS, IMU, and visual information locally and outputs corrected real-time positioning attitude information. This positioning result is transmitted to a remote processing terminal by a data transmission module. This technical solution employs multiple data acquisition methods, enabling the device to achieve high-precision, low-cost, and automated positioning in scenarios with different altitudes, height obstructions, and varying lighting conditions, which is beneficial for improving the efficiency and accuracy of construction robots operating on building facades.

[0006] Preferably, the telescopic bracket has a fixing plate at the end away from the body shell, and the GNSS module is mounted on the fixing plate.

[0007] Preferably, the housing is equipped with a heat dissipation module for cooling the microcontroller unit.

[0008] Preferably, a heat dissipation area is provided inside the housing corresponding to the outer side of the heat dissipation module, and the heat dissipation area is provided with a dustproof and waterproof filter.

[0009] Preferably, the upper end of the housing is provided with a detachable cover plate.

[0010] Preferably, the telescopic bracket includes an L-shaped corner head, and the two ends of the corner head are provided with multiple telescopically cooperating square steel sections.

[0011] The beneficial effects of this utility model are as follows: This utility model solves the limitations of a single positioning method by fusing data from a GNSS module (satellite positioning), an IMU module (inertial measurement), and a vision module (visual positioning). Through multi-source data fusion, adjustable structure, and hardware reliability design, this device breaks through the bottlenecks of positioning accuracy, environmental adaptability, and cost control in building facade operations, providing a solution for low-altitude operations on building facades that combines technological advancement and industrial feasibility, and has high practical value. Attached Figure Description

[0012] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0013] Figure 1 The three-dimensional multi-source data fusion positioning device for low-altitude facade operation of construction robots provided in this embodiment of the present invention is a three-dimensional representation of the multi-source data fusion positioning device for low-altitude facade operation of construction robots. Figure 1 .

[0014] Figure 2 The three-dimensional multi-source data fusion positioning device for low-altitude facade operation of construction robots provided in this embodiment of the present invention is a three-dimensional representation of the multi-source data fusion positioning device for low-altitude facade operation of construction robots. Figure 2 .

[0015] Reference numerals: Microcontroller unit 100, power supply module 200, step-down module 300, housing 400, cover plate 410, telescopic bracket 500, corner head 510, square steel section 520, image support arm 600, antenna base 700, GNSS module 800, vision module 900, antenna module 1000, fixing plate 1100, wind speed measurement module 1200, heat dissipation module 1300, dustproof and waterproof filter 1400. Detailed Implementation

[0016] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0017] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this utility model pertains.

[0018] like Figure 1 and Figure 2As shown in the figure, a specific embodiment of this utility model provides a multi-source data fusion positioning device for low-altitude facade operations of construction robots. This device is suitable for robot positioning systems in facade operations, encompassing GNSS, IMU, and visual fusion, and can provide support for robot operations and building surveying in different scenarios. Specifically, it includes a visual target point and a microcontroller unit 100, which is connected to a power module 200 and a step-down module 300 via circuitry. It also includes an installation component and a data acquisition component; the installation component includes a machine... The housing 400 has L-shaped telescopic brackets 500 on opposite sides. The telescopic brackets 500 are telescopically extendable at both ends. The upper part of the housing 400 is also provided with an image support arm 600 and an antenna base 700. The acquisition component includes a GNSS module 800, a vision module 900, an IMU module, and an antenna module 1000 that are signal-connected to the microcontroller unit 100. The GNSS module 800, the vision module 900, and the antenna module 1000 are respectively mounted on the telescopic brackets 500, the image support arm 600, and the antenna base.

[0019] like Figure 1 and Figure 2 As shown, through the above setup, the visual target points in this device are mainly designed to address the positioning inaccuracy problem caused by GNSS occlusion or IMU error accumulation when construction robots are operating at low levels. In practical applications, the visual target points employ an ArUco target structure based on visual recognition as an auxiliary positioning method. ArUco targets are QR code-type pose estimation markers in augmented reality visual recognition systems; they adopt a nested ArUco coding design, compatible with recognition requirements at different heights, and possess the following advantages: high accuracy, strong robustness, good real-time performance, and low cost and ease of manufacture. They can be quickly generated through printing or other methods during use. This enables continuous visual positioning assistance for construction robots between 100mm and 30000mm.

