CN112388638A - Construction robot control method - Google Patents
Construction robot control method Download PDFInfo
- Publication number
- CN112388638A CN112388638A CN202011263041.1A CN202011263041A CN112388638A CN 112388638 A CN112388638 A CN 112388638A CN 202011263041 A CN202011263041 A CN 202011263041A CN 112388638 A CN112388638 A CN 112388638A
- Authority
- CN
- China
- Prior art keywords
- robot
- preset
- point cloud
- cloud data
- instruction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a building robot control method, which comprises the following steps: controlling the robot to move in a working area, acquiring preset laser point cloud data of the working area, and establishing a map of the working area according to the preset laser point cloud data; acquiring laser point cloud data of the ground, wherein a marking pattern is formed on the ground; extracting marked point cloud data corresponding to the marked pattern in the laser point cloud data, and determining the current position of the robot according to the marked point cloud data and preset marked point cloud data; the construction robot receives information through the main control unit, and judges whether a preset instruction is generated according to the received information. The invention can enlarge the moving range of the robot, simplify the circuit, reduce the maintenance difficulty, facilitate the production and maintenance process, realize the more accurate control of the control terminal on the robot and ensure the stable navigation operation of the robot in the use place.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a building robot control method.
Background
With the development of science and technology and social progress, robots gradually enter the daily lives of people to help people to solve various problems. A robot is generally controlled by a control system to perform a predetermined operation to realize its function, and the robot is a machine that realizes various functions by its own power and control capability, and generally includes an actuator, a driving device, a detecting device, a control system, and the like. The driving device is generally a variety of motors.
Most of control systems manufactured by people at present adopt traditional cables and data lines to connect robots, and the robots used on construction sites are difficult to arrange and complicated in lines while being connected through the cables and the data lines due to complex surrounding environments.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a building robot control method.
The invention provides a building robot control method, which comprises the following steps:
s1, controlling the robot to move in a working area, acquiring preset laser point cloud data of the working area, and establishing a map of the working area according to the preset laser point cloud data;
s2, acquiring laser point cloud data of the ground, wherein the ground is provided with a marking pattern;
s3, extracting marking point cloud data corresponding to the marking pattern in the laser point cloud data, and determining the current position of the robot according to the marking point cloud data and preset marking point cloud data;
s4, the construction robot receives information through the main control unit, and judges whether a preset instruction is generated according to the received information;
s5, sending the preset instruction to a 5G communication module of the execution unit corresponding to the preset instruction through a 5G communication module of a main control unit;
s6, the 5G communication module of the execution unit receives the preset instruction and obtains motor control parameters according to the preset instruction;
s7, determining the target duty ratio of the target PWM signal corresponding to the preset instruction according to the motor control parameter;
s8 generating the target PWM signal with the target duty ratio, and controlling a corresponding motor of the robot according to the target PWM signal;
s9, determining the instruction type of the preset instruction;
when the command type of the preset command is a motion control command, executing the step of obtaining motor control parameters according to the preset command;
when the instruction type of the preset instruction is a motor switching instruction, obtaining a corresponding target motor type according to the preset instruction, obtaining a target signal frequency matched with the target motor type, and setting the current PWM signal frequency as the target signal frequency;
s10, entering a control mode according to user operation, determining a safety terminal in the control mode, generating a corresponding safety control instruction based on a safety control signal after detecting the safety control signal from the safety terminal, sending the safety control instruction to the robot, controlling the robot to determine a corresponding preset duty ratio threshold value according to the safety control instruction after receiving the safety control instruction from the control terminal, and controlling the robot to enter the safety mode.
Preferably, the main control unit includes a storage unit, the storage unit is respectively in communication connection with the input unit and the processing unit, and the information transmitted by the input unit and the processing unit is stored or recorded by the storage unit.
Preferably, the step S4 of receiving information by the main control unit, and determining whether to generate the preset instruction according to the received information specifically includes: the input unit receives information and transmits the received information to the processing unit, and the processing unit analyzes the received information, acquires the content of the information and judges whether a preset instruction is generated or not according to the content.
Preferably, the execution unit and the main control unit are respectively electrically connected with different power supplies.
