CN109782296A - Robot and its control method with construction site indoor positioning intelligent apparatus - Google Patents
Robot and its control method with construction site indoor positioning intelligent apparatus Download PDFInfo
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Abstract
Robot and its control method with construction site indoor positioning intelligent apparatus, the robot includes: robot body and the positioning intelligent device that is arranged on robot body, it is removably connected between robot body and positioning intelligent device, positioning intelligent device includes: a coupling part being connected with robot body；One is arranged in the laser positioning ranging part for being used to be arranged laser transmitting-receiving device of coupling part lower end；It is connected between coupling part and laser positioning ranging part by a horizontal rotary mechanism；Control centre is provided in coupling part；Indicator device is equipped on laser positioning ranging part.The robot for being equipped with indoor positioning intelligent apparatus compares common Work robot in positioning work, and automation and intelligentification is horizontal high, can provide more accurate construction site indoor positioning.
Description
Technical field
The present invention relates to the technical fields of machinery building, and in particular to the machine with construction site indoor positioning intelligent apparatus
Device people also relates to the control method of the robot.
Background technique
In recent years, the worker's aging of China construction site grows in intensity, and worker's aging restricts building trade development, and
And maximum problem is exactly safety problem when construction worker's working of aging.With advances in technology and the hair of building trade
Exhibition, construction automation, intelligence are inexorable trends, therefore construction robot garrison construction site, progress are accurate accurate and efficient
Construction, be to build intelligentized important directions.At the same time, the construction automation of construction robot needs high accuracy positioning
It supports, in building course, how high-acruracy survey and high accuracy positioning are the critical issues intelligently built.Based on GPS and ground
Although the location-based service of figure is in the outdoor mainstream applications for becoming various mobile devices, indoors in positioning, precision is poor,
Be not suitable for indoor accurate position, especially in the complex environments such as construction site.
Indoor positioning technologies common at present include infrared ray positioning, ultrasonic wave positions, radio frequency identification positions, in bluetooth room
Positioning, WiFi indoor positioning, ZigBee positioning and ultra wide band positioning etc., specific defect is as follows: infrared indoor location technology: this
Kind of method, it can be achieved that Passive Positioning to the source of infrared radiation, but infrared is easy in spacious interior degree of precision easy to accomplish
It is blocked by barrier, transmission range is not also grown, it is therefore desirable to which a large amount of dense deployment sensors cause higher hardware and are constructed into
This.In addition, infrared interfere vulnerable to heat source, light etc., positioning accuracy and accuracy is caused to decline.WiFi indoor positioning technologies:
The precision of WiFi indoor positioning can only achieve 2 meters or so, the region that access point usually all can only be 90 meters of covering radius or so, and
Need to dispose at least three access point, deployment is complicated.Meanwhile it being easy the interference by other signals, so that its precision is influenced, it is fixed
The energy consumption of position device is higher；Ultrasonic wave indoor positioning technologies: since the rate of sound wave is relatively low, transmit that identical content needs when
Between it is long, biggish power system capacity could be only obtained by way of similar TDoA, and be easy by multipath effect and non-view
Influence away from propagation reduces positioning accuracy；Simultaneously, it is still necessary to which a large amount of bottom hardware facility investment, overall cost are higher；Bluetooth
Indoor positioning technologies: bluetooth positioning is mainly used in small range positioning, such as: single layer hall or warehouse.For complicated space
The stability of environment, bluetooth positioning system is slightly worse, is interfered by noise signal big.And it needs to dispose at least three access point, disposes
Complicated: ZigBee indoor positioning technologies: the working efficiency of ZigBee is very high.But the signal transmission of ZigBee by multipath effect and
Mobile is of great impact, and positioning accuracy depends on the accurate of Channel Physical quality, signal source density, environment and algorithm
Property, cause the higher cost of positioning software；UWB indoor positioning technologies: ultra wideband location techniques with penetration power, imitate by strong, anti-multipath
Fruit is good, highly-safe, system complexity is low, can provide the advantages that being accurately positioned precision, and prospect is quite wide.But due to being newly added
Blind node be also required to active communication and make power consumption higher, and be also required to be laid out in advance, so that cost can not reduce.RFID skill
Art: the information of centimeter-level positioning precision is obtained in several milliseconds, and transmission range is big, cost is relatively low, but RFID is not easy to be integrated into
Among mobile device.Dead reckoning: the main exercise data using the acquisition of terminal inertial sensor, as acceleration transducer,
Gyroscope etc. measures the information such as speed, direction, the acceleration of object, is based on dead reckoning, obtains object by various operations
Location information.But as travel time increases, the error of inertial navigation positioning is also constantly being accumulated.Need extraneous higher precision
Data source it is calibrated.
