Research And Implementation Of Indoor Construction Robot Autonomous Positioning And Navigation System

There are a lot of repetitive tasks in the traditional construction industry.If these repetitive mannual tasks were done by robot,production effeiciency would be significantly improved.However,compared with the working environment of ordinary industrial robots,the construction environment is not fixed and controllable,the construction robots need to be able to adapt to environment changes,and had a very high postionning accuracy.Based on the requirements above,this thesis studies and implements an indoor construction robot navigation methods.The main contents are as follows:1.This thesis analyzes and studies the mobile platform and sensors of indoor construction robots.The kinematics model of the mobile platform based on the Mecanum wheel and the observation model of the sensor are introduced.2.This thesis studies two types of traditional robot navigation map construction methods,including 2D lidar based grid maps and depth camera based point cloud maps.By analyzing the advantages and disadvantages of each method,and a method of constructing a three-dimensional scale map and a two-dimensional grid map based on the building information model is proposed to complement the two methods.On the basis of obtaining the three-dimensional information of the building,the robot navigation Twodimensional grid map is also gained.3.This thesis considers the problem of temporary ground pits in the construction environment of the construction robot,and proposes an obstacle extraction method.Not only can it recognize the obstacles on the ground,but also the extraction of pit obstacles under the ground.4.This thesis studies several different scan matching algorithm principles,pointbased ICP algorithm and math-based NDT algorithm,analyzes the advantages and disadvantages of each algorithm and the requirements of the experimental environment of this subject,and then proposes a multi sensor fusion based method to accelerate ICP iteration and avoid falling into local extremum.Finally,the effects of several methods are tested through experiments to verify the effectiveness and robustness of the algorithm.5.Based on the previous research,this thesis designed an autonomous positioning and navigation system for indoor construction robots.And completed the development of the system,and at the end of this thesis conducted experiments on the ground to verify the effectiveness and feasibility of the system.