CN110842934A - Replenishment robot and replenishment system - Google Patents
Replenishment robot and replenishment system Download PDFInfo
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- CN110842934A CN110842934A CN201911070262.4A CN201911070262A CN110842934A CN 110842934 A CN110842934 A CN 110842934A CN 201911070262 A CN201911070262 A CN 201911070262A CN 110842934 A CN110842934 A CN 110842934A
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Abstract
The invention discloses a replenishment robot and a replenishment system, wherein the replenishment robot comprises: a robot body; the signal base stations are arranged on the robot body and used for receiving supply signals sent by the working robot; and the controller is used for determining the current position of the working robot according to the difference between the time of receiving the replenishment signal by each signal base station, or receiving the current position which is sent by the server and determined according to the difference, controlling the robot body to move to the replenishment position corresponding to the current position, and replenishing the working robot. Therefore, the problems that due to the instability of air and the fixed position between the signal base station and the target point, the replenishment positioning is prone to errors, the replenishment practicability is poor, the replenishment reliability is reduced, and the replenishment requirement cannot be effectively met are solved.
Description
Technical Field
The invention relates to the technical field of building engineering automation, in particular to a replenishment robot and a replenishment system.
Background
At present, with the development of automation of construction processes, more and more construction processes are performed by construction robots (including work robots and supply robots). For example, when the operation robot works in the blank room, if energy or materials need to be supplied, such as power battery replacement, at the moment, the supply robot is required to be accurately positioned to the current position of the operation robot after receiving a supply signal of the operation robot, and the supply robot can calculate the relative posture of the operation robot and the supply robot, so that when the supply robot accurately runs in front of the operation robot, the posture of the supply robot is accurately adjusted, and accurate butt joint of the supply robot and the operation robot is realized.
In the related art, indoor positioning of a construction robot generally establishes a plurality of signal base stations indoors, and calculates the position of a target point through a time difference of arrival algorithm. However, due to the instability of air, the propagation speed of electromagnetic waves in the air is not uniform, and the position between the signal base station and the target point is fixed, so that small errors are easy to occur in navigation and positioning, but even the small errors can cause the error of positioning precision to reach centimeter level, the accuracy of robot control cannot be guaranteed, the supply practicability is poor, the reliability of supply is reduced, and a solution is needed urgently.
Disclosure of Invention
The invention provides a replenishment robot and a replenishment system, and aims to solve the problems that in the prior art, due to the instability of air and the fixed position between a signal base station and a target point, replenishment positioning is prone to errors, the replenishment practicability is poor, the replenishment reliability is reduced, the replenishment requirement cannot be effectively met and the like.
An embodiment of the first aspect of the present invention provides a replenishment robot, including: a robot body; the signal base stations are arranged on the robot body and used for receiving supply signals sent by the working robot; and the controller is used for determining the current position of the working robot according to the difference between the times of receiving the replenishment signals by each signal base station, or receiving the current position determined according to the difference sent by the server, controlling the robot body to move to the replenishment position corresponding to the current position, and replenishing the working robot. .
In a second aspect, an embodiment of the present invention provides a replenishment system for a construction robot, including: the transmitting component is arranged on the working robot and used for sending a supply signal of the working robot to the supply robot; at least one replenishment robot as above, determining the current position of the working robot according to the difference between the times of receiving the replenishment signals by each signal base station, and controlling the robot body to move to the replenishment position corresponding to the current position to replenish the working robot.
In a third aspect, an embodiment of the present invention provides a replenishment system for a construction robot, including: the transmitting component is arranged on the working robot and used for sending a supply signal of the working robot to the supply robot; a server; at least one replenishment robot as above is used for receiving the current position determined according to the difference value sent by the server, controlling the robot body to move to the replenishment position corresponding to the current position, and replenishing the working robot. Through setting up the signal basic station on the robot body that removes to the moving direction of adjusting the robot in real time according to the supply signal, can accurate positioning work robot position moreover, effectively avoid the supply to fix a position the error that appears, not only improve the suitability and the reliability of supply, effectively satisfy the user demand of supply moreover, realize the intelligent supply of robot. Therefore, the problems that due to the instability of air and the fixed position between the signal base station and the target point, the replenishment positioning is prone to errors, the replenishment practicability is poor, the replenishment reliability is reduced, and the replenishment requirement cannot be effectively met are solved.
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 diagram of a replenishment robot in accordance with an embodiment of the present invention;
FIG. 2 is a perspective view of a two-dimensional positioning according to one embodiment of the present invention;
FIG. 3 is a schematic two-dimensional docking diagram according to one embodiment of the invention;
FIG. 4 is a perspective view of three-dimensional positioning according to one 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 drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The replenishment robot and the replenishment system according to the embodiment of the present invention are described below with reference to the drawings. In the replenishment robot, the signal base station is arranged on a moving robot body, so that the moving direction of the robot is adjusted in real time according to a replenishment signal, the position of the working robot can be accurately positioned, the occurrence of errors in replenishment positioning is effectively avoided, the applicability and the reliability of replenishment are improved, the use requirement of replenishment is effectively met, and the intelligent replenishment of the robot is realized. Therefore, the problems that due to the instability of air and the fixed position between the signal base station and the target point, the replenishment positioning is prone to errors, poor in replenishment practicability, the reliability of replenishment is reduced, and the replenishment requirement cannot be effectively met are solved.
Fig. 1 is a schematic structural diagram of a replenishment robot according to an embodiment of the present invention.
As shown in fig. 1, a replenishment robot 10 according to an embodiment of the present invention includes: the robot comprises a robot body 100, a plurality of signal base stations (shown as signal base station 201, signal base station 202 and signal base station 203), and a controller.
A plurality of signal base stations are provided on the robot body 100, and the plurality of signal base stations are configured to receive replenishment signals transmitted from the work robot 20.
It is understood that by providing the signal base station on the moving replenishment robot 100, the replenishment robot 100 can receive the replenishment signal continuously during the previous operation of the work robot 20, thereby adjusting the moving direction in real time.
It should be noted that, in order to accurately position the working robot 20, the signal base station of the embodiment of the present invention is plural. Specifically, as shown in fig. 2, for example, the replenishment robot 100 and the working robot 20 are located at different positions on the same floor, and a signal base station 201, a signal base station 202, and a signal base station 203 are provided above the robot main body 100 to receive replenishment signals. A signal transmitter 21 is disposed above the work robot 20, and is configured to transmit replenishment signals to a signal base station 201, a signal base station 202, and a signal base station 203 disposed in the replenishment robot 100, wherein positions of the signal base station 201, the signal base station 202, and the signal base station 203 with respect to a coordinate origin O of the replenishment robot 100 are fixed.
The controller is used for determining the current position of the working robot 20 according to the difference between the times of receiving the replenishment signals by each signal base station, or receiving the current position determined according to the difference sent by the server, and controlling the robot body 100 to move to the replenishment position corresponding to the current position to replenish the working robot 20. It should be noted that the current position may be calculated by the controller of the replenishment robot 10, or calculated by a server, and one server may control a plurality of replenishment robots to work at the same time, so as to improve the work efficiency, and is more intelligent.
It can be understood that, after the signal base station 201, the signal base station 202, and the signal base station 203 receive the replenishment signal sent by the signal transmitter 21, the controller or the server may calculate the current location of the working robot 20 through the arrival time difference algorithm, so as to control the robot body 100 to move to the replenishment location corresponding to the current location, and replenish the working robot 20.
Further, in one embodiment of the present invention, the controller includes: a calculating unit and a first control unit.
Wherein the calculation unit is adapted to determine a current distance and a current orientation angle between the robot body 100 and the work robot 20 from the difference values.
The first control unit is used for controlling the robot body 100 to move to the replenishment position according to the current distance and the current direction angle.
Further, in another embodiment of the present invention, the controller includes: a transmitting unit and a second receiving unit.
The sending unit is used for sending the time or difference value of each signal base station for receiving the replenishment signal to the server;
and the second receiving unit is used for receiving the current position.
