CN111273313A - Anti-collision detection method and device for indoor walking of building robot and building robot - Google Patents
Anti-collision detection method and device for indoor walking of building robot and building robot Download PDFInfo
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- CN111273313A CN111273313A CN202010120427.0A CN202010120427A CN111273313A CN 111273313 A CN111273313 A CN 111273313A CN 202010120427 A CN202010120427 A CN 202010120427A CN 111273313 A CN111273313 A CN 111273313A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The invention provides an anti-collision detection method and device for indoor walking of a construction robot and the construction robot, wherein the method comprises the steps of obtaining the distance between the construction robot and a nearby construction entity; and setting the detection range of the anti-collision radar in the width direction and the detection range of the advance direction of the vehicle body of the construction robot according to the distance between the construction robot and the nearby building entity. By the aid of the anti-collision detection method and the anti-collision detection system, when the construction robot walks indoors, false triggering of an anti-collision control mechanism of the construction robot is effectively avoided, anti-collision detection logic is more suitable for indoor environments, anti-collision detection effects are effectively improved, and potential safety hazards are reduced.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to an indoor walking anti-collision detection method and device for a construction robot and the construction robot.
Background
In the related art, the construction robots can move automatically, and the construction robots automatically run on the ground or the surface of a working area to perform corresponding construction work, for example, the construction robots are used for painting construction wall surfaces and the like, and the built-in anti-collision warning algorithms of the construction robots are generally applied in open scenes and are realized based on the positioning of a global positioning system or completely depending on the functions of anti-collision radars.
In this way, when the construction robot is applied to an indoor environment, because the space of the indoor environment is relatively small, and the periphery of the indoor environment may have an environmental wall, the GPS positioning mode based on the global positioning system is caused, and the anti-collision control algorithm realized by adopting the anti-collision warning algorithm has limitations of indoor environment application, may cause false triggering of an anti-collision control mechanism, and has a poor anti-collision control effect and certain potential safety hazard.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide an indoor walking anti-collision detection method and device for a construction robot and the construction robot, which can effectively avoid the false triggering of an anti-collision control mechanism of the construction robot when the construction robot walks indoors, make an anti-collision detection logic more suitable for an indoor environment, effectively improve an anti-collision detection effect and reduce potential safety hazards.
In order to achieve the above object, an embodiment of the invention provides an anti-collision detection method for a construction robot walking indoors, including: acquiring a distance between the building robot and a nearby building entity; and setting the detection range of the anti-collision radar in the width direction and the detection range of the advance direction of the building robot body according to the distance between the building robot and the nearby building entity.
According to the anti-collision detection method for indoor walking of the building robot, provided by the embodiment of the first aspect of the invention, by acquiring the distance between the building robot and the nearby building entity and setting the detection range of the anti-collision radar in the width direction and the detection range of the advancing direction of the vehicle body of the building robot according to the distance between the building robot and the nearby building entity, when the building robot walks indoors, the false triggering of an anti-collision control mechanism of the building robot can be effectively avoided, so that an anti-collision detection logic is more suitable for an indoor environment, the anti-collision detection effect is effectively improved, and the potential safety hazard is reduced.
In order to achieve the above object, a collision avoidance detecting device for a construction robot walking indoors according to an embodiment of a second aspect of the present invention includes: the acquisition module is used for acquiring the distance between the building robot and a nearby building entity; and the setting module is used for setting the detection range of the anti-collision radar in the width direction and the detection range of the advance direction of the building robot body according to the distance between the building robot and the nearby building entity.
According to the anti-collision detection device for the indoor walking of the building robot, provided by the embodiment of the second aspect of the invention, by acquiring the distance between the building robot and the nearby building entity and setting the detection range of the anti-collision radar in the width direction and the detection range of the advancing direction of the building robot body according to the distance between the building robot and the nearby building entity, the anti-collision control mechanism of the building robot can be effectively prevented from being triggered by mistake when the building robot walks indoors, so that the anti-collision detection logic is more suitable for the indoor environment, the anti-collision detection effect is effectively improved, and the potential safety hazard is reduced.
