Control system and control method for construction vibrating robot

Abstract

Disclosed in the present invention are a control system and control method for a construction vibrating robot. The vibrating robot comprises a trolley, a vibrating poker and a robotic arm connected to the trolley. The control system comprises: a traveling control unit used for controlling a trolley to automatically travel to an area to be subjected to vibration; a robotic arm control unit used for controlling a robotic arm to clamp a vibrating poker and move along a designed trajectory to a point to be subjected to vibration, wherein the traveling control unit is connected to the robotic arm control unit; a vibrating poker control unit used for controlling the vibrating poker to perform vibration, wherein the vibrating poker control unit is connected to the robotic arm control unit; and a power supply unit used for performing cross power supply on the trolley, the vibrating poker, the robotic arm, the traveling control unit, the robotic arm control unit and the vibrating poker control unit. By configuring the control system, construction efficiency is improved.

Description

Control System and Control Method for Building Vibration Robot Technical Field

[0001] This invention relates to the field of construction robot technology, and in particular to a control system and control method for a construction vibration robot. Background Technology

[0002] With the rapid development of technology, intelligent robot technology has gradually penetrated into various industries, changing the traditional production methods. In the field of construction engineering, especially in concrete construction, the vibration process is crucial to ensuring the quality of concrete. However, traditional concrete vibration operations usually rely on manual operation, which is not only labor-intensive but also susceptible to instability in construction quality due to the operator's experience and skills. Manual operation also faces problems such as harsh working environments, low construction efficiency, and difficulty in ensuring uniform vibration, all of which adversely affect project quality and construction progress.

[0003] To address these challenges, intelligent building vibration robot systems have emerged. By combining advanced robotics, automatic control, and sensor technologies, this system can automatically complete concrete vibration operations, significantly improving construction efficiency and quality stability. Currently, in existing technologies, the vibration robot itself, various sensors, and controllers all require separate power supplies with different voltages due to varying needs, necessitating the use of multiple power supply devices. The setup of multiple power supply devices increases production costs and makes them prone to damage. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a control system and control method for a building vibration robot, which can automatically complete the vibration operation. At the same time, by setting up a power supply unit to supply power to each component as needed, this power supply method is economical, environmentally friendly, flexible and safe.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is a building vibration robot control system. The vibration robot includes a trolley, a vibrating rod, and a robotic arm connected to the trolley. The control system includes:

[0006] A travel control unit for controlling the trolley to automatically travel to the area to be vibrated;

[0007] A robotic arm control unit for controlling the robotic arm to grip the vibrating rod and move to the vibrating point according to the design trajectory; the walking control unit is connected to the robotic arm control unit.

[0008] A vibratory rod control unit for controlling the vibratory rod to vibrate, the vibratory rod control unit being connected to the robotic arm control unit;

[0009] A power supply unit is used to provide cross-power to the trolley, the vibrator, the robotic arm, the walking control unit, the robotic arm control unit, and the vibrator control unit, respectively. The power supply unit is selectively electrically connected to the trolley, the vibrator, the robotic arm, the walking control unit, the robotic arm control unit, and the vibrator control unit.

[0010] A further improvement of the building vibration robot control system of the present invention is that the walking control unit includes:

[0011] A lidar used to scan the surrounding environment and automatically create a global map, the lidar being connected to the power supply unit;

[0012] A navigation module that plans a movement route based on the global map, the coordinates of the trolley on the global map, and the coordinates of the area to be vibrated on the global map;

[0013] The motion control module controls the movement of the vehicle based on the stated movement route.

[0014] A further improvement of the building vibration robot control system of the present invention is that the walking control unit uses an NVIDIA control board as the host computer, the motion control module as the slave computer, and the navigation module as a motion planning algorithm. The host computer calculates the linear velocity and angular velocity data of the vehicle through the motion planning algorithm, and then sends control commands to the slave computer through a USB to CAN communication module. Both the host computer and the slave computer are connected to the power supply unit.