Specifically, after the signal base station 201, the signal base station 202, and the signal base station 203 receive the replenishment signal sent by the signal transmitter 21, the controller or the server may calculate the distance d and the direction angle θ between the signal transmitter 21 and the replenishment robot coordinate origin O through the arrival time difference algorithm, and the replenishment robot 100 may move to the working robot 20 according to the distance d and the direction angle θ to replenish the working robot 20, such as replacing a power battery or adding building materials.
Optionally, in an embodiment of the present invention, a distance between each of the plurality of signal base stations is greater than one meter, and when the three-dimensional replenishment condition is satisfied, the number of the signal base stations in the plurality of signal base stations is at least four.
It will be appreciated that in the case of two-dimensional positioning of the replenishment robot 100 and the work robot 20 at different locations on the same floor, the number of signal stations on the replenishment robot 100 may be at least 3 and the distance between the signal stations may be greater than 1 meter. It should be noted that the number of signal base stations and the distance between the signal base stations are only for illustrative purposes, and are not limited thereto. Due to the requirement of the time difference algorithm, the accuracy and reliability of calculation can be effectively guaranteed by the arrangement mode that at least 3 signal base stations and the distance are larger than 1 meter, so that the number of the signal base stations is preferably at least 3, and the distance between the signal base stations is larger than 1 meter.
Further, in an embodiment of the present invention, the plurality of signal base stations are further configured to receive attitude signals transmitted from the work robot 20, wherein the controller further comprises: the device comprises a first receiving unit, an identification unit and a second control unit.
Wherein the receiving unit is used for receiving the attitude signal sent by the working robot 20.
The recognition unit is used for recognizing the current relative posture between the replenishment robot 100 and the working robot 20 according to the current direction angle and the posture signal.
The second control unit is used for adjusting the current relative posture to the replenishment posture.
It will be appreciated that embodiments of the present invention not only enable accurate positioning of the location of work robot 20, but also enable calculation of the relative pose of work robot 20 and the replenishment robot. The signal base station is arranged on the moving supply robot, the supply robot 10 continuously receives supply signals in the process of moving to the operation robot 20, the moving direction of the supply robot is adjusted in real time, and when the supply robot moves to the front of the operation robot 20, the attitude adjustment is carried out according to the calculated relative attitude of the supply robot and the operation robot, so that the accurate butt joint of the supply robot and the operation robot is realized, and the positioning and butt joint accuracy is effectively improved.
Specifically, the work robot 20 may be equipped with an electronic compass for sending attitude information to the controller in real time. When the replenishment robot 100 moves in front of the working robot 20, the controller controls the replenishment robot 100 to perform attitude adjustment according to the attitude information of the working robot 20 and the calculated direction angle θ, thereby realizing accurate docking. As shown in fig. 3, the blank room 3 has walls 31, 32, 33, and 34. The working robot 20 may be working against one of the walls, and when the replenishment robot 100 moves to the front of the working robot 20, the replenishment robot 10 performs attitude adjustment according to a control instruction issued by the controller, so as to achieve accurate docking between the two.
Although the controller is taken as an example, the server may transmit the current orientation angle and the orientation signal to the server, and the server controls the replenishment robot 100 to adjust the orientation based on the orientation information of the work robot 20 and the calculated orientation angle θ, thereby achieving accurate docking.
Further, in one implementation of the present invention, the replenishment system 10 of the embodiment of the present invention further includes: and a detection component. The detection component is used for detecting whether the current position meets the three-dimensional replenishment condition, and when the three-dimensional replenishment condition is met, the controller determines the direction information and the height information of the working robot 20 according to the replenishment signal so as to control the robot body 100 to move to the same height as the working robot 20.
It can be understood that, as shown in fig. 4, when the vertical heights are not consistent, that is, three-dimensional positioning (meeting three-dimensional replenishment conditions) is performed, if the replenishment robot 100 receives replenishment signals on the outer surfaces of the building 4, the building 5, and the like, the controller calculates direction information and height information of the replenishment signals to control the replenishment robot 100 to be able to take the elevator to rise to the floor with the corresponding height, so that the replenishment robot 100 and the working robot 20 are located at different positions of the same floor, and then the above docking operation is performed, so that the practicability and applicability of replenishment are improved, and the use experience is improved.
Optionally, in an embodiment of the present invention, a distance between each of the plurality of signal base stations is greater than one meter, and when the vertical heights are not consistent, the number of the signal base stations in the plurality of signal base stations is at least four, that is, the number of the signal base stations on the replenishment robot 100 is at least 4, so as to meet the use requirement of three-dimensional positioning.
Further, in one embodiment of the present invention, the replenishment system 10 of the embodiment of the present invention further includes: a clock component. The clock component is used for synchronizing the clock of each signal base station of the plurality of signal base stations.
For example, the clock component may be a synchronous cable, and the synchronous cable is installed between signal base stations to realize clock synchronization, reduce calculation errors of an arrival time difference algorithm, effectively improve calculation accuracy, further ensure accuracy of robot control, improve replenishment practicality, and ensure replenishment reliability.
In addition, in one embodiment of the present invention, at least a portion of the plurality of signal base stations are disposed on the same horizontal plane.
Further, in one embodiment of the present invention, at least a portion of the plurality of signal base stations are disposed on a vertical plane perpendicular to the horizontal plane.
It can be understood that there are many setting modes of the signal base station, such as vertical setting, partial horizontal setting, etc., and only the validity of the data is required to be ensured, so as to ensure the validity of the distance d and the direction angle θ, and ensure the accuracy of the control.
According to the replenishment robot provided by the embodiment of the invention, the signal base station is arranged on the moving robot body, so that the moving direction of the robot is adjusted in real time according to the replenishment signal, the position of the working robot can be accurately positioned, errors in replenishment positioning are effectively avoided, the applicability and reliability of replenishment are improved, the use requirement of replenishment is effectively met, the intelligent replenishment of the robot is realized, the relative posture of the working robot and the replenishment robot can be calculated, the accurate butt joint of the working robot and the replenishment robot is realized, and the positioning and butt joint accuracy is effectively improved. Therefore, the problems that due to the instability of air and the fixed position between the signal base station and the target point, the replenishment positioning is prone to errors, poor in replenishment practicability, the reliability of replenishment is reduced, and the replenishment requirement cannot be effectively met are solved.
Further, the embodiment of the invention also provides a replenishing system of the construction robot.
The replenishment system for a construction robot includes: a launching assembly (such as the launcher described above) and the replenishment robot of the embodiments described above.
Wherein, the transmission subassembly sets up on work robot to send work robot's supply signal to supply robot.
And the replenishment robot determines the current position of the operation robot according to the difference between the time of receiving the replenishment signals by each signal base station, controls the robot body to move to the replenishment position corresponding to the current position, and replenishes the operation robot.
It should be noted that the explanation of the embodiment of the replenishment robot described above is also applicable to the replenishment system of the construction robot of this embodiment, and the description thereof is omitted here.
According to the supply system of the construction robot, the signal base station is arranged on the moving robot body, so that the supply robot adjusts the moving direction of the robot in real time according to the supply signal, the position of the working robot can be accurately positioned, errors in supply positioning are effectively avoided, the applicability and reliability of supply are improved, the use requirement of supply is effectively met, the intelligent supply of the robot is realized, the relative posture of the working robot and the supply robot can be calculated, the accurate butt joint of the working robot and the supply robot is realized, and the accuracy of positioning and butt joint is effectively improved. Therefore, the problems that due to the instability of air and the fixed position between the signal base station and the target point, the replenishment positioning is prone to errors, poor in replenishment practicability, the reliability of replenishment is reduced, and the replenishment requirement cannot be effectively met are solved.
Further, the embodiment of the invention also provides a replenishing system of the construction robot.
The replenishment system for a construction robot includes: a launch assembly (such as the launcher described above), a server, and the replenishment robot of the embodiments described above.
Wherein, the transmission subassembly sets up on work robot to send work robot's supply signal to supply robot.
And the replenishment robot receives the current position determined according to the difference value sent by the server, controls the robot body to move to the replenishment position corresponding to the current position, and replenishes the working robot.