Preferably, the step of extracting the preset marker point cloud data in the step S3 includes: dividing the ground point cloud data into a plurality of sub-areas in a grid form; carrying out binarization processing on the ground point cloud data in each sub-area to extract point cloud data with laser intensity values meeting requirements; and merging the point cloud data with the laser intensity meeting the requirement extracted from the plurality of sub-areas to obtain the preset mark point cloud data.
Preferably, the robot control method includes: acquiring the position of a charging pile and controlling the robot to move to a preset position right facing the charging pile; controlling the robot to advance and/or retreat to adjust the pose of the robot to a preset pose; and controlling the robot to move to the charging pile for charging.
According to the construction robot control method, the moving range of the robot can be enlarged, the circuit is simplified, the overhauling difficulty is reduced, the production and maintenance processes are more convenient, meanwhile, the control terminal can control the robot more accurately, and the robot can be guided and operated stably in a use place.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
A construction robot control method includes the following steps:
s1, controlling the robot to move in a working area, acquiring preset laser point cloud data of the working area, and establishing a map of the working area according to the preset laser point cloud data;
s2, acquiring laser point cloud data of the ground, wherein the ground is provided with a marking pattern;
s3, extracting marking point cloud data corresponding to the marking pattern in the laser point cloud data, and determining the current position of the robot according to the marking point cloud data and preset marking point cloud data;
s4, the construction robot receives information through the main control unit, and judges whether a preset instruction is generated according to the received information;
s5, sending the preset instruction to a 5G communication module of the execution unit corresponding to the preset instruction through a 5G communication module of a main control unit;
s6, the 5G communication module of the execution unit receives the preset instruction and obtains motor control parameters according to the preset instruction;
s7, determining the target duty ratio of the target PWM signal corresponding to the preset instruction according to the motor control parameter;
s8 generating the target PWM signal with the target duty ratio, and controlling a corresponding motor of the robot according to the target PWM signal;
s9, determining the instruction type of the preset instruction;
when the command type of the preset command is a motion control command, executing the step of obtaining motor control parameters according to the preset command;
when the instruction type of the preset instruction is a motor switching instruction, obtaining a corresponding target motor type according to the preset instruction, obtaining a target signal frequency matched with the target motor type, and setting the current PWM signal frequency as the target signal frequency;
s10, entering a control mode according to user operation, determining a safety terminal in the control mode, generating a corresponding safety control instruction based on a safety control signal after detecting the safety control signal from the safety terminal, sending the safety control instruction to the robot, controlling the robot to determine a corresponding preset duty ratio threshold value according to the safety control instruction after receiving the safety control instruction from the control terminal, and controlling the robot to enter the safety mode.
In the invention, the main control unit comprises a storage unit which is respectively in communication connection with the input unit and the processing unit, and the information transmitted by the input unit and the processing unit is stored or recorded by the storage unit.
In the present invention, the step S4 in which the main control unit receives the information, and the step of determining whether to generate the preset instruction according to the received information specifically includes: the input unit receives information and transmits the received information to the processing unit, and the processing unit analyzes the received information, acquires the content of the information and judges whether a preset instruction is generated or not according to the content.
In the invention, the execution unit and the main control unit are respectively and electrically connected with different power supplies.
In the present invention, the step of extracting the preset marker point cloud data in the step S3 includes: dividing the ground point cloud data into a plurality of sub-areas in a grid form; carrying out binarization processing on the ground point cloud data in each sub-area to extract point cloud data with laser intensity values meeting requirements; and merging the point cloud data with the laser intensity meeting the requirement extracted from the plurality of sub-areas to obtain the preset mark point cloud data.
In the present invention, the robot control method includes: acquiring the position of a charging pile and controlling the robot to move to a preset position right facing the charging pile; controlling the robot to advance and/or retreat to adjust the pose of the robot to a preset pose; and controlling the robot to move to the charging pile for charging.
