Design And Development Of Autonomous Navigation And Control System For Vibrating Robot Based On BI

With the continuous development of automation technology,all walks of life are using automation technology to improve production efficiency.Compared with other industries,the automation popularity of the construction industry is relatively lagging behind.With the shortage of labor and the aging of the population,the demand for automation in the construction industry is particularly urgent.Therefore,in the context of improving the level of automated production in the construction industry,this article intends to design a BIM-based autonomous navigation and control system for vibrating robots to solve the problem of vibrating operations during concrete pouring.Aiming at the complexity and inconvenience of traditional mapping schemes on the construction site,this paper designs and implements a BIM-based navigation map construction scheme.At the same time,it designs a global path planning algorithm and a full coverage path planning algorithm to achieve paths for different vibrating tasks.Planning requirements.Around the design and implementation of the system,this article mainly completes the following main tasks:(1)Briefly discuss the background and practical significance of the research on the vibrating robot,and briefly analyze the research status of the related fields and technologies of the vibrating robot,and put forward the problems and challenges encountered in the realization of the system.(2)Conduct field investigations on the actual vibrating operation site,and analyze the functional requirements of the vibrating robot according to the characteristics of the vibrating operation.On the basis of determining the functional requirements of the vibrating robot,the overall hardware architecture and the overall software architecture of the vibrating robot were designed,and the core equipment was selected.(3)In view of the inconvenience of the vibrating robot using the traditional mapping mode and the characteristics of the vibrating operating environment,it is proposed to build a navigation map based on BIM.First,the characteristics of the IFC data model are introduced,and the geometric expression of IFC is analyzed in detail.At the same time,the specific implementation methods of geometric information extraction,filtering and filtering are given.Finally,based on the extracted building geometric structure information and grid method mapping theory,a PGM format navigation map file that can be read by map＿server is generated,thereby effectively solving the inconvenience and complexity of construction site mapping;(4)In view of the complexity of the construction environment,RTK-GNSS and INS are used for combined navigation in the selection of the global positioning method of the vibrating robot.First,it briefly analyzes the realization principle of RTK-GNSS and the calculation process of GNSS data,and then derives the IMU error model in detail,and uses the IMU error variable as the state variable to establish the state model and measurement model of the Kalman filter to realize RTK-GNSS/INS integrated navigation;(5)Through field research on actual vibrating operation scenarios,the vibrating operation is divided into two modes,one is single-point vibrating,and the vibrating robot needs to move to a designated target position or continuously move to several non-adjacent positions for execution.Vibration operation.The other is regional vibrating operation.The vibrating robot needs to start from the target starting point and perform full-coverage vibrating on the designated area.Aiming at the above two vibrating methods,this paper combines the characteristics of crawler robots that are easy to turn on the spot,and uses an improved theta~* algorithm to realize the global path planning function of the vibrating robot.In addition,for regional vibrating operations,this paper designs a global path planning algorithm based on the improved BCD algorithm to achieve full coverage of vibrating robots.Through experimental analysis,the improved full coverage algorithm has obvious advantages in the number of sub-region divisions and the total path length;(6)The trajectory tracking control law of the vibrating robot is designed based on the Lyapunov stability theory,and the simulation model is built through SIMULINK to conduct experiments.The experimental results can prove that the vibrating robot can realize the reference trajectory under the action of the control law designed in this paper.(7)The autonomous navigation and control system of the vibrating robot was systematically tested from various aspects such as the construction of the navigation map,the motion control of the vibrating robot,the global positioning function,the trajectory tracking,and the task planning.The effectiveness of the vibrating robot’s autonomous navigation and control system is verified.