In order to achieve the above object, a construction robot according to a third aspect of the present invention includes: the embodiment of the second aspect of the invention provides an anti-collision detection device for a building robot walking indoors.
According to the building robot provided by the embodiment of the third aspect of the invention, the distance between the building robot and the nearby building entity is acquired, and the detection range of the anti-collision radar in the width direction and the detection range of the advance direction of the building robot body are set according to the distance between the building robot and the nearby building entity, so that when the building robot walks indoors, the false triggering of an anti-collision control mechanism of the building robot can be effectively avoided, an anti-collision detection logic is more suitable for an indoor environment, the anti-collision detection effect is effectively improved, and the potential safety hazard is reduced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of an indoor walking collision avoidance detection method for a construction robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an application scenario according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another application scenario of the embodiment of the present invention;
FIG. 4 is a schematic diagram of another application scenario of the embodiment of the present invention;
FIG. 5 is a schematic diagram of another application scenario of the embodiment of the present invention;
fig. 6 is a schematic flow chart of an anti-collision detection method for indoor walking of a construction robot according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating another application scenario of the present invention;
fig. 8 is a schematic structural diagram of an anti-collision detection device for a construction robot walking indoors according to an embodiment of the present invention;
fig. 9 is a schematic structural view of an anti-collision detection device for a construction robot walking indoors according to another embodiment of the invention;
fig. 10 is a schematic structural diagram of a construction robot according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
Fig. 1 is a schematic flow chart of an indoor walking collision avoidance detection method for a construction robot according to an embodiment of the present invention.
The present embodiment is exemplified by a collision avoidance detection method in which a construction robot travels indoors, which is configured as a collision avoidance detection device in which a construction robot travels indoors.
In this embodiment, the anti-collision detection method for the indoor walking of the building robot may be configured in the anti-collision detection device for the indoor walking of the building robot, and the anti-collision detection device for the indoor walking of the building robot may be disposed in the server, or may also be disposed in the building robot, which is not limited in this embodiment of the present invention.
The present embodiment takes as an example that the collision avoidance detection method in which the construction robot travels indoors is configured in a microcontroller of the construction robot.
It should be noted that, the execution subject of the embodiment of the present invention may be, for example, a microcontroller of a server or a construction robot in hardware, and may be, for example, a relevant background service in the microcontroller of the server or the construction robot in software, which is not limited to this.
The construction robot in the embodiment of the present invention is configured with an anti-collision radar (e.g., a laser anti-collision radar), the construction robot is further configured with a navigation radar (laser navigation radar), and a microcontroller, wherein actual application functions of the laser anti-collision radar and the laser navigation radar may refer to related technologies, and are not described herein again.
Referring to fig. 1, the method includes:
s101: and acquiring the distance between the building robot and the nearby building entity.
The building entity may be a wall in an indoor environment or other indoor building entities such as a house beam, and the distance between the building robot and the nearby building entity may be obtained by measuring with an anti-collision radar, or may also be obtained by detecting with any other possible distance detection technology, without limitation.
In some embodiments, a laser navigation radar may be installed on the construction robot, where the laser navigation radar periodically rotates to scan a space in a certain range around the construction robot, the laser navigation radar is connected to the microcontroller, the microcontroller generates corresponding space maps from space data scanned by the laser navigation radar, and stores data of the space maps in the memory, so that a distance between the construction robot and a nearby construction entity is obtained by combining the stored space maps based on position data obtained by actually positioning the construction robot, which is not limited herein.
In other embodiments, an anti-collision radar may be further installed in the construction robot, a plurality of sensors installed on the anti-collision radar transmit ultrasonic signals to a surrounding space, the ultrasonic signals are transmitted by transmitters in the sensors, reflected after hitting a construction entity, and the reflected ultrasonic signals are received by receivers in the sensors, wherein the sensors on the anti-collision radar are connected with a microcontroller, the microcontroller controls the sensors to transmit and receive the ultrasonic signals and records the time of transmission and reception, so as to calculate the distance between the construction robot and a nearby construction entity, and the plurality of sensors installed on the construction robot can detect a plurality of directions without limitation.
