CN210109330U - Intelligent device with compass for indoor positioning of building site - Google Patents
Intelligent device with compass for indoor positioning of building site Download PDFInfo
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Abstract
The intelligent building site indoor positioning device with the compass is provided with the compass device used for indicating the horizontal orientation of the intelligent positioning device. The intelligent positioning device comprises: a connection part for mounting the device on the construction robot body; a laser positioning and ranging part arranged at the lower end of the connecting part and used for arranging a laser transceiver; the connecting part is connected with the laser positioning and ranging part through a horizontal rotating mechanism; a control center for controlling the laser positioning and ranging part and the horizontal rotating mechanism to work is arranged in the connecting part; the compass device is arranged on the laser positioning and ranging part. The device is installed on a construction robot needing indoor positioning, combines a digital compass and adopts a laser ranging method, so that the problems of the existing measuring and positioning method are solved, and the accurate positioning of the construction robot in a construction site is realized.
Description
Technical Field
The utility model relates to a mechanical building's technical field, concretely relates to intelligent device of building site indoor location with compass.
Background
In recent years, the aging of workers on construction sites in China is more and more intense, the aging of the workers restricts the development of the construction industry, and the biggest problem when the aged construction workers are used is the safety problem. With the progress of science and technology and the development of the building industry, the building automation and intellectualization are inevitable trends, so that the building robot is in a construction site to carry out precise, accurate and efficient construction, and is an important direction for building intellectualization. Meanwhile, the construction automation of the construction robot needs the support of high-precision positioning, and how to measure with high precision and position with high precision is a key problem of intelligent construction in the construction process. Although the GPS and map based location service is a mainstream application of various mobile devices outdoors, the accuracy is poor in indoor positioning, and it is not suitable for indoor precise positioning, especially in complex environments such as construction sites.
Present common indoor location technique includes infrared ray location, ultrasonic positioning, radio frequency identification location, bluetooth indoor location, wiFi indoor location, zigBee location and ultra wide band location etc. and specific defect is as follows: infrared indoor positioning technology: the method can easily realize higher precision in an open room, can realize passive positioning of the infrared radiation source, but infrared is easily shielded by barriers, and the transmission distance is not long, so that a large number of sensors are required to be densely deployed, and higher hardware and construction cost are caused. In addition, infrared is easily interfered by heat sources, lamplight and the like, so that the positioning precision and accuracy are reduced. WiFi indoor positioning technique: the accuracy of WiFi indoor positioning can only reach about 2 meters, access points can usually only cover an area with the radius of about 90 meters, at least 3 access points need to be deployed, and the deployment is complex. Meanwhile, the device is easily interfered by other signals, so that the precision of the device is influenced, and the energy consumption of the positioner is high; ultrasonic indoor positioning technology: because the speed of sound waves is low, the time for transmitting the same content is long, and a large system capacity can be obtained only in a TDoA-like mode, and the positioning accuracy is reduced due to the influence of multipath effect and non-line-of-sight propagation; meanwhile, a large amount of investment in bottom hardware facilities is still needed, and the overall cost is high; bluetooth indoor positioning technology: bluetooth positioning is mainly applied to small-range positioning, for example: a single-story lobby or warehouse. For a complex space environment, the stability of the bluetooth positioning system is slightly poor, and the interference of noise signals is large. And at least 3 access points need to be deployed, and the deployment is complex: ZigBee indoor positioning technology: the ZigBee has very high working efficiency. However, the ZigBee signal transmission is greatly influenced by multipath effect and movement, and the positioning precision depends on the physical quality of a channel, the signal source density, the environment and the accuracy of an algorithm, so that the cost of positioning software is high; UWB indoor positioning technique: the ultra-wideband positioning technology has the advantages of strong penetrating power, good anti-multipath effect, high safety, low system complexity, capability of providing accurate positioning precision and the like, and has a very wide prospect. However, since the newly added blind node also needs active communication, power consumption is high, and layout is also needed in advance, so that cost cannot be reduced. RFID technology: the method can obtain information with centimeter-level positioning accuracy within a few milliseconds, has a large transmission range and low cost, but the RFID is not convenient to be integrated into the mobile equipment. And (3) dead reckoning: the method mainly utilizes motion data acquired by a terminal inertial sensor, such as information of speed, direction, acceleration and the like of an object measured by an acceleration sensor, a gyroscope and the like, and obtains position information of the object through various operations based on a dead reckoning method. However, as the walking time increases, the inertial navigation positioning error is accumulated. It requires an external, higher precision data source to calibrate it.
Another way to achieve indoor positioning is through a synchronized positioning and mapping (SLAM) technique. However, because of the adoption of the SLAM algorithm, firstly, environmental data needs to be scanned and collected, and then the SLAM algorithm is combined for fine positioning, the operation is complex, meanwhile, a large amount of iterative operation needs to be carried out when the SLAM algorithm is matched with the indoor overall environmental data, the time complexity of the algorithm is high, and the real-time positioning of the robot is not facilitated. Meanwhile, the SLAM algorithm has accumulated errors in the data matching process, so that the positioning precision and the navigation accuracy are reduced.
In summary, the positioning method commonly used at the present stage cannot meet the requirements of building automation and intellectualization due to the reasons of complexity, accuracy and the like. The intelligent device suitable for indoor positioning used in the construction site is developed by combining the characteristics of geometric building information and a pointing device.
SUMMERY OF THE UTILITY MODEL
For overcoming the defects of the prior art, the utility model aims to provide an intelligent device with compass for indoor positioning of building site, which has convenient use, simple structure and accurate control.
In order to achieve the above object, the utility model adopts the following technical scheme: an intelligent device with a compass for indoor positioning of a construction site is used for a construction robot, the construction robot is provided with a robot body, and the intelligent device comprises a connecting part for installing the intelligent device on the construction robot body; the connecting part enables the intelligent device and the robot body to be detachably connected; and a compass device used for indicating the horizontal orientation of the intelligent device is arranged at the lower end of the connecting part.
The lower end of the connecting part is provided with a laser positioning and ranging part for arranging a laser ranging transceiver; the compass device is arranged on the laser positioning and ranging part; the connecting part is connected with the laser positioning and ranging part through a horizontal rotating mechanism; and a control center for controlling the laser positioning and ranging part and the horizontal rotating mechanism to work is arranged in the connecting part.
The intelligent device with the compass for indoor positioning in the building site is characterized in that the compass device 7 is an electronic compass which is a digital compass based on a single chip microcomputer, or a three-axis magnetic field sensor of a Honeywell or an electronic compass. The product model of the digital compass is as follows: WS64-CP2 product number: 46664, or else, Bairaoko digital compass.
The intelligent device of building site indoor location with compass, laser location range finding part 2 include: laser rangefinder transceiver shell 21 in set up laser rangefinder in the laser rangefinder transceiver shell 21, laser rangefinder include: a vertical rotating mechanism 5 which can rotate 90 degrees up and down along the vertical direction and a laser distance measuring and transmitting device 6 which measures the distance between the laser distance measuring and transmitting device and the wall surface through laser transmitting and receiving; the laser distance measuring and receiving device 6 comprises a laser emitting source and a laser receiving end, wherein the laser emitting source emits laser, the laser receiving end receives reflected laser, and the laser emitting and receiving are used for calculating the distance between the device and the wall surface.
The intelligent device with the compass for indoor positioning in the building site is characterized in that the control center 4 comprises a PLC or an industrial personal computer with a built-in controller, an arithmetic unit and a storage module for storing geometric figure information of a room.
The intelligent device with the compass for indoor positioning in the construction site is characterized in that the control center 4 is in signal connection with the horizontal rotating mechanism 3, the vertical rotating mechanism 5, the laser ranging receiving and transmitting device 6 and the compass device 7 through serial port communication, and the serial port communication can adopt a serial port 232 or 485 interface mode.
The intelligent device with the compass for indoor positioning in the building site is characterized in that the laser ranging transceiving device 6 is arranged on the vertical rotating mechanism 5 and rotates 90 degrees up and down along the vertical direction of the vertical rotating mechanism 5.
The intelligent device of building site indoor location with compass, vertical rotary mechanism 5 rotatable, detachable setting inside laser rangefinder transceiver shell 21, be equipped with pivot 51 at vertical rotary mechanism 5's both ends, pivot 51 peg graft or joint inside laser rangefinder transceiver shell 21.
According to the intelligent device with the compass for indoor positioning in the building site, the horizontal rotating mechanism 3 changes the orientation of the intelligent device and can rotate 360 degrees clockwise or anticlockwise according to the horizontal direction.
Use the utility model has the advantages that:
the compass device is arranged on the intelligent positioning device, so that more accurate indoor positioning of the building site can be provided; the laser ranging device is used for positioning, additional stations do not need to be deployed, and the deployment is simple and convenient; the device can be installed on a building construction robot, works together with the construction of the robot, and is high in automation and intelligence level.
Drawings
FIG. 1 is a schematic view of a three-dimensional structure of the intelligent indoor high-precision positioning device for construction sites of the present invention;
FIG. 1a is a schematic front view of the structure of FIG. 1;
FIG. 1b is a schematic top view of the structure of FIG. 1;
FIG. 2 is a schematic diagram of the control logic of the intelligent indoor high-precision positioning device for construction sites of the present invention;
FIG. 3 is a flowchart illustrating the overall control of the positioning intelligent device;
FIG. 4 is a detailed flow chart of the present invention for accurate distance measurement of the positioning intelligent device;
FIG. 5 is a schematic view of the geometry of the positioning intelligent device of the present invention in the room to be measured;
FIG. 6 is a schematic view of the positioning intelligent device of the present invention;
fig. 7 is a schematic view of the precise positioning during measurement according to the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. "front", "back", "left" and "right" do not denote any sequential relationship, but are merely used for ease of description. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. "further" at the time when an action is performed, a plurality of further occurs in the text, all recorded in real time as time passes.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and fig. 1a, an intelligent device with compass for indoor positioning in a building site is provided with a compass device 7 for indicating the horizontal orientation of the intelligent device.
As shown in fig. 1 to 2, the positioning intelligent device includes: a connection part 1 for installing the intelligent device on the construction robot body; a laser positioning and ranging part 2 which is arranged at the lower end of the connecting part 1 and is used for arranging a laser ranging transceiving device 6; the connecting part 1 is connected with the laser positioning and ranging part 2 through a horizontal rotating mechanism 3; a control center 4 for controlling the laser positioning and ranging part 2 and the horizontal rotating mechanism 3 to work is arranged in the connecting part 1; the compass device 7 is arranged on the laser positioning and ranging part 2.
The connecting part 1 can detachably connect the intelligent device and the robot body, such as a clamping groove, a sleeve joint or a nut connection; the laser positioning and ranging part 2 comprises: laser rangefinder transceiver shell 21 in set up laser rangefinder in the laser rangefinder transceiver shell 21, laser rangefinder include: a vertical rotating mechanism 5 which can rotate 90 degrees up and down along the vertical direction and a laser distance measuring and transmitting device 6 which measures the distance between the laser distance measuring and transmitting device and the wall surface through laser transmitting and receiving; the laser distance measurement transceiving device 6 comprises a laser emission source and a laser receiving end, wherein the emission source emits laser, the receiving end receives reflected laser, and the laser emission receiving is used for calculating the distance between the device and the wall surface; the laser ranging transceiver 6 is arranged on the vertical rotating mechanism 5 and rotates up and down by 90 degrees along with the vertical rotating mechanism 5 in the vertical direction; the vertical rotating mechanism 5 is rotatably and detachably arranged inside the laser ranging transceiver shell 21, two ends of the vertical rotating mechanism 5 are provided with rotating shafts 51, and the rotating shafts 51 are inserted into or clamped inside the laser ranging transceiver shell 21; the laser ranging transceiver shell 21 mainly provides a protection function to protect the laser ranging transceiver 6 arranged in the laser ranging transceiver shell, and the laser ranging transceiver shell can be a plastic shell, an aluminum alloy shell and the like; the horizontal rotation mechanism 3 changes the orientation of the intelligent device and can rotate 360 degrees clockwise or anticlockwise according to the horizontal direction; the pointing device adopts a digital compass 7 or an electronic compass; as shown in fig. 1 and fig. 1a, the compass device 7 is an electronic compass, which is a digital compass based on a single chip microcomputer, and may also be a honeywell triaxial magnetic field sensor, or the electronic compass, and the product model of the digital compass is: WS64-CP2 product number: 46664, a German Bairui Gao BARIGO digital compass can be selected, in this embodiment, a digital compass based on a single chip microcomputer is preferably used; the control center 4 comprises a PLC or an industrial personal computer with a built-in controller, an arithmetic unit and a storage module for storing the geometric figure information of the room; the control center also controls the orientation of the intelligent device by controlling the horizontal rotating mechanism and the vertical rotating mechanism; meanwhile, the control center also controls the receiving and sending of the laser and reads the information of the digital compass; for example, the Johnson Industrial computer YW-EMBI67U, whose basic parameters: 3.5 inch mainboard, onboard INTEL i56200U processor, primary frequency dual-core 2.3G, 6 × COM, 6 × USB, 2 × LAN, DC9-24V, 4G memory, 128 GMSATA; as shown in fig. 2, the control center 4 is in signal connection with the horizontal rotating mechanism 3, the vertical rotating mechanism 5, the laser ranging transceiver 6 and the digital compass 7 through serial port communication, and the serial port communication can adopt a serial port 232 or 485 interface mode; through serial port communication, the control center controls the rotation actions of the horizontal rotation mechanism and the vertical rotation mechanism, controls the laser operation of the laser ranging transceiver 6, reads measurement data and reads the pointing information of the digital compass.
As shown in fig. 5 and 6, fig. 5 is a geometric form of a room to be measured, and it can be seen that the room is rectangular and has two entrances and exits. When a construction robot equipped with an intelligent device reaches a measurement point in the drawing, it is necessary to precisely locate the intelligent device in the room. As shown in fig. 5, when the robot is at point a, the specific precise positioning steps are as follows:
as shown in fig. 3, a control method of an intelligent device with compass for indoor positioning in a building site, the main control method of the control center 4 is as follows:
s1, the control center 4 loads geometric information of a room where the control center is located, obtains a direction facing a wall surface, and marks the direction as C0；
S2, the control center 4 obtains pointing data of the pointing device through the serial port, namely the current direction is marked as C1；
S3, judging whether the orientation is the direction facing the wall surface, namely C0＝C1Is there a If so, go to step S4, if not, go to step S5;
s4, adjusting the initial pose, starting data measurement, adjusting the second pose, starting data measurement, continuously adjusting the poses for multiple times, and calculating after the data measurement for multiple times to obtain the distance between the intelligent positioning device and the wall surface;
s5, the control center 4 adjusts the horizontal rotating mechanism 3 to enable the current orientation to be close to C0Then, the process returns to step S2;
and S6, obtaining the accurate positioning of the intelligent positioning device in the current room according to the accurate position of the current position to the wall surface.
As shown in fig. 4, in step S4, the detailed steps are as follows:
s40, controlling a center adjusting vertical rotating mechanism to adjust an initial pose according to a digital compass, enabling the positioning intelligent device to face the direction of the wall surface, establishing a plane coordinate system taking the position as the center, and defining the vertical plane as a Y axis of the plane coordinate;
s41, measuring an initial pose: the control center adjusts the horizontal rotating mechanism to enable the positioning intelligent device to form a certain included angle with the vertical wall surface, and marksIs theta1(because the digital compass has certain error, the included angle is the estimated included angle of the robot, not the real included angle), the distance to the wall surface is measured and recorded as c;
s42, measuring second position and attitude data: the control center adjusts the horizontal rotating mechanism to rotate theta degrees towards the direction of the vertical wall surface, so that the included angle between the intelligent positioning device and the vertical wall surface is theta2And the distance from the wall surface is measured again, and is marked as b,
s43, the control center obtains the distance between the intelligent positioning device and the wall surface according to the measurement data and records the distance as d;
and obtaining the distance between two measurements on the wall surface, recording the distance as a, and obtaining the distance according to the cosine theorem (theta-theta)1+θ2)
The distance between the current position of the positioning intelligent device and the wall surface is recorded as d, and the distance can be obtained by calculation:
s44, error elimination is carried out, and the accurate position of the current position from the wall surface is obtained, namely the accurate vertical distance in the Y-axis direction:
in order to eliminate accidental errors, N different θ degrees are used for measurement, three times of measurement are generally used, three values d1, d2 and d3 are calculated according to the steps S40 to S43, and the average value y is (d1+ d2+ d 3)/3;
s45, the control center adjusts the horizontal rotating mechanism, rotates for 90 degrees and avoids doors and windows, and the current direction is marked as an X axis;
s46, measuring an initial pose: the control center adjusts the horizontal rotating mechanism to enable the positioning intelligent device to form a certain included angle with the vertical wall surface, and the included angle is marked as theta1(because the digital compass has certain error, the included angle is the estimated included angle of the robot, not the real included angle), the distance to the wall surface is measured and recorded as c;
s47, second position and posture measurement: control center adjusting waterThe horizontal rotating mechanism rotates theta degrees towards the direction vertical to the wall surface to enable the included angle between the intelligent positioning device and the vertical wall surface to be theta2Measuring the distance between the wall surface and the wall surface again, and marking as b;
s48, the control center obtains the distance between the intelligent positioning device and the wall surface according to the measurement data, and the distance is marked as h;
and obtaining the distance between two measurements on the wall surface, recording the distance as a, and obtaining the distance according to the cosine theorem (theta-theta)1+θ2)
The distance between the current position of the positioning intelligent device and the wall surface is recorded as h, and the distance can be obtained by calculation:
s49, error elimination is carried out, and the accurate position of the current position from the wall surface is obtained, namely the accurate vertical distance in the X-axis direction:
in order to eliminate accidental errors, N different θ degrees are used for measurement, three times of measurement are generally used, three values of h1, h2 and h3 are calculated in steps S45 to S48, and the average value x is (h1+ h2+ h 3)/3.
Example 1:
a room with a length of 4 meters north and south and a width of 3 meters east and west is set, and the intelligent device is located at the measuring point shown in fig. 7. The first posture is towards east (E), the distance b between the first posture and the wall surface is measured to be 2, the first posture is rotated by 60 degrees towards the wall surface, and the distance c between the first posture and the wall surface is measured to be 2. The distance between the two measurements on the wall surface is obtained and is marked as a. According to the theory of the cosine of the distance,
and the distance between the current position of the construction robot provided with the intelligent positioning device and the wall surface is recorded as d. The calculation can obtain:
thus, the current smart device is at a distance from the east wall of
And (4) rice.
When the intelligent device rotates towards south, then measure the distance m with the wall 2 meters, rotate 60 degrees towards the wall, measure the distance n with the wall 2. Calculated by the same method
Thus, the distance of the current smart device from the south wall is
And (4) rice.
Therefore, the current position of the intelligent device is far from the east wall surface
Wall surface of rice, distance west
Wall surface of rice, distance southWall surface in north of rice
And (4) rice.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any way. The technical solutions of the present invention can be used by anyone skilled in the art to make many possible variations and modifications to the technical solution of the present invention, or to modify equivalent embodiments with equivalent variations, without departing from the scope of the technical solution of the present invention. Therefore, any modification, equivalent change and modification of the above embodiments according to the present invention are all within the protection scope of the present invention.
Claims (9)
1. An intelligent device with compass for indoor positioning in building site is used for construction robot, which has a robot body,
the intelligent device comprises a connecting part (1) for installing the intelligent device on a construction robot body; the connecting part (1) enables the intelligent device and the robot body to be detachably connected;
the lower end of the connecting part (1) is provided with a compass device (7) used for indicating the horizontal orientation of the intelligent device.
2. The intelligent device with compass for indoor location of building site according to claim 1, wherein the lower end of the connecting part (1) is provided with a laser location and ranging part (2) for arranging a laser ranging transceiver (6); the compass device (7) is arranged on the laser positioning and ranging part (2); the connecting part (1) is connected with the laser positioning and ranging part (2) through a horizontal rotating mechanism (3); and a control center (4) for controlling the laser positioning and ranging part (2) and the horizontal rotating mechanism (3) to work is arranged in the connecting part (1).
3. The intelligent device with compass for indoor positioning in building sites according to claim 2, wherein the compass device (7) is an electronic compass, and the electronic compass is a digital compass based on a single chip microcomputer, or a honeywell triaxial magnetic field sensor, or an electronic compass.
4. The intelligent device with compass for indoor location of building site as claimed in claim 2, wherein said laser location ranging part (2) comprises: laser rangefinder transceiver shell (21) in set up laser rangefinder, laser rangefinder include: a vertical rotating mechanism (5) which can rotate 90 degrees up and down along the vertical direction and a laser distance measuring and transmitting device (6) which measures the distance between the laser distance measuring and transmitting device and the wall surface through laser transmitting and receiving; the laser distance measurement transceiving device (6) comprises a laser emitting source and a laser receiving end, wherein the laser emitting source emits laser, the laser receiving end receives reflected laser, and the laser emitting and receiving end is used for calculating the distance between the device and the wall surface.
5. The intelligent device with compass for indoor location of building site according to claim 2, characterized in that said control center (4) comprises a PLC or industrial control computer with built-in controller, arithmetic unit and memory module for storing geometrical information of room.
6. The intelligent device with the compass for indoor positioning of a building site is characterized in that the control center (4) is in signal connection with the horizontal rotating mechanism (3), the vertical rotating mechanism (5), the laser ranging transceiver (6) and the compass device (7) through serial port communication, and the serial port communication can adopt a mode of a 485 interface of a serial port 232 and a laser ranging transceiver.
7. The intelligent device with compass for indoor positioning of building site as claimed in claim 6, wherein said laser ranging transceiver (6) is disposed on said vertical rotation mechanism (5) and rotates up and down 90 degrees along the vertical direction of the vertical rotation mechanism (5).
8. The intelligent device with the compass for indoor positioning of building sites is characterized in that the vertical rotating mechanism (5) is rotatably and detachably arranged inside the laser ranging transceiver housing (21), rotating shafts (51) are arranged at two ends of the vertical rotating mechanism (5), and the rotating shafts (51) are inserted into or clamped inside the laser ranging transceiver housing (21).
9. The intelligent device with compass for indoor location of building site as claimed in claim 6, wherein said horizontal rotation mechanism (3) changes the orientation of said intelligent device to make said intelligent device rotate 360 degrees clockwise or counterclockwise according to the horizontal direction.
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