CN112792825A

CN112792825A - Movable brick laying robot system for building construction and control method

Info

Publication number: CN112792825A
Application number: CN202110121030.8A
Authority: CN
Inventors: 孙金桥; 王军; 刘彬; 汤明飞
Original assignee: China State Construction Engineering Corp Ltd CSCEC; China State Construction Engineering Industry Technology Research Institute
Current assignee: China State Construction Engineering Corp Ltd CSCEC; China State Construction Engineering Industry Technology Research Institute
Priority date: 2021-01-28
Filing date: 2021-01-28
Publication date: 2021-05-14

Abstract

The application discloses building construction is with portable fragment of brick robot system of laying and control method, the system includes: a robot; positioning a measurement system; and a robot control system, wherein the positioning measurement system comprises at least one positioning measurement device, the positioning measurement device is arranged on the periphery of a predetermined field and used for determining first position information of the robot, and the robot control system is used for controlling the robot according to the first position information, and the positioning measurement device comprises: the scanning distance measuring device is used for measuring second position information of the robot relative to the positioning measuring equipment; and the controller is connected with the scanning distance measuring device and used for determining the first position information of the measuring robot relative to the preset field according to the second position information, and the robot is provided with a positioning prism and used for determining the position of the robot.

Description

Movable brick laying robot system for building construction and control method

Technical Field

The application relates to the field of robots, in particular to a mobile brick laying robot system for building construction and a control method.

Background

Brick laying robots have gradually gone into the practical application of engineering in recent years, and more commonly, the mode of adopting the multiaxis arm is realized ceramic tile and is spread and paste. However, the actual building space is large, and the tile can be paved and pasted only around the mechanical arm by adopting the fixed mechanical arm, so that the whole room cannot be covered. If a large mechanical arm is adopted, the cost is high on the first occasion, and the floor height of a room on the second occasion is difficult to meet the requirement of the mechanical arm for work.

The brick laying robots currently available can use a mobile rail or wheel trolley. Higher positioning accuracy can be realized by adopting the movable guide rail, but the guide rail is heavy in weight, and the guide rail is required to be installed and set at first during construction every time, so that the practical application of engineering is inconvenient. The movable trolley has the problem that the moving and positioning accuracy is not high, and even if a GNSS system and a laser radar are adopted, the requirement of the positioning accuracy of the submillimeter level for paving bricks cannot be met. The precise positioning of the mobile trolley is realized by a learner in a machine vision mode, and higher precision can be achieved. According to the method, a ruler of machine vision is required to be arranged, and the high-precision brick paving and laying actions of mechanical arm operation are realized by accurately positioning the trolley, so that the technical implementation is complex.

Aiming at the technical problem that the brick laying robot is difficult to realize accurate positioning in the prior art, so that bricks are difficult to lay accurately, an effective solution is not provided at present.

Disclosure of Invention

The invention provides a mobile brick laying robot system for building construction and a control method, which at least solve the technical problem that in the prior art, a brick laying robot is difficult to realize accurate positioning, so that bricks are difficult to lay accurately.

According to an aspect of the present application, there is provided a robot system including: a robot; positioning a measurement system; and the robot control system is used for controlling the robot according to the first position information. The robot is provided with a positioning prism for determining the position of the robot. And the positioning measurement device includes: the scanning distance measuring device is used for positioning second position information of the prism relative to the positioning measuring equipment, wherein the second position information comprises the distance between the robot positioning prism and the positioning measuring equipment and the deflection angle of the robot positioning prism relative to the positioning measuring equipment; and the controller is connected with the scanning distance measuring device and used for determining first position information of the measuring robot in a preset field according to the second position information.

According to another aspect of the present application, there is provided a robot control method including: determining first position information of the robot in the preset field by using positioning measurement equipment arranged on the periphery of the preset field; and controlling the robot according to the first position information. And wherein the operation of determining first position information of the robot within the predetermined field using the positioning measurement device comprises: measuring second position information of a robot positioning prism arranged on the robot relative to the positioning and measuring equipment by using a scanning distance measuring device of the positioning and measuring equipment, wherein the second position information comprises a distance between the robot positioning prism and the positioning and measuring equipment and a deflection angle of the robot positioning prism relative to the positioning and measuring equipment; and determining first position information of the robot in the preset field according to the second position information.

In summary, in the robot system provided in this embodiment, the positioning measurement device with the scanning distance measurement device is used to determine the position information of the robot in the predetermined field, wherein the positioning accuracy of the robot can be improved to the sub-millimeter level by the scanning distance measurement device, so that bricks can be laid by the robot accurately. In addition, the technical scheme of the embodiment does not need operations such as presetting a scale of machine vision and the like, and does not need complex algorithms, so that the high-precision positioning of the robot can be realized by relatively simple technology. Therefore, the technical problem that the brick laying robot is difficult to accurately position and accurately lay bricks in the prior art is solved.

The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.

Drawings

Some specific embodiments of the present application will be described in detail hereinafter by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:

FIG. 1 is a schematic view of a robotic system according to one embodiment of the present application;

FIG. 2 is a schematic view of a position measurement system of the robotic system of FIG. 1;

FIG. 3 is a schematic view of the positioning measurement device of FIG. 2;

FIG. 4 is a schematic view of the entirety of a predetermined site;

FIG. 5 is a schematic view of a tile paving robot;

FIG. 6 is a schematic view of the internal structure of the tile paving robot;

fig. 7A to 7C are schematic views of obstacles;

FIG. 8 is a top view of the tile paving robot;

FIG. 9 is a schematic illustration of positioning of a positioning prism using a positioning measurement device; and

FIG. 10 is a schematic illustration of positioning a positioning prism in three-dimensional space using a positioning measurement device.

Detailed Description

It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to make the technical solutions of the present disclosure better understood by those skilled in the art, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing the embodiments of the disclosure herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Referring to fig. 1 to 4, the present invention provides a robot system including: a robot 310; a positioning measurement system 100; and a robot control system 200. The positioning measurement system 100 comprises at least one positioning measurement device 110-140, and the positioning measurement device 110-140 is arranged on the periphery of a predetermined field and used for determining first position information of the robot 310 in the predetermined field. And the robot control system 200 is configured to control the robot 310 based on the first position information. The robot 310 is provided with a robot positioning prism 313 for determining the position of the robot 310. The positioning and measuring device 110-140 comprises: the scanning distance measuring device 111 is used for measuring second position information of the robot positioning prism 313 relative to the positioning and measuring equipment 110-140, wherein the second position information comprises the distance between the robot positioning prism 313 and the positioning and measuring equipment 110-140 and the deflection angle of the robot positioning prism 313 relative to the positioning and measuring equipment 110-140; and a controller 112 connected with the scanning distance measuring device 111 and used for determining first position information of the measuring robot 310 relative to the predetermined site according to the second position information.

As described in the background art, the existing technical scheme for laying bricks by using a brick laying robot has the technical problem that the brick laying robot is difficult to realize accurate positioning, so that bricks are difficult to lay accurately.

In view of the problems in the prior art described above, the present invention provides a robot system with reference to fig. 1 to 4. The robot system comprises a robot 310, a positioning measurement system 100 and a robot control system 200. Referring to FIGS. 2 and 4, a position measurement system 100 includes at least one position measurement device 110-140. For example, positioning-measurement device 110 is disposed on the east side of the predetermined site, positioning-measurement device 120 is disposed on the north side of the predetermined site, positioning-measurement device 130 is disposed on the west side of the predetermined site, and positioning-measurement device 140 is disposed on the south side of the predetermined site. Referring to fig. 3 and 5, the positioning and measuring device 110 to 140 includes a scanning distance measuring device 111, so that second position information of the robot positioning prism 313 on the robot 310 with respect to the positioning and measuring device 110 to 140 can be determined by scanning a predetermined field.

Specifically, referring to fig. 9, for example, when a light beam emitted from scanning ranging device 111 of positioning measurement apparatus 110 is irradiated onto the surface of robot positioning prism 313, the light beam is reflected by robot positioning prism 313 back to scanning ranging device 111 of positioning measurement apparatus 110. The controller 112 of the positioning-measurement device 110 can thus determine the distance d1 between the robot positioning prism 313 and the positioning-measurement device 110, and the deflection angle a1 of the light beam (corresponding to the second positional information described above).

The controller 112 of the position measurement device 110 then determines first position information of the robot 310 relative to the predetermined site based on the second position information. For example, the controller 112 may determine the abscissa and ordinate of the robot positioning prism 313 with respect to the positioning measurement device 110 as the first position information of the robot 310 from the distance d1 and the deflection angle a 1. Alternatively, the controller 112 may further determine the abscissa and the ordinate of the robot 310 with respect to the reference point (e.g., the position point where the reference point prism 150 is provided) as the first position information, based on the positional deviation between the reference point and the positioning measurement device 110.

Likewise, the positioning measurement device 120 may determine the distance d2 between the robot positioning prism 313 and the positioning measurement device 120 and the deflection angle a2 of the light beam by scanning a distance measuring apparatus. And determines the abscissa and ordinate of the robot 310 with respect to the positioning-measurement device 120 as first position information from the distance d2 and the deflection angle a 2. Or further, an abscissa and an ordinate of the robot 310 with respect to the reference point may be determined as the first position information.

The positioning measurement device 130 may determine the distance d3 between the robot positioning prism 313 and the positioning measurement device 130 and the deflection angle a3 of the light beam by scanning a distance measuring apparatus. And determines the abscissa and ordinate of the robot 310 with respect to the positioning-measurement device 130 as the first position information from the distance d3 and the deflection angle a 3. Or further, an abscissa and an ordinate of the robot 310 with respect to the reference point may be determined as the first position information.

The positioning measurement device 140 may determine the distance d4 between the robot positioning prism 313 and the positioning measurement device 140 and the deflection angle a4 of the light beam by scanning a distance measuring apparatus. And determines the abscissa and ordinate of the robot 310 with respect to the positioning-measurement device 140 as the first position information from the distance d4 and the deflection angle a 4. Or further, an abscissa and an ordinate of the robot 310 with respect to the reference point may be determined as the first position information.

Then, the positioning measurement system 100 transmits the first position information to the robot control system 200, and the robot control system 200 implements control of the robot 310 according to the first position information. Wherein the control of the robot 310 by the robot control system 200 includes, but is not limited to: and navigating the robot 310 to a preset brick laying position according to the first position information generated by the positioning and measuring system 100 in real time.

In summary, in the robot system provided in this embodiment, the positioning measurement devices 110 to 140 having the scanning distance measurement device are used to determine the position information of the robot 310 in the predetermined field, wherein the positioning accuracy of the robot 310 can be improved to the sub-millimeter level by the scanning distance measurement device, so that bricks can be laid by the robot 310 accurately. In addition, according to the present embodiment, since operations such as setting a scale for machine vision in advance are not required and a complicated algorithm is not required, high-precision positioning of the robot 310 can be achieved by a relatively simple technique. Therefore, the technical problem that the brick laying robot is difficult to accurately position and accurately lay bricks in the prior art is solved.

In addition, although the robot 310 is measured by four positioning measurement devices 110 to 140 in the present embodiment, the number of the positioning measurement devices is not limited to this. For example, the robot 310 may be positioned by fewer positioning measurement devices (or even by one positioning measurement device) in an ideal field environment. And this embodiment adopts four positioning measurement equipment to set up along the periphery in place respectively to even if there is shelter 510 ~ 530 in the place, also can still carry out positioning measurement to robot 310 through the positioning measurement equipment of difference. And the first position information measured by the plurality of positioning measurement devices can further reduce the positioning error in a mode of averaging.

Alternatively, as shown in fig. 3, the scanning distance measuring device 111 includes: the laser emitter 1111, the laser receiver 1112 and the driving motors 1113 and 1114, wherein the laser emitter 1111, the laser receiver 1112 and the driving motors 1113 and 1114 are connected with the controller 112; and drive motors 1113, 1114 are used to drive the laser transmitter 1111 and laser receiver 1112 into rotation within a specified plane. Therefore, the scanning distance measuring device 111 controls the laser emitter 1111 to emit laser, after the robot positioning prism 313 on the robot 310 reflects the laser emitted by the laser emitter 1111, the laser receiver 1112 receives the emitted laser, and the controller 112 of the positioning and measuring equipment 110 to 140 can determine the distance from the robot positioning prism 313 to the positioning and measuring equipment according to the time difference between the laser emitted by the laser emitter 1111 and the laser received by the laser receiver 1112, and can determine the deflection angle of the laser according to the rotation angle of the driving motor. Thus, the positioning accuracy of the robot 310 can be improved to a submillimeter level by the above configuration, and thus, operations such as brick laying can be accurately realized.

Alternatively, the drive motor 1113, 1114 comprises: a first driving motor 1113 for driving the laser transmitter 1111 and the laser receiver 1112 to rotate in the horizontal plane; and a second driving motor 1114 for driving the laser transmitter 1111 and the laser receiver 1112 to rotate in a vertical plane. The scanning distance measuring device 111 drives the laser transmitter 1111 and the laser receiver 1112 to rotate in the horizontal direction by the first driving motor 1113, and can scan the horizontal direction of the predetermined site, and drives the laser transmitter 1111 and the laser receiver 1112 to rotate in the vertical direction by the second driving motor 1114, and can scan the vertical direction of the predetermined site. So that the laser transmitter 1111 and the laser receiver 1112 are driven to rotate in the horizontal plane and the vertical plane by the first driving motor 1113 and the second driving motor 1114, respectively, so that the scanning ranging device 111 can scan in a three-dimensional space, thereby accurately positioning the robot 310 in the three-dimensional space. In particular, although a schematic diagram of the positioning of the robot positioning prism 313 in a horizontal plane by the scanning distance measuring device of the positioning and measuring apparatus is shown in fig. 9. One skilled in the art can determine the position information of the robot 310 in the three-dimensional space according to the distance between the robot positioning prism 313 and the positioning measurement device and the deflection angles of the first driving motor and the second driving motor. Specifically, referring to fig. 10, the positioning measurement device 110 is taken as an example to illustrate how to determine the coordinates of the positioning prism in the three-dimensional space. The other positioning and measuring devices 120-130 can determine the coordinates of the positioning prism in the three-dimensional space by referring to the same method as the positioning and measuring device 110.

Referring to fig. 10, when the scanning ranging device 111 of the positioning measurement apparatus 110 scans the positioning prism, the controller 112 of the positioning measurement apparatus 110 may determine the distance d from the positioning prism to the positioning measurement apparatus 110 according to the time difference between the laser transmitter 1111 emitting laser light and the laser receiver 1112 receiving laser light. And the controller 112 may determine the deflection angle a1 of the positioning prism in the horizontal plane relative to the position measurement device 110 based on the rotation angle of the first drive motor 1113, and the controller 112 may determine the deflection angle b1 of the positioning prism in the vertical plane relative to the position measurement device 110 based on the rotation angle of the second drive motor 1114.

Further, the controller 112 may determine coordinates of the positioning prism in a coordinate system with the positioning measurement device 110 as a reference point according to the distance d between the positioning prism and the positioning measurement device 110 and the deflection angles a1 and b 1.

For example, the z-axis coordinate z1 of the positioning prism can be determined from the distance d and the sine of the deflection angle b 1. The distance d' between the projection of the positioning prism in the xy-plane and the positioning measuring device 110 can be determined from the distance d and the cosine of the deflection angle b 1. Then, the x-axis coordinate x1 and the y-axis coordinate y1 of the positioning prism can be determined from the distance d' and the cosine and sine of the deflection angle a 1.

Controller 112 may then determine the three-dimensional coordinates of the positioning prism relative to the reference point based on the positional deviation between positioning measurement device 110 and the reference point (e.g., the point at which reference point prism 150 is located).

Optionally, referring to FIG. 3, the positioning and measuring device 110-140 further comprises a communication means 113 connected to the controller 112 for transmitting the first position information to the robot control system 200. The controller 112 may determine first position information of the robot 310, and the communication device 113 may be connected to the controller and may transmit the first position information to the robot control system 200, so that the robot control system 200 may control the robot 310 according to the first position information.

Alternatively, referring to fig. 5, the robot 310 includes a robot arm 314 for laying bricks, and joint points of the robot arm 314 are provided with joint positioning prisms 315a to 315 e. Thus, referring to the method for determining the positioning prism 313 of the robot in the embodiment, the technical solution of the embodiment may scan the joint positioning prisms 315a to 315e of the robot arm 314 through the scanning distance measuring devices of the positioning and measuring apparatuses 110 to 140, and determine the position information of each joint point of the robot arm 314. Since high-precision positioning can be achieved by scanning the distance measuring device, the positioning and measuring system 100 of this embodiment can accurately determine the position information of each joint point of the mechanical arm 314 in the space, and the robot 310 can accurately control the mechanical arm 314 according to the accurate position information of each joint point of the mechanical arm 314, so that bricks can be laid more accurately.

Optionally, as shown with reference to fig. 5 and 6, the robot 310 further includes: a brake 3171 for braking the vehicle body 311 of the robot 310; a robot arm control means 3172 for controlling the robot arm 314; a communication means 3173 for communicating with the robot control system 200; and a controller 3174 connected to the brake 3171, the arm control 3172, and the communication device 3173. The robot 310 may obtain path information of the robot 310 in a predetermined field through the communication means 3173 communicating with the robot control system 200, and the controller 3174 may control the movement and stop of the vehicle body 311 of the robot 310 according to the path information. The robot 310 may further acquire position information of each joint point of the robot arm 314 of the robot 310 through the communication device 3173, so that the controller 3174 may control the robot arm control device 3172 according to the position information, and thus, the brick laying work may be completed by the robot arm 314.

Optionally, referring to fig. 4, the positioning measurement system 100 further includes a reference point prism 150 disposed at the reference point. Accordingly, the positioning measurement devices 110 to 140 can determine the position information of the reference point as the reference point of the first position information of the robot 310 within the field by scanning the reference point prism 150. The method in which the positioning measurement devices 110-140 determine the location information of the reference points can refer to the method shown in FIG. 9.

Optionally, referring to fig. 4 and 7A to 7C, the robot system further includes an obstacle positioning prism 160 disposed at an outer edge of the obstacles 510 to 530 in the predetermined field, for positioning the obstacles 510 to 530. When the obstacle is a rectangular pillar or a rectangular wall, the obstacle-positioning prisms 160 may be disposed at four corners of the pillar or the wall for accurate measurement. When the obstacle is a cylindrical pillar, the obstacle positioning prism 160 can be set at both ends on the diameter for accurate measurement. When the obstacle is an irregular pillar, the obstacle positioning prism 160 may be disposed at the vertex of the pillar for accurate measurement.

Thus, referring to fig. 9, which illustrates a method for positioning the robot positioning prism 313, the positioning measurement system 100 of the present embodiment can position an obstacle by determining the position of the obstacle positioning prism 160. So that the robot control system 200 according to the present embodiment can control the robot 310 according to the position information of the obstacle. For example, when planning a path of the robot 310, the robot control system 200 may plan a path avoiding an obstacle based on the position information of the obstacle and transmit the path to the robot 310.

Optionally, as shown in fig. 8, a gyroscope 3122 and/or a laser radar 316 are further disposed on the robot 310, so that the attitude and angle of the robot 310 can be roughly determined by the gyroscope 3122 disposed on the rotatable prism base 312, and the position of the robot 310 within the predetermined field can be roughly determined by the laser radar 316, thereby realizing rough positioning of the robot 310 in the predetermined field.

Optionally, the robot control system 200 includes: a measurement data server 210 for receiving first location information from the positioning measurement system 100; and a robot control device 220 for controlling the robot 310 based on the first position information. The measurement data server 210 is connected to the positioning and measurement system 100 to obtain first location information, and then the first location information is transmitted to the robot control device 220 connected to the measurement data server 210 to implement control of the robot 310. Further preferably, as shown in fig. 1, the measurement data server 210 may also receive position information of the coarse positioning from the robot 310 for further processing by the robot control device 220.

According to another aspect of the present embodiment, there is provided a robot control method applied to the robot system according to the first aspect of the present embodiment, the method including: determining first position information of the robot 310 in the predetermined field by using positioning measurement equipment 110-140 arranged on the periphery of the predetermined field; and controls the robot 310 according to the first position information. And wherein the act of determining first position information of the robot 310 within the predetermined venue using the position measurement devices 110-140 comprises: measuring second position information of a robot positioning prism 313 on the robot 310 relative to the positioning and measuring equipment 110-140 by using a scanning distance measuring device 111 of the positioning and measuring equipment 110-140; the second position information comprises the distance between the robot positioning prism 313 and the positioning and measuring equipment 110-140 and the deflection angle of the robot positioning prism 313 relative to the positioning and measuring equipment 110-140; and determining first position information of the robot 310 within the predetermined site according to the second position information.

Referring to FIGS. 2 and 4, a position measurement system 100 includes at least one position measurement device 110-140. For example, positioning-measurement device 110 is disposed on the east side of the predetermined site, positioning-measurement device 120 is disposed on the north side of the predetermined site, positioning-measurement device 130 is disposed on the west side of the predetermined site, and positioning-measurement device 140 is disposed on the south side of the predetermined site. Referring to fig. 3 and 5, the positioning and measuring device 110 to 140 includes a scanning distance measuring device 111, so that second position information of the robot positioning prism 313 on the robot 310 with respect to the positioning and measuring device 110 to 140 can be determined by scanning a predetermined field.

Specifically, referring to fig. 9, for example, when a light beam emitted from scanning ranging device 111 of positioning measurement apparatus 110 is irradiated onto the surface of robot positioning prism 313, the light beam is reflected by robot positioning prism 313 back to scanning ranging device 111 of positioning measurement apparatus 110. The controller 112 of the positioning-measurement device 110 can thus determine the distance d1 between the robot positioning prism 313 and the positioning-measurement device 110, and the deflection angle a1 of the light beam (corresponding to the second positional information described above). And as further described with reference to the first aspect of the present embodiment, the controller 112 of the position measurement device 110 determines first position information of the robot 310 relative to the predetermined site based on the second position information. For example, the controller 112 may determine the abscissa and ordinate of the robot positioning prism 313 with respect to the positioning measurement device 110 as the first position information of the robot 310 from the distance d1 and the deflection angle a 1. Alternatively, the controller 112 may further determine the abscissa and the ordinate of the robot 310 with respect to the reference point (e.g., the position point where the reference point prism 150 is provided) as the first position information, based on the positional deviation between the reference point and the positioning measurement device 110.

Optionally, the scanning ranging device 111 comprises: laser transmitter 1111, laser receiver 1112, and drive motors 1113, 1114. And wherein the operation of measuring the second position information with the scanning ranging device 111 of the positioning measurement apparatus 110-140 comprises: driving a laser transmitter 1111 and a laser receiver 1112 of the scanning distance measuring device 111 to rotate by using driving motors 1113 and 1114; determining the distance between the robot positioning prism 313 and the positioning measurement devices 110-140 according to the time difference between the time when the laser transmitter 1111 transmits the light beam to the robot positioning prism 313 and the time when the laser receiver 1112 receives the light beam from the robot positioning prism 313; and determining the deflection angle of the robot positioning prism 313 relative to the positioning measurement devices 110-140 according to the rotation angle of the driving motors 1113 and 1114 when emitting or receiving the light beam. Thus, the positioning accuracy of the robot 310 can be improved to a submillimeter level by the above configuration, and thus, operations such as brick laying can be accurately realized.

Optionally, the drive motors 1113, 1114 include a first drive motor 1113 and a second drive motor 1114. And the operation of driving the laser transmitter 1111 and the laser receiver 1112 of the scanning ranging device 111 to rotate by the driving motors 1113, 1114 includes: the laser transmitter 1111 and the laser receiver 1112 are driven to rotate in the horizontal plane by a first drive motor 1113, and the laser transmitter 1111 and the laser receiver 1112 are driven to rotate in the vertical plane by a second drive motor 1114. And an operation of determining a deflection angle of the robot positioning prism 313 with respect to the positioning measurement apparatuses 110 to 140 based on a rotation angle of the driving motor 1113, 1114 when emitting or receiving the light beam, including: determining the deflection angle of the robot positioning prism 313 relative to the positioning measurement equipment 110-140 in the horizontal plane according to the rotation angle of the first driving motor 113 when emitting or receiving the light beam; and determining the deflection angle of the robot positioning prism 313 relative to the positioning measurement devices 110-140 in the vertical plane according to the rotation angle of the second driving motor 114 when emitting or receiving the light beam. Thus, the scanning distance measuring device 111 drives the laser emitter 1111 and the laser receiver 1112 to rotate in the horizontal direction by the first driving motor 1113, and can scan the horizontal direction of the predetermined field, and drives the laser emitter 1111 and the laser receiver 1112 to rotate in the vertical direction by the second driving motor 1114, and can scan the vertical direction of the predetermined field. So that the laser transmitter 1111 and the laser receiver 1112 are driven to rotate in the horizontal plane and the vertical plane by the first driving motor 1113 and the second driving motor 1114, respectively, so that the scanning ranging device 111 can scan in a three-dimensional space, thereby accurately positioning the robot 310 in the three-dimensional space. Specifically, as shown in fig. 10, when the scanning distance measuring device 111 of the positioning measurement apparatus 110 scans the positioning prism, the controller 112 of the positioning measurement apparatus 110 may determine the distance d from the positioning prism to the positioning measurement apparatus 110 according to the time difference between the laser transmitter 1111 emitting laser light and the laser receiver 1112 receiving laser light. And the controller 112 may determine the deflection angle a1 of the positioning prism in the horizontal plane relative to the position measurement device 110 based on the rotation angle of the first drive motor 1113, and the controller 112 may determine the deflection angle b1 of the positioning prism in the vertical plane relative to the position measurement device 110 based on the rotation angle of the second drive motor 1114. Further, the controller 112 may determine coordinates of the positioning prism in a coordinate system with the positioning measurement device 110 as a reference point according to the distance d between the positioning prism and the positioning measurement device 110 and the deflection angles a1 and b 1. For example, the z-axis coordinate z1 of the positioning prism can be determined from the distance d and the sine of the deflection angle b 1. The distance d' between the projection of the positioning prism in the xy-plane and the positioning measuring device 110 can be determined from the distance d and the cosine of the deflection angle b 1. Then, the x-axis coordinate x1 and the y-axis coordinate y1 of the positioning prism can be determined from the distance d' and the cosine and sine of the deflection angle a 1. Controller 112 may then determine the three-dimensional coordinates of the positioning prism relative to the reference point based on the positional deviation between positioning measurement device 110 and the reference point (e.g., the point at which reference point prism 150 is located).

Optionally, the operation of controlling the robot 310 according to the first position information includes: determining third position information of a laying position of a brick to be laid in a predetermined field; and navigating the robot 310 to the paving location based on the first location information and the third location information. Specifically, the robot control device 220 may acquire, for example, third position information of a laying position set in advance, then generate a navigation path to the laying position based on the first position information of the robot 310 and the third position information of the laying position, and transmit the navigation path to the robot 310. The navigation path sent by the robot control device 220 may be received in the robot 310 through the communication means 3173, and then the controller 3174 of the robot 310 may control the robot 310 to move to the paving position for paving the brick according to the navigation path.

Optionally, the method further comprises: determining fourth position information of a joint point of the robot arm 314 of the robot 310; and according to the fourth position information, controlling robotic arm 314 of robot 310 to lay the brick to the laying position. Specifically, when the robot 310 is navigated to the paving position, the robot system may further measure position information (i.e., fourth position information) of a joint of the robot arm 314 of the robot 310 through the joint positioning prisms 315a to 315e, and send the fourth position information to the measurement data server 210, the measurement data server 210 sends the fourth position information to the robot control device 220, and the robot control device 220 sends a control instruction according to the fourth position information to the robot 310, so that the robot arm 314 of the robot 310 may be controlled to perform precise tile paving work.

Alternatively, the operation of determining fourth position information of the joint point of the robot arm 314 of the robot 310 includes: utilizing the scanning distance measuring device 111 of the positioning and measuring equipment 110-140 to measure fifth position information of joint positioning prisms 315 a-315 e arranged on joint points of the mechanical arm 314 relative to the positioning and measuring equipment 110-140, wherein the fifth position information comprises distances between the joint positioning prisms 315 a-315 e and the positioning and measuring equipment 110-140 and deflection angles of the joint positioning prisms 315 a-315 e relative to the positioning and measuring equipment 110-140; and fourth position information of the joint point of the robot arm 314 within the predetermined field is determined based on the fifth position information. Specifically, referring to fig. 10 and the related description of the foregoing embodiment, the positioning and measuring devices 110 to 140 of the present embodiment may utilize the scanning and ranging device 111 and the positioning prisms 315a to 315e disposed on the robot 314 to determine the position information of the joint point of the robot 314 with sub-millimeter accuracy and send the position information to the measured data server 210, so that the robot control device 220 can obtain the position information from the measured data server 210 and accurately control the motion of the robot 314, thereby accurately laying bricks at the laying position.

Optionally, the operation of controlling the robot 310 according to the first position information further includes determining sixth position information of the obstacles 510 to 530 in the predetermined field; and controlling the robot 310 to avoid the obstacles 510-530 according to the first position information and the sixth position information. Referring to fig. 1 and 4, the positioning and measuring system 100 transmits the acquired sixth position information of the obstacles 510 to 530 to the measurement data server 210, the measurement data server 210 transmits the sixth position information to the robot control device 220, and the robot control device 220 may control the robot 310 to avoid the obstacle according to the sixth position information and the first position information of the obstacles 510 to 530 in the predetermined field.

Optionally, the operation of determining sixth position information of the obstacles 510-530 includes: arranging an obstacle positioning prism 160 at the outer edge of the obstacles 510-530; measuring seventh position information of the obstacle positioning prism 160 relative to the positioning and measuring equipment 110-140 by using a scanning distance measuring device 111 of the positioning and measuring equipment 110-140, wherein the seventh position information comprises a distance between the obstacle positioning prism 160 and the positioning and measuring equipment 110-140 and a deflection angle of the obstacle positioning prism 160 relative to the positioning and measuring equipment 110-140; and determining sixth position information of the obstacles 510-530 in the predetermined field according to the seventh position information. Specifically, referring to fig. 9 and the related description, the positioning and measuring devices 110 to 140 may scan the obstacle positioning prism 160 disposed at the outer edge of the obstacles 510 to 530 by using the scanning and ranging device 111 in the same manner, and determine the distance between the obstacle positioning prism 160 and the positioning and measuring devices 110 to 140 on the obstacles 510 to 530 and the deflection angle (i.e., the seventh position information) of the obstacle positioning prism 160 relative to the positioning and measuring devices 110 to 140. The scanning ranging device 111 then transmits the seventh position information to the controller 112, and the controller 112 determines the sixth position information of the obstacle 510-530 in the predetermined site according to the seventh position information. Therefore, the position information of the obstacles 510-530 can be determined more accurately through the scanning distance measuring device, and the robot 310 can be controlled to avoid the obstacles 510-530 accurately.

Optionally, the method further comprises: eighth position information of the robot 310 within the predetermined field is determined by the gyroscope 3122 and/or the laser radar 316 provided to the robot 310, wherein the eighth position information indicates a position and a posture of the robot 310 within the predetermined field. Referring to fig. 8, a gyroscope 3122 and/or a laser radar 316 are further disposed on the robot 310, so that the attitude and angle of the robot 310 can be roughly determined by the gyroscope 3122 disposed on the rotatable prism base 312, and the position of the robot 310 within the predetermined field can be roughly determined by the laser radar 316, and thus, the eighth position information can be generated by roughly positioning the robot 310 in the predetermined field. And the robot 310 may send the eighth location information to the measurement data server 210 via the communication means 3173 for further measurement data processing.

Optionally, the positioning measurement devices 110-140 are a plurality of positioning measurement devices, and the method further comprises: selecting a positioning and measuring device which is not shielded by the obstacles 510-530 from the plurality of positioning and measuring devices to determine the first position information of the robot 310 according to the eighth position information and the sixth position information of the obstacles 510-530. Specifically, the communication device 3173 in the robot 310 may transmit the eighth position information to the measurement data server 210, so that the robot control device 210 obtains the eighth position information and the sixth position information of the obstacles 510 to 530 from the measurement data server 210, and further may determine which positioning measurement devices are blocked by the obstacles 510 to 530 and cannot scan the robot positioning prism 313 on the robot 310 according to the eighth position information and the sixth position information, so as to select the positioning measurement devices which are not blocked by the obstacles 510 to 530 to measure the robot 310, thereby determining the first position information of the robot 310. Thus, in this way, the positioning measurement devices 110-140 can be switched according to the coarse positioning information of the robot 310, so that the robot 310 can be effectively tracked and positioned.

Optionally, the method further comprises: determining a robot positioning prism 313 corresponding to the robot 310 according to the eighth position information and the first position information; and/or determining joint point positioning prisms 315 a-315 e corresponding to the robot 310 based on the eighth position information and the fourth position information. Specifically, since a plurality of different types of positioning prisms (e.g., robot positioning prism 313, joint point positioning prisms 315a to 315e, reference point prism 150, obstacle positioning prism 160, and the like) are provided in the predetermined field. Therefore, when the joint points of the robot 310 or the robot arm 314 are positioned by the positioning prisms using the scanning distance measuring devices 111 of the positioning and measuring instruments 110 to 140, it is necessary to be able to identify the positioning prism 313 or the joint point positioning prisms 315a to 315e corresponding to the robot 310 from among the plurality of positioning prisms. Since the robot 310 transmits the position information generated by the gyroscope 3122 and/or the laser radar 316 and the attitude and angle information (i.e., the eighth position information) to the measurement data server 210, the positioning measurement devices 110 to 140 also transmit the position information of the respective positioning prisms to the measurement data server 210. The robot controlling device 220 can determine the position information of the robot positioning prism 313 based on the eighth position information and the first position information. For example, the robot control device 220 may determine the positioning prism corresponding to the first position information as the robot positioning prism 313 based on the trajectory information composed of the eighth position information and the trajectory information composed of the first position information. In this way, the positional information of the robot positioning prism 313 can be accurately recognized, thereby preventing the positioning error of the robot 310 from occurring. Similarly, in the present embodiment, the joint point positioning prisms 315a to 315e corresponding to the robot 310 may be determined based on the eighth position information and the fourth position information, so that the robot arm 314 of the robot 310 can be accurately controlled.

Optionally, controlling the robot 310 according to the first position information further includes: determining a moving path of the robot 310 according to the first position information; or control the robot 310 to avoid other robots according to the first position information. The robot control device 220 may determine the moving path of the robot 310 according to the first position information and may also control the robot 310 to avoid other robots according to the first position information.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A robotic system, comprising: a robot (310); a positioning measurement system (100); and a robot control system (200), wherein the positioning measurement system (100) comprises at least one positioning measurement device (110-140), the positioning measurement device (110-140) is arranged at a predetermined site for determining first position information of the robot (310) within the predetermined site, and the robot control system (200) is used for controlling the robot (310) according to the first position information,

the robot (310) is provided with a robot positioning prism (313) for determining the position of the robot (310), and

the positioning measurement device (110-140) comprises:

a scanning distance measuring device (111) for measuring second position information of the robot positioning prism (313) relative to the positioning and measuring device (110-140), wherein the second position information comprises a distance between the robot positioning prism (313) and the positioning and measuring device (110-140) and a deflection angle of the robot positioning prism (313) relative to the positioning and measuring device (110-140); and

the controller (112) is connected with the scanning distance measuring device (111) and used for determining the first position information of the robot (310) in the preset field according to the second position information.

2. A robot control method, comprising:

determining first position information of a robot (310) in a preset field by utilizing positioning measurement equipment (110-140) arranged in the preset field; and

controlling the robot (310) in dependence of the first position information, and wherein

An operation for determining first position information of a robot (310) within the predetermined venue using the positioning measurement device (110-140), comprising:

measuring second position information of a robot positioning prism (313) arranged on the robot (310) relative to the positioning and measuring equipment (110-140) by utilizing a scanning distance measuring device (111) of the positioning and measuring equipment (110-140), wherein the second position information comprises a distance between the robot positioning prism (313) and the positioning and measuring equipment (110-140) and a deflection angle of the robot positioning prism (313) relative to the positioning and measuring equipment (110-140); and

determining the first position information of the robot (310) within the predetermined field according to the second position information.

3. The robot control method according to claim 2, characterized in that the scanning distance measuring device (111) comprises: a laser transmitter (1111), a laser receiver (1112), and a drive motor (1113, 1114), and wherein

-operation of measuring said second position information by means of a scanning ranging device (111) of said positioning and measuring equipment (110-140), comprising:

driving a laser transmitter (1111) and a laser receiver (1112) of the scanning ranging device (111) to rotate by the driving motor (1113, 1114);

determining a distance between the robot positioning prism (313) and the positioning measurement device (110-140) as a function of a time difference between a time instant when the laser transmitter (1111) transmits a light beam to the robot positioning prism (313) and a time instant when the laser receiver (1112) receives the light beam from the robot positioning prism (313); and

determining a deflection angle of the robot positioning prism (313) relative to the positioning measurement device (110-140) depending on a rotation angle of the drive motor (1113, 1114) when emitting the light beam or receiving the light beam.

4. A robot control method according to claim 3, characterized in that the drive motors (1113, 1114) comprise a first drive motor (1113) and a second drive motor (1114), and

-operation of driving the laser transmitter (1111) and the laser receiver (1112) of the scanning ranging device (111) in rotation with the drive motor (1113, 1114), comprising:

driving the laser transmitter (1111) and the laser receiver (1112) to rotate in a horizontal plane by the first drive motor (1113), and driving the laser transmitter (1111) and the laser receiver (1112) to rotate in a vertical plane by the second drive motor (1114), and

an operation of determining a deflection angle of the robot positioning prism (313) with respect to the positioning measurement device (110-140) depending on a rotation angle of the drive motor (1113, 1114) when emitting or receiving the light beam, comprising:

determining a deflection angle of the robot positioning prism (313) relative to the positioning measurement device (110-140) in a horizontal plane depending on a rotation angle of a first drive motor (113) when emitting or receiving the light beam; and

determining a deflection angle of the robot positioning prism (313) in a vertical plane relative to the positioning measurement device (110-140) depending on a rotation angle of a second drive motor (114) when emitting or receiving the light beam.

5. The robot control method according to any one of claims 2 to 4, wherein the operation of controlling the robot (310) based on the first position information includes:

determining third position information of the laying position of the brick to be laid in the preset field; and

navigating the robot (310) to the paving location according to the first position information and the third position information.

6. The robot control method according to claim 5, further comprising:

determining fourth position information of a joint point of a robot arm (314) of the robot (310); and

controlling a robotic arm (314) of the robot (310) to lay bricks to the laying position according to the fourth position information, and wherein

An operation of determining fourth position information of a joint point of a robot arm (314) of the robot (310), comprising:

measuring fifth position information of joint positioning prisms (315 a-315 e) arranged at joint points of the mechanical arm (314) relative to the positioning and measuring equipment (110-140) by using a scanning distance measuring device (111) of the positioning and measuring equipment (110-140), wherein the fifth position information comprises distances between the joint positioning prisms (315 a-315 e) and the positioning and measuring equipment (110-140) and deflection angles of the joint positioning prisms (315 a-315 e) relative to the positioning and measuring equipment (110-140); and

and determining the fourth position information of the joint point in the preset field according to the fifth position information.

7. The robot control method according to claim 2, wherein the operation of controlling the robot (310) according to the first position information further comprises:

determining sixth position information of an obstacle (510-530) in the predetermined site; and

controlling the robot (310) to avoid the obstacle (510-530) according to the first position information and the sixth position information and wherein

An operation of determining sixth location information of the obstacle (510-530), comprising:

arranging an obstacle positioning prism (160) at the outer edge of the obstacle (510-530);

measuring seventh position information of the obstacle positioning prism (160) relative to the positioning and measuring devices (110-140) by means of the scanning and distance measuring device (111) of the positioning and measuring device (110-140), wherein the seventh position information comprises a distance between the obstacle positioning prism (160) and the positioning and measuring device (110-140) and a deflection angle of the obstacle positioning prism (160) relative to the positioning and measuring device (110-140); and

and determining sixth position information of the obstacle (510-530) in the preset field according to the seventh position information.

8. The robot control method according to claim 2, further comprising: determining eighth position information of the robot (310) within the predetermined field by a gyroscope (3122) and/or a lidar (316) provided to the robot (310), wherein the eighth position information is indicative of a position and a pose of the robot (310) within the predetermined field, and wherein,

the positioning measurement device (110-140) is a plurality of positioning measurement devices, and the method further comprises: selecting a positioning measurement device from the plurality of positioning measurement devices that is not obscured by the obstacle (510-530) to determine first position information of the robot (310) based on the eighth position information and sixth position information of the obstacle (510-530).

9. The robot control method according to claim 8, further comprising:

determining a robot positioning prism (313) corresponding to the robot (310) according to the eighth position information and the first position information; and/or

And determining joint point positioning prisms (315 a-315 e) corresponding to the robot (310) according to the eighth position information and the fourth position information.

10. The robot control method according to claim 2, wherein controlling the robot (310) based on the first position information further comprises:

determining a movement path of the robot (310) according to the first position information; or

And controlling the robot (310) to avoid other robots according to the first position information.