Another kind realizes that the mode of indoor positioning is by synchronous superposition (SLAM) technology.But due to
Using SLAM algorithm, it is necessary first to first scan and acquire environmental data, carry out finely positioning in conjunction with SLAM algorithm, operation is multiple
It is miscellaneous, while match with indoor integrated environment data and needing to carry out a large amount of interative computation, the time complexity of algorithm is higher,
And then it is unfavorable for robot and positions in real time.Meanwhile SLAM algorithm, there are cumulative errors, makes to position from during Data Matching
Precision and the accuracy of navigation reduce.
To sum up, it is automatic not to be able to satisfy building due to complexity, accuracy etc. for common localization method at this stage
Change and intelligentized requirement.It only needs to carry out enclosure space or hemi-closure space in more situation in construction site accurate
Positioning, can develop what a suitable construction site used in conjunction with building geological information and the characteristics of indicator device
The robot of indoor positioning intelligent apparatus is installed.
Summary of the invention
For the defect for overcoming the above-mentioned prior art, the purpose of the present invention is to provide a kind of easy to use, structures simply, control
System is accurately with the robot of construction site indoor positioning intelligent apparatus.
The second object of the present invention is to provide the controlling party of the robot with construction site indoor positioning intelligent apparatus
Method.
To achieve the above object, The technical solution adopted by the invention is as follows:
Robot with construction site indoor positioning intelligent apparatus, the robot include: robot body A and set
The positioning intelligent device B on robot body A is set, it is dismountable between the robot body A and positioning intelligent device B
Connection, the positioning intelligent device B include:
One coupling part 1 being connected with robot body A；
One is arranged in the laser positioning ranging part 2 for being used to be arranged laser transmitting-receiving device of 1 one end of coupling part；
It is connected between the coupling part 1 and laser positioning ranging part 2 by a horizontal rotary mechanism 3；
It is provided in the coupling part 1 and works for controlling laser positioning ranging part 2 and horizontal rotary mechanism 3
Control centre 4；
It is equipped with one on the laser positioning ranging part 2 and is used to indicate the direction dress of positioning intelligent device horizontally toward
It sets.
The robot with construction site indoor positioning intelligent apparatus, the laser positioning ranging part 2 are wrapped
Include: laser ranging system is arranged in the laser ranging R-T unit shell 21, institute in laser ranging R-T unit shell 21
The laser ranging system stated includes: that can be rotated up and down 90 degree of vertical rotating mechanism 5 according to vertical direction and pass through laser transmitting-receiving
To measure the laser ranging R-T unit 6 at a distance from metope；The laser ranging R-T unit 6 includes the emission source of laser
And receiving end, emission source emit laser, receiving end receives the laser of reflection, transmitting and reception computational intelligence device by laser
Arrive the distance between metope.
The robot with construction site indoor positioning intelligent apparatus, the laser ranging R-T unit 6 are set
It sets on the vertical rotating mechanism 5, is rotated up and down 90 degree with vertical 5 vertical direction of rotating mechanism.
The robot with construction site indoor positioning intelligent apparatus, the vertical rotating mechanism 5 can be rotated
, it is dismountable be arranged inside laser ranging R-T unit shell 21, be equipped with shaft 51 at the both ends of vertical rotating mechanism 5,
51 grafting of shaft is connected to inside laser ranging R-T unit shell 21.