It should be noted that the explanation of the embodiment of the replenishment robot described above is also applicable to the replenishment system of the construction robot of this embodiment, and the description thereof is omitted here.
According to the supply system of the construction robot, the signal base station is arranged on the moving robot body, so that the server can control the supply robot to adjust the moving direction of the robot in real time according to the supply signal, the position of the working robot can be accurately positioned, errors in supply positioning are effectively avoided, the applicability and the reliability of supply are improved, the use requirement of supply is effectively met, the intelligent supply of the robot is realized, the relative posture of the working robot and the supply robot can be calculated, the accurate butt joint of the working robot and the supply robot is realized, and the accuracy of positioning and butt joint is effectively improved. Therefore, the problems that due to the instability of air and the fixed position between the signal base station and the target point, the replenishment positioning is prone to errors, poor in replenishment practicability, the reliability of replenishment is reduced, and the replenishment requirement cannot be effectively met are solved.
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 are not necessarily intended to 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 N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
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 N executable instructions for implementing steps of a custom logic function or 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 implementing the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
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 N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. 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. 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. A replenishment robot, comprising:
a robot body;
the signal base stations are arranged on the robot body and used for receiving supply signals sent by the working robot; and
and the controller is used for determining the current position of the working robot according to the difference between the times of receiving the replenishment signals by each signal base station, or receiving the current position determined according to the difference sent by the server, controlling the robot body to move to the replenishment position corresponding to the current position, and replenishing the working robot.
2. The replenishment robot of claim 1, wherein the controller comprises:
the computing unit is used for determining the current distance and the current direction angle between the robot body and the working robot according to the difference value;
and the first control unit is used for controlling the robot body to move to the replenishment position according to the current distance and the current direction angle.
3. The replenishment robot of claim 2, wherein the controller further comprises:
the first receiving unit is used for receiving the attitude signal sent by the working robot;
the recognition unit is used for recognizing the current relative posture between the replenishment robot and the operation robot according to the current direction angle and the posture signal;
and the second control unit is used for adjusting the current relative posture to a replenishment posture.
4. The replenishment robot of claim 1, wherein the controller comprises:
a sending unit, configured to send the time when each signal base station receives the replenishment signal or the difference value to the server;
and the second receiving unit is used for receiving the current position.
5. The replenishment robot of claim 1, further comprising:
and the detection component is used for detecting whether the current position meets a three-dimensional supply condition or not, and when the three-dimensional supply condition is met, the controller determines the direction information and the height information of the working robot according to the supply signal so as to control the robot body to move to the same height as the working robot.
6. The system of claim 4, wherein the distance between each of the plurality of signal base stations is greater than one meter, and wherein the number of signal base stations in the plurality of signal base stations is at least four when the three-dimensional replenishment condition is satisfied, and wherein the number of signal base stations in the plurality of signal base stations is at least three when the three-dimensional replenishment condition is not satisfied.
7. The system of claim 1, wherein at least a portion of the plurality of signal base stations are disposed on a same horizontal plane, and wherein at least a portion of the plurality of signal base stations are disposed on a vertical plane perpendicular to the horizontal plane.
8. The system of claim 1, further comprising:
a clock component for synchronizing a clock of each of the plurality of signal base stations.
9. A replenishment system for a construction robot, comprising:
the transmitting component is arranged on the working robot and used for sending a supply signal of the working robot to the supply robot;
at least one replenishment robot according to any one of claims 1 to 8, for determining the current position of the working robot based on the difference between the times at which each signal base station receives the replenishment signal, and for controlling the robot body to move to a replenishment position corresponding to the current position to replenish the working robot.
10. A replenishment system for a construction robot, comprising:
the transmitting component is arranged on the working robot and used for sending a supply signal of the working robot to the supply robot;
a server;
at least one replenishment robot according to any one of claims 1 to 8, for receiving the current position determined according to the difference sent by the server, and controlling the robot body to move to a replenishment position corresponding to the current position, so as to replenish the working robot.
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| CN114523488A (en) * | 2022-03-16 | 2022-05-24 | 重庆大学 | Composite robot operating system based on multi-sensor fusion |
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