[0015] A further improvement of the building vibration robot control system of the present invention is that the robotic arm control unit includes a vision module for identifying the point to be vibrated and a robotic arm control box connected to the vision module. The robotic arm control box controls the robotic arm to grip the vibrating rod and move it into place based on the point to be vibrated. Both the vision module and the robotic arm control box are connected to the power supply unit.

[0016] A further improvement of the control system for the building vibration robot of the present invention is that the power supply unit includes a lithium battery, an inverter for converting the DC power of the lithium battery to AC power, a first voltage regulator module and a second voltage regulator module for reducing the voltage. The lithium battery is electrically connected to the trolley. The input terminal of the inverter is connected to the lithium battery, and the output terminal is connected to the robotic arm and the vibration rod. The input terminal of the first voltage regulator module is connected to the lithium battery, and the output terminal is connected to the host computer. The input terminal of the second voltage regulator module is connected to the lithium battery, and the output terminal is connected to the laser radar and the lower-level computer.

[0017] A method for controlling a building vibration robot includes the following steps:

[0018] Step 1: Provide the above-mentioned building vibration robot control system;

[0019] Step 2: The power supply unit supplies power to the trolley and the walking control unit. The walking control unit controls the trolley to automatically travel to the area to be vibrated and sends a first signal to the robotic arm control unit and the power supply unit.

[0020] Step 3: After receiving the first signal, the power supply unit stops supplying power to the trolley and the walking control unit, and supplies power to the robotic arm control unit and the robotic arm. After receiving the first signal, the robotic arm control unit controls the robotic arm to pick up the vibrating rod and move it to the point to be vibrated, and sends a second signal to the power supply unit and the vibrating rod control unit.

[0021] Step 4: After receiving the second signal, the power supply unit supplies power to the vibrator and the vibrator control unit. After receiving the second signal, the vibrator control unit controls the vibrator to vibrate.

[0022] Compared with the prior art, the advantages of the present invention are:

[0023] By setting up the building vibration robot control system, concrete vibration operations can be completed automatically, significantly improving construction efficiency and quality stability. At the same time, the intelligent operation mode can reduce reliance on manual labor, reduce human error, and improve the safety and accuracy of the operation. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 is a detailed structural diagram of the building vibration robot control system of the present invention.

[0026] Figure 2 is a schematic diagram of the system control box structure of the building vibration robot control system of the present invention.

[0027] Figure 3 is a detailed structural diagram of the robotic arm of the building vibration robot control system of the present invention.

[0028] Figure 4 is a power supply schematic diagram of the building vibration robot control system of the present invention.

[0029] In the diagram: 1. Chassis; 2. Vibrator; 3. Robotic arm; 4. Inverter; 5. Robotic arm control box; 6. LiDAR; 7. System control box; 701. Router; 702. Vibrator control box; 703. 48V to 12V 5A voltage regulator module; 704. STM32 central control unit; 705. 48V to 19V 5A voltage regulator module; 706. NVIDIA control board; 707. USB to CAN communication module; 8. DC brushless motor; 9. Track drive wheel; 10. Motor driver; 11. 48V lithium battery; 12. Track. Detailed Implementation

[0030] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0031] The control system and control method of the building vibration robot of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Please refer to Figures 1 to 4 for the control system of the building vibration robot. The vibration robot includes a trolley, a vibrating rod 2, and a robotic arm 3 connected to the trolley. The control system includes:

[0033] The travel control unit is used to control the trolley to automatically travel to the area to be vibrated;

[0034] The robotic arm control unit is used to control the robotic arm 3 to grip the vibrating rod 2 and move to the vibrating point according to the design trajectory. The walking control unit is connected to the robotic arm control unit.

[0035] A vibratory rod control unit for controlling the vibratory rod 2 to vibrate, the vibratory rod control unit is connected to the robotic arm control unit;

[0036] A power supply unit is used to provide cross-power to the trolley, the vibrator 2, the robotic arm 3, the travel control unit, the robotic arm control unit, and the vibrator control unit respectively. The power supply unit is selectively electrically connected to the trolley, the vibrator 2, the robotic arm 3, the travel control unit, the robotic arm control unit, and the vibrator control unit.

[0037] Specifically, the vibratory rod control unit is a vibratory rod control box 702, which is connected to the power supply unit.

[0038] By setting the vibrator control box 702, the vibration frequency of the vibrator 2 can be adjusted according to the design requirements to meet the vibration requirements. In addition, the vibrator control box 702 also integrates fault detection and adaptive adjustment functions. When abnormal conditions are detected (such as abnormal vibration frequency, excessive resistance of vibrator 2, or unstable sensing data), it can react in time. Specifically, it can automatically adjust the vibration strategy, change vibration parameters or correct the vibration path, and even suspend the operation when necessary to avoid negative impacts on construction quality. This function greatly improves the reliability and safety of the system, ensuring that the vibrator 2 can operate stably and maintain a high-efficiency working state in various complex construction environments.

[0039] Preferably, the walking control unit includes:

[0040] The lidar 6 is used to scan the surrounding environment and automatically build a global map. The lidar 6 is connected to the power supply unit.

[0041] A navigation module that plans the movement route based on the global map, the coordinates of the trolley on the global map, and the coordinates of the area to be vibrated on the global map;

[0042] The motion control module controls the movement of the vehicle based on the moving route.

[0043] Specifically, during the scanning and mapping process, construction personnel need to remotely control the trolley to scan and map the construction site once. After the mapping is completed, the system switches to fully automatic mode.

[0044] Preferably, the walking control unit uses an NVIDIA control board 706 as the host computer, the motion control module as the slave computer, and the navigation module as the motion planning algorithm. The host computer calculates the linear velocity and angular velocity data of the vehicle through the motion planning algorithm, and then sends control commands to the slave computer through the USB to CAN communication module 707. Both the host computer and the slave computer are connected to the power supply unit.

[0045] Specifically, the power supply unit supplies power to the host computer, and the host computer supplies power to the USB to CAN communication module 707.

[0046] Specifically, the lower-level machine is an STM32 central control machine 704. The lower-level machine sends control commands to the motor driver 10 of the vehicle. The motor driver 10 controls the operation of the brushless DC motor 8. The motor shaft of the brushless DC motor 8 is coaxially connected to the track drive wheel 9. The track drive wheel 9 drives the track 12 to roll. The power supply unit is connected to the motor driver 10, and the motor driver 10 supplies power to drive the brushless DC motor 8.

[0047] Specifically, the walking control unit, the robotic arm control unit, and the vibrating rod control unit share the same host computer and slave computer.

[0048] The host computer is equivalent to a control center. It integrates multiple algorithms to meet the corresponding requirements, and the slave computer converts the corresponding algorithms into operation instructions.

[0049] Preferably, the robotic arm control unit includes a vision module for identifying the point to be vibrated and a robotic arm control box 5 connected to the vision module. The robotic arm control box 5 controls the robotic arm 3 to grip the vibrating rod 2 and move it into place based on the point to be vibrated. Both the vision module and the robotic arm control box 5 are connected to the power supply unit.

[0050] Specifically, the host computer integrates a target recognition algorithm, the vision module is a vision camera, the vision camera is connected to the host computer, the target recognition algorithm can automatically identify the point to be vibrated from the real-time image captured by the vision camera and form the coordinate point in the camera coordinate system, the robotic arm control box 5 converts the coordinate point in the camera coordinate system into the point in the working coordinate system of the robotic arm 3 and then controls the movement of the robotic arm 3.

[0051] This target recognition algorithm provides reliable data support for the precise operation of the vibratory rod 2.

[0052] Specifically, the vision module also includes a depth camera.

[0053] By setting up this depth camera, it is easy to monitor in real time whether the insertion depth of the vibrator 2 meets the design requirements.

[0054] Specifically, the core components within the robotic arm control box 5 mainly include: an IPC controller, servo drivers, IO modules, a teach pendant, power cables, and encoding cables. The IPC controller acts as the brain of the robotic arm 3, processing all programs and algorithms within it. This IPC controller uses an embedded industrial computer platform, running a real-time Linux system, and integrates efficient robotic arm motion control algorithms. Preferably, the power supply unit includes a lithium battery, an inverter 4 for converting the DC power from the lithium battery to AC power, and a first and second voltage regulator module for reducing the voltage. The lithium battery is electrically connected to the trolley. The inverter 4's input terminal is connected to the lithium battery, and its output terminal is connected to the robotic arm 3 and the vibrating rod 2. The first voltage regulator module's input terminal is connected to the lithium battery, and its output terminal is connected to the host computer. The second voltage regulator module's input terminal is connected to the lithium battery, and its output terminal is connected to the lidar 6 and the slave computer.

[0055] Specifically, the vehicle includes a chassis 1, the lithium battery, the motor driver 10, and the DC brushless motor 8 are all connected inside the chassis 1, the robotic arm 3, the robotic arm control box 5, and the inverter 4 are all connected to the top of the chassis 1, and a system control box 7 is also connected to the chassis 1. The NVIDIA control board 706, the USB to CAN communication module 707, the STM32 central control unit 704, the first voltage regulator module, the second voltage regulator module, and the vibrating rod control box 702 are all integrated inside the system control box 7.

[0056] Specifically, the system control box 7 is also connected to a router 701 for transmitting signals, which is connected to the second voltage regulator module.

[0057] Specifically, the lithium battery is a 48V lithium battery 11. When powering the vibrating rod 2 and the robotic arm 3, the inverter 4 is used to convert the 48V DC power to 220V AC power. The first voltage regulator module is a 48V to 19V 5A voltage regulator module 705, and the second voltage regulator module is a 48V to 12V 5A voltage regulator module 703.

[0058] The use of a 48V to 19V 5A voltage regulator module 705 to power the NVIDIA control board 706 is to prevent the influence of the DC brushless motor 8 on the power waveform from affecting the NVIDIA control board 706, thus ensuring stable power supply and normal operation of the NVIDIA control board 706. The use of a 48V to 12V 5A voltage regulator module 703 to power the LiDAR 6, the router 701, and the STM32 central control unit 704 ensures that the operation of these three devices is not affected by the DC brushless motor 8 and the inverter 4, guaranteeing stable system operation. Furthermore, since the STM32 central control unit 704 needs to power various sensors, ensuring a clean power supply for the sensors ensures more stable sensor output data and continuous normal operation.

[0059] The rated power of the robotic arm 3 is 2.2KW, and the rated power of the vibrating rod 2 is 0.8KW, totaling 3KW. During operation, since the weight of the vibrating rod 2 is the maximum weight that the robotic arm 3 can grasp, a 4KW inverter 4 is used to power the robotic arm 3 and the vibrating rod 2 in order to ensure sufficient power supply. The 1KW redundancy ensures that the robotic arm 3 can work normally under any condition. Under normal conditions, the lithium battery can output 4KW of power in half an hour, which is sufficient to meet the power supply needs of the robotic arm 3 and the vibrating rod 2.

[0060] A method for controlling a building vibration robot includes the following steps:

[0061] Step 1: Provide the above-mentioned building vibration robot control system;

[0062] Step 2: The power supply unit supplies power to the trolley and the travel control unit. The travel control unit controls the trolley to automatically travel to the area to be vibrated and sends the first signal to the robotic arm control unit and the power supply unit.

[0063] Step 3: After receiving the first signal, the power supply unit stops supplying power to the trolley and the walking control unit, and supplies power to the robotic arm control unit and the robotic arm 3. After receiving the first signal, the robotic arm control unit controls the robotic arm 3 to grip the vibrating rod 2 and move it to the point to be vibrated, and sends a second signal to the power supply unit and the vibrating rod control unit.