The robot with construction site indoor positioning intelligent apparatus, the horizontal rotary mechanism 3 change fixed
The direction of position intelligent apparatus can carry out 360 degree clockwise or counterclockwise according to horizontal direction.
The robot with construction site indoor positioning intelligent apparatus, the compass device 7 refer to for electronics
Compass, electronic compass are SCM Based digital compass, are also possible to Honeywell triaxial magnetic field sensor, alternatively,
Electronic compass；The control centre 4 includes built-in controller, arithmetic unit and the storage mould for storing room geometry information
The PLC or industrial personal computer of block.
The robot with construction site indoor positioning intelligent apparatus, the control centre 4 are logical by serial ports
Letter is connect with horizontal rotary mechanism 3, vertical rotating mechanism 5 and laser ranging R-T unit 6,7 signal of digital compass respectively, institute
The mode of serial ports 232 or 485 interfaces, the robot that control centre will finally obtain can be used in the serial communication stated.
The robot with construction site indoor positioning intelligent apparatus, the coupling part 1 is by intelligent apparatus
Dismountable mode can be used between robot body to connect, connected such as card slot, socket or by nut mode.
The control method of robot with construction site indoor positioning intelligent apparatus, the control centre 4 it is main
Control method is as follows:
S1. control centre 4 loads the geological information in locating room, obtains the direction towards metope, is labeled as C0；
S2. control centre 4 obtains indicator device by serial ports and is directed toward data, i.e., current direction is labeled as C1；
S3. judge whether direction is towards metope direction i.e. C0=C1If so, step S4 is executed, if it is not, executing
Step S5；
S4. initial pose is adjusted, DATA REASONING is started, adjusts the second pose, starts DATA REASONING, continues to adjust multiple position
Appearance, and after carrying out multiple DATA REASONING, it is calculated, obtains positioning intelligent device and metope distance；
S5. control centre 4 adjusts horizontal rotary mechanism 3, makes current direction close to C0, return again to step S2；
S6. the exact position by current location apart from metope can obtain positioning intelligent device in the accurate positioning of current room.
The control method of the robot with construction site indoor positioning intelligent apparatus, in step s 4, in detail
It is thin that steps are as follows:
S40. control centre adjusts vertical rotating mechanism, adjusts initial pose according to digital compass, fills positioning intelligent
It sets towards metope direction, establishes the plane coordinate system centered on position, define the Y-axis that the vertical plane is plane coordinates；
S41. initial pose measurement: control centre adjusts horizontal rotary mechanism, make positioning intelligent device and vertical wall at
Certain angle is labeled as θ1(since digital compass is there are certain error, which is the estimation angle of robot, not
True angle), it measures at a distance from metope, is denoted as c；
S42. the second pose DATA REASONING: control centre adjusts horizontal rotary mechanism, rotates θ degree towards vertical wall direction,
Make positioning intelligent device and vertical wall angle θ2Degree, measurement is denoted as b at a distance from metope again,
S43. control centre obtains positioning intelligent device at a distance from metope, is denoted as d according to measurement data；
It obtains and measures distance in metope twice, be denoted as a, according to the cosine law,
Positioning intelligent device current location is denoted as d, can be calculated at a distance from metope:
S44. error concealment obtains exact position of the current location apart from metope, as accurate Y direction vertically away from
From:
In order to eliminate accidental error, measured using the different θ degree of N kind, it is general using measuring three times, according to step
The mode of S40 to step S43 calculate three d1, d2, and d3 value is averaged y=(d1+d2+d3)/3；
S45. control centre adjusts horizontal rotary mechanism, door and window is rotated by 90 ° and avoids, when front direction is denoted as X-axis；
S46. initial pose measurement: control centre adjusts horizontal rotary mechanism, make positioning intelligent device and vertical wall at
Certain angle is labeled as θ1(since digital compass is there are certain error, which is the estimation angle of robot, not
True angle), it measures at a distance from metope, is denoted as c；
S47. the second pose measurement: control centre adjusts horizontal rotary mechanism, rotates θ degree towards vertical wall direction, and it is fixed to make
Position intelligent apparatus and vertical wall angle are θ2Degree, measurement is denoted as b at a distance from metope again；
S48. control centre obtains positioning intelligent device at a distance from metope, is denoted as h according to measurement data；
The distance measured twice in metope is obtained, a is denoted as, according to the cosine law, (θ=θ1+θ2)
Positioning intelligent device current location is denoted as h at a distance from metope,
S49. error concealment obtains exact position of the current location apart from metope, as accurate X-direction vertically away from
From:
In order to eliminate accidental error, measured using the different θ degree of N kind, it is general using measuring three times, according to step
The mode of S45 to step S48 calculate three h1, h2, and h3 value is averaged x=(h1+h2+h3)/3.
Using the beneficial effects of the present invention are:
The robot for being equipped with indoor positioning intelligent apparatus compares common Work robot in positioning work, automation
Intelligent level is high, can provide more accurate construction site indoor positioning；The present invention is positioned by laser ranging system, nothing
Additional website need to be disposed, is disposed simple and convenient.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for one embodiment of robot that the present invention has indoor positioning intelligent apparatus；
Fig. 2 is the structural schematic diagram for another embodiment of robot that the present invention has indoor positioning intelligent apparatus；
Fig. 3 is high accuracy positioning intelligent apparatus schematic perspective view in construction site room of the present invention；
Fig. 3 a is the schematic view of the front view of Fig. 3；
Fig. 3 b is the overlooking structure diagram of Fig. 3；
Fig. 4 is high accuracy positioning intelligent apparatus control logic schematic diagram in construction site room of the present invention；
Fig. 5 is the whole control flow chart of invention positioning intelligent device；
Fig. 6 is the accurate ranging detail flowchart of positioning intelligent device of the present invention；
Fig. 7 is geometric shape schematic diagram of the positioning intelligent device of the present invention in room to be measured；
Fig. 8 is that positioning intelligent device of the present invention is accurately positioned schematic diagram；
Fig. 9 is that the specific embodiment of the invention is accurately positioned schematic diagram when measuring.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements."front", "rear", "left", "right" do not represent any sequence relation, it is merely for convenience describe into
Capable differentiation.For the ordinary skill in the art, the tool of above-mentioned term in the present invention can be understood with concrete condition
Body meaning." in turn " execute certain movement when at the time of, text in occur it is multiple in turn, be at any time passage in remember in real time
Record.
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1 and Figure 2, the structural schematic diagram of the robotic embodiment with construction site indoor positioning intelligent apparatus,
As shown in figure 1, positioning intelligent device B is fixedly installed by way of card slot in the upper panel of Work machine human body A, it is fixed
Position intelligent apparatus B is fixed on the panel of Work machine human body A；In Fig. 2, in the lower part of Work machine human body A
Positioning intelligent device B is fixedly installed on panel in such a way that nut connects, positioning intelligent device B consolidates by way of being spirally connected
It is scheduled below Work machine human body A on plate；Specification around here, construction robot can be floor tile paving robot,
Any one in the interior decorations robots such as timber floor paving robot, interior wall spray robot, is pacified by removably
Positioning intelligent device B mounted in thereon can help the accurate positioning of construction robot acquisition indoors, dismountable mounting means
It can also be the mode etc. of socket.
If Fig. 3 is to as indicated at 4, for a kind of structural schematic diagram of the intelligent apparatus of construction site indoor positioning, described determines
Position intelligent apparatus B includes: a coupling part 1 being mounted on positioning intelligent device on Work machine human body；One setting is even
The laser positioning ranging part 2 for being used to be arranged laser transmitting-receiving device of 1 lower end of socket part point；The coupling part 1 and laser is fixed
It is connected between the ranging unit 2 of position by a horizontal rotary mechanism 3；It is fixed for controlling laser to be provided in the coupling part 1
The control centre 4 that position ranging unit 2 and horizontal rotary mechanism 3 work；One is equipped on the laser positioning ranging part 2 to use
In the indicator device of instruction positioning intelligent device horizontally toward；It is also provided on robot body for showing intelligent apparatus
The display device of position, it is also possible to be shown on the controller of Manipulation of the machine people, schematic structure omits.
The laser positioning ranging part 2 includes: laser ranging R-T unit shell 21, is received in the laser ranging
Laser ranging system is set in transmitting apparatus shell 21, and the laser ranging system includes: that can be rotated up and down according to vertical direction
90 degree of vertical rotating mechanism 5 and the laser ranging R-T unit 6 at a distance from metope is measured by laser transmitting-receiving；Described
Laser ranging R-T unit 6 includes emission source and the receiving end of laser, and emission source emits laser, and receiving end receives swashing for reflection
Light, Laser emission, which is received, arrives the distance between metope for computing device；The laser ranging R-T unit 6 is arranged described
Vertical rotating mechanism 5 on, be rotated up and down 90 degree with vertical 5 vertical direction of rotating mechanism；The vertical rotating mechanism 5 can turn
It is dynamic, dismountable to be arranged inside laser ranging R-T unit shell 21, shaft is equipped at the both ends of vertical rotating mechanism 5
51, it 51 grafting of shaft or is connected to inside laser ranging R-T unit shell 21；The laser ranging R-T unit
Shell 21 is mainly to provide protective effect, and the laser ranging R-T unit 6 of protection setting inside it can be plastic housing
Son, aluminium alloy shell etc.；The horizontal rotary mechanism 3 changes the direction of positioning intelligent device, can according to horizontal direction into
360 degree clockwise or counterclockwise of row；The indicator device uses digital compass 7 or electronic compass；Such as Fig. 3, figure
Shown in 3a, the compass device 7 is electronic compass, and electronic compass is SCM Based digital compass, can also
To be Honeywell triaxial magnetic field sensor, alternatively, electronic compass.The product type of digital compass are as follows: WS64-CP2 product
Number: 46664, the high BARIGO digital compass of German Berry, optimal use digital compass in the present embodiment can also be selected；
The control centre 4 include built-in controller, arithmetic unit and store room geometry information memory module PLC or
Person's industrial personal computer；Control centre also controls the court of positioning intelligent device by controlled level rotating mechanism and vertical rotating mechanism
To；Meanwhile control centre also controls the transmitting-receiving of laser, and reads the information of digital compass；It can such as use and grind magnificent industrial personal computer
YW-EMBI67U, the industrial personal computer basic parameter: 3.5 cun of mainboards, onboard INTEL i56200U processor, dominant frequency double-core 2.3G, 6
× COM, 6 × USB, 2 × LAN, DC9-24V, memory containing 4G, 128GMSATA；As shown in Fig. 2, the control centre 4 passes through
Serial communication respectively with horizontal rotary mechanism 3, vertical rotating mechanism 5 and laser ranging R-T unit 6,7 signal of digital compass
The mode of serial ports 232 or 485 interfaces can be used in connection, the serial communication；By serial communication, control centre controls water
The spinning movement of flat rotating mechanism and vertical rotating mechanism controls the laser operations of laser transmitting-receiving device and reads measurement data,
Read the directional information of digital compass.
As shown in Figure 7, Figure 8, Fig. 7 is the geometric shape in room to be measured, it can be seen that the room is rectangle, and there are two go out
Entrance.When assembling construction robot measurement point into figure of positioning intelligent device, need accurate positioning intelligent device in the room
Between position.As shown in fig. 7, steps are as follows for specific accurate positioning when robot is in A point:
As shown in figure 5, a kind of control method of the intelligent apparatus of construction site indoor positioning, the control centre 4
Primary method of control is as follows:
S1. control centre 4 loads the geological information in locating room, obtains the direction towards metope, is labeled as C0；
S2. control centre 4 obtains indicator device by serial ports and is directed toward data, i.e., current direction is labeled as C1；
S3. judge whether direction is towards metope direction i.e. C0=C1If so, step S4 is executed, if it is not, executing
Step S5；
S4. initial pose is adjusted, DATA REASONING is started, adjusts the second pose, starts DATA REASONING, continues to adjust multiple position
Appearance, and after carrying out multiple DATA REASONING, it is calculated, obtains positioning intelligent device and metope distance；
S5. control centre 4 adjusts horizontal rotary mechanism 3, makes current direction close to C0, return again to step S2；
S6. the exact position by current location apart from metope can obtain positioning intelligent device in the accurate positioning of current room.
As shown in fig. 6, the control method of the intelligent apparatus of the construction site indoor positioning, in step s 4, in detail
It is thin that steps are as follows:
S40. control centre adjusts vertical rotating mechanism, adjusts initial pose according to digital compass, fills positioning intelligent
It sets towards metope direction, establishes the plane coordinate system centered on position, define the Y-axis that the vertical plane is plane coordinates；
S41. initial pose measurement: control centre adjusts horizontal rotary mechanism, make positioning intelligent device and vertical wall at
Certain angle is labeled as θ1(since digital compass is there are certain error, which is the estimation angle of robot, not
True angle), it measures at a distance from metope, is denoted as c；
S42. the second pose DATA REASONING: control centre adjusts horizontal rotary mechanism, rotates θ degree towards vertical wall direction,
Make positioning intelligent device and vertical wall angle θ2Degree, measurement is denoted as b at a distance from metope again,
S43. control centre obtains positioning intelligent device at a distance from metope, is denoted as d according to measurement data；
The distance measured twice in metope is obtained, a is denoted as, according to the cosine law, (θ=θ1+θ2)
Positioning intelligent device current location is denoted as d, can be calculated at a distance from metope:
S44. error concealment obtains exact position of the current location apart from metope, as accurate Y direction vertically away from
From:
In order to eliminate accidental error, measured using the different θ degree of N kind, it is general using measuring three times, according to step
The mode of S40 to step S43 calculate three d1, d2, and d3 value is averaged y=(d1+d2+d3)/3；
S45. control centre adjusts horizontal rotary mechanism, door and window is rotated by 90 ° and avoids, when front direction is denoted as X-axis；
S46. initial pose measurement: control centre adjusts horizontal rotary mechanism, make positioning intelligent device and vertical wall at
Certain angle is labeled as θ1(since digital compass is there are certain error, which is the estimation angle of robot, not
True angle), it measures at a distance from metope, is denoted as c；
S47. the second pose measurement: control centre adjusts horizontal rotary mechanism, rotates θ degree towards vertical wall direction, and it is fixed to make
Position intelligent apparatus and vertical wall angle are θ2Degree, measurement is denoted as b at a distance from metope again；
S48. control centre obtains positioning intelligent device at a distance from metope, is denoted as h according to measurement data；
It obtains and measures distance in metope twice, be denoted as a, according to the cosine law,
Positioning intelligent device current location is denoted as h, can be calculated at a distance from metope:
S49. error concealment obtains exact position of the current location apart from metope, as accurate X-direction vertically away from
From:
In order to eliminate accidental error, measured using the different θ degree of N kind, it is general using measuring three times, according to step
The mode of S45 to step S48 calculate three h1, h2, and h3 value is averaged x=(h1+h2+h3)/3.
Embodiment 1:
If one 4 meters long from south to north, wide 3 meters of the room of thing, positioning intelligent device position is in measurement as shown in Figure 9
Point.First pose is towards east (E), measurement and metope distance b=2, rotates 60 degree towards metope direction, measurement and metope away from
From c=2.The distance measured twice in metope is obtained, a is denoted as.According to the cosine law,
The calculating robot current location of positioning intelligent device is installed at a distance from metope, is denoted as d.It can be calculated:
Therefore, distance of the current positioning intelligent device apart from east metope isRice.
It is rotated when positioning intelligent device issues instructions to robot direction to the south, then measurement and metope distance m=2
Rice rotates 60 degree towards metope direction, measurement and metope distance n=2.It can be calculated using same methodTherefore work as
The distance of prelocalization intelligent apparatus distance metope in the south isRice.
Thus, the position of current positioning intelligent device is apart from east metopeRice, apart from west metope
Rice, distance metope in the southRice, apart from north metopeRice.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
The above, only presently preferred embodiments of the present invention not do limitation in any form to the present invention.It is any ripe
Those skilled in the art is known, without departing from the scope of the technical proposal of the invention, all using technology contents described above
Many possible changes and modifications or equivalent example modified to equivalent change are made to technical solution of the present invention.Therefore, all
It is the content without departing from technical solution of the present invention, any change modification made to the above embodiment of technology according to the present invention,
Equivalent variations and modification belong to the protection scope of the technical program.
Claims (10)
1. the robot with construction site indoor positioning intelligent apparatus, which is characterized in that the robot includes: robot
Ontology (A) and the positioning intelligent device (B) being arranged on robot body (A), the robot body (A) and positioning intelligent
It is removably connected between device (B), the positioning intelligent device (B) includes:
One coupling part being connected with robot body (A)；
One setting is in coupling part (1) one end for the laser positioning ranging part (2) of laser transmitting-receiving device to be arranged；
It is connected between the coupling part (1) and laser positioning ranging part (2) by a horizontal rotary mechanism (3)；
It is provided in the coupling part (1) for controlling laser positioning ranging part (2) and horizontal rotary mechanism (3) work
Control centre (4)；
It is equipped with one on the laser positioning ranging part (2) and is used to indicate the compass dress of positioning intelligent device horizontally toward
Set (7).
2. the robot according to claim 1 with construction site indoor positioning intelligent apparatus, which is characterized in that described
Coupling part (1) dismountable mode will can be used between positioning intelligent device (B) and robot body (A) and connect such as card
Slot, socket are connected by nut mode.
3. the robot according to claim 1 with construction site indoor positioning intelligent apparatus, which is characterized in that described
Laser positioning ranging part (2) include: laser ranging R-T unit shell (21), outside the laser ranging R-T unit
Laser ranging system is set in shell (21), and the laser ranging system includes: that 90 degree can be rotated up and down according to vertical direction
Vertical rotating mechanism (5) and the laser ranging R-T unit (6) at a distance from metope is measured by laser transmitting-receiving；Described swashs
Ligh-ranging R-T unit (6) includes emission source and the receiving end of laser, and emission source emits laser, and receiving end receives swashing for reflection
Light by the transmitting of laser and receives computational intelligence device the distance between to metope.
4. the robot according to claim 3 with construction site indoor positioning intelligent apparatus, which is characterized in that described
Laser ranging R-T unit (6) be arranged on the vertical rotating mechanism (5), with vertical rotating mechanism (5) vertical direction
It is rotated up and down 90 degree.
5. the robot according to claim 4 with construction site indoor positioning intelligent apparatus, which is characterized in that described
Vertical rotating mechanism (5) is rotatable, dismountable setting is internal in laser ranging R-T unit shell (21), revolving vertically
The both ends of rotation mechanism (5) are equipped with shaft (51), the shaft (51) grafting or are connected to laser ranging R-T unit shell
(21) internal.
6. the robot according to claim 1 with construction site indoor positioning intelligent apparatus, which is characterized in that described
Horizontal rotary mechanism (3) change positioning intelligent device direction, can be revolved clockwise or counterclockwise according to horizontal direction
Three-sixth turn.
7. the robot according to claim 1 with construction site indoor positioning intelligent apparatus, which is characterized in that described
Compass device (7) be electronic compass, electronic compass be SCM Based digital compass, be also possible to Huo Niwei
That triaxial magnetic field sensor, alternatively, electronic compass；The control centre (4) includes built-in controller, arithmetic unit and storage
The PLC or industrial personal computer of the memory module of room geometry information.
8. the robot according to claim 7 with construction site indoor positioning intelligent apparatus, which is characterized in that described
Control centre (4) by serial communication respectively with horizontal rotary mechanism (3), vertical rotating mechanism (5) and laser ranging transmitting-receiving
The mode of serial ports 232 or 485 interfaces can be used in device (6), the connection of compass device (7) signal, the serial communication.
9. a kind of control method of the robot with construction site indoor positioning intelligent apparatus, which is characterized in that the control
The primary method of control of center (4) processed is as follows:
S1. control centre (4) loads the geological information in locating room, obtains the direction towards metope, is labeled as C0；
S2. control centre (4) obtains indicator device by serial ports and is directed toward data, i.e., current direction is labeled as C1；
S3. judge whether direction is towards metope direction i.e. C0=C1If so, step S4 is executed, if it is not, executing step
S5；
S4. initial pose is adjusted, DATA REASONING is started, adjusts the second pose, starts DATA REASONING, continues to adjust multiple pose,
And after carrying out multiple DATA REASONING, calculated, obtains positioning intelligent device and metope distance；
S5. control centre (4) adjustment horizontal rotary mechanism (3) makes current direction close to C0, return again to step S2；
S6. the exact position by current location apart from metope can obtain positioning intelligent device in the accurate positioning of current room.
10. the control method of the robot of the intelligent apparatus of construction site indoor positioning according to claim 9, feature
It is, in step s 4, detailed step is as follows:
S40. control centre adjusts vertical rotating mechanism, adjusts initial pose according to digital compass, makes positioning intelligent device surface
To metope direction, the plane coordinate system centered on position is established, defines the Y-axis that the vertical plane is plane coordinates；
S41. initial pose measurement: control centre adjusts horizontal rotary mechanism, makes positioning intelligent device and vertical wall at certain
Angle, be labeled as θ1(since digital compass is there are certain error, which is the estimation angle of robot, and non-genuine
Angle), it measures at a distance from metope, is denoted as c；
S42. the second pose DATA REASONING: control centre adjusts horizontal rotary mechanism, rotates θ degree towards vertical wall direction, and it is fixed to make
Position intelligent apparatus and vertical wall angle are θ2Degree, measurement is denoted as b at a distance from metope again,
S43. control centre obtains positioning intelligent device at a distance from metope, is denoted as d according to measurement data；
It obtains and measures distance in metope twice, be denoted as a, according to the cosine law,
Positioning intelligent device current location is denoted as d, can be calculated at a distance from metope:
S44. error concealment obtains exact position of the current location apart from metope, as accurate Y direction vertical range:
In order to eliminate accidental error, measured using the different θ degree of N kind, it is general using measuring three times, it is arrived according to step S40
The mode of step S43 calculates three d1, d2, and d3 value is averaged y=(d1+d2+d3)/3；
S45. control centre adjusts horizontal rotary mechanism, door and window is rotated by 90 ° and avoids, when front direction is denoted as X-axis；
S46. initial pose measurement: control centre adjusts horizontal rotary mechanism, makes positioning intelligent device and vertical wall at certain
Angle, be labeled as θ1, measure at a distance from metope, be denoted as c；
S47. the second pose measurement: control centre adjusts horizontal rotary mechanism, rotates θ degree towards vertical wall direction, makes to position intelligence
Energy device and vertical wall angle are θ2Degree, measurement is denoted as b at a distance from metope again；
S48. control centre obtains positioning intelligent device at a distance from metope, is denoted as h according to measurement data；
The distance measured twice in metope is obtained, a is denoted as, according to the cosine law, (θ=θ1+θ2)
Positioning intelligent device current location is denoted as h, can be calculated at a distance from metope:
S49. error concealment obtains exact position of the current location apart from metope, as accurate X-direction vertical range:
In order to eliminate accidental error, measured using the different θ degree of N kind, it is general using measuring three times, it is arrived according to step S45
The mode of step S48 calculates three h1, h2, and h3 value is averaged x=(h1+h2+h3)/3.
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