Research On Mobile Location Technology Of Building Robot

In the construction industry,there are a lot of repetitive heavy physical work that need to be done manually,which can often be done by robots instead of manual work.With the gradual development of the construction industry towards intelligent low-carbon direction,intelligent building robots have become an urgent need for research and development.Unlike ordinary service-oriented robots,construction robots have more complex working properties,higher positioning accuracy requirements and higher reliability and safety requirements for the system.In this thesis,a mobile positioning system based on building robots is designed and developed according to the specific requirements of building construction.Its main contents are as follows:1.This thesis focuses on the causes of motion distortion of lidar and its correction algorithm,and analyses the shortcomings of traditional lidar distortion correction algorithm.On this basis,a linear interpolation correction algorithm based on odometer is proposed,and satisfactory experimental results are obtained.2.In this thesis,two different SLAM algorithms of lidar are studied,and their advantages and disadvantages are compared and analyzed.The results of the two algorithms are tested by practical experiments.SLAM algorithm is integrated into the mobile positioning system of the robot developed in this subject.3.This thesis presents a new hierarchical map A* improved algorithm based on robot pose.Because the classical A* algorithm can not make the robot safely reach the non-free space and the tangent obstacle space near the obstacle.In the building plastering robot developed in this subject,the robot must move to the non-free space or the outer obstacle space to carry out the wall plastering construction work,so the classical A* algorithm is not applicable in this topic.Based on the classical A* algorithm,an improved hierarchical map A* algorithm based on the robot's posture is proposed for the first time,which improves the reachable range of the robot and enables it to reach the non-free space or the outer obstacle space safely.4.This thesis designs and develops a path planning and navigation algorithm that integrates BIM semantic information for building robots.In order for the robot to complete the construction task smoothly,the robot must acquire the building information accurately.Building information is actually contained in BIM drawings.In this thesis,BIM software Revit is redeveloped to extract building information,and BIM information is used to guide robot construction work.The feasibility and validity of the algorithm are verified by comprehensive experiments in actual construction scenarios.5.This thesis develops the whole building robot positioning mobile system,including human-computer interaction module,positioning and navigation module,SLAM module based on Ros,etc.And through a large number of experiments and improvements,it meets the project requirements.