In the embodiment of the present invention, a routing diagram of the construction robot may be obtained, a plan diagram near the construction robot is obtained, and the current position of the construction robot is obtained through matching calculation according to the plan diagram and the routing diagram, so that a distance between the construction robot and a nearby construction entity is obtained according to the current position of the construction robot, a relatively accurate detection result can be obtained, and the implementation is simple and convenient, which may be specifically referred to in the following embodiments.
S102: and setting the detection range of the anti-collision radar in the width direction and the detection range of the advance direction of the vehicle body of the construction robot according to the distance between the construction robot and the nearby building entity.
Wherein, the anticollision radar can be used for detecting the interval between building robot and the indoor building entity to, the anticollision radar can detect the interval between building robot and the indoor building entity based on a detection range of setting for, and promptly, this detection range has described the range of distance that the anticollision radar can detect.
In the related art, when the collision avoidance radar (laser collision avoidance radar) is used for collision avoidance control, the collision avoidance radar is usually configured in advance in a fixed detection range, so that the collision avoidance radar is controlled to execute a collision avoidance control task in a preset detection range in practical application.
In the embodiment of the invention, the collision-prevention radar can be dynamically configured in the detection range which is most adaptive to the distance between the building robot and the nearby building entity, so that the collision-prevention control is more suitable for the indoor environment, and the collision-prevention control effect is improved.
In some embodiments, the microcontroller and the laser navigation radar may be combined to identify an actual operating condition of the construction robot, where the laser navigation radar may be specifically configured to output some detection signals, so that the microcontroller can analyze the detection signals to obtain a current position of the construction robot (the current position may be, for example, a position coordinate of the construction robot currently in an indoor environment, but is not limited thereto), so that the microcontroller can obtain the actual operating condition of the construction robot based on the current position and by combining a corresponding model algorithm.
The actual operation condition may be, for example, that the building entity is located at least on one side in the width direction of the building robot, or that the building entity is located only on the front side in the advancing direction of the building robot, or that the building entity is located on both the front side in the advancing direction of the building robot and the one side in the width direction, which is not limited to this.
Through the above, careful division of the actual indoor operation condition of the building robot can be realized, and the actual operation condition of the building robot can be accurately identified by combining a microcontroller and a laser navigation radar, so that the most adaptive collision avoidance radar detection range is determined in an auxiliary manner to improve the collision avoidance control effect.
In the embodiment of the invention, the detection range of the anti-collision radar in the width direction of the building robot body and the detection range of the anti-collision radar in the advancing direction are dynamically set according to the actual operation condition, so that when the actual operation condition is that the building entity is at least positioned at one side of the building robot in the width direction, or the building entity is only positioned at the front side of the building robot in the advancing direction, or the building entity is positioned at the front side of the building robot in the advancing direction and at one side of the building robot in the width direction, the false triggering of the anti-collision control logic can be effectively avoided.
In some embodiments, when it is detected that the building entity is located at least on one side in the width direction of the construction robot, setting the detection range in the width direction to be smaller than or equal to a first width value, the first width value being equal to the sum of the width of the body of the construction robot and the distance between the edge of the construction robot and the wall, and setting the detection range in the advancing direction to be a first set value; when the building entity is detected to be only positioned on the front side of the advancing direction of the building robot, setting the width of a building robot vehicle body with the width direction detection range smaller than or equal to three times, setting the advancing direction detection range to be a second fixed value, when the building entity is detected to be positioned on the front side of the advancing direction of the building robot and one side of the width direction at the same time, setting the width direction detection range to be smaller than or equal to a second width value, setting the second width value to be equal to the sum of the width of the building robot vehicle body and the distance between the edge of the building robot and the wall, setting the advancing direction detection range to be a third fixed value, setting the second fixed value to be larger than the first fixed value, and setting the first fixed value to be larger than or equal to the third fixed.
As an example, referring to fig. 2, fig. 2 is a schematic view of an application scenario of an embodiment of the present invention, and fig. 2 shows an identified actual operation situation of a construction robot, where the actual operation situation may specifically include: the building entity is at least located on one side of the width direction of the building robot, namely the building robot runs along the concrete wall in a straight line along the similar stations 1-3, and the building entity is located on the front side of the advancing direction of the building robot and one side of the width direction at the same time, namely when the equipment runs along the wall corner in a turning mode (namely in a turning state) according to the similar stations 3-5 in the figure 2, the building entity is only located on the front side of the advancing direction of the building robot, namely when the building robot runs along the wall corner in a straight line after turning according to the similar stations 5-7 in the figure 2.