[0064] Step 4: After receiving the second signal, the power supply unit supplies power to the vibrator 2 and the vibrator control unit. After receiving the second signal, the vibrator control unit controls the vibrator 2 to vibrate.

[0065] It should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding and reading. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0066] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the technical solution of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A control system for a building vibration robot, the vibration robot comprising a carriage, a vibrating rod, and a robotic arm connected to the carriage, characterized in that, The control system includes: A travel control unit for controlling the trolley to automatically travel to the area to be vibrated; A robotic arm control unit for controlling the robotic arm to grip the vibrating rod and move to the vibrating point according to the design trajectory; the walking control unit is connected to the robotic arm control unit. A vibratory rod control unit for controlling the vibratory rod to vibrate, the vibratory rod control unit being connected to the robotic arm control unit; A power supply unit is used to provide cross-power to the trolley, the vibrator, the robotic arm, the walking control unit, the robotic arm control unit, and the vibrator control unit, respectively. The power supply unit is selectively electrically connected to the trolley, the vibrator, the robotic arm, the walking control unit, the robotic arm control unit, and the vibrator control unit.

2. The building vibration robot control system as described in claim 1, characterized in that, The walking control unit includes: A lidar used to scan the surrounding environment and automatically create a global map, the lidar being connected to the power supply unit; A navigation module that plans a movement route based on the global map, the coordinates of the trolley on the global map, and the coordinates of the area to be vibrated on the global map; The motion control module controls the movement of the vehicle based on the stated movement route.

3. The building vibration robot control system as described in claim 2, characterized in that, The walking control unit uses an NVIDIA control board as the host computer, the motion control module as the slave computer, and the navigation module as a motion planning algorithm. The host computer calculates the linear velocity and angular velocity data of the vehicle through the motion planning algorithm, and then sends control commands to the slave computer through a USB-to-CAN communication module. Both the host computer and the slave computer are connected to the power supply unit.

4. The building vibration robot control system as described in claim 1, characterized in that, The robotic arm control unit includes a vision module for identifying the point to be vibrated and a robotic arm control box connected to the vision module. The robotic arm control box controls the robotic arm to grip the vibrating rod and move it into place based on the point to be vibrated. Both the vision module and the robotic arm control box are connected to the power supply unit.

5. The building vibration robot control system as described in claim 3, characterized in that, The power supply unit includes a lithium battery, an inverter for converting the DC power from the lithium battery to AC power, a first voltage regulator module and a second voltage regulator module for reducing the voltage. The lithium battery is electrically connected to the trolley. The input terminal of the inverter is connected to the lithium battery, and the output terminal is connected to the robotic arm and the vibrating rod. The input terminal of the first voltage regulator module is connected to the lithium battery, and the output terminal is connected to the host computer. The input terminal of the second voltage regulator module is connected to the lithium battery, and the output terminal is connected to the lidar and the slave computer.

6. A control method for a building vibration robot, characterized in that, Including the following steps: Step 1: Provide the building vibration robot control system as described in claim 1; Step 2: The power supply unit supplies power to the trolley and the walking control unit. The walking control unit controls the trolley to automatically travel to the area to be vibrated and sends a first signal to the robotic arm control unit and the power supply unit. Step 3: After receiving the first signal, the power supply unit stops supplying power to the trolley and the walking control unit, and supplies power to the robotic arm control unit and the robotic arm. After receiving the first signal, the robotic arm control unit controls the robotic arm to pick up the vibrating rod and move it to the point to be vibrated, and sends a second signal to the power supply unit and the vibrating rod control unit. Step 4: After receiving the second signal, the power supply unit supplies power to the vibrator and the vibrator control unit. After receiving the second signal, the vibrator control unit controls the vibrator to vibrate.

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