[0020] When using this device, the target point placement requirements are as follows: The target point should be located at the ideal position of the center of the motion range projection on the ground / roof of the robot's working area; at the same time, the target should be avoided from being obscured by building structures or attachments to ensure that the target pattern is fully visible; if it is impossible to place the target at the center point due to terrain obstruction, the target point can be moved back appropriately and the elevation angle adjusted to a position that the camera can fully recognize; in addition, the target point placement position can be calculated based on the camera's angle of view, focal length, resolution and robot working height, and the following field of view calculation formula is recommended: L=2*H*tan(θ / 2).

[0021] Where L is the horizontal field of view of the camera, H is the camera installation height, and θ is the horizontal field of view angle of the camera; the optimal placement distance and angle between the target and the camera can be obtained based on L, the target size, and the minimum resolution requirement of the camera.

[0022] In this embodiment, the microcontroller unit 100, power supply module 200, and step-down module 300 are all installed inside the housing 400, which is mounted on the construction robot. The outer side of the housing 400 has a mounting assembly for the acquisition components. After installation, the microcontroller unit 100 is connected to each GNSS module 800 of the acquisition components via a signal connection and is powered by a power supply. During use, the GNSS modules 800 receive and process RTK high-precision positioning data, including longitude, latitude, and elevation information. The GNSS modules 800 are mounted on a retractable telescopic bracket 500, and their connection to the main unit can be adjusted as needed. The system utilizes an IMU module to collect nine-axis attitude data (acceleration, angular velocity, and magnetic field) of the robot in real time. A vision module 900 acquires images of ground target points and performs recognition. The vision module 900 can be a fisheye camera module, particularly suitable for low-altitude fine positioning. The fusion of these three data sources allows the device to maintain positioning accuracy in various scenarios, including different altitudes, height obstructions, and lighting changes. For example, in the gap between tall buildings, when GNSS signals attenuate, the IMU and vision data maintain positioning continuity. At night or in low light, the camera combined with the IMU can still assist in positioning through contour recognition. All collected data can be transmitted to the server via the antenna module 1000. During use, the microcontroller unit 100 processes the received GNSS, IMU, and vision information locally and outputs corrected real-time positioning attitude information. This positioning result is transmitted to a remote processing terminal. In this embodiment, the antenna module 1000 supports 4G / 5G / Wi-Fi communication, uploading positioning data to the server in real time to achieve multi-robot collaborative operation scheduling, providing support for robot operations and building surveying.

[0023] like Figure 1 and Figure 2As shown, to stably mount the GNSS module 800 on the telescopic bracket 500, in this embodiment, a fixing plate 1100 is provided at the end of the telescopic bracket 500 away from the body shell 400. The GNSS module 800 is mounted on the fixing plate 1100, which ensures the stable installation of the GNSS module 800. During installation, bolts or other connecting components can be used for fixation. To achieve telescopic adjustment, the telescopic bracket 500 includes an L-shaped corner head 510, with multiple telescopic square steel sections 520 at both ends. This design of the fixing plate 1100 ensures stable installation of the GNSS module 800, avoiding signal fluctuations caused by vibration, and is particularly suitable for dynamic positioning during robot movement. The telescopic bracket 500 can adjust the distance between the GNSS module 800 and the host, keeping the antenna away from signal interference sources such as building walls and metal structures, reducing the impact of multipath effects. For example, when the robot is working close to a wall, extending the bracket can move the GNSS module out of the obstruction area, ensuring strong satellite signal reception. An adjusting screw structure can be installed on the outside of the square steel section 520. After the telescopic adjustment is in place, the square steel section 520 can be fixed to ensure overall stability. The square steel structure has higher structural strength and can be used in different working conditions.

[0024] like Figure 1 and Figure 2 As shown, in this embodiment, an image support arm is used to mount the vision module 900. The image support arm has degrees of freedom for pitch and azimuth adjustment, enabling the device to perform visual scanning from multiple perspectives, thereby adapting to the visual positioning needs of complex building facade structures (such as concave and convex walls, balconies, and decorative columns). For example, when shooting a tilted wall, the camera angle can be adjusted in real time to ensure the accuracy of visual feature extraction and improve the success rate of positioning and matching.

[0025] like Figure 1 and Figure 2As shown, the main unit structure inside the housing 400 of this device generates heat during use. In this embodiment, a heat dissipation module 1300 for cooling the microcontroller unit 100 is provided inside the housing 400. Furthermore, a heat dissipation area is provided on the outer side of the housing 400 corresponding to the heat dissipation module, and a dustproof and waterproof filter 1400 is installed in the heat dissipation area. The heat dissipation module 1300 adopts an air-cooled structure to actively dissipate heat from the microcontroller unit 100, ensuring that the controller chip maintains a normal temperature range during long-term operation, avoiding calculation errors or system crashes caused by high temperatures. The dustproof and waterproof filter 1400 prevents dust and rainwater from entering the main unit, which could cause short circuits and burnouts, or excessive internal dust that could affect the normal operation of the equipment. In addition, this embodiment also has a temperature sensor module and a wind speed measurement module 1200 connected to the microcontroller unit 100, respectively, inside and outside the housing. The wind speed measurement module 1200 can monitor wind speed changes in real time and feed them back to the data center to ensure the safe operation of the machine. The temperature sensor module adopts a thermocouple patch temperature sensor to monitor the temperature of the equipment and prevent the machine from overheating and being damaged. The above structure adopts existing technology products and will not be described in detail here.

[0026] like Figure 1 and Figure 2 As shown, the upper end of the housing 400 is provided with a detachable cover plate 410. The cover plate 410 is detachably set with edges to allow for maintenance and repair of the internal equipment. The cover plate 410 can be installed with screws to facilitate disassembly and assembly.

[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered within the scope of the claims and specification of this utility model.

Claims

1. A multi-source data fusion positioning device for low-altitude facade operation of construction robots, comprising a visual target point and a microcontroller unit (100), wherein the microcontroller unit (100) is connected to a power supply module (200) and a step-down module (300) via circuitry; characterized in that... ； It also includes installation components and acquisition components; The mounting assembly includes a housing (400), with L-shaped telescopic brackets (500) on opposite sides of the housing (400). The telescopic brackets (500) are telescopically arranged at both ends. The upper end of the housing (400) is also provided with an image support arm (600) and an antenna base (700). The acquisition components include a GNSS module (800), a vision module (900), an IMU module, an antenna module (1000), a temperature sensor module, and a wind speed measurement module (1200) that are connected to the microcontroller unit. The GNSS module (800), vision module (900), and antenna module (1000) are respectively mounted on the telescopic bracket (500), the image support arm (600), and the antenna base (700). The temperature sensor module and the wind speed measurement module (1200) are respectively located inside and outside the housing (400).

2. The multi-source data fusion positioning device for low-altitude facade operation of construction robots according to claim 1, characterized in that, The telescopic bracket (500) has a fixing plate (1100) at one end away from the body shell (400), and the GNSS module is mounted on the fixing plate (1100).

3. The multi-source data fusion positioning device for low-altitude facade operation of construction robots according to claim 1, characterized in that, The housing (400) is equipped with a heat dissipation module (1300) for dissipating heat from the microcontroller unit.

4. The multi-source data fusion positioning device for low-altitude facade operation of construction robots according to claim 3, characterized in that, The housing (400) has a heat dissipation area on the outside of the heat dissipation module (1300), and the heat dissipation area is equipped with a dustproof and waterproof filter (1400).

5. The multi-source data fusion positioning device for low-altitude facade operation of construction robots according to claim 1, characterized in that, The upper end of the housing (400) is provided with a detachable cover plate (410).

6. The multi-source data fusion positioning device for low-altitude facade operation of construction robots according to claim 1, characterized in that, The telescopic bracket (500) includes an L-shaped corner head (510), and the two ends of the corner head (510) are provided with multiple telescopic square steel sections (520).

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