The invention comprises the following steps: controlling the robot to move in a working area, acquiring preset laser point cloud data of the working area, and establishing a map of the working area according to the preset laser point cloud data; acquiring laser point cloud data of the ground, wherein a marking pattern is formed on the ground; extracting marked point cloud data corresponding to the marked pattern in the laser point cloud data, and determining the current position of the robot according to the marked point cloud data and preset marked point cloud data; the construction robot receives information through the main control unit and judges whether a preset instruction is generated according to the received information; sending the preset instruction to a 5G communication module of the execution unit corresponding to the preset instruction through a 5G communication module of a main control unit; the 5G communication module of the execution unit receives the preset instruction and obtains motor control parameters according to the preset instruction; determining a target duty ratio of a target PWM signal corresponding to the preset instruction according to the motor control parameter; generating the target PWM signal with the target duty ratio, and controlling a corresponding motor of the robot according to the target PWM signal; determining the instruction type of the preset instruction; when the command type of the preset command is a motion control command, executing the step of obtaining motor control parameters according to the preset command; when the instruction type of the preset instruction is a motor switching instruction, obtaining a corresponding target motor type according to the preset instruction, obtaining a target signal frequency matched with the target motor type, and setting the current PWM signal frequency as the target signal frequency; the method comprises the steps of entering a control mode according to user operation, determining a safety terminal in the control mode, generating a corresponding safety control instruction based on a safety control signal after detecting the safety control signal from the safety terminal, sending the safety control instruction to the robot, controlling the robot to determine a corresponding preset duty ratio threshold value according to the safety control instruction after receiving the safety control instruction from the control terminal, and controlling the robot to enter the safety mode.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. A construction robot control method is characterized by comprising the following steps:
s1, controlling the robot to move in a working area, acquiring preset laser point cloud data of the working area, and establishing a map of the working area according to the preset laser point cloud data;
s2, acquiring laser point cloud data of the ground, wherein the ground is provided with a marking pattern;
s3, extracting marking point cloud data corresponding to the marking pattern in the laser point cloud data, and determining the current position of the robot according to the marking point cloud data and preset marking point cloud data;
s4, the construction robot receives information through the main control unit, and judges whether a preset instruction is generated according to the received information;
s5, sending the preset instruction to a 5G communication module of the execution unit corresponding to the preset instruction through a 5G communication module of a main control unit;
s6, the 5G communication module of the execution unit receives the preset instruction and obtains motor control parameters according to the preset instruction;
s7, determining the target duty ratio of the target PWM signal corresponding to the preset instruction according to the motor control parameter;
s8 generating the target PWM signal with the target duty ratio, and controlling a corresponding motor of the robot according to the target PWM signal;
s9, determining the instruction type of the preset instruction;
when the command type of the preset command is a motion control command, executing the step of obtaining motor control parameters according to the preset command;
when the instruction type of the preset instruction is a motor switching instruction, obtaining a corresponding target motor type according to the preset instruction, obtaining a target signal frequency matched with the target motor type, and setting the current PWM signal frequency as the target signal frequency;
s10, entering a control mode according to user operation, determining a safety terminal in the control mode, generating a corresponding safety control instruction based on a safety control signal after detecting the safety control signal from the safety terminal, sending the safety control instruction to the robot, controlling the robot to determine a corresponding preset duty ratio threshold value according to the safety control instruction after receiving the safety control instruction from the control terminal, and controlling the robot to enter the safety mode.
2. The construction robot control method according to claim 1, wherein the main control unit comprises a storage unit, the storage unit is in communication connection with the input unit and the processing unit respectively, and the information transmitted by the input unit and the processing unit is stored or recorded by the storage unit.
3. The construction robot control method according to claim 1, wherein the step S4 of the main control unit receiving information, and the step of determining whether to generate the preset instruction according to the received information specifically comprises: the input unit receives information and transmits the received information to the processing unit, and the processing unit analyzes the received information, acquires the content of the information and judges whether a preset instruction is generated or not according to the content.
4. The construction robot control method according to claim 1, wherein the execution unit and the main control unit are electrically connected to different power supplies, respectively.
5. The construction robot control method according to claim 1, wherein the step of extracting the preset mark point cloud data of step S3 includes: dividing the ground point cloud data into a plurality of sub-areas in a grid form; carrying out binarization processing on the ground point cloud data in each sub-area to extract point cloud data with laser intensity values meeting requirements; and merging the point cloud data with the laser intensity meeting the requirement extracted from the plurality of sub-areas to obtain the preset mark point cloud data.
6. A construction robot controlling method according to claim 1, characterized in that the robot controlling method comprises: acquiring the position of a charging pile and controlling the robot to move to a preset position right facing the charging pile; controlling the robot to advance and/or retreat to adjust the pose of the robot to a preset pose; and controlling the robot to move to the charging pile for charging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011263041.1A CN112388638A (en) | 2020-11-12 | 2020-11-12 | Construction robot control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011263041.1A CN112388638A (en) | 2020-11-12 | 2020-11-12 | Construction robot control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112388638A true CN112388638A (en) | 2021-02-23 |
Family
ID=74599905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011263041.1A Pending CN112388638A (en) | 2020-11-12 | 2020-11-12 | Construction robot control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112388638A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648602A (en) * | 2018-09-11 | 2019-04-19 | 深圳优地科技有限公司 | Automatic recharging method, device and terminal device |
| CN110154030A (en) * | 2019-06-13 | 2019-08-23 | 哈尔滨玄智科技有限公司 | A kind of robot control method, robot and controlling terminal |
| CN110253571A (en) * | 2019-05-30 | 2019-09-20 | 中奕智创医疗科技有限公司 | A kind of robot control method based on 5G |
| CN111168669A (en) * | 2019-12-26 | 2020-05-19 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, and readable storage medium |
| CN111474928A (en) * | 2020-04-02 | 2020-07-31 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, electronic device, and readable storage medium |
-
2020
- 2020-11-12 CN CN202011263041.1A patent/CN112388638A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648602A (en) * | 2018-09-11 | 2019-04-19 | 深圳优地科技有限公司 | Automatic recharging method, device and terminal device |
| CN110253571A (en) * | 2019-05-30 | 2019-09-20 | 中奕智创医疗科技有限公司 | A kind of robot control method based on 5G |
| CN110154030A (en) * | 2019-06-13 | 2019-08-23 | 哈尔滨玄智科技有限公司 | A kind of robot control method, robot and controlling terminal |
| CN111168669A (en) * | 2019-12-26 | 2020-05-19 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, and readable storage medium |
| CN111474928A (en) * | 2020-04-02 | 2020-07-31 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, electronic device, and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103699126B (en) | The guidance method of intelligent guide robot | |
| CN107525510B (en) | Control system and method for visual navigation type AGV | |
| CN102844722A (en) | Robotic garden tool following wires at distance using multiple signals | |
| WO2018123599A1 (en) | Work system and work method | |
| CN108247633B (en) | Robot control method and system | |
| CN112567958A (en) | Self-walking mowing system and method for supplementing operation of missed cutting area of self-walking mowing system | |
| CN103472837A (en) | Fast sprint controller of two-wheel micro-mouse based on double processors | |
| CN210835730U (en) | Control device of ROS blind guiding robot | |
| CN108375979A (en) | Self-navigation robot general-purpose control system based on ROS | |
| CN103472839A (en) | Fast exploring controller of four-wheel micro-mouse based on double processors | |
| CN108839018A (en) | A kind of robot control operating method and device | |
| CN112388638A (en) | Construction robot control method | |
| CN110883775A (en) | Man-machine interaction system and man-machine cooperation system of single-arm live working robot | |
| CN105965155A (en) | Method and system for uniformly controlling laser power | |
| CN211890839U (en) | Man-machine interaction system and man-machine cooperation system of single-arm live working robot | |
| KR102340543B1 (en) | Attached tpye-agricultural working path detecting appatatus | |
| CN204904596U (en) | Electron parking system based on thing networking | |
| CN111443717A (en) | Patrol and examine robot system based on speech recognition control | |
| CN103472838A (en) | Fast sprint controller of four-wheel micro-mouse based on double processors | |
| CN107263485B (en) | Cargo robot based on machine vision factory | |
| CN112757274B (en) | Human-computer cooperative operation oriented dynamic fusion behavior safety algorithm and system | |
| CN212009385U (en) | Intelligent tour equipment | |
| CN208020180U (en) | A kind of image recognition element follows pickup robot | |
| CN105511467A (en) | Video-based robot head motion control method and device | |
| CN202571548U (en) | Embedded welding robot system capable of controlling multiple equipment in real time |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |