CN112814341A

CN112814341A - Building construction brick laying robot system based on cooperative control and control method

Info

Publication number: CN112814341A
Application number: CN202110118959.5A
Authority: CN
Inventors: 孙金桥; 王军; 刘彬; 贺自名
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: 2021-05-18
Anticipated expiration: 2041-01-28
Also published as: CN112814341B

Abstract

The application discloses building construction brick laying robot system based on cooperative control and a control method. Wherein, the robot system includes: a plurality of robots, a positioning measurement system and a robot control system. The positioning measurement system is used for determining first position information of the robot in a preset field; and the robot control system is used for controlling the robot according to the first position information of the robot. According to the technical scheme, the multiple printing robots can work cooperatively to spread and paste the bricks in parallel, and the robot clusters work together by adopting cooperative cluster control, so that the rapid brick spreading and pasting of large-scale or super-large-scale buildings are realized. Compared with the existing tile sticking robot, the tile sticking robot has the advantages of improving the working efficiency of brick paving and sticking, further improving the cooperative working capability of multiple robots, along with high precision, distribution, cooperative work of multiple robots and the like.

Description

Building construction brick laying robot system based on cooperative control and control method

Technical Field

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

Background

Tile robots have appeared gradually in recent years, and many scholars have proposed tile robots based on a mobile chassis and a mechanical arm, which realize accurate paving of tiles by accurately positioning the mobile chassis and the mechanical arm, and some tile robots can also realize anthropomorphic paving actions. The positioning and brick paving motion of the tile sticking robot is still explored, large-scale engineering application is not available, and the actual efficiency is worth further demonstrating. The building field can meet the structure in great space, need spread the subsides to the inside fragment of brick in great space, adopts the portable guide rail that is difficult to move to be difficult to realize the removal problem in great space, adopts wheeled movable chassis then can remove in space on a large scale, but wheeled chassis removes and positioning accuracy is not good, has greatly restricted it and has carried out the possibility in space actual work on a large scale. In order to further improve the working efficiency of the tile robot, the problem of parallel operation of multiple robots needs to be explored and considered, and particularly the problem of high-precision positioning or measurement needs to be realized in order to achieve high-precision action.

Aiming at the technical problems of low working efficiency and low positioning and measuring accuracy of the robot in the prior art, no effective solution is provided at present.

Disclosure of Invention

The embodiment of the disclosure provides a building construction brick laying robot system based on cooperative control and a control method, so as to at least solve the technical problems of low working efficiency of a robot and low positioning and measuring accuracy in the prior art.

According to an aspect of an embodiment of the present disclosure, there is provided a robot system including: the system comprises a plurality of robots, a positioning measurement system and a robot control system, wherein the positioning measurement system is used for determining first position information of the robots in a preset field; and the robot control system is used for controlling the robot according to the first position information of the robot.

According to another aspect of the embodiments of the present disclosure, there is also provided a robot control method including: determining first position information of the plurality of robots in a predetermined field by using a positioning measurement system; and controlling the robot to perform cooperative work according to the first position information.

In the embodiment of the disclosure, when the robot system works, the robot is positioned in a predetermined field through the positioning measurement system, and after the robot control system receives the coordinate position of the robot, the robot is cooperatively controlled to work efficiently. Therefore, a plurality of robots can work in parallel in a large-scale space, the working efficiency of the robots is improved, and high-precision positioning and measurement of the robots are realized.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure. In the drawings:

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

FIG. 2 is a schematic structural diagram of a positioning measurement system according to an embodiment of the present application;

FIG. 3 is a schematic diagram of an overall layout of a robotic system according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a positioning measurement device according to an embodiment of the present application;

FIG. 5 is a schematic illustration of positioning of a positioning prism according to use of a positioning measurement device;

FIG. 6 is a schematic view of a tile robot according to an embodiment of the present application;

FIG. 7 is a schematic partial enlarged view of the tile robot shown in FIG. 6;

fig. 8 is a schematic structural diagram of a robot control apparatus according to an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a loading robot according to an embodiment of the present application;

FIG. 10 is a schematic view of a tile robot according to an embodiment of the present application; and

FIG. 11 is a schematic illustration of positioning a positioning prism in three-dimensional space using a positioning measurement device.

Detailed Description

In order to make those skilled in the art better understand the technical solutions of the present disclosure, the technical solutions in 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. It is to be understood that the described embodiments are merely exemplary of some, and not all, of the present disclosure. 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 data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described 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.

Example 1

Fig. 1 is a schematic structural diagram of a robot system according to an embodiment of the present application. According to a first aspect of the present embodiment, as shown with reference to fig. 1, there is provided a robot system including: a plurality of

robots

310, 320, a positioning measurement system 100, and a robot control system 200. Wherein the positioning measurement system 100 is configured to determine first position information of the

robot

310, 320 within a predetermined field; and the robot control system 200 is configured to control the

robots

310 and 320 based on the first position information of the

robots

310 and 320.

As described in the background, tile robots have been developed in recent years, and many scholars have proposed tile robots based on a mobile chassis plus a robot arm, where accurate placement of tiles is achieved by accurate positioning of the mobile chassis and accurate positioning of the robot arm, and some tile robots are also capable of performing anthropomorphic placement movements. The positioning and brick paving motion of the tile sticking robot is still explored, large-scale engineering application is not available, and the actual efficiency is worth further demonstrating. The building field can meet the structure in great space, need spread the subsides to the inside fragment of brick in great space, adopts the portable guide rail that is difficult to move to be difficult to realize the removal problem in great space, adopts wheeled movable chassis then can remove in space on a large scale, but wheeled chassis removes and positioning accuracy is not good, has greatly restricted it and has carried out the possibility in space actual work on a large scale. In order to further improve the working efficiency of the tile robot, the problem of parallel operation of multiple robots needs to be explored and considered, and particularly the problem of high-precision positioning or measurement needs to be realized in order to achieve high-precision action.

In view of the above problems in the prior art, referring to fig. 1, when the robot system provided in this embodiment works, the

robots

310 and 320 are located by the location measurement system 100 in a predetermined field, and the robot control system 200 receives the coordinate positions of the

robots

310 and 320 and then cooperatively controls the

robots

310 and 320 to work efficiently. Specifically, 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

robots

310, 320 according to the first position information. Wherein the control of the

robots

310, 320 by the robot control system 200 includes, but is not limited to: the

robots

310 and 320 are navigated to predetermined positions based on first position information generated in real time by the positioning measurement system 100. Therefore, a plurality of robots can work in parallel in a large-scale space, the working efficiency of the robots is improved, and high-precision positioning and measurement of the robots are realized.

Optionally, the positioning measurement system 100 includes at least one positioning measurement device 110 to 140, and the positioning measurement device 110 to 140 is disposed at a predetermined site and configured to determine first position information of the

robot

310, 320; and the

robots

310 and 320 are provided with

robot positioning prisms

313 and 323 for determining the positions of the

robots

310 and 320.

Specifically, referring to fig. 2 and 3, the positioning and measuring system 100 includes a plurality of positioning and measuring devices 110 to 140, the positioning and measuring devices 110 to 140 are distributed around a predetermined site, and coordinates of the

robots

310 and 320 are determined by positioning and measuring in a plurality of directions. The

robots

310 and 320 are provided with

robot positioning prisms

313 and 323, and the positioning measurement equipment 110-140 positions the

robots

310 and 320 through the positions of the

robot positioning prisms

313 and 323. Thereby achieving high precision positioning of the

robots

310, 320.

Optionally, the positioning and measuring equipment 110-140 includes a scanning ranging device 111, a controller 112, and a communication device 113. The scanning distance measuring device 111 is used for measuring second position information of the

robot positioning prisms

313 and 323 relative to the positioning measuring equipment 110-140. The second position information comprises the distances between the

robot positioning prisms

313 and 323 and the positioning measurement equipment 110-140 and the deflection angles of the

robot positioning prisms

313 and 323 relative to the positioning measurement equipment 110-140; the controller 112 is connected with the scanning distance measuring device 111 and is used for determining first position information of the

robots

310 and 320 in a preset field; and the communication device 113 is connected to the controller 112 for transmitting the first position information to the robot control system 200.

Specifically, referring to fig. 2 to 5, the plurality of positioning and measuring devices 110 to 140 emit laser beams to the robot in the scanning field through the scanning and ranging device 111 installed therein, and determine the distances and deflection angles (i.e., second position information) of the

robots

310 and 320 with respect to the positioning and measuring devices 110 to 140. The controller 112 is connected to the scanning distance measuring device 111, and is configured to determine coordinate information (i.e., first position information) of the

robots

310 and 320 in a predetermined field according to the distance and the deflection angle determined by the scanning distance measuring device 111, and then send the coordinate information to the robot control system 200 through the communication device 113 connected to the controller 112. Thus, the sub-millimeter accurate positioning of the

robots

310 and 320 can be realized by determining the positions of the

robots

310 and 320 in the predetermined field through the scanning distance measuring device 111 and the

robot positioning prisms

313 and 323.

Referring to fig. 5, taking robot 310 as an example, when the light beam emitted by scanning ranging device 111 of positioning measurement apparatus 110 strikes 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.

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. In this embodiment, four positioning measurement devices are respectively disposed along the periphery of the field, so that even if a shelter exists in the field, the robot 310 can still be positioned and measured by different positioning measurement devices. And the first position information measured by the plurality of positioning measurement devices can further reduce the positioning error in a mode of averaging. Although fig. 5 illustrates the robot positioning prism 313 of the robot 310, the method is also applicable to the robot 320. And the method is also applicable to objects that are positioned using other positioning prisms.

In summary, in the robot system provided in the embodiment, the positioning measurement device having 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 the plurality of

robots

310 and 320 can be accurately positioned, and the cooperative work of the plurality of

robots

310 and 320 can be accurately controlled. 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, a plurality of robots can more accurately work in parallel in a large-scale space, the working efficiency of the robots is improved, and high-precision positioning and measurement of the robots are realized.

Alternatively, as shown in fig. 3 and 4, the scanning distance measuring device 111 includes: laser transmitter 1111, laser receiver 1112, and drive motors 1113, 1114. Wherein the laser transmitter 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 in rotation within a specified plane. Therefore, the scanning distance measuring device 111 controls the laser emitter 1111 to emit laser, after the

robot positioning prisms

313 and 323 on the

robots

310 and 320 reflect the laser emitted by the laser emitter 1111, the reflected laser is received by the laser receiver 1112, and the controller 112 of the positioning and measuring equipment 110 to 140 can determine the distance from the

robot positioning prisms

313 and 323 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. Therefore, the positioning accuracy of the

robots

310 and 320 can be improved to a sub-millimeter level through the above configuration, so that brick laying and other operations can be accurately realized, and the positions of the

robots

310 and 320 can be determined and scanned in an effective large range.

Alternatively, as shown in fig. 3 and 4, the driving motor 1113, 1114 includes: 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. 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 the three-dimensional space, and thus the

robots

310 and 320 can be positioned in the three-dimensional space. In particular although a schematic diagram of the positioning of the

robotic positioning prisms

313, 323 in the horizontal plane by the scanning distance measuring device of the positioning and measuring apparatus is shown in figure 5. A person skilled in the art may determine the position information of the

robots

310, 320 in the three-dimensional space based on the distance between the

robot positioning prisms

313, 323 and the positioning measurement device and the deflection angles of the first drive motor and the second drive motor.

Specifically, referring to fig. 11, 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 120-140 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. 11, 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, referring to fig. 2 and 3, the robot system further includes

reference point prisms

150 and 160 disposed at the reference point.

Reference prisms

150 and 160 are disposed on reference points in a predetermined field, and the

reference prisms

150 and 160 can track and position the

robots

310 and 320. Thus, 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

robots

310 and 320 in the field by scanning the

reference point prisms

150 and 160. So that the position of the

robots

310, 320 can be accurately positioned.

Alternatively, as shown in fig. 6 and 9, the

robots

310 and 320 are provided with

prism bases

312 and 322, and the prism bases 312 and 322 are connected to the

robot positioning prisms

313 and 323. So that the prism mounts 312, 322 provided on the

robots

310, 320 can support the

robot positioning prisms

313, 323, wherein the

robot positioning prisms

313, 323 can accurately position and control the motions of the robots. Therefore, the robot can be accurately positioned and controlled.

Optionally, as shown in fig. 7, the

robots

310 and 320 are further provided with a gyroscope 3122 and/or a laser radar 316. The attitude and angle of the

robot

310, 320 can thus be roughly determined by the gyroscope 3122, and the position of the

robot

310, 320 within the predetermined field can be roughly determined by the lidar 316, so that a rough positioning of the

robot

310, 320 in the predetermined field can be achieved.

Alternatively, referring to fig. 1 and 3, 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

robots

310, 320 based on the first position information. Thus, the measurement data server 210 in the robot control system 200 receives the position information of the

robots

310 and 320 measured by the positioning and measuring system 100, and then transmits the position information to the robot control device 220 to control the routes and actions of the

robots

310 and 320. Therefore, the walking route of the robot is reasonably planned, and the robot can work coordinately and efficiently. Furthermore, preferably, as shown with reference to fig. 1, the measurement data server 210 may also receive position information of the coarse positioning from the

robots

310, 320 for further processing by the robot control device 220.

Alternatively, as shown with reference to fig. 8, the

robots

310, 320 comprise: a tile sticking robot 310 for sticking and laying a tile on a predetermined site; and a feeding robot 320 for adding bricks to the tiling robot 310. Thereby be provided with a plurality of tiling robots 310 in the predetermined place and spread simultaneously and paste, start from the corner, through first the vertical direction of level back paving the fragment of brick, meet and then carry out the paving of next row and paste until all planning region pave and paste and accomplish. When the bin on the tile robot 310 is empty, the loading robot 320 will load bricks for the tile robot 310. Thereby realizing the cooperative work of the tile robot 310 and the charging robot 320 and improving the working efficiency.

Alternatively, the robot control device 220 includes: a coordination means 221, communicatively connected to the measurement data server 210, for coordinating the tile robot 310 and the loading robot 320 based on the first location information. A tile robot control device 222, connected to the coordination device 221, for controlling the tile robot 310 according to the coordination instruction of the coordination device 221; and a feeding robot control device 223 connected to the coordination device 221 for controlling the feeding robot 320 according to the coordination command of the coordination device 221.

In particular, referring to fig. 8, the coordinating means 221 of the robot control device 220 may receive the position information (i.e. the first position information) of the tile robot 310 and the loading robot 320 from the measurement data server 210. And the coordination means 221 is connected to the control means 222, 223 and issues control commands depending on the position of the

robots

310, 320, controlling the action of the tile robot 310 by means of the tile robot control means 222 and controlling the action of the charging robot 320 by means of the charging robot control means 223. Thereby realizing the cooperative work of the tile robot 310 and the charging robot 320 and improving the working efficiency.

Optionally, the tile robot 310 includes a vehicle body 311 and a robot arm 314 disposed on the vehicle body 311 and used for paving tiles, and joint points of the robot arm 314 are provided with joint positioning prisms 315a to 315 e.

Specifically, referring to fig. 6, the tile robot 310 is provided with a movable vehicle body 311, while also being installed with a robot arm 314 for laying the tiles. The robot 314 has positioning prisms 315a to 315e mounted on each joint, so that the position of each joint of the robot 314 can be accurately positioned. Thus, referring to the method for determining the

positioning prisms

313 and 323 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 and ranging 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.

Furthermore, a soil pressure cell is arranged on the ground of the working area and connected with a data acquisition system on the tile robot 310 through a data line on the back, the tile robot 310 applies pressure to the ground when tiling, and after the soil pressure cell detects the pressure and sends the pressure to the data acquisition system, the soil pressure cell controls a support rod on the mechanical arm 314 through a control device connected with the data acquisition system, and the bricks are paved by using proper thrust. Thereby achieving the effect of precisely controlling the tile motion and position of the tile robot 310.

Optionally, as shown with reference to fig. 10, the tile robot 310 further comprises: a brake 3171 for braking the vehicle body 311 of the tile robot 310; a robot arm control means 3172 for controlling the robot arm 314; a bin measuring device 3173 for monitoring whether the bin 410 on the tile robot 310 is empty; a communication means 3174 for communicating with the robot control system 200. And a controller 3175 connected to the brake 3171, the robot arm control 3172, the bin measuring device 3173, and the communication device 3174. The tile robot 310 may obtain path information of the robot 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 body 311 of the tile robot 310 according to the path information. In addition, the tile robot 310 may further obtain position information of each joint point of the robot arm 314 of the tile 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 complete the tile laying work through the robot arm 314.

Optionally, the charging robot 320 is provided with a handling mechanism for loading and unloading a magazine for receiving bricks to be tiled.

In particular, referring to fig. 9, the present embodiment employs a feeding robot 320 to transport bins containing bricks, where the feeding robot 320 can transport multiple bins. The robot control device 220 may navigate the charging robot 320 to a charging area within a predetermined site according to the position information of the charging robot 320 and perform charging of a brick bin at the charging area. Bin 420 may be loaded with bricks, for example, manually, or automatically by a robotic arm. After the feeding robot 320 has fed the material, the robot control device 220 navigates the feeding robot 320 to the tiling robot 310 with empty bins, replacing the empty bins, according to the position information of the tiling robot 310. Thereby improving the working efficiency of the robot.

Therefore, according to the first aspect of the present embodiment, the free-form robot system based on cluster cooperative control provided by the present embodiment can make multiple printing robots work cooperatively to lay bricks in parallel. And a cooperative cluster control is adopted, so that the robot cluster works together, and the rapid brick paving of large-scale or super-large-scale buildings is realized. Compared with the existing tile sticking robot, the tile sticking robot has the advantages of improving the working efficiency of brick paving and sticking, further improving the cooperative working capability of multiple robots, along with high precision, distribution, cooperative work of multiple robots and the like.

Further, according to a second aspect of the present embodiment, there is provided a robot control method including: determining first position information of the plurality of

robots

310, 320 within the predetermined venue using the position measurement system 100; and controlling the

robots

310 and 320 to perform the cooperative work based on the first position information.

Specifically, the present embodiment provides a robot control method, first, the

robots

310 and 320 are located by the positioning measurement system 100 in a predetermined field, and after the robot control system 200 receives the coordinate positions of the

robots

310 and 320, the

robots

310 and 320 are cooperatively controlled to work efficiently. Specifically, 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

robots

310, 320 by the robot control system 200 includes, but is not limited to: the

robots

Optionally, the positioning measurement system 100 includes at least one positioning measurement device 110-140, the positioning measurement device 110-140 is disposed at a predetermined site, and the operation of determining the first position information of the plurality of

robots

310, 320 within the predetermined site includes: second position information of the

robot positioning prisms

313, 323 provided on the

robots

310, 320 with respect to the positioning measurement devices 110 to 140 is determined by the scanning distance measuring device 111 of the positioning measurement devices 110 to 140. The second position information comprises the distances between the

robot positioning prisms

313 and 323 relative to the positioning measurement equipment 110-140; and determining first position information of the

robot

310, 320 within the predetermined field based on the second position information.

Specifically, the plurality of positioning and measuring devices 110 to 140 emit laser to scan the robot in the field through the scanning and ranging device 111 installed, and determine the distance and the deflection angle (i.e., the second position information) of the

robots

310 and 320 relative to the positioning and measuring devices 110 to 140. The controller 112 is connected to the scanning distance measuring device 111, and is configured to determine coordinate information (i.e., first position information) of the

robots

310 and 320 can be realized by determining the positions of the

robots

robot positioning prisms

313 and 323. The specific positioning method is described in reference to fig. 5 and the related description of the first aspect of the present embodiment.

robots

Optionally, the scanning ranging device 111 comprises: laser transmitter 1111, laser receiver 1112, and drive motors 1113, 1114. And wherein the act of determining the second location information using the scanning ranging device 111 of the position 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 prisms

313 and 323 and the positioning measurement equipment 110-140 according to the time difference between the time when the laser transmitter 1111 transmits the light beams to the

robot positioning prisms

313 and 323 and the time when the laser receiver 1112 receives the light beams from the

robot positioning prisms

313 and 323; and determining the deflection angle of the

robot positioning prisms

313, 323 relative to the positioning measurement devices 110-140 according to the rotation angle of the driving motors 1113, 1114 when emitting or receiving the light beam.

Specifically, the scanning distance measuring device 111 controls the laser emitter 1111 to emit laser, after the laser emitted from the laser emitter 1111 is reflected by the

robot positioning prisms

313 and 323 on the

robots

310 and 320, the reflected laser is received by the laser receiver 1112, and the controller 112 of the positioning measurement devices 110 to 140 may determine the distance from the

robot positioning prisms

313 and 323 to the positioning measurement device according to the time difference between the laser emitted from the laser emitter 1111 and the laser received by the laser receiver 1112, and may determine the deflection angle of the laser according to the rotation angle of the driving motor. Therefore, the positioning accuracy of the

robots

310 and 320 can be determined and scanned in an effective large range.

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 the deflection angle of the

robot positioning prisms

313, 323 with respect to the positioning measurement apparatuses 110 to 140, based on the rotation angle of the driving motors 1113, 1114 when emitting or receiving the light beam, including: determining the deflection angles of the

robot positioning prisms

313 and 323 relative to the positioning measurement equipment 110-140 in the horizontal plane according to the rotation angle of the first driving motor 1113 when the first driving motor emits or receives a light beam; and determining the deflection angle of the

robot positioning prisms

313, 323 in the vertical plane relative to the positioning measurement devices 110-140 according to the rotation angle of the second drive motor 1114 when emitting or receiving the light beam.

Specifically, 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, and thus the

robots

310 and 320 can be positioned in the three-dimensional space. In particular, although FIG. 5 shows a schematic diagram of the positioning of the

robot positioning prisms

313, 323 in the horizontal plane by the scanning distance measuring device of the positioning measurement apparatus. A person skilled in the art may determine the position information of the

robots

310, 320 in the three-dimensional space based on the distance between the

robot positioning prisms

313, 323 and the positioning measurement device and the deflection angles of the first drive motor and the second drive motor. Specifically, referring to fig. 11, 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 120-140 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.

Optionally, the method further comprises: third position information of the

robot

310, 320 within the predetermined field is determined by the gyroscope 3122 and/or the laser radar 316 provided to the

robot

310, 320. Wherein the third position information is indicative of the position and pose of the

robot

310, 320 within the predetermined field. The attitude and angle of the

robot

310, 320 in the predetermined field can be achieved.

Optionally, the method further comprises: the

robot positioning prisms

313, 323 corresponding to the

robots

310, 320 are specified based on the third position information and the first position information. Specifically, since a plurality of robots in a predetermined field are each provided with the

robot positioning prism

313 or 323. Therefore, when the

robot

310 or 320 is positioned by the positioning prism using the scanning distance measuring device 111 of the positioning and measuring equipment 110 to 140, it is necessary to be able to determine the positioning prism 313 corresponding to each

robot

310 or 320. Since the

robots

310 and 320 transmit the position information generated by the gyroscope 3122 and/or the laser radar 316 and the attitude and angle information (i.e., the third 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 control device 220 can determine the position information of each robot positioning prism 313 based on the third position information and the first position information. For example, the robot control device 220 may determine, as the positioning prism 313 of the corresponding robot, the positioning prism corresponding to the first position information based on the trajectory information composed of the third position information of the certain robot 310 and the trajectory information composed of the first position information of the certain robot 310. 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.

Optionally, controlling the

robots

310 and 320 to perform the operation of the cooperative work according to the first position information includes: determining a moving path of the

robot

310, 320 according to the first position information; or control the

robots

310, 320 to avoid each other based on the first position information. Thus, the robot control device 220 in this embodiment may determine the coordinate positions of the

robots

310 and 320 according to the first position information of the

respective robots

310 and 320 read from the measurement data server 210, and may appropriately arrange the movement paths of the plurality of

robots

310 and 320 when the

robots

310 and 320 operate, thereby achieving the purpose of cooperative work. And controlling the plurality of

robots

310 and 320 to avoid each other, thereby avoiding collision of the

robots

310 and 320 during operation. Therefore, the cooperative work of the

robots

310 and 320 is realized, and the work efficiency is improved.

Optionally, the

robot

310, 320 comprises: a tile sticking robot 310 for sticking and laying a tile on a predetermined site; and a feeding robot 320 for adding bricks to the tiling robot 310. And the operation of determining first position information of the plurality of

robots

310, 320 within the predetermined venue using the position measurement system 100 includes: the positional measurement system 100 is used to determine tile robot position information for the tile robot 310 within the predetermined site and charging robot position information for the charging robot 320 within the predetermined site. And controls the

robots

310 and 320 to perform an operation of the cooperative work based on the first position information, including: based on the tile robot position information and the charger robot position information, the charger robot 320 is controlled to provide the tiles to the tile robot 310.

In particular, referring to fig. 8, the coordinating means 221 of the robot control device 220 may receive the position information (i.e. the first position information) of the tile robot 310 and the loading robot 320 from the measurement data server 210. The coordination means 221 is connected to the tile robot control means 222 and the feeding robot control means 223 and issues control commands depending on the position of the

robots

310, 320, controlling the action of the tile robot 310 by means of the tile robot control means 222 and controlling the action of the feeding robot 320 by means of the feeding robot control means 223. Thus, when a plurality of tile robots 310 are paving tiles, the robot control device 220 determines the coordinate positions of the

robots

310, 320 through the first position information, and when the bin on the tile robot 310 is empty, the robot control device 220 may control the feeding robot 320 to move to the tile robot 310 according to the position of the tile robot 310 to add a tile to the tile robot 310. Thereby realizing the cooperative work of the tile robot 310 and the charging robot 320 and improving the working efficiency.

Optionally, controlling the feeding robot 320 to provide bricks to the tile robot 310 according to the tile robot position information and the feeding robot position information includes: navigating the charging robot 320 to the charging area according to the position information of the charging robot and the preset position information of the charging area; and controlling the charging robot 320 to load bricks from the charging area into a bin provided in the charging robot 320.

Specifically, referring to fig. 3 and 9, the present embodiment employs a feeding robot 320 to transport a bin containing bricks, wherein the feeding robot 320 can transport a plurality of bins 420. The robot control device 220 may navigate the charging robot 320 to a charging area within a predetermined site according to the position information of the charging robot 320 and perform charging of a brick bin at the charging area. Bin 420 may be loaded with bricks, for example, manually, or automatically by a robotic arm. After the feeding robot 320 has fed the material, the robot control device 220 navigates the feeding robot 320 to the tiling robot 310 with empty bins, replacing the empty bins, according to the position information of the tiling robot 310. In this way, the brick is loaded from the loading bay to the tiling robot 310 by the loading robot 320 so that the tiling robot 310 only performs the operation of laying bricks without having to load bricks into the loading bay, thereby improving the work efficiency of the tiling robot 310.

Optionally, controlling the feeding robot 320 to provide the brick to the tile robot 310 according to the tile robot position information and the feeding robot position information further comprises: navigating the charging robot 320 to the tile robot 310 according to the charging robot position information and the tile robot position information; and controlling the charging robot 320 to replace the empty bin of the tile robot 310 with the bin containing the bricks. Thus, when the bin of the tile robot 310 is empty, the robot control device 220 will select the feeding robot 320 with the appropriate distance to move towards the tile robot 310, depending on the position of the tile robot, to replace the empty bin with the bin containing the brick for the tile robot 310. Thereby realizing the cooperative work of the tile robot 310 and the charging robot 320 and improving the work efficiency of the tile robot.

Optionally, the plurality of

robots

310, 320 comprises a plurality of tile robots 310, and the controlling the

robots

310, 320 to perform the operation of the cooperative work according to the first position information further comprises: bricks are laid in a predetermined field in cooperation with the plurality of tile robots 310 according to the tile robot position information of the plurality of tile robots 310. For example, a plurality of tile robots 310 may be installed in a predetermined site to lay tiles simultaneously, starting from a corner, and laying tiles in horizontal and vertical directions first, and then laying tiles in the next row after meeting until all planned areas are laid. Thereby realizing the cooperative work of the plurality of tile robots 310 and improving the work efficiency.

Optionally, the method further comprises: determining fourth position information of a joint point of the robot arm 314 of the tile robot 310; and controlling the robotic arm 314 of the tile robot 310 to lay the brick to the laying position based on the fourth position information.

Specifically, when the tile robot 310 is navigated to the paving location, the robot system may also measure the position information (i.e. fourth position information) of the joints of the robot arm 314 of the tile robot 310 by the positioning measurement system 100 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, the robot control device 220 sends the control instruction of the fourth position information to the tile robot 310, and the robot arm 314 of the tile robot 310 may be controlled to perform precise tile paving work.

Optionally, the operation of determining fourth position information of a joint point of the robotic arm 314 of the tile robot 310 comprises: fifth positional information of joint positioning prisms 315a to 315e provided at joint points of the robot 314 with respect to the positioning and measuring devices 110 to 140 is measured by the scanning and distance measuring device 111 of the positioning and measuring devices 110 to 140. The fifth position information comprises the distances between the joint positioning prisms 315a to 315e and the positioning measurement devices 110 to 140 and the deflection angles of the joint positioning prisms 315a to 315e relative to the positioning measurement devices 110 to 140; and determining fourth position information of the joint positioning prisms 315a to 315e in the predetermined field according to the fifth position information.

Specifically, referring to fig. 6, the tile robot 310 is provided with a movable vehicle body 311, while also being installed with a robot arm 314 for laying the tiles. The robot 314 has positioning prisms 315a to 315e mounted on each joint, so that the position of each joint of the robot 314 can be accurately positioned. Thus, referring to fig. 11 and the related description of the foregoing embodiment, according to the technical solution of the present embodiment, the joint positioning prisms 315a to 315e of the robot 314 can be scanned by the scanning distance measuring devices of the positioning and measuring devices 110 to 140, so that the position information of the joint point of the robot 314 can be determined with sub-millimeter accuracy and sent to the measured data server 210, and 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, so that bricks can be laid at the laying position accurately.

Therefore, according to the second aspect of the present embodiment, the free-form robot system based on cluster cooperative control provided by the present embodiment can enable multiple printing robots to work cooperatively to perform parallel brick paving. And a cooperative cluster control is adopted, so that the robot cluster works together, and the rapid brick paving of large-scale or super-large-scale buildings is realized. Compared with the existing tile sticking robot, the tile sticking robot has the advantages of improving the working efficiency of brick paving and sticking, further improving the cooperative working capability of multiple robots, along with high precision, distribution, cooperative work of multiple robots and the like.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.

Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A robotic system, comprising: a plurality of robots (310, 320), a positioning measurement system (100) and a robot control system (200), wherein

The positioning measurement system (100) is configured to determine first position information of the robot (310, 320) within a predetermined field; and

the robot control system (200) is configured to control the robot (310, 320) based on the first position information of the robot (310, 320).

2. A robot control method, comprising:

determining first position information of a plurality of robots (310, 320) within a predetermined field using a positioning measurement system (100); and

and controlling the robots (310, 320) to perform the cooperative work according to the first position information.

3. The robot control method of claim 2, wherein the positioning measurement system (100) includes at least one positioning measurement device (110-140), the positioning measurement device (110-140) is disposed at the predetermined site, and the operation of determining the first position information of the plurality of robots (310, 320) within the predetermined site includes:

determining second position information of a robot positioning prism (313, 323) arranged on the robot (310, 320) 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 second position information comprises a distance between the robot positioning prism (313, 323) and the positioning and measuring equipment (110-140) and a deflection angle of the robot positioning prism (313, 323) relative to the positioning and measuring equipment (110-140); and

determining the first position information of the robot (310, 320) within the predetermined field from the second position information.

4. Robot control method according to claim 3, 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

-an operation of determining 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, 323) 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, 323) and a time instant when the laser receiver (1112) receives the light beam from the robot positioning prism (313, 323); and

determining a deflection angle of the robot positioning prism (313, 323) 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, and wherein

The drive motors (1113, 1114) include 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, 323) with respect 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, comprising:

determining a deflection angle of the robot positioning prism (313, 323) relative to the positioning measurement device (110-140) in a horizontal plane from a rotation angle of a first drive motor (1113) when emitting or receiving the light beam; and

determining a deflection angle of the robot positioning prism (313, 323) in a vertical plane with respect to the positioning measurement device (110-140) depending on a rotation angle of a second drive motor (1114) when emitting or receiving the light beam.

5. The robot control method according to claim 3 or 4, characterized by further comprising: determining third position information of the robot (310, 320) in the predetermined field by a gyroscope (3122) and/or a lidar (316) provided to the robot (310, 320), wherein the third position information is used for indicating the position and attitude of the robot (310, 320) in the predetermined field.

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

determining a robot positioning prism (313, 323) corresponding to the robot (310, 320) from the third position information and the first position information, and wherein

Controlling the robots (310, 320) to perform operations of cooperative work based on the first position information, including: determining a movement path of the robot (310, 320) from the first position information; or controlling the robots (310, 320) to avoid each other according to the first position information.

7. Robot control method according to any of claims 3-6, characterized in that the robot (310, 320) comprises: a tile robot (310) for laying a tile on the predetermined site; and a charging robot (320) for adding bricks to the tiling robot (310), and

an operation for determining first position information of a plurality of robots (310, 320) within the predetermined venue using a positioning measurement system (100), comprising: determining tile robot position information of the tile robot (310) within the predetermined site and charging robot position information of the charging robot (320) within the predetermined site with the positioning measurement system (100), and

controlling the robots (310, 320) to perform operations of cooperative work based on the first position information, including: controlling the charging robot (320) to provide bricks to the tiling robot (310) according to the tiling robot position information and the charging robot position information.

8. The robot control method according to claim 7, wherein controlling the charging robot (320) to provide bricks to the tiling robot (310) based on the tiling robot position information and the charging robot position information comprises:

navigating the charging robot (320) to the charging area according to the charging robot position information and preset charging area position information; and

controlling the charging robot (320) to load bricks from the charging zone into a bin provided in the charging robot (320), and wherein

Controlling the operation of the charging robot (320) to provide bricks to the tiling robot (310) according to the tiling robot position information and the charging robot position information, further comprising:

navigating the charging robot (320) to the tile robot (310) according to the charging robot position information and the tile robot position information; and

-controlling the charging robot (320) to replace an empty bin of the tiling robot (310) with a bin containing bricks.

9. The robot control method according to claim 7, wherein the plurality of robots (310, 320) includes a plurality of tile robots (310), and the controlling the robots (310, 320) to perform the operation of the cooperative work according to the first position information further comprises: -laying bricks in cooperation with the plurality of tile robots (310) within the predetermined yard according to tile robot position information of the plurality of tile robots (310).

10. The robot control method according to claim 8 or 9, characterized by further comprising:

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

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

An operation of determining fourth position information of an articulation point of a robotic arm (314) of the tile 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 positioning prisms (315 a-315 e) in the preset field according to the fifth position information.