As another example, referring to fig. 3, fig. 4, and fig. 5 together, where fig. 3 is another application scenario schematic diagram of the embodiment of the present invention, fig. 4 is another application scenario schematic diagram of the embodiment of the present invention, fig. 5 is another application scenario schematic diagram of the embodiment of the present invention, fig. 3 shows a detection range of the collision avoidance radar in the width direction and a detection range of the advance direction of the building robot vehicle body when the actual operation condition is that the building entity is located at least on one side in the width direction of the building robot, fig. 4 shows a detection range of the collision avoidance radar in the width direction and a detection range of the advance direction of the building robot vehicle body when the actual operation condition is that the building entity is located on both the front side in the advance direction and on one side in the width direction of the building robot, fig. 5 shows a detection range of the collision avoidance radar in the width direction and a detection range of the advance direction when the actual operation condition is that the building entity, the collision-proof radar is in the detection range of the width direction and the detection range of the advancing direction of the building robot vehicle body.
In fig. 3, 4 and 5, b1 and b2 represent the detection ranges of the anti-collision radar in the width direction of the construction robot vehicle body; a1 and a2 are detection ranges of the anti-collision radar in the advancing direction of the construction robot vehicle body; a3 is the radius value of a sector area formed by the detection range of the collision-proof radar in the advancing direction of the construction robot body; c is the width of the building robot body; the description in conjunction with fig. 2-5 above is as follows:
1. when the construction robot runs linearly along the concrete wall according to the similar stations 1-3 in fig. 2 (when the actual running condition is that the construction entity is at least located on one side of the construction robot in the width direction), the distance between the edge of the construction robot and the wall is e, the value range of e is about 8cm to 15cm, the detection range can be set to the detection range shown in fig. 3, namely the detection range b1 in the width direction is set to be not more than c + e (a first width value), and the value of c is not more than 80 cm. Because the building robot runs in a straight line and runs at a normal working speed, in order to ensure that the building robot can respond and stop working in time after triggering the anti-collision control mechanism, the detection range of the advancing direction is set as a1 (a first set value).
The first set value is between the detection limit value of 0.2 times of the anti-collision radar and the detection limit value of 0.3 times of the anti-collision radar, and the first set value comprises the detection limit value of 0.2 times of the anti-collision radar and the detection limit value of 0.3 times of the anti-collision radar.
The detection limit value is a distance value that can be detected based on the performance of the collision avoidance radar. The detection limit value of the selected anti-collision radar of the embodiment is not less than 1 meter.
2. When the building robot turns around along the wall corner according to the similar stations 3-5 in fig. 2 (that is, the building entity is located at the front side of the advancing direction of the building robot and at one side of the width direction at the same time), the distance between the edge of the building robot and the wall is f, the detection range can be set to the detection range shown in fig. 4, that is, b1 is not less than c + e (a second width value), the detection range a1 of the advancing direction is set to a third fixed value f, and f is not less than 0.1 to 0.2 times of the detection limit value of the anti-collision radar.
3. When the construction robot turns around and runs along a wall corner according to similar stations 5-7 in fig. 2, at the moment, the construction robot runs linearly with the distance from the wall being larger than c on both sides, the detection range can be set to be the detection range shown in fig. 5, namely b2 is smaller than or equal to 3c (the width of a construction robot body is three times), the construction robot runs at a normal working speed due to the linear running, and in order to ensure that after a collision avoidance control mechanism is triggered, the construction robot can timely respond and stop working, the detection range of the advancing direction is set to be a third fixed value.
Optionally, a second constant value in the shape of a sector is set, between 0.5 times the detection limit value of the collision radar and 1 time the detection limit value of the collision radar. The second constant value comprises 0.5 times the detection limit of the collision avoidance radar and 1 times the detection limit of the collision avoidance radar.
When the anti-collision radar in the building robot adopts the anti-collision radars corresponding to various actual operating conditions to execute an anti-collision control task in the detection range of the width direction and the detection range of the advancing direction of the building robot body, namely, the anti-collision radars can only detect a building entity in the area covered by the detection range, therefore, when the building robot approaches the building entity, due to the adjustment of the corresponding detection range, the false triggering of an anti-collision control mechanism when the building entity is detected is well avoided.
After the detection range of the anti-collision radar in the width direction and the detection range of the advance direction of the building robot body are determined by the microcontroller, the anti-collision radar can be controlled by the microcontroller to perform anti-collision control on the building robot based on the set detection range, and the reset detection range can effectively avoid false triggering of anti-collision control logic when the building robot approaches a wall or is in a corner turning state, so that the anti-collision control is performed based on the reset detection range, and a better anti-collision control effect can be obtained.
In this embodiment, through obtaining the interval between construction robot and near building entity, set up the detection range of anticollision radar at the width direction of construction robot automobile body and the detection range of direction of advance according to the interval between construction robot and near building entity, can make construction robot when indoor walking, effectively avoid construction robot's anti-collision control mechanism's spurious triggering for anti-collision detection logic more is applicable to the indoor environment, effectively promotes the anticollision detection effect, reduces the potential safety hazard.
Fig. 6 is a schematic flow chart of an anti-collision detection method for indoor walking of a construction robot according to an embodiment of the present invention.
The construction robot in the embodiment of the present invention is configured with an anti-collision radar (e.g., a laser anti-collision radar), the construction robot is further configured with a navigation radar (laser navigation radar), and a microcontroller, wherein actual application functions of the laser anti-collision radar and the laser navigation radar may refer to related technologies, and are not described herein again.
Referring to fig. 6, the method includes:
s601: and acquiring a path planning diagram of the construction robot.
The routing graph of the construction robot is generated according to a Building Information Modeling (BIM).
The BIM model in the embodiment of the present invention may be pre-configured in a Building Information Model (BIM) data component of the construction robot, where the pre-configured Building Information model may also describe a Building structure and other related Information data in a working scene of the construction robot, the pre-configured Building Information model is a three-dimensional Building model established based on the data, and the pre-configured Building Information model may provide navigation path Information for the construction robot in a related working area.
S602: a plan view of the vicinity of the construction robot is acquired.
The construction robot can scan the surrounding environment information by a navigation radar arranged on the construction robot in 360 degrees to generate a corresponding plan.
The navigation radar is, for example, a laser navigation radar, and a detection signal output by the navigation radar can be used to be analyzed to obtain a current position of the construction robot, where the current position is used to describe a current position of the construction robot in an indoor environment.
S603: and calculating to obtain the current position of the construction robot according to the matching of the plan and the routing graph.
Optionally, the running path information of the construction robot can be identified according to a pre-configured BIM model; the BIM model can also be used to describe all path information in the environment in which the construction robot is located.
In a specific implementation, the current position of the construction robot may be detected in combination with the laser navigation radar, which is not limited in this respect.
In the embodiment of the invention, the current position of the construction robot is obtained through matching calculation according to the plan view and the routing diagram, so that the detection of the current position is more accurate, and the detection effect is improved.
Referring to fig. 7, fig. 7 is a schematic view of another application scenario of the embodiment of the present invention, and fig. 7 shows possible current positions of the construction robot, and the construction robot can move to any one of the possible current positions in fig. 7 over time.
S604: and acquiring the distance between the construction robot and the nearby construction entity according to the current position of the construction robot.
After the current position of the construction robot is obtained through the matching calculation of the plan view and the routing diagram, the current position may be matched with a site in the routing diagram, and an actual operation condition indicated by a distance between the construction robot and a nearby construction entity may be obtained according to an actual position of the site obtained through the matching and a position relationship between the site and the nearby construction entity (the actual position of the site and an identifier of the site may be referred to as site information).
The positions of the stations, for example, the actual two-dimensional space coordinates corresponding to each station, for example, the coordinate of station 1 is (100, 0), which represents the positions of the positive directions of the X axis and the Y axis of 100mm and 0, and the microcontroller obtains the actual operation condition indicated by the distance between the construction robot and the nearby construction entity through the calculated positions of the stations and by combining the current position of the construction robot and the identifier of the station.
Referring to fig. 2, if the actual position of the matched station is the actual position of any one of station 1, station 2 and station 3, it can be determined that the actual operation of the indication of the distance between the construction robot and the nearby construction entity is that the construction robot is running straight along the concrete wall along the similar stations 1-3 (i.e. the construction entity is located at least on one side in the width direction of the construction robot), and if the actual position of the matched station is the actual position of any one of the station 3, the station 4 and the station 5, it can be determined that the actual operation of the indication of the distance between the construction robot and the nearby construction entity is that the construction robot turns around along the wall corner according to the similar stations 3-5 in fig. 2 (i.e. the construction entity is located at the front side of the advancing direction of the construction robot and at the side of the width direction at the same time), and so on.
In some embodiments, the microcontroller divides the routing map of the construction robot into a plurality of stations according to the routing map generated by the construction information model, obtains the distance between the construction robot and a nearby construction entity according to the station information of the construction robot at the current position, and determines the current station of the construction robot by matching the current position with the stations on the routing map so as to determine the actual operation condition indicated by the distance between the construction robot and the nearby construction entity, and can accurately determine the actual operation condition of the construction robot in the room, thereby dynamically setting the detection range of the anti-collision radar in the width direction and the detection range of the advancing direction of the construction robot body, and avoiding the false triggering of the anti-collision control mechanism.
In this embodiment, through obtaining the interval between construction robot and near building entity, set up the detection range of anticollision radar at the width direction of construction robot automobile body and the detection range of direction of advance according to the interval between construction robot and near building entity, can make construction robot when indoor walking, effectively avoid construction robot's anti-collision control mechanism's spurious triggering for anti-collision detection logic more is applicable to the indoor environment, effectively promotes the anticollision detection effect, reduces the potential safety hazard. Because the preconfigured building information model can also describe the building structure and other related information data in the working scene of the building robot, the preconfigured building information model is adopted to be combined with the detection signal output by the navigation radar to determine the distance between the building robot and the nearby building entity, so that a relatively accurate detection result can be obtained, and the distance between the building robot and the nearby building entity can effectively assist the follow-up determination of the most adaptive detection range to improve the anti-collision control effect. The path planning drawing of the construction robot is divided into a plurality of stations according to the path planning drawing generated by the micro-controller according to the construction information model, the distance between the construction robot and a nearby construction entity is acquired according to the station information of the current position of the construction robot, the current position is matched with the stations on the path planning drawing, the current station of the construction robot is determined, the distance between the construction robot and the nearby construction entity is further determined, the indoor actual running condition of the construction robot can be accurately determined, and therefore the anti-collision detection of the construction robot is more suitable for the indoor environment.
Fig. 8 is a schematic structural diagram of an anti-collision detection device for a construction robot walking indoors according to an embodiment of the present invention.
The construction robot is configured with an anti-collision radar and a navigation radar.
Referring to fig. 8, the apparatus 800 includes:
an obtaining module 801, configured to obtain a distance between the building robot and a nearby building entity.
The setting module 802 is configured to set a detection range of the anti-collision radar in a width direction and a detection range of an advancing direction of a vehicle body of the construction robot according to a distance between the construction robot and a nearby building entity.
Optionally, in some embodiments, referring to fig. 9, the obtaining module 801 includes:
a first capturing sub-module 8011 is configured to capture a path planning map of the construction robot.
A second capturing sub-module 8012 is used to capture a plan view of the vicinity of the construction robot.
And the calculating submodule 8013 is used for calculating the current position of the construction robot according to the matching of the plan view and the routing diagram.
A third obtaining sub-module 8014 configured to obtain a distance between the construction robot and a nearby construction entity according to the current position of the construction robot.
Optionally, in some embodiments, referring to fig. 9, third obtaining sub-module 8014 is specifically configured to:
dividing a path planning diagram of the construction robot into a plurality of stations;
and acquiring the distance between the construction robot and a nearby construction entity according to the station information of the current position of the construction robot.
Optionally, in some embodiments, referring to fig. 9, the setting module 802 is specifically configured to:
when the building entity is detected to be at least positioned on one side of the building robot in the width direction, setting the detection range in the width direction to be smaller than or equal to a first width value, wherein the first width value is equal to the sum of the width of a vehicle body of the building robot and the distance between the edge of the building robot and a wall, and setting the detection range in the advancing direction to be a first set value;
when the building entity is detected to be only positioned at the front side of the advancing direction of the building robot, setting the width of the building robot vehicle body with the detection range in the width direction smaller than or equal to three times, and setting the detection range in the advancing direction as a second fixed value;
when the building entity is detected to be positioned on the front side of the advancing direction of the building robot and one side of the width direction at the same time, setting the detection range of the width direction to be smaller than or equal to a second width value, wherein the second width value is equal to the sum of the width of a vehicle body of the building robot and the distance between the edge of the building robot and a wall, setting the detection range of the advancing direction to be a third fixed value, the second fixed value is larger than the first fixed value, and the first fixed value is larger than or equal to the third fixed value.
Alternatively, in some embodiments, referring to fig. 9, the first set point is between 0.2 times the detection limit of the pre-crash radar and 0.3 times the detection limit of the pre-crash radar. The second constant value is between 0.5 times the detection limit of the anti-collision radar and 1 times the detection limit of the anti-collision radar. A third fixed value between 0.1 times the detection limit of the anti-collision radar and 0.2 times the detection limit of the anti-collision radar. Including taking the values of both endpoints in between.
It should be noted that the explanation of the embodiment of fig. 1 to fig. 7 for the anti-collision detection method for the construction robot to walk indoors is also applicable to the anti-collision detection apparatus 800 for the construction robot to walk indoors in this embodiment, and the implementation principle is similar, and is not described herein again.
In this embodiment, through obtaining the interval between construction robot and near building entity, set up the detection range of anticollision radar at the width direction of construction robot automobile body and the detection range of direction of advance according to the interval between construction robot and near building entity, can make construction robot when indoor walking, effectively avoid construction robot's anti-collision control mechanism's spurious triggering for anti-collision detection logic more is applicable to the indoor environment, effectively promotes the anticollision detection effect, reduces the potential safety hazard.
Fig. 10 is a schematic structural diagram of a construction robot according to an embodiment of the present invention.
Referring to fig. 10, the construction robot 100 includes:
the collision avoidance detecting apparatus 800 for a construction robot traveling indoors is described above.
It should be noted that the explanation of the embodiment of the anti-collision detection method for indoor walking of the construction robot in the foregoing fig. 1 to fig. 7 is also applicable to the construction robot 100 in this embodiment, and the implementation principle is similar, and is not described herein again.
In this embodiment, through obtaining the interval between construction robot and near building entity, set up the detection range of anticollision radar at the width direction of construction robot automobile body and the detection range of direction of advance according to the interval between construction robot and near building entity, can make construction robot when indoor walking, effectively avoid construction robot's anti-collision control mechanism's spurious triggering for anti-collision detection logic more is applicable to the indoor environment, effectively promotes the anticollision detection effect, reduces the potential safety hazard.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An anti-collision detection method for indoor walking of a construction robot is characterized by comprising the following steps:
acquiring a distance between the building robot and a nearby building entity;
and setting the detection range of the anti-collision radar in the width direction and the detection range of the advance direction of the building robot body according to the distance between the building robot and the nearby building entity.
2. The method for detecting whether a construction robot walks indoors according to claim 1, wherein the acquiring the distance between the construction robot and the nearby construction entity comprises:
acquiring a path planning diagram of the construction robot;
acquiring a plan view near the construction robot;
calculating to obtain the current position of the construction robot according to the matching of the plan and the routing diagram;
and acquiring the distance between the building robot and the nearby building entity according to the current position of the building robot.
3. The method for detecting collision avoidance of a construction robot walking indoors according to claim 2, wherein the acquiring the distance between the construction robot and the nearby construction entity according to the current position of the construction robot comprises:
dividing a routing chart of the construction robot into a plurality of stations;
and acquiring the distance between the building robot and a nearby building entity according to the station information of the current position of the building robot.
4. The indoor walking collision avoidance detection method of a construction robot according to claim 1, wherein the setting of the detection range of the collision avoidance radar in the width direction and the detection range of the advancing direction of the vehicle body of the construction robot in accordance with the distance between the construction robot and the nearby construction entity comprises:
when the building entity is detected to be at least positioned on one side of the building robot in the width direction, setting the detection range of the width direction to be smaller than or equal to a first width value, wherein the first width value is equal to the sum of the width of a building robot body and the distance between the edge of the building robot and a wall, and setting the detection range of the advancing direction to be a first set value;
setting a width of the construction robot body in which a detection range of the width direction is less than or equal to three times, when it is detected that the construction entity is located only on a front side in an advancing direction of the construction robot, the detection range of the advancing direction being set to a second constant value
When detecting that the building entity is located at the front side of the advancing direction of the building robot and at one side of the width direction at the same time, setting the detection range of the width direction to be smaller than or equal to a second width value, wherein the second width value is equal to the sum of the width of a vehicle body of the building robot and the distance between the edge of the building robot and a wall, setting the detection range of the advancing direction to be a third fixed value, wherein the second fixed value is larger than the first fixed value, and the first fixed value is larger than or equal to the third fixed value.
5. An indoor walking collision avoidance detection method according to claim 4, wherein said first set value is between a detection limit value of 0.2 times the collision avoidance radar and a detection limit value of 0.3 times the collision avoidance radar, said second set value is between a detection limit value of 0.5 times the collision avoidance radar and a detection limit value of 1 times the collision avoidance radar, and said third set value is between a detection limit value of 0.1 times the collision avoidance radar and a detection limit value of 0.2 times the collision avoidance radar.
6. The utility model provides an anticollision detection device of construction robot walking in indoor which characterized in that includes:
the acquisition module is used for acquiring the distance between the building robot and a nearby building entity;
and the setting module is used for setting the detection range of the anti-collision radar in the width direction and the detection range of the advance direction of the building robot body according to the distance between the building robot and the nearby building entity.
7. The indoor walking collision avoidance detection device of the construction robot according to claim 6, wherein the acquisition module comprises:
the first acquisition submodule is used for acquiring a path planning diagram of the construction robot;
the second acquisition submodule is used for acquiring a plan view near the construction robot;
the calculation submodule is used for obtaining the current position of the construction robot through matching calculation according to the plan and the routing diagram;
and the third acquisition submodule is used for acquiring the distance between the building robot and the nearby building entity according to the current position of the building robot.
8. The indoor walking collision avoidance detection device of the construction robot according to claim 7, wherein the third obtaining sub-module is specifically configured to:
dividing a routing chart of the construction robot into a plurality of stations;
and acquiring the distance between the building robot and a nearby building entity according to the station information of the current position of the building robot.
9. The indoor walking anti-collision detection device of the construction robot as claimed in claim 6, wherein the setting module is specifically configured to:
when the building entity is detected to be at least positioned on one side of the building robot in the width direction, setting the detection range of the width direction to be smaller than or equal to a first width value, wherein the first width value is equal to the sum of the width of a building robot body and the distance between the edge of the building robot and a wall, and setting the detection range of the advancing direction to be a first set value;
setting a width of the construction robot body in which a detection range of the width direction is less than or equal to three times, when it is detected that the construction entity is located only on a front side in an advancing direction of the construction robot, the detection range of the advancing direction being set to a second constant value
When detecting that the building entity is located at the front side of the advancing direction of the building robot and at one side of the width direction at the same time, setting the detection range of the width direction to be smaller than or equal to a second width value, wherein the second width value is equal to the sum of the width of a vehicle body of the building robot and the distance between the edge of the building robot and a wall, setting the detection range of the advancing direction to be a third fixed value, wherein the second fixed value is larger than the first fixed value, and the first fixed value is larger than or equal to the third fixed value.
10. A construction robot, comprising:
collision avoidance detection apparatus for a construction robot walking indoors as claimed in any one of claims 6 to 9.
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