Research On Path Planning Method Of Fabricated Building Grouting Robot

With the development of science and technology,the disappearance of population dividend and the pursuit of sustainable development,the traditional construction model can not meet the development of the construction industry because of its many defects.In recent years,prefabricated buildings have been widely used in various countries because of their excellent performance in construction efficiency,construction safety,construction quality,energy saving and environmental protection.In this paper,aiming at the phenomenon that the grouting situation can not be detected and the grouting quality is uneven in the sleeve grouting construction process of the prefabricated building concrete structure,this paper takes the grouting construction process of the prefabricated building environment as the research object.the grouting process and the basic grouting circuit structure of the prefabricated building grouting robot are made.In the process of autonomous grouting construction of grouting robot,a twodimensional path planning method based on genetic ant colony hybrid algorithm and a three-dimensional path planning method based on improved A~* algorithm are proposed,and the robot embedding correlation algorithm is tested by experiments.the experimental results show that the improved path planning algorithm has advantages over the traditional algorithm,and it is feasible to be applied to the prefabricated building environment.The main results are as follows:(1)In order to improve the intelligent level of construction machinery and solve the problems that the grouting quality of traditional grouting technology can not be guaranteed,a closed loop grouting robot grouting process was made.The grouting construction technology of grouting robot is analyzed.In the prefabricated building environment,the rough positioning of grouting mouth based on BIM information,robot path planning and obstacle avoidance,accurate positioning based on machine vision technology and a series of grouting tasks of grouting robot are completed in turn.Through the structural design of the closed-loop non-breaking flow end grouting loop,the grouting inlet and outlet are in the grouting circulation closed loop,which can carry out cyclic grouting,complete the grouting detection task,and improve the grouting success rate.the stability and controllability of grouting quality are ensured.(2)In order to solve the problem of two-dimensional path planning of grouting robot in prefabricated building environment,this paper uses genetic algorithm to optimize the path search pheromone of ant colony algorithm,and proposes a construction path optimization method of prefabricated construction robot based on BIM fusion geneticant colony hybrid algorithm.Ant colony algorithm,genetic algorithm,particle swarm optimization algorithm and hybrid optimization algorithm are used to build the experimental environment of different obstacle layout by combining grid method and BIM modeling technology,and the two-dimensional path planning experiment is carried out.Through several groups of different experimental results,it is obvious that the final path obtained by the genetic-ant colony hybrid optimization algorithm is obviously better than the other three traditional algorithms,and the number of iterations is the least.It shows that the hybrid optimization algorithm has certain advantages over the other three traditional algorithms and can be applied to the prefabricated building environment.(3)In order to solve the disadvantages of the traditional A~* algorithm and realize the three-dimensional path planning and obstacle avoidance of the manipulator in the grouting construction process,this paper first improves the weight function assignment of the A~* algorithm,and secondly,the algorithm is further optimized by changing the generation strategy of the three-dimensional path.The grid method is used to build the static experimental environment with different obstacle layout and the experimental environment with dynamic obstacles.Through several groups of experiments,it is obvious that the improved A~* algorithm reduces the redundant nodes in 3D path planning and optimizes the path.And the dynamic obstacles are effectively avoided by changing the path generation strategy,which verifies that the improved A~* algorithm has certain advantages and can be applied to prefabricated buildings.(4)In order to verify the feasibility of the two-dimensional and three-dimensional path planning algorithm of the grouting robot,an experimental test is carried out by using the Turtlebot2 i robot.Through the construction of the obstacle experimental environment,the target detection and Slam map modeling based on depth camera and lidar are completed,and the correlation algorithm is used to carry out the twodimensional path planning experiment of the robot.the experimental results show that the genetic-ant colony hybrid algorithm is obviously better than ant colony algorithm,genetic algorithm and particle swarm optimization algorithm,which verifies the superiority of the hybrid algorithm.At the same time,the three-dimensional path planning of the manipulator is realized through the Rviz visualization platform in the ROS environment.Figure[89] table[6